Pub Date : 2010-06-23DOI: 10.1109/MED.2010.5547842
D. Saussié, O. Akhrif, L. Saydy
A fixed architecture flight controller guaranteeing a priori given handling quality requirements is proposed. Handling qualities are translated into pole confinement within a region of the complex plane. The proposed control algorithm is based on guardian maps. It seeks to place the closed-loop poles inside the target region. Gibson's dropback, one of the handling quality requirements, is specifically handled with a formula which allows to express explicitly the criterion in the gains. The procedure is successfully applied to design the pitch rate controller of a Challenger 604 aircraft.
{"title":"Aircraft pitch rate control design with guardian maps","authors":"D. Saussié, O. Akhrif, L. Saydy","doi":"10.1109/MED.2010.5547842","DOIUrl":"https://doi.org/10.1109/MED.2010.5547842","url":null,"abstract":"A fixed architecture flight controller guaranteeing a priori given handling quality requirements is proposed. Handling qualities are translated into pole confinement within a region of the complex plane. The proposed control algorithm is based on guardian maps. It seeks to place the closed-loop poles inside the target region. Gibson's dropback, one of the handling quality requirements, is specifically handled with a formula which allows to express explicitly the criterion in the gains. The procedure is successfully applied to design the pitch rate controller of a Challenger 604 aircraft.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"15 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132546056","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 : 2010-06-23DOI: 10.1109/MED.2010.5547876
L. Félix-Herrán, Driss Mehdi, R. Soto, J. Rodríguez-Ortiz, R. Ramírez-Mendoza
Magnetorheological (MR) dampers have proved to be an attractive solution in improving vehicle stability and passenger comfort. However, handling with these dampers, which contain highly nonlinear phenomena, implies a strong effort in modeling and control. This research presents a Takagi-Sugeno (T-S) fuzzy model, not reported before, for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semiactive suspension with an MR damper. The objective is to prove that an MR damper, represented by the Bouc-Wen approach, is suitable for control purposes. Moreover, the model developed in [14], was reformulated into a more compact control-oriented model. The stability condition is given in terms of Lyapunov stability theory, and carried out by means of Linear Matrix Inequalities (LMI). Due to system's fuzzy nature, the controller gain is applied via Parallel Distributed Compensation (PDC) through a static state feedback controller for each linear subsystem. The advantage of having the T-S system as a reference is that each piecewise linear system can be exposed to the well-known control theory regarding: stability, robustness, and performance. Besides, the novel model encloses the nonlinear damper phenomena, avoided in another reported work, i.e. [9], and [11], which can improve the suspension study by means of a more accurate model. A numerical case and simulation work support the results. This research introduces a more accurate control oriented model that can be applied in the suspensions performance domain towards comfort and stability improvement.
