Pub Date : 1993-06-02DOI: 10.23919/ACC.1993.4793392
A. Iftar
Overlapping controller design to solve the servo-mechanism problem within the framework of the extension principle is investigated. Presented approach first involves expending the given plant to obtain a larger dimensional plant such that the overlapping parts of the original plant appear as disjoint. Decentralized controllers are then designed for the expanded system to solve the robust decentralized servomechanism problem. In the final phase these controllers are contracted for implementaion on the original plant. In the present paper the conditions under which there exist solutions to the servo-mechanism problems for the original and the expanded systems are investigated. It is also shown that if a solution is found for the expanded system, a solution for the original system can be obtained by simply contracting the former solution.
{"title":"Overlapping Decentralized Robust Servomechanism Problem","authors":"A. Iftar","doi":"10.23919/ACC.1993.4793392","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793392","url":null,"abstract":"Overlapping controller design to solve the servo-mechanism problem within the framework of the extension principle is investigated. Presented approach first involves expending the given plant to obtain a larger dimensional plant such that the overlapping parts of the original plant appear as disjoint. Decentralized controllers are then designed for the expanded system to solve the robust decentralized servomechanism problem. In the final phase these controllers are contracted for implementaion on the original plant. In the present paper the conditions under which there exist solutions to the servo-mechanism problems for the original and the expanded systems are investigated. It is also shown that if a solution is found for the expanded system, a solution for the original system can be obtained by simply contracting the former solution.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115997893","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793493
M. Zhuang, D. Atherton
This paper presents a new auto-tuning method for designing a diagonal PID controller for a TITO system. From the auto-tuning results a design method is developed based on moving the critical point to a desired position on the compensated characteristic loci. An example is given to illustrate the design method.
{"title":"PID Controller Design for a TITO System","authors":"M. Zhuang, D. Atherton","doi":"10.23919/ACC.1993.4793493","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793493","url":null,"abstract":"This paper presents a new auto-tuning method for designing a diagonal PID controller for a TITO system. From the auto-tuning results a design method is developed based on moving the critical point to a desired position on the compensated characteristic loci. An example is given to illustrate the design method.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122363211","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793167
D. Bossert
This paper examines the effect of the frequency domain Quantitative Feedback Theory (QFT) technique on the root-locus. Examination of a successful QFT design applied to a business jet provides a case study. Comparison to conventional root-locus design methods helps give understanding of the power of the QFT technique. Also, analyzing the QFT design using the root-locus shows why it is effective, and gives insight into a successful root-locus design.
{"title":"A Root-Locus Analysis of Quantitative Feedback Theory","authors":"D. Bossert","doi":"10.23919/ACC.1993.4793167","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793167","url":null,"abstract":"This paper examines the effect of the frequency domain Quantitative Feedback Theory (QFT) technique on the root-locus. Examination of a successful QFT design applied to a business jet provides a case study. Comparison to conventional root-locus design methods helps give understanding of the power of the QFT technique. Also, analyzing the QFT design using the root-locus shows why it is effective, and gives insight into a successful root-locus design.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122379125","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793385
B. W. Rappole, N. Singer, W. Seering
Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems [1, 3, 5, 6, 7]. The three-impulse sequence developed by Singer & Seering [6] extends the move duration by the period of the vibrational frequency while eliminating residual vibrations at that frequency. In Singer & Seering [6], the input shaping sequence is constrained so that frequencies other than the one being shaped are not excited and actuator limits are not exceeded. By carefully relaxing these constraints, we can generate input shaping sequences with move times shorter than those of the three-impulse sequence while providing comparable vibration reduction and insensitivity to modeling errors. This paper presents five different methods for calculating sequences with relaxed constraints. The first two methods permit the excitation of certain frequencies, but maintain the constraint on actuator limits. Both an analytic method and a method of optimizing using non-linear programming are presented. Third, a method is presented which uses the optimization routines to permit exceeding the steady-state actuator limits while staying within peak actuator limits. Fourth, an alternate constraint which enables greater insensitivity to system frequency variations is discussed. Finally, a method for constraining the excitation of specific higher frequencies is presented. The various techniques are demonstrated on a one-link flexible beam.
