
Keyword: "Control"
Svetlana Aleksandrovna Rozhkova, Ogarev Mordovia State University, graduated from the Faculty of Mathematics and Information Technologies at Ogarev Mordovia State University; Postgraduate Student, Lecturer of the Department of ComputerAided Design at Ogarev Mordovia State University; an author of articles in the field of mathematical modeling of home energy management systems. [email: rozhkova_sa@mail.ru]S. Rozhkova, Vladimir Fedorovich Belov, Ogarev Mordovia State University, Doctor of Engineering, Professor; graduated from the Faculty of Electronics at Ogarev Mordovia State University; Head of the Department of ComputerAided Design at Ogarev Mordovia State University; an author of articles, monographs, and inventions in the field of the design of autonomous electric power systems, in which power quality parameters are controllable. [email: belovvf@mail.ru]V. Belov


Optimal Scheduling of Local Battery Storage
Nowadays energetics is characterized by consistent trend of the development of distributed power generation systems (microgrids) and alternative energy sources implementation as its components. In these systems using local electric batteries became actual and possible for automatic energy consumption management. These devices significantly increase the reliability and electronic characteristics of electricity supply through optimal choice of energy sources using rapid connection of the power sources to the power consumers. The authors analyze the algorithm for optimal control of the power system consisting of two energy sources  one of them is battery storage and another one is external centralized grid where timevarying electricity pricing is released. The problem of finding the algorithm for optimal control generation as a task of the creating working timetable of electric storage, which has to minimize expenses for power supply is considered. Within a given time interval, a microprocessor controls a power storage battery releasing process. Particle Swarm Optimization (PSO) is selected as a numerical method for solving this problem. Based on experiment numerical results that were performed, conclusions about effectiveness of developed battery schedule optimization algorithm are given; also recommendations were given for further improvements of microprocessor programming. Control, microgrid, electric energy consumption, battery energy storage, optimization, nonlinear programming, particle swarm optimization.



Sections: Automated control systems
Subjects: Automated control systems, Electrical engineering and electronics. 
Aleksandr Sergeevich Andreev, Ulyanovsk State University, Doctor of Physics and Mathematics, Professor; graduated from the Faculty of Mechanics and Mathematics of Tashkent State University; Dean of the Faculty of Mathematics and Information Technologies at Ulyanovsk State University; Head of the Department of Information Security and Control Theory of Ulyanovsk State University; an author of articles, textbooks, and a monograph in the field of stability theory and the motion control of mechanical systems. [email: AndreevAS@ulsu.ru]A. Andreev, Ekaterina Alekseevna Kudashova, Ulyanovsk State University, graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; Junior Researcher at the Department of Scientific Research of Ulyanovsk State University; an author of articles in the field of the motion control of mechanical systems. [email: katherine.kudashova@yandex.ru]E. Kudashova


On Modeling the Control Structure of the Omnidirectional Mobile Robo
Nowadays, requirements to modeling and researching selfdirected robotic systems are extremely high. In order to improve maneuverability and control efficiency, new mobile robots with omniwheels are developed. Such robots are able to move in either direction without turning around. They have these features due to the fact of increase of construction and control rules complexity. Three and fourwheeled mobile robots with rollercarrying wheels have become more widespread. The article deals with the problem of theoretical control establishing to provide arbitrary program motion of threewheeled robots with omniwheels. The computer model of valid control efficiency analysis was developed. For developing this model, .the numerical modeling method that turns the continuous model into the corresponding numerical one was used. Practical application of the introduced stabilizing control algorithm for mechanical systems was demonstrated by the example of threewheeled robot motion stabilization. Mathematical modeling, threewheeled robot, stabilization, control, digitization.



Sections: Mathematical modeling
Subjects: Mathematical modeling, Artificial intelligence. 
Sergei Pavlovich Bezglasnyi, Samara State Aerospace University named after Academician S. Korolev, Candidate of Physics and Mathematics, Associate Professor of the Department of Theoretical Mechanics at Samara State Aerospace University named after Academician S. Korolev (National Research University), Doctoral Candidate, graduated from the Faculty of Mechanics and Mathematics at Lomonosov Moscow State University, an author of articles in the field of the theoretical mechanics, theory of stability and control, the dynamics of space systems. [email: bezglasnsp@rambler.ru]S. Bezglasnyi, Ekaterina Evgenevna Piiakina, Samara State Aerospace University named after Academician S. Korolev, a fourthyear student at the Department of Theoretical Mechanics of Samara State Aerospace University named after Academician S. Korolev (National Research University); research interests are theoretical mechanics, theory of stability of motion, and the dynamics of rigid body. [email: snait2009@yandex.ru]E. Piiakina, Albina Albertovna Talipova, Samara State Aerospace University named after Academician S. Korolev, a fourthyear student at the Department of Theoretical Mechanics of Samara State Aerospace University named after Academician S. Korolev (National Research University); research interests are theoretical mechanics, theory of stability of motion, and the dynamics of rigid body. [email: milashka91albina@mail.ru]A. Talipova


