The paper compares the ability of forgetting methods to track time varying parameters using various method of regularized exponential forgetting (REF). Three forgetting methods are analyzed in this paper: regularized exponential forgetting, second is regularized exponential forgetting with alternative covariance matrix (REFACM) and third is the novel hybrid regularized exponential forgetting method with a choice to disable or enable alternative covariance matrix (HREFACM). The comparison is performed in the terms of the quality of the observed output parameters. The observed parameters for all benchmarks are the integral sum of the Euclidean norm of the deviation of the parameter estimates from their true values (IS) and a selected band prediction error count (PE). As a supplementary information the eigenvalues of the covariance matrix are observed. All algorithms are validated by simulations in the Matlab Simulink software environment.
{"title":"On-line identification using hybrid method of regularized exponential forgetting","authors":"J. Vachálek","doi":"10.1109/PC.2013.6581419","DOIUrl":"https://doi.org/10.1109/PC.2013.6581419","url":null,"abstract":"The paper compares the ability of forgetting methods to track time varying parameters using various method of regularized exponential forgetting (REF). Three forgetting methods are analyzed in this paper: regularized exponential forgetting, second is regularized exponential forgetting with alternative covariance matrix (REFACM) and third is the novel hybrid regularized exponential forgetting method with a choice to disable or enable alternative covariance matrix (HREFACM). The comparison is performed in the terms of the quality of the observed output parameters. The observed parameters for all benchmarks are the integral sum of the Euclidean norm of the deviation of the parameter estimates from their true values (IS) and a selected band prediction error count (PE). As a supplementary information the eigenvalues of the covariance matrix are observed. All algorithms are validated by simulations in the Matlab Simulink software environment.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134302231","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 is devoted to the measurable disturbance rejection problem in Generalized Predictive Control (GPC) using an adaptive GPC controller, which combines the process of online system identification and the process of generalized predictive feedback controller design. In this work, the GPC algorithm is extended to the case when the measurable disturbances are available for feedforward control. The proposed adaptive GPC algorithm with/without future disturbance compensation is implemented in real time and experimentally demonstrated for the application of motor revolutions tracking when subjected to deterministic and pseudo-random disturbance signals. The constraint handling capabilities of the controller are considered as well.
{"title":"Real-time implementation of an adaptive feedback and feedforward Generalized Predictive Controller","authors":"M. Gulan, M. Salaj, B. Rohal’-Ilkiv","doi":"10.1109/PC.2013.6581441","DOIUrl":"https://doi.org/10.1109/PC.2013.6581441","url":null,"abstract":"This paper is devoted to the measurable disturbance rejection problem in Generalized Predictive Control (GPC) using an adaptive GPC controller, which combines the process of online system identification and the process of generalized predictive feedback controller design. In this work, the GPC algorithm is extended to the case when the measurable disturbances are available for feedforward control. The proposed adaptive GPC algorithm with/without future disturbance compensation is implemented in real time and experimentally demonstrated for the application of motor revolutions tracking when subjected to deterministic and pseudo-random disturbance signals. The constraint handling capabilities of the controller are considered as well.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129835689","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 propose an unconventional approach of remote laboratory development based on industrial hardware. We show that it can significantly reduce implementation effort required for deployment of online labs in control education environment. The hardware architecture of laboratory is based on two devices: a programmable logic controller and an industrial router device, which provide the communication and management capabilities between users and experiments. Using these, we were able to develop operationally effective on-line laboratory for remote control of educational experimental plant in the different way that can be seen in traditional approaches based on standard server computers. On this architecture, we have developed the instance of remote laboratory with highly versatile user interface, based on common Web technologies and powered by optimized JavaScript logic. To prove the architecture suitability, we show the practical case of remote laboratory implementation for control education purposes. In section II, we describe the hardware architecture. In section III, the principles of communication between clients and experiment are given. Overview of laboratory is shown in Section IV and security issues are discussed in section V. An example of experimental usage from student's point of view is given in the last section of paper.
