Pub Date : 1999-08-31DOI: 10.23919/ECC.1999.7100068
H. Huijberts, Torsten Lilge, H. Nijmeijer
A method is described for the synchronization of nonlinear discrete time dynamics. The methodology consists of constructing observer-receiver dynamics that exploit at each time instant the drive signal and buffered past values of the drive signal. In this way, the method can be viewed as a dynamic reconstruction mechanism, in contrast to existing static inversion methods from the theory of dynamical systems.
{"title":"Synchronization and observers for nonlinear discrete time systems","authors":"H. Huijberts, Torsten Lilge, H. Nijmeijer","doi":"10.23919/ECC.1999.7100068","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100068","url":null,"abstract":"A method is described for the synchronization of nonlinear discrete time dynamics. The methodology consists of constructing observer-receiver dynamics that exploit at each time instant the drive signal and buffered past values of the drive signal. In this way, the method can be viewed as a dynamic reconstruction mechanism, in contrast to existing static inversion methods from the theory of dynamical systems.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128895915","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 : 1999-08-31DOI: 10.23919/ECC.1999.7100069
R. Malti, D. Maquin, J. Ragot
When a transfer function is expanded on the basis of Laguerre filters, the question of how well does the expansion converge arises frequently. Beyond this problem, the convergence domain of the Laguerre series must be determined in the s-plane, as is usually done for the Laplace transform of time-domain functions. In the usual approach, this analysis is made in two complementary stages: first of all, the convergence conditions of Fourier (also called Laguerre or Laguerre-Fourier) coefficients is determined and then, based on the assumption that these coefficients are convergent, a worst-case-study is carried out to determine the convergence domain of the Laguerre series. A novel approach is proposed in this paper which drops away the coupling between the convergence of the Fourier coefficients and the convergence of the Laguerre series. Thus, necessary and sufficient conditions for Laguerre series convergence are computed. Laguerre functions are considered in their general definition : orthogonal w.r.t. an exponential weight function.
{"title":"Some results on the convergence of transfer function expansion on Laguerre series","authors":"R. Malti, D. Maquin, J. Ragot","doi":"10.23919/ECC.1999.7100069","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100069","url":null,"abstract":"When a transfer function is expanded on the basis of Laguerre filters, the question of how well does the expansion converge arises frequently. Beyond this problem, the convergence domain of the Laguerre series must be determined in the s-plane, as is usually done for the Laplace transform of time-domain functions. In the usual approach, this analysis is made in two complementary stages: first of all, the convergence conditions of Fourier (also called Laguerre or Laguerre-Fourier) coefficients is determined and then, based on the assumption that these coefficients are convergent, a worst-case-study is carried out to determine the convergence domain of the Laguerre series. A novel approach is proposed in this paper which drops away the coupling between the convergence of the Fourier coefficients and the convergence of the Laguerre series. Thus, necessary and sufficient conditions for Laguerre series convergence are computed. Laguerre functions are considered in their general definition : orthogonal w.r.t. an exponential weight function.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124920530","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 : 1999-08-31DOI: 10.23919/ECC.1999.7099780
X. Brun, S. Sesmat, D. Thomasset, S. Scavarda
This paper focuses on a comparison between two positioning control laws of a half meter stroke electropneumatic disymmetrical cylinder controlled by two three-way servo-distributors : a fixed gains control law and a control law with scheduling gains. Using physical laws, the first part of this paper describes a nonlinear model of this process and focuses on the difficulty for obtaining servo-distributors mass flow rates. A specific choice of the control inputs leads to a single input model. A tangent linearised model is obtained. The two different control laws are described and implemented using a well-known dSPACE interface card. Experimental results obtained for point to point control are presented and discussed.