Limited Control of Dualmass Pendulum Motion
A problem of parametric control of plane motions of a dualmass pendulum (swing) with the control constraints is considered. The swing model is a weightless rod with two lumped masses one of which is fixed on the rod and the other slides along it. The control is implemented by continuously varying the length from the suspension point to the moving mass depending on the phase state. A law of swings excitation and damping control suggesting the restrictions on the moving mass displacement is proposed. The Lyapunov’s functions proving the asymptotic stability and instability of the lower pendulum position in the respective cases of the pendulum damping and excitation are chosen for the proposed law control. Theoretical results are confirmed by a graphical representation of the numerical results. Dualmass pendulum, control, lyapunov’s function, asymptotical stability.



Sections: Mathematical modeling, calculi of approximation and software systems
Subjects: Mathematical modeling. 
Anatoly Alexanderovich Kupriyanov, FRPC OJSC RPA Mars, Candidate of Engineering, Associate Professor, graduated from the Faculty of RadioEngineering at Ulyanovsk Polytechnic Institute; leading staff scientist at FRPC OJSC RPA Mars; interested in the field of methodology of creation and building of distributed computer systems; author of papers and articles in design and development of local and corporate networks, computeraided packages, and special and generalpurpose computeraided control systems. [email: aakupr1828@rambler.ru]A. Kupriyanov, Ilya Vasilyevich Chernyshev, Ulyanovsk State Technical University, Candidate of Military Sciences, graduated from Novosibirsk Electrotechnical Communications College, Ulyanovsk State Technical University, finished his postgraduate study at the Military Communications Academy named after S. Budenny; Associate Professor at the Chair Economics and Management of the Economics and Mathematics Faculty of Ulyanovsk State Technical University; author of textbooks, articles in the field of development and modeling of computeraided control systems. [email: chernyshev@ulstu.ru]I. Chernyshev


Research of Quality Levels of Combined C2 System for Forces, Weapons and Facilities
The article presents a conceptual description of combined computeraided control system for differenttype and heterogeneous groups of forces (troops), weapons and facilities (hereinafter combined C2 system). The creation of the system is determined by requirements of force engagement under predicted conditions of networkcentric war. The article also gives quality features and levels of complex combined C2 system using ideas of general theory of systems. Interaction, highprecision weapon, informatization, combined computeraided c2 system, decisionmaker, quality index, networkcentric war, control.



Sections: Integrated command and control systems. ships complexes and systems
Subjects: Automated control systems, Architecture of ship's system, Operational research. 
Anatoly Alexanderovich Kupriyanov, FRPC OJSC RPA Mars, Candidate of Engineering, Associate Professor, graduated from the Faculty of RadioEngineering at the Ulyanovsk Polytechnic Institute; leading staff scientist of FRPC OJSC RPA Mars; interested in the field of methodology of creation and building of distributed computer systems; author of papers and articles in design and development of local and corporate networks, computeraided packages, and special and generalpurpose computeraided control systems. [email: aakupr1828@rambler.ru]A. Kupriyanov


Comprehensive Automation of Processes of Force, Weapon and Facility Control
The article deals with tendencies, requirements and problems of comprehensive automation of control processes for differenttype and heterogeneous groups and formations of forces (troops), weapons and facilities during combat actions (operations).
The nature of requirements and problems is defined by the development of systems of weapons, armament and defense technology, and new forms and ways of combat actions and demonstration of military power to solve assigned tasks, as well as by the required implementation of new computer aids, communications and data exchange, information and intellectual technologies to automate control and processing of data for C2 staff of authorities and combat crews. Automation, interaction, highprecision weapon, intellectualization, informatization, information processing, networkcentric warfare, control.



Sections: Integrated command and control systems. ships complexes and systems
Subjects: Automated control systems, Architecture of ship's system. 

Modeling of Transient Processes of Mechanical Systems
The article deals with the development of a programme on basis of the results of the work [1] in the software environment C++ Builider 6.0 using a library of the mathematical system MatLab 6.5. It enables to automate a task of putting the systems in a given software motion within an end timeperiod as well as modeling of transient processes for mechanical systems of one, two or three degrees of freedom. Mechanical system, control, computer systems of mathematical calculations.



Sections: Mathematical modeling, calculi of approximations and software systems
Subjects: Mathematical modeling. 