{"title":"Simplifying the implementation of remote laboratories in educational environments using industrial hardware","authors":"M. Kalúz, Ľ. Čirka, M. Fikar","doi":"10.1109/PC.2013.6581464","DOIUrl":"https://doi.org/10.1109/PC.2013.6581464","url":null,"abstract":"In this paper we propose an unconventional approach of remote laboratory development based on industrial hardware. We show that it can significantly reduce implementation effort required for deployment of online labs in control education environment. The hardware architecture of laboratory is based on two devices: a programmable logic controller and an industrial router device, which provide the communication and management capabilities between users and experiments. Using these, we were able to develop operationally effective on-line laboratory for remote control of educational experimental plant in the different way that can be seen in traditional approaches based on standard server computers. On this architecture, we have developed the instance of remote laboratory with highly versatile user interface, based on common Web technologies and powered by optimized JavaScript logic. To prove the architecture suitability, we show the practical case of remote laboratory implementation for control education purposes. In section II, we describe the hardware architecture. In section III, the principles of communication between clients and experiment are given. Overview of laboratory is shown in Section IV and security issues are discussed in section V. An example of experimental usage from student's point of view is given in the last section of paper.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133691729","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}
When designing the control algorithm in motion systems, it is not always possible to apply the theory of linear control systems directly. The reason may be a non-linearity of a load, variation of drive parameters, or their lack of knowledge. In this case the solution is the use of adaptive systems. The paper describes an algorithm that combines the IP control scheme and the Model Reference Adaptive Control (MRAC) to adjust the controller parameters and to identify the motor parameters in real time. The proposed solution does not require initial setting of controller parameters. Features of the proposed algorithm are verified by simulations and the results are presented in the paper. Designed MRAC IP controller is suitable for practical implementation in DC and AC drives.
{"title":"Design and verification of novel adaptive controller in speed servo drive","authors":"I. Bélai, M. Zalman","doi":"10.1109/PC.2013.6581426","DOIUrl":"https://doi.org/10.1109/PC.2013.6581426","url":null,"abstract":"When designing the control algorithm in motion systems, it is not always possible to apply the theory of linear control systems directly. The reason may be a non-linearity of a load, variation of drive parameters, or their lack of knowledge. In this case the solution is the use of adaptive systems. The paper describes an algorithm that combines the IP control scheme and the Model Reference Adaptive Control (MRAC) to adjust the controller parameters and to identify the motor parameters in real time. The proposed solution does not require initial setting of controller parameters. Features of the proposed algorithm are verified by simulations and the results are presented in the paper. Designed MRAC IP controller is suitable for practical implementation in DC and AC drives.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114977917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We consider a circular track and a platoon of vehicles driving on it. Our goal is to design a distributed (onboard) control system that will keep uniform spacing between any car and its predecessor without knowing the length of the track. Quite naturally the distributed control problem is posed as a double consensus task, wherein individual cars have to agree on the cruising velocity and the gaps between two consecutive cars. We study the feasibility of the consensus and its convergence properties. We prove that the cars will converge to equal distances and the resulting velocity will be the average of the velocity references of individual cars. We also consider the stability of this circularly connected system.
{"title":"Equalization of intervehicular distances in platoons on a circular track","authors":"Ivo Herman, Dan Martinec, Z. Hurák, M. Šebek","doi":"10.1109/PC.2013.6581381","DOIUrl":"https://doi.org/10.1109/PC.2013.6581381","url":null,"abstract":"We consider a circular track and a platoon of vehicles driving on it. Our goal is to design a distributed (onboard) control system that will keep uniform spacing between any car and its predecessor without knowing the length of the track. Quite naturally the distributed control problem is posed as a double consensus task, wherein individual cars have to agree on the cruising velocity and the gaps between two consecutive cars. We study the feasibility of the consensus and its convergence properties. We prove that the cars will converge to equal distances and the resulting velocity will be the average of the velocity references of individual cars. We also consider the stability of this circularly connected system.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115271593","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}
Various optimization problems for linear parabolic systems with multiple constant time delays are considered. In this paper, we consider an optimal distributed control problem for a linear parabolic system in which multiple constant time delays appear in the state equation. Sufficient conditions for the existence of a unique solution of the parabolic time delay equation with the Neumann boundary condition are proved. The time horizon T is fixed. Making use of the Lions scheme [10], necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functional with pointwise observation of the state and constrained control are derived. The example of application is also presented.
{"title":"Pointwise observation of the state given by the parabolic system with the Neumann boundary condition","authors":"A. Kowalewski","doi":"10.1109/PC.2013.6581390","DOIUrl":"https://doi.org/10.1109/PC.2013.6581390","url":null,"abstract":"Various optimization problems for linear parabolic systems with multiple constant time delays are considered. In this paper, we consider an optimal distributed control problem for a linear parabolic system in which multiple constant time delays appear in the state equation. Sufficient conditions for the existence of a unique solution of the parabolic time delay equation with the Neumann boundary condition are proved. The time horizon T is fixed. Making use of the Lions scheme [10], necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance functional with pointwise observation of the state and constrained control are derived. The example of application is also presented.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116183986","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}
Monika Zuscikova, Milan Lokšík, Vladímir Villaverde Huertas, C. Belavý
This paper addresses the adaptive control design of a semi-active suspension system. The control system is focused on the driving comfort criteria. For this purpose, it is necessary to emphasize on modeling and connection between vehicle suspension system components. On the other hand, we will compare the obtained results using the designed adaptive control system with the optimal control design applying soft and hard suspension. Moreover, a hydro-pulse will be used for road vibration simulation purposes. In this case, the analysis has been performed over the frequency bandwidth 4-20 Hz considering a constant vehicle speed 80 km/h.
