Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099671
H. Niemann
Different applications of the parameterization of all systems stabilized by a given controller, i.e. the dual Youla parameterization, are considered in this paper. It will be shown how the parameterization can be applied in connection with controller design, adaptive controllers, model validation and fault detection. Further, some of the limitation in connection with the parameterization are also investigated.
{"title":"Application of the dual Youla parameter","authors":"H. Niemann","doi":"10.23919/ECC.1999.7099671","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099671","url":null,"abstract":"Different applications of the parameterization of all systems stabilized by a given controller, i.e. the dual Youla parameterization, are considered in this paper. It will be shown how the parameterization can be applied in connection with controller design, adaptive controllers, model validation and fault detection. Further, some of the limitation in connection with the parameterization are also investigated.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128387959","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 : 1999-08-01DOI: 10.23919/ECC.1999.7100074
P. Heuberger, T. Hoog, P. V. D. Hof
This paper considers the approximation of linear systems by means of orthonormal basis functions, which are generated by stable all-pass functions. These basis functions induce the so called Hambo transform, which transforms scalar systems into square systems of i/o dimension equal to the order of the all-pass function considered. We will consider the construction of the Markov parameters of the system representation in the transform domain and show how these can be used to realize minimal state space representations for the exact and partial knowledge case. Additionally a projection mechanism is presented to allow inverse transformation of any sequence of Markov parameters in the transform domain. This mechanism is illustrated with an example.
{"title":"Approximation and realization using generalized orthonormal bases","authors":"P. Heuberger, T. Hoog, P. V. D. Hof","doi":"10.23919/ECC.1999.7100074","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100074","url":null,"abstract":"This paper considers the approximation of linear systems by means of orthonormal basis functions, which are generated by stable all-pass functions. These basis functions induce the so called Hambo transform, which transforms scalar systems into square systems of i/o dimension equal to the order of the all-pass function considered. We will consider the construction of the Markov parameters of the system representation in the transform domain and show how these can be used to realize minimal state space representations for the exact and partial knowledge case. Additionally a projection mechanism is presented to allow inverse transformation of any sequence of Markov parameters in the transform domain. This mechanism is illustrated with an example.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128446386","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099375
J. M. Lemos, L. Rato, J. Marques
A supervisor algorithm for application in switching reconfigurable control of time varying plants is presented. The possible outcomes of the parameters configuring plant dynamics are described by a hidden Markov model whose state, assumed unavailable for direct observation, is estimated from plant i/o data using a nonlinear filtering algorithm. The use of a shared state representation allows a natural fitting of this supervisor to Predictive Reconfigurable Control.
{"title":"Switching reconfigurable control based on hidden Markov models","authors":"J. M. Lemos, L. Rato, J. Marques","doi":"10.23919/ECC.1999.7099375","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099375","url":null,"abstract":"A supervisor algorithm for application in switching reconfigurable control of time varying plants is presented. The possible outcomes of the parameters configuring plant dynamics are described by a hidden Markov model whose state, assumed unavailable for direct observation, is estimated from plant i/o data using a nonlinear filtering algorithm. The use of a shared state representation allows a natural fitting of this supervisor to Predictive Reconfigurable Control.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127081424","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099699
M. Ellouze, B. d'Andréa-Novel
In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.
{"title":"Modeling and control of unicycle type-robots in presence of decoupled slipping and skidding effects","authors":"M. Ellouze, B. d'Andréa-Novel","doi":"10.23919/ECC.1999.7099699","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099699","url":null,"abstract":"In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127101564","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}
{"title":"Potential problems of unstability and divergence in image-based and position-based visual servoing","authors":"F. Chaumette","doi":"10.1007/BFB0109663","DOIUrl":"https://doi.org/10.1007/BFB0109663","url":null,"abstract":"","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127430654","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 : 1999-08-01DOI: 10.23919/ECC.1999.7100010
Gerd Rappenecker, Dietmar Erling
Plant operation can be supported by continuous on-line monitoring of equipment states, enabling users to move towards predictive maintenance and to postpone inspection outages, reducing downtime and cost. On-line process monitoring and operator advisory systems support early detection of causes for sub-optimal plant operation and thus help to reduce fuel cost. Remote access to plant data makes it possible for plant owners and service providers dealing with geographically widely distributed assets to keep labor cost low by deploying specialists among multiple sites from one single location. Plant and Enterprise Management will profit from the integration of data from process-oriented systems (process control, performance monitoring, maintenance management etc.) with business systems (financial tracking, load scheduling, energy trading, etc.) and will thus be able to secure competitive advantages by quickly reacting to changing market needs based on up-to-the-minute information on, e.g. fuel cost, availability, load forecasts.
