bluuebunny/crossref_metadata_2025_split huggingface dataset:
Restricted Structure Control Loop Performance Assessment For Pid Controllers And State‐Space Systems
Authors: Grimble M.J. 
Published: September 2010

ABSTRACTA novel H2 optimal control performance assessment and benchmarking problem is considered for discrete‐time state‐space multivariable systems, where the structure of the controller is assumed to be fixed apriori. The controller structure may be specified to be of PID, reduced order, or lead/lag forms. The theoretical problem considered is to represent the state‐space model in discrete polynomial matrix form and to then obtain the causal, stabilising, controller, of a prespecified form, that minimises an H2 criterion. This then provides the performance measure against which other controllers can be judged. The underlying practical problem of importance is to obtain a simple method of performance assessment and benchmarking low order controllers.The main theoretical step is to derive a simpler cost‐minimization problem whose solution can provide both the full order and restricted structure (PID) optimal benchmark cost values. This problem involves the introduction of spectral factor and diophantine equations and is solved via a Wiener type of cost‐function expansion and simplification. The numerical solution of this problem is straightforward and involves approximating the simplified integral criterion by a fixed number of frequency points. The main benchmarking theorem applies to multivariable systems that may be unstable, non‐minimum phase and non‐square.
Nonlinear Adaptive Tracking Of Surface Vessels With Exogenous Disturbances
Authors: Fu Simon Hsu‐Sheng , Haddad Wassim M. 
Published: September 2010

ABSTRACTSignificant interaction disturbances in surface vessel maneuvering and position tracking often require high precision controllers. In this paper we develop a coupled nonlinear two‐vessel tracking model for addressing the problem of underway replenishment. Next, using this model we develop an inverse optimal adaptive controller that guarantees disturbance rejection to exogenous disturbances while maintaining a desired separation between the two vessels.
Adaptive L2 Disturbance Attenuation Of Hamiltonian Systems With Parametric Perturbation And Application To Power Systems
Authors: Shen Tielong , Ortega Romeo , Lu Qiang , Mei Shengwei , Tamura Katsutoshi 
Published: September 2010

ABSTRACTThis paper deals with the problem of L2 disturbance attenuation for Hamiltonian systems. We first show that the L2 gain from the disturbance to a penalty signal may be reduced to any given level if the penalty signal is defined properly. Then, an adaptive version of the controller will be presented to compensate the parameter perturbation. When the perturbed parameters satisfy a suitable matching condition, it is easy to introduce the adaptive mechanism to the controller. Another contribution of this paper is to apply the proposed method to the excitation control problem for power systems. An adaptive L2 controller for the power system is designed using the proposed method and a simulation result with the proposed controller is given.
Output Regulation Of A Class Of Singular Nonlinear Systems With The Normal Output Feedback Controller
Authors: Wang Wei , Huang Jie 
Published: September 2010

ABSTRACTExisting results for output regulation of singular nonlinear systems via normal output feedback control require the normalizability assumption. In this paper, we will show that, for a large class of singular nonlinear systems, it is possible to construct a normal output feedback control to solve the regulation problem without the normalizability assumption. The major result is illustrated by an example.
An Automatic Building Approach To Special Takagi‐Sugeno Fuzzy Network For Unknown Plant Modeling And Stable Control
Authors: Juang Chia‐Feng 
Published: September 2010

ABSTRACTIn previous studies, several stable controller design methods for plants represented by a special Takagi‐Sugeno fuzzy network (STSFN) have been proposed. In these studies, the STSFN is, however, derived directly from the mathematical function of the controlled plant. For an unknown plant, there is a problem if STSFN cannot model the plant successfully. In order to address this problem, we have derived a learning algorithm for the construction of STSFN from input‐output training data. Based upon the constructed STSFN, existing stable controller design methods can then be applied to an unknown plant. To verify this, stable fuzzy controller design by parallel distributed compensation (PDC) method is adopted. In PDC method, the precondition parts of the designed fuzzy controllers share the same fuzzy rule numbers and fuzzy sets as the STSFN. To reduce the controller rule number, the precondition part of the constructed STSFN is partitioned in a flexible way. Also, similarity measure together with merging operation between each neighboring fuzzy set are performed in each input dimension to eliminate the redundant fuzzy sets. The consequent parts in STSFN are designed by correlation measure to select only the significant input terms to participate in each rule's consequence and reduce the network parameters. Simulation results in the cart‐pole balancing system have shown that with the proposed STSFN building approach, we are able to model the controlled plant with high accuracy and, in addition, can design a stable fuzzy controller with small parameter number.
Pid Performance Tuning Methods For A Robotic Manipulator Based On Iss
Authors: Choi Youngjin , Chung Wan Kyun 
Published: September 2010