{"title":"Input Shaping With Negative Sequences for Reducing Vibrations in Flexible Structures","authors":"B. W. Rappole, N. Singer, W. Seering","doi":"10.23919/ACC.1993.4793385","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793385","url":null,"abstract":"Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems [1, 3, 5, 6, 7]. The three-impulse sequence developed by Singer & Seering [6] extends the move duration by the period of the vibrational frequency while eliminating residual vibrations at that frequency. In Singer & Seering [6], the input shaping sequence is constrained so that frequencies other than the one being shaped are not excited and actuator limits are not exceeded. By carefully relaxing these constraints, we can generate input shaping sequences with move times shorter than those of the three-impulse sequence while providing comparable vibration reduction and insensitivity to modeling errors. This paper presents five different methods for calculating sequences with relaxed constraints. The first two methods permit the excitation of certain frequencies, but maintain the constraint on actuator limits. Both an analytic method and a method of optimizing using non-linear programming are presented. Third, a method is presented which uses the optimization routines to permit exceeding the steady-state actuator limits while staying within peak actuator limits. Fourth, an alternate constraint which enables greater insensitivity to system frequency variations is discussed. Finally, a method for constraining the excitation of specific higher frequencies is presented. The various techniques are demonstrated on a one-link flexible beam.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122572133","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 : 1993-06-02DOI: 10.23919/ACC.1993.4792790
X. H. Yang, J. L. V. Niekerk, K. S. Parwani, Andrew Packard, B. Tongue
Active feedback control was used to modify the acoustic/structural dynamics in a reverberant acoustic enclosure. The physical system was modeled as a single-input, multi-output system and an H¿, design approach was used to obtain a robust controller. Experimentally obtained results exhibited a significant reduction in the dominant acoustic modes. Furthermore, the controller was seen to be effective in achieving noise reductions in the region of space surrounding the sensor, thus indicating that localization of the noise reduction was not a limiting factor in the design.
{"title":"Attenuation of Structurally Generated Interior Noise Through Active Control","authors":"X. H. Yang, J. L. V. Niekerk, K. S. Parwani, Andrew Packard, B. Tongue","doi":"10.23919/ACC.1993.4792790","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792790","url":null,"abstract":"Active feedback control was used to modify the acoustic/structural dynamics in a reverberant acoustic enclosure. The physical system was modeled as a single-input, multi-output system and an H¿, design approach was used to obtain a robust controller. Experimentally obtained results exhibited a significant reduction in the dominant acoustic modes. Furthermore, the controller was seen to be effective in achieving noise reductions in the region of space surrounding the sensor, thus indicating that localization of the noise reduction was not a limiting factor in the design.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114185627","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 : 1993-06-02DOI: 10.1109/ACC.1993.4175932
A. Khayatian, David G. Taylor
Techniques for sampled-data modeling and control design of nonlinear pulse-width modulated systems are introduced. The modeling results are based on formal exponential series with Lie derivative operators. The control design is based on a multirate strategy, useful for deadbeat tracking or feedback linearization.
{"title":"Sampled-Data Modeling and Control Design for Nonlinear Pulse-Width Modulated Systems","authors":"A. Khayatian, David G. Taylor","doi":"10.1109/ACC.1993.4175932","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175932","url":null,"abstract":"Techniques for sampled-data modeling and control design of nonlinear pulse-width modulated systems are introduced. The modeling results are based on formal exponential series with Lie derivative operators. The control design is based on a multirate strategy, useful for deadbeat tracking or feedback linearization.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434236","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793010
K. Furuta
This paper is concerned with the discrete-time variable structure control and its application to self-tuning control. The proposed variable structure control is designed by using the pulse transfer function. In the first, the variable structure control for the deterministic discrete-time system is proposed based on the generalized minimum variance control. In the next, the proposed method is extended so that self-tuning control is realized for the plant with uncertain parameters by identifying the control law on-line. The simulation study shows the effectiveness of the proposed algorithm.
{"title":"VSS-Type Self-Tuning Control-ß Equivalent Control Approach","authors":"K. Furuta","doi":"10.23919/ACC.1993.4793010","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793010","url":null,"abstract":"This paper is concerned with the discrete-time variable structure control and its application to self-tuning control. The proposed variable structure control is designed by using the pulse transfer function. In the first, the variable structure control for the deterministic discrete-time system is proposed based on the generalized minimum variance control. In the next, the proposed method is extended so that self-tuning control is realized for the plant with uncertain parameters by identifying the control law on-line. The simulation study shows the effectiveness of the proposed algorithm.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116608376","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793461
T. Tsao, M. Safonov
In this paper, we propose a direct robust adaptive control scheme based on the L2 ellipsoidal bounding set membership concept associated with recent control-oriented identification motivated by progress in H¿ control. The proposed scheme, called Set Theoretic Adaptor Control (STAC), identifies directly the controller parameters that yield desired performance. It eliminates the need for separate identification of plant parameters. Users of STAC Systems can employ weightings to specify closed-loop plant (not the closed-loop model) performance as in the synthesis of H¿ controllers. Provided certain "persistent excitation" conditions are satisfied, STAC systems guarantee robust achievement of such performance within finite time. The robustness properties of STAC systems are at least as good as nonadaptive robust controllers designed to handle the worst possible situation. Furthermore, restrictions on conventional direct adaptive control schemes such as knowledge of sign of high frequency gain or upper bound of relative degree and minimum phase requirement are not needed for STAC systems, the only restriction being that within the apriori known parameter set there exist controllers that produce the specified performance.
