Pub Date : 2004-09-02DOI: 10.1109/CACSD.2004.1393843
M. Volker, S. Engell
This paper deals with the calculation of the optimal control performance for linear time invariant plant models in the context of the screening of possible control structures. Compared to other approaches, e.g. the use of the relative gain array or other controllability indices, the proposed computation of the attainable control performance gives a quantitative assessment of a control structure without reference to a particular controller structure other than the assumption of linear control. In the time domain, control performance is measured in a least squares sense while constraints on manipulated and controlled variables can be included. The extension of the method presented here integrates the frequency domain condition for robust stability. Uncertainties are represented by the well known MDelta structure which renders the method generically applicable
{"title":"Quantitative I/O-controllability assessment for uncertain plants","authors":"M. Volker, S. Engell","doi":"10.1109/CACSD.2004.1393843","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393843","url":null,"abstract":"This paper deals with the calculation of the optimal control performance for linear time invariant plant models in the context of the screening of possible control structures. Compared to other approaches, e.g. the use of the relative gain array or other controllability indices, the proposed computation of the attainable control performance gives a quantitative assessment of a control structure without reference to a particular controller structure other than the assumption of linear control. In the time domain, control performance is measured in a least squares sense while constraints on manipulated and controlled variables can be included. The extension of the method presented here integrates the frequency domain condition for robust stability. Uncertainties are represented by the well known MDelta structure which renders the method generically applicable","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"171 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":"115447623","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.2004.1393903
Mei Yu, Long Wang, G. Xie, T. Chu
The problem of stabilization of networked control systems (NCSs) with data packet dropout is studied. Sufficient conditions are presented on the stability and stabilization of the NCSs with packet dropout. The novelty of this work lies in that NCSs with arbitrary but finite data packet dropout are modelled as switched linear systems, and this enables us to apply the result of switched systems to the analysis and synthesis of such NCSs. The admissible upper bound of the dropped packets can be determined by a set of linear matrix inequalities (LMIs) which guarantee the stability of the NCSs. Stabilizing controllers (via state feedback and static output feedback) can be constructed by solving a set of LMIs. Also, for an NCS with a convergence rate constraint, similar results are obtained. Examples are worked out to illustrate the effectiveness of the proposed method
{"title":"Stabilization of networked control systems with data packet dropout via switched system approach","authors":"Mei Yu, Long Wang, G. Xie, T. Chu","doi":"10.1109/CACSD.2004.1393903","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393903","url":null,"abstract":"The problem of stabilization of networked control systems (NCSs) with data packet dropout is studied. Sufficient conditions are presented on the stability and stabilization of the NCSs with packet dropout. The novelty of this work lies in that NCSs with arbitrary but finite data packet dropout are modelled as switched linear systems, and this enables us to apply the result of switched systems to the analysis and synthesis of such NCSs. The admissible upper bound of the dropped packets can be determined by a set of linear matrix inequalities (LMIs) which guarantee the stability of the NCSs. Stabilizing controllers (via state feedback and static output feedback) can be constructed by solving a set of LMIs. Also, for an NCS with a convergence rate constraint, similar results are obtained. Examples are worked out to illustrate the effectiveness of the proposed method","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"34 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":"117195273","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.2004.1393884
J. Y. Chen, Jen-Tsan Kuan, F. Wen, Shiyao Lin
This system offers a new approach to control home appliances from a remote terminal, with an option from a local server, using the Internet and radio connection. This system is accomplished by personal computers, interface cards, radio transmitters and receivers, microprocessors, ac phase control circuits, along with window-type software and microprocessor control software. The system is designed to control home appliances' on/off, to regulate their output power, and to set their usage timing. The prototype of this system was tested and responded successfully, which verifies the feasibility of this system's theory and concept
{"title":"A remote control system for home appliances using the Internet and radio connection","authors":"J. Y. Chen, Jen-Tsan Kuan, F. Wen, Shiyao Lin","doi":"10.1109/CACSD.2004.1393884","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393884","url":null,"abstract":"This system offers a new approach to control home appliances from a remote terminal, with an option from a local server, using the Internet and radio connection. This system is accomplished by personal computers, interface cards, radio transmitters and receivers, microprocessors, ac phase control circuits, along with window-type software and microprocessor control software. The system is designed to control home appliances' on/off, to regulate their output power, and to set their usage timing. The prototype of this system was tested and responded successfully, which verifies the feasibility of this system's theory and concept","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"11 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":"127188416","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.2004.1393904
Guoping Jiang, W. Zheng
