tel.: +385 1 459 44 44, fax: +385 1 459 44 69

E-mail: ured@znanost.hr

- Paper in journal
*3*

- Paper in proceedings
*40*

- Ph.D.
*1*

- M.A.
*3*

- Mentorship
*4*

- Computer program
*5*

**Type of paper**:*Paper in journal*

**Title:**Optimal closed-loop control of a hybrid step motor with chopper drive

**Authors:**- Crnošija, Petar
- Benaković, M
- Škof, Franko (30804)
- Crnošija, Tihan (129016)
- Preložiček, Ivan (166776)
- Perčinić, Oleg (80973)

**Journal**: Robotics & Computer-Integrated Manufacturing

**Number**: 3

**ISSN**: 0736-5845

**Volume**: 8

**Year**: 1991

**Pages**: from 187 to 192

**Number of references**: 15

**Language**: engleski

**Summary**: Optimal closed-loop control of a hybrid step motor withchopper drive is described. Expressions for the average torqueand optimal control angle giving maximal average torque in thestationary state without phase current chopper control arepresented. The effects of chopper current control on the torqueand acceleration characteristics of a hybrid step motor arediscussed. Expressions have been developed for the control anglein the chopper current control mode, yielding greater torques andimproved acceleration of hybrid step motors than for the optimalcontrol angle without phase current control. The speed responseof a hybrid step motor operated in a closed-loop system has beenstudied by computer simulation for different supply voltages andtorque loads, using various control angle algorithms.

**Type of paper**:*Paper in journal*

**Title:**Digital algorithm design for microprocessor control of electromechanical system

**Authors:**- Bortsov, A
- Golik, S
- Crnošija, Petar
- Ban, Željko (134385)

**Journal**: Automatika

**Number**: 3

**ISSN**: 0005-1144

**Volume**: 33

**Year**: 1992

**Pages**: from 111 to 116

**Number of references**: 10

**Language**: engleski

**Summary**: Digital modal, time optimal and model reference controlalgorithms are discussed. A digital model reference adaptivecontrol algorithm with signal and parameter adaptation isdescribed. The results obtained by digital simulation of a DCmotor drive with adaptive control algorithm based on referencemodel and parameter adaptation are presented.

**Keywords**: control of electromechanical systems, digital control algorithms, model reference adaptive control, parameter adaptation

**Type of paper**:*Paper in journal*

**Title:**Model Reference Adaptive Fuzzy Control of High-order Systems

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)

**Journal**: Engineering Applications of Artificial Intelligence

**Number**: 5

**ISSN**: 0952-1976

**Volume**: 7

**Year**: 1994

**Pages**: from 501 to 511

**Number of references**: 31

**Language**: engleski

**Summary**: The paper presents a model reference adaptive fuzzy control scheme which is suitable for high-order systems of well-known structure. It contains a hybrid fuzzy controller composed of a nonintegral fuzzy and a proportional-integral algorithm. The output of the hybrid fuzzy controller is adjusted by a fuzzy tuning algorithm. The synthesis of the hybrid fuzzy controller and the fuzzy tuning algorithm has been described for the angular speed control problem of the linearized vector controlled permanent magnet synchronous motor drive. The computer simulation results have proved the effectiveness of the proposed method, showing stable system responses with low sensitivity to large parameter variations.

**Keywords**: Adaptive control, fuzzy control, electrical drives, vector controlled PMSM drive

**Type of paper**:*Paper in journal*

**Title:**Robust Angular Speed Control of PMSM Drive with Coordinated Performance of Nonintegral Fuzzy and PI Controller

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)

**Journal**: Automatika

**Number**: 3-4

**ISSN**: 0005-1144

**Volume**: 34

**Year**: 1993

**Pages**: from 99 to 102

**Number of references**: 8

**Language**: engleski

**Summary**: The paper presents a robust control scheme for angular speed control of a vector controlled permanent magnet synchronous motor drive. Robustness is achieved with a controller constructed of a nonintegral fuzzy and a proportional-integral *PI( algorithm. The way of controller performance is dependent on the magnitudes of the proved the robustness of the proposed solution. Control algorithm has a digital character and it is very suitable for microcomputer implementation.

**Keywords**: electrical motor drives, fuzzy control, permanent magnet synchronous motor drives, servo systems, angular speed control

**Type of paper**:*Paper in journal*

**Title:**Design and Simulation of Complex Control Algorithms for Thyristor Converter-fed Motor drives

**Authors:**- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Crnošija, Petar

**Journal**: Systems Analysis Modelling Simulation

**ISSN**: 0232-9298

**Volume**: 18

**Year**: 1995

**Pages**: from 361 to 364

**Number of references**: 9

**Language**: engleski

**Summary**: A model of thyristor converter with instantaneous values of currents and voltages is described together with the implementation of this model in the C++ and Matrixx programming languages. Time optimal thyristor converter current control algorithms are realized in the C++ programming language. Optimization of the coefficients of the parameter adaptation algorithm in the dc motor drive is performed by using the Matrixx programming package.

**Type of paper**:*Paper in proceedings*

**Title:**Time suboptimal rotation speed control of a thyristor-supplied dc motor drive

**Authors:**- Ban, Željko (134385)
- Crnošija, Petar

**Editors**- Ferraris, P

**Proceedings title**: Proceedings of the 4th European Conference on Power Electronics and Application

**Language**: engleski

**Place**: Firenze, Italija

**Year**: 1991

**Pages**: from 287 to 292

**Meeting**: 4th European Conference on Power Electronics and Application

**Held**: from 09/03/91 to 09/06/91

**Summary**: Various methods of time optimal rotation speed control of athyristor-supplied DC motor drive have been analyzed. The designof a rotation speed control algorithm for a DC motor drivewithout inner armature current feedback providing suboptimalrotation speed step response has been discussed. An armaturecurrent limiting algorithm has also been developed. The controlalgorithms have been developed separately for continuous anddiscontinuous mode of operation of the thyristor converter.Simulation results have indicated that the algorithms describedprovide suboptimal rotation speed responses.