{"title":"A comparative study between two control laws of an electropneumatic actuator","authors":"X. Brun, S. Sesmat, D. Thomasset, S. Scavarda","doi":"10.23919/ECC.1999.7099780","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099780","url":null,"abstract":"This paper focuses on a comparison between two positioning control laws of a half meter stroke electropneumatic disymmetrical cylinder controlled by two three-way servo-distributors : a fixed gains control law and a control law with scheduling gains. Using physical laws, the first part of this paper describes a nonlinear model of this process and focuses on the difficulty for obtaining servo-distributors mass flow rates. A specific choice of the control inputs leads to a single input model. A tangent linearised model is obtained. The two different control laws are described and implemented using a well-known dSPACE interface card. Experimental results obtained for point to point control are presented and discussed.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130563386","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.1999.7099875
J. Doná, G. Goodwin, M. Seron
Model predictive control is a well established strategy for dealing with saturating actuator problems. The essential feature of the method is a receding horizon quadratic optimal control problem which is solved subject to input constraints. On the other hand, anti-windup methods are ad-hoc procedures which achieve input saturation in an instantaneous fashion. Both methods are known to perform well in practice and each has its strong advocates. In this paper, we explore connections between the methods. In particular, we show that there are cases in which anti-windup schemes are identical to MPC schemes. In other cases, we show that anti-windup has performance which is close to that of MPC strategies.
{"title":"Connections between model predictive control and anti-windup strategies for dealing with saturating actuators","authors":"J. Doná, G. Goodwin, M. Seron","doi":"10.23919/ECC.1999.7099875","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099875","url":null,"abstract":"Model predictive control is a well established strategy for dealing with saturating actuator problems. The essential feature of the method is a receding horizon quadratic optimal control problem which is solved subject to input constraints. On the other hand, anti-windup methods are ad-hoc procedures which achieve input saturation in an instantaneous fashion. Both methods are known to perform well in practice and each has its strong advocates. In this paper, we explore connections between the methods. In particular, we show that there are cases in which anti-windup schemes are identical to MPC schemes. In other cases, we show that anti-windup has performance which is close to that of MPC strategies.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"14 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":"116693820","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.1999.7099904
A. Fattouh, O. Sename, J. Dion
In this paper, the problem of designing an observer for linear systems with delayed state with the property that the estimated error converges to zero with a prespecified decay rate a is considered. A Luenberger-type observer for linear systems with delayed state is firstly proposed then, under certain observability conditions on the delayed-state system, criteria are proposed to ensure the a-convergence of the estimated error. Two examples are given in order to illustrate the proposed methods.
{"title":"α-Decay rate observer design for linear systems with delayed state","authors":"A. Fattouh, O. Sename, J. Dion","doi":"10.23919/ECC.1999.7099904","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099904","url":null,"abstract":"In this paper, the problem of designing an observer for linear systems with delayed state with the property that the estimated error converges to zero with a prespecified decay rate a is considered. A Luenberger-type observer for linear systems with delayed state is firstly proposed then, under certain observability conditions on the delayed-state system, criteria are proposed to ensure the a-convergence of the estimated error. Two examples are given in order to illustrate the proposed methods.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"36 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":"117231202","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.1999.7100030
G. Schreier, F. Kratz, P. Frank
In this paper the state reconstruction problem for a class of nonlinear systems is considered and the question of convergence of the estimation error is examined. The main result is a new upper bound of the Lipschitz constant. Bounds of the free parameters are given so that the asymptotic stability of the observer is guaranteed. The proposed observer is then applied in the field of sensor fault detection and isolation.
{"title":"Observer design for a class of nonlinear systems with stability discussion: Application to fault diagnosis","authors":"G. Schreier, F. Kratz, P. Frank","doi":"10.23919/ECC.1999.7100030","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100030","url":null,"abstract":"In this paper the state reconstruction problem for a class of nonlinear systems is considered and the question of convergence of the estimation error is examined. The main result is a new upper bound of the Lipschitz constant. Bounds of the free parameters are given so that the asymptotic stability of the observer is guaranteed. The proposed observer is then applied in the field of sensor fault detection and isolation.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"11 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120847382","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.1999.7099873
A. Glattfelder, J. Tödtli, W. Schaufelberger
Antiwindup feedback (awf) with high gain tends to perform better than with low gain for large deterministic disturbances, but it is also more sensitive to high frequency measurement noise. This is investigated here on a control loop for a dominant first order plant and a basic PI-awf structure, from which the most common forms of PI-aw-regulators can be generated. Both an estimate is given for the steady state control error due to noise, and stability and performance are investigated as functions of the awf gain, and a design and sizing procedure is proposed.
