Control System Theory Research Articles

An efficient iterative method for matrix sign function with application in stability analysis of control systems using spectrum splitting

The goal of this study is to construct a novel iterative method to compute the matrix sign function using a different approach. It is discussed that the new method is globally convergent and asymptotically stable. It achieves the sixth order of convergence and only requires five matrix–matrix multiplications. The obtained results are extended to compute the number of eigenvalues of a matrix in a specified region of the complex plane. This is done by performing appropriate sequence of matrix sign computations. An application of this technique has been discussed in stability analysis of linear time‐invariant dynamic systems in control theory. Numerical results have been given to justify the effectual performance and superiority of the proposed method. Matrices of various sizes have been considered for this purpose.

Identifying dominant flow structures in a bubbling gas-particle fluidized bed using the spectral proper orthogonal decomposition

This study applies the spectral proper orthogonal decomposition (SPOD) to analyze the spatio-temporal characteristics associated with the flow fields of a bubbling fluidized bed. The results suggest there is no singular dominant frequency linked to the highest energy levels; rather, there is a spectrum of frequencies. These frequencies are consistent with the natural frequency from published correlations. SPOD analysis allows for the capture of quasi-periodicity associated with the flow that arises from the semi-periodic evolution of bubbles in the bed and reveals the presence of multiple co-existing spatio-temporal patterns in the particle volume fraction and velocity fields. The dominant SPOD modes can be used for prediction, control, design, optimization, and reduced-order system representation. The capability of a few dominant modes to yield a low-rank reconstruction of the flow fields is demonstrated. The intermittent behavior of the bed is examined through frequency-time analysis of the gas pressure field.

Bandgap Dynamics in Locally Resonant Metastructures: A General Theory of Internal Resonator Coupling

The dynamics of metastructures, incorporating both conventional and internally coupled resonators, are investigated to enhance vibration suppression capabilities through a novel mathematical framework. A close-form formulation and a transfer function methodology are introduced, integrating control system theory with metastructure analysis, offering new insights into the role of internal coupling. The findings reveal that precise internal coupling, when matched exactly to the stiffness of the resonator, enables the clear formation of secondary bandgaps, significantly influencing the vibration isolation efficacy of the metastructure. Although the study primarily focuses on theoretical and numerical analyses, the implications of adjusting mass distribution on resonators are also explored. This formulation methodology enables the adjustment of bandgap characteristics, underscoring the potential for adaptive control over bandgaps in metastructures. Such capabilities are crucial for tailoring the vibration isolation and energy harvesting functionalities in mechanically resonant systems, especially when applied to demanding heavy-duty applications.

Spacecraft Homography Pose Estimation with Single-Stage Deep Convolutional Neural Network.

Spacecraft pose estimation using computer vision has garnered increasing attention in research areas such as automation system theory, control theory, sensors and instruments, robot technology, and automation software. Confronted with the extreme environment of space, existing spacecraft pose estimation methods are predominantly multi-stage networks with complex operations. In this study, we propose an approach for spacecraft homography pose estimation with a single-stage deep convolutional neural network for the first time. We formulated a homomorphic geometric constraint equation for spacecraft with planar features. Additionally, we employed a single-stage 2D keypoint regression network to obtain homography 2D keypoint coordinates for spacecraft. After decomposition to obtain the rough spacecraft pose based on the homography matrix constructed according to the geometric constraint equation, a loss function based on pixel errors was employed to refine the spacecraft pose. We conducted extensive experiments using widely used spacecraft pose estimation datasets and compared our method with state-of-the-art techniques in the field to demonstrate its effectiveness.

Theoretical Framework and Research Proposal for Energy Utilization, Conservation, Production, and Intelligent Systems in Tropical Island Zero-Carbon Building