ABSTRACTThis paper proposes performance tuning methods for a PID controller for a robotic manipulator. The design procedures of an inverse optimal PID control method employed to assure extended disturbance input‐to‐state stability (ISS) are suggested. The performance tuning methods for an inverse optimal PID control are derived from the performance limitation and the bounds of the state vector. Also, the effects of proportional and integral gains are considered in evaluating the performance tuning. Finally, we show the validity of the performance tuning methods through the experiment on a robotic manipulator.
Optimal Process Control Using Neural Networks
Authors: Padhi Radhakant , Balakrishnan S. N. 
Published: September 2010

ABSTRACTInfinite time optimal controllers have been designed for a dispersion type tubular reactor model by using the framework of adaptive critic optimal control design. For the reactor control problem, which is governed by two coupled nonlinear partial differential equations, an optimal controller synthesis is presented through two sets of neural networks. One set of neural networks captures the relationship between the states and the control, whereas the other set of networks captures the relationship between the states and the costates. This innovative approach embeds the solutions to the optimal control problem for a large number of initial conditions in the domain of interest. Although the main aim of this paper is to solve a process control problem, the methodology presented here can be viewed as a practical computational tool for many problems associated with nonlinear distributed parameter systems. Numerical results demonstrate the viability of the proposed method.
Sliding Mode Control For Invertible Systems Based On A Direct Design Of Interactors
Authors: Mita Tsutomu , Nam Taek‐Kun , Xin Xin 
Published: September 2010

ABSTRACTThe sliding mode tracking control is reviewed and extended so that it can be applicable to general invertible systems. The main advantage of this paper is a direct and numerical stable design of interactors for general invertible systems which is performed by calculating infinite eigenbasis of system matrices.
Plotting Robust Root Locus For Polynomial Families Of Multilinear Parameter Dependence Based On Zero Inclusion/Exclusion Tests
Authors: Hwang Chyi , Yang Shih‐Feng 
Published: September 2010

ABSTRACTThe Mapping Theorem by Zadeh and Desoer [17] is a sufficient condition for the zero exclusion of the image or value set of an m‐dimensional box B under a multilinear mapping f: Rm → C, where R and C denote the real line and the complex plane, respectively. In this paper, we present a sufficient condition for the zero inclusion of the value set f(B). On the basis of these two conditions and the iterative subdivision of the box B, we propose a numerical procedure for testing whether or not the value set f(B) includes the origin. The procedure is easy to implement and is more efficient than that based on constructing the value set f(B) explicitly. As an application, the proposed zero inclusion test procedure is used along with a homotopy continuation algorithm to trace out the boundary curves of the robust root loci of polynomial families with multilinear parametric uncertainties.
Robust State Feedback Control Through Actuators With Generalized Sector Nonlinearities And Saturation
Authors: Hsu Chih‐Chin , Fong I‐Kong 
Published: September 2010

ABSTRACTIn control systems, actuators often have nonlinear characteristics that can not be neglected. For linear systems driven by actuators satisfying the generalized sector condition, a robust state feedback controller synthesis method is proposed to achieve the ultimate boundedness control. The method is based on the linear matrix inequality approach and is easy to apply. As an important special case of the generalized sector condition, the saturation characteristic of actuators is discussed separately, and non‐conservative results are obtained.
New Sampling Mode For Linear Time‐Varying Systems
Authors: Guo Ge , Qiang Qiu 
Published: September 2010

