This paper addresses the problem of robust output feedback controller design with guaranteed cost and multiple quadratic Lyapunov function for linear switched systems in the continuous-time domain. The approach followed in this paper looks at the existence of switched quadratic Lyapunov function to check asymptotic stability of the switched system under consideration. Two different linear matrix inequality based conditions allow checking the existence of a family of quadratic Lyapunov functions. Then, a switched robust output feedback design method is established. The proposed method is illustrated on numerical example.
{"title":"Robust output feedback controller design for switched systems","authors":"V. Veselý, M. Hypiusová","doi":"10.1109/PC.2015.7169950","DOIUrl":"https://doi.org/10.1109/PC.2015.7169950","url":null,"abstract":"This paper addresses the problem of robust output feedback controller design with guaranteed cost and multiple quadratic Lyapunov function for linear switched systems in the continuous-time domain. The approach followed in this paper looks at the existence of switched quadratic Lyapunov function to check asymptotic stability of the switched system under consideration. Two different linear matrix inequality based conditions allow checking the existence of a family of quadratic Lyapunov functions. Then, a switched robust output feedback design method is established. The proposed method is illustrated on numerical example.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128913128","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 presents the cascade control design of a tubular chemical reactor with an exothermic consecutive reaction. The control is performed in primary and secondary control-loops where the primary controlled output of the reactor is the concentration of the main reaction product and the secondary output is the mean temperature of the reactant. A common control input is the coolant flow rate. The controller in the primary control-loop is a P-controller with the gain calculated using simulated or measured steady-state characteristics of the reactor. The controller in the secondary control-loop is an adaptive controller. The proposed method is verified by control simulations.
{"title":"Cascade control of a tubular chemical reactor","authors":"P. Dostál, V. Bobál, J. Vojtesek, Eva Kurečková","doi":"10.1109/PC.2015.7169954","DOIUrl":"https://doi.org/10.1109/PC.2015.7169954","url":null,"abstract":"The paper presents the cascade control design of a tubular chemical reactor with an exothermic consecutive reaction. The control is performed in primary and secondary control-loops where the primary controlled output of the reactor is the concentration of the main reaction product and the secondary output is the mean temperature of the reactant. A common control input is the coolant flow rate. The controller in the primary control-loop is a P-controller with the gain calculated using simulated or measured steady-state characteristics of the reactor. The controller in the secondary control-loop is an adaptive controller. The proposed method is verified by control simulations.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115361589","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 shows analogies between two separately evolved areas of PID control, the disturbance observer based controllers and the “intelligent” PID controllers. The simplest “intelligent” PID controller is represented by the “intelligent P” controller denoted as iP. It is designed for the simplified “ultra-local” integral plant models neglecting all internal plant feedbacks. These are included and compensated by an equivalent input disturbance. The performance of the iP controller is compared with the controllers employing disturbance observers based on inverted plant model. It is shown that both these solutions may represent an alternatives to the same control strategy.
{"title":"Intelligent P controller and disturbance observer based PI controller comparison","authors":"P. Tapák, M. Huba","doi":"10.1109/PC.2015.7169996","DOIUrl":"https://doi.org/10.1109/PC.2015.7169996","url":null,"abstract":"The paper shows analogies between two separately evolved areas of PID control, the disturbance observer based controllers and the “intelligent” PID controllers. The simplest “intelligent” PID controller is represented by the “intelligent P” controller denoted as iP. It is designed for the simplified “ultra-local” integral plant models neglecting all internal plant feedbacks. These are included and compensated by an equivalent input disturbance. The performance of the iP controller is compared with the controllers employing disturbance observers based on inverted plant model. It is shown that both these solutions may represent an alternatives to the same control strategy.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115133812","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 the design and new solutions of application software with the aim to detect and recognize objects sensed by a camera. Objects of the sensed scene were determined and recognized after previous digital processing of data delivered by the camera. To this end the computer vision learning neural-based methods of feature extraction were used. The proposed application software may be used in various applications where the tracking of objects and understanding of a real scene is required. The results obtained will be used for teaching and research at the FEI STU in Bratislava.
