The identifiability of nonlinear uncontrolled dynamical systems is analysed by using the system equivalence based on the straightening out theorem. Previously we (2000) have stated a characterization of the identifiability by considering this approach. The so-obtained identifiability necessary condition leads to the solution of partial differential equations. On the other hand, the identifiability sufficient condition may need an extra elimination. First, we elaborate the corresponding algorithm and in justifying it by some algebraic differential notions. Then its implementation is presented in a symbolic computation language.
{"title":"Identifiability of system: an algorithm based on the equivalence approach","authors":"L. Denis-Vidal, G. Joly-Blanchard, C. Noiret","doi":"10.1109/CDC.2001.980294","DOIUrl":"https://doi.org/10.1109/CDC.2001.980294","url":null,"abstract":"The identifiability of nonlinear uncontrolled dynamical systems is analysed by using the system equivalence based on the straightening out theorem. Previously we (2000) have stated a characterization of the identifiability by considering this approach. The so-obtained identifiability necessary condition leads to the solution of partial differential equations. On the other hand, the identifiability sufficient condition may need an extra elimination. First, we elaborate the corresponding algorithm and in justifying it by some algebraic differential notions. Then its implementation is presented in a symbolic computation language.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114654324","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}
Presents a robust model-based technique for the detection and isolation of sensor faults in a chemical process. The diagnosis system is based on the robust estimation of process outputs. A dynamic non-linear model of the process under investigation is obtained by a procedure exploiting Takagi-Sugeno (T-S) multiple-model fuzzy identification. The combined identification and residual generation schemes have robustness properties with respect to modelling uncertainty, disturbance and measurement noise, providing good sensitivity properties for fault detection and fault isolation. The identified system consists of a fuzzy combination of T-S models to detect changing plant operating conditions. Residual analysis and geometrical tests are then sufficient for fault detection and isolation, respectively. The procedure presented is applied to the problem of detecting and isolating faults in a benchmark simulation of a tank reactor chemical process.
{"title":"Robust fault diagnosis in a chemical process using multiple-model approach","authors":"R. Patton, C. J. Lopez-Toribio, S. Simani","doi":"10.1109/CDC.2001.980089","DOIUrl":"https://doi.org/10.1109/CDC.2001.980089","url":null,"abstract":"Presents a robust model-based technique for the detection and isolation of sensor faults in a chemical process. The diagnosis system is based on the robust estimation of process outputs. A dynamic non-linear model of the process under investigation is obtained by a procedure exploiting Takagi-Sugeno (T-S) multiple-model fuzzy identification. The combined identification and residual generation schemes have robustness properties with respect to modelling uncertainty, disturbance and measurement noise, providing good sensitivity properties for fault detection and fault isolation. The identified system consists of a fuzzy combination of T-S models to detect changing plant operating conditions. Residual analysis and geometrical tests are then sufficient for fault detection and isolation, respectively. The procedure presented is applied to the problem of detecting and isolating faults in a benchmark simulation of a tank reactor chemical process.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114663583","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}
The linear matrix inequality (LMI)-based passivity approach to studying both input-output and internal stability problems for feedback connections of discrete-time linear descriptor systems with passive nonlinearities is developed. We show that, under a mild condition, a set of LMIs is equivalent to the strictly positive realness of the linear descriptor systems, and is strong enough to guarantee both the finite gain l/sub 2/-stability and asymptotic hyperstability of the feedback connection.
{"title":"Passivity approach to feedback connection stability for discrete-time descriptor systems","authors":"Jian-Liung Chen, L. Lee","doi":"10.1109/CDC.2001.980710","DOIUrl":"https://doi.org/10.1109/CDC.2001.980710","url":null,"abstract":"The linear matrix inequality (LMI)-based passivity approach to studying both input-output and internal stability problems for feedback connections of discrete-time linear descriptor systems with passive nonlinearities is developed. We show that, under a mild condition, a set of LMIs is equivalent to the strictly positive realness of the linear descriptor systems, and is strong enough to guarantee both the finite gain l/sub 2/-stability and asymptotic hyperstability of the feedback connection.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114947239","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}
The online detection of a very long and weak chirp signal is, studied. The signal has an extremely slowly-decreasing frequency and is corrupted by white Gaussian noise, and also possibly by powerful tones. Four methods (the Hough transform, multiple frequency tracker, Page's test and EM algorithm) are explored. It is found that the Hough transform (HT) detector appears to be most suitable given constraints on computational load and detectability. It is compared with the GLRT, which is assumed to be as "optimal" as possible. Applying a suitable threshold for the HT can increase the speed dramatically while preserving the performance. We have found that for the HT detector both dithering (taking varied frequency shifts for FFTs) and increasing the FFT length can reduce the minimum detectable frequency slope with nearly no additional computation.
{"title":"The Hough transform for long chirp detection","authors":"Y. Sun, P. Willett","doi":"10.1109/CDC.2001.980233","DOIUrl":"https://doi.org/10.1109/CDC.2001.980233","url":null,"abstract":"The online detection of a very long and weak chirp signal is, studied. The signal has an extremely slowly-decreasing frequency and is corrupted by white Gaussian noise, and also possibly by powerful tones. Four methods (the Hough transform, multiple frequency tracker, Page's test and EM algorithm) are explored. It is found that the Hough transform (HT) detector appears to be most suitable given constraints on computational load and detectability. It is compared with the GLRT, which is assumed to be as \"optimal\" as possible. Applying a suitable threshold for the HT can increase the speed dramatically while preserving the performance. We have found that for the HT detector both dithering (taking varied frequency shifts for FFTs) and increasing the FFT length can reduce the minimum detectable frequency slope with nearly no additional computation.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"10 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115022924","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}
The fundamental problem of nonlinear filtering theory is how to solve robust D-M-Z equation in real time and in memoryless manner. This paper describes a new real time algorithm which reduces the nonlinear filtering problem to off-line computations. Our algorithm gives convergent solutions in both pointwise sense and L/sup 2/ in case that the drift term and observation dynamic term have linear growths. The algorithm presented is slightly better than that given in our previous paper (2000).
