Output tracking via the stable dynamic model inversion (SDI) technique, applicable to non-minimum phase systems, and which naturally takes into account the presence of noise in target time histories, is considered. We are motivated by the typical need to replicate time signals in the automobile industry. The earlier approaches to stable inversion do not satisfactorily take into account the measurement and system noise, and the zeros of the system are restricted to certain regions in the complex plane.
{"title":"A systematic and numerically efficient procedure for stable dynamic model inversion of LTI systems","authors":"Koshy George, Michel Verhaegen, J. Scherpen","doi":"10.1109/CDC.1999.830908","DOIUrl":"https://doi.org/10.1109/CDC.1999.830908","url":null,"abstract":"Output tracking via the stable dynamic model inversion (SDI) technique, applicable to non-minimum phase systems, and which naturally takes into account the presence of noise in target time histories, is considered. We are motivated by the typical need to replicate time signals in the automobile industry. The earlier approaches to stable inversion do not satisfactorily take into account the measurement and system noise, and the zeros of the system are restricted to certain regions in the complex plane.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115911659","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 analysis of the stochastic stability of fault tolerant control systems (FTCS) has been considered using Lyapunov function approach. A new dynamical model is developed to overcome the limitations of the existing results. In this model, two independent failure processes with Markovian transition probabilities are considered: one for plant components and the other for control actuators. Moreover, the proposed model takes into consideration failures in control actuators with internal dynamics. It is shown that the exponential stability in the mean square is sufficient for the almost sure asymptotic stability, and a necessary and sufficient condition for the exponential stability in the mean square for linear FTCS is derived. Some previously known results are shown to be special cases of these new results. A numerical example is included to demonstrate the theoretical analysis.
{"title":"Analysis of the stochastic stability for fault tolerant control systems","authors":"M. Mahmoud, Jin Jiang, Youmin Zhang","doi":"10.1109/CDC.1999.827758","DOIUrl":"https://doi.org/10.1109/CDC.1999.827758","url":null,"abstract":"The analysis of the stochastic stability of fault tolerant control systems (FTCS) has been considered using Lyapunov function approach. A new dynamical model is developed to overcome the limitations of the existing results. In this model, two independent failure processes with Markovian transition probabilities are considered: one for plant components and the other for control actuators. Moreover, the proposed model takes into consideration failures in control actuators with internal dynamics. It is shown that the exponential stability in the mean square is sufficient for the almost sure asymptotic stability, and a necessary and sufficient condition for the exponential stability in the mean square for linear FTCS is derived. Some previously known results are shown to be special cases of these new results. A numerical example is included to demonstrate the theoretical analysis.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115161304","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 consider a class of queueing systems that can operate in several modes; in each mode the queue lengths exhibit a linear growth until a specified upper or lower level is reached, after which the queue length stays at that level until the end of the mode. We present some methods to determine the optimal switching time instants that minimize a criterion such as average queue length, worst case queue length, average waiting time, and so on. We show that if there is no upper saturation then for some objective functions the optimal switching scheme can be computed very efficiently.
{"title":"Optimal control of a class of linear hybrid systems with saturation","authors":"B. Schutter","doi":"10.1109/CDC.1999.827982","DOIUrl":"https://doi.org/10.1109/CDC.1999.827982","url":null,"abstract":"We consider a class of queueing systems that can operate in several modes; in each mode the queue lengths exhibit a linear growth until a specified upper or lower level is reached, after which the queue length stays at that level until the end of the mode. We present some methods to determine the optimal switching time instants that minimize a criterion such as average queue length, worst case queue length, average waiting time, and so on. We show that if there is no upper saturation then for some objective functions the optimal switching scheme can be computed very efficiently.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115292637","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}
Concerns behavior-based system modelling. In this paper, the relationship between complete behaviors decomposition and the solvability of certain two-sided diophantine equations is explored. More precisely, the possibility of expressing a complete behavior as a direct sum of two subbehaviors, one of which has been chosen a priori, proves to be equivalent to the solvability of a particular two-sided Bezout equation, while, more generally, decompositions with specific intersections of the two subbehaviors are related to the solvability of diophantine equations with suitable constant terms.
{"title":"Some algebraic connections between behavior decompositions and two-sided diophantine equations","authors":"M. Bisiacco, M. E. Valcher","doi":"10.1109/CDC.1999.833401","DOIUrl":"https://doi.org/10.1109/CDC.1999.833401","url":null,"abstract":"Concerns behavior-based system modelling. In this paper, the relationship between complete behaviors decomposition and the solvability of certain two-sided diophantine equations is explored. More precisely, the possibility of expressing a complete behavior as a direct sum of two subbehaviors, one of which has been chosen a priori, proves to be equivalent to the solvability of a particular two-sided Bezout equation, while, more generally, decompositions with specific intersections of the two subbehaviors are related to the solvability of diophantine equations with suitable constant terms.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115664736","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}
Neurons in the cerebral cortex of vertebrates are arranged in functional groupings called cortical microcircuits. The dynamics of such circuits in the visual cortex of turtles have been studied using light intensity step functions. The analyses indicate that the circuits have high feedforward gains. Feedforward and feedback inhibition play important roles in controlling the responses of the circuits to visual stimuli, but are not required for the stability of the circuits because of the stability provided at the front end of the system by microcircuits in the retina.
{"title":"Gain and stability in cortical microcircuits","authors":"P. Ulinski","doi":"10.1109/CDC.1999.832806","DOIUrl":"https://doi.org/10.1109/CDC.1999.832806","url":null,"abstract":"Neurons in the cerebral cortex of vertebrates are arranged in functional groupings called cortical microcircuits. The dynamics of such circuits in the visual cortex of turtles have been studied using light intensity step functions. The analyses indicate that the circuits have high feedforward gains. Feedforward and feedback inhibition play important roles in controlling the responses of the circuits to visual stimuli, but are not required for the stability of the circuits because of the stability provided at the front end of the system by microcircuits in the retina.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123174540","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}
Considers a behavioral approach to the problem of identifying a dynamical system that is known to be a component of a controlled system configuration. For suitable notions of complexity and accuracy, we characterize the class of plants of bounded complexity which, after interconnection with a given controller, achieve a guaranteed accuracy of the controlled system behavior. It is shown that the controlled systems that can be obtained in this way are parametrized in terms of the most powerful unfalsified model of reduced controlled system data. The key consequence of this result is that it translates the approximate controlled system identification problem to a realization problem.
{"title":"A behavioral approach to the controlled system identification problem","authors":"S. Weiland, A. Stoorvogel","doi":"10.1109/CDC.1999.832755","DOIUrl":"https://doi.org/10.1109/CDC.1999.832755","url":null,"abstract":"Considers a behavioral approach to the problem of identifying a dynamical system that is known to be a component of a controlled system configuration. For suitable notions of complexity and accuracy, we characterize the class of plants of bounded complexity which, after interconnection with a given controller, achieve a guaranteed accuracy of the controlled system behavior. It is shown that the controlled systems that can be obtained in this way are parametrized in terms of the most powerful unfalsified model of reduced controlled system data. The key consequence of this result is that it translates the approximate controlled system identification problem to a realization problem.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114661551","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}
A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approach zero asymptotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the controller design. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight line, a circle and the path approaching the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.
{"title":"Adaptive tracking control of nonholonomic mobile robots by computed torque","authors":"Ti-Chung Lee, Ching-Hung Lee, C. Teng","doi":"10.1109/CDC.1999.830105","DOIUrl":"https://doi.org/10.1109/CDC.1999.830105","url":null,"abstract":"A computed torque controller for a dynamic model of nonholonomic mobile robots with bounded external disturbance is proposed to treat the adaptive tracking control problem using the separated design method. A velocity controller is first designed for the kinematic steering system to make the tracking error approach zero asymptotically. Then, a computed torque controller is designed such that the true mobile robot velocity converges to the desired velocity controller. In each step, the controllers are designed independently, and this will simplify the controller design. Moreover, the regulation problem and the tracking problem will be treated using the proposed controller. In particular, the mobile robots can globally follow any path such as a straight line, a circle and the path approaching the origin. Furthermore, the problems of back-into-garage parking and the parallel parking problem can also be solved using the proposed controller. Some interesting simulation results are given to illustrate the effectiveness of the proposed tracking control law.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125237176","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}
Real-time Internet applications, such as voice and video, suffer from performance degradation whenever network congestion occurs. Statistical QoS guarantees, which provide a minimum rate but allow for infrequent violations of service, have the potential for greatly improving the quality of these applications by mitigating the effect of network congestion. We investigate a measurement-based admission control and monitoring algorithm that provides a minimum guaranteed rate and maximum scheduling latency, called a rate-latency bound, to traffic classes with the proviso that the guarantee may be violated for a small fraction of time. The algorithm estimates the demand for resources online by measuring the actual rate of each traffic class for particular choices of scheduling latency, and estimates the QoS violation rate using model fitting and extrapolation. The generality of these measurements allows one to provide a single admission control algorithm that can be used with many proposed guaranteed-rate servers.
{"title":"Measurement-based admission control and monitoring for statistical rate-latency guarantees","authors":"M. Siler, J. Walrand","doi":"10.1109/CDC.1999.833238","DOIUrl":"https://doi.org/10.1109/CDC.1999.833238","url":null,"abstract":"Real-time Internet applications, such as voice and video, suffer from performance degradation whenever network congestion occurs. Statistical QoS guarantees, which provide a minimum rate but allow for infrequent violations of service, have the potential for greatly improving the quality of these applications by mitigating the effect of network congestion. We investigate a measurement-based admission control and monitoring algorithm that provides a minimum guaranteed rate and maximum scheduling latency, called a rate-latency bound, to traffic classes with the proviso that the guarantee may be violated for a small fraction of time. The algorithm estimates the demand for resources online by measuring the actual rate of each traffic class for particular choices of scheduling latency, and estimates the QoS violation rate using model fitting and extrapolation. The generality of these measurements allows one to provide a single admission control algorithm that can be used with many proposed guaranteed-rate servers.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116975008","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}
A (J,J')-lossless factorization approach to 4-block H/sup /spl infin// control problems with infinite and finite j/spl omega/-axis zeros is studied. The (J,J')-lossless factorization for a 2-block plant, which is constructed by augmentation of observation output, and the dual (J,J')-lossless factorization for a 2-block plant, which is constructed by an augmentation of control input, are discussed dually to reveal the fundamental structures of H/sup /spl infin// control problems. The necessary and sufficient conditions for the solvability of the 4-block H/sup /spl infin// control problems are proposed via generalized eigenvalue problems, and suitable controllers in descriptor form for the problems are given.
{"title":"(J,J')-lossless factorization approach to H/sup /spl infin// control problems with infinite and finite j/spl omega/-axis zeros","authors":"Xin Xin, T. Mita, H. Kimura","doi":"10.1109/CDC.1999.831418","DOIUrl":"https://doi.org/10.1109/CDC.1999.831418","url":null,"abstract":"A (J,J')-lossless factorization approach to 4-block H/sup /spl infin// control problems with infinite and finite j/spl omega/-axis zeros is studied. The (J,J')-lossless factorization for a 2-block plant, which is constructed by augmentation of observation output, and the dual (J,J')-lossless factorization for a 2-block plant, which is constructed by an augmentation of control input, are discussed dually to reveal the fundamental structures of H/sup /spl infin// control problems. The necessary and sufficient conditions for the solvability of the 4-block H/sup /spl infin// control problems are proposed via generalized eigenvalue problems, and suitable controllers in descriptor form for the problems are given.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117065359","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}
J. Koza, M. A. Keane, J. Yu, F. H. Bennett, W. Mydlowec, O. Stiffelman
This paper describes how genetic programming can be used to automate the synthesis of the design of both the topology and parameter values for controllers. The method described in this paper automatically makes decisions concerning the total number of processing blocks to be employed in the controller, the type of each block, the topological interconnections between the blocks, the values of all parameters for the blocks, and the existence, if any, of internal feedback between the blocks of the overall controller. This design process can readily combine optimization of performance (e.g., by a metric such as the integral of the time-weighted error) with time-domain constraints and frequency-domain constraints. Genetic programming is applied to two illustrative problems of controller synthesis: the design of a robust controller for a nonminimal-phase plant and the design of a robust controller for a three-lag plant. The PID compensator of Astrom and Hagglund (1995) for the three-lag plant delivers credible performance. The automatically created controller is better than 7.2 times as effective as the previous controller as measured by the integral of the time-weighted absolute error, has only 50% of the rise time in response to the reference input, has only 35% of the settling time, and is 92.7 dB better in terms of suppressing the effects of disturbance at the plant input.
{"title":"Automatic synthesis of both the topology and parameters for a robust controller for a nonminimal phase plant and a three-lag plant by means of genetic programming","authors":"J. Koza, M. A. Keane, J. Yu, F. H. Bennett, W. Mydlowec, O. Stiffelman","doi":"10.1109/CDC.1999.833396","DOIUrl":"https://doi.org/10.1109/CDC.1999.833396","url":null,"abstract":"This paper describes how genetic programming can be used to automate the synthesis of the design of both the topology and parameter values for controllers. The method described in this paper automatically makes decisions concerning the total number of processing blocks to be employed in the controller, the type of each block, the topological interconnections between the blocks, the values of all parameters for the blocks, and the existence, if any, of internal feedback between the blocks of the overall controller. This design process can readily combine optimization of performance (e.g., by a metric such as the integral of the time-weighted error) with time-domain constraints and frequency-domain constraints. Genetic programming is applied to two illustrative problems of controller synthesis: the design of a robust controller for a nonminimal-phase plant and the design of a robust controller for a three-lag plant. The PID compensator of Astrom and Hagglund (1995) for the three-lag plant delivers credible performance. The automatically created controller is better than 7.2 times as effective as the previous controller as measured by the integral of the time-weighted absolute error, has only 50% of the rise time in response to the reference input, has only 35% of the settling time, and is 92.7 dB better in terms of suppressing the effects of disturbance at the plant input.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121121172","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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