In ship operations the consequences of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. Stabilising fins are used to alleviate these problems. Rudders, which have been extensively modified, have been used exclusively to stabilise roll. This paper examines the H/sub /spl infin// and /spl mu/-synthesis technique to design controllers for existing fin and rudders.<>
{"title":"Robust fin/rudder ship roll stabilisation","authors":"M. T. Sharif, G. Roberts, R. Sutton","doi":"10.1109/CCA.1994.381360","DOIUrl":"https://doi.org/10.1109/CCA.1994.381360","url":null,"abstract":"In ship operations the consequences of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. Stabilising fins are used to alleviate these problems. Rudders, which have been extensively modified, have been used exclusively to stabilise roll. This paper examines the H/sub /spl infin// and /spl mu/-synthesis technique to design controllers for existing fin and rudders.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125756345","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, a nonlinear lumped approximation model of a heat exchanger is derived from first principles. The use of dynamic state feedback to achieve feedback linearisation of the nonlinear heat exchanger model is investigated. Necessary and sufficient conditions for feedback linearisability are derived. A simple example is presented to complement the theory.<>
{"title":"Modelling and dynamic feedback linearisation of a heat exchanger model","authors":"M.H.R. Fazlur Rahman, R. Devanathan","doi":"10.1109/CCA.1994.381261","DOIUrl":"https://doi.org/10.1109/CCA.1994.381261","url":null,"abstract":"In this paper, a nonlinear lumped approximation model of a heat exchanger is derived from first principles. The use of dynamic state feedback to achieve feedback linearisation of the nonlinear heat exchanger model is investigated. Necessary and sufficient conditions for feedback linearisability are derived. A simple example is presented to complement the theory.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129802581","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}
Classical control system design methods for linear systems cannot be directly applied to systems with delays, aftereffects or with any kind of hereditary properties. With respect to frequent occurrence of these phenomena in controlled plants a so-called anisochronic state model based on a functional modification of standard state space approach has been introduced to manage any kind of aftereffects in system dynamics. Using this model a new method of control parameter assignment is presented providing a prescribed oscillation damping (or characteristic equation roots) of the control process. The total differential of system characteristic functions and Lagrange multipliers are applied in the system synthesis. The design procedure is demonstrated on a heat transfer control.<>
{"title":"Control synthesis of systems with hereditary properties","authors":"P. Zítek","doi":"10.1109/CCA.1994.381347","DOIUrl":"https://doi.org/10.1109/CCA.1994.381347","url":null,"abstract":"Classical control system design methods for linear systems cannot be directly applied to systems with delays, aftereffects or with any kind of hereditary properties. With respect to frequent occurrence of these phenomena in controlled plants a so-called anisochronic state model based on a functional modification of standard state space approach has been introduced to manage any kind of aftereffects in system dynamics. Using this model a new method of control parameter assignment is presented providing a prescribed oscillation damping (or characteristic equation roots) of the control process. The total differential of system characteristic functions and Lagrange multipliers are applied in the system synthesis. The design procedure is demonstrated on a heat transfer control.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124588753","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}
Dynamic optimal control strategies for HVAC equipment can be derived to minimize electrical power usage or cost of operation. By accounting for the thermal dynamics of the building structure and furnishings and any dedicated thermal storage systems, dynamic approaches permit equipment use to be rescheduled, within constraints of equipment size and permissible indoor temperature variations, in order to improve part-load performance or to operate equipment when the price of electricity is lower. This paper focuses on the rescheduling problem under a very general rate structure known as real-time pricing, designed to accurately express short-term variations in the cost to the utility for producing and transmitting electricity. It examines the mathematical properties of the set of linear difference equations used to model thermal dynamics which are to be asymptotically stable, positive dynamic systems. This permits a much more rapid and elegant series of calculations to establish the optimal schedule than is possible with conventional linear programming techniques. Also presented are results from a hypothetical case study and from actual performance of an HVAC control system with storage.<>