{"title":"Adaptive control design for vehicle suspension","authors":"Monika Zuscikova, Milan Lokšík, Vladímir Villaverde Huertas, C. Belavý","doi":"10.1109/PC.2013.6581415","DOIUrl":"https://doi.org/10.1109/PC.2013.6581415","url":null,"abstract":"This paper addresses the adaptive control design of a semi-active suspension system. The control system is focused on the driving comfort criteria. For this purpose, it is necessary to emphasize on modeling and connection between vehicle suspension system components. On the other hand, we will compare the obtained results using the designed adaptive control system with the optimal control design applying soft and hard suspension. Moreover, a hydro-pulse will be used for road vibration simulation purposes. In this case, the analysis has been performed over the frequency bandwidth 4-20 Hz considering a constant vehicle speed 80 km/h.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125705967","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}
Explicit Model Predictive Control (MPC) is an attractive control strategy, especially when one aims at a fast, computationally less demanding implementation of MPC. However the major obstacle that prevents a successful application of explicit MPC controllers lies in the increased memory occupancy. This is a major limitation of the approach when aiming at implementing MPC in control hardware that has restricted amount of memory storage. Therefore in this paper we propose to obtain a much more simpler representation of explicit MPC solutions that occupy less memory. We propose to achieve this goal by constructing a simpler, albeit suboptimal, representation of the explicit MPC optimizer. This task is accomplished by first synthesizing a simpler explicit optimizer as a piecewise affine function that maps state measurements onto the predicted sequence of control inputs. Subsequently, parameters of such a function are refined as to achieve better performance. We show that such a function approximation problem is always feasible. Efficacy of the proposed procedure is demonstrated on several examples.
{"title":"Synthesis of simple explicit MPC optimizers by function approximation","authors":"Juraj Holaza, B. Takács, M. Kvasnica","doi":"10.1109/PC.2013.6581440","DOIUrl":"https://doi.org/10.1109/PC.2013.6581440","url":null,"abstract":"Explicit Model Predictive Control (MPC) is an attractive control strategy, especially when one aims at a fast, computationally less demanding implementation of MPC. However the major obstacle that prevents a successful application of explicit MPC controllers lies in the increased memory occupancy. This is a major limitation of the approach when aiming at implementing MPC in control hardware that has restricted amount of memory storage. Therefore in this paper we propose to obtain a much more simpler representation of explicit MPC solutions that occupy less memory. We propose to achieve this goal by constructing a simpler, albeit suboptimal, representation of the explicit MPC optimizer. This task is accomplished by first synthesizing a simpler explicit optimizer as a piecewise affine function that maps state measurements onto the predicted sequence of control inputs. Subsequently, parameters of such a function are refined as to achieve better performance. We show that such a function approximation problem is always feasible. Efficacy of the proposed procedure is demonstrated on several examples.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115543035","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 problem of constrained H∞ fuzzy control for a class of continuous-time nonlinear systems, represented by Takagi-Sugeno models. On the basis of the Lyapunov stability criterion and H∞ norm performances, the sufficient conditions of stabilization are outlined and adjusted for systems operating in a forced mode. Numerical simulation is given to illustrate the design procedure and to validate the performances of the proposed approach.
{"title":"Nonlinear system H∞ fuzzy control within Takagi-Sugeno framework","authors":"A. Filasová, V. Hladký, D. Krokavec","doi":"10.1109/PC.2013.6581375","DOIUrl":"https://doi.org/10.1109/PC.2013.6581375","url":null,"abstract":"The paper deals with the problem of constrained H∞ fuzzy control for a class of continuous-time nonlinear systems, represented by Takagi-Sugeno models. On the basis of the Lyapunov stability criterion and H∞ norm performances, the sufficient conditions of stabilization are outlined and adjusted for systems operating in a forced mode. Numerical simulation is given to illustrate the design procedure and to validate the performances of the proposed approach.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127571346","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}
For linear discrete-time descriptor systems anisotropy-based bounded real lemma in terms LMI was formulated and proved. The algorithm of anisotropic norm computation using convex optimization is given. A numerical example is considered.
{"title":"Computation of anisotropic norm for descriptor systems using convex optimization","authors":"A. Belov, O. Andrianova","doi":"10.1109/PC.2013.6581404","DOIUrl":"https://doi.org/10.1109/PC.2013.6581404","url":null,"abstract":"For linear discrete-time descriptor systems anisotropy-based bounded real lemma in terms LMI was formulated and proved. The algorithm of anisotropic norm computation using convex optimization is given. A numerical example is considered.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129849856","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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