Proposes and experimentally demonstrates an approach to automated PI tuning for an industrial weigh belt feeder that is based on unfalsified control concepts. Unfalsified control is used as a means of using both open and closed loop test data to identify a subset of controllers (from an initial set) that meets the multiple objectives specified by the control engineer. A novel feature of the unfalsified approach is that it allows the performance of a given controller to be predicted without inserting the controller in the loop. In addition, this methodology does not require an explicit model of the system to be controlled. When the unfalsified PI autotuning approach is applied to the industrial weigh belt feeder, it is able to successfully identify a subset of PI control laws that meets the performance specs. This automated PI tuning approach is implemented here off-line but may be implemented online and applied in a straight forward manner to other control systems.
{"title":"Automated PI tuning for a weigh belt feeder via unfalsified control","authors":"E. Collins, C. Fan, R. Millett","doi":"10.1109/CDC.1999.832885","DOIUrl":"https://doi.org/10.1109/CDC.1999.832885","url":null,"abstract":"Proposes and experimentally demonstrates an approach to automated PI tuning for an industrial weigh belt feeder that is based on unfalsified control concepts. Unfalsified control is used as a means of using both open and closed loop test data to identify a subset of controllers (from an initial set) that meets the multiple objectives specified by the control engineer. A novel feature of the unfalsified approach is that it allows the performance of a given controller to be predicted without inserting the controller in the loop. In addition, this methodology does not require an explicit model of the system to be controlled. When the unfalsified PI autotuning approach is applied to the industrial weigh belt feeder, it is able to successfully identify a subset of PI control laws that meets the performance specs. This automated PI tuning approach is implemented here off-line but may be implemented online and applied in a straight forward manner to other control systems.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"591 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134004194","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}
E.W. Bol, A. Santander, O. da M. Almeida, L. dos S. Coelho, A.R. Coelho
An integrated environment for digital control laboratory experiments running on WinFACT software is presented. This kind of alternative education tool to be used in control lab classes has successfully been assessed at Brazil and Bolivia Universities in graduate and undergraduate courses. Both theoretical contents and practical experiments are discussed.
{"title":"WinFACT-a tool for teaching digital control","authors":"E.W. Bol, A. Santander, O. da M. Almeida, L. dos S. Coelho, A.R. Coelho","doi":"10.1109/CDC.1999.832801","DOIUrl":"https://doi.org/10.1109/CDC.1999.832801","url":null,"abstract":"An integrated environment for digital control laboratory experiments running on WinFACT software is presented. This kind of alternative education tool to be used in control lab classes has successfully been assessed at Brazil and Bolivia Universities in graduate and undergraduate courses. Both theoretical contents and practical experiments are discussed.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134339819","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}
Decentralized robust control for a class of large-scale nonlinear systems with strong nonlinear interconnections is considered. Large-scale nonlinear systems transformable to the extended decentralized strict feedback form are considered. Each subsystem contains asymptotically stable appended dynamics and it is allowed to enter into the chain of integrators affinely via unknown nonlinearities. The interconnections are assumed to be bounded by nonlinear functions of the states. The uncertainties in the subsystem include both unknown parameters and unstructured dynamics. A novel robust adaptive controller is designed to achieve robust stability in the presence of unknown parameters and unstructured dynamics. It is shown that global asymptotic regulation of partial states and global uniform boundedness of the remaining states are guaranteed utilizing partial state feedback. An illustrative example is provided to demonstrate the proposed control design methodology.
{"title":"Decentralized robust control for a class of large-scale nonlinear systems","authors":"Zhi Wang, F. Khorrami, Zhong-Ping Jiang","doi":"10.1109/CDC.1999.827778","DOIUrl":"https://doi.org/10.1109/CDC.1999.827778","url":null,"abstract":"Decentralized robust control for a class of large-scale nonlinear systems with strong nonlinear interconnections is considered. Large-scale nonlinear systems transformable to the extended decentralized strict feedback form are considered. Each subsystem contains asymptotically stable appended dynamics and it is allowed to enter into the chain of integrators affinely via unknown nonlinearities. The interconnections are assumed to be bounded by nonlinear functions of the states. The uncertainties in the subsystem include both unknown parameters and unstructured dynamics. A novel robust adaptive controller is designed to achieve robust stability in the presence of unknown parameters and unstructured dynamics. It is shown that global asymptotic regulation of partial states and global uniform boundedness of the remaining states are guaranteed utilizing partial state feedback. An illustrative example is provided to demonstrate the proposed control design methodology.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131470649","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 explore properties of the average and bias optimality equations in unichain Markov decision processes. We show that in unichain models, these equations have the same form, so that theory for gain optimality carries over to bias optimality.