Based on the Lyapunov stability theory in control theory, a new sufficient condition is proposed in this paper for chaos synchronization by the linear-state-feedback approach for a class of chaotic systems. By using Schur theorem and some matrix technique, this criterion is then transformed into the linear matrix inequality (LMI) form, which can be easily verified and resolved using the MATLAB LMI Toolbox. It is shown that under the proposed criterion chaos synchronization can be achieved at an exponential convergence rate. The effectiveness of the criterion proposed herein is verified and demonstrated by the chaotic Murali-Lakshmanan-Chua circuit
{"title":"An LMI criterion for chaos synchronization via the linear-state-feedback approach","authors":"Guoping Jiang, W. Zheng","doi":"10.1109/CACSD.2004.1393904","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393904","url":null,"abstract":"Based on the Lyapunov stability theory in control theory, a new sufficient condition is proposed in this paper for chaos synchronization by the linear-state-feedback approach for a class of chaotic systems. By using Schur theorem and some matrix technique, this criterion is then transformed into the linear matrix inequality (LMI) form, which can be easily verified and resolved using the MATLAB LMI Toolbox. It is shown that under the proposed criterion chaos synchronization can be achieved at an exponential convergence rate. The effectiveness of the criterion proposed herein is verified and demonstrated by the chaotic Murali-Lakshmanan-Chua circuit","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"73 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":"131661005","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.2004.1393892
Chung-Yao Kao, A. Megretski, U. Jonsson, A. Rantzer
Verification of control systems is often done using extensive simulation. This gives the engineer useful qualitative information about the system performance. However, simulation cannot be used to rigorously prove stability and robustness of the system. Such properties can only be verified using mathematical analysis which for many realistic systems becomes rather involved. This paper presents the MATLAB toolbox IQCbeta. It provides a user friendly interface for advanced semi-automatic systems analysis
{"title":"A MATLAB toolbox for robustness analysis","authors":"Chung-Yao Kao, A. Megretski, U. Jonsson, A. Rantzer","doi":"10.1109/CACSD.2004.1393892","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393892","url":null,"abstract":"Verification of control systems is often done using extensive simulation. This gives the engineer useful qualitative information about the system performance. However, simulation cannot be used to rigorously prove stability and robustness of the system. Such properties can only be verified using mathematical analysis which for many realistic systems becomes rather involved. This paper presents the MATLAB toolbox IQCbeta. It provides a user friendly interface for advanced semi-automatic systems analysis","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"38 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":"134294001","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.2004.1393851
Goran Frehse
Simulation relations can be used to verify refinement between a system and its specification, or between models of different complexity. It is known that for the verification of safety properties, simulation between hybrid systems can be defined based on their labeled transition system semantics. We show that for hybrid systems without shared variables, which therefore only interact at discrete events, this simulation preorder is compositional, and present assume-guarantee rules that help to counter the state explosion problem. Some experimental results for simulation checking of linear hybrid automata are provided using a prototype tool with exact arithmetic and unlimited digits
{"title":"Compositional verification of hybrid systems with discrete interaction using simulation relations","authors":"Goran Frehse","doi":"10.1109/CACSD.2004.1393851","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393851","url":null,"abstract":"Simulation relations can be used to verify refinement between a system and its specification, or between models of different complexity. It is known that for the verification of safety properties, simulation between hybrid systems can be defined based on their labeled transition system semantics. We show that for hybrid systems without shared variables, which therefore only interact at discrete events, this simulation preorder is compositional, and present assume-guarantee rules that help to counter the state explosion problem. Some experimental results for simulation checking of linear hybrid automata are provided using a prototype tool with exact arithmetic and unlimited digits","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"41 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":"133977691","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.2004.1393860
V. Bobál, P. Chalupa, P. Dostál
The paper deals with the control of multivariable systems with the same number of inputs as the number of outputs using a decentralized approach. The controlled system is divided into single input-single output (SISO) subsystems and adaptive controllers are used to control each subsystem. This paper is focused to the usage of self-tuning controllers (STC) which are a subset of adaptive controllers characterized by on-line identification of controlled system. The control part of individual controllers are based on polynomial approach (dead-beat in the weak and strong version, pole assignment in the 1DOF and 2DOF configurations, controllers based on minimization of quadratic criterion). A supervisory logic block is used in the control scheme to increase the stability of the on-line identification process by ensuring that just one of the controllers is in adaptive mode at a particular time. The logic supervisor is purposed as a simple and reliable technique for designing the supervisory logic. The basic idea of the logic supervisor is based on assigning priorities to individual outputs of controlled multivariable system and on-line evaluation of criterions for each subsystem. The usage of this approach has been tested in simulation experiments and in real-time applications and some results are presented in the paper
