Pub Date : 1999-08-01DOI: 10.23919/ECC.1999.7099903
S. Tarbouriech, G. García
The stabilization of linear uncertain time-delay systems subject to position and rate limited actuators is addressed. A saturating control law and a region, in which the stability of the closed-loop saturated system is ensured, are derived from an ARE-approach. The uncertainty is of the norm-bounded time-varying type. A local approach is chosen in the sense that no open-loop stability assumption is a priori considered. In the proposed method, the position and rate systems inputs are allowed to saturate. The results are based on the use of the Lyapunov-Krasovskii Theorem. The stability of the closed-loop system is delay-independent.
{"title":"Stabilization of uncertain time-delay systems with position and rate bounded actuators: An ARE approach","authors":"S. Tarbouriech, G. García","doi":"10.23919/ECC.1999.7099903","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099903","url":null,"abstract":"The stabilization of linear uncertain time-delay systems subject to position and rate limited actuators is addressed. A saturating control law and a region, in which the stability of the closed-loop saturated system is ensured, are derived from an ARE-approach. The uncertainty is of the norm-bounded time-varying type. A local approach is chosen in the sense that no open-loop stability assumption is a priori considered. In the proposed method, the position and rate systems inputs are allowed to saturate. The results are based on the use of the Lyapunov-Krasovskii Theorem. The stability of the closed-loop system is delay-independent.","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":"123207870","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.1999.7099495
R. C. L. Oliveira, F. M. Azevedo, J. Barreto, Carlos Tavares da Costa
Identification of nonlinear systems represented by a combination of linear dynamics and static nonlinear elements is achieved by a new model of locally recurrent globally feedforward neural network and uses only input/output measurements.
{"title":"Neural identification of systems with linear dynamics and static nonlinear elements","authors":"R. C. L. Oliveira, F. M. Azevedo, J. Barreto, Carlos Tavares da Costa","doi":"10.23919/ECC.1999.7099495","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099495","url":null,"abstract":"Identification of nonlinear systems represented by a combination of linear dynamics and static nonlinear elements is achieved by a new model of locally recurrent globally feedforward neural network and uses only input/output measurements.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"58 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":"123649692","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.1999.7099845
O. Stursberg, S. Kowalewski
An approximation procedure is presented for a class of hybrid systems in which switching occurs only when the continuous state trajectory crosses thresholds defined by a rectangular partitioning of the state space. The result of the approximation are rectangular automata, a class of hybrid automata for which a numerically robust approximative analysis algorithm exists. Thus, the approximation procedure can be applied when we are interested in the reachability set of a switched continuous system for which a direct analysis is infeasible. The approach is illustrated by application to a simple physical example. As an extension, an algorithm is presented to adjust the accuracy of the approximation to the continuous dynamics by choosing a state space partitioning according to the variation of the vector field.
{"title":"Approximating switched continuous systems by rectangular automata","authors":"O. Stursberg, S. Kowalewski","doi":"10.23919/ECC.1999.7099845","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099845","url":null,"abstract":"An approximation procedure is presented for a class of hybrid systems in which switching occurs only when the continuous state trajectory crosses thresholds defined by a rectangular partitioning of the state space. The result of the approximation are rectangular automata, a class of hybrid automata for which a numerically robust approximative analysis algorithm exists. Thus, the approximation procedure can be applied when we are interested in the reachability set of a switched continuous system for which a direct analysis is infeasible. The approach is illustrated by application to a simple physical example. As an extension, an algorithm is presented to adjust the accuracy of the approximation to the continuous dynamics by choosing a state space partitioning according to the variation of the vector field.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"17 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":"123677616","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.1999.7099852
Alexandre Evsukoff, P. Weber, S. Gentil
This work presents a unified approach to derive decision procedures for model based fault detection and isolation (FDI) either from knowledge or from experiments. In the knowledge-based approach, fuzzy rule weights are defined directly from model structure. In the supervised learning approach, the decision procedure is derived from a data set. The symbolic to numeric integration provided by fuzzy sets in the proposed framework allows integrating symbolic symptoms into the decision procedure. The proposed method is applied to the FDI of a winding machine.