{"title":"Minimum-cost control of HVAC systems under real time prices","authors":"B. Daryanian, L. Norford","doi":"10.1109/CCA.1994.381252","DOIUrl":"https://doi.org/10.1109/CCA.1994.381252","url":null,"abstract":"Dynamic optimal control strategies for HVAC equipment can be derived to minimize electrical power usage or cost of operation. By accounting for the thermal dynamics of the building structure and furnishings and any dedicated thermal storage systems, dynamic approaches permit equipment use to be rescheduled, within constraints of equipment size and permissible indoor temperature variations, in order to improve part-load performance or to operate equipment when the price of electricity is lower. This paper focuses on the rescheduling problem under a very general rate structure known as real-time pricing, designed to accurately express short-term variations in the cost to the utility for producing and transmitting electricity. It examines the mathematical properties of the set of linear difference equations used to model thermal dynamics which are to be asymptotically stable, positive dynamic systems. This permits a much more rapid and elegant series of calculations to establish the optimal schedule than is possible with conventional linear programming techniques. Also presented are results from a hypothetical case study and from actual performance of an HVAC control system with storage.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130557987","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 Gemini 8 m telescope is modeled as a three body rigid structure. Structural dynamics are analyzed for three different pier designs in order to establish the effect of the pier mass on pointing control system performance. It is found that, for this model, the effect of pier parameters is not significant.<>
{"title":"Gemini 8 m telescopes-structural simulation and wind loading study","authors":"M. Davies, S. Hutton, R. Mcgonegal","doi":"10.1109/CCA.1994.381200","DOIUrl":"https://doi.org/10.1109/CCA.1994.381200","url":null,"abstract":"The Gemini 8 m telescope is modeled as a three body rigid structure. Structural dynamics are analyzed for three different pier designs in order to establish the effect of the pier mass on pointing control system performance. It is found that, for this model, the effect of pier parameters is not significant.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130162403","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 row-wise and/or the column-wise multiple comparison procedure is introduced for analysing two-way tables. It leads to a block interaction model and is particularly useful when one factor is indicative or variational in the usual analysis of variance model. The procedure is also useful for comparing multinomials or detecting a change point in the sequence of multinomials, where the row-wise and/or the column-wise comparisons are essential. A two-way change point model is newly introduced when there are natural orderings in both of rows and columns.<>
{"title":"Modelling and analysing the generalized interaction","authors":"C. Hirotsu","doi":"10.1109/CCA.1994.381332","DOIUrl":"https://doi.org/10.1109/CCA.1994.381332","url":null,"abstract":"The row-wise and/or the column-wise multiple comparison procedure is introduced for analysing two-way tables. It leads to a block interaction model and is particularly useful when one factor is indicative or variational in the usual analysis of variance model. The procedure is also useful for comparing multinomials or detecting a change point in the sequence of multinomials, where the row-wise and/or the column-wise comparisons are essential. A two-way change point model is newly introduced when there are natural orderings in both of rows and columns.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"205 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128723963","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 we address two problems which are important for dual-arm and multi-arm manipulators: first, the optimal hold force/torque which can hold the common object without slipping and second the optimal moving force/torque distribution supplied by each arm. We assume that we know the resultant force/torque exerted on the common object by the manipulators, then we develop new algorithms which can determine the optimal hold force/torque mainly based on the static frictional constraints and optimal moving force/torque distribution by minimizing the cost function which is the weighted magnitude of force/torque exerted on the rigid object by the manipulators.<>
{"title":"Optimal hold and moving force/torque for dual-arm and multi-arm manipulators holding rigid object","authors":"Li-Wen Chen, G. Papavassilopoulos","doi":"10.1109/CCA.1994.381447","DOIUrl":"https://doi.org/10.1109/CCA.1994.381447","url":null,"abstract":"In this paper we address two problems which are important for dual-arm and multi-arm manipulators: first, the optimal hold force/torque which can hold the common object without slipping and second the optimal moving force/torque distribution supplied by each arm. We assume that we know the resultant force/torque exerted on the common object by the manipulators, then we develop new algorithms which can determine the optimal hold force/torque mainly based on the static frictional constraints and optimal moving force/torque distribution by minimizing the cost function which is the weighted magnitude of force/torque exerted on the rigid object by the manipulators.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128821220","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}
