The present thesis employs ideas of set invariance and sliding modes

in order to deal with different relevant problems control of nonlinear

systems. Initially, it reviews the techniques of set invariance as well as

the more relevant results about sliding modes control. Then the main

methodologies used are presented: sliding mode reference conditioning,

second order sliding modes and continuous approximation of sliding

modes. Finally, the methodologies are applied to different problems in

control theory and to a variety of biologically inspired applications.

The contributions of the thesis are:

The development of a method to coordinate dynamical systems

with different dynamic properties by means of a sliding mode auxiliary

loop shaping the references given to the systems as function

of the local and global goals, the achievable performance of each

system and the available information of each system.

Design methods for second order sliding mode algorithms. The

methods decouple the problem of stability analysis from that of

finite-time convergence of the super-twisting sliding mode algorithm.

A nonlinear change of coordinates and a time-scaling are

used to provide simple, yet flexible design methods and stability

proofs. Application of the method to the design of finite-time convergence

estimators of bioprocess kinetic rates and specific biomass

growth rate, from biomass measurements. Also the estimators are

validated with experimental data.

The proposal of a strategy to reduce the variability of a cell-to-cell

communication signal in synthetic genetic circuits. The method

uses set invariance and sliding mode ideas applied to gene expression

networks to obtain a reduction in the variance of the communication signal.

Experimental approaches available to modify the

characteristics of the gene regulation function are described.

Among the possible meanings of the word, this paper will discuss coordinated action to refer to the act on

references of systems to achieve some collective behavior

desired but considering the constraints and capabilities of each system.

To this end, we develop a new methodology based on conditioning techniques

reference using geometric invariance sets and sliding mode control.

From a general framework, we propose two approaches:

a global centralized one and a local through interactions between different systems.

The approach addresses the problem

of coordinating dynamical systems with possibly different dynamics

(e.g. linear and nonlinear, different orders, constraints,

etc.).The main idea is to shape the systems local feasible references

in order to keep them coordinated.To show the applicability of the approach, the problem

of coordinating different dynamical systems with

control saturations is addressed as a particular case with both global and local configuration.

%B Revista Iberoamericana de Automática e Informática industrial
%V 10
%P 390-401
%G eng
%N 4
%& 390
%0 Journal Article
%J Control Systems Magazine
%D 2013
%T Differential Algebra for Control Systems Design. Computation of Canonical Forms.
%A Picó-Marco, E
%X Many systems can be represented using polynomial differential equations, particularly in process control, biotechnology, and systems biology [1], [2]. For example, models of chemical and biochemical reaction networks derived using the law of mass action have the form ẋ = Sv(k,x), (1) where x is a vector of concentrations, S is the stoichiometric matrix, and v is a vector of rate expressions formed by multivariate polynomials with real coefficients k . Furthermore, a model containing nonpolynomial nonlinearities can be approximated by such polynomial models as explained in "Model Approximation". The primary aims of differential algebra (DALG) are to study, compute, and structurally describe the solution of a system of polynomial differential equations,f (x,ẋ, ...,x^{(k)}) =0, (2) where f is a polynomial [3]-[6]. Although, in many instances, it may be impossible to symbolically compute the solutions, or these solutions may be difficult to handle due to their size, it is still useful to be able to study and structurally describe the solutions. Often, understanding properties of the solution space and consequently of the equations is all that is required for analysis and control design.

The artificial pancreas aims at the automatic delivery of insulin for glycemic control in patients with type 1 diabetes, i.e., closed-loop glucose control. One of the challenges of the artificial pancreas is to avoid controller overreaction leading to hypoglycemia, especially in the late postprandial period. In this study, an original proposal based on sliding mode reference conditioning ideas is presented as a way to reduce hypoglycemia events induced by a closed-loop glucose controller. The method is inspired in the intuitive advantages of two-step constrained control algorithms. It acts on the glucose reference sent to the main controller shaping it so as to avoid violating given constraints on the insulin-on-board. Some distinctive features of the proposed strategy are that 1) it provides a safety layer which can be adjusted according to medical criteria; 2) it can be added to closed-loop controllers of any nature; 3) it is robust against sensor failures and overestimated prandial insulin doses; and 4) it can handle nonlinear models. The method is evaluated in silico with the ten adult patients available in the FDA-accepted UVA simulator.

