Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393857
K. Polyakov, E. Rosenwasser, B. Lampe
A multivariable version of the DIRECTSD toolbox for MATLAB is presented. The software realizes recently developed polynomial methods for H2-and L2-optimal sampled-data systems design on the basis of matrix operations for polynomials and quasi-polynomials using object-oriented programming in MATLAB
{"title":"DIRECTSD-a toolbox for polynomial design of multivariable sampled-data systems","authors":"K. Polyakov, E. Rosenwasser, B. Lampe","doi":"10.1109/CACSD.2004.1393857","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393857","url":null,"abstract":"A multivariable version of the DIRECTSD toolbox for MATLAB is presented. The software realizes recently developed polynomial methods for H2-and L2-optimal sampled-data systems design on the basis of matrix operations for polynomials and quasi-polynomials using object-oriented programming in MATLAB","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127918704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393888
T. Sysala, P. Dostál
This paper deals with the implementation of a self-tuning controller into a PLC (programmable logical controller) library. The polynomial method is used, and the parameters for controller are derived using delta-model together with the pole placement approach. The recursive least-squares method and directional forgetting are used to estimate the parameters of the delta-model. The algorithm was implemented in the Tecomat PLC library, product of Teco, Inc. The laboratory tests proved that the algorithm implementation was successful
{"title":"Adaptive controller implementation into PLC library","authors":"T. Sysala, P. Dostál","doi":"10.1109/CACSD.2004.1393888","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393888","url":null,"abstract":"This paper deals with the implementation of a self-tuning controller into a PLC (programmable logical controller) library. The polynomial method is used, and the parameters for controller are derived using delta-model together with the pole placement approach. The recursive least-squares method and directional forgetting are used to estimate the parameters of the delta-model. The algorithm was implemented in the Tecomat PLC library, product of Teco, Inc. The laboratory tests proved that the algorithm implementation was successful","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128771732","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393847
D. Corona, C. Seatzu, A. Giua, D. Gromov, E. Mayer, J. Raisch
In this contribution, we propose a two-level hierarchical control strategy to solve the problem of minimising a cost function for a switched affine system under safety and liveness constraints. The constraints are handled on the lower level by a discrete supervisory controller designed using l-complete approximation. Its action can be represented as state invariants added to the plant model. In a bottom-up strategy, we can then synthesis a high-level controller, which computes a set of switching tables using the remaining degrees of freedom to optimise a quadratic performance index
{"title":"Optimal hybrid control for switched affine systems under safety and liveness constraints","authors":"D. Corona, C. Seatzu, A. Giua, D. Gromov, E. Mayer, J. Raisch","doi":"10.1109/CACSD.2004.1393847","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393847","url":null,"abstract":"In this contribution, we propose a two-level hierarchical control strategy to solve the problem of minimising a cost function for a switched affine system under safety and liveness constraints. The constraints are handled on the lower level by a discrete supervisory controller designed using l-complete approximation. Its action can be represented as state invariants added to the plant model. In a bottom-up strategy, we can then synthesis a high-level controller, which computes a set of switching tables using the remaining degrees of freedom to optimise a quadratic performance index","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117346400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393886
J. Magni
The initial version of linear fractional representation toolbox was mostly devoted to modelling with a special emphasis to LFT order reduction. An LFT representation can be viewed as the realization of a symbolic expression, therefore, scheduled gains are LFTs. This paper presents an extension of this toolbox to scheduled feedback design in LFT form. The well-posedness problem of such feedback gains is addressed. In addition, some classical analysis techniques (Nyquist, Bode, step responses...) are adapted to LFT objects via parameter gridding
{"title":"Extensions of the linear fractional representation toolbox (LFRT)","authors":"J. Magni","doi":"10.1109/CACSD.2004.1393886","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393886","url":null,"abstract":"The initial version of linear fractional representation toolbox was mostly devoted to modelling with a special emphasis to LFT order reduction. An LFT representation can be viewed as the realization of a symbolic expression, therefore, scheduled gains are LFTs. This paper presents an extension of this toolbox to scheduled feedback design in LFT form. The well-posedness problem of such feedback gains is addressed. In addition, some classical analysis techniques (Nyquist, Bode, step responses...) are adapted to LFT objects via parameter gridding","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121556138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393905
M. Basso, G. Bagni