**Keywords**: DC drives, time optimal rotation speed control, armature current limitation.

**Type of paper**:*Paper in proceedings*

**Title:**Model reference signal adaptive control of industrial direct-current motor drives

**Authors:**- Crnošija, Petar
- Bortsov, A
- Polyakhov, N
- Kuznetsov, V
- Kovačić, Zdenko (114335)
- Mujanović, Abdurahman (147371)

**Editors**- Zajc, Baldomir
- Solina, Franc

**Proceedings title**: Proceedings of the 6th Mediterranean Electrotehnical Conference MELECON '91

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1991

**ISBN/ISSN**: 0-87942-655-1

**Pages**: from 824 to 827

**Meeting**: 6th Mediterranean Electrotehnical Conference

**Held**: from 05/22/91 to 05/24/91

**Summary**: The synthesis of implementable control algorithms forelectromechanical systems with incompletely measurable statevariables is discussed. The design of a model reference adaptivecontrol system based on signal synthesis is described.Mathematically, the procedure is based on Lyapunov's secondmethod. The structure of adaptive controllers tested inindustrial electromechanical systems is presented and the resultsobtained with adaptive controllers in direct current motor drivesdiscussed.

**Type of paper**:*Paper in proceedings*

**Title:**

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Perić, Nedjeljko
- Mihalić, Stjepan
- Mandić, Irenka

**Proceedings title**: Zbor. XI Vses. naučno-tehničeskaja konf. po problemam avtomatizirannogo elektr.

**Language**: ruski

**Place**: Suzdal, Rusija

**Year**: 1991

**Pages**: from 0 to 0

**Meeting**: XI Vsesojuznaja naučno-tehničeskaja konferencija po problemam avtomatizirovannogo elektroprivoda

**Held**: from 09/30/91 to 10/03/91

**Type of paper**:*Paper in proceedings*

**Title:**Adaptive and near optimal armature current control

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Mujanović, Abdurahman (147371)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 36. godišnjeg skupa JUREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1991

**ISBN/ISSN**: 86-81571-10-1

**Pages**: from 9 to 12

**Meeting**: 36. godišnji skup JUREMA

**Held**: from 04/18/91 to 04/20/91

**Summary**: A time optimal armature current control algorithm has beenderived for a linearized armature loop model of athyristor-supplied direct-current motor. Using a reference model,an adaptation algorithm has been developed which allows thetransient response to extend over a period exceeding time optimaltransient response by one sampling interval, provided that thevalue of parameter change is known. If this value is not know,the armature current response is extended over several samplingintervals. Furthermore, an algorithm providing for parameterestimation and parameter change adjustment has been developed inorder to allow, together with the time optimal control algofithm,the armature current response to be completed within foursampling intervals irrespective of the magnitude of parameterchange. The applicability of the algorithms developed has beentested by computer simulation.

**Type of paper**:*Paper in proceedings*

**Title:**Actuating devices adaptive control of mutually coupled electromechanical systems

**Authors:**- Bortsov, A
- Gavrilov, S
- Mujanović, Abdurahman (147371)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 36. godišnjeg skupa JUREMA

**Language**: ruski

**Place**: Zagreb

**Year**: 1991

**ISBN/ISSN**: 86-81571-10-1

**Pages**: from 1 to 4

**Meeting**: 36. godišnji skup JUREMA

**Held**: from 04/18/91 to 04/20/91

**Summary**: A two-level adaptive control strategy, applied to complexelectromechanical systems and suitable for practical realization,is considered. At the lower (local) level, parameteruncertainties and elasticity effects are compensated, while theinterference of the subsystem is handled at the higher level. Anexample of the two-level adaptive control of the robot(manipulator) electromechanical module is presented.

**Type of paper**:*Paper in proceedings*

**Title:**Computer simulation of a hybrid stepper motor electrical drive

**Authors:**- Dobrić, Željan
- Crnošija, Petar
- Nađ, Atila

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 36. godišnjeg skupa JUREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1991

**ISBN/ISSN**: 86-81571-10-1

**Pages**: from 54 to 57

**Meeting**: 36. godišnji skup JUREMA

**Held**: from 04/18/91 to 04/20/91

**Summary**: The model of an electrical drive consisting of a hybrid stepmotor, encoder, phase controller, power amplifier, currentcontroller, control unit and auxiliary modules is descibed. Inorder to investigate the behavior of both the individual elementsand the drive as a whole, a seperate model has been constructedfor each drive component. Moreover, such drive model allows theinvestigation of various algorithms for hybrid step motor controlin open and closed loop. Computer simulation was performed usingthe PADSIM program package. Rotation speed responses of a hybridstep motor controlled in a open and closed loop are presented.

**Type of paper**:*Paper in proceedings*

**Title:**Sensitivity analysis and design of DC servo systems

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)

**Editors**- Vuković, Milena

**Proceedings title**: Zbornik radova XXXV konferencije ETAN

**Language**: hrvatski

**Place**: Ohrid, Makedonija

**Year**: 1991

**ISBN/ISSN**: 86-80509-03-5

**Pages**: from 43 to 50

**Meeting**: XXXV konferencija ETAN

**Held**: from 06/03/91 to 06/07/91

**Summary**: Various definitions of the sensitivity functions are provided.The design of DC servomechanisms is described using semi relativesensitivity functions for output (controlled) quantity. Asensitivity model of a DC electromotor drive has been designedutilizing Kokotovic's sensitivity points method and the design ofcontroller parameter are presented. The results of sensitivityanalysis and syntesis obtained by computer simulation are shown.

**Keywords**: sensitivity analysis, sensitivity model, syntesis, DC servo systems

**Type of paper**:*Paper in proceedings*

**Title:**Digital algorithm design for microprocessor control of electromechanical system

**Authors:**- Bortsov, A
- Golik, S
- Crnošija, Petar
- Ban, Željko (134385)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Proceedings of the 37th Annual Gathering KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1992

**ISBN/ISSN**: 86-81571-11-7

**Pages**: from 655 to 659

**Meeting**: 37th Annual Gethering KoREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: Digital modal, time optimal and model reference controlalgorithms are discussed. A digital model reference adaptivecontrol algorithm with signal and parameter adaptation isdescribed. The results obtained by digital simulation of a DCmotor drive with adaptive control algorithm based on referencemodel and parameter adaptation are presented.