{"title":"Optimality equations in undiscounted Markov decision processes","authors":"M. Puterman","doi":"10.1109/CDC.1999.832928","DOIUrl":"https://doi.org/10.1109/CDC.1999.832928","url":null,"abstract":"We explore properties of the average and bias optimality equations in unichain Markov decision processes. We show that in unichain models, these equations have the same form, so that theory for gain optimality carries over to bias optimality.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131517311","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 discontinuous projection based adaptive robust control (ARC) design is constructed for nonlinear systems transformable to the semi-strict feedback form without knowing the bounds of parameter variations and uncertain nonlinearities. The proposed ARC design only adapts actual physical parameters and uses a fixed design bound plus certain robust feedback to account for the possible destabilizing effect of online parameter adaptation. The resulting ARC controller achieves a prescribed transient performance and final tracking accuracy in general; the exponential convergence rate of the transient tracking error and the bound of the final tracking error can be adjusted via certain controller parameters in a known form. In addition, in the presence of parametric uncertainties only, if the true parameters fall within the design bound, asymptotic output tracking is achieved. Furthermore, by choosing the design bound appropriately, the controller also has a well-designed built-in anti-integration windup mechanism to alleviate the effect of control saturation.
{"title":"Adaptive robust control without knowing bounds of parameter variations","authors":"J. Gong, B. Yao","doi":"10.1109/CDC.1999.827787","DOIUrl":"https://doi.org/10.1109/CDC.1999.827787","url":null,"abstract":"A discontinuous projection based adaptive robust control (ARC) design is constructed for nonlinear systems transformable to the semi-strict feedback form without knowing the bounds of parameter variations and uncertain nonlinearities. The proposed ARC design only adapts actual physical parameters and uses a fixed design bound plus certain robust feedback to account for the possible destabilizing effect of online parameter adaptation. The resulting ARC controller achieves a prescribed transient performance and final tracking accuracy in general; the exponential convergence rate of the transient tracking error and the bound of the final tracking error can be adjusted via certain controller parameters in a known form. In addition, in the presence of parametric uncertainties only, if the true parameters fall within the design bound, asymptotic output tracking is achieved. Furthermore, by choosing the design bound appropriately, the controller also has a well-designed built-in anti-integration windup mechanism to alleviate the effect of control saturation.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128922757","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}
Extending previous work for an optimal control problem of a single-stage system, we consider a two-stage manufacturing system where each job has a physical state characterized by time-driven dynamics and a temporal state by event-driven dynamics. We derive necessary conditions for optimality and develop some new algorithms for explicit solution of the problem that make use of Bezier approximation techniques. In addition, we establish some properties of the optimal control sequence that have interesting implications.
{"title":"Optimal control of a two-stage hybrid manufacturing system model","authors":"C. Cassandras, Q. Liu, K. Gokbayrak, D. Pepyne","doi":"10.1109/CDC.1999.832819","DOIUrl":"https://doi.org/10.1109/CDC.1999.832819","url":null,"abstract":"Extending previous work for an optimal control problem of a single-stage system, we consider a two-stage manufacturing system where each job has a physical state characterized by time-driven dynamics and a temporal state by event-driven dynamics. We derive necessary conditions for optimality and develop some new algorithms for explicit solution of the problem that make use of Bezier approximation techniques. In addition, we establish some properties of the optimal control sequence that have interesting implications.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130827829","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 competition to deliver fuel efficient and environmentally friendly vehicles is driving the automotive industry to consider ever more complex powertrain systems. Adequate performance of these new highly interactive systems can no longer be obtained through traditional approaches, which are intensive in hardware use and final control software calibration. The paper explores the use of dynamic programming to make model-based design decisions for a lean burn, direct injection spark ignition engine, in combination with a three way catalyst and lean NOx trap aftertreatment system. The primary contribution is the development of a very rapid method to evaluate the tradeoffs in fuel economy and emissions for this novel powertrain system, as a function of design parameters and controller structure, over a standard emission test cycle.