{"title":"Control of a semi-active suspension with a magnetorheological damper modeled via Takagi-Sugeno","authors":"L. Félix-Herrán, Driss Mehdi, R. Soto, J. Rodríguez-Ortiz, R. Ramírez-Mendoza","doi":"10.1109/MED.2010.5547876","DOIUrl":"https://doi.org/10.1109/MED.2010.5547876","url":null,"abstract":"Magnetorheological (MR) dampers have proved to be an attractive solution in improving vehicle stability and passenger comfort. However, handling with these dampers, which contain highly nonlinear phenomena, implies a strong effort in modeling and control. This research presents a Takagi-Sugeno (T-S) fuzzy model, not reported before, for a two-degrees-of-freedom (2-DOF) one-quarter-vehicle semiactive suspension with an MR damper. The objective is to prove that an MR damper, represented by the Bouc-Wen approach, is suitable for control purposes. Moreover, the model developed in [14], was reformulated into a more compact control-oriented model. The stability condition is given in terms of Lyapunov stability theory, and carried out by means of Linear Matrix Inequalities (LMI). Due to system's fuzzy nature, the controller gain is applied via Parallel Distributed Compensation (PDC) through a static state feedback controller for each linear subsystem. The advantage of having the T-S system as a reference is that each piecewise linear system can be exposed to the well-known control theory regarding: stability, robustness, and performance. Besides, the novel model encloses the nonlinear damper phenomena, avoided in another reported work, i.e. [9], and [11], which can improve the suspension study by means of a more accurate model. A numerical case and simulation work support the results. This research introduces a more accurate control oriented model that can be applied in the suspensions performance domain towards comfort and stability improvement.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130017893","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 : 2010-06-23DOI: 10.1109/MED.2010.5547788
O. Kaltiokallio, L. Eriksson, M. Bocca
The PIDPLUS algorithm is one of the candidates to be used in wireless automation systems. The control performance of this algorithm under packet losses is investigated in the paper. First, the performance of PIDPLUS is evaluated with respect to packet loss rates for a general first-order plus time-delay process, a model widely used for controller tuning. This simulation study reveals how the performance is affected by packet losses in a wireless control system. Secondly, we will elaborate on the implementation of PIDPLUS and discuss its design, tuning and performance in wireless control systems in light of an unstable case process. The results suggest that PIDPLUS can well be used for wireless control, but better performance could be attained by further development of the controller tuning methodology.
{"title":"On the performance of the PIDPLUS controller in wireless control systems","authors":"O. Kaltiokallio, L. Eriksson, M. Bocca","doi":"10.1109/MED.2010.5547788","DOIUrl":"https://doi.org/10.1109/MED.2010.5547788","url":null,"abstract":"The PIDPLUS algorithm is one of the candidates to be used in wireless automation systems. The control performance of this algorithm under packet losses is investigated in the paper. First, the performance of PIDPLUS is evaluated with respect to packet loss rates for a general first-order plus time-delay process, a model widely used for controller tuning. This simulation study reveals how the performance is affected by packet losses in a wireless control system. Secondly, we will elaborate on the implementation of PIDPLUS and discuss its design, tuning and performance in wireless control systems in light of an unstable case process. The results suggest that PIDPLUS can well be used for wireless control, but better performance could be attained by further development of the controller tuning methodology.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130182478","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 : 2010-06-23DOI: 10.1109/MED.2010.5547694
A. Bajodah
The generalized inverse dynamics methodology is further improved for global asymptotic tracking control of robot manipulators generalized coordinate trajectories. A scalar kinematic norm measure function of manipulators generalized coordinates deviations from their desired trajectories is defined, and a servo-constraint on robot kinematics is prescribed by zeroing the kinematic deviation function. A stable linear second order differential equation in the kinematic deviation function is evaluated along trajectory solutions of manipulators state space model equations, resulting in an algebraic relation that is linear in the control vector. The control law is designed by generalized inversion of the controls coefficient in the algebraic relation using a modified version of the Greville formula. The Moore-Penrose generalized inverse in the particular part of the modified Greville formula is scaled by a dynamic factor that uniformly decays as steady state response approaches. This yields a uniform convergence of the particular part to its projection on the range space of controls coefficients Moore-Penrose generalized inverse, resulting in asymptotically stable generalized coordinates trajectory tracking. The null-control vector in the auxiliary part of the Greville formula is taken to be linear in manipulators generalized velocities, and is constructed by means of a positive semidefinite control Lyapunov function that involves the controls coefficient nullprojector, providing a global asymptotic internal manipulator stability and a global asymptotic generalized coordinates trajectory tracking.
{"title":"Globally asymptotic generalized dynamic inversion for robot manipulator control design","authors":"A. Bajodah","doi":"10.1109/MED.2010.5547694","DOIUrl":"https://doi.org/10.1109/MED.2010.5547694","url":null,"abstract":"The generalized inverse dynamics methodology is further improved for global asymptotic tracking control of robot manipulators generalized coordinate trajectories. A scalar kinematic norm measure function of manipulators generalized coordinates deviations from their desired trajectories is defined, and a servo-constraint on robot kinematics is prescribed by zeroing the kinematic deviation function. A stable linear second order differential equation in the kinematic deviation function is evaluated along trajectory solutions of manipulators state space model equations, resulting in an algebraic relation that is linear in the control vector. The control law is designed by generalized inversion of the controls coefficient in the algebraic relation using a modified version of the Greville formula. The Moore-Penrose generalized inverse in the particular part of the modified Greville formula is scaled by a dynamic factor that uniformly decays as steady state response approaches. This yields a uniform convergence of the particular part to its projection on the range space of controls coefficients Moore-Penrose generalized inverse, resulting in asymptotically stable generalized coordinates trajectory tracking. The null-control vector in the auxiliary part of the Greville formula is taken to be linear in manipulators generalized velocities, and is constructed by means of a positive semidefinite control Lyapunov function that involves the controls coefficient nullprojector, providing a global asymptotic internal manipulator stability and a global asymptotic generalized coordinates trajectory tracking.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132596170","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 : 2010-06-23DOI: 10.1109/MED.2010.5547631
S. Lazarus, P. Silson, A. Tsourdos, R. Zbikowski, B. White
The paper presents a multiple sensor fusion for robust navigation based on Covariance Intersection (CI). The motivation of the approach described in this paper is a sensor based navigation with improved performance. The improved performance is quantified by explicit bounds of position estimate of the vehicle. The proposed algorithm results in 3D navigation and is based on the data fusion of the position and the orientation of the vehicle obtained from two different sources of sensor systems. Combining the measurements from different sources compensates for each other's limitations. Therefore the resulting performance of the sensor system is much improved than the individual sensor system.
{"title":"Multiple sensor fusion for 3D navigation for unmanned autonomous vehicles","authors":"S. Lazarus, P. Silson, A. Tsourdos, R. Zbikowski, B. White","doi":"10.1109/MED.2010.5547631","DOIUrl":"https://doi.org/10.1109/MED.2010.5547631","url":null,"abstract":"The paper presents a multiple sensor fusion for robust navigation based on Covariance Intersection (CI). The motivation of the approach described in this paper is a sensor based navigation with improved performance. The improved performance is quantified by explicit bounds of position estimate of the vehicle. The proposed algorithm results in 3D navigation and is based on the data fusion of the position and the orientation of the vehicle obtained from two different sources of sensor systems. Combining the measurements from different sources compensates for each other's limitations. Therefore the resulting performance of the sensor system is much improved than the individual sensor system.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132950705","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 : 2010-06-23DOI: 10.1109/MED.2010.5547829
S. Benmoussa, M. Djeziri, B. Ould Bouamama, R. Merzouki
In this paper, a new algorithm based on signal processing theory is proposed for fluid leak detection and isolation in process engineering. The developed algorithm is sensitive to minor leaks and robust to hydraulic and thermal disturbances and transient operating modes. The proposed approach is based on Empirical Mode Decomposition (EMD) of the sensor measurements and the cross-correlation function. An adaptive threshold, based on stationary analysis of the measurement is calculated, providing a best robustness to false alarm. Experimental results obtained on different processes show the efficiency of the proposed approach.