{"title":"Decision procedures for fault detection and isolation derived from knowledge and data","authors":"Alexandre Evsukoff, P. Weber, S. Gentil","doi":"10.23919/ECC.1999.7099852","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099852","url":null,"abstract":"This work presents a unified approach to derive decision procedures for model based fault detection and isolation (FDI) either from knowledge or from experiments. In the knowledge-based approach, fuzzy rule weights are defined directly from model structure. In the supervised learning approach, the decision procedure is derived from a data set. The symbolic to numeric integration provided by fuzzy sets in the proposed framework allows integrating symbolic symptoms into the decision procedure. The proposed method is applied to the FDI of a winding machine.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"5 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":"122126573","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.1999.7099754
J. Guldner, Irina Theis
This paper discusses a methodology for calculating the probability of a redundant system to fail in a specified time interval after a first fault has occurred. Four different redundant system configurations of a safety relevant automotive control system are discussed and compared with respect to their reliability characteristics. The four configurations differ in system topologies as well as the intelligence of the system components for self-monitoring.
{"title":"Comparison of redundancy structures for safety relevant automotive control systems","authors":"J. Guldner, Irina Theis","doi":"10.23919/ECC.1999.7099754","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099754","url":null,"abstract":"This paper discusses a methodology for calculating the probability of a redundant system to fail in a specified time interval after a first fault has occurred. Four different redundant system configurations of a safety relevant automotive control system are discussed and compared with respect to their reliability characteristics. The four configurations differ in system topologies as well as the intelligence of the system components for self-monitoring.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"11 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":"117093794","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.1999.7099431
S. Glad
Extentions of the RGA (relative gain array) technique to nonlinear systems are considered. The steady-state properties are given by an array of nonlinear functions. The high frequency properties are characterized by forming the conventional RGA of the decoupling matrix.
{"title":"Extensions of the RGA concept to nonlinear systems","authors":"S. Glad","doi":"10.23919/ECC.1999.7099431","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099431","url":null,"abstract":"Extentions of the RGA (relative gain array) technique to nonlinear systems are considered. The steady-state properties are given by an array of nonlinear functions. The high frequency properties are characterized by forming the conventional RGA of the decoupling matrix.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"10 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":"124015425","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: 10.1016/S0947-3580(00)71094-6
C. Edwards, S. Spurgeon
{"title":"A sliding mode observer based FDI scheme for the ship benchmark","authors":"C. Edwards, S. Spurgeon","doi":"10.1016/S0947-3580(00)71094-6","DOIUrl":"https://doi.org/10.1016/S0947-3580(00)71094-6","url":null,"abstract":"","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":"124119670","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.1999.7099817
J. Boichot, E. Delaleau, N. V. Diep, J. Lévine, E. Parzy
We present a hierarchical controller for a set of two linear synchronous motors with permanent magnets moving in two orthogonal directions for a two degree of freedom high-precision positionning system developed by Newport-France. This system is supposed to realize relatively fast linear displacements from 1 count (4 nm) to 400 mm. A linear displacement of 25mm must be achieved in less than 0.2 s with maximum acceleration of 1 g and current and voltage limitations, and with an error in the final position less than 1 count. A nonlinear model of the plant is obtained, consisting of two independent subsystems, representing the two linear drive dynamics. Flatness based motion planning and tracking design are proposed. Each motor's tracking controller is then realized in a hierarchical way by a high level force control loop and a low level current loop.
{"title":"Modelling and control of a 2 D.O.F. high-precision positionning system","authors":"J. Boichot, E. Delaleau, N. V. Diep, J. Lévine, E. Parzy","doi":"10.23919/ECC.1999.7099817","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099817","url":null,"abstract":"We present a hierarchical controller for a set of two linear synchronous motors with permanent magnets moving in two orthogonal directions for a two degree of freedom high-precision positionning system developed by Newport-France. This system is supposed to realize relatively fast linear displacements from 1 count (4 nm) to 400 mm. A linear displacement of 25mm must be achieved in less than 0.2 s with maximum acceleration of 1 g and current and voltage limitations, and with an error in the final position less than 1 count. A nonlinear model of the plant is obtained, consisting of two independent subsystems, representing the two linear drive dynamics. Flatness based motion planning and tracking design are proposed. Each motor's tracking controller is then realized in a hierarchical way by a high level force control loop and a low level current loop.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"112 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":"124808121","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.1999.7099409
David Megías, J. Serrano, A. Kuznetsov
Although stability guarantees are available for predictive controllers, closed-loop instability may arise due to system uncertainty. The T-design and the Q-parametrisation methods are often used to enhance the robustness of predictive controllers. The former is heuristic, whereas optimisation rules exist for the latter, which makes it systematic. However, the T-design tends to producing larger robustness margins. The T-optimisation presented here is a systematic procedure to choose T based on optimising a quadratic criterion on robustness and thus, overcomes the drawbacks of heuristic approaches. This method can lead to robustness margins larger than those obtained with other techniques.
{"title":"A systematic method to enhance the robustness of stabilising receding-horizon predictive controllers","authors":"David Megías, J. Serrano, A. Kuznetsov","doi":"10.23919/ECC.1999.7099409","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099409","url":null,"abstract":"Although stability guarantees are available for predictive controllers, closed-loop instability may arise due to system uncertainty. The T-design and the Q-parametrisation methods are often used to enhance the robustness of predictive controllers. The former is heuristic, whereas optimisation rules exist for the latter, which makes it systematic. However, the T-design tends to producing larger robustness margins. The T-optimisation presented here is a systematic procedure to choose T based on optimising a quadratic criterion on robustness and thus, overcomes the drawbacks of heuristic approaches. This method can lead to robustness margins larger than those obtained with other techniques.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"58 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":"129751537","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.1999.7099655
D. Limón, J. Normey-Rico, D. Pagano, J. Aracil
This paper analyzes the global stability of a dead-time compensator when considering a saturation in the control action and uncertainties in the estimation of the dead-time. The analysis is made using a first order plant with dead-time controlled by a Smith predictor plus a pi controller, that is, a scheme commonly used in the process industry. Using a frequency domain analysis the stability and the bifurcations of the system are analyzed when a saturation is included in the control system. The obtained results suggests the use of filters to avoid the undesirable effects produced by the error in the estimation of the dead-time and the saturation. The design of these filters is based on the stability analysis performed in this paper and gives less conservative results than the ones obtained using others approaches. In order to illustrate the results, some simulation examples are shown.
{"title":"Stability of saturated dead-time compensating pi controllers for uncertain dead-time systems","authors":"D. Limón, J. Normey-Rico, D. Pagano, J. Aracil","doi":"10.23919/ECC.1999.7099655","DOIUrl":"https://doi.org/10.23919/ECC.1999.7099655","url":null,"abstract":"This paper analyzes the global stability of a dead-time compensator when considering a saturation in the control action and uncertainties in the estimation of the dead-time. The analysis is made using a first order plant with dead-time controlled by a Smith predictor plus a pi controller, that is, a scheme commonly used in the process industry. Using a frequency domain analysis the stability and the bifurcations of the system are analyzed when a saturation is included in the control system. The obtained results suggests the use of filters to avoid the undesirable effects produced by the error in the estimation of the dead-time and the saturation. The design of these filters is based on the stability analysis performed in this paper and gives less conservative results than the ones obtained using others approaches. In order to illustrate the results, some simulation examples are shown.","PeriodicalId":117668,"journal":{"name":"1999 European Control Conference (ECC)","volume":"39 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":"128377380","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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