Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393856
Petr Dostil, V. Bobil, Martin TomaStik
The paper deals with design of controllers for time delay systems. The method is developed for stable, unstable and integrating time delay systems in conjunction with the approximation of the time delay term. The 2DOF control system configuration is considered. To derive of controllers, the polynomial approach and the pole assignment method are applied. The procedure is proposed for two choices of the characteristic polynomial of the closed-loop. The resulting controller obtained via polynomial Diophantine equations is stable and proper. The simulation results document a usability of the proposed method providing stable control responses of a good quality also for a higher ratio between the time delay and the time constant of the controlled system
{"title":"Application of polynomial method in control of time delay systems","authors":"Petr Dostil, V. Bobil, Martin TomaStik","doi":"10.1109/CACSD.2004.1393856","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393856","url":null,"abstract":"The paper deals with design of controllers for time delay systems. The method is developed for stable, unstable and integrating time delay systems in conjunction with the approximation of the time delay term. The 2DOF control system configuration is considered. To derive of controllers, the polynomial approach and the pole assignment method are applied. The procedure is proposed for two choices of the characteristic polynomial of the closed-loop. The resulting controller obtained via polynomial Diophantine equations is stable and proper. The simulation results document a usability of the proposed method providing stable control responses of a good quality also for a higher ratio between the time delay and the time constant of the controlled system","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"24 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":"125940214","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.2004.1393850
M. Remelhe, S. Lohmann, O. Stursberg, S. Engell, N. Bauer
The a-posteriori analysis of logic controllers can be a suitable means to detect design flaws if the controller was not developed by a synthesis algorithm that correctly considered all relevant requirements. This paper advocates the verification of logic controllers with a special focus on the following three issues: (a) the control code is given as a sequential function chart (SFC), a description language becoming increasingly popular for industrial controllers; (b) the cyclic operation mode of the hardware on which the controllers is implemented is taken into account; (c) specifications of the control logic that include timers and the real-time behavior of the controlled plant are considered. We propose an approach in which the SFC controller is first translated into a timed automaton using an algorithm that explores a special graph grammar. The automaton can then be composed with a timed automaton modeling the plant behavior, and model-checking of the composition reveals whether a given set of requirements is fulfilled. All steps of the procedure are illustrated for the example of a controlled evaporation system
{"title":"Algorithmic verification of logic controllers given as sequential function charts","authors":"M. Remelhe, S. Lohmann, O. Stursberg, S. Engell, N. Bauer","doi":"10.1109/CACSD.2004.1393850","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393850","url":null,"abstract":"The a-posteriori analysis of logic controllers can be a suitable means to detect design flaws if the controller was not developed by a synthesis algorithm that correctly considered all relevant requirements. This paper advocates the verification of logic controllers with a special focus on the following three issues: (a) the control code is given as a sequential function chart (SFC), a description language becoming increasingly popular for industrial controllers; (b) the cyclic operation mode of the hardware on which the controllers is implemented is taken into account; (c) specifications of the control logic that include timers and the real-time behavior of the controlled plant are considered. We propose an approach in which the SFC controller is first translated into a timed automaton using an algorithm that explores a special graph grammar. The automaton can then be composed with a timed automaton modeling the plant behavior, and model-checking of the composition reveals whether a given set of requirements is fulfilled. All steps of the procedure are illustrated for the example of a controlled evaporation system","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"27 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":"129012994","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.2004.1393854
Jin-Shyan Lee, Mengchu Zhou, P. Hsu
In the past years, modeling and simulation of hybrid dynamic systems (HDS) have attracted much attention. However, since simultaneously dealing with the discrete and continuous variables is very difficult, most of the models result in a unified, but more complicated and unnatural format. Moreover, design engineers cannot be allowed to use their preferred domain models. Based on the multi-paradigm modeling (MPaM) concept, this paper proposed a Petri net (PN) framework with associated state equations to model the HDS. In the presented approach, modeling schemes of the hybrid systems are separated, but combined in a hierarchical way through specified interfaces. Designers can still work in their familiar domain-specific modeling paradigms and the heterogeneity is hidden when composing large systems. An application to a rapid thermal process (RTP) in semiconductor manufacturing is provided to demonstrate the practicability of the developed approach