{"title":"Real time algorithm for nonlinear filtering problem","authors":"S. Yau, S. Yau","doi":"10.1109/CDC.2001.980569","DOIUrl":"https://doi.org/10.1109/CDC.2001.980569","url":null,"abstract":"The fundamental problem of nonlinear filtering theory is how to solve robust D-M-Z equation in real time and in memoryless manner. This paper describes a new real time algorithm which reduces the nonlinear filtering problem to off-line computations. Our algorithm gives convergent solutions in both pointwise sense and L/sup 2/ in case that the drift term and observation dynamic term have linear growths. The algorithm presented is slightly better than that given in our previous paper (2000).","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117232710","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}
We present the design of a robust sliding mode controller for the force control of a hydraulic actuator in presence of significant system nonlinearities and uncertainties. Our control strategy is based on sliding mode control. The design of a switching surface is based on Lyapunov techniques, and a variable structure control law is designed using the theory of sliding mode control. For the control we use a nonlinear mathematical model of a hydraulic system interacting with the environment. We try and consider most of the nonlinear and uncertain dynamics of this system in order to achieve robust performance over a range of operating conditions. The simulation results show that the proposed sliding mode controller is not sensitive to a large variation of parameters such as flow gain, supply pressure or environmental stiffness, and has an excellent tracking performance for various set point forces under uncertainties.
{"title":"A new robust sliding mode controller for a hydraulic actuator","authors":"M. Jerouane, F. Lamnabhi-Lagarrigue","doi":"10.1109/CDC.2001.980224","DOIUrl":"https://doi.org/10.1109/CDC.2001.980224","url":null,"abstract":"We present the design of a robust sliding mode controller for the force control of a hydraulic actuator in presence of significant system nonlinearities and uncertainties. Our control strategy is based on sliding mode control. The design of a switching surface is based on Lyapunov techniques, and a variable structure control law is designed using the theory of sliding mode control. For the control we use a nonlinear mathematical model of a hydraulic system interacting with the environment. We try and consider most of the nonlinear and uncertain dynamics of this system in order to achieve robust performance over a range of operating conditions. The simulation results show that the proposed sliding mode controller is not sensitive to a large variation of parameters such as flow gain, supply pressure or environmental stiffness, and has an excellent tracking performance for various set point forces under uncertainties.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123495763","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}
We study the problem of robust regulation of a river reach system described by Hayami model. We propose a low-gain boundary PI-controller which assigns the spectrum of the closed loop system in the open left half plane and assures exponential stability. Moreover, the output regulation is guaranteed independently of any constant (known or unknown) perturbation. Numerical examples are also given to illustrate the obtained theoretical results.
{"title":"Robust regulation of a river reach governed by Hayami model","authors":"B. Chentouf, C. Z. Xu, M. Boulbrachene","doi":"10.1109/CDC.2001.980995","DOIUrl":"https://doi.org/10.1109/CDC.2001.980995","url":null,"abstract":"We study the problem of robust regulation of a river reach system described by Hayami model. We propose a low-gain boundary PI-controller which assigns the spectrum of the closed loop system in the open left half plane and assures exponential stability. Moreover, the output regulation is guaranteed independently of any constant (known or unknown) perturbation. Numerical examples are also given to illustrate the obtained theoretical results.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123717297","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}
We extend the stability analysis with generalized Lyapunov equations to general descriptor systems. With mild conditions, the existence of solutions of these equations are necessary and sufficient for column regularity and stability.
{"title":"Generalized Lyapunov theorems for rectangular descriptor systems","authors":"J. Ishihara, M. Terra","doi":"10.1109/CDC.2001.980708","DOIUrl":"https://doi.org/10.1109/CDC.2001.980708","url":null,"abstract":"We extend the stability analysis with generalized Lyapunov equations to general descriptor systems. With mild conditions, the existence of solutions of these equations are necessary and sufficient for column regularity and stability.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116830196","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}
In this paper, the problem of nonsmooth bifurcation control is addressed. The design technique is based on the so-called fractional power control, i.e. nonsmooth feedback laws with terms of fractional powers. A new special bonder-collision bifurcation, namely the trumpet bifurcation, is introduced by the nonsmooth control action. First, investigations are carried out for representative first- and second-order systems. Then, as an application, the control of rotating stall in axial flow compressors is pursued using factional power control, based on a third-order model.
{"title":"Nonsmooth bifurcation control: from fractional power control to trumpet bifurcation","authors":"Hua O. Wang, Yiguang Hong, L.G. Bushnell","doi":"10.1109/CDC.2001.980579","DOIUrl":"https://doi.org/10.1109/CDC.2001.980579","url":null,"abstract":"In this paper, the problem of nonsmooth bifurcation control is addressed. The design technique is based on the so-called fractional power control, i.e. nonsmooth feedback laws with terms of fractional powers. A new special bonder-collision bifurcation, namely the trumpet bifurcation, is introduced by the nonsmooth control action. First, investigations are carried out for representative first- and second-order systems. Then, as an application, the control of rotating stall in axial flow compressors is pursued using factional power control, based on a third-order model.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"253 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123959188","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}
In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.
{"title":"A control Lyapunov function approach to multi-agent coordination","authors":"Petter Ögren, M. Egerstedt, Xiaoming Hu","doi":"10.1109/CDC.2001.981040","DOIUrl":"https://doi.org/10.1109/CDC.2001.981040","url":null,"abstract":"In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"376 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124693935","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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