T. Tarn, Tongzeng Yang, Xiaoming Zeng, Chuanfan Guo
A novel feedback control technique, called periodic output feedback, is investigated in the context of infinite-dimensional linear systems modeled by neutral functional differential equations. It is shown that a class of these systems can be stabilized by periodic output feedback even though their input operations have pathological properties. A scalar neutral system example is considered.<>
{"title":"Periodic output feedback stabilization of neutral systems","authors":"T. Tarn, Tongzeng Yang, Xiaoming Zeng, Chuanfan Guo","doi":"10.1109/CDC.1990.203518","DOIUrl":"https://doi.org/10.1109/CDC.1990.203518","url":null,"abstract":"A novel feedback control technique, called periodic output feedback, is investigated in the context of infinite-dimensional linear systems modeled by neutral functional differential equations. It is shown that a class of these systems can be stabilized by periodic output feedback even though their input operations have pathological properties. A scalar neutral system example is considered.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127809302","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}
An alternative formulation is presented for a class of partially observed bilinear stochastic control problems which is described by three sets of stochastic differential equations: one for the system to be controlled, one for the observer, and one for the control process which is driven by the observation process. With this formulation, the stochastic control problem is converted to an equivalent deterministic identification problem of control gain matrices. Using standard variation arguments, the necessary conditions of optimality on the basis of which the optimal control parameters can be determined are obtained.<>
{"title":"Optimal control for a class of partially observed bilinear stochastic systems","authors":"T. Dabbous","doi":"10.1109/CDC.1990.203844","DOIUrl":"https://doi.org/10.1109/CDC.1990.203844","url":null,"abstract":"An alternative formulation is presented for a class of partially observed bilinear stochastic control problems which is described by three sets of stochastic differential equations: one for the system to be controlled, one for the observer, and one for the control process which is driven by the observation process. With this formulation, the stochastic control problem is converted to an equivalent deterministic identification problem of control gain matrices. Using standard variation arguments, the necessary conditions of optimality on the basis of which the optimal control parameters can be determined are obtained.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131268079","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 feedback equivalence problems of nonlinear control systems are studied by introducing the notion of virtual decomposition. It is shown that the feedback equivalence problem is reduced to the feedback equivalence problems of decomposed virtual subsystems. A sufficient condition for two general nonlinear control systems being feedback equivalent is derived. This result is applied to the linearization problem, and a necessary and sufficient condition is derived. By applying the theorem which gives the relationship between the decomposed structure and the vector fields of the system, the linearizability condition derived is shown to be another expression of the known linearizability condition.<>
{"title":"Feedback equivalence and decomposition of nonlinear control systems","authors":"S. Ishijima","doi":"10.1109/CDC.1990.203698","DOIUrl":"https://doi.org/10.1109/CDC.1990.203698","url":null,"abstract":"The feedback equivalence problems of nonlinear control systems are studied by introducing the notion of virtual decomposition. It is shown that the feedback equivalence problem is reduced to the feedback equivalence problems of decomposed virtual subsystems. A sufficient condition for two general nonlinear control systems being feedback equivalent is derived. This result is applied to the linearization problem, and a necessary and sufficient condition is derived. By applying the theorem which gives the relationship between the decomposed structure and the vector fields of the system, the linearizability condition derived is shown to be another expression of the known linearizability condition.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131269491","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 authors present a rule-based tool for order reduction using cost function vector optimization. Approximation is performed in both the time domain and frequency domain, solutions are not calculated but 'designed', and minimum phase systems are never approximated by nonminimum phase systems. Illustrative examples are presented.<>
{"title":"Order reduction of SISO systems using an expert-system-like tool","authors":"K. H. Fasol, H.G. Gehre","doi":"10.1109/CDC.1990.203870","DOIUrl":"https://doi.org/10.1109/CDC.1990.203870","url":null,"abstract":"The authors present a rule-based tool for order reduction using cost function vector optimization. Approximation is performed in both the time domain and frequency domain, solutions are not calculated but 'designed', and minimum phase systems are never approximated by nonminimum phase systems. Illustrative examples are presented.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115459115","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}
Aspects of modelling, stability, and control of robotic manipulators with stiff joints in contact with stiff surfaces are presented. System models are cast into three time-scale formulations, both directly and by means of integral manifolds, and singular perturbation methods are employed to examine high- and low-speed characteristics of these systems. When surface and joint stiffnesses are comparable, it is seen that the corresponding subsystems are strongly coupled, indicating significant interaction between surface and joint flexibility, and that this coupling vanishes when the stiffnesses are widely disparate. It is also seen that a control system designed for low-speed behavior without regard for high-speed activity can have a deleterious effect on the overall system. With light joint or surface damping and high surface stiffness, without a high-speed stabilizing control, poor high-speed system characteristics can result which contaminate the slow subsystem, but a stabilized fast subsystem will not have this effect.<>
{"title":"Modelling, stability and control issues of elastic joint manipulators during contact with a stiff environment","authors":"G. Vukovich, J. Mills","doi":"10.1109/CDC.1990.203521","DOIUrl":"https://doi.org/10.1109/CDC.1990.203521","url":null,"abstract":"Aspects of modelling, stability, and control of robotic manipulators with stiff joints in contact with stiff surfaces are presented. System models are cast into three time-scale formulations, both directly and by means of integral manifolds, and singular perturbation methods are employed to examine high- and low-speed characteristics of these systems. When surface and joint stiffnesses are comparable, it is seen that the corresponding subsystems are strongly coupled, indicating significant interaction between surface and joint flexibility, and that this coupling vanishes when the stiffnesses are widely disparate. It is also seen that a control system designed for low-speed behavior without regard for high-speed activity can have a deleterious effect on the overall system. With light joint or surface damping and high surface stiffness, without a high-speed stabilizing control, poor high-speed system characteristics can result which contaminate the slow subsystem, but a stabilized fast subsystem will not have this effect.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115498672","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}
Robust stability of the closed-loop behavior of plants is investigated. It is shown that when the distance between the nