Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099603
J. Skelton, P. Wellstead, Stephen Duncan
This paper looks at the problem of understanding the measurements from two dimensional industrial processes such as paper manufacture or plastic film extrusion. It describes the difficulties of obtaining a sampled data measurement that is free from aliased components and goes on to describe different methods of measurement and how they can be matched to the spectrum of the web product. It outlines how an understanding of the spectral properties of scanned data can lead to the reconstruction of two dimensional data profile in a way which is superior to current practice. The paper concludes with a description of a special machine developed to test and compare different methods of establishing cross direction pro-files.
{"title":"Multiple sensor measurements of web products","authors":"J. Skelton, P. Wellstead, Stephen Duncan","doi":"10.23919/ECC.1999.7099603","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099603","url":null,"abstract":"This paper looks at the problem of understanding the measurements from two dimensional industrial processes such as paper manufacture or plastic film extrusion. It describes the difficulties of obtaining a sampled data measurement that is free from aliased components and goes on to describe different methods of measurement and how they can be matched to the spectrum of the web product. It outlines how an understanding of the spectral properties of scanned data can lead to the reconstruction of two dimensional data profile in a way which is superior to current practice. The paper concludes with a description of a special machine developed to test and compare different methods of establishing cross direction pro-files.","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":"132964576","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.1999.7099371
Baibing Li, B. Moor
Total least squares (TLS) technique is introduced to dynamically identify intersection traffic flow patterns when both of the observations for entering and exiting vehicles have random measurement errors. An algorithm of dynamic TLS estimations of intersection traffic flow patterns is proposed. Simulation experiments show that it can improve estimation accuracy substantially in comparison with recursive ordinary least squares estimations. Hence, the dynamic TLS estimations provide a competitive alternative for identifications of intersection traffic flow patterns.
{"title":"Dynamic total least squares estimation of intersection traffic flow patterns","authors":"Baibing Li, B. Moor","doi":"10.23919/ECC.1999.7099371","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099371","url":null,"abstract":"Total least squares (TLS) technique is introduced to dynamically identify intersection traffic flow patterns when both of the observations for entering and exiting vehicles have random measurement errors. An algorithm of dynamic TLS estimations of intersection traffic flow patterns is proposed. Simulation experiments show that it can improve estimation accuracy substantially in comparison with recursive ordinary least squares estimations. Hence, the dynamic TLS estimations provide a competitive alternative for identifications of intersection traffic flow patterns.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"86 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":"131050971","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.1999.7100020
Chiang-Ju Chien, L. Fu
This paper presents an adaptive tracking control approach to linear SISO systems, which can solve the traditional model reference adaptive control (MRAC) problems. A new error model is developed for design of an adaptive variable structure controller using only input-output measurements. In this approach, a neural network universal approximator is included to furnish an on-line estimate of a function of the state and some signals relevant to the desired trajectory. It is shown via Lyapunov stability theory that the asymptotic tracking accuracy of the closed-loop system can be arbitrarily improved by decreasing a positive design parameter r, whose inverse characterizes the bandwidth of a so-called averaging filter.
{"title":"Adaptive variable structure tracking control using neural network design","authors":"Chiang-Ju Chien, L. Fu","doi":"10.23919/ECC.1999.7100020","DOIUrl":"https://doi.org/10.23919/ECC.1999.7100020","url":null,"abstract":"This paper presents an adaptive tracking control approach to linear SISO systems, which can solve the traditional model reference adaptive control (MRAC) problems. A new error model is developed for design of an adaptive variable structure controller using only input-output measurements. In this approach, a neural network universal approximator is included to furnish an on-line estimate of a function of the state and some signals relevant to the desired trajectory. It is shown via Lyapunov stability theory that the asymptotic tracking accuracy of the closed-loop system can be arbitrarily improved by decreasing a positive design parameter r, whose inverse characterizes the bandwidth of a so-called averaging filter.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"25 2 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":"131239009","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.1999.7099576
R. Haber, C. Lukas, W. Wischner
The automation of a chemical polishing plant is described. Basically sequential control tasks were applied. The valves and the pump were connected to the process interfaces traditionally and the process interface communicates with the PC via CAN bus. The control tasks, the visualization and the operation are performed by indicators and controls of the real-time graphical programming language LabVIEW. Because of the modularity, the great number of ready library functions (e.g., automation symbols) and the graphical programming possibilities the software was developed in a short time.
