Mohamed Chadli is a senior lecturer and research supervisor at the University of Picardie Jules Verne (UPJV) in France. His main research interests lie in robust control, the diagnosis and fault tolerant control of polytopic systems and applications for automobiles. He is a senior member of the IEEE, and Vice President of the AAI Club as part of SEE-France. He is the author/co-author of 3 books, book chapters and more than 100 articles published in international journals and conferences. Hervé Coppier is a lecturing researcher at ESIEE-Amiens in France. He has collaborated with industrialists in the field of automation and industrial computing, particularly with CERN, and has spearheaded various international European projects.

• Chapter 1. Introduction 1Chapter 2. Modeling Tools 7Sébastien CABARET and Mohammed CHADLI2.1. Introduction 72.2. Models 92.2.1. Knowledge models 92.2.2. Behavioral models 112.3. The classic parametric identification methods 142.3.1. Graphic methods 142.3.2. Algorithmic methods 152.3.3. Validation and estimation of the model identified 192.4. Multi-model approach 232.4.1. Introduction 232.4.2. Techniques for obtaining multi-models 232.5. Bibliography 40Chapter 3. Control Tools 43Mohammed CHADLI and Hervé COPPIER3.1. Linear controls 433.1.1. The PID corrector 433.1.2. The Smith predictor 443.1.3. Predictive functional control 493.1.4. Generalized predictive control 553.1.5. The RST controller 603.1.6. Implementation of the advance algorithms on a programmable logic controller: results 633.2. Multi-model control 823.2.1. Introduction 823.2.2. Stability analysis 833.2.3. State feedback control 863.2.4. Reconstructed state feedback control 903.2.5. Static output feedback control 933.2.6. Conclusion 973.3. Bibliography 98Chapter 4. Application to Cryogenic Systems 103Marco PEZZETTI, Hervé COPPIER and Mohammed CHADLI4.1. Introduction 1034.1.1. Cryogenics and its applications at CERN 1034.1.2. Some basics about cryogenics 1094.2. Modeling and control of a cryogenic exchanger for the NA48 calorimeter at CERN 1124.2.1. Description of the cryogenic installations in the NA48 calorimeter 1154.2.2. Thermal model 1184.2.3. The TDC (Time Delay Control) corrector: application to a liquid-krypton cryogenic exchanger 1204.3. Modeling and control of the cryogenics of the ATLAS experiment at CERN 1284.3.1. Context and objectives of the study 1284.3.2. Process of identification of cryogenic systems 1304.3.3. Experimental protocol of parametric identification 1364.3.4. Mono-variable system 1424.3.5. Compensation for the delay with a Smith controller based on the PI corrector UNICOS 1494.3.6. Multi-variable system 1514.4. Conclusion 1584.4.1. Motivations 1594.4.2. Main contributions 1604.5. Appendices 1604.5.1. Appendix A 1604.6. Bibliography 164Chapter 5. Applications to a Thermal System and to Gas Systems  165Sébastien CABARET and Hervé COPPIER5.1. Advanced control of the steam temperature on exiting a superheater at a coal-burning power plant 1655.1.1. The issue 1655.1.2. The internal model corrector (IMC) 1665.1.3. Multi-order regulator: 4th-order IMC 1695.1.4. Results 1715.2. Application to gas systems 1745.2.1. The gas systems 1745.2.2. The major regulations 1805.2.3. The control system and acquisition of measurements 1835.2.4. Modeling, identification and experimental results 1845.3. Conclusion 2025.4. Bibliography 202Chapter 6. Application to Vehicles  203Elie KAFROUNI and Mohammed CHADLI6.1. Introduction 2036.2. Hydraulic excavator-loader 2046.2.1. Conventional manual piloting 2056.3. Principle of movement of a part of the arm 2066.3.1. Role of the drivers 2066.3.2. Objectives 2076.3.3. Functional specification of the interface 2116.3.4. Limit of articular position and velocities 2386.3.5. Articular limits 2486.3.6. Limits of the articular velocities 2596.3.7. 3D simulation 2676.3.8. Onboard computer architecture 2716.3.9. Conclusion 2756.4. Automobiles 2756.4.1. Models of automobiles 2756.4.2. Validation of vehicle models 2866.4.3. Robust control of the vehicle’s dynamics 2986.4.4. Conclusion 3186.5. Bibliography 319Chapter 7. Real-time Implementation 323Marco PEZZETTI and Hervé COPPIER7.1. Implementation of algorithms on real-time targets around distributed architectures 3237.1.1. Introduction 3237.1.2. Object-oriented programming in the case of a framework 3247.1.3. MultiController 3337.2. A distributed architecture for control (rapidity/reliability): excavator-loader testing array 3477.2.1. Objectives of the testing array 3477.2.2. Presentation of the onboard computer platform 3487.2.3. Examination of the rapidity of the onboard computer structure 3507.2.4. Results 3587.3. Conclusion 3617.4. Bibliography 362General Conclusion 363List of Authors 367Index 369

Mohamed Chadli is a senior lecturer and research supervisor at the University of Picardie Jules Verne (UPJV) in France. His main research interests lie in robust control, the diagnosis and fault tolerant control of polytopic systems and applications for automobiles. He is a senior member of the IEEE, and Vice President of the AAI Club as part of SEE-France. He is the author/co-author of 3 books, book chapters and more than 100 articles published in international journals and conferences. Hervé Coppier is a lecturing researcher at ESIEE-Amiens in France. He has collaborated with industrialists in the field of automation and industrial computing, particularly with CERN, and has spearheaded various international European projects.

• Chapter 1. Introduction 1Chapter 2. Modeling Tools 7Sébastien CABARET and Mohammed CHADLI2.1. Introduction 72.2. Models 92.2.1. Knowledge models 92.2.2. Behavioral models 112.3. The classic parametric identification methods 142.3.1. Graphic methods 142.3.2. Algorithmic methods 152.3.3. Validation and estimation of the model identified 192.4. Multi-model approach 232.4.1. Introduction 232.4.2. Techniques for obtaining multi-models 232.5. Bibliography 40Chapter 3. Control Tools 43Mohammed CHADLI and Hervé COPPIER3.1. Linear controls 433.1.1. The PID corrector 433.1.2. The Smith predictor 443.1.3. Predictive functional control 493.1.4. Generalized predictive control 553.1.5. The RST controller 603.1.6. Implementation of the advance algorithms on a programmable logic controller: results 633.2. Multi-model control 823.2.1. Introduction 823.2.2. Stability analysis 833.2.3. State feedback control 863.2.4. Reconstructed state feedback control 903.2.5. Static output feedback control 933.2.6. Conclusion 973.3. Bibliography 98Chapter 4. Application to Cryogenic Systems 103Marco PEZZETTI, Hervé COPPIER and Mohammed CHADLI4.1. Introduction 1034.1.1. Cryogenics and its applications at CERN 1034.1.2. Some basics about cryogenics 1094.2. Modeling and control of a cryogenic exchanger for the NA48 calorimeter at CERN 1124.2.1. Description of the cryogenic installations in the NA48 calorimeter 1154.2.2. Thermal model 1184.2.3. The TDC (Time Delay Control) corrector: application to a liquid-krypton cryogenic exchanger 1204.3. Modeling and control of the cryogenics of the ATLAS experiment at CERN 1284.3.1. Context and objectives of the study 1284.3.2. Process of identification of cryogenic systems 1304.3.3. Experimental protocol of parametric identification 1364.3.4. Mono-variable system 1424.3.5. Compensation for the delay with a Smith controller based on the PI corrector UNICOS 1494.3.6. Multi-variable system 1514.4. Conclusion 1584.4.1. Motivations 1594.4.2. Main contributions 1604.5. Appendices 1604.5.1. Appendix A 1604.6. Bibliography 164Chapter 5. Applications to a Thermal System and to Gas Systems  165Sébastien CABARET and Hervé COPPIER5.1. Advanced control of the steam temperature on exiting a superheater at a coal-burning power plant 1655.1.1. The issue 1655.1.2. The internal model corrector (IMC) 1665.1.3. Multi-order regulator: 4th-order IMC 1695.1.4. Results 1715.2. Application to gas systems 1745.2.1. The gas systems 1745.2.2. The major regulations 1805.2.3. The control system and acquisition of measurements 1835.2.4. Modeling, identification and experimental results 1845.3. Conclusion 2025.4. Bibliography 202Chapter 6. Application to Vehicles  203Elie KAFROUNI and Mohammed CHADLI6.1. Introduction 2036.2. Hydraulic excavator-loader 2046.2.1. Conventional manual piloting 2056.3. Principle of movement of a part of the arm 2066.3.1. Role of the drivers 2066.3.2. Objectives 2076.3.3. Functional specification of the interface 2116.3.4. Limit of articular position and velocities 2386.3.5. Articular limits 2486.3.6. Limits of the articular velocities 2596.3.7. 3D simulation 2676.3.8. Onboard computer architecture 2716.3.9. Conclusion 2756.4. Automobiles 2756.4.1. Models of automobiles 2756.4.2. Validation of vehicle models 2866.4.3. Robust control of the vehicle’s dynamics 2986.4.4. Conclusion 3186.5. Bibliography 319Chapter 7. Real-time Implementation 323Marco PEZZETTI and Hervé COPPIER7.1. Implementation of algorithms on real-time targets around distributed architectures 3237.1.1. Introduction 3237.1.2. Object-oriented programming in the case of a framework 3247.1.3. MultiController 3337.2. A distributed architecture for control (rapidity/reliability): excavator-loader testing array 3477.2.1. Objectives of the testing array 3477.2.2. Presentation of the onboard computer platform 3487.2.3. Examination of the rapidity of the onboard computer structure 3507.2.4. Results 3587.3. Conclusion 3617.4. Bibliography 362General Conclusion 363List of Authors 367Index 369

Mohamed Chadli is a senior lecturer and research supervisor at the University of Picardie Jules Verne (UPJV) in France. His main research interests lie in robust control, the diagnosis and fault tolerant control of polytopic systems and applications for automobiles. He is a senior member of the IEEE, and Vice President of the AAI Club as part of SEE-France. He is the author/co-author of 3 books, book chapters and more than 100 articles published in international journals and conferences. Hervé Coppier is a lecturing researcher at ESIEE-Amiens in France. He has collaborated with industrialists in the field of automation and industrial computing, particularly with CERN, and has spearheaded various international European projects.

• Chapter 1. Introduction 1Chapter 2. Modeling Tools 7Sébastien CABARET and Mohammed CHADLI2.1. Introduction 72.2. Models 92.2.1. Knowledge models 92.2.2. Behavioral models 112.3. The classic parametric identification methods 142.3.1. Graphic methods 142.3.2. Algorithmic methods 152.3.3. Validation and estimation of the model identified 192.4. Multi-model approach 232.4.1. Introduction 232.4.2. Techniques for obtaining multi-models 232.5. Bibliography 40Chapter 3. Control Tools 43Mohammed CHADLI and Hervé COPPIER3.1. Linear controls 433.1.1. The PID corrector 433.1.2. The Smith predictor 443.1.3. Predictive functional control 493.1.4. Generalized predictive control 553.1.5. The RST controller 603.1.6. Implementation of the advance algorithms on a programmable logic controller: results 633.2. Multi-model control 823.2.1. Introduction 823.2.2. Stability analysis 833.2.3. State feedback control 863.2.4. Reconstructed state feedback control 903.2.5. Static output feedback control 933.2.6. Conclusion 973.3. Bibliography 98Chapter 4. Application to Cryogenic Systems 103Marco PEZZETTI, Hervé COPPIER and Mohammed CHADLI4.1. Introduction 1034.1.1. Cryogenics and its applications at CERN 1034.1.2. Some basics about cryogenics 1094.2. Modeling and control of a cryogenic exchanger for the NA48 calorimeter at CERN 1124.2.1. Description of the cryogenic installations in the NA48 calorimeter 1154.2.2. Thermal model 1184.2.3. The TDC (Time Delay Control) corrector: application to a liquid-krypton cryogenic exchanger 1204.3. Modeling and control of the cryogenics of the ATLAS experiment at CERN 1284.3.1. Context and objectives of the study 1284.3.2. Process of identification of cryogenic systems 1304.3.3. Experimental protocol of parametric identification 1364.3.4. Mono-variable system 1424.3.5. Compensation for the delay with a Smith controller based on the PI corrector UNICOS 1494.3.6. Multi-variable system 1514.4. Conclusion 1584.4.1. Motivations 1594.4.2. Main contributions 1604.5. Appendices 1604.5.1. Appendix A 1604.6. Bibliography 164Chapter 5. Applications to a Thermal System and to Gas Systems  165Sébastien CABARET and Hervé COPPIER5.1. Advanced control of the steam temperature on exiting a superheater at a coal-burning power plant 1655.1.1. The issue 1655.1.2. The internal model corrector (IMC) 1665.1.3. Multi-order regulator: 4th-order IMC 1695.1.4. Results 1715.2. Application to gas systems 1745.2.1. The gas systems 1745.2.2. The major regulations 1805.2.3. The control system and acquisition of measurements 1835.2.4. Modeling, identification and experimental results 1845.3. Conclusion 2025.4. Bibliography 202Chapter 6. Application to Vehicles  203Elie KAFROUNI and Mohammed CHADLI6.1. Introduction 2036.2. Hydraulic excavator-loader 2046.2.1. Conventional manual piloting 2056.3. Principle of movement of a part of the arm 2066.3.1. Role of the drivers 2066.3.2. Objectives 2076.3.3. Functional specification of the interface 2116.3.4. Limit of articular position and velocities 2386.3.5. Articular limits 2486.3.6. Limits of the articular velocities 2596.3.7. 3D simulation 2676.3.8. Onboard computer architecture 2716.3.9. Conclusion 2756.4. Automobiles 2756.4.1. Models of automobiles 2756.4.2. Validation of vehicle models 2866.4.3. Robust control of the vehicle’s dynamics 2986.4.4. Conclusion 3186.5. Bibliography 319Chapter 7. Real-time Implementation 323Marco PEZZETTI and Hervé COPPIER7.1. Implementation of algorithms on real-time targets around distributed architectures 3237.1.1. Introduction 3237.1.2. Object-oriented programming in the case of a framework 3247.1.3. MultiController 3337.2. A distributed architecture for control (rapidity/reliability): excavator-loader testing array 3477.2.1. Objectives of the testing array 3477.2.2. Presentation of the onboard computer platform 3487.2.3. Examination of the rapidity of the onboard computer structure 3507.2.4. Results 3587.3. Conclusion 3617.4. Bibliography 362General Conclusion 363List of Authors 367Index 369