**Keywords**: control of electromechanical systems, digital control algorithms, model reference adaptive control, control parameter adaptation

**Type of paper**:*Paper in proceedings*

**Title:**A synthesis of a modified modal and model reference adaptive control system by computer simulation

**Authors:**- Mujanović, Abdurahman (147371)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 37. godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1992

**Pages**: from 660 to 663

**Meeting**: 37. godišnji skup KoREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: Methods of modified modal control and model reference adaptivecontrol are analized and compared. Analitical methods ofsynthesis of control algorithm parameters are described.Optimization of control algorithm parameters is done bysimulation using integral criterion of square error. Simulationresults are given for the modified modal control and modelreference of armature current of DC motor drive.

**Type of paper**:*Paper in proceedings*

**Title:**Modeling and simulation of a vector controlled PMSM drive

**Authors:**- Kovačić, Zdenko (114335)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 37. godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1992

**ISBN/ISSN**: 86-81571-11-7

**Pages**: from 668 to 671

**Meeting**: 37. godišnji skup KoREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: Electronically commutated permanent magnet synchronous motor(PMSM) are widely used in servosystems and robots, since a vectorcontrol method has significantly improved their controllability.A vector control is based on the model of the motor in thetwo-dimensional d, q frame instead of traditionalthree-dimensional RST frame. This paper presents a simulationmodel of a vector controlled PMSM drive. A PMSM drive was testedunder various operating conditions and simulation results showthe effectivness of the proposed model.

**Type of paper**:*Paper in proceedings*

**Title:**Microcomputer application for estimation of DC motor drive parameters

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Vojvodić, Vladimir
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 37. godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1992

**ISBN/ISSN**: 86-81571-11-7

**Pages**: from 676 to 679

**Meeting**: 37. godišnji skup KoREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: Estimation methods of DC motor drive parameters applied duringthe starting procedure, are considered. Graphical-analitycal andintegral methods for estimation of armature and electromechanicaltime constant are described. A microcomputer implementation ofthese two methods has been acomplished. Simulation andexperimental results are given in case of armature andelectromechanical time constants estimation of thyristor suppliedDC motor drive.

**Type of paper**:*Paper in proceedings*

**Title:**Average torqe optimization of current controlled two-phase hybrid step motor

**Authors:**- Dobrić, Željan
- Crnošija, Petar
- Nađ, Atila

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 37. godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1992

**ISBN/ISSN**: 86-81571-11-7

**Pages**: from 680 to 683

**Meeting**: 37. godišnji skup KoREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: An impact of current control and counterelectromotive force onaverage torque value of hybrid step motor is discussed. Anexpression describing average torque value of acurrent-controlled two-phase hybrid step motor have also beenderived. Expression describing suboptimal control angles of acurrent-controlled two-phase hybrid step motor have also beenderived. Torque characteristic and angular speed transientresponse with respect to different suboptimal control algorithmsof a hybrid step motor have been obtained by computer simulation.

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy control of DC motor armature current

**Authors:**- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the 1st Electrotechnical and Computer Science Conference ERK '92

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1992

**Pages**: from 141 to 144

**Meeting**: 1st Electrotechnical and Computer Science Conference ERK '92

**Held**: from 09/28/92 to 09/30/92

**Summary**: Paper deals with application of fuzzy control in systems whichrequire fast and accurate responses. Changes of responses due toa different number of linguistic variables, different samplingtime values and system parameter variations are analized bycomputer simulation. Controller was tested in a DC motor armaturecurrent control loop and results are compared with theperformance of PI controller.

**Type of paper**:*Paper in proceedings*

**Title:**Adaptive control with signal adaptation based on measured output signals

**Authors:**- Crnošija, Petar
- Ban, Željko (134385)
- Mujanović, Abdurahman (147371)

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the 1st Electrotechnical and Computer Science Conference ERK '92

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1992

**Pages**: from 189 to 192

**Meeting**: 1st Electrotechnical and Computer Science Conference ERK '92

**Held**: from 09/28/92 to 09/30/92

**Summary**: Application of model reference control with signal adaptation tosystems with variable or unknown parameters is considered.Synthesis of control algorithm parameters is described. Modelreference control with signal adaptation has been applied tocascade rotation speed control of a DC motor drive. The resultsof computer simulation confirmed the good performance of thesignum type adaptation algorithm when armature current androtation speed signals were used. To obtain satisfactoryadaptation with measured signals of armature current and rotationspeed, the adaptation algorithm was modified by replacing thesignum function with a saturation which had different gains forsmall and large values of error input.

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy rule-based adaptive force control of single DOF mechanisms

**Authors:**- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)

**Editors**- Leahy, Michael B.

**Proceedings title**: Proceedings of 8th IEEE International Symposium on Intelligent Control

**Language**: engleski

**Place**: Chicago, USA

**Year**: 1993

**ISBN/ISSN**: 0-7803-1206-6

**Pages**: from 469 to 474

**Meeting**: 8th IEEE International Symposium on Intelligent Control

**Held**: from 08/25/93 to 08/27/93

**Summary**: The paper presents a position/force control with completelyfuzzified adaptive force control system for the single degree offreedom mechanisms. The proposed force control scheme containsadaptive fuzzy force controller and subordinated fuzzy velocitycontroller. By using a second-order referent model, a modelreference-based fuzzy adaptation mechanism is able to keep theerror between the model and system output responses within thedesired limits. The results obtained by computer simulations indicate a stable performance of the force control system for awide range of environment stiffness variations. The proposedadaptive force control method has also been efficient in case ofcontact with rough surface or the complex form workpiece.