{"title":"Object recognition by effective methods and means of computer vision","authors":"J. Dorner, S. Kozák, F. Dietze","doi":"10.1109/PC.2015.7169962","DOIUrl":"https://doi.org/10.1109/PC.2015.7169962","url":null,"abstract":"The paper deals with the design and new solutions of application software with the aim to detect and recognize objects sensed by a camera. Objects of the sensed scene were determined and recognized after previous digital processing of data delivered by the camera. To this end the computer vision learning neural-based methods of feature extraction were used. The proposed application software may be used in various applications where the tracking of objects and understanding of a real scene is required. The results obtained will be used for teaching and research at the FEI STU in Bratislava.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133049888","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 systematic observer design for a robust frequency identification of electromechanical systems. The observer estimates the frequency response of the system which is excited by a swept harmonic signal with a variable frequency, amplitude and DC component. The paper presents a computationally efficient algorithm based on the recursive discretization of a Kalman filter. An application of the proposed method is demonstrated on a problem of motion control of a compliant mechanism.
{"title":"Kalman filter based observer design for real-time frequency identification in motion control systems","authors":"M. Goubej","doi":"10.1109/PC.2015.7169979","DOIUrl":"https://doi.org/10.1109/PC.2015.7169979","url":null,"abstract":"The paper deals with a systematic observer design for a robust frequency identification of electromechanical systems. The observer estimates the frequency response of the system which is excited by a swept harmonic signal with a variable frequency, amplitude and DC component. The paper presents a computationally efficient algorithm based on the recursive discretization of a Kalman filter. An application of the proposed method is demonstrated on a problem of motion control of a compliant mechanism.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124521724","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}
This paper shows control results of simulations on mathematical model and real measurements on the real model of the water tank. The level in the tank is controlled via input volumetric flow rate through the proportional solenoid valve. The adaptive approach with the recursive identification was employed here for controlling of this system. The controller could be tuned by the choice of the pole position in the pole-placement method. The benefit of this paper could be found also with the verification of the obtained simulation results on the real model of the water tank which shows usability of this control approach although the system has nonlinear properties. Control measurements also show hysteresis of the proportional solenoid valve which was used as an actuator in the control.
{"title":"Adaptive control of water level in real model of water tank","authors":"J. Vojtesek, P. Dostál","doi":"10.1109/PC.2015.7169981","DOIUrl":"https://doi.org/10.1109/PC.2015.7169981","url":null,"abstract":"This paper shows control results of simulations on mathematical model and real measurements on the real model of the water tank. The level in the tank is controlled via input volumetric flow rate through the proportional solenoid valve. The adaptive approach with the recursive identification was employed here for controlling of this system. The controller could be tuned by the choice of the pole position in the pole-placement method. The benefit of this paper could be found also with the verification of the obtained simulation results on the real model of the water tank which shows usability of this control approach although the system has nonlinear properties. Control measurements also show hysteresis of the proportional solenoid valve which was used as an actuator in the control.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115987097","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}
This paper presents a concept of the continuous-time gain scheduled 2DOF control for the nonlinear system of two funnel liquid tanks in series, based on linearization of nonlinear equations of the system about selected operating points. Discussed technique extends the idea of design via linearization approach. In order to achieve desired stability and performance requirements, a linear feedback controller is designed at each point. Based on this strategy, polynomial method is taken into account. Specifically, the exact pole placement method as well as weighting matrix, dividing weights among numerators of transfer function matrices of subcontrollers guarantee control quality. The parameters of the resulting family of linear controllers are scheduled as functions of reference variables, resulting in a single feedback matrix controller. The derived gain scheduled controller is implemented and applied on the illustrative nonlinear model of two funnel liquid tanks in series.
