Pub Date : 2014-07-24DOI: 10.1109/ECC.2014.6862421
R. Azouit, A. Chaillet, L. Greco
This note proposes sufficient conditions under which a nonlinear system can be made Strongly iISS in the presence of actuator saturation. This property, recently proposed as a compromise between the strength of ISS and the generality of iISS, ensures boundedness of all solutions provided that the disturbance magnitude is below a certain threshold. We also show that, under a growth rate condition, the bounded feedback law proposed by Lin and Sontag for the stabilization of the disturbance-free system based on the knowledge of a control Lyapunov function, ensures Strong iISS in the presence of perturbations. We illustrate our findings on the angular velocity control of a spacecraft with limited-power thrusters.
{"title":"Robustness under saturated feedback: Strong iISS for a class of nonlinear systems","authors":"R. Azouit, A. Chaillet, L. Greco","doi":"10.1109/ECC.2014.6862421","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862421","url":null,"abstract":"This note proposes sufficient conditions under which a nonlinear system can be made Strongly iISS in the presence of actuator saturation. This property, recently proposed as a compromise between the strength of ISS and the generality of iISS, ensures boundedness of all solutions provided that the disturbance magnitude is below a certain threshold. We also show that, under a growth rate condition, the bounded feedback law proposed by Lin and Sontag for the stabilization of the disturbance-free system based on the knowledge of a control Lyapunov function, ensures Strong iISS in the presence of perturbations. We illustrate our findings on the angular velocity control of a spacecraft with limited-power thrusters.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115554556","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862179
A. Varga
A lifting-free computational method is proposed to solve approximate fault detection and isolation problems for periodic systems using an ℋ2-optimal model matching approach. The synthesis procedure relies on two key computational procedures: a numerically reliable algorithm to determine least order annihilators of periodic systems to reduce the periodic ℋ2-optimal model matching problem to a simpler standard form and a recently developed algorithm to compute inner-outer factorizations of periodic systems which allows a further reduction to a ℋ2 minimal distance problem. If the resulting fault detection filter is not stable and/or not causal, then a final stabilization step is performed using periodic coprime factorization techniques. The overall computational algorithm has strongly coupled computational steps, where all available structural information at the end of each computational step are fully exploited in the subsequent computations.
{"title":"On solving periodic ℋ2-optimal fault detection and isolation problems","authors":"A. Varga","doi":"10.1109/ECC.2014.6862179","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862179","url":null,"abstract":"A lifting-free computational method is proposed to solve approximate fault detection and isolation problems for periodic systems using an ℋ2-optimal model matching approach. The synthesis procedure relies on two key computational procedures: a numerically reliable algorithm to determine least order annihilators of periodic systems to reduce the periodic ℋ2-optimal model matching problem to a simpler standard form and a recently developed algorithm to compute inner-outer factorizations of periodic systems which allows a further reduction to a ℋ2 minimal distance problem. If the resulting fault detection filter is not stable and/or not causal, then a final stabilization step is performed using periodic coprime factorization techniques. The overall computational algorithm has strongly coupled computational steps, where all available structural information at the end of each computational step are fully exploited in the subsequent computations.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"2007 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125574990","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862352
W. Michiels, Hakki Ulas Unal
The controllers designed for time-delays systems often involve finite impulse response (FIR) filters, in particular prediction based controllers for systems with input/output delays. We present algorithms and software to evaluate the frequency response, to approximate the filters by stable linear time-invariant systems and to compute their induced L2 gain. The approach is based on the theory of functions of matrices. In the approach pole zero cancelations in frequency domain representations are explicitly taken into account.
{"title":"Algorithms and software for approximating and evaluating FIR filters","authors":"W. Michiels, Hakki Ulas Unal","doi":"10.1109/ECC.2014.6862352","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862352","url":null,"abstract":"The controllers designed for time-delays systems often involve finite impulse response (FIR) filters, in particular prediction based controllers for systems with input/output delays. We present algorithms and software to evaluate the frequency response, to approximate the filters by stable linear time-invariant systems and to compute their induced L2 gain. The approach is based on the theory of functions of matrices. In the approach pole zero cancelations in frequency domain representations are explicitly taken into account.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127808991","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862330
G. Obando, N. Quijano, N. Rakoto-Ravalontsalama
Generally, heating, cooling and air conditioning (HVAC) systems are designed to handle worst case loads, and this over-design of HVAC equipment is one of the main reasons for building energy inefficiency. When the HVAC system is not over-designed, there exists a trade-off between the comfort of the building's occupants and the available heating/cooling power at critical load hours. We propose a distributed approach that maximizes the comfort of the building's occupants under several power constraints. We prove by means of graph theoretical tools and passivity analysis, that the proposed controller asymptotically reaches an optimal equilibrium without the need of full information. Finally, some simulations and comparisons are presented to illustrate the performance of our method.
{"title":"Distributed building temperature control with power constraints","authors":"G. Obando, N. Quijano, N. Rakoto-Ravalontsalama","doi":"10.1109/ECC.2014.6862330","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862330","url":null,"abstract":"Generally, heating, cooling and air conditioning (HVAC) systems are designed to handle worst case loads, and this over-design of HVAC equipment is one of the main reasons for building energy inefficiency. When the HVAC system is not over-designed, there exists a trade-off between the comfort of the building's occupants and the available heating/cooling power at critical load hours. We propose a distributed approach that maximizes the comfort of the building's occupants under several power constraints. We prove by means of graph theoretical tools and passivity analysis, that the proposed controller asymptotically reaches an optimal equilibrium without the need of full information. Finally, some simulations and comparisons are presented to illustrate the performance of our method.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134482019","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862214
Yanfang Liu, J. Shan, N. Qi
To improve the performance of piezo nano-positioning system, feedback controller is designed based on the linearized hysteresis-compensated model of piezoelectric actuator (PEA). Nonlinear hysteresis is compensated for using Maxwell resistive capacitor (MRC) model. Then, a linear system is identified with this hysteresis-compensated dynamics. Based on the identified linear model, a trajectory preshaping method is employed for open-loop scanning application and a proportional plus integral (PI) controller is designed for closed-loop tracking application. Experimental results demonstrate the effectiveness of the proposed method.
{"title":"Control system design for piezoelectric actuator based on hysteresis compensation","authors":"Yanfang Liu, J. Shan, N. Qi","doi":"10.1109/ECC.2014.6862214","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862214","url":null,"abstract":"To improve the performance of piezo nano-positioning system, feedback controller is designed based on the linearized hysteresis-compensated model of piezoelectric actuator (PEA). Nonlinear hysteresis is compensated for using Maxwell resistive capacitor (MRC) model. Then, a linear system is identified with this hysteresis-compensated dynamics. Based on the identified linear model, a trajectory preshaping method is employed for open-loop scanning application and a proportional plus integral (PI) controller is designed for closed-loop tracking application. Experimental results demonstrate the effectiveness of the proposed method.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133396064","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862312
R. Biggs, C. C. Remsing
We consider left-invariant control affine systems evolving on three-dimensional matrix Lie groups. Equivalence and controllability are addressed. The full-rank systems are classified under detached feedback equivalence; a representative is identified for each equivalence class. A characterization of controllability on each group is then determined.
{"title":"Control systems on three-dimensional lie groups","authors":"R. Biggs, C. C. Remsing","doi":"10.1109/ECC.2014.6862312","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862312","url":null,"abstract":"We consider left-invariant control affine systems evolving on three-dimensional matrix Lie groups. Equivalence and controllability are addressed. The full-rank systems are classified under detached feedback equivalence; a representative is identified for each equivalence class. A characterization of controllability on each group is then determined.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121211289","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862346
D. Katselis, C. Rojas, H. Hjalmarsson
In this paper, the problem of experiment design for the task of channel identification in cyclic prefixed orthogonal frequency division multiplexing (CP-OFDM) systems is revisited. So far, the optimal input sequences for least squares (LS) channel identification with respect to minimizing the channel mean square error (MSE) under an input energy constraint have been derived. Here, we investigate the same problem for the LS channel estimator, but when the design takes into account an end performance metric of interest, namely, the symbol estimate MSE. Based on some convex approximations, we verify that optimal sparse preambles, i.e, input vectors employing as many pilots as the channel length, for LS channel estimation in its classical context are near optimal in the aforementioned application-oriented context for the symbol estimate MSE.