**Type of paper**:*Paper in proceedings*

**Title:**Adaptive fuzzy control with model reference-based fuzzy adaptation mechanism

**Authors:**- Kovačić, Zdenko (114335)

**Editors**- Tessier, P

**Proceedings title**: Proceedings of 2nd IEEE Conference on Control Applications

**Language**: engleski

**Place**: Vancouver, Canada

**Year**: 1993

**ISBN/ISSN**: 0-7803-0908-1

**Pages**: from 189 to 195

**Meeting**: 2nd IEEE Conference on Control Applications

**Held**: from 09/13/93 to 09/16/93

**Summary**: The paper presents a new model reference adaptive control schemecontaining a fuzzy algorithm for tuning the gain coefficientwhich adjusts the level of the fuzzy controller output. Thesynthesis of a fuzzy tuning algorithm has been performed forhigh-order processes of well-known structures. The proposedadaptive control scheme has been applied to the angular speedcontrol of a vector controlled permanent magnet synchronous motor(PMSM) drive. The computer simulation results have proved theefficiency of the proposed method, showing stable systemresponses almost insensitive to large parameter variations.

**Type of paper**:*Paper in proceedings*

**Title:**Adaptive time optimal control of thyristor converter current

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Ban, Željko (134385)
- Crnošija, Petar

**Editors**- nema, urednika

**Proceedings title**: Proceedings of the 5th European Conference on Power Electronics and Applications

**Language**: engleski

**Place**: London, England

**Year**: 1993

**ISBN/ISSN**: 0 85296 582 6

**Pages**: from 41 to 46

**Meeting**: 5th European Conference on Power Electronics and Applications

**Held**: from 09/13/93 to 09/16/93

**Summary**: Based on a fast on-line parameter estimation algorithm, a newadaptation procedure, applied to the time optimal current controlof a thyristor converter loaded with a DC motor is presented. Atime optimal current control algorithm ensures that in case ofrated system parameter values a new steady state value is reachedwithin a single current pulsation even when operating modes arechanged. In case of change system parameter values, the proposedadaptation mechanism enables the current response to be completedwithin two current pulsations, thus keeping it time optimal andmaking it insensitive to parameter variations. Estimation andadaptation algorithms were verified by computer simulation andthe results obtained are presented in the paper.

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy rule-based model reference adaptive control of permanent magnet synchronous motor drive

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Crnošija, Petar

**Editors**- Pietrzykoski, Anthony

**Proceedings title**: Proceedings of the IECON '93

**Language**: engleski

**Place**: New York, USA

**Year**: 1993

**ISBN/ISSN**: 0-7803-0891-3

**Pages**: from 207 to 212

**Meeting**: 19th Annual Conference of the IEEE Industrial Electronics Society (IECON '93)

**Held**: from 11/15/93 to 11/19/93

**Summary**: The paper presents a model reference adaptive control schemeusing fuzzy logic adaptation mechanism to generate additionalsignal to the system input. The proposed method has been appliedto the linearized model of the angular speed control system of avector controlled chopper-fed permanent magnet synchronous motor(PMSM) drive. Simulation results indicate that a good adaptationis achieved even for large parameter variations. Markedsimplicity and digital character of method make it very suitablefor microcomputer implementation.

**Type of paper**:*Paper in proceedings*

**Title:**A robust angular speed control of PMSM drive with coordinated performance of nonintegral fuzzy and PI controller

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Proceedings of the 38th international annual gethering KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1993

**ISBN/ISSN**: 953-6037-00-9

**Pages**: from 720 to 723

**Meeting**: 38th international annual gethering KoREMA

**Held**: from 04/26/93 to 04/28/93

**Summary**: Paper presents a robust control scheme for angular speed controlof a vector controlled permanent magnet synchronous motor drive.Robustness is achieved with controller constructed of nonintegralfuzzy and proportional-integral (PI) controllers. The way ofcontroller performance is dependent on the state of fuzzycontroller inputs. Angular speed control scheme was tested bycomputer simulation and the results have approved the robustnessof the proposed solution. Control algorithm has a digitalcharacter and it is very suitable for microcomputerimplementation.

**Type of paper**:*Paper in proceedings*

**Title:**Utilization of electrical signals in closed loop control of hybrid step motor drives

**Authors:**- Crnošija, Petar
- Nađ, Atila
- Kuzmanović, Branislav (157155)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 38. međunarodnog godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1993

**ISBN/ISSN**: 953-6037-00-9

**Pages**: from 733 to 736

**Meeting**: 38. međunarodni godišnji skup KoREMA

**Held**: from 04/26/93 to 04/28/93

**Summary**: A possibility of utilization of hybrid step motor electricalsignals for closed loop control is considered. A method developedfor hybrid step motor control using a signal of reconstructedmagnetic flux, can also be used in case of chopper-controlledphase current. The results obtained by computer simulation,showing starting responses of a closed loop controlled two phasehybrid step motor with utilization of the reconstructed magneticflux, indicate a very good corresponding to the responsesobtained in case of using an incremental encoder.

**Type of paper**:*Paper in proceedings*

**Title:**Modification of signal adaptation algorithm in control of DCM drives

**Authors:**- Mujanović, Abdurahman (147371)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 38. međunarodnog godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1993

**ISBN/ISSN**: 953-6037-00-9

**Pages**: from 728 to 732

**Meeting**: 38. međunarodni godišnji skup KoREMA

**Held**: from 04/26/93 to 04/28/93

**Summary**: An application of a model reference adaptive control, statevariable observer and signal adaptation, is considered forcontrol of DC motor drives used in robotics. A derivationprocedure of a signum type adaptation algorithm is described. Theproposed adaptive control scheme has been applied to the cascadeangular speed control of a DC motor drive. The simulation resultsobtained indicate that transient error can be minimized by properdetermination of signal adaptation coefficients. In order toeliminate oscilations present in the system because of signumtype adaptation algorithm, this function was replaced bysaturation function. The simulation results indicate thatoscilations have vanished but transient error has increased.