{"title":"A multi-paradigm modeling approach for hybrid dynamic systems","authors":"Jin-Shyan Lee, Mengchu Zhou, P. Hsu","doi":"10.1109/CACSD.2004.1393854","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393854","url":null,"abstract":"In the past years, modeling and simulation of hybrid dynamic systems (HDS) have attracted much attention. However, since simultaneously dealing with the discrete and continuous variables is very difficult, most of the models result in a unified, but more complicated and unnatural format. Moreover, design engineers cannot be allowed to use their preferred domain models. Based on the multi-paradigm modeling (MPaM) concept, this paper proposed a Petri net (PN) framework with associated state equations to model the HDS. In the presented approach, modeling schemes of the hybrid systems are separated, but combined in a hierarchical way through specified interfaces. Designers can still work in their familiar domain-specific modeling paradigms and the heterogeneity is hidden when composing large systems. An application to a rapid thermal process (RTP) in semiconductor manufacturing is provided to demonstrate the practicability of the developed approach","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"18 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":"123732373","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.2004.1393855
K. Muller-Glaser, C. Reichmann, P. Graf, M. Kuhl, K. Ritter
Up to 70 electronic control units (ECU's) serve for safety and comfort functions in a car. Communicating over different bus systems most ECU's perform close loop control functions and reactive functions and have to fulfill hard real time constraints. Some ECU's controlling on board entertainment/office systems are software intensive, incorporating millions of lines of code. The challenge for the design of those distributed and networked control units is to define all requirements and constraints, understand and analyze those manifold interactions between the control units, the car and the environment (driver, road, weather) in normal as well as stress situations (crash). To design within a development process which is concurrent and distributed between the automotive manufacturer and several suppliers requires a well understood life-cycle model, a strictly controlled design methodology and using computer aided engineering tools to its largest extent. We have developed the CASE-tool integration platform "generalstore" to support the design of automotive ECU's, however, generalstore is also used for the design of industrial automation systems and biomedical systems
{"title":"Heterogeneous modeling for automotive electronic control units using a CASE-tool integration platform","authors":"K. Muller-Glaser, C. Reichmann, P. Graf, M. Kuhl, K. Ritter","doi":"10.1109/CACSD.2004.1393855","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393855","url":null,"abstract":"Up to 70 electronic control units (ECU's) serve for safety and comfort functions in a car. Communicating over different bus systems most ECU's perform close loop control functions and reactive functions and have to fulfill hard real time constraints. Some ECU's controlling on board entertainment/office systems are software intensive, incorporating millions of lines of code. The challenge for the design of those distributed and networked control units is to define all requirements and constraints, understand and analyze those manifold interactions between the control units, the car and the environment (driver, road, weather) in normal as well as stress situations (crash). To design within a development process which is concurrent and distributed between the automotive manufacturer and several suppliers requires a well understood life-cycle model, a strictly controlled design methodology and using computer aided engineering tools to its largest extent. We have developed the CASE-tool integration platform \"generalstore\" to support the design of automotive ECU's, however, generalstore is also used for the design of industrial automation systems and biomedical systems","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"36 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":"121902301","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.2004.1393880
A. Satoh, K. Sugimoto
This paper proposes a design technique of state-feedback H/sub /spl infin// control with transient response shaping. For direct transient response shaping, loose eigenstructure assignment technique is a effective technique. By using this technique, each of closed-loop eigenvalues (poles) and eigenvectors are assigned in the corresponding eigenvalue regions and eigenvector cones individually. The loose eigenstructure assignment problem is reduced to a rank-one LMI (linear matrix inequality) problem, and easily combined with H/sub /spl infin// control by means of enhanced LMI characterization.