%B IEEE Trans. on Biomedical Engineering %V 60 %P 2113 - 2122 %G eng %N 8 %& 2113 %0 Journal Article %J Control Engineering Practice %D 2013 %T Second-Order Sliding Mode Observer for Multiple Kinetic Rates Estimation in Bioprocesses %A S. Nuñez %A Hernán De Battista %A F Garelli %A A Vignoni %A J Picó %XSpecific kinetic rates are key variables regarding metabolic activity in bioprocesses. They are non-linear functions of concentrations and operating conditions and therefore of difficult access for process control. In this paper, a multiple kinetic rates observer based on second-order sliding mode ideas is proposed. The main difference with other proposals is that smooth estimates are achieved in finite-time without adding additional dynamics. The resulting estimator is robust against uncertainty in the model of the estimated variables. Experimental results from continuous fermentation of *S. cerevisiae* are presented, where microbial specific growth rate and net ethanol production rate are estimated.

Insulin therapy in type 1 diabetes aims to mimic the pattern of endogenous insulin secre-

tion found in healthy subjects. Glucose–insulin models are widely used in the development

of new predictive control strategies in order to maintain the plasma glucose concentration

within a narrow range, avoiding the risks of high or low levels of glucose in the blood.

However, due to the high variability of this biological process, the exact values of the

model parameters are unknown, but they can be bounded by intervals. In this work, the

computation of tight glucose concentration bounds under parametric uncertainty for the

development of robust prediction tools is addressed.

A monotonicity analysis of the model states and parameters is performed. An analy-

sis of critical points, state transformations and application of differential inequalities are

proposed to deal with non-monotone parameters. In contrast to current methods, the guar-

anteed simulations for the glucose–insulin model are carried out by considering uncertainty

in all the parameters and initial conditions. Furthermore, no time-discretisation is required,

which helps to reduce the computational time significantly. As a result, we are able to compute

a tight glucose envelope that bounds all the possible patient’s glycemic responses with

low computational effort.

A novel approach is proposed for coordination of swarms of dynamical systems in order to provide them with a desired collective behavior. The approach is based on the sliding mode reference conditioning technique as local interaction handler among neighbor systems. Neighbor systems become connected when a virtual constraint between them is violated, leading to a time-varying switching topology for the connections in the swarm. The approach addresses the problem of coordinating dynamical systems with possibly different dynamics (e.g. linear and nonlinear, different orders, constraints, etc.), assuming there is no leader. The main idea is to shape the systems local feasible references in order to keep them coordinated. Coordination is understood as invariance of a set defined by some aimed relationship among the references. This implies considering the local goals, the systems constraints and the achievable performances as well. To show the applicability of the approach, the problem of coordinating a swarm of different dynamical systems with control saturations is addressed as a particular case.

%B Variable Structure Systems (VSS), 2012 12th International Workshop on %I IEEE %C Mumbai, Maharashtra %8 2012/01/12 %@ 978-1-4577-2065-9 %G eng %M 12616630 %R 10.1109/VSS.2012.6163507 %0 Conference Paper %B Semana del Control Automatico %D 2012 %T A Sliding-Mode Path Conditioning Algorithm To Fulfill End-Effector Constraints In Robotic Systems %A Garelli, F. %A Gracia, L. %A A. Sala %B Semana del Control Automatico %C Buenos Aires, Argentina %P 1–2 %G eng %0 Conference Paper %B Proc. of 1st Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT) %D 2012 %T Spherical Domain Of Attraction Estimation For Nonlinear Systems %A J.L. Pitarch %A A. Sala %A Arino, C.V. %X This work proposes an algorithm to obtain a predefined-shape zone as large as possible, belonging to the local domain of attraction of a nonlinear system. In order to do it, fuzzy polynomial models will be used which analysis can be done by convex optimization (sum of squares). Most fuzzy control papers check LMI or SOS stability conditions for Takagi-Sugeno fuzzy models and, if feasibility is reached, forget to study the obtained region and its relationship with the original nonlinear problem. Having into account the shape of the membership functions in a particular region of interest, less conservative stability and stabilization conditions can be easily set up for doing iterations with the fuzzy modelling region in order to maximize the proved basin of attraction. %B Proc. of 1st Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT) %I IFAC/Elsevier %C Wurzburg, Germany %P 108–114 %@ 978-3-902661-97-5 %G eng %0 Journal Article %J Robotics and Autonomous Systems %D 2012 %T A supervisory loop approach to fulfill workspace constraints in redundant robots %A Gracia,Luis %A A. Sala %A F Garelli %K Collision avoidance %K Redundancy resolution %K Sliding mode %X An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated. %B Robotics and Autonomous Systems %V 60 %P 1 - 15 %8 2012/01// %@ 0921-8890 %G eng %U http://www.sciencedirect.com/science/article/pii/S0921889011001308 %N 1 %0 Journal Article %J Robotics And Autonomous Systems %D 2012 %T A Supervisory Loop Approach To Fulfill Workspace Constraints In Redundant Robots %A Gracia, L. %A A. Sala %A Garelli, F. %X An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated. %B Robotics And Autonomous Systems %I Elsevier North-Holland %V 60 %P 1–15 %G eng %0 Journal Article %J IEEE transactions on bio-medical engineering %D 2011 %T Calculation of the best basal-bolus combination for postprandial glucose control in insulin pump therapy. %A Revert, A. %A Calm, R. %A J Vehi %A Jorge Bondia %B IEEE transactions on bio-medical engineering %V 58 %P 274 %G eng %0 Journal Article %J Biomedical Signal Processing and Control %D 2011 %T A comparative study of codification techniques for clustering heart disease database %A Barcelo-Rico, F. %A Díez, José Luis %A Jorge Bondia %B Biomedical Signal Processing and Control %V 6(1) %P 64-69 %G eng %0 Journal Article %J Mathematical and Computer Modelling %D 2011 %T On the computation of output bounds on Parallel Inputs pharmacokinetic models with parametric uncertainty %A de Diego Pereda %A Romero-Vivo, S. %A Jorge Bondia %B Mathematical and Computer Modelling %G eng %0 Thesis %D 2011 %T Coordination in dynamical systems: a sliding mode reference conditioning approach %A A Vignoni %I Universitat Politècnica de València %C http://personales.upv.es/alvig2/MT/vignoni-mthesis.pdf %G eng %9 masters %0 Journal Article %J Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on %D 2011 %T A Delay-Dependent Dual-Rate PID Controller Over an Ethernet Network %A Cuenca,A. %A Salt,J. %A A. Sala %A Piza,R. %K delay dependent dual rate PID controller %K delays %K duality (mathematics) %K Ethernet network %K event based control %K gain scheduling %K linear matrix inequalities %K load condition %K local area networks %K networked control systems %K probabilistic linear matrix inequality %K remote controller %K stability %K stability analysis %K synchronisation %K three-term control %K time varying delay %K time-varying systems %K TrueTime simulation %X In this paper, a methodology to design controllers able to cope with different load conditions on an Ethernet network is introduced. Load conditions induce time-varying delays between measurements and control. To face these variations an interpolated, delay-dependent gain scheduling law is used. The lack of synchronization is solved by adopting an event-based control approach. The dual-rate control action computation is carried out at a remote controller, whereas control actions and measurements are taken out locally at the controlled process site. Stability is proved in terms of probabilistic linear matrix inequalities. TrueTime simulations in an Ethernet case show the benefit of the proposal, which is later validated on an experimental test-bed Ethernet environment. %B Industrial Informatics, IEEE Transactions onIndustrial Informatics, IEEE Transactions on %V 7 %P 18 - 29 %8 2011/// %@ 1551-3203 %G eng %N 1 %0 Conference Paper %B 18th IFAC World Congress %D 2011 %T Dynamical Systems Coordination Via Sliding Mode Reference Conditioning %A A Vignoni %A J Picó %A F Garelli %A Hernán De Battista %E Sergio, Bittanti, %K Control of constrained systems %K Control of switched systems %K Coordination %K Switching stability and control %XA novel methodology is proposed for coordination of dynamical systems. The scheme is based on the sliding mode reference conditioning technique in a sort of supervisory level. The approach addresses the problem of coordinating dynamical systems with possible different dynamics (eg linear and nonlinear, different orders, constraints, etc). To achieve this, the dynamics of each subsystem are emph{hidden} from the coordination mechanism. The main idea is to shape the systems local references in order to keep them coordinated. This implies considering the global goals, the systems constraints and the achievable performances as well. Sliding Mode Reference Conditioning (SMRC) is used for this purpose by means of a hierarchical supervisory structure. To show the applicability of the approach, the problem of coordinating a number of different dynamical systems with control saturations is addressed as a particular case. Coordination will be understood as actuating on the systems references to achieve some emph{collective behavior} considering the individual restrictions of each system.

%B 18th IFAC World Congress %I IFAC %C Università Cattolica del Sacro Cuore, Milano, Italy %8 08/2011 %@ 978-3-902661-93-7 %G eng %U http://www.ifac-papersonline.net/Detailed/51115.html %R 10.3182/20110828-6-IT-1002.02727 %0 Journal Article %J Applied Thermal Engineering %D 2011 %T Efficiency improvement of a ground coupled heat pump system from energy management %A Pardo,N. %A Montero,Á. %A A. Sala %A Martos,J. %A Urchueguía,J.F. %K Energy efficiency %K Ground coupled heat pump %K Numerical simulation %B Applied Thermal Engineering %V 31 %P 391 - 398 %8 2011/02// %@ 1359-4311 %G eng %U http://www.sciencedirect.com/science/article/pii/S1359431110004035 %N 2–3 %0 Journal Article %J Chemical Engineering Research and Design %D 2011 %T Modelling and control of a continuous distillation tower through fuzzy techniques %A Barcelo-Rico, F. %A J.M. Gozalvez-Zafrilla %A Díez, José Luis %A A Santafe-Moros %B Chemical Engineering Research and Design %V 89(1) %P 107-115 %G eng %0 Patent %D 2011 %T Sistema y método de estimación de glucosa en plasma. %A Jorge Bondia %A Barcelo-Rico, F. %A Díez, José Luis %A Paolo Rossetti %A J Vehi %A Y.T. Leal %G eng %0 Journal Article %J Journal of Process Control %D 2011 %T Specific growth rate estimation in (fed-)batch bioreactors using second-order sliding observers %A Hernán De Battista %A J Picó %A F Garelli %A A Vignoni %B Journal of Process Control %V 21 %P 1049–1055 %G eng %0 Journal Article %J Control Systems Technology, IEEE Transactions onControl Systems Technology, IEEE Transactions on %D 2011 %T A Transfer-Function Approach to Dual-Rate Controller Design for Unstable and Non-Minimum-Phase Plants %A Salt,J. %A A. Sala %A Albertos,P. %K algebraic design %K control system synthesis %K controller stability %K Diophantine equations %K dual-rate controller design %K dual-rate regulators %K internal stability %K linear systems %K magnetic levitation %K magnetic levitation setup %K multivariable control systems %K nonminimum-phase plants %K robots %K single-rate systems %K stability %K transfer function approach %K transfer functions %K Youla parametrization %X An algebraic design via Diophantine equations of dual-rate regulators for linear unstable and non-minimum-phase plants, generalizing the well-known constraints for the reference model in single-rate systems, is presented in this brief. This brief improves previous results achieving internal stability for this kind of plants, by means of adapting the Youla parametrization of all stabilizing controllers to the dual-rate case. A simulation example on a robotic model, as well as an experimental magnetic levitation setup, are presented. %B Control Systems Technology, IEEE Transactions onControl Systems Technology, IEEE Transactions on %V 19 %P 1186 - 1194 %8 2011/// %@ 1063-6536 %G eng %N 5 %0 Journal Article %J Journal of diabetes science and technology %D 2010 %T Combining Basal–Bolus Insulin Infusion for Tight Postprandial Glucose Control: An in Silico Evaluation in Adults, Children, and Adolescents %A Revert, A. %A Paolo Rossetti %A Calm, R. %A J Vehi %A Jorge Bondia %B Journal of diabetes science and technology %V 4 %P 1424 %G eng %0 Journal Article %J IEEE Transactions on Industrial Electronics %D 2010 %T Detection and Diagnosis of Incipient Faults in Heavy-Duty Diesel Engines %A Morgan,Ian %A Liu,Honghai %A Tormos,Bernardo %A A. Sala %B IEEE Transactions on Industrial Electronics %V 57 %P 3522 - 3532 %8 2010/10// %@ 0278-0046, 1557-9948 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5371850 %N 10 %0 Journal Article %J Engineering Applications of Artificial Intelligence %D 2010 %T Guaranteed cost control analysis and iterative design for constrained Takagi–Sugeno systems %A Ariño,C. %A Pérez,Emilio %A A. Sala %B Engineering Applications of Artificial