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy control of a three degrees of freedom manipulator

**Authors:**- Bogdan, Stjepan (189456)
- Laci, Vesna
- Kovačić, Zdenko (114335)

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1993

**ISBN/ISSN**: 961-6062-00-X

**Pages**: from 197 to 200

**Meeting**: 2nd Electrotechnical and Computer Science Conference ERK '93

**Held**: from 09/27/93 to 09/29/93

**Summary**: The paper deals with an application of fuzzy control in the jointservo control of three degrees of freedom (DOF) manipulator. Thedescribed method for a trajectory planning ensures accurateapproximation of the desired path and includes limits of thevelocities and acceleratons of each robot joint. The proposedfuzzy controller has a nonlinear PD character, thus providing ahighly effective path tracking. The path tracking is alsosatisfactory in the presence of external disturbances.

**Type of paper**:*Paper in proceedings*

**Title:**Simplified algorithms of model-reference adaptive control systems with parameter adaptation

**Authors:**- Crnošija, Petar
- Marijan, Nenad
- Ban, Željko (134385)

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1993

**ISBN/ISSN**: 961-6062-00-X

**Pages**: from 201 to 204

**Meeting**: 2nd Electrotechnical and Computer Science Conference ERK '93

**Held**: from 09/27/93 to 09/29/93

**Summary**: Model reference adaptive control algorithms with parameteradaptation have been hereby considered. A simplified parameteradaptation developed for the first and second order system hasbeen applied to a high-order system. Parameters of adaptationalgorithm are determined by using a gradient parameteroptimization method according to the integral of square errorcriterium. The results obtained by the parameter optimization areanalyzed under the assumption of the measured derivative ofoutput variable with respect to the different values of systemparameters.

**Type of paper**:*Paper in proceedings*

**Title:**Analysis of transient error in indirect signal adaptation MRAS

**Authors:**- Mujanović, Abdurahman (147371)
- Crnošija, Petar
- Ban, Željko (134385)

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the 2nd Electrotechnical and Computer Science Conference ERK '93

**Language**: engleski

**Place**: Ljubljana, Slovenija

**Year**: 1993

**ISBN/ISSN**: 961-6062-00-X

**Pages**: from 261 to 264

**Meeting**: 2nd Electrotechnical and Computer Science Conference ERK '93

**Held**: from 09/27/93 to 09/29/93

**Summary**: This paper is concerned with transient error analysis in modelreference adaptive control system with signal adaptation in caseswhen some of the state variables are not directly accessible,i.e. when adaptation is based on incomplete state variablesvector and estimated state variables. The criterion fordetermining signal adaptation algorithm parameters is the maximumvalue of the transient error in the system without low-frequencysteady-state oscillations. A parameter optimization of a signaladaptation algorithm is performed by computer simulationaccording to the integral of square error criterion. The maximumerror value and the steady state error are analyzed in case ofmeasured and estimated state variables by varyng the estimatordynamics with respect to the system dynamics and different valuesof system parameters.

**Type of paper**:*Paper in proceedings*

**Title:**Trajectory Planning, Dynamic Modelling and Robust Control of Articulated Robot Arm

**Authors:**- Laci, Vesna
- Kovačić, Zdenko (114335)

**Editors**- Troch, I
- Breitenecker, F

**Proceedings title**: Proceedings of the IMACS Symposium on MATHEMATICAL MODELLING 1. MATHMOD VIENNA

**Language**: engleski

**Place**: Vienna, Austrija

**Year**: 1994

**Pages**: from 616 to 617

**Meeting**: IMACS Symposium on MATHEMATICAL MODELLING 1. MATHMOD VIENNA

**Held**: from 02/02/94 to 02/04/94

**Summary**: The paper presents an object-oriented software package developed for educational purposes in the field of robotics. An emphasis has been given to an improved method of trajetory planning and usage of object-oriented programming technique in dynamic modelling of robots.

**Type of paper**:*Paper in proceedings*

**Title:**Robust Trajectory Tracking by Using Fuzzy Servo Control of an Articulated Robot Arm

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Laci, Vesna
- Krishnan, R

**Editors**- Banyasz, Cs.

**Proceedings title**: Preprints of the 2nd IFAC Symposium SICICA 94.

**Language**: engleski

**Place**: Budapest, Mađarska

**Year**: 1994

**Pages**: from 60 to 65

**Meeting**: 2nd IFAC Symposium SICICA 1994

**Held**: from 06/08/94 to 06/10/94

**Summary**: The paper deals with a robust trajectory tracking by using fuzzy joint servo control of a five axis electric-driven articulated robot arm with tool pitch and roll motions. Trajectory planning ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. The same fuzzy control algorithm is used in all joint servo loops, requiring only multiplexing and proper scaling of the fuzzy controller inputs and outputs. The comparative simulation experiments were also peformed with a PD and robust controller in the presence of white measurement noise, load change and nonlinear effects of robot dynamics. The results obtained have confirmed a very good performance and fairly robust trajectory tracking in case of using a fuzzy control method.

**Keywords**: Fuzzy control, industrial robots, robust control

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy Servo Control of an Articulated Robot Arm

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Laci, Vesna

**Proceedings title**: IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems IROS 94.

**Language**: engleski

**Place**: Munich, Njemačka

**Year**: 1994

**ISBN/ISSN**: 0-7803-1933-8

**Pages**: from 641 to 648

**Meeting**: IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems IROS 94

**Held**: from 09/12/94 to 09/16/94

**Summary**: The paper deals with an application of fuzzy control in joint servo control of a five-axis electric driven articulated robot arm. The same fuzzy control algorithm is used in all joint servo loops, requiring only multiplexing and proper scaling of the fuzy controller inputs and outputs. The nonlinear character of the proposed fuzzy7 controller has provided for highly effective trajectory tracking. Trajectory tracking appears satisfactory also in the presence of external disturbances.

