Pub Date : 2014-06-24DOI: 10.1109/ECC.2014.6862600
A. Flores-Perez, Ileana Grave, Yu Tang
Adaptive control and estimation of nonlinearly parameterized systems have been active areas of research due to the theoretical challenge and the wide variety of applications. Based on the recently developed contraction theory, this work formulates novel schemes of estimation and indirect adaptive control for nonlinearly parameterized systems. The developed algorithms were applied to two nonlinear models and verified by means of simulation.
{"title":"Estimation and indirect adaptive control for nonlinearly parameterized systems","authors":"A. Flores-Perez, Ileana Grave, Yu Tang","doi":"10.1109/ECC.2014.6862600","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862600","url":null,"abstract":"Adaptive control and estimation of nonlinearly parameterized systems have been active areas of research due to the theoretical challenge and the wide variety of applications. Based on the recently developed contraction theory, this work formulates novel schemes of estimation and indirect adaptive control for nonlinearly parameterized systems. The developed algorithms were applied to two nonlinear models and verified by means of simulation.","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":"131561660","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.2014.6862297
L. D. Cicco, S. Mascolo, S. Niculescu
Congestion control is a cornerstone component of the Internet. The plant dynamics can be modelled by means of an integrator, modelling a bottleneck queue, a time delay, modelling the propagation of the information from a source to a destination along with queuing, and a load disturbance, which models the time-varying available bandwidth. It has been shown that a Smith predictor plus a proportional gain is an effective controller, even though, it is not able to reject the load disturbance. To overcome this issue, which is particularly relevant in the case of multimedia delay-sensitive traffic, we consider the modified Smith predictor proposed by Matausek and Micic as a candidate for the design of a congestion control algorithm. By taking a geometric approach, we quantify the trade-off between disturbance rejection property of the modified Smith predictor and the achievable stability robustness with respect to delay uncertainty, which in data networks is due to queuing. Finally, we propose some guidelines to tune the additional parameter introduced by the modified Smith predictor.
{"title":"The trade-off between robustness and disturbance rejection for congestion control algorithms based on a modified smith-predictor","authors":"L. D. Cicco, S. Mascolo, S. Niculescu","doi":"10.1109/ECC.2014.6862297","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862297","url":null,"abstract":"Congestion control is a cornerstone component of the Internet. The plant dynamics can be modelled by means of an integrator, modelling a bottleneck queue, a time delay, modelling the propagation of the information from a source to a destination along with queuing, and a load disturbance, which models the time-varying available bandwidth. It has been shown that a Smith predictor plus a proportional gain is an effective controller, even though, it is not able to reject the load disturbance. To overcome this issue, which is particularly relevant in the case of multimedia delay-sensitive traffic, we consider the modified Smith predictor proposed by Matausek and Micic as a candidate for the design of a congestion control algorithm. By taking a geometric approach, we quantify the trade-off between disturbance rejection property of the modified Smith predictor and the achievable stability robustness with respect to delay uncertainty, which in data networks is due to queuing. Finally, we propose some guidelines to tune the additional parameter introduced by the modified Smith predictor.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"13 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":"131634893","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.2014.6862455
A. V. Mulders, L. Vanbeylen, K. Usevich
This paper focuses on a state-space based approach for the identification of a rather general nonlinear block-structured model. The model has several Single-Input Single-Output (SISO) static polynomial nonlinearities connected to a Multiple-Input Multiple-Output (MIMO) dynamic part. The presented method is an extension and improvement of prior work, where at most two nonlinearities could be identified. The location of the nonlinearities or their relation to other parts of the model does not have to be known beforehand: the method is a black-box approach, in which no states, internal signals or structural properties need to be measured or known. The first step is to estimate a partly structured polynomial (nonlinear) state-space model from input-output measurements. Secondly, an algebraic approach is used to split the dynamics and the nonlinearities by decomposing the multivariate polynomial coefficients.