ABSTRACTIt is proved in this paper that the nonequidistant periodic sampling pattern and zero‐order hold operations do not change the controllability and observability of time variant linear systems during the procedure of discretization for digital control. This result is an extension of the corresponding result for time invariant cases presented in [5].
FREQUENCY DOMAIN ANALYSIS OF FAST AND SLOW MOTIONS IN SLIDING MODES
Authors: Boiko Igor 
Published: September 2010

ABSTRACTA frequency domain approach to analysis of fast and slow motions in sliding modes is proposed in the paper. The proposed approach is based on the construction of a relay system that is equivalent to the original sliding mode control system and on the application of the locus of a perturbed relay system method. A precise model of the fast motions and a non‐reduced order model of the slow motions for the SISO linear time‐invariant case are obtained as a result of the proposed approach.
SECOND‐ORDER NONSINGULAR TERMINAL SLIDING MODE DECOMPOSED CONTROL OF UNCERTAIN MULTIVARIABLE SYSTEMS
Authors: Feng Yong , Zheng Xuemei , Yu Xinghuo 
Published: September 2010

ABSTRACTThis paper proposes a second‐order nonsingular terminal sliding mode decomposed control method for multivariable linear systems with internal parameter uncertainties and external disturbances. First, the systems are converted into the block controllable form, consisting of an input‐output subsystem and a stable internal dynamic subsystem. A special second‐order non‐singular terminal sliding mode is proposed for the input‐output subsystem. The control law is designed to drive the states of the input‐output subsystem to converge to the equilibrium point asymptotically. Then the states of the stable zero‐dynamics of the system converge to the equilibrium point asymptotically. The method proposed in the paper has advantages for higher‐dimensional multivariable systems, in the sense that it simplifies the design and makes it possible to realize a robust decomposed control. Meanwhile, because of the adoption of the second‐order sliding mode, the control signal is continuous. Simulation results are presented to validate the design.
OPTIMAL AND ROBUST SLIDING MODE CONTROL FOR LINEAR SYSTEMS WITH MULTIPLE TIME DELAYS IN CONTROL INPUT
Authors: Basin Michael , Fridman Leonid , Rodriguez‐González Jesús , Acosta Pedro 
Published: September 2010

ABSTRACTThis paper presents the optimal regulator for a linear system with multiple time delays in control input and a quadratic criterion. The optimal regulator equations are obtained using the duality principle, which is applied to the optimal filter for linear systems with multiple time delays in observations. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs and comparison tables demonstrating better performance of the obtained optimal regulator are included. The paper then presents a robustification algorithm for the obtained optimal regulator based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time‐delay systems, which is then applied to robustify the optimal regulator. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example.
OUTPUT‐FEEDBACK CONTROL OF CONTAINER CRANES: A COMPARATIVE ANALYSIS
Authors: Bartolini Giorgio , Pisano Alessandro , Usai Elio 
Published: September 2010

ABSTRACTA number of advanced control systems devoted to speed up the operation of container cranes have been proposed in the literature. In this paper the authors present a comparative analysis involving different control techniques applied to a laboratory sized gantry crane prototype. The comparison is carried out by means of both simulations and real experiments.In particular, two sliding‐mode control (SMC) schemes, a P.I.‐based controller and a linear observer‐based time‐varying feedback scheme are compared. The control algorithms have been suited to the path tracking problem of a suspended mass in order to make the comparison more effective.
THE PERFORMANCE OF DISCRETE LINEAR TIME VARYING CONTROL OF LINEAR PERIODIC PLANTS
Authors: Zhang Jingxin , Zhang Cishen 
Published: September 2010

ABSTRACTThis paper analyzes the performance of discrete linear time varying (LTV) control of discrete linear periodically time varying (LPTV) plants for l2 disturbance rejection. It extends the results of [11–13] for linear periodic controllers to general LTV control of LPTV plants. It is shown that LPTV control provides strictly better control performance than linear strictly time varying control for LPTV plants. The analysis is carried out in frequency domain. This approach provides not only new results on disturbance rejection of LTV control but also some new insight into properties of general LTV systems.
ROBUST GAIN‐SCHEDULED CONTROL OF A VERTICAL TAKEOFF AIRCRAFT WITH ACTUATOR SATURATION VIA THE LMI METHOD
Authors: Chen P. C. , Jeng Y. F. , Chang Y. H. , Wang Y. M. , Chen G. 
Published: September 2010