**Type of paper**:*Paper in proceedings*

**Title:**Realization of a Low-cost Angular Speed Fuzzy Controller

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Markić, Marinko

**Editors**- Zimmermann, Hans-Jurgen

**Proceedings title**: 2nd European Congress on Fuzzy and Intelligent Technologies EUFIT 94

**Language**: engleski

**Place**: Aachen, Njemačka

**Year**: 1994

**ISBN/ISSN**: 3-86073-286-2

**Pages**: from 274 to 277

**Meeting**: 2nd EUFIT 1994.

**Held**: from 09/20/94 to 09/23/94

**Summary**: The paper considers a design of a low/cost fuzzy controller suitable for usage of standard 8-bit and 16-bit microcomputers. The proposals for simplification of fuzzy controller operations including scaling of binary input values into the binary related pages have been given. A matrix-based scanning of the fuzzy rule/table has been used the processing of which does not depend on the total number of control rules. A synthesis procedure of the proposed controller has been described for the problem of angular speed control of a DC motor drive. The proposed simplifcations were implemented and tested experimentally in the laboratory setup by using the 8-bit microprocessor with 8-bit A/D and D/A converters. The experimental results have confirmed the efficiency of the discussed fuzzy control scheme.

**Type of paper**:*Paper in proceedings*

**Title:**Optimization of Parameter Adaptation Algorithm in MRAS

**Authors:**- Crnošija, Petar
- Ban, Željko (134385)
- Marijan, Nenad

**Editors**- Yuksel, Onder

**Proceedings title**: Proceedings of the 7th Mediterranean Electrotechnical Conference

**Language**: engleski

**Place**: Antalya, Turska

**Year**: 1994

**ISBN/ISSN**: 0-7803-1772-6

**Pages**: from 739 to 742

**Meeting**: 7th MELECON 1994.

**Held**: from 04/12/94 to 04/14/94

**Summary**: Application of a simplified parameter adaptation algorithm, which uses a total error of two state variables, has been considered. In this way, a total number of algorithm parameters was reduced to six. Parameter optimization used an integral criterium containing the square error weight with exponential function. By optimizing only two parameters, and keeping the values of other parameters constant, a satisfactory error and speed of adaptation was obtained for a large change of system parameters.

**Type of paper**:*Paper in proceedings*

**Title:**Control of a Hybrid Step Motor Drive by Using a Signal of Reconstructed Magnetic Flux

**Authors:**- Crnošija, Petar
- Nađ, Atila
- Kuzmanović, Branislav (157155)

**Editors**- Jufer, Marcel
- Perriard, Yves

**Proceedings title**: ELECTRIC DRIVE DESIGN AND APPLICATIONS, 1994

**Language**: engleski

**Place**: LAUSANNE, Švicarska

**Year**: 1994

**Pages**: from 197 to 202

**Meeting**: European Power Electronics Chapter Symposium

**Held**: from 10/19/94 to 10/20/94

**Summary**: A method of closed-loop hybrid step motor drive control has been elaborated utilizing signals of reconstructed magnetic flux due to permanent magnets in the rotor. Additionally, it provides compensation of phase resistance changes resulting from motor heating. The proposed method is easy to implement and it may be applied in case of chopper current control and additional series resistance. Responses obtainted by simulating a two-phase hybrid step motor drive with closed-loop control using reconstructed magnetic flux at constant control angle values are presented. Excellent agreement was observed between these responses and those obtained by using an incremental encoder. The proposed method has been found to provide satisfactory compensation of phase resistance changes.

**Type of paper**:*Paper in proceedings*

**Title:**Implementation of a Low-cost Microprocessor-based Fuzzy Controll

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Markić, Marinko

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 39. godišnjeg skupa KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1994

**ISBN/ISSN**: 953-6037-02-5

**Pages**: from 293 to 296

**Meeting**: 39. godišnji skup KoREMA 1994

**Held**: from 04/25/94 to 04/27/94

**Summary**: The paper describes implementation of a low-cost microprocessor-based fuzzy controller applied to the angular speed control loop of a DC motor drive. The proposals for simplification of fuzzy controller operations including register oriented fuzzy encoding and pagewise scaling of controller's digital input values have been given together with a simple way of scanning the fuzzy rule-table, which provides almost invariant computational time consumption with respect to the total number of control rules. The 8-bit microcomputer version of the proposed fuzzy controller was built and tested experimentally in the laboratory setup of a DC drive. The experimental results have confirmed the simplicity and efficiency of the discussed fuzzy control scheme.

**Type of paper**:*Paper in proceedings*

**Title:**A Software Package for Trajectory Planning, Modelling and Control of Articulated Robot Arms

**Authors:**- Laci, Vesna
- Kovačić, Zdenko (114335)
- Crnošija, Petar

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 39. godišnjeg skupa KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1994

**ISBN/ISSN**: 953-6037-02-5

**Pages**: from 440 to 443

**Meeting**: 39. godišnji skup KoREMA 1994

**Held**: from 04/25/94 to 04/27/94

**Summary**: The paper presents a software package developed for educational purposes in the field of robot control. The programm contains trajectory planning, dynamic modelling and control of a three-axis planar articulated robot and an educational five-axis articulated robotic manipulator Rhino XR-3. The programm involves trajectory planning method which ensures accurate approximation of the desired path and includes limits of the velocities and accelerations of each robot joint. Due to the concept of modular programming, various control techniques, such as a PID, robust and fuzzy, were included in the software package.

**Type of paper**:*Paper in proceedings*

**Title:**Fuzzy emulation of a linear PI controller

**Authors:**- Kovačić, Zdenko (114335)
- Štajdohar, Mario
- Vikalo, Haris

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 40. jubilarnog godišnjeg skupa KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1995

**ISBN/ISSN**: 953-6037-08-4

**Pages**: from 337 to 340

**Meeting**: 40. jubilarni godišnji skup KoREMA

**Held**: from 04/19/95 to 04/21/95

**Summary**: The paper describes an analytical approach to fuzzy emulation of conventional linear controllers. Such an approach can be used for initial setting of the centroid values of the output fuzzy sets laying in the fuzzy rule-table before an adaptation or self-organization of the table is started. The design of a fuzzy controller-emulator is explained for the emulation of a linear PI controller. The fuzzy emulator is implemented and experimentally verified in the angular speed control system of a dc motor drive. The experimental results indicate that a full emulation is achieved, and that a time consuming job of setting of the fuzzy rule table can be efficiently automated.