{"title":"Transient response shaping in H/sub /spl infin// control by loose eigenstructure assignment technique","authors":"A. Satoh, K. Sugimoto","doi":"10.1109/CACSD.2004.1393880","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393880","url":null,"abstract":"This paper proposes a design technique of state-feedback H/sub /spl infin// control with transient response shaping. For direct transient response shaping, loose eigenstructure assignment technique is a effective technique. By using this technique, each of closed-loop eigenvalues (poles) and eigenvectors are assigned in the corresponding eigenvalue regions and eigenvector cones individually. The loose eigenstructure assignment problem is reduced to a rank-one LMI (linear matrix inequality) problem, and easily combined with H/sub /spl infin// control by means of enhanced LMI characterization.","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"58 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":"127024256","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.2004.1393882
Yung-Sheng Liu, C. Fang, S. Kau, Lin Hong
A less conservative condition for robust D-stability of linear systems with polytopic uncertainties is proposed. The robust D-stability can be easily attested by means of a feasibility test of a set of linear matrix inequalities (LMIs) involving only the vertices of the polytope. It is shown that the proposed condition include a lot of conditions published recently as particular cases. To the best of authors' knowledge, the present result is the least conservative in comparison with other conditions currently available in the field of robust D-stability analysis for polytopic uncertain systems
{"title":"An improved LMI-based D-stability condition for polytopic uncertain systems","authors":"Yung-Sheng Liu, C. Fang, S. Kau, Lin Hong","doi":"10.1109/CACSD.2004.1393882","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393882","url":null,"abstract":"A less conservative condition for robust D-stability of linear systems with polytopic uncertainties is proposed. The robust D-stability can be easily attested by means of a feasibility test of a set of linear matrix inequalities (LMIs) involving only the vertices of the polytope. It is shown that the proposed condition include a lot of conditions published recently as particular cases. To the best of authors' knowledge, the present result is the least conservative in comparison with other conditions currently available in the field of robust D-stability analysis for polytopic uncertain systems","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"68 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":"115253681","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.2004.1393877
Juing-Huei Su, Jiann-Jong Chen, Chien-Ming Wang, Chao-Liang Chien, Jing-Da Lee
The widespread use of switching converters in many electronic systems for their high efficiency and smaller size makes the fundamental understanding of them a necessity for many electronic system design engineers. Unfortunately, learning the modeling and feedback controller design techniques of switching converter circuits are interesting but difficult, because they includes many areas of knowledge, e.g., the converter circuits and electronics, linear and nonlinear control system theory, and magnetics, etc. Teaching the dc-dc switching converters is a challenging undertaking because one cannot assume that all students enrolled in the class have solid prerequisite knowledge in so many areas. Therefore, to speed up the learning process, SIMULINK simulation modules of dc-dc hard-switching and resonant switching converters, and of ac-dc power factor correction switching rectifiers are devised in our laboratory to serve as teaching aids. They are also accurate and practical enough for students to validate both the transient and the steady-state responses of real switching converter circuits
{"title":"Computer aided feedback controller design environment for switching converter circuits","authors":"Juing-Huei Su, Jiann-Jong Chen, Chien-Ming Wang, Chao-Liang Chien, Jing-Da Lee","doi":"10.1109/CACSD.2004.1393877","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393877","url":null,"abstract":"The widespread use of switching converters in many electronic systems for their high efficiency and smaller size makes the fundamental understanding of them a necessity for many electronic system design engineers. Unfortunately, learning the modeling and feedback controller design techniques of switching converter circuits are interesting but difficult, because they includes many areas of knowledge, e.g., the converter circuits and electronics, linear and nonlinear control system theory, and magnetics, etc. Teaching the dc-dc switching converters is a challenging undertaking because one cannot assume that all students enrolled in the class have solid prerequisite knowledge in so many areas. Therefore, to speed up the learning process, SIMULINK simulation modules of dc-dc hard-switching and resonant switching converters, and of ac-dc power factor correction switching rectifiers are devised in our laboratory to serve as teaching aids. They are also accurate and practical enough for students to validate both the transient and the steady-state responses of real switching converter circuits","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"138 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113983615","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.2004.1393901
D. Xie, Long Wang, G. Xie, Fei Hao
This paper investigates the L/sub 2/ gain analysis and control synthesis of discrete-time switched systems under arbitrary switching by linear matrix inequality (LMI) approach together with switched Lyapunov function method. First, the existence of a switched Lyapunov function is proven to be equivalent to the feasibility of some LMIs. An upper bound of the L/sub 2/ gain for switched systems can be computed by solving an eigenvalue problem (EVP). Then, we design a switched state feedback controller and a switched output feedback controller, respectively, guaranteeing that the corresponding closed-loop system is asymptotically stable with an L/sub 2/ gain smaller than a fixed constant. LMI-based conditions for both cases are presented. Finally, two examples are given to illustrate our results.