{"title":"Approximate dynamic programming solutions for lean burn engine aftertreatment","authors":"Junmo Kang, I. Kolmanovsky, J. Grizzle","doi":"10.1109/CDC.1999.830269","DOIUrl":"https://doi.org/10.1109/CDC.1999.830269","url":null,"abstract":"The competition to deliver fuel efficient and environmentally friendly vehicles is driving the automotive industry to consider ever more complex powertrain systems. Adequate performance of these new highly interactive systems can no longer be obtained through traditional approaches, which are intensive in hardware use and final control software calibration. The paper explores the use of dynamic programming to make model-based design decisions for a lean burn, direct injection spark ignition engine, in combination with a three way catalyst and lean NOx trap aftertreatment system. The primary contribution is the development of a very rapid method to evaluate the tradeoffs in fuel economy and emissions for this novel powertrain system, as a function of design parameters and controller structure, over a standard emission test cycle.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131002085","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}
There is a growing interest in the neural networks community to employ systems consisting of multiple small neural decision-making modules, instead of a single large monolithic one. Motivated by such interests and other studies of distributed decision architectures in large-scale systems theory, we propose two feature decomposition models (parallel and tandem) for interconnecting multiple neural networks. In both these models, the overall feature set is partitioned into several disjoint subsets so that each subset is processed by a separate neural network. In the parallel interconnection, there is no communication between the decision-makers during the decision-making process, and their outputs are combined by a combining or fusion function to generate overall decisions. In contrast, a tandem connection of two networks (for illustration purposes) requires that the outputs of one (the leader) form additional inputs of the other (the follower), and the output of the latter determines the overall decision. A feature decomposition algorithm is presented to decide how to partition the total feature set between the individual modules, based on training data. The problem of learning (and the necessary information flow) in the two distributed architectures is examined. Finally, the performance of a feature decomposition distributed model is compared with that of a single monolithic network in a bench-mark real-world pattern recognition problem to illustrate the advantages of the distributed approach.
{"title":"Distributed decomposition architectures for neural decision-makers","authors":"S. Mukhopadhyay, Haiying Wang","doi":"10.1109/CDC.1999.831326","DOIUrl":"https://doi.org/10.1109/CDC.1999.831326","url":null,"abstract":"There is a growing interest in the neural networks community to employ systems consisting of multiple small neural decision-making modules, instead of a single large monolithic one. Motivated by such interests and other studies of distributed decision architectures in large-scale systems theory, we propose two feature decomposition models (parallel and tandem) for interconnecting multiple neural networks. In both these models, the overall feature set is partitioned into several disjoint subsets so that each subset is processed by a separate neural network. In the parallel interconnection, there is no communication between the decision-makers during the decision-making process, and their outputs are combined by a combining or fusion function to generate overall decisions. In contrast, a tandem connection of two networks (for illustration purposes) requires that the outputs of one (the leader) form additional inputs of the other (the follower), and the output of the latter determines the overall decision. A feature decomposition algorithm is presented to decide how to partition the total feature set between the individual modules, based on training data. The problem of learning (and the necessary information flow) in the two distributed architectures is examined. Finally, the performance of a feature decomposition distributed model is compared with that of a single monolithic network in a bench-mark real-world pattern recognition problem to illustrate the advantages of the distributed approach.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132858716","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 stability of linear time-delay systems is investigated via the robustness analysis of several uncertain delay-free comparison systems. Several new delay-dependent stability criteria, which are formulated as linear matrix inequalities (LMIs), are then derived. Finally, an example problem demonstrates that these new stability criteria may be significantly less conservative than those existing in the literature.
{"title":"Toward less conservative stability analysis of time-delay systems","authors":"J. Zhang, C. Knospe, Panagiotis Tsiotras","doi":"10.1109/CDC.1999.830935","DOIUrl":"https://doi.org/10.1109/CDC.1999.830935","url":null,"abstract":"The stability of linear time-delay systems is investigated via the robustness analysis of several uncertain delay-free comparison systems. Several new delay-dependent stability criteria, which are formulated as linear matrix inequalities (LMIs), are then derived. Finally, an example problem demonstrates that these new stability criteria may be significantly less conservative than those existing in the literature.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133453374","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 two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.
{"title":"Order-reduced stabilization design of nonholonomic chained systems based on new canonical forms","authors":"S. Wang, W. Huo, Weijiao Xu","doi":"10.1109/CDC.1999.827859","DOIUrl":"https://doi.org/10.1109/CDC.1999.827859","url":null,"abstract":"In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133676791","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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