This study aims to theoretically explore the technological systems of tropical island zero-carbon building (TIZCB) to scientifically understand the characteristics of these buildings in terms of energy utilization, energy conservation, energy production, and intelligent system mechanisms. The purpose is to address the inefficiencies and resource wastage caused by the traditional segmented approach to building energy consumption management. Thus, it seeks to achieve a comprehensive understanding and application of the zero-carbon building (ZCB) technology system. This article focuses on the demands for energy-efficient comfort and innovative industrialization in construction. Through an analysis of the characteristics of TIZCB and an explanation of their concepts, it establishes a theoretical framework for examining the system mechanisms of these buildings. Additionally, it delves into the energy utilization, energy conservation, energy production, and intelligent system from macro, meso, and micro perspectives. This approach results in the development of an implementation strategy for studying the mechanisms of energy usage, conservation, and intelligent production systems in TIZCB. The results show that: (1) this study delves into the theoretical underpinnings of TIZCB, emphasizing their evolution from a foundation of low-carbon and near-zero energy consumption. The primary goal is to achieve zero carbon emissions during building operation, with reliance on renewable energy sources. Design considerations prioritize adaptation to high-temperature and high-humidity conditions, integrating regional culture along with the utilization of new materials and technologies. (2) A comprehensive technical framework for TIZCB is proposed, encompassing energy utilization, conservation, production capacity, and intelligent systems. Drawing from systems theory, control theory, and synergy theory, the research employs a macro–meso–micro analytical framework, offering extensive theoretical support for the practical aspects of design and optimization. (3) The research implementation plan establishes parameterized models, unveiling the intricate relationships with building performance. It provides optimized intelligent system design parameters for economically viable zero-carbon operations. This study contributes theoretical and practical support for the sustainable development of TIZCB and aligns with the dual carbon strategy in China and the clean energy free trade zone construction in Hainan.

Enhancing hydro-epidemiological modelling of nearshore coastal waters with source-receptor connectivity study

Faecal Indicator Organism (FIO) concentrations in nearshore coastal waters may lead to significant public health concerns and economic loss. A three-dimensional numerical source-receptor connectivity study was conducted to improve the modelling of FIO transport and decay processes and identify major FIO sources impacting sensitive receptors (source apportionment). The study site was Swansea Bay, UK and the effects of wind, density, and tracer microbe (surrogate FIO) decay models were investigated by comparing the model simulations to microbial tracer field studies. The relevance of connectivity tests to source apportionment was demonstrated by hindcasting FIO concentration in Swansea Bay with the identified FIO source and the Impulse Response Function (IRF) in Control System theory. This is the first time the IRF approach has been applied for FIO modelling in bathing waters. Results show the importance of density, widely ignored in fully mixed water bodies, and the potential for biphasic decay models to improve prediction accuracy. The microbe-carrying riverine freshwater, having a smaller hydrostatic pressure, could not intrude on the heavier seawater and remained in the nearshore areas. The freshwater and the associated tracer microbes then travelled along the shoreline and reached bathing water sites. This effect cannot be faithfully modelled without the inclusion of the density effect. Biphasic decay models improved the agreement between measured and modelled microbe concentrations. The IRF hindcasted and measured FIO concentrations for Swansea Bay agreed reasonably, demonstrating the importance of connectivity tests in identifying key FIO sources. The findings of this study, namely enhancing hydro-epidemiological modelling and highlighting the effectiveness of connectivity studies in identifying key FIO sources, directly benefit hydraulics and water quality modellers, regulatory authorities, water resource managers and policy.

Evaluasi penganggaran, pengalokasian, penyaluran, penatausahaan, pertanggungjawaban dan pelaporan dana desa pada Desa Pineleng Satu Timur dan Pineleng Dua Indah

The village fund can create development and empower villages toward a fair, prosperous, and prosperous society. This study aims to evaluate the processes of Budgeting, Allocation, Distribution, Administration, Accountability, and Reporting of Village Funds in the villages of Pineleng Satu Timur and Pineleng Dua Indah to determine whether they are adequate or not by examining their compliance with prevailing regulations and the theory of the Government's Internal Control System. The method used in this research is a qualitative descriptive method. The results show that the processes of Budgeting, Allocation, Distribution, Accountability, and Reporting of Village Funds in Pineleng Satu Timur and Pineleng Dua Indah villages are in accordance with the prevailing regulation, namely PMK Number 201/PMK.07/2022 concerning the Internal Control System. However, the administration process of the village funds in these villages cannot yet be considered compliant with the prevailing regulations. The budgeting to reporting processes of the village funds in both villages can be deemed adequate, considering the presence of elements of the Internal Control System in each stage from budgeting to reporting of the village funds.