Intelligence %V 23 %P 1420 - 1427 %8 2010/12// %@ 09521976 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S0952197610000795 %N 8 %0 Book %D 2010 %T Possibilistic Estimation of Metabolic Fluxes During a Batch Process Accounting for Extracellular Dynamics %A Llaneras, Francisco %A A. Sala %A J Picó %V 11 %G eng %0 Journal Article %J Computer Applications in %D 2010 %T Possibilistic Validation of a Constraint-Based Model under Data Scarcity: Application to Pichia Pastoris Cultures %A Tortajada, M %A Llaneras, Francisco %B Computer Applications in %G eng %0 Journal Article %J BMC Systems Biology %D 2010 %T Validation of a constraint-based model of Pichia pastoris metabolism under data scarcity. %A Tortajada, M %A Llaneras, Francisco %A J Picó %B BMC Systems Biology %V 4 %P 115 %G eng %0 Journal Article %J Journal of Biomedicine and Biotechnology %D 2010 %T Which metabolic pathways generate and characterize the flux space? A comparison among elementary modes, extreme pathways and minimal generators. %A Llaneras, Francisco %A J Picó %B Journal of Biomedicine and Biotechnology %V 2010 %P 753904 %G eng %0 Journal Article %J Control Applications, (CCA) {&} Intelligent Control, (ISIC), 2009 IEEE %D 2009 %T Applications of possibilistic reasoning to intelligent system monitoring: a case study %A Llaneras, Francisco %B Control Applications, (CCA) {&} Intelligent Control, (ISIC), 2009 IEEE %P 171–176 %G eng %0 Journal Article %D 2009 %T The best approaches in the on-line monitoring of batch processes based on PCA: Does the modelling structure matter? %A Camacho, José %A J Picó %A Ferrer, A %V 642 %P 59–68 %G eng %0 Conference Paper %B Proceedings of the 7th IFAC Symposium on Modeling and Control in Biomedical Systems (incliding Biological Systems) %D 2009 %T A Comparative Study of Codification Techniques for Clustering Heart Disease Database %A Barcelo-Rico, F. %A Díez, José Luis %B Proceedings of the 7th IFAC Symposium on Modeling and Control in Biomedical Systems (incliding Biological Systems) %G eng %0 Journal Article %J Annual Reviews in Control %D 2009 %T On the conservativeness of fuzzy and fuzzy-polynomial control of nonlinear systems %A A. Sala %B Annual Reviews in Control %V 33 %P 48 - 58 %8 2009/04// %@ 13675788 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S1367578809000042 %N 1 %0 Journal Article %J Journal of Process Control %D 2009 %T Geometric invariance and reference conditioning ideas for control of overflow metabolism %A J Picó %A F Garelli %A Hernán De Battista %A Mantz, R %B Journal of Process Control %V 19 %P 1617–1626 %G eng %0 Journal Article %J IEEE Transactions on Fuzzy Systems %D 2009 %T Polynomial Fuzzy Models for Nonlinear Control: A Taylor Series Approach %A A. Sala %A Ariño,C. %B IEEE Transactions on Fuzzy Systems %V 17 %P 1284 - 1295 %8 2009/12// %@ 1063-6706, 1941-0034 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5191124 %N 6 %0 Journal Article %J BMC Systems Biology %D 2009 %T A possibilistic framework for constraint-based metabolic flux analysis %A Llaneras, Francisco %A A. Sala %A J Picó %B BMC Systems Biology %V 3 %G eng %0 Journal Article %J Information Sciences %D 2009 %T A retunable PID multi-rate controller for a networked control system %A A. Sala %A Cuenca,Ángel %A Salt,Julián %B Information Sciences %V 179 %P 2390 - 2402 %8 2009/06/27/ %@ 00200255 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S002002550900111X %N 14 %0 Journal Article %J Automatica %D 2009 %T Sampled-data gain scheduling of continuous LTV plants %A McKernan,Adrian %A A. Sala %A Ariño,C. %A Irwin,George W. %B Automatica %V 45 %P 2451 - 2453 %8 2009/10// %@ 00051098 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S0005109809003148 %N 10 %0 Journal Article %J Journal of Process Control %D 2009 %T Smooth