{"title":"Multivariable gain scheduled control of two funnel liquid tanks in series","authors":"Adam Krhovják, P. Dostál, S. Talas, Lukás Rusar","doi":"10.1109/PC.2015.7169939","DOIUrl":"https://doi.org/10.1109/PC.2015.7169939","url":null,"abstract":"This paper presents a concept of the continuous-time gain scheduled 2DOF control for the nonlinear system of two funnel liquid tanks in series, based on linearization of nonlinear equations of the system about selected operating points. Discussed technique extends the idea of design via linearization approach. In order to achieve desired stability and performance requirements, a linear feedback controller is designed at each point. Based on this strategy, polynomial method is taken into account. Specifically, the exact pole placement method as well as weighting matrix, dividing weights among numerators of transfer function matrices of subcontrollers guarantee control quality. The parameters of the resulting family of linear controllers are scheduled as functions of reference variables, resulting in a single feedback matrix controller. The derived gain scheduled controller is implemented and applied on the illustrative nonlinear model of two funnel liquid tanks in series.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116841185","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 specific efficient solution of constrained system outputs is presented. The solution is based on on-line weighting of individual system outputs or output components representing in fact a specific on-line tuning/applification of the components of weighting control parameters. Thus, the predictive control design retains flexibility without any increase of time-computational demands. The proposed solution represents only soft solution of the constraints, i.e. a compliance with the constraints is not fully guaranteed, but the result is satisfactory and not so far from results of hard-constraint solution computed e.g. by a quadratic programming. The solution predetermines the area of the use to the systems with fast dynamics requiring very high sampling rates as electric drives and the like. The solution is presented in the paper as a generalized solution for common use. It is demonstrated by simple simulative examples and one illustration from a real control of 3-phase electric drive.
{"title":"On-line solution of system constraints in generalized predictive control design","authors":"K. Belda","doi":"10.1109/PC.2015.7169933","DOIUrl":"https://doi.org/10.1109/PC.2015.7169933","url":null,"abstract":"A specific efficient solution of constrained system outputs is presented. The solution is based on on-line weighting of individual system outputs or output components representing in fact a specific on-line tuning/applification of the components of weighting control parameters. Thus, the predictive control design retains flexibility without any increase of time-computational demands. The proposed solution represents only soft solution of the constraints, i.e. a compliance with the constraints is not fully guaranteed, but the result is satisfactory and not so far from results of hard-constraint solution computed e.g. by a quadratic programming. The solution predetermines the area of the use to the systems with fast dynamics requiring very high sampling rates as electric drives and the like. The solution is presented in the paper as a generalized solution for common use. It is demonstrated by simple simulative examples and one illustration from a real control of 3-phase electric drive.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127297460","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 novel approach to robust controller design with input hard constraints is presented. The proposed design procedure contains robust stability condition based on the M-delta structure and it is used for system with additive uncertainty. The obtained results, illustrated on example, show the applicability of the designed robust controller and its ability to cope with model uncertainties.
{"title":"Design of robust controller with input constraints","authors":"J. Osuský, V. Veselý","doi":"10.1109/PC.2015.7169973","DOIUrl":"https://doi.org/10.1109/PC.2015.7169973","url":null,"abstract":"A novel approach to robust controller design with input hard constraints is presented. The proposed design procedure contains robust stability condition based on the M-delta structure and it is used for system with additive uncertainty. The obtained results, illustrated on example, show the applicability of the designed robust controller and its ability to cope with model uncertainties.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126404050","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}
Ayush Sharma, Martin Jelemenský, M. Fikar, R. Paulen
This study concerns modelling, time optimisation, and energy optimisation of batch ultrafiltration/diafiltration processes with partial recirculation of retentate. The process model explains the process work-flow, its complexity, and the state differential equations. The optimisation part deals with minimisation of time and minimisation of energy using two control inputs. The theory for control trajectory required in order to achieve the optimisation is developed using physical laws and process conception. The developed theory of optimisation is then supported by numerical optimisation of a literature case study.
{"title":"Modelling and optimal control of membrane process with partial recirculation","authors":"Ayush Sharma, Martin Jelemenský, M. Fikar, R. Paulen","doi":"10.1109/PC.2015.7169944","DOIUrl":"https://doi.org/10.1109/PC.2015.7169944","url":null,"abstract":"This study concerns modelling, time optimisation, and energy optimisation of batch ultrafiltration/diafiltration processes with partial recirculation of retentate. The process model explains the process work-flow, its complexity, and the state differential equations. The optimisation part deals with minimisation of time and minimisation of energy using two control inputs. The theory for control trajectory required in order to achieve the optimisation is developed using physical laws and process conception. The developed theory of optimisation is then supported by numerical optimisation of a literature case study.","PeriodicalId":173529,"journal":{"name":"2015 20th International Conference on Process Control (PC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125244076","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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