**Type of paper**:*Paper in proceedings*

**Title:**Model reference-adaptive control of electric drives in robotics

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)
- Mujanović, Abdurahman (147371)

**Editors**- Štambuk-Boršić, Neda

**Proceedings title**: Zbornik radova 40. jubilarnog godišnjeg skupa KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1995

**ISBN/ISSN**: 953-6037-08-4

**Pages**: from 492 to 497

**Meeting**: 40. jubilarni godišnji skup KoREMA

**Held**: from 04/19/95 to 04/21/95

**Summary**: Model reference adaptive control methods and ways of their applications in control of robotic drives are considered. Synthesis procedures of parameter, signal and fuzzy signal adaptation control algorithms are described. These algorithms use simplified second-order referent model and the errors of only two state variables, a measured output signal and its derivative (differential). The simplified adaptive control structure and methods have been applied to a permanent magnet synchronous motor drive. The coefficients of parameter and signal adaptation algorithms are determined by computer simulation and optimization. The simulation results indicate that an usage of simplified adaptive control schemes can provide a very good adaptation, and in case of using a signal adaptation, also a very fast adaptation for three times in magnitude large changes of the moment of inertia.

**Type of paper**:*Paper in proceedings*

**Title:**Design and Parameter Adaptation of a Fuzzy Servo Controller

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Vikalo, Haris

**Proceedings title**: Proceedings of the 6th International Fuzzy Systems Association World Congress

**Language**: engleski

**Place**: Sao Paulo, Brazil

**Year**: 1995

**Pages**: from 389 to 392

**Meeting**: 6th International Fuzzy Systems Association World Congress

**Held**: from 07/21/95 to 07/28/95

**Summary**: The paper describes a phase plane-based method of presetting a fuzzy control surface. To compensate for parameter variations, an adaptation mechanism has been added. An adaptation law is based on finding an adaptive gain coefficient which multiplies the output of the fuzzy servo controller and which is determined by the value of a quantitative transient response indicator. The proposed adaptive fuzzy control scheme has been tested in the angular speed control loop of a dcm servo drive and the simulation results proved its effectiveness even in case of large changes of system parameters.

**Type of paper**:*Paper in proceedings*

**Title:**Usage of Bode Plots for Synthesis of Servo Controller Parameters According to the Peak Overshoot of the System Response

**Authors:**- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Ban, Željko (134385)
- Bogdan, Stjepan (189456)

**Editors**- Jufer, Marcel
- Munteanu, R.

**Proceedings title**: Proceedings of the ELECTROMOTION 95 Symposium

**Language**: engleski

**Place**: Cluj-Napoca, Rumunjska

**Year**: 1995

**ISBN/ISSN**: 973-96983-2-8

**Pages**: from 54 to 58

**Meeting**: ELECTROMOTION 95 Symposium

**Held**: from 05/25/95 to 05/26/95

**Summary**: Groups of curves for determination of phase margin and normalized peak overshoot instant of the closed-loop system response are obtained by using open-loop system Bode plots and computer simulations. These curves are worked out for the second-order and third-order servo systems designed according to the technical and symmetrical optimum. Analysis of the curves has yielded approximative relations which may be used for the determination of phase margin from the peak overshoot value and the peak overshoot instant from the gain crossover frequency and peak overshoot. The approximative relations were applied to the synthesis of PI controller parameters in the cascade angular velocity control system of a dc motor drive.

**Type of paper**:*Paper in proceedings*

**Title:**Design and Stability of Self-organizing Fuyyt Control of High-order Systems

**Authors:**- Kovačić, Zdenko (114335)
- Bogdan, Stjepan (189456)
- Crnošija, Petar

**Editors**- Valavanis, K. P.
- Lewis, F. L.
- Barber, K. S.
- Abdallah, C.

**Proceedings title**: Proceedings of the 10th IEEE International Symposium on Inteligent Control

**Language**: engleski

**Place**: Monterey, SAD

**Year**: 1995

**ISBN/ISSN**: 0-7803-2722-5

**Pages**: from 389 to 394

**Meeting**: 10th IEEE International Symposium on Inteligent Control

**Held**: from 08/27/95 to 08/29/95

**Summary**: The paper describes a model reference-based self-organizing fuzzy control scheme which is suitable for high-order systems of well-known structure. The conditions for stability of the learning process, which may be used for determination of the learning coefficient values, have been worked out. The way of improving the system response in the initial stage of learning by using thje referent model-based method of presetting a fuzzy control surface is described. The proposed fuzzy control method has been tested in the angular speed control loop of a dcm servo drive. The results obtained have shown the feasibility and marked effectiveness of the self-organizing fuzzy control scheme indicating a better performance of the system with the preset fuzzy controller than with a blank fuzzy rule-table in the initial stage of learning.

**Type of paper**:*Paper in proceedings*

**Title:**Impact of State Variables Estimator and Modified Signal Adaptation Algorithm on Transient Error in Model Reference Adaptive Control Systems

**Authors:**- Mujanović, Abdurahman (147371)
- Crnošija, Petar

**Editors**- Isidori, A
- Bittanti, S
- Mosca, E
- De Luca, A.
- Di Benedetto, M. D.
- Oriolo, G.

**Proceedings title**: Proceedings of 3rd European Control Conference

**Language**: engleski

**Place**: Rome, Italija

**Year**: 1995

**Pages**: from 482 to 487

**Meeting**: 3rd European Control Conference ECC 95

**Held**: from 09/05/95 to 09/08/95

**Summary**: The Effects of a state variable's estimator and modified signal adaptation algorithm on a transient error in model reference adaptive control systems are discussed. A method of adaptation coefficient evaluation based on anticipated variations of systems parameters and state variables is described. Signal adaptation algorithm parameters providing minimum transient error were determined by computer optimization of the system. The dependence of transient and steady state error on the substitution of a saturation function for the signum function in the adaptation algorithm is studied. The influence of estimator dynamics on maximum transient and steady-state error is analyzed. The dependence of maximum transient and steady-state error on the adaptation coefficient and estimator dynamics is presented graphically.