{"title":"Identification of a block-structured model with several sources of nonlinearity","authors":"A. V. Mulders, L. Vanbeylen, K. Usevich","doi":"10.1109/ECC.2014.6862455","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862455","url":null,"abstract":"This paper focuses on a state-space based approach for the identification of a rather general nonlinear block-structured model. The model has several Single-Input Single-Output (SISO) static polynomial nonlinearities connected to a Multiple-Input Multiple-Output (MIMO) dynamic part. The presented method is an extension and improvement of prior work, where at most two nonlinearities could be identified. The location of the nonlinearities or their relation to other parts of the model does not have to be known beforehand: the method is a black-box approach, in which no states, internal signals or structural properties need to be measured or known. The first step is to estimate a partly structured polynomial (nonlinear) state-space model from input-output measurements. Secondly, an algebraic approach is used to split the dynamics and the nonlinearities by decomposing the multivariate polynomial coefficients.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"117 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":"131781633","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.2014.6862294
K. Kashima, D. Inoue
In this paper, we analyze the stationary behavior of linear control systems equipped with a random dither quantization. First, we evaluate when and in which sense the stationary distribution of each signal is close to a normal (Gaussian) distribution. Then, we compute their stationary variance based on an approximately invariant probability measure.
{"title":"Stationary performance evaluation of control systems with random dither quantization","authors":"K. Kashima, D. Inoue","doi":"10.1109/ECC.2014.6862294","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862294","url":null,"abstract":"In this paper, we analyze the stationary behavior of linear control systems equipped with a random dither quantization. First, we evaluate when and in which sense the stationary distribution of each signal is close to a normal (Gaussian) distribution. Then, we compute their stationary variance based on an approximately invariant probability measure.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"9 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":"132791006","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.2014.6862596
Asma Barbata, M. Zasadzinski, H. S. Ali, H. Messaoud
In this paper, we deal with observer design for a class of nonlinear stochastic singular systems with multiplicative noises. The dynamics of the considered systems is described by a stochastic differential algebraic equation (SDAE) driven by a brownian motion. The nonlinearities of the dynamics are assumed to be one-sided Lipschitz. Based on the adaptation of Itô calculus for SDAE, we derived the conditions to obtain the almost surely exponential stability of the equilibrium point of the observation error. It is shown that the almost sure exponential convergence of the observation error could be treated by decoupling the state from this error. This is done by using a new theorem dedicated to triangular stochastic systems.
{"title":"Observer design for a class of singular stochastic nonlinear systems","authors":"Asma Barbata, M. Zasadzinski, H. S. Ali, H. Messaoud","doi":"10.1109/ECC.2014.6862596","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862596","url":null,"abstract":"In this paper, we deal with observer design for a class of nonlinear stochastic singular systems with multiplicative noises. The dynamics of the considered systems is described by a stochastic differential algebraic equation (SDAE) driven by a brownian motion. The nonlinearities of the dynamics are assumed to be one-sided Lipschitz. Based on the adaptation of Itô calculus for SDAE, we derived the conditions to obtain the almost surely exponential stability of the equilibrium point of the observation error. It is shown that the almost sure exponential convergence of the observation error could be treated by decoupling the state from this error. This is done by using a new theorem dedicated to triangular stochastic systems.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"8 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":"130979723","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.2014.6862492
Khang Le, R. Bourdais, H. Guéguen
This paper deals with the adaptation of a model predictive control to a blind system for building for preventing thermal discomfort, which occurs during summer. This system can be seen as a hybrid system by considering various blind positions. The MPC formulation leads to define a multi-objective optimization problem, for which the criteria are antagonist. This method seems to be effectiveness and is illustrated by various simulations within SIMBAD, a Matlab toolbox dedicated to building simulation. The proposed scheme is based on Branch and Bound techniques and does not rely on disturbance predictions, so that it could be easily implemented on industrial products.
{"title":"Optimal control of shading system using Hybrid Model Predictive control","authors":"Khang Le, R. Bourdais, H. Guéguen","doi":"10.1109/ECC.2014.6862492","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862492","url":null,"abstract":"This paper deals with the adaptation of a model predictive control to a blind system for building for preventing thermal discomfort, which occurs during summer. This system can be seen as a hybrid system by considering various blind positions. The MPC formulation leads to define a multi-objective optimization problem, for which the criteria are antagonist. This method seems to be effectiveness and is illustrated by various simulations within SIMBAD, a Matlab toolbox dedicated to building simulation. The proposed scheme is based on Branch and Bound techniques and does not rely on disturbance predictions, so that it could be easily implemented on industrial products.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"1 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":"131189257","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.2014.6862157
Robert Schmid, A. Goel
We consider a bench mark case study for the tracking control of hard-disk drive servo systems with voice-coil motor actuator. The recently introduced linear tracking control method of Schmid and Ntogramatzidis is applied to the problem and its performance is compared against a range of other linear and nonlinear techniques from the literature.