{"title":"Power plant performance management","authors":"Gerd Rappenecker, Dietmar Erling","doi":"10.23919/ECC.1999.7100010","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100010","url":null,"abstract":"Plant operation can be supported by continuous on-line monitoring of equipment states, enabling users to move towards predictive maintenance and to postpone inspection outages, reducing downtime and cost. On-line process monitoring and operator advisory systems support early detection of causes for sub-optimal plant operation and thus help to reduce fuel cost. Remote access to plant data makes it possible for plant owners and service providers dealing with geographically widely distributed assets to keep labor cost low by deploying specialists among multiple sites from one single location. Plant and Enterprise Management will profit from the integration of data from process-oriented systems (process control, performance monitoring, maintenance management etc.) with business systems (financial tracking, load scheduling, energy trading, etc.) and will thus be able to secure competitive advantages by quickly reacting to changing market needs based on up-to-the-minute information on, e.g. fuel cost, availability, load forecasts.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129977050","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099704
Ching-Hung Lee, C. Teng
This paper presents a new method for identifying a nonlinear system using the Hammerstein model. Such model consists of static nonlinear part and linear dynamic part in a cascading structure. The static nonlinear part is modeled by a fuzzy neural network (FNN), and the linear dynamic part is modeled by an auto-regressive moving average (ARMA) model. Based on our approach, a nonlinear dynamical system can be divided into two parts, a nonlinear static function and an ARMA model. Furthermore, a simple learning algorithm is developed for obtaining the parameters of FNN and ARMA model. In addition, the convergence analysis for the cascade model (FNN+ARMA) is also studied by the Lyapunov approach. A simulation result is given to illustrate the effectiveness of the proposed method. Simulation result also demonstrates that this approach is useful for systems with disturbance input.
{"title":"A novel method to identify nonlinear dynamic systems","authors":"Ching-Hung Lee, C. Teng","doi":"10.23919/ECC.1999.7099704","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099704","url":null,"abstract":"This paper presents a new method for identifying a nonlinear system using the Hammerstein model. Such model consists of static nonlinear part and linear dynamic part in a cascading structure. The static nonlinear part is modeled by a fuzzy neural network (FNN), and the linear dynamic part is modeled by an auto-regressive moving average (ARMA) model. Based on our approach, a nonlinear dynamical system can be divided into two parts, a nonlinear static function and an ARMA model. Furthermore, a simple learning algorithm is developed for obtaining the parameters of FNN and ARMA model. In addition, the convergence analysis for the cascade model (FNN+ARMA) is also studied by the Lyapunov approach. A simulation result is given to illustrate the effectiveness of the proposed method. Simulation result also demonstrates that this approach is useful for systems with disturbance input.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128987035","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099876
R. Hanus, P. Bogaerts, D. Vrančić
The conditioning technique has been conceived and must always be considered as an a posteriori anti-windup method (the a priori knowledge of the non-linearity acting on the desired control variable has not to be known, provided a post-measurement of the actual control variable is furnished). And in this sense this kind of "backward" anti-windup should always be used because it is never possible to prejudge of any non-linearity that could appear. However, when an a priori knowledge of some non-linearities are known, it is possible to include this knowledge either in the synthesis of the control or in the conception of a "forward" anti-windup. Two examples of forward anti-windups are given in the paper, namely the optimal conditioning and the predictive conditioning techniques.
{"title":"\"forward\" conditioning techniques","authors":"R. Hanus, P. Bogaerts, D. Vrančić","doi":"10.23919/ECC.1999.7099876","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099876","url":null,"abstract":"The conditioning technique has been conceived and must always be considered as an a posteriori anti-windup method (the a priori knowledge of the non-linearity acting on the desired control variable has not to be known, provided a post-measurement of the actual control variable is furnished). And in this sense this kind of \"backward\" anti-windup should always be used because it is never possible to prejudge of any non-linearity that could appear. However, when an a priori knowledge of some non-linearities are known, it is possible to include this knowledge either in the synthesis of the control or in the conception of a \"forward\" anti-windup. Two examples of forward anti-windups are given in the paper, namely the optimal conditioning and the predictive conditioning techniques.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131025952","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 : 1999-08-01DOI: 10.23919/ECC.1999.7099685
L. Chisci, G. Zappa
The joint presence of constraints and disturbances can drive a predictive controller to infeasibility and instability. Here it is shown how robustness against persistent bounded disturbances can be provided by adding to the nominal predictive controller a suitable invariance constraint. The proposed technique allows to significantly enlarge the feasibility region with respect to techniques based on constraint restrictions.
{"title":"Robustifying a predictive controller against persistent disturbances","authors":"L. Chisci, G. Zappa","doi":"10.23919/ECC.1999.7099685","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099685","url":null,"abstract":"The joint presence of constraints and disturbances can drive a predictive controller to infeasibility and instability. Here it is shown how robustness against persistent bounded disturbances can be provided by adding to the nominal predictive controller a suitable invariance constraint. The proposed technique allows to significantly enlarge the feasibility region with respect to techniques based on constraint restrictions.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"248 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132482493","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 : 1999-08-01DOI: 10.23919/ecc.1999.7100099
V. Teuchert
Process control systems for pharmaceutical production plants have to be designed, installed and commissioned in accordance with specific quality assurance measures to ensure high operational safety and compliance with regulatory requirements. These measures must be documented carefully as the results will be presented to regulatory authorities upon inspection as proof of compliance. The overall process is called validation and the subset of measures relevant for technical systems is called qualification. This paper presents a concept for prospective qualification of process control systems based on the integration of qualification measures into the control system design, installation and commissioning process.
{"title":"Validation of process control systems in the pharmaceutical industry","authors":"V. Teuchert","doi":"10.23919/ecc.1999.7100099","DOIUrl":"https://doi.org/10.23919/ecc.1999.7100099","url":null,"abstract":"Process control systems for pharmaceutical production plants have to be designed, installed and commissioned in accordance with specific quality assurance measures to ensure high operational safety and compliance with regulatory requirements. These measures must be documented carefully as the results will be presented to regulatory authorities upon inspection as proof of compliance. The overall process is called validation and the subset of measures relevant for technical systems is called qualification. This paper presents a concept for prospective qualification of process control systems based on the integration of qualification measures into the control system design, installation and commissioning process.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131977826","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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