**Keywords**: Model reference adaptive control, modified signal adaptation, transient error, state observer

**Type of paper**:*Paper in proceedings*

**Title:**Self Tuning Time Optimal Algorithm for Thyristor Converter Current Control

**Authors:**- Bogdan, Stjepan (189456)
- Kovačić, Zdenko (114335)
- Crnošija, Petar

**Proceedings title**: Proceedings of the 6th European Conference on Power Electronics and Applications

**Language**: engleski

**Place**: Sevilla, Španjolska

**Year**: 1995

**Pages**: from 3.716 to 3.720

**Meeting**: 6th European Conference on Power Electronics and Applications

**Held**: from 09/18/95 to 09/21/95

**Summary**: A linear dead beat algorithm applied to the current control of a thyristor convereter loaded with a DC motor is described. A very simple algorithm for estimation of the thyristor converter gain coefficient has been developed. based on the estimated gain coefficient value, adaptation algorithms which perform the self-tuning of the dead beat algorithm coefficients have been developed. The usage of the proposed algorithmsensures that transient response of thyristor converter current is completed within a single current pulsation both in the continuous and the discontinuous mode of conduction.

**Type of paper**:*Paper in proceedings*

**Title:**Self-tuning Time Optimal Control of Servosystems by Using a Reference Model and a Sensitivity Model

**Authors:**- Bogdan, Stjepan (189456)
- Crnošija, Petar
- Kovačić, Zdenko (114335)
- Stajić, Dušan

**Proceedings title**: Proceedings of the 4th IEEE Conference on Control Applications

**Language**: engleski

**Place**: Albany, USA

**Year**: 1995

**ISBN/ISSN**: 0-7803-2550-8

**Pages**: from 730 to 735

**Meeting**: 4th IEEE CONFERENCE ON CONTROL APPLICATIONS

**Held**: from 09/28/95 to 09/29/95

**Summary**: A structure of a self-tuning time optimal control system which achieves a good and fast adaptation by using a reference model and a sensitivity model is described. A procedure of determination the time optimal control algorithm parameters by using the reference model and the sensitivity model is elaborated. A way of including and unmodelled dynamics is proposed. Simulation results indicate that the proposed structure provides very good adaptation to variations of system parameters within only two to three stepwise changes of the referent input.

**Type of paper**:*Ph.D.*

**Title:**Fuzzy model reference adaptive control

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Author**: KOVAČIĆ ZDENKO

**Date of defense**: 12/08/93

**Language**: hrvatski

**Number of pages**: 142

**Type of paper**:*M.A.*

**Title:**Suboptimal rotation speed control of DC motor drive

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Author**: ADLER NEVENKA

**Date of defense**: 12/23/91

**Language**: hrvatski

**Number of pages**: 154

**Type of paper**:*M.A.*

**Title:**DC motor drive parameter identification

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 12/23/91

**Language**: hrvatski

**Number of pages**: 149

**Type of paper**:*M.A.*

**Title:**Adaptive time optimal control of thyristor converter

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 06/23/93

**Language**: hrvatski

**Number of pages**: 92

**Type of paper**:*Mentorship*

**Title:**Suboptimal rotation speed control of DC motor drive

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 12/23/91

**Number of pages**: 154

**Author**: Ban magistar znanosti Željko

**Degree level**: M.A.

**Type of paper**:*Mentorship*

**Title:**DC motor drive parameter identification

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 12/23/91

**Number of pages**: 149

**Author**: Banović Zrinko

**Degree level**: M.A.

**Type of paper**:*Mentorship*

**Title:**Adaptive time optimal control of thyristor converter

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 06/23/93

**Number of pages**: 92

**Author**: Bogdan magistar znanosti Stjepan

**Degree level**: M.A.

**Type of paper**:*Mentorship*

**Title:**Fuzzy model reference adaptive control

**Faculty**: Elektrotehnički fakultet Sveučilište u Zagrebu

**Date of defense**: 12/08/93

**Number of pages**: 142

**Author**: Kovačić doktor znanosti Zdenko

**Degree level**: Ph.D.

**Type of paper**:*Computer program*

**Title:**SIMKO

**Authors:**- Mudrovčić, Krešimir

**Odering party**: Elektrotehnički fakultet

**Institution depot**: Elektrotehnički fakultet

**HW platform**: PC

**Operating system**: DOS

**Programming language**: Pascal 6.0

**Year**: 1993

**Summary**: Cascade control system simulation program.

**Type of paper**:*Computer program*

**Title:**SIMKOMO

**Authors:**- Mendiković, Dario
- Krndelj, Hrvoje

**Odering party**: Elektrotehnički fakultet

**Institution depot**: Elektrotehnički fakultet

**HW platform**: PC

**Operating system**: DOS

**Programming language**: Borland C++ 2.0

**Year**: 1993

**Summary**: Simulation program for hybrid step motor drive.

**Type of paper**:*Computer program*

**Title:**WINPMSM

**Authors:**- Mijačević, Velibor

**Odering party**: Elektrotehnički fakultet

**Institution depot**: Elektrotehnički fakultet

**HW platform**: PC

**Operating system**: DOS

**Programming language**: Visual Basic & Borland C++

**Year**: 1993

**Summary**: Simulation program for permanent magnet synchronuous motordrive.

**Type of paper**:*Computer program*

**Title:**WINVCIM

**Authors:**- Mijačević, Velibor

**Odering party**: Elektrotehnički fakultet

**Institution depot**: Elektrotehnički fakultet

**HW platform**: PC

**Operating system**: DOS

**Programming language**: Visual Basic & Borland C++

**Year**: 1993

**Summary**: Simulation program for vector controlled induction motor drive.

**Type of paper**:*Computer program*

**Title:**ROB

**Authors:**- Laci, Vesna

**Odering party**: Elektrotehnički fakultet

**Institution depot**: Elektrotehnički fakultet

**HW platform**: PC

**Operating system**: DOS

**Programming language**: Borland C++

**Year**: 1993

**Summary**: Simulation program for trajectory planning, modelling and controlof articulated robot arms.

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