{"title":"Automation of a chemical polishing plant","authors":"R. Haber, C. Lukas, W. Wischner","doi":"10.23919/ECC.1999.7099576","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099576","url":null,"abstract":"The automation of a chemical polishing plant is described. Basically sequential control tasks were applied. The valves and the pump were connected to the process interfaces traditionally and the process interface communicates with the PC via CAN bus. The control tasks, the visualization and the operation are performed by indicators and controls of the real-time graphical programming language LabVIEW. Because of the modularity, the great number of ready library functions (e.g., automation symbols) and the graphical programming possibilities the software was developed in a short time.","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":"130721139","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.1999.7099273
R. Precup, S. Preitl
The paper presents a systematical development method for four fuzzy controllers with non-homogenous dynamics with respect to the two input channels; the proposed controller structures are meant for a class of second order and third order plants, which is specific to the field of electrical drives. The electrical drives are characterized by standard models for which even the classical (linear) control structures give satisfaction [ast95]. The design relations result on the basis of the fact that fuzzy controllers can be, in some certain conditions, well approximated by linear controllers and, so, the Extended Symmetrical Optimum method [pre96] is applicable in this situation. A detailed analysis based on digital simulation results proves that the proposed fuzzy controllers can ensure better control system performance with respect to the reference input in comparison with other structures containing conventional controllers.
{"title":"Development of some fuzzy controllers with non-homogenous dynamics with respect to the input channels meant for a class of systems","authors":"R. Precup, S. Preitl","doi":"10.23919/ECC.1999.7099273","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099273","url":null,"abstract":"The paper presents a systematical development method for four fuzzy controllers with non-homogenous dynamics with respect to the two input channels; the proposed controller structures are meant for a class of second order and third order plants, which is specific to the field of electrical drives. The electrical drives are characterized by standard models for which even the classical (linear) control structures give satisfaction [ast95]. The design relations result on the basis of the fact that fuzzy controllers can be, in some certain conditions, well approximated by linear controllers and, so, the Extended Symmetrical Optimum method [pre96] is applicable in this situation. A detailed analysis based on digital simulation results proves that the proposed fuzzy controllers can ensure better control system performance with respect to the reference input in comparison with other structures containing conventional controllers.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"7 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":"130967695","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.1999.7099868
Y. Genin, Y. Nesterov, P. Dooren
In this paper we derive formulas for constructing the analytic center of the linear matrix inequality defining a positive (para-hermitian) transfer function. The Riccati equations that are usually associated with such positive transfer functions, are related to boundary points of the convex set. In this paper we show that the analytic center is also described by a closely related equation, and we analyze its spectral properties.
{"title":"The analytic center of LMI's and Riccati equations","authors":"Y. Genin, Y. Nesterov, P. Dooren","doi":"10.23919/ECC.1999.7099868","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099868","url":null,"abstract":"In this paper we derive formulas for constructing the analytic center of the linear matrix inequality defining a positive (para-hermitian) transfer function. The Riccati equations that are usually associated with such positive transfer functions, are related to boundary points of the convex set. In this paper we show that the analytic center is also described by a closely related equation, and we analyze its spectral properties.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"79 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":"131109933","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.1999.7099945
A. Zimmermann, D. Rodriguez, Manuel Silva
Optimisation during the design of large manufacturing systems is a key issue. An adequate modelling formalism to express the intricate interleaving of competition and cooperation relationships is needed first. Moreover, robust and efficient optimisation techniques are necessary. This paper presents an integrated tool for the automated optimisation of DEDS, with application to manufacturing systems. After overviewing optimisation problems in Manufacturing Systems, it presents the integration of existing tools for the modelling and evaluation with Petri nets and a general-purpose optimisation package based on Simulated Annealing. Two application examples show the benefits of the proposed technique.