The atomic force microscope operating in tapping-mode can be properly described by a sinusoidally forced second order mechanical oscillator, which is nonlinearly interacting with the sample. Due to interaction forces, which strongly depend on the separation between the AFM tip and the sample profile, the cantilever oscillations may present chaotic behaviors, rising when the separation decreases. The stabilization of such periodic solutions is critical for achieving the correct sample topography. In this work, an LMI-based synthesis technique is proposed for determining the controller which guarantees stability of the cantilever oscillation for a wider range of tip-sample separations, thus eliminating unwanted complex dynamics
{"title":"Controller synthesis for stabilizing oscillations in tapping-mode atomic force microscopes","authors":"M. Basso, G. Bagni","doi":"10.1109/CACSD.2004.1393905","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393905","url":null,"abstract":"The atomic force microscope operating in tapping-mode can be properly described by a sinusoidally forced second order mechanical oscillator, which is nonlinearly interacting with the sample. Due to interaction forces, which strongly depend on the separation between the AFM tip and the sample profile, the cantilever oscillations may present chaotic behaviors, rising when the separation decreases. The stabilization of such periodic solutions is critical for achieving the correct sample topography. In this work, an LMI-based synthesis technique is proposed for determining the controller which guarantees stability of the cantilever oscillation for a wider range of tip-sample separations, thus eliminating unwanted complex dynamics","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122267757","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393896
Y. Hsiao, Cheng-Long Chuang, Cheng-Chih Chien
This work presents an optimum approach to design PID controllers. The primary design goal is to obtain good load disturbance response by minimizing the integral absolute control error. At the same time, the transient response is guaranteed by minimizing the maximum overshoot, settling time, rise time of step response. This study proposes a solution algorithm based on the ant colony optimization technique to determine the parameters of the PID controller for getting a well performance for a given plant. Simulation results demonstrate that better control performance can be achieved in comparison with known methods
{"title":"Ant colony optimization for designing of PID controllers","authors":"Y. Hsiao, Cheng-Long Chuang, Cheng-Chih Chien","doi":"10.1109/CACSD.2004.1393896","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393896","url":null,"abstract":"This work presents an optimum approach to design PID controllers. The primary design goal is to obtain good load disturbance response by minimizing the integral absolute control error. At the same time, the transient response is guaranteed by minimizing the maximum overshoot, settling time, rise time of step response. This study proposes a solution algorithm based on the ant colony optimization technique to determine the parameters of the PID controller for getting a well performance for a given plant. Simulation results demonstrate that better control performance can be achieved in comparison with known methods","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134025772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393902
S. Mu, T. Chu, Long Wang, G. Xie
This paper considers the problem of state feedback control of networked systems with an uncertain plant. The signal for feedback switches periodically between the plant state which is available via the communication network and the state of a model of the plant that is used to generate control signal when the plant state is not available from the network. A necessary and sufficient condition and a sufficient condition for the robust exponential stability of the closed loop system are derived in terms of the network dwell time and the system parameters. The results suggest a simple procedure for designing the state feedback controller of the system. Numerical simulations show the feasibility and efficiency of the proposed methods
{"title":"State feedback control of networked systems via periodical switching","authors":"S. Mu, T. Chu, Long Wang, G. Xie","doi":"10.1109/CACSD.2004.1393902","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393902","url":null,"abstract":"This paper considers the problem of state feedback control of networked systems with an uncertain plant. The signal for feedback switches periodically between the plant state which is available via the communication network and the state of a model of the plant that is used to generate control signal when the plant state is not available from the network. A necessary and sufficient condition and a sufficient condition for the robust exponential stability of the closed loop system are derived in terms of the network dwell time and the system parameters. The results suggest a simple procedure for designing the state feedback controller of the system. Numerical simulations show the feasibility and efficiency of the proposed methods","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"28 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132723596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393861
M. Goursat, L. Mevel
