A Model Reference Adaptive Control (MRAC) System for the Pneumatic Valve of the Bottle Washer in Beverages Using Simulink

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 ) M2 '   '    *  '  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 62    ''    )        '    &'   )   '   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 -  )*  = 5P     '    2 <    ' N


 
     3
5-6














( '  )   E L Q =  A  2 E L > E '6  ' * =  ' *   HLI2
&'62    

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 ()  'N6*' HI M 2 (  "" 1  *   ) '   ) '* !L HI = * > &)C 9 J   &' '62 0 HLI '2 &  ( *  '   *  *   )     '    ) '  )  H I >  2 A ( 12 1   1 +2 B;0 #"#$!!$ #"!L!U2 % /!- > > HI ( * ( 2 A  7  ( 12 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 02 $A 1 /  2 ()  'N''6B1/ $ HI 4 > 4B , 8' $ 4$!" B , K)) Tawanda Mushiri et al / Procedia Manufacturing (2016) 364 – 373 HI 12
2 Z +)2 = 
 = B HLI M2 + 3 ""# '   9 4 H I 4*2 / J  ' -) '*   J) + HI =   ' 7  = ) N   H#I B62
 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  /