{"title":"Modelling and optimisation of manufacturing systems: Petri nets and simulated annealing","authors":"A. Zimmermann, D. Rodriguez, Manuel Silva","doi":"10.23919/ECC.1999.7099945","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099945","url":null,"abstract":"Optimisation during the design of large manufacturing systems is a key issue. An adequate modelling formalism to express the intricate interleaving of competition and cooperation relationships is needed first. Moreover, robust and efficient optimisation techniques are necessary. This paper presents an integrated tool for the automated optimisation of DEDS, with application to manufacturing systems. After overviewing optimisation problems in Manufacturing Systems, it presents the integration of existing tools for the modelling and evaluation with Petri nets and a general-purpose optimisation package based on Simulated Annealing. Two application examples show the benefits of the proposed technique.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"18 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":"131188613","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.1999.7099381
A. Gee, T. Clarke, P. Taylor
The use of modelling and simulation in any sphere of work must be tempered by an understanding of the extent to which such models are valid. The conditions under which modelling deficiencies and approximations cause accuracy to be lost must be clearly defined so that research or experimental investigations using such models yield meaningful results. This paper considers the validation of a large-scale nonlinear simulation of the EH-101 helicopter, comparing the performance of the model with actual flight data, taken from the real helicopter. The structure and implementation of the model are described together with the proposed validation technique, pilot modelling functions and tuning approaches.
{"title":"A large-scale helicopter model and its validation","authors":"A. Gee, T. Clarke, P. Taylor","doi":"10.23919/ECC.1999.7099381","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099381","url":null,"abstract":"The use of modelling and simulation in any sphere of work must be tempered by an understanding of the extent to which such models are valid. The conditions under which modelling deficiencies and approximations cause accuracy to be lost must be clearly defined so that research or experimental investigations using such models yield meaningful results. This paper considers the validation of a large-scale nonlinear simulation of the EH-101 helicopter, comparing the performance of the model with actual flight data, taken from the real helicopter. The structure and implementation of the model are described together with the proposed validation technique, pilot modelling functions and tuning approaches.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"25 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":"131254500","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.1999.7099292
H. Akçay, B. Ninness
In this paper, model sets for continuous-time linear time invariant systems that are spanned by fixed pole orthonormal bases are investigated. These bases generalise the well known Laguerre and Kautz bases. It is shown that the obtained model sets are complete in all of the Hardy spaces Hp(Π), 1 ≤ p <; ∞ and the right half plane algebra A(Π) provided that a mild condition on the choice of basis poles is satisfied. As a further extension, the paper shows how orthonormal model sets, that are norm dense in Ap(Π), 1 ≤ p <; ∞ and which have a prescribed asymptotic order may be constructed. Finally, it is established that the Fourier series formed by orthonormal basis functions converge in all spaces Ap(Π), 1 ≤ p <; ∞. The results in this paper have application in system identification, model reduction and control system synthesis.
{"title":"Orthonormal basis functions for continuous-time systems: Completeness and Lp-convergence","authors":"H. Akçay, B. Ninness","doi":"10.23919/ECC.1999.7099292","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099292","url":null,"abstract":"In this paper, model sets for continuous-time linear time invariant systems that are spanned by fixed pole orthonormal bases are investigated. These bases generalise the well known Laguerre and Kautz bases. It is shown that the obtained model sets are complete in all of the Hardy spaces H<sub>p</sub>(Π), 1 ≤ p <; ∞ and the right half plane algebra A(Π) provided that a mild condition on the choice of basis poles is satisfied. As a further extension, the paper shows how orthonormal model sets, that are norm dense in A<sub>p</sub>(Π), 1 ≤ p <; ∞ and which have a prescribed asymptotic order may be constructed. Finally, it is established that the Fourier series formed by orthonormal basis functions converge in all spaces A<sub>p</sub>(Π), 1 ≤ p <; ∞. The results in this paper have application in system identification, model reduction and control system synthesis.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"35 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":"133065254","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.1999.7099949
A. Tuneski, M. Vukobratovic, G. Dimirovski
The adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values.
{"title":"Adaptive coordinating control of multiple manipulators for tasks in contact with dynamic environment situations","authors":"A. Tuneski, M. Vukobratovic, G. Dimirovski","doi":"10.23919/ECC.1999.7099949","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099949","url":null,"abstract":"The adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"24 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":"133479674","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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