{"title":"An LMI approach to L/sub 2/ gain analysis and control synthesis of switched systems","authors":"D. Xie, Long Wang, G. Xie, Fei Hao","doi":"10.1109/CACSD.2004.1393901","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393901","url":null,"abstract":"This paper investigates the L/sub 2/ gain analysis and control synthesis of discrete-time switched systems under arbitrary switching by linear matrix inequality (LMI) approach together with switched Lyapunov function method. First, the existence of a switched Lyapunov function is proven to be equivalent to the feasibility of some LMIs. An upper bound of the L/sub 2/ gain for switched systems can be computed by solving an eigenvalue problem (EVP). Then, we design a switched state feedback controller and a switched output feedback controller, respectively, guaranteeing that the corresponding closed-loop system is asymptotically stable with an L/sub 2/ gain smaller than a fixed constant. LMI-based conditions for both cases are presented. Finally, two examples are given to illustrate our results.","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":"115852371","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.2004.1393883
Cheng-Te Lai, C. Fang, S. Kau, Chin-Hsing Lee
This paper considers robust H/sub 2/ control problem of continuous-time systems with time-varying norm-bounded uncertainties. A necessary and sufficient condition for the analysis of robust H/sub 2/ control is derived in the form of linear matrix inequalities (LMI). Using the analysis result, a state feedback controller and a dynamic output feedback controller are designed respectively so that the closed-loop uncertain system is quadratically stable and all its transfer matrices have H/sub 2/-norm bounded by a prescribed value. With LMI manipulations, two necessary and sufficient conditions for the solvability of above design problems are addressed.
{"title":"Robust H/sub 2/ control of norm-bounded uncertain continuous-time system-an LMI approach","authors":"Cheng-Te Lai, C. Fang, S. Kau, Chin-Hsing Lee","doi":"10.1109/CACSD.2004.1393883","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393883","url":null,"abstract":"This paper considers robust H/sub 2/ control problem of continuous-time systems with time-varying norm-bounded uncertainties. A necessary and sufficient condition for the analysis of robust H/sub 2/ control is derived in the form of linear matrix inequalities (LMI). Using the analysis result, a state feedback controller and a dynamic output feedback controller are designed respectively so that the closed-loop uncertain system is quadratically stable and all its transfer matrices have H/sub 2/-norm bounded by a prescribed value. With LMI manipulations, two necessary and sufficient conditions for the solvability of above design problems are addressed.","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"30 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":"125462183","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.2004.1393863
M. Najafi, R. Nikoukhah, S. Campbell
Scicos, which can simulate hybrid systems, has been extended to include some types of implicit models. This results in multi-mode DAEs. Switching from one model to another requires robust and efficient reinitialization. This paper discusses some of the special problems faced in the simulation of multi-model DAEs and proposes two solutions for finding consistent initial conditions. These methods are designed to take advantage of the data and algorithms available in Scicos
{"title":"Computation of consistent initial conditions for multi-mode DAEs: application to Scicos","authors":"M. Najafi, R. Nikoukhah, S. Campbell","doi":"10.1109/CACSD.2004.1393863","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393863","url":null,"abstract":"Scicos, which can simulate hybrid systems, has been extended to include some types of implicit models. This results in multi-mode DAEs. Switching from one model to another requires robust and efficient reinitialization. This paper discusses some of the special problems faced in the simulation of multi-model DAEs and proposes two solutions for finding consistent initial conditions. These methods are designed to take advantage of the data and algorithms available in Scicos","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":"133603392","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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