{"title":"Set Theoretic Adaptor Control Systems","authors":"T. Tsao, M. Safonov","doi":"10.23919/ACC.1993.4793461","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793461","url":null,"abstract":"In this paper, we propose a direct robust adaptive control scheme based on the L2 ellipsoidal bounding set membership concept associated with recent control-oriented identification motivated by progress in H¿ control. The proposed scheme, called Set Theoretic Adaptor Control (STAC), identifies directly the controller parameters that yield desired performance. It eliminates the need for separate identification of plant parameters. Users of STAC Systems can employ weightings to specify closed-loop plant (not the closed-loop model) performance as in the synthesis of H¿ controllers. Provided certain \"persistent excitation\" conditions are satisfied, STAC systems guarantee robust achievement of such performance within finite time. The robustness properties of STAC systems are at least as good as nonadaptive robust controllers designed to handle the worst possible situation. Furthermore, restrictions on conventional direct adaptive control schemes such as knowledge of sign of high frequency gain or upper bound of relative degree and minimum phase requirement are not needed for STAC systems, the only restriction being that within the apriori known parameter set there exist controllers that produce the specified performance.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129616877","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793366
K. Shouse, David G. Taylor
A new technique for designing discrete-time observers for nonlinear singularly perturbed continuous-time nonautonomous systems is presented. Our design approach is based on inversion of state-to-measurement maps. In order to exploit the two-time-scale nature of the system, separate slow and fast reduced-order observers are constructed using multirate measurements and computation. The underlying approximations, on which the reduced-order observers are based, are introduced here in the form of a Tikhonov-like approximation theorem for systems with piecewise-constant inputs. The paper concludes with a practical application of the theory, namely, velocity regulation of permanent-magnet synchronous motors using only stator current measurements. Numerical simulations demonstrate for this application the strengths and weaknesses of our reduced-order observers.
{"title":"Discrete-Time Observers for Singularly Perturbed Continuous-Time Systems: Part II, Nonautonomous Systems","authors":"K. Shouse, David G. Taylor","doi":"10.23919/ACC.1993.4793366","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793366","url":null,"abstract":"A new technique for designing discrete-time observers for nonlinear singularly perturbed continuous-time nonautonomous systems is presented. Our design approach is based on inversion of state-to-measurement maps. In order to exploit the two-time-scale nature of the system, separate slow and fast reduced-order observers are constructed using multirate measurements and computation. The underlying approximations, on which the reduced-order observers are based, are introduced here in the form of a Tikhonov-like approximation theorem for systems with piecewise-constant inputs. The paper concludes with a practical application of the theory, namely, velocity regulation of permanent-magnet synchronous motors using only stator current measurements. Numerical simulations demonstrate for this application the strengths and weaknesses of our reduced-order observers.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128324184","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 : 1993-06-02DOI: 10.23919/ACC.1993.4793263
Armando A. Rodriguez, J. Cloutier
This paper considers the problem of designing nearoptimal finite-dimensional compensators for unstable infinite-dimensional plants. Standard weighted H∞ sensitivity measures are used to define the notion of optimality. The method of solution is based on finite-dimensional techniques applied to finite-dimensional approximants of the original plant. The difficulties which arise from such an approach can be attributed to two factors. First, there is the lack of continuity of the performance measures with respect to perturbations in the plant, even with the graph topology. Second, there are many infinite-dimensional plants which cannot be approximated uniformly in the graph topology. It is shown in this paper, for the sensitivity minimization problem, that it is sufficient to obtain approximants of the plant on compact sets, provided that the inner part of the plant's "numerator coprime factor" is approximated in some sense. Constructive algorithms are presented. New results on the convergence of actual closed loop transfer functions are also given.
{"title":"H∞ sensitivity minimization for unstable infinite-dimensional plants","authors":"Armando A. Rodriguez, J. Cloutier","doi":"10.23919/ACC.1993.4793263","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793263","url":null,"abstract":"This paper considers the problem of designing nearoptimal finite-dimensional compensators for unstable infinite-dimensional plants. Standard weighted H∞ sensitivity measures are used to define the notion of optimality. The method of solution is based on finite-dimensional techniques applied to finite-dimensional approximants of the original plant. The difficulties which arise from such an approach can be attributed to two factors. First, there is the lack of continuity of the performance measures with respect to perturbations in the plant, even with the graph topology. Second, there are many infinite-dimensional plants which cannot be approximated uniformly in the graph topology. It is shown in this paper, for the sensitivity minimization problem, that it is sufficient to obtain approximants of the plant on compact sets, provided that the inner part of the plant's \"numerator coprime factor\" is approximated in some sense. Constructive algorithms are presented. New results on the convergence of actual closed loop transfer functions are also given.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128331257","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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