{"title":"Least squares end performance experiment design in multicarrier systems: The sparse preamble case","authors":"D. Katselis, C. Rojas, H. Hjalmarsson","doi":"10.1109/ECC.2014.6862346","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862346","url":null,"abstract":"In this paper, the problem of experiment design for the task of channel identification in cyclic prefixed orthogonal frequency division multiplexing (CP-OFDM) systems is revisited. So far, the optimal input sequences for least squares (LS) channel identification with respect to minimizing the channel mean square error (MSE) under an input energy constraint have been derived. Here, we investigate the same problem for the LS channel estimator, but when the design takes into account an end performance metric of interest, namely, the symbol estimate MSE. Based on some convex approximations, we verify that optimal sparse preambles, i.e, input vectors employing as many pilots as the channel length, for LS channel estimation in its classical context are near optimal in the aforementioned application-oriented context for the symbol estimate MSE.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115687626","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 : 2014-07-24DOI: 10.1109/ECC.2014.6862200
P. Apkarian, P. Gahinet, C. Buhr
We present a new technique for tuning arbitrary linear control structures against multiple plant models, multiple H2 and H∞ performance requirements, and additional constraints on open-loop stability and closed-loop pole locations. Our approach relies on non-smooth optimization and strikes a good balance between flexibility and effectiveness. Its capabilities are illustrated on two challenging applications.
{"title":"Multi-model, multi-objective tuning of fixed-structure controllers","authors":"P. Apkarian, P. Gahinet, C. Buhr","doi":"10.1109/ECC.2014.6862200","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862200","url":null,"abstract":"We present a new technique for tuning arbitrary linear control structures against multiple plant models, multiple H2 and H∞ performance requirements, and additional constraints on open-loop stability and closed-loop pole locations. Our approach relies on non-smooth optimization and strikes a good balance between flexibility and effectiveness. Its capabilities are illustrated on two challenging applications.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116921501","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862648
A. Giua, C. Seatzu
The problem of estimating the state of a discrete event system has been extensively investigated in the last decades. The goal of this paper is that of providing a survey on the main contributions in this area when Petri nets are used as the reference formalism. Several problem formulations have been considered, that differ for the variables that can be measured during the system evolution, the a priori information on the initial state of the net, and the specific Petri net model.
{"title":"A survey on state estimation using Petri nets","authors":"A. Giua, C. Seatzu","doi":"10.1109/ECC.2014.6862648","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862648","url":null,"abstract":"The problem of estimating the state of a discrete event system has been extensively investigated in the last decades. The goal of this paper is that of providing a survey on the main contributions in this area when Petri nets are used as the reference formalism. Several problem formulations have been considered, that differ for the variables that can be measured during the system evolution, the a priori information on the initial state of the net, and the specific Petri net model.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115366318","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 : 2014-06-24DOI: 10.1109/ECC.2014.6862566
Panos Marantos, Alina Eqtami, C. Bechlioulis, K. Kyriakopoulos
In this paper we propose a novel approach in designing Robust Model Predictive Controllers (abbr. MPC) for systems with a Prescribed Performance in the states. In particular, general continuous-time nonlinear systems which are constrained in the states by prescribed performance functions and are affected by bounded, persistent, additive disturbances, are considered in this paper. With the proposed approach the constrained plant can be transformed into an unconstrained one, thus the optimization problem of the MPC becomes less complex, the computational burden is significantly reduced and the closed-loop system is proven to be Input-to-State Stable with respect to disturbances, while the inputs and states strictly remain in the predefined sets. The efficacy of the theoretic results is depicted by an academic simulation example and through comparison results.
{"title":"A Prescribed Performance Robust Nonlinear Model Predictive Control framework","authors":"Panos Marantos, Alina Eqtami, C. Bechlioulis, K. Kyriakopoulos","doi":"10.1109/ECC.2014.6862566","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862566","url":null,"abstract":"In this paper we propose a novel approach in designing Robust Model Predictive Controllers (abbr. MPC) for systems with a Prescribed Performance in the states. In particular, general continuous-time nonlinear systems which are constrained in the states by prescribed performance functions and are affected by bounded, persistent, additive disturbances, are considered in this paper. With the proposed approach the constrained plant can be transformed into an unconstrained one, thus the optimization problem of the MPC becomes less complex, the computational burden is significantly reduced and the closed-loop system is proven to be Input-to-State Stable with respect to disturbances, while the inputs and states strictly remain in the predefined sets. The efficacy of the theoretic results is depicted by an academic simulation example and through comparison results.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115382316","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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