{"title":"Empirical mode decomposition applied to fluid leak detection and isolation in process engineering","authors":"S. Benmoussa, M. Djeziri, B. Ould Bouamama, R. Merzouki","doi":"10.1109/MED.2010.5547829","DOIUrl":"https://doi.org/10.1109/MED.2010.5547829","url":null,"abstract":"In this paper, a new algorithm based on signal processing theory is proposed for fluid leak detection and isolation in process engineering. The developed algorithm is sensitive to minor leaks and robust to hydraulic and thermal disturbances and transient operating modes. The proposed approach is based on Empirical Mode Decomposition (EMD) of the sensor measurements and the cross-correlation function. An adaptive threshold, based on stationary analysis of the measurement is calculated, providing a best robustness to false alarm. Experimental results obtained on different processes show the efficiency of the proposed approach.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133330177","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 : 2010-06-23DOI: 10.1109/MED.2010.5547837
Luis Pando, L. Garza
In this paper we describe a novel pressure control approach applied to a Variable Bleed Solenoid (VBS) that resides inside a vehicle automatic transmission for clutch engaging purposes. The pressure control approach is based on a Neural Network Scheme that has been previously trained to learn from the inputs and outputs the nonlinear dynamics experimented on an automatic transmission working on the field. The Neural Network control technique shows a better performance, when compared against a classical method based on a look up pressure table, because avoids VBS output pressure instability especially when the system is subjected to oil temperature fluctuation, input pressure instability, current fluctuation and thermal degradation.
{"title":"A Neural Network pressure control approach for automotive Variable Bleed Solenoid","authors":"Luis Pando, L. Garza","doi":"10.1109/MED.2010.5547837","DOIUrl":"https://doi.org/10.1109/MED.2010.5547837","url":null,"abstract":"In this paper we describe a novel pressure control approach applied to a Variable Bleed Solenoid (VBS) that resides inside a vehicle automatic transmission for clutch engaging purposes. The pressure control approach is based on a Neural Network Scheme that has been previously trained to learn from the inputs and outputs the nonlinear dynamics experimented on an automatic transmission working on the field. The Neural Network control technique shows a better performance, when compared against a classical method based on a look up pressure table, because avoids VBS output pressure instability especially when the system is subjected to oil temperature fluctuation, input pressure instability, current fluctuation and thermal degradation.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133407169","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 : 2010-06-23DOI: 10.1109/MED.2010.5547710
Sylvain Verron, T. Tiplica, A. Kobi
The purpose of this article is to present a method for industrial process diagnosis. We are interested in fault diagnosis considered as a supervised classification task. The interest of the proposed method is to take into account new features (and so new informations) in the classifier. These new features are probabilities extracted from a Bayesian network comparing the faulty observations to the normal operating conditions. The performances of this method are evaluated on the data of a benchmark example: the Tennessee Eastman Process. Three kinds of fault are taken into account on this complex process. We show on this example that the addition of these new features allows to decrease the misclassification rate.
{"title":"New informative features for fault diagnosis of industrial systems by supervised classification","authors":"Sylvain Verron, T. Tiplica, A. Kobi","doi":"10.1109/MED.2010.5547710","DOIUrl":"https://doi.org/10.1109/MED.2010.5547710","url":null,"abstract":"The purpose of this article is to present a method for industrial process diagnosis. We are interested in fault diagnosis considered as a supervised classification task. The interest of the proposed method is to take into account new features (and so new informations) in the classifier. These new features are probabilities extracted from a Bayesian network comparing the faulty observations to the normal operating conditions. The performances of this method are evaluated on the data of a benchmark example: the Tennessee Eastman Process. Three kinds of fault are taken into account on this complex process. We show on this example that the addition of these new features allows to decrease the misclassification rate.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132163939","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 : 2010-06-23DOI: 10.1109/MED.2010.5547608
V. Jovan, J. Petrovčič, P. Pirnat
The paper deals with an estimation of the real energetic flows in a commercial proton-exchange-membrane fuel-cell system (PEMFCS). The PEMFCS considered here is the source of both electrical and thermal energy of a fuel fells based cogeneration system in a transportable dwelling container, and for the design of a cogeneration unit the actual amount of disposable energy from the PEMFC unit should be estimated. The assessment of the actual energetic flows, the disposable energy and the consequent electrical efficiency of the PEMFCS considered is carried out using commercial technical data for the PEMFCS.