Modal analysis of vibrating structures is a usual technique for design and monitoring in many industrial sectors: car manufacturing, aerospace, civil structures. We present COSMAD a software environment for in-operation situation without any measured or controlled input. COSMAD is an identification and detection Scilab toolbox. It covers modal identification with visual inspection of the results via a GUI or fully automated modal identification and monitoring. The toolbox offers a complete package for signal visualization, filtering and down-sampling, the tracking of frequency and damping over time, mode-shape visualization, MAC computation, etc. The detection part is also a comprehensive toolbox for modal diagnosis and physical localization of faulty components
{"title":"COSMAD: a Scilab toolbox for output-only modal analysis and diagnosis of vibrating structures","authors":"M. Goursat, L. Mevel","doi":"10.1109/CACSD.2004.1393861","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393861","url":null,"abstract":"Modal analysis of vibrating structures is a usual technique for design and monitoring in many industrial sectors: car manufacturing, aerospace, civil structures. We present COSMAD a software environment for in-operation situation without any measured or controlled input. COSMAD is an identification and detection Scilab toolbox. It covers modal identification with visual inspection of the results via a GUI or fully automated modal identification and monitoring. The toolbox offers a complete package for signal visualization, filtering and down-sampling, the tracking of frequency and damping over time, mode-shape visualization, MAC computation, etc. The detection part is also a comprehensive toolbox for modal diagnosis and physical localization of faulty components","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131013818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393871
A. Lordelo, E. A. Juzzo, P. Ferreira
In this paper the design of pole placement feedback controllers for interval plants is addressed within an interval analysis framework. Three main topics connected by the concept of interval Diophantine equation are treated: a relatively straightforward investigation about robust coprimeness of interval polynomials, a reliable computing approach for the design of pole placement controllers in the presence of inaccuracies of the interval type, and the design of robust controllers with regional pole placement specifications. After explicitly characterizing a convex subset of robust controllers, the problem of designing non-fragile controllers is formulated as a centering problem, which is then solved by a global optimization algorithm. Numerical examples illustrate the main characteristics of the approach proposed
{"title":"On the design of robust controllers using the interval Diophantine equation","authors":"A. Lordelo, E. A. Juzzo, P. Ferreira","doi":"10.1109/CACSD.2004.1393871","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393871","url":null,"abstract":"In this paper the design of pole placement feedback controllers for interval plants is addressed within an interval analysis framework. Three main topics connected by the concept of interval Diophantine equation are treated: a relatively straightforward investigation about robust coprimeness of interval polynomials, a reliable computing approach for the design of pole placement controllers in the presence of inaccuracies of the interval type, and the design of robust controllers with regional pole placement specifications. After explicitly characterizing a convex subset of robust controllers, the problem of designing non-fragile controllers is formulated as a centering problem, which is then solved by a global optimization algorithm. Numerical examples illustrate the main characteristics of the approach proposed","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134507192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393849
J. Buisson, H. Cormerais, M. Zainea, H. Guéguen, E. Godoy
This paper considers the computation of a hybrid automaton that models the behaviour of a switching linear physical system using energy considerations. The system is represented in a compositional way with bond graphs that include switches. In a first step the switches are considered from a functional point of view. This allows to determine the locations that are associated to consistent configuration of switches, the continuous activities and the jumps. In a second step elementary models of switches are introduced and allow to determine the invariants and the guards of transitions. The approach is exemplified with a simple electronics circuit
{"title":"Formal approach to compute hybrid automata models for linear physical systems with switches","authors":"J. Buisson, H. Cormerais, M. Zainea, H. Guéguen, E. Godoy","doi":"10.1109/CACSD.2004.1393849","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393849","url":null,"abstract":"This paper considers the computation of a hybrid automaton that models the behaviour of a switching linear physical system using energy considerations. The system is represented in a compositional way with bond graphs that include switches. In a first step the switches are considered from a functional point of view. This allows to determine the locations that are associated to consistent configuration of switches, the continuous activities and the jumps. In a second step elementary models of switches are introduced and allow to determine the invariants and the guards of transitions. The approach is exemplified with a simple electronics circuit","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122330882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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