Community Profile

# Bartlomiej Ufnalski

### Institute of Control and Industrial Electronics, Warsaw Univ. of Tech.

Last seen: 3 Monate vor Aktiv seit 2014

www.ufnalski.edu.pl Professional Interests: computational intelligence, optimal control, repetitive control, iterative learning control, particle swarm optimization, dynamic optimization problems (DOPs). Personal interests: inspiring my daughter to learn automatic control and robotics -- mainly using LEGO Mindstorms (Scratch and Python), Arduino IDE and STM32CubeIDE.

Programming Languages:
C, MATLAB, Arduino
Spoken Languages:
English

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Erroneous use of the Naslin polynomial method
Erroneous use of the Naslin polynomial method is presented. This is to clarify some common mistakes to watch out for.

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State feedback versus cascade control systems
Similarities and differences between state feedback and cascade control systems are discussed.

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LEGO Mindstorms EV3 OmniBot using Simulink
My take on LEGO Mindstorms EV3 holonomic platform using three omniwheels. Mostly for high schoolers to demonstrate that engineer...

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LEGO Mindstorms EV3 MecanumBot using Simulink
My take on LEGO Mindstorms EV3 holonomic platform using four mecanum wheels. Mainly to reveal the concept to my daughter.

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Particle swarm optimization in 2D space
Particle swarm optimizer for 2D problems z=f(x,y).

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ELO speed estimator in the loop
This is a solution to the problem posed in "Extended Luenberger observer for speed-sensorless AC motor drive".

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Constrained full state feedback control system
A ground-breaking solution to address the challenge of imposing constraints in a full-state feedback control system is proposed....

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Particle swarm optimization
Particle swarm optimizer for 1D problems y=f(x).

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Control Systems for People in a Hurry
A scrapbook/Handouts intended to evolve into a fully fledged handbook.

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DRFOC drive with flux neuroestimator
Direct Rotor Field Oriented Controlled (DRFOC) drive with two different flux calculators/estimators.

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PWM converter delay
Pulse width modulated (PWM) converters introduce a delay of 0.5*T. The delay should be taken into account when controller is tun...

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Comparative study of two repetitive control techniques
Comparative study of two repetitive process control techniques for a grid-tie converter under distorted grid voltage conditions....

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FOC PMSM drive
Permanent magnet synchronous motor drive.

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Kalman filtering for beginners
The inner workings of the Kalman filter are derived. No optimization nor matrix algebra is employed.

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PI controller code in C and Python
A brief demonstration of the capability of Simulink to execute C/C++ and Python code as a part of the numerical model.

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Internal model principle
The concept of internal models is demonstrated here.

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LEGO Mindstorms EV3 BallBot using Simulink
My take on LEGO Mindstorms EV3 balancing BallBot using a holonomic platform with three omniwheels and two gyroscopes.

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LEGO Mindstorms EV3 Line Follower using Simulink
My take on LEGO Mindstorms EV3 Line Follower using two light sensors. Mostly for high schoolers to demonstrate that engineering ...

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LEGO Mindstorms EV3 GyroBoy using Simulink
My take on LEGO Mindstorms EV3 GyroBoy using Simulink. Mostly for high schoolers to demonstrate that engineering is fun.

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Repetitive controller with conditional learning
A conditional learning algorithm for an iterative learning controller (ILC) is illustrated here.

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Particle swarm based repetitive spline compensator
Particle swarm based repetitive spline compensator in two different arrangements is demonstrated.

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Full-state feedback servo controller tuning using PSO
An a la linear quadratic regulator.

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Full-state feedback controller tuning using PSO

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MPPT for PV using PSO
A novel hybrid maximum power point tracking (MPPT) concept is demonstrated.

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PSO based parameter identification
Yet another demonstration for my students.

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ILC vs. MOSC
Iterative learning controller (ILC) versus multioscillatory controller (MOSC) battle.

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Bipolar vs. unipolar PWMs
Yet another demonstration for my students.

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Particle swarm based repetitive spline compensator with a hybrid learning formula
Particle swarm based repetitive spline compensator with a hybrid learning formula is demonstrated.

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Hybrid swarm-based repetitive controller with adaptive forgetting for a grid-tie converter
Inner workings of a swarm-based repetitive controller with adaptive forgetting are demonstrated.