ABSTRACTThis paper presents a robust gain‐scheduled approach for the control of a vertical/short takeoff. and landing (V/STOL) aircraft. The nonlinear aircraft dynamics exhibit non‐minimum phase characteristics arising from the parasitic coupling effect between the aircraft's lateral force and rolling moment. The undesired coupling effect also causes modelling uncertainy of the aircraft dynamics. The nonlinear aircraft dynamics are considered to be composed of a nominal linear parameter varying (LPV) system and a linear system with a norm bounded uncertainy matrix multiplied by the parasitic uncertain non‐minimum phase coupling parameter. The nominal LPV system is considered to be affinely dependent on a measurable varying parameter. The ranges of the varying parameter and its variation as well as its parasitic induced uncertain matrix are addressed by introducing the parameter‐dependent invariant ellipsoid interpretation for dealing with the issue of affinely quadratic stabilization. In this paper, the relations among the magnitude of actuator saturation, the maximum achievable relative stability, and the sustainable coupling uncertainty are investigated for the considered robust gain‐scheduled design.
OPTIMAL MECHANISM DESIGN AND DYNAMIC ANALYSIS OF A 3‐LEG 6‐DOF LINEAR MOTOR BASED PARALLEL MANIPULATOR
Authors: Hwang Thong‐Shing , Liao Ming‐Yang 
Published: September 2010

ABSTRACTThis paper presents the optimal mechanism design and dynamic analysis of a prototype 3‐leg 6‐DOF (degree‐of‐freedom) parallel manipulator. Inverse kinematics, forward kinematics, inverse dynamics and working space characterizing the platform motion are derived. In the presented architecture, the base platform has three linear slideways individually actuated by a synchronous linear servo motor, and each extensible vertical link connecting the upper and base platforms is actuated by an inductive AC servo motor. The linear motors contribute high‐speed movements to the upper platform. This kind of architecture using hybrid (linear and AC) motors yields high level performance of motions, especially in the working space. The novel result of maximal working angles is the significant contribution of this architecture. The Taguchi Experimental Method is applied to design the optimal mechanism of the platform system, and the result is used as the actual data to build this system.
NANO TRAJECTORY CONTROL OF MULTILAYER LOW‐VOLTAGE PZT BENDER ACTUATOR SYSTEMS
Authors: Hwang Chih‐Lyang , Jan Chau 
Published: September 2010

ABSTRACTIn this paper, nano trajectory control of the multilayer low‐voltage PZT (lead zirconate titanate) bender actuator system (MLVPZTBAS) is developed. System analyses in of the hysteresis characteristic, frequency response and sinusoidal response, were conducted to evaluate the system features. Because not all of the states of the MLVPZTBAS are directly available, an observer is required to estimate the states. The proposed scheme contains feedback linearization with a sliding‐mode controller and a state observer to estimate the system states of the MLVPZTBAS. The sliding‐mode control possesses an equivalent control and a switching control. To track a trajectory dominant by a specific frequency, a reference model consisting of desired amplitude and phase features is established. The equivalent control using the signals from the observer and the reference model is designed so as to produce the desired control behavior. Due to the existence of modeling and estimation errors, the switching control is then employed to achieve robust performance. Experiments on the MLVPZTBAS were carried out to verify the usefulness of the proposed control.
MODELING AND CONTROL OF ELEVATORS BY STATECHARTS
Authors: Huang Yi‐Sheng , Chung Sheng‐Luen , Jeng Mu‐Der 
Published: September 2010

ABSTRACTStatechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.
NON‐BLOCKING SUPERVISORY CONTROL FOR INITIALISED RECTANGULAR AUTOMATA
Authors: Spathopoulos Michael P. 
Published: September 2010