A Control Method for Elements of Sophisticated Organizational and Technical Systems
The article gives a new science method whose aim is to ensure effective operation of elements of sophisticated organizational and technical systems which have their mathematical interpretation (model). The given method ensures an adaptation of elements of sophisticated organizational and technical systems to developing conditions at different stages of operation due to achieved quality state given by criteria by means of implementation of rational aggregate of actions defined
on basis of known methods of search optimization. Control, elements of sophisticated organizational and technical systems, effectiveness function, effectiveness index, criterion values, compliance point, optimization, control actions, controlled parameters, risk factors.



Sections: Mathematical modeling, calculi of approximations and software systems
Subjects: Mathematical modeling. 

Formal System of Fixation and Generalization of Designactivity Processes
The article states the basic of formal system which is the base for the implementation of efficient methods of fixation, generalization and reuse of information received by working groups in processes of work on projects of different domains of application. The formal system consists of three formal theories describing the presentation of designprocess samples, designprocess classes and a mechanism generating description of designprocess classes in information environment. Integrated environment, design activity, design solution, control, process, automation.



Sections: Computeraided design systems
Subjects: Computeraided engineering. 

Combined C2 System for Forces (troops), Weapons and Facilities
The article deals with necessity, aims, problems and suggestions concerning creation and development
of forwardlooking combined computeraided C2 system for differenttype and heterogeneous groups
of forces (troops), weapons and facilities having new functional, technical and operational features and
characteristics.
The article stresses technical and functional requirements, technological and organizational aspects of
creation and operation of combined C2 systems including analysis of key technologies required for the
creation of combined C2 systems.
The issues of operational creation and use of combined C2 systems are not discussed in the article. Interaction, officer, intellectualization, informatization, combined c2 system, decisionmaker, data processing, control.



Sections: Integrated c2 system: methodology for creation of systems, information technology, facilities and components
Subjects: Automated control systems, Architecture of ship's system. 

Infological Modeling of Information Interaction of Computeraided Systems
The article deals with issues connected with support of infological modeling of information interaction of
computeraided systems, in the structure of integrated C2 system for forces (troops) for computeraided
system subjects (of authority officers) involved in tasks of environment surveillance and its evaluation.
The purpose of organization and implementation of information interaction of computeraided systems
is increase of efficiency for control of forces (troops) including due to reduction of time for acquisition, processing and presentation of environment information.
The article deals with the issues as follows: description of infological model entities and design of database
model, description of subject field and fundamentals of infological modeling, implementation of infological
model, structure of subject field.
The problem of interaction of computeraided systems is complicated and ambiguous, and it is solved
depending on different domains. That is why the ways of infological modeling of information interaction of
computeraided systems within creation of geographicallydistributed network infrastructures of integrated
C2 systems for implementation of general and particular functions of control of forces (troops), solution
of a system of interrelated functional tasks as per control vertical and horizontal lines, are of great
value. The infological modeling of information interaction of computeraided systems contributes to an
efficient organization of work concerning generation of common information space and support of its
operation, generation of protocol support of integrated C2 system and implementation of information and
communication technologies in order to support communications of computeraided system entities. Computeraided system, officer, common information space, information interaction, object, authority, subject, control.



Sections: Integrated c2 system: methodology for creation of systems, information technology, facilities and components
Subjects: Automated control systems, Architecture of ship's system. 

Some Aspects of Interaction in Structure of the Integrated C2 System
The article analyses some aspects of organization and implementation of interaction of computeraided packages of automation objects and agents (authorities, officers) of computeraided control systems within integrated C2 system of forces (troops) taking into account methodology of system approach and approved decisions (scheme 'must be').
The main purpose of organization and implementation of interaction of computeraided packages of automation objects and agents of computeraided systems is increase of control efficiency of forces (troops) including during joint operations due to reduction of time for acquisition, processing and presentation of data and quality improvement.
The problem aspects (taking into account its multiaspect nature and volume) of organization and implementation of interaction of computeraided packages of automation objects and agents of computeraided systems are considered and structured by categories of concepts, definitions, requirements, principles.
The problem of interaction of computeraided packages of automation objects and agents of computeraided systems is a key problem during creation of integrated C2 system. It is complex and ambiguous at the same time, and it is solved in different ways. Therefore it is important to see comprehensive picture of the problem. It will contribute to definition of task and priority lists during process of creation and development of integrated C2 system. It will also contribute to efficient organization of works in the field of creation and replication of perspective technical solutions concerning infrastructure and implementation of information and communications technologies. Architecture, computeraided system, computeraided control system, interaction, officer, common information space, information technology, integrated c2 system, computeraided package, authority, interaction protocol, compatibility, control, control function, functional system (subsystem).



Sections: Integrated c2 system: methodology, information technologies, facilities and components
Subjects: Automated control systems, Architecture of ship's system. 