{"title":"Noise sensitivity and stability properties of low gain antiwindup PI-control","authors":"A. Glattfelder, J. Tödtli, W. Schaufelberger","doi":"10.23919/ECC.1999.7099873","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099873","url":null,"abstract":"Antiwindup feedback (awf) with high gain tends to perform better than with low gain for large deterministic disturbances, but it is also more sensitive to high frequency measurement noise. This is investigated here on a control loop for a dominant first order plant and a basic PI-awf structure, from which the most common forms of PI-aw-regulators can be generated. Both an estimate is given for the steady state control error due to noise, and stability and performance are investigated as functions of the awf gain, and a design and sizing procedure is proposed.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"18 15","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121004674","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.1999.7099786
M. Franaszek, E. Simiu
We review briefly basic Melnikov theory for both deterministic and stochastic systems. We then show how the theory can be used for the identification of a class of multistable systems for which experimental data are available on the relation between excitation frequency and rate of escape from a potential well. We illustrate our approach for the case of the auditory nerve fiber, for which the use of Melnikov theory yields a model that provides a transparent phenomenological description of the system behavior, and performs considermerelably better than the the classical Fitzhugh-Nagumo equation.
{"title":"The use of Melnikov processes for the identification of a class of multistable systems","authors":"M. Franaszek, E. Simiu","doi":"10.23919/ECC.1999.7099786","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099786","url":null,"abstract":"We review briefly basic Melnikov theory for both deterministic and stochastic systems. We then show how the theory can be used for the identification of a class of multistable systems for which experimental data are available on the relation between excitation frequency and rate of escape from a potential well. We illustrate our approach for the case of the auditory nerve fiber, for which the use of Melnikov theory yields a model that provides a transparent phenomenological description of the system behavior, and performs considermerelably better than the the classical Fitzhugh-Nagumo equation.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"31 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":"121133741","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.1999.7099368
A. Arenz, E. Schnieder
In the present paper a new approach for the modelling and control of flexible virtual prototypes in a combined simulation tool environment is presented. As case study the design of a `goliath' robot for the automatic container transfer is used. The tool environment is composed of the three tools ADAMS, ANSYS and MATLAB which are combined via suitable interface structures. The questions arising are the following: Is it possible to include flexible FE bodies successfully in a (rigid) mechanical prototype environment? Is it in a next step possible to control this very complex structure even when the controller layout is only based on a simplified process model using mathematical beam equations?
{"title":"Modelling and control of large flexible structures using combined simulation tools","authors":"A. Arenz, E. Schnieder","doi":"10.23919/ECC.1999.7099368","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099368","url":null,"abstract":"In the present paper a new approach for the modelling and control of flexible virtual prototypes in a combined simulation tool environment is presented. As case study the design of a `goliath' robot for the automatic container transfer is used. The tool environment is composed of the three tools ADAMS, ANSYS and MATLAB which are combined via suitable interface structures. The questions arising are the following: Is it possible to include flexible FE bodies successfully in a (rigid) mechanical prototype environment? Is it in a next step possible to control this very complex structure even when the controller layout is only based on a simplified process model using mathematical beam equations?","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"03 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":"127159460","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.1999.7099468
Yoshiaki Suzuki, K. Itamiya, Takashi Suzuki
This paper presents a robust scheme for the indirect type of model reference adaptive control (MRAC) system, in the presence of unmodelled dynamics and measurement noise. This scheme is characterized by the use of adaptive law with dead zone and integral type of fixed compensator. Stability of the MRAC system is analyzed by employing the concept of L2δ norm and the Bellman-Gronwall lemma, based on the properties guaranteed by the adaptive law. Effectiveness of the scheme is demonstrated by the simulation carried out for a plant with first order nominal part.
{"title":"A robust scheme for indirect model reference adaptive control and its stability analysis","authors":"Yoshiaki Suzuki, K. Itamiya, Takashi Suzuki","doi":"10.23919/ECC.1999.7099468","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099468","url":null,"abstract":"This paper presents a robust scheme for the indirect type of model reference adaptive control (MRAC) system, in the presence of unmodelled dynamics and measurement noise. This scheme is characterized by the use of adaptive law with dead zone and integral type of fixed compensator. Stability of the MRAC system is analyzed by employing the concept of L2δ norm and the Bellman-Gronwall lemma, based on the properties guaranteed by the adaptive law. Effectiveness of the scheme is demonstrated by the simulation carried out for a plant with first order nominal part.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"6 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":"124905358","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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