ABSTRACTWe consider the problem of supervisory control for a class of rectangular automata and more specifically for compact rectangular automata with uniform rectangular activity, i.e. initialised. The supervisory controller is state feedback and disables discrete‐event transitions in order to solve the non‐blocking forbidden state problem. The non‐blocking problem is defined under both strong and weak conditions. For the latter maximally permissive solutions that are computable on a finite quotient space characterised by language equivalence are derived.
DISCRETIZED SUB‐OPTIMAL TRACKER FOR NONLINEAR CONTINUOUS TWO‐DIMENSIONAL SYSTEMS
Authors: Chen Chia‐Wei , Tsai Jason Sheng‐Hong , Shieh Leang‐San 
Published: September 2010

ABSTRACTThe discretized quadratic sub‐optimal tracker for nonlinear continuous two‐dimensional (2‐D) systems is newly proposed in this paper. The proposed method provides a novel methodology for indirect digital redesign for nonlinear continuous 2‐D systems with a continuous performance index. This includes the following features: (1) the 2‐D optimal‐linearization approach of the nonlinear 2‐D Roesser's model (RM), (2) the dynamic programming‐based discretized quadratic optimal tracker for linear continuous 2‐D systems, (3) the steady‐state discretized quadratic sub‐optimal tracker for linear continuous 2‐D systems, and (4) the discretized quadratic sub‐optimal tracker for nonlinear continuous 2‐D systems. Illustrative examples are presented to demonstrate the effectiveness of the proposed procedure.
DIRECT ADAPTIVE FEEDBACK DESIGN FOR LINEAR DISCRETE‐TIME UNCERTAIN SYSTEMS
Authors: Fu Simon Hsu‐Sheng , Cheng Chi‐Cheng 
Published: September 2010

ABSTRACTIn this paper, we develope a direct adaptive control framework for linear discrete‐time uncertain MIMO systems, based on assumptions that the system is controllable and the difference of the unknown system matrix from the stable solution is bounded by a given value. The proposed framework is Lyapunov‐based, and the controller guarantees adaptive stabilization. In addition, the adaptive laws are characterized by means of Kronecker calculus. Furthermore, the results can easily be extended to time‐varying cases, where the deviation from the stable solution is bounded, and the controllability assumption holds. The controller not only tolerates plant deviation, but also guarantees asymptotical stability of the closed‐loop system. Two numerical examples are provided to demonstrate the performance of the controller.
RANDOM APPROXIMATED GREEDY SEARCH FOR FEATURE SUBSET SELECTION
Authors: Gao Feng , Ho Yu‐Chi 
Published: September 2010

ABSTRACTWe propose a sequential approach called Random Approximated Greedy Search (RAGS) in this paper and apply it to the feature subset selection for regression. It is an extension of GRASP/Super‐heuristics approach to complex stochastic combinatorial optimization problems, where performance estimation is very expensive. The key points of RAGS are from the methodology of Ordinal Optimization (OO). We soften the goal and define success as good enough but not necessarily optimal. In this way, we use more crude estimation model, and treat the performance estimation error as randomness, so it can provide random perturbations mandated by the GRASP/Super‐heuristics approach directly and save a lot of computation effort at the same time. By the multiple independent running of RAGS, we show that we obtain better solutions than standard greedy search under the comparable computation effort.
ADAPTIVE SLIDING MODE BACKSTEPPING CONTROL OF NONLINEAR SYSTEMS WITH UNMATCHED UNCERTAINTY
Authors: Koshkouei Ali J. , Zinober Alan S. I. , Burnham Keith J. 
Published: September 2010

ABSTRACTThis paper considers an adaptive backstepping algorithm for designing the control for a class of nonlinear continuous uncertain processes with disturbances that can be converted to a parametric semi‐strict feedback form. Sliding mode control using a combined adaptive backstepping sliding mode control (SMC) algorithm, is also studied. The algorithm follows a systematic procedure for the design of adaptive control laws for the output tracking of nonlinear systems with matched and unmatched uncertainty.