sliding-mode observers for specific growth rate and substrate from biomass measurement %A J Picó %A Hernán De Battista %A F Garelli %B Journal of Process Control %G eng %0 Journal Article %J IEEE Transactions on Fuzzy Systems %D 2009 %T A Triangulation Approach to Asymptotically Exact Conditions for Fuzzy Summations %A Kruszewski,A. %A A. Sala %A Guerra,T.M. %A Ariño,C. %B IEEE Transactions on Fuzzy Systems %V 17 %P 985 - 994 %8 2009/10// %@ 1063-6706, 1941-0034 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4804764 %N 5 %0 Journal Article %J Journal of Chemometrics %D 2008 %T Bilinear modelling of batch processes. Part I: theoretical discussion %A Camacho, José %A J Picó %A Ferrer, A %B Journal of Chemometrics %G eng %0 Journal Article %J Journal of Chemometrics %D 2008 %T Bilinear modelling of batch processes. Part II: a comparison of PLS soft-sensors %A Camacho, José %A J Picó %A Ferrer, Alberto %B Journal of Chemometrics %V 22 %P 533–547 %G eng %0 Conference Paper %B Proceedings of the 17th IFAC World Congress %D 2008 %T Control of overflow metabolism via sliding mode reference conditioning %A J Picó %A F Garelli %A Hernán De Battista %B Proceedings of the 17th IFAC World Congress %C Seoul, Korea %P 12613–12618 %G eng %0 Journal Article %J Information Sciences %D 2008 %T Encoding fuzzy possibilistic diagnostics as a constrained optimization problem %A A. Sala %B Information Sciences %V 178 %P 4246 - 4263 %8 2008/11// %@ 00200255 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S0020025508002764 %N 22 %0 Journal Article %J IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) %D 2008 %T Extensions to “Stability Analysis of Fuzzy Control Systems Subject to Uncertain Grades of Membership” %A Ariño,C. %A A. Sala %B IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) %V 38 %P 558 - 563 %8 2008/04// %@ 1083-4419 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4429192 %N 2 %0 Conference Paper %B Proceedings of the 17th World Congress The International Federation of Automatic Control %D 2008 %T Modelling, control and optimization of a continuous distillation tower through fuzzy techniques %A A Santafe-Moros %A Díez, José Luis %A Barcelo-Rico, F. %A J.M. Gozalvez-Zafrilla %B Proceedings of the 17th World Congress The International Federation of Automatic Control %G eng %0 Journal Article %J Journal of Chemometrics %D 2008 %T Multi-phase analysis framework for handling batch process data %A Camacho, José %A J Picó %A Ferrer, Alberto %B Journal of Chemometrics %V 22 %P 632–643 %G eng %0 Journal Article %J LINAC08, this proceedings, Victoria, British Columbia, Canada %D 2008 %T Optimizing cavity gradients in pulsed Linacs using the cavity transient response %A Cancelo, G. %A A Vignoni %B LINAC08, this proceedings, Victoria, British Columbia, Canada %G eng %0 Generic %D 2008 %T Real Time RF Simulator (RTS) and control %A Cancelo, G. %A Armiento, C. %A Treptow, K. %A A Vignoni %A Zmuda, T. %G eng %0 Journal Article %J IEEE Transactions on Fuzzy Systems %D 2008 %T Relaxed Stability and Performance LMI Conditions for Takagi--Sugeno Fuzzy Systems With Polynomial Constraints on Membership Function Shapes %A A. Sala %A Ariño,C. %B IEEE Transactions on Fuzzy Systems %V 16 %P 1328 - 1336 %8 2008/10// %@ 1063-6706, 1941-0034 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4534857 %N 5 %0 Journal Article %J Journal of bioscience and bioengineering %D 2008 %T Stoichiometric modelling of cell metabolism. %A Llaneras, Francisco %A J Picó %B Journal of bioscience and bioengineering %V 105 %P 1–11 %G eng %0 Conference Paper %B procs. 10th IFAC Computer Applications in Biotechnology %D 2007 %T Adaptive sliding mode control of fed-batch processes using specific growth rate estimation feedback %A Hernán De Battista %A J Picó %A Picó-Marco, E %A Mazzone, V. %B procs. 