http://localhost:8081/jspui/handle/123456789/115 Thu, 07 May 2026 20:57:52 GMT 2026-05-07T20:57:52Z http://localhost:8081/jspui/handle/123456789/20765 Title: Sliding Mode Control of a Differential Drive Mobile Robot Authors: Prakash, Rudra Abstract: This report presents the sliding mode control (SMC) design of a Differential Drive Mobile Robot (DDMR) following a trajectory using the SMC techniques. Control of DDMR generally follows two approaches, trajectory following, positioning motion. In this report, the kinematic and dynamical models of DDMR are found such that mathematical analysis can be done. The model is nonlinear, and its control needs two state variables of which only one can be measured; another one is estimated with the help of the observer. Particularly to follow any trajectory, we required global coordinates of the path. However, in our application, we neither can sense that nor we measure, so we have to estimate the global coordinates of the path with the help of an observer. In this report, we proposed one of the robust observer sliding mode observer (SMO). Project work includes the designing, analysis and implementation of a nonlinear sliding mode observer. Then we implemented the SMO in place of linear Luenberger observer and verified the model again with MATLAB/Simulink software. While using the SMC approach, we have also analyzed various reaching laws, i.e. constant reaching law and power rate reaching law and found that chattering was significantly reduced because of the power rate reaching law. One modality of movement includes forward movement. To find the proper control action, the Lyapunov theorem for nonlinear systems is applied. Verification of the model, including SMC and SMO, is done with the help of simulation in MATLAB/Simulink software. Results/Diagrams obtained from the simulation are shown in this report. The future work includes hardware implementation of this model. Sat, 01 May 2021 00:00:00 GMT http://localhost:8081/jspui/handle/123456789/20765 2021-05-01T00:00:00Z http://localhost:8081/jspui/handle/123456789/20764 Title: MODEL PREDICTIVE CONTROL USING STATE SPACE MODEL Authors: Meena, Raj Kumar Abstract: In this report, basic idea of MPCis introduced. The first step in MPC design is modelling of system. In this work discrete state space model of the system is used and an integrator is added to the system to reduce steady state error. The method of predicting the future output and the optimization method used are explained. MPC design on a single input single output system is done and receding horizon control is implemented. The report also explains dynamics matrix control (DMC). Thu, 01 Jul 2021 00:00:00 GMT http://localhost:8081/jspui/handle/123456789/20764 2021-07-01T00:00:00Z http://localhost:8081/jspui/handle/123456789/20763 Title: Analysis of Pandemic Mathematical Models and their Control Strategies Authors: Saikiran, Rachakonda Abstract: The project is about mathematical modelling of COVID-19 pandemic and the strategies to control it. This particular thesis mainly focuses on how the pandemic can be mathematically modeled and how the model can be used to propose a control strategy for COVID-19 situation in India. The modelling considers the pandemic with eight classes where each class represents a section of population and these sections of populations are segregated according to the disease progression. Once the equations are formulated the main goal is to calculate reproduction number R0 from various transmission rate parameters which are responsible for changes in the dynamics of these eight classes. The main purpose of this project is to first develop an open loop model for the pandemic by tuning these transmission rate parameters and then bringing down the infected cases using two simple control strategies. One is the basic feedback control and the other one is bang-bang control. The parameters are tuned and the infection is controlled by applying the above said control strategies using basic MATLAB coding and plotting relevant graphs. Sat, 01 May 2021 00:00:00 GMT http://localhost:8081/jspui/handle/123456789/20763 2021-05-01T00:00:00Z http://localhost:8081/jspui/handle/123456789/20762 Title: DEVELOPMENT OF AN FPGA-BASED SOC DESIGN FOR REAL-TIME DATA PROCESSING AND CONTROL Authors: Patil, Devraj Abstract: The latest technology in the field of digital design is the re-configurability of the hardware which is Field Programmable Gate Arrays (FPGAs). The high speed digital system can be programmed on FPGA using Hardware Description Language (HDL). The parallel processing of the design by using FPGA makes this technology vital in high speed application and applications where critical speed requirement is the utmost priority. The Institute for Data Processing and Electronics (IPE) at KIT has developed a multi-purpose data acquisition platform for broad range of applications ranging from photon science, electron beam diagnostics and high energy physics experiments. Modern physics experiments produce several GB/s data so it demands high throughput Data Acquisition (DAQ) system with latencies in microseconds. To achieve these stringent constraints, a heterogeneous system based on FPGA, GPU and CPU coupled by InfiniBand is developed. The next generation of this platform should reach a data throughput of 240 Gb/s and above. To cope this high throughput, we will use the latest Xilinx Zynq System on Chip (SoC), which combines an FPGA and an ARM processor in one chip and integrate it in our Data Acquisition platform. Tue, 01 Jun 2021 00:00:00 GMT http://localhost:8081/jspui/handle/123456789/20762 2021-06-01T00:00:00Z