{"title":"Application of polynomial methods for design of adaptive decentralized control","authors":"V. Bobál, P. Chalupa, P. Dostál","doi":"10.1109/CACSD.2004.1393860","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393860","url":null,"abstract":"The paper deals with the control of multivariable systems with the same number of inputs as the number of outputs using a decentralized approach. The controlled system is divided into single input-single output (SISO) subsystems and adaptive controllers are used to control each subsystem. This paper is focused to the usage of self-tuning controllers (STC) which are a subset of adaptive controllers characterized by on-line identification of controlled system. The control part of individual controllers are based on polynomial approach (dead-beat in the weak and strong version, pole assignment in the 1DOF and 2DOF configurations, controllers based on minimization of quadratic criterion). A supervisory logic block is used in the control scheme to increase the stability of the on-line identification process by ensuring that just one of the controllers is in adaptive mode at a particular time. The logic supervisor is purposed as a simple and reliable technique for designing the supervisory logic. The basic idea of the logic supervisor is based on assigning priorities to individual outputs of controlled multivariable system and on-line evaluation of criterions for each subsystem. The usage of this approach has been tested in simulation experiments and in real-time applications and some results are presented in the paper","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":"123755361","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.2004.1393853
H.H.T. Liu
Flight control system development typically involves phases that are often chronological, yet are extensively interrelated and interconnected, where design, validation and verification (DV&V) play a central role. This paper proposes an integrated (DV&V) process aiming at reducing development cycles. A two-way integration approach suggests improvement than the traditional one-way integration approach, in integrating multiparadigm models, heterogeneous simulations, and in including mutual design and validation interactions. The necessity of such an integrated approach is illustrated by a flight control example
{"title":"Multiparadigm design, validation and verification by simulation in flight control system development","authors":"H.H.T. Liu","doi":"10.1109/CACSD.2004.1393853","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393853","url":null,"abstract":"Flight control system development typically involves phases that are often chronological, yet are extensively interrelated and interconnected, where design, validation and verification (DV&V) play a central role. This paper proposes an integrated (DV&V) process aiming at reducing development cycles. A two-way integration approach suggests improvement than the traditional one-way integration approach, in integrating multiparadigm models, heterogeneous simulations, and in including mutual design and validation interactions. The necessity of such an integrated approach is illustrated by a flight control example","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":"115595349","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.2004.1393872
Pau Herrero, M. A. Sainz, J. Vehí, Luc Jaulin
This paper describes a new reliable method, based on modal interval analysis (MIA) and set inversion (SI) techniques, for the characterization of solution sets defined by quantified constraints satisfaction problems (QCSP) over continuous domains. The presented methodology, called quantified set inversion (QSI), can be used over a wide range of engineering problems involving uncertain nonlinear models. Finally, an application on parameter identification is presented
{"title":"Quantified set inversion with applications to control","authors":"Pau Herrero, M. A. Sainz, J. Vehí, Luc Jaulin","doi":"10.1109/CACSD.2004.1393872","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393872","url":null,"abstract":"This paper describes a new reliable method, based on modal interval analysis (MIA) and set inversion (SI) techniques, for the characterization of solution sets defined by quantified constraints satisfaction problems (QCSP) over continuous domains. The presented methodology, called quantified set inversion (QSI), can be used over a wide range of engineering problems involving uncertain nonlinear models. Finally, an application on parameter identification is presented","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"79 24","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114017116","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 : 2004-06-01DOI: 10.1109/CACSD.2004.1393878
D. Arzelier, D. Peaucelle
A robust synthesis problem via state-feedback involving impulse-to-peak performances is investigated. Even when considering models without uncertainty, the impulse-to-peak performance cannot be computed exactly and a somewhat conservative bound may be computed by LMI optimization. Our goal is first to tighten the bounds obtained in the previous reference using the quadratic stability framework when the state-space matrices are known to belong to a polytope of matrices. In a second stage, the robust state-feedback synthesis problem is tackled in the same setup for LTI discrete-time polytopic systems. These results are then applied to control the attitude of a space launcher during the atmospheric flight
{"title":"Robust impulse-to-peak synthesis: application to the control of an aerospace launcher","authors":"D. Arzelier, D. Peaucelle","doi":"10.1109/CACSD.2004.1393878","DOIUrl":"https://doi.org/10.1109/CACSD.2004.1393878","url":null,"abstract":"A robust synthesis problem via state-feedback involving impulse-to-peak performances is investigated. Even when considering models without uncertainty, the impulse-to-peak performance cannot be computed exactly and a somewhat conservative bound may be computed by LMI optimization. Our goal is first to tighten the bounds obtained in the previous reference using the quadratic stability framework when the state-space matrices are known to belong to a polytope of matrices. In a second stage, the robust state-feedback synthesis problem is tackled in the same setup for LTI discrete-time polytopic systems. These results are then applied to control the attitude of a space launcher during the atmospheric flight","PeriodicalId":111199,"journal":{"name":"2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133999324","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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