10th IFAC Computer Applications in Biotechnology %G eng %0 Conference Paper %B Proceedings of the 10th łdots} %D 2007 %T Adaptive sliding mode control of fed-batch processes using specific growth rate estimation feedback %A Hernán De Battista %A J Picó %A Picó-Marco, E %B Proceedings of the 10th łdots} %G eng %0 Journal Article %J Soft Computing %D 2007 %T A fuzzy clustering algorithm enhancing local model interpretability %A Díez, José Luis %A Navarro, J.L. %A A. Sala %B Soft Computing %V 11 %P 973 - 983 %8 2007/01/06/ %@ 1432-7643, 1433-7479 %G eng %U http://www.springerlink.com/index/10.1007/s00500-006-0146-7 %N 10 %0 Journal Article %J IEEE Transactions on Control Systems Technology %D 2007 %T Improving Performance Under Sampling-Rate Variations via Generalized Hold Functions %A A. Sala %B IEEE Transactions on Control Systems Technology %V 15 %P 794 - 797 %8 2007/07// %@ 1063-6536 %G eng %U http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4252104 %N 4 %0 Journal Article %J Automatica %D 2007 %T Integrating virtual reference feedback tuning into a unified closed-loop identification framework %A A. Sala %B Automatica %V 43 %P 178 - 183 %8 2007/01// %@ 00051098 %G eng %U http://linkinghub.elsevier.com/retrieve/pii/S0005109806003256 %N 1 %0 Thesis %D 2007 %T New methods based on the projection to Latent Structures for monitoring, prediction and control of batch processes %A Camacho, José %I Technical University of Valencia %G eng %9 phd %0 Journal Article %J BMC bioinformatics %D 2007 %T A procedure for the estimation over time of metabolic fluxes in scenarios where measurements are uncertain and/or insufficient %A Llaneras, Francisco %A J Picó %B BMC bioinformatics %G eng %0 Journal Article %J AIChE journal %D 2007 %T Self-tuning run to run optimization of fed-batch processes using unfold-PLS %A Camacho, José %A J Picó %A Ferrer, A %B AIChE journal %G eng %0 Book %D 2007 %T Sistemas de estructura variable: Aplicación al control multivariable con restricciones %A F Garelli %I AADECA %C Buenos Aires %G eng %0 Book %D 2007 %T Structural analysis of metabolic pathways applied to heterologous protein production Pichia pastoris %A Llaneras, Francisco %A Tortajada, M %I Journal of Biotechnology %G eng %0 Journal Article %J Journal of Process Control %D 2006 %T A closed loop exponential feeding law: Invariance and global stability analysis %A Picó-Marco, E %A Navarro, J.L. %A Bruno-Barcena, JM %B Journal of Process Control %V 16 %P 395–402 %G eng %0 Journal Article %J Fuzzy Systems, IEEE Transactions on %D 2006 %T Controller Design Under Fuzzy Pole-Placement Specifications: An Interval Arithmetic Approach %A Jorge Bondia %A A. Sala %A J Picó %A Sainz, M.A %B Fuzzy Systems, IEEE Transactions on %V 14 %P 822–836 %G eng %0 Journal Article %J Journal of Process Control %D 2006 %T Globally stabilizing control of fed-batch processes with Haldane kinetics using growth rate estimation feedback %A Hernán De Battista %A J Picó %A Picó-Marco, E %B Journal of Process Control %V 16 %P 865–875 %G eng %0 Journal Article %J Chemometrics and intelligent laboratory systems %D 2006 %T Multi-phase principal component analysis for batch processes modelling %A Camacho, José %A J Picó %B Chemometrics and intelligent laboratory systems %G eng %0 Journal Article %J Journal of Process Control %D 2006 %T Online monitoring of batch processes using multi-phase principal component analysis %A Camacho, José %B Journal of Process Control %G eng %0 Journal Article %J IEEE Transactions on Biomedical Engineering %D 2005 %T Comprehensive Pharmacokinetic Model of Insulin Glargine and Other Insulin Formulations %A Tarin, C %A Teufel, E %A J Picó %A Jorge Bondia %A Pfleiderer, H J %B IEEE Transactions on Biomedical Engineering %V 52 %P 1994–2005 %8 dec %G eng %0 Journal Article %J Biotechnology progress %D 2005 %T On `Feedback stabilization of fed-batch bioreactors: non-monotonic growth kinetics' %A Hernán De Battista %A Picó-Marco, E %A J Picó %B Biotechnology progress %V 21 %P 651–652 %G eng %0 Journal Article %J IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) %D 2005 %T Intelligent Robotic Cell for Trencad&\#205;s Mosaics Manufacturing} %A J Picó %A Sanchez, A %A Jorge Bondia %A Escudero, D %A Torregrosa, A %A Correcher, C %B IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) %V 35 %P 75–86 %8 feb %G eng %0 Book Section %D 2005 %T Nonlinear and Adaptive Control: Theory and Algorithms for the User %A J Picó %A Picó-Marco, E %A Navarro, J.L. %A Hernán De Battista %E Astolfi, A %I Imperial College Press %C London %G eng %0 Journal Article %J International Journal of Control %D 2005 %T Sliding mode scheme for adaptive specific growth rate control in biotechnological fed-batch processes %A Picó-Marco, E %A J Picó %A Hernán De Battista %B International Journal of Control %V 78 %P 128–141 %G eng %0 Journal Article %J Computer Aided Control Systems Design, 2004 IEEE International Symposium on %D 2004 %T Application of local consistency techniques to the design of controllers with robust performance %A Monreal, J %A Jorge Bondia %A J Picó %B Computer Aided Control Systems Design, 2004 IEEE International Symposium on %P 167–172 %G eng %0 Conference Paper %B Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on %D 2004 %T Guaranteed output prediction under uncertainty of glucose endogenous metabolism for diabetic type I patients %A Tarin, C %A J Picó %A Jorge Bondia %B Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on %P 1043–1048 %G eng %0 Conference Paper %B Decision and Control, 2004. CDC. 43rd IEEE Conference on %D 2004 %T Guaranteed tuning of PID controllers for parametric uncertain systems %A Jorge Bondia %A Kieffer, A %A Walter, E %A Monreal, J %A J Picó %B Decision and Control, 2004. CDC. 43rd IEEE Conference on %P 2948–2953 %G eng %0 Thesis %D 2004 %T Nonlinear Robust Control of Biotechnological Processes %A Picó-Marco, E %I Technical University of Valencia %C Valencia, Spain %G eng %9 phd %0 Journal Article %J Fuzzy Sets and Systems %D 2003 %T Analysis of linear systems with fuzzy parametric uncertainty %A Jorge Bondia %A J Picó %B Fuzzy Sets and Systems %V 135 %P 81–121 %G eng %0 Conference Paper %B Proceedings of the IEEE Conference on Control Applications %D 2003 %T Partial stability for specific growth rate control in biotechnological fed-batchprocesses %A Picó-Marco, E %A J Picó %B Proceedings of the IEEE Conference on Control Applications %C Istambul, Turkey %P 724–728 %G eng %0 Journal Article %J International Journal of Robust and Nonlinear Control %D 2002 %T Application of nonlinear time–scaling for robust controller design of reaction systems %A Moya, P %A Ortega, R %A Netto, M.S %A Praly, L. %A J Picó %B International Journal of Robust and Nonlinear Control %V 12 %P 57–69 %G eng %0 Conference Paper %B IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th %D 2001 %T Application of functional intervals to the stability analysis of fuzzy linear systems %A Jorge Bondia %A J Picó %B IFSA World Congress and 20th NAFIPS International Conference, 2001. Joint 9th %P 1337–1342 %G eng %0 Journal Article %J Automatica %D 2001 %T A new approach to reaching mode of VSS using trajectory planning %A Mantz, R %A Hernán De Battista %A Puleston, P. %B Automatica %V 37 %P 763-767 %G eng %0 Conference Paper %B Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on %D 1999 %T Nonlinear time-scaling for analysis and controller design of reaction systems %A Moya, P %A Netto, M.S %A Ortega, R %A J Picó %B Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on %P 899–904 %G eng