Research on Flexible Braking Control of a Crawler Crane during the Free-Fall Hook Process

Due to the large inertia and strong impact accompanying the free-falling hook process of crawler cranes, it is difficult to meet the demand for flexible and smooth braking control under different weight load conditions. Therefore, this paper takes the free-fall hook system as the research object and combines system operation characteristics and control theory to carry out research on flexible braking control of the free-fall hook system. Firstly, a joint simulation platform of MATLAB (version 2018b) and AMESim (version 2019.1) software is built to theoretically analyze the key components of the free-fall hook system (proportional pressure-reducing valve, winch reducer, and wet clutch). Secondly, a mathematical model of the braking process is established, and the pressure control demand is clarified to analyze the reasons for the existence of dead zones and hysteresis loops in the system. Meanwhile, it is found that the dead zones and hysteresis loops existing in the pressure output of the pressure-reducing valve are the main factors of flexibility with load braking. Then, in this paper, a closed-loop control strategy is formulated based on the automatic adaptation of the braking gear in combination with the fuzzy PID pressure. Finally, the effectiveness of the control strategy proposed in this paper is verified with simulation and experimental testing using the pressure hysteresis loop of the free-fall hook process and the load-braking acceleration as the judging criteria. The results show that the system pressure hysteresis loop is reduced by 50%–60% and the maximum braking acceleration is reduced by 24%–30% under the conditions of 6.44 tonnes and 10.44 tonnes, which improves the accuracy of pressure control and achieves flexible and smooth braking with loads for different tonnages of free-fall hooks.

Application of (bio) chemical engineering concepts and tools to model genetic regulatory circuits, and some essential central carbon metabolism pathways in living cells. Part 4. Applications in the design of some Genetically Modified Micro-Organisms (GMOs)

In the first part of this work, the general Chemical and Biochemical Engineering (CBE) concepts and rules are briefly reviewed, together with the rules of the control theory of Nonlinear Systems (NSCT), all in the context of (i) deriving deterministic Modular Structured Kinetic Models (MSDKM) to describe the dynamics of metabolic processes in living cells, and (ii) of Hybrid Structured Modular Dynamic Models (HSMDM) (with continuous variables, linking the cell-nano-scale MSDKM state variables to the macro-scale state variables of the bioreactor dynamic model). Thus, in the HSMDM model, both prediction quality and its validity range are improved. By contrast, the current (classical/default) approach in bioengineering practice for solving design, optimization, and control problems based on the math models of industrial biological reactors is to use unstructured Monod (for cell culture reactor) or simple Michaelis-Menten (if only enzymatic reactions are retained) global kinetic models by ignoring detailed representations of metabolic cellular processes. By contrast, as reviewed, and exemplified in the second part of this work, an accurate and realistic math modelling of the dynamic individual GERMs (gene expression regulatory module), or genetic regulatory circuits (GRC), and cell-scale CCM (central carbon metabolism) key-modules can be done by only using the novel holistic ’Whole-Cell Of Variable-Volume’ (WCVV) modelling framework, under isotonic/homeostatic conditions/constraints introduced and promoted by the author. An example was given in the same Part 2 for the case study of a dynamic model for the oscillating glycolysis coupled with the Tryptophan (TRP) oscillating synthesis in the E. coli cells.

Parametrizing spectral filters for nonsingular polynomial matrices

Two polynomial matrices are spectrally equivalent if they have the same finite and infinite elementary divisors. Spectral equivalence can be characterized using very special polynomial matrices called spectral filters. The main results in this paper concern the parametrization of spectral filters for any given pair of nonsingular spectrally equivalent polynomial matrices of arbitrary degree d. First we parametrize the set of their spectral filters of degree less than d when the given spectrally equivalent matrices have nonsingular leading coefficients. The parameter space is the subset of invertible matrices of the centralizer of any of their linearizations. When the leading coefficients are singular, we provide a parametrization of the set of spectral filters of degree d−1 and show how to obtain the spectral filters of degree less than d−1. Now the parameter space is the subset of invertible matrices of the centralizer of any linearization of the reversals with respect to a scalar that is not an eigenvalue of the given matrices. Ideas from the Theory of Linear Control Systems are used to introduce left and right realizations of matrix polynomials. These are the building blocks on which the parameterization of spectral filters is constructed. The results are illustrated with examples.

Public Decision Policy for Controlling COVID-19 Outbreaks Using Control System Engineering