{"title":"A transportable dwelling container with in-built fuel cells cogeneration system","authors":"V. Jovan, J. Petrovčič, P. Pirnat","doi":"10.1109/MED.2010.5547608","DOIUrl":"https://doi.org/10.1109/MED.2010.5547608","url":null,"abstract":"The paper deals with an estimation of the real energetic flows in a commercial proton-exchange-membrane fuel-cell system (PEMFCS). The PEMFCS considered here is the source of both electrical and thermal energy of a fuel fells based cogeneration system in a transportable dwelling container, and for the design of a cogeneration unit the actual amount of disposable energy from the PEMFC unit should be estimated. The assessment of the actual energetic flows, the disposable energy and the consequent electrical efficiency of the PEMFCS considered is carried out using commercial technical data for the PEMFCS.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132724370","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 : 2010-06-23DOI: 10.1109/MED.2010.5547761
M. Osinuga, S. Patra, A. Lanzon
Smoothness constraints are formulated for weights in ℋ∞ loop-shaping design in order to ensure smooth variations in their magnitude response. Smoothness in the magnitude response of weights prevents the cancelation of lightly damped poles/zeros of the plant when the shaped plant is formed by cascading the nominal plant with the weights. It also allows fitting by low-order transfer functions when the smooth variations are computed point-wise in frequency. Gradients of weights, expressed in dB/decade, are used to formulate the smoothness constraints in LMI form as additional constraints to those on the singular values and condition numbers of weights in [Lanzon, 2005, Weight optimization in ℋ∞ loop-shaping, Automatica, 41(1): 1018–1029]. The resulting solution algorithm maximizes the robust stability margin while simultaneously synthesizing smooth weights and a stabilizing controller subject to the shaped plant lying within a specified region that depicts the closed-loop design requirements. Keywords: ℋ∞ loop-shaping; Smoothness constraint; Weight optimization; Robust control.
为了保证权值响应的平滑变化，给出了h∞环形设计中权值的光滑性约束。当通过将标称植物与权重级联形成成形植物时，权重大小响应的平滑性防止了植物的轻阻尼极点/零的消除。当平滑变化按频率逐点计算时，它也允许通过低阶传递函数进行拟合。在[Lanzon, 2005, Weight optimization in h h∞-环路成形，Automatica, 41(1): 1018-1029]中，以dB/decade表示的权值梯度被用来以LMI形式表达平滑约束，作为权值奇异值和条件数约束的附加约束。所得到的解算法使鲁棒稳定裕度最大化，同时综合了平滑权值和稳定控制器，该控制器服从于描述闭环设计要求的特定区域内的形状植物。关键词:h∞环整形;平滑约束;重量优化;鲁棒控制。
{"title":"Incorporating smoothness into weight optimization for ℋ∞ loop-shaping design","authors":"M. Osinuga, S. Patra, A. Lanzon","doi":"10.1109/MED.2010.5547761","DOIUrl":"https://doi.org/10.1109/MED.2010.5547761","url":null,"abstract":"Smoothness constraints are formulated for weights in ℋ∞ loop-shaping design in order to ensure smooth variations in their magnitude response. Smoothness in the magnitude response of weights prevents the cancelation of lightly damped poles/zeros of the plant when the shaped plant is formed by cascading the nominal plant with the weights. It also allows fitting by low-order transfer functions when the smooth variations are computed point-wise in frequency. Gradients of weights, expressed in dB/decade, are used to formulate the smoothness constraints in LMI form as additional constraints to those on the singular values and condition numbers of weights in [Lanzon, 2005, Weight optimization in ℋ∞ loop-shaping, Automatica, 41(1): 1018–1029]. The resulting solution algorithm maximizes the robust stability margin while simultaneously synthesizing smooth weights and a stabilizing controller subject to the shaped plant lying within a specified region that depicts the closed-loop design requirements. Keywords: ℋ∞ loop-shaping; Smoothness constraint; Weight optimization; Robust control.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133202078","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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