Nonlinear systems are becoming an area of great interest in the control engineering community. Many interesting problems such as controllability, input-output decoupling, feedback linearization, have been approached with success. On the other hand, not so many results have been achieved in the solution of the problem of identification and control of unknown nonlinear systems. The application of linear methods to nonlinear systems is not very successful when wide control ranges are necessary. For those cases non-conventional methods, such as the use of neural networks, have been investigated. Another promising approach is the application of fuzzy logic to the control of some classes of nonlinear systems. The method is simple, not time consuming, and requires little knowledge of the system equations. The combination of these two methods have been tried with success and is known as a neuro-fuzzy system. This paper presents an overview of the various neuro-fuzzy approaches, and their application to the control of nonlinear systems.<>
{"title":"A performance analysis of various neuro-fuzzy approaches for controlling nonlinear systems","authors":"E. Teixeira, G. Laforga, H. Azevedo","doi":"10.1109/CCA.1994.381230","DOIUrl":"https://doi.org/10.1109/CCA.1994.381230","url":null,"abstract":"Nonlinear systems are becoming an area of great interest in the control engineering community. Many interesting problems such as controllability, input-output decoupling, feedback linearization, have been approached with success. On the other hand, not so many results have been achieved in the solution of the problem of identification and control of unknown nonlinear systems. The application of linear methods to nonlinear systems is not very successful when wide control ranges are necessary. For those cases non-conventional methods, such as the use of neural networks, have been investigated. Another promising approach is the application of fuzzy logic to the control of some classes of nonlinear systems. The method is simple, not time consuming, and requires little knowledge of the system equations. The combination of these two methods have been tried with success and is known as a neuro-fuzzy system. This paper presents an overview of the various neuro-fuzzy approaches, and their application to the control of nonlinear systems.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121943339","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 paper deals with a new algorithm of a digital self-tuning PID controller. The controller parameters are derived on the basis of the pole placement approach. For parameter estimates of the proces model, the recursive least squares method (RLSM) with the LD decomposition and with directional forgetting is applied. The controller is designed especially for process control without overshoot of the process output; it will be used for temperature control of a thermo-analyzer.<>
{"title":"Self-tuning controller for temperature control of a thermo-analyzer","authors":"V. Bobál, M. Kubalcik","doi":"10.1109/CCA.1994.381312","DOIUrl":"https://doi.org/10.1109/CCA.1994.381312","url":null,"abstract":"The paper deals with a new algorithm of a digital self-tuning PID controller. The controller parameters are derived on the basis of the pole placement approach. For parameter estimates of the proces model, the recursive least squares method (RLSM) with the LD decomposition and with directional forgetting is applied. The controller is designed especially for process control without overshoot of the process output; it will be used for temperature control of a thermo-analyzer.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"310 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115864211","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}
Vibrational control is a nonclassical technique proposing the utilisation of zero mean parametric vibrations for shaping the response of a linear or nonlinear dynamic system. Several theoretical results on vibrational control are available in literature. In the case of nonlinear systems computational difficulties arise and theoretical results cannot easily be applied. A new averaging technique, based on the Taylor series expansion of the nonlinear system, is proposed in order to overcome such difficulties.<>
{"title":"Automatic averaging in the vibrational control of nonlinear systems","authors":"A. Balestrino, F. Bernini, A. Landi","doi":"10.1109/CCA.1994.381311","DOIUrl":"https://doi.org/10.1109/CCA.1994.381311","url":null,"abstract":"Vibrational control is a nonclassical technique proposing the utilisation of zero mean parametric vibrations for shaping the response of a linear or nonlinear dynamic system. Several theoretical results on vibrational control are available in literature. In the case of nonlinear systems computational difficulties arise and theoretical results cannot easily be applied. A new averaging technique, based on the Taylor series expansion of the nonlinear system, is proposed in order to overcome such difficulties.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"435 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116011492","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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