This work is a response to the appeal of various international health organizations and the Automatic Control Community for collaboration in addressing Coronavirus/COVID-19 challenges during the initial stages of the pandemic. Specifically, this study presents scientific evidence supporting the efficacy of three primary non-pharmacological strategies for pandemic mitigation. We propose a control system to aid in formulating a public decision policy aimed at managing the spread of COVID-19 caused by the SARS-CoV-2 virus, commonly known as coronavirus. The primary objective is to prevent overwhelming healthcare systems by averting the saturation of intensive care units (ICUs). In the context of COVID-19, understanding the peak infection rate and its time delay is crucial for preparing healthcare infrastructure and ensuring an adequate supply of intensive care units equipped with automatic ventilators. While it is widely recognized that public policies encompassing confinement and social distancing can flatten the epidemiological curve and provide time to bolster healthcare resources, there is a dearth of studies examining this pivotal issue from the perspective of control system theory. In this study, we introduce a control system founded on three prevailing non-pharmacological tools for epidemic and pandemic mitigation: social distancing, confinement, and population-wide testing and isolation in regions experiencing community transmission. Our analysis and control system design rely on the susceptible-exposed–infected–recovered–deceased (SEIRD) mathematical model, which describes the temporal dynamics of a pandemic, tailored in this research to account for the temporal and spatial characteristics of SARS-CoV-2 behavior. This model incorporates the influence of conducting tests with subsequent population isolation. An On–off control strategy is analyzed, and a proportional–integral–derivative (PID) controller is proposed to generate a sequence of public policy decisions. The proposed control system employs the required number of critical beds and ICUs as feedback signals and compares these with the available bed capacity to generate an error signal, which is utilized as input for the PID controller. The control actions outlined involve five phases of “Social Distancing and Confinement” (SD&C) to be implemented by governmental authorities. Consequently, the control system generates a policy sequence for SD&C, with applications occurring on a weekly or biweekly basis. The simulation results underscore the favorable impact of these three mitigation strategies against the coronavirus, illustrating their efficacy in controlling the outbreak and thereby mitigating the risk of healthcare system collapse.

Opinion: Agricultural cybernetics, what it is, why needs it and what needs to do

This article presents the author’s opinion on potential benefits and challenges of applying cybernetics theory to agriculture, termed agricultural cybernetics. While farming shares similarities with a control system and could benefit from system modeling and control theory, its inherent characteristics pose opportunities to expand existing theories. Such obstacles are induced by the complexities involved in crop production, including the impact of climate, soil, water, fertilizer, farming operations, and the unique communication and control mechanisms within these elements, thus, requires a transdisciplinary approach and further research to remove. This opinion paper particularly underlines the need for creating task-specific models and incorporating farmers' management strategies into these models. Additionally, the author introduces a concept of “Repertoire,” a unique component that distinguishes agricultural cybernetics from conventional control approaches, that acts as a knowledge base of farming strategies under specified conditions. Overall, this article aims to stimulate research interests in agricultural cybernetics and provide insights into benefits and challenges in applying cybernetics theory to agriculture.

Research through co-design

Abstract Research Through Design (RTD) needs to reconsider the meaning of “designing” in the research process of “through design.” We propose Research Through Co-design (RTC) as a new application of Control System Theory (CST) that includes a research problem assigned to a co-design process in RTD. It embeds the participatory paradigm through collaborative design practice and makes the research a collaborative process for learning from all the participants. To sustain the RTC theory, we present a cognitive model of RTC. It is a “model for” – rather than a “model of” – describing how the co-design, as a neural network process, works through its nodes’ collaboration to find co-designed solutions and the research answer. Diversity increases as non-experts and non-designers with different backgrounds participate. This is valuable for the RTC learning system. The discussions highlight the possibility of considering (i) the RTC model as useful for describing a robust RTD process through CST; (ii) RTC as a cognitive model for explaining the value of co-design in research processes; and (iii) RTC as a strategy for applying the participative paradigm in formal research. Finally, new insights and implications are highlighted, including using RTC as a predictive tool through artificial intelligence.

Optimal Injection Attack Strategy for Nonlinear Cyber-Physical Systems Based on Iterative Learning

This paper aims to investigate the security problem of nonlinear cyber-physical systems (CPSs), which poses a challenge to handle compared with linear CPSs. A series of optimization problems for nonlinear CPSs under injection attack are constructed, which are based on a general model of the nonlinear systems with repetitive operation characteristics and a novel introduction of the key technical lemma. These optimization results are more general than the existing injection attack results and the requirements for attackers to obtain system information are relaxed. Also, the form of switching applied to the attack strategy possesses several advantages, including high stealthiness, lower cost, and more flexibility. Therefore, the new optimal injection attack strategies are expected to be more widespread and provide a basis for the design of defense strategies. The key to acquiring the designed optimal attack strategies is to adopt the linear input/output (I/O) data model for these systems via introducing an estimation term of the improved projection estimation method into the linear model. Finally, a networked GLUON-6L3 manipulator example validates the effectiveness of the proposed methods. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The main purpose of this paper is to study the cyber security of nonlinear cyber-physical systems from the perspective of attackers, which can help defenders fully understand the behavior of attackers. Most of the existing attack strategies aimed at linear systems or have a priori knowledge of the attacked systems. However, there are great limitations and difficulties in practical application. In this paper, the new attack strategies are proposed by combining system identification, iterative learning and control theory, which relaxes the requirement of the attacker’s ability. In detail, the attacker only needs to obtain the control input and output data of the attacked system and design the attack strategy according to it. Among them, the first-in, first-out queue storage method is applied to remove the requirements for the storage capability of the attacker. In practical applications, the attacker does not need to store the I/O data continuously, but only store the initial value and the data of two successive iterations. The mathematical analytic forms of two optimal attack strategies are given, and then their effectiveness are verified on a welding work of a networked six-axis manipulator. In the future, we will investigate the design of attack strategies for nonlinear systems with heterogeneous dynamics and multiple delays.