{"title":"Improved tracking control in hard-disk drive servo systems: A benchmark case study","authors":"Robert Schmid, A. Goel","doi":"10.1109/ECC.2014.6862157","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862157","url":null,"abstract":"We consider a bench mark case study for the tracking control of hard-disk drive servo systems with voice-coil motor actuator. The recently introduced linear tracking control method of Schmid and Ntogramatzidis is applied to the problem and its performance is compared against a range of other linear and nonlinear techniques from the literature.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":" 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133020595","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.2014.6862196
F. Arichi, J. Van Gorp, M. Djemai, M. Defoort, B. Cherki
This paper addresses the problem of observer design for a class of switched system, where the discrete state evolution is led by a Petri net. This class may have modes in which the state is not fully observable. A new hybrid observer composed of a discrete and a switched continuous parts in interaction is proposed. The discrete part is based on Unknown Input observer to reconstruct the discrete state through the observation of measurable continuous outputs of the system. The switched continuous observer is based on higher order sliding mode techniques. It gathers partial information from individual modes to solve the continuous state estimation of the entire system. Simulation results show the effectiveness of the proposed approach.
{"title":"Hybrid state estimation for a class of switched system using Petri nets","authors":"F. Arichi, J. Van Gorp, M. Djemai, M. Defoort, B. Cherki","doi":"10.1109/ECC.2014.6862196","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862196","url":null,"abstract":"This paper addresses the problem of observer design for a class of switched system, where the discrete state evolution is led by a Petri net. This class may have modes in which the state is not fully observable. A new hybrid observer composed of a discrete and a switched continuous parts in interaction is proposed. The discrete part is based on Unknown Input observer to reconstruct the discrete state through the observation of measurable continuous outputs of the system. The switched continuous observer is based on higher order sliding mode techniques. It gathers partial information from individual modes to solve the continuous state estimation of the entire system. Simulation results show the effectiveness of the proposed approach.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"23 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":"133688120","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.2014.6862643
C. Fiter, Hassan Omran, L. Hetel, J. Richard
This tutorial, presents basic concepts and recent research directions about sampled-data systems. We focus mainly on the stability of systems with time-varying sampling intervals. Without being exhaustive, which would be neither possible nor useful, we try to give a structural survey of what we think to be the main results and issues in this domain.
{"title":"Tutorial on arbitrary and state-dependent sampling","authors":"C. Fiter, Hassan Omran, L. Hetel, J. Richard","doi":"10.1109/ECC.2014.6862643","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862643","url":null,"abstract":"This tutorial, presents basic concepts and recent research directions about sampled-data systems. We focus mainly on the stability of systems with time-varying sampling intervals. Without being exhaustive, which would be neither possible nor useful, we try to give a structural survey of what we think to be the main results and issues in this domain.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"100 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":"133689936","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.2014.6862588
R. Orszulik, J. Shan
In this work, a nonlinear proportional-integral controller is developed for a piezoelectric actuator for tracking of constant reference signals. The goal of the controller is very fast convergence to the reference, with minimal overshoot, and the maintenance of minimal noise when the setpoint has been achieved. The gains of the nonlinear controller are found through a combined global-local search method, and both simulations and experiments are conducted to show the effectiveness of the control, and for comparison purposes.
{"title":"Nonlinear PI control for piezoelectric actuators","authors":"R. Orszulik, J. Shan","doi":"10.1109/ECC.2014.6862588","DOIUrl":"https://doi.org/10.1109/ECC.2014.6862588","url":null,"abstract":"In this work, a nonlinear proportional-integral controller is developed for a piezoelectric actuator for tracking of constant reference signals. The goal of the controller is very fast convergence to the reference, with minimal overshoot, and the maintenance of minimal noise when the setpoint has been achieved. The gains of the nonlinear controller are found through a combined global-local search method, and both simulations and experiments are conducted to show the effectiveness of the control, and for comparison purposes.","PeriodicalId":251538,"journal":{"name":"2014 European Control Conference (ECC)","volume":"6 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":"127661146","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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