A Model Reference Adaptive Control (MRAC) System for the Pneumatic Valve of the Bottle Washer in Beverages Using Simulink 2351 9789 © 2016 Published by Elsevier B V This is an open access article unde[.]
Available online at www.sciencedirect.com ScienceDirect Procedia Manufacturing (2016) 364 – 373 0 1 / ) 2 / #2 ! 3 * #2 4 5 6 ( 7 ( 1 7(1 /* ' - ' , 8' , 9 / 6 & '2):2 () '')2 1' )' ! " ! #$$%!&' ()#* & +,!&' ( !-%. ! /+, ; ' ) ' ) ' 8' ' ) ' '* ' ) ' ) '* ) &' ' ) ' ' '' ' ' ) 6 '' ' ' ' '' ' ) ' ' &' ' < 2 ) )* ) &' )* = * > 1 (&>(, ' ' ) ) ! "" ) ! $ ?12 *2 ' @ @ &' (0 ' < ')* ' * ) ) 2 2 2 ' * & ' ' ) ! *2 *A ' 7 ( = * 1 7(=1 7(1 ' 0B / ' 7(=1 ' C 6 7(1 0B % &' ( ' )' )* + ,- © 2016 Published by Elsevier B.V This is an open access article under the CC BY-NC-ND license ! )* ' . / # (http://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the organizing committee of SMPM 2017 0, 1 7 ( 1 7(12 2 , '2 2 7 ( = * 1 7(=12 ( 0 (0 : 1 ' 2 1 'D 2351-9789 © 2016 Published by Elsevier B.V This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the organizing committee of SMPM 2017 doi:10.1016/j.promfg.2016.12.003 365 Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 ' E ' 6 ' & E F E 3E E - 5 E 6 E * , )* ''* * ' ' ' &' G 2 ) 2 ) !) )2 H! I (' ' > >2 J 2 K ). > ,6 >) ) 7) * ' ) HL2 I 7) 2 ! ) '' ' HI &' ) *2 < *2 *2 * * ' ' (0 ) ) ' ' ' * * H#I = * => ' '*2 ))* '*2 (0 ) ' * ) ' ' ' H$I &' = * > 1 =>1 ' ) G ) ' ' 0B H"I 1 ' '2 ' ' =>1 ' C ' < ' * M2 ' =>1 ' ' ' HI ) ) G ' )' ' C ' C 0 ' * ' ' < ' * ' ' ' ' 7 ( 1 7(1 * ' < ' * ' ) ' 4 ' * J * &' 4 ' '< 5 ) 2 J * HI &' * 2 ' ' ) '2 ) ' 2 6 ' 2 ) 2 2 ) ' HI &' ' ' 4 B )! >6 ) ' = N 4 ) ' HI ) ' ) ' J ) ' ' ' ' ' ) < HI &' ) * ' ) ' ' &' ) ' ' '' ' ) , ' ' ' C '* &' ) ! * ) &'* ' * ' '* ' * 2 ' 366 Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 ' ) * &' ' ) )* G ) &' ) ' '' ' ' ' ) &' ) ' , ' ) '2 ' ' ' ) &' ) ) ' ' ) ) ' ) '* &' ) ' G )* ' = , 0 =,0 ' 2 ' ' ) )6 HI &' ' ' ) 2 * < * ) &' ) ' * ' 7(1 ) * * ' < ' ' * * )' &' ' ' ) ' ' )' ' * * ' ' * ' 2 ) '' ) *2 ) ' )6 ' ' ' ' = * ' ' * L2 ) M 2 ' ' * ' 2 *2 * 6 O * ) ) HLI * '' ' ' ) 2 H I &' * ' )* 6 * ) &' ' ' 7(1 H2 #I = N 1 7(1 ' '2 ' . )* * G ' ' , ' ' 2 ' ' ' 6 )* ' HI &* * 2 J 2 L 2 ' 2 6 2 ) ) * . HI &' A (&>(, ' * / 6 8' * * * ' ' &' ' ' ) &' ' ) ' ' 4 ) ' ' ' 0'6 ( * ' ' ' ' ' * )* C 6 2 '' ) ' &' ) ' 2 2 2 ' & ) ' )' 2 *A ' ' ' ' 367 Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 &' 7(1 * ' ' 0B =>1 &' / 6 ! &' ' ' * 7(=1 ' ')* ' ' * ) )* => &' ' 7(1 '' * * ' 6 ' &' ' ' ' * ' * ' =>( &' =>( ' * )' 6 ' &' ) ' ' ' ' ' 6 ) ' =>1 ) ' )* ' =>1 &' * 0B ' ' * ) ' =>1 ) ' ' '* ' ) G &' 0& ) ' &' 7(1 ' 0& ' ) *&-&8 & = N - )* = 5 P ' 2 < ' N 3 5-6 ( ' ) E L Q = A 2 E L > E '6 ' * = ' * HLI2 &'6 2 R# &6 ' '6 ' * ) ) E LS S E 5#6 368 Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 *&#& &' ' G ' ' )* ' * &' ' 6 )* ' ' &6 ' 2 ' * ) &' ) 6 ' L # L$ L 9 # L$ L # L$ *&:&; &' ' 8' , E < * ' * E " " *&*&! = LN )6 7(1 ' 0& 369 Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 =L ' ' ' * * ' 0& &' ) ' * &' ' '' ' ' ) * 2 &' / 6 '' ' ' ' &' 6 7(1 0B2 7(1 ' =>1 0B ' * ) *&)& = N / 6 - 7(1 ' 0B *&%& ; " !2 $A 0 ' * X2 0 / 0 3 #$ $ # ##"2 +2 () 2 H"I 532 1' 7M 8' 2 A = * ( 1 / 1 / B2 % 0 3 1 ( "# $$$#2 - 5 HI >!M * M2 - "" 7 ( = * 1 ! /* ' HI 4 2 1 *A () ' N 6 * ' HI M 2 ( "" 1 * ) ' ) ' * !L H I = * > &)C 9 J &' '62 0 HLI '2 & ( * ' * * ) ' ) ' ) H I > 2 A ( 1 2 1 1 + 2 B;0 # "#$!!$ #"!L!U2 % / !- > > HI ( * ( 2 A 7 ( 1 2 1 /* 2 7)2 ( 2 - Y2 + * > / /* +;>// H#I J6* &2 5* >2 ' &2 ' /2 . ( &2 A ;B+> 7+=+7+51+ (B(&0-+ 1;5&7;> /T/&+ =;7 ;0/&97+ 7+J9>(&0;5 05 1;&&;5 J05505J2 /(00+ 2 "' ! ' 3 * 2 / )'2 / ' ( % /(00+ H$I 1,62 A , 7 J H"I 32 A /' & ) M +C' , 1 2 BM 1 # BM HI &' ' M & / 2 A &' 7 > &' = N () ' HI 5;M 1 / J 0 2 0 2 $A 1 / 2 () ' N ' '6 B 1 / $ HI 4 > 4B , 8' $ 4$!" B , K )) Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 H I 12 2 Z +)2 = = B HLI M 2 + 3 ""# ' 9 4 H I 4*2 / J ' -) '* J) + HI = ' 7 = ) N H#I B6 2 L > ) 373 ... Published by Elsevier B.V This is an open access article under the CC BY-NC-ND license ! )* '' . / # (http://creativecommons.org/licenses/by-nc-nd/4.0/)... (http://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the organizing committee of SMPM 2017 0, 1 7 ( 1 7(12 2 , ''2 2... * & '' '' ) ! *2 *A '' 7 ( = * 1 7(=1 7(1 '' 0B /