МОДЕЛИРОВАНИЕ СИСТЕМЫ ЭПИГЕНЕТИЧЕСКОЙ ПАМЯТИ С ТРАНСКРИПЦИОННОЙ РЕПРЕССИЕЙ И МЕТИЛИРОВАНИЕМ ДНК

The in silico model of the epigenetic memory system synthesized in Escherichia coli [Maier et al., 2017, Nat. Comm., 8:15336] was developed. The system includes an artificial memory operon with DNA methyltransferase CcrM from Caulobacter crescentus methylating the promoter of this operon, and an engineered transcriptional repressor gene ZnF that blocks the same promoter in an unmethylated state. The memory operon, which is located on the maintenance plasmid, is controlled by a trigger plasmid carrying a specific arabinose-inducible operon. The artificial trigger operon functions as part of an expanded arabinose regulon. An additional model is used to describe the operation of the latter. The unified model of the memory control system takes into account positive and negative control by the regulatory protein araC, negative feedback self-regulation and negative direct, methylation-sensitive regulation by the ZnF protein, and DNA methylation. The models are built in the language of the formalism of the dynamic theory of molecular genetic control systems. The models were calculated in the SETIES software package to analyze the dynamics of control gene networks, dynamic epigenes and cell ensembles. Computer experiments have shown that the switch has two alternative functional modes, each of which is stable in a series of successive cell divisions. Both modes are characterized in terms of the molecular component dynamics of the artificial memory operon, the trigger operon, and the natural L-arabinose catabolism operon.

Determining the dynamic characteristics of a class B fire in the case of extinguishing by water spray

The object of this study is a class B fire, which is extinguished with sprayed water. The subject of the study is the characteristics of class B fires when they are extinguished with sprayed water. Diffusion burning of a flammable liquid is considered as such a fire, and its extinguishing is carried out by cooling the flame. Heat and oxygen balance equations are used to build a mathematical model describing the fire extinguishing process. The components of the heat balance equation are the power of heat during heat release due to the chemical reaction of liquid combustion and the power of heat dissipated to the environment. The second component takes into account heat removal due to radiation, convection, and evaporation. The component of removed heat due to evaporation takes into account the Sreznevsky constant. The mathematical model that describes the process of extinguishing a class B fire is built in the class of models belonging to differential equations with constant coefficients. Analytical expressions were obtained for these static and dynamic coefficients, which include thermophysical, kinematic, and geometric parameters of the flame and fire extinguishing agent. To determine these characteristics, the constructed mathematical fire model was transformed using the integral Laplace transform. The dynamic characteristics of the fire were obtained in the time domain – the transient function of the fire, and in the frequency domain – the amplitude-frequency and phase-frequency characteristics of the fire. It is shown that the parameters of these dynamic characteristics should be determined experimentally. Experimental methods for determining parameters of dynamic fire characteristics have been devised. The presence of dynamic characteristics of class B fire makes it possible to spread the proven methods of the theory of control systems to design effective fire extinguishing systems

HPA axis differential flatness and Liouvillian study for higher resiliency investigations

Abstract In this paper, we study several existing quantitative models of the hypothalamic–pituitary–adrenal (HPA) axis from a control systems theory viewpoint, that is, we suppose that we can act on the dynamics of the HPA axis throughout some parameters, which are the system inputs. In particular, we will focus on flatness and Liouvillian properties of the considered control systems of the HPA axis. We first study the minimal three-dimensional model of Bangsgaard and Ottesen (2017, Math. Biosci., 287:24–35) and the semi-mechanistic four-dimensional model of Gupta et al. (2007, Theor. Biol. Medical Model., 4(1):8) which are shown to be flat, and then, we consider the more involved and important model proposed in Rao &amp; Androulakis (2019, Sci. Rep., 9(1):11212; 2020, IFAC-PapersOnLine, 53(2):15858–15863), with seven states, for which we prove that for the nominal values of the parameters involved in the model, flatness no longer holds. The more involved model satisfies however a similar but weaker property than flatness: it is a Liouvillian system.

Discrete Acoustics: ARMA-modeling of Time Processes, Theory

In physics, in particular, acoustics, time is traditionally considered as a continuous coordinate. Some exception is signal processing, where sampling is necessary for calculations on computers. But all acoustic problems are formulated and solved using time-continuous models described by differential equations and their solutions in the form of continuous time functions. Meanwhile, these problems can be formulated and solved in an equivalent way using discrete-time models described by finite-difference equations and their solutions in the form of time series. As the experience of some other fields of science, for example, control theory, shows, the discrete approach has a number of advantages over the continuous approach, the useof which greatly facilitates the solution of many problems. This paper aims to partially fill the gap in acoustics that exists here and is aimed at creating the theoretical foundations of a discrete-time approach to solving acoustic problems. The paper is limited to the consideration of one oscillatory system widely used in acoustics— a linear structure with N degrees of freedom consisting of lumped inertial, elastic and dissipative elements, to which, in particular, the finite element method leads. For several continuous models of this system, equivalentdiscrete-time models are constructed in the paper, finite-difference equations are derived and their solutions are obtained. The criterion of equivalence of continuous and discrete models in the paper is the mathematically exact equality of the corresponding solutions at all discrete points in time. Based on this criterion, analytical relations have been established between the parameters of continuous and discrete models and their equations, which make it possible to build its discrete-time model based on a continuous model of the systemand, conversely, to build its continuous model based on a known discrete model. Special attention is paid in the paper to the forced vibrations of the system under the action of kinematic excitation, which is important in many acoustic problems, whereas in the literature only force excitation is considered. The paper also discussesone of the most useful properties of discrete modeling—the simplicity of constructing discrete models based on experimentally measured signals. A corresponding example is given. Note that the term “ARMAmodel” is an abbreviation for “autoregressive and moving average model”, generally accepted in control theory, systems theory and other fields of science.

Fractional-Order Composite Adaptive Control of Robot Manipulators

The branch of system identification and control theory concerned about robot manipulators is adaptive control of non-linear multi-input multi-output dynamic systems which study constitutes a mature and well-founded discipline; nevertheless, there are fundamental problems open to date, one of them is to obtain a control law that is rich enough to guarantee its persistent excitation and consequently that the parametric error converges asymptotically to zero, while the tracking error converges globally asymptotically to zero. An extension of a globally convergent adaptive scheme control for a robot manipulator in the tracking of a determined trajectories with no consideration of the interaction with its environment is proposed, based on the fact that the parameter uncertainty is involved in both the tracking error and the identification error. The first control task is achieved by a feedback linearization technique that takes advantage of the structure of manipulator dynamics. The second task is achieved by a fractional order filtering technique to avoid the joint acceleration and enrich the regressor matrix in such way that is persistently exciting. Finally, the control law is expressed as feedforward compensation and a simple PD controller.

Research on the Optimization of Open-Pit Mine Cast Blasting Parameters Based on the Optimal Economy of Dragline Stripping Technology

As the key technology of high-step stripping and blasting engineering, throwing blasting will be the development trend of the production optimization and benefit maximization of the open-pit mine in the future. In order to break with the research idea of optimizing the cast blasting effect by improving the effective throwing rate for a long period of time, maximizing the economic benefit of the subsequent dragline stripping technology and stabilizing the engineering connection, this paper takes the Heidaigou open-pit mine as the research object. Through data acquisition, analysis, and data fusion of the heaped-up bulk characteristics, the heaped-up bulk profile can be obtained to characterize the cast blasting effect. Secondly, the key factors influencing the cast blasting effect are determined based on the gray relational degree theory. Then, the black box principle of the system control theory is adopted as the guiding principle of the blasting optimization. Based on the production data of field cast blasting, the dynamic change law between the controllable variables of system input and the observable variables of system feedback in the black box system are studied and explored without consideration of the internal structure or the energy transformation relationship of the cast blasting system. Finally, the optimal blasting parameter combination under different working conditions is obtained. If the research results are successfully applied, it is expected that the dragline stripping technology cost of the Heidaigou open-pit mine can be reduced by 5~10%, and the results can also provide new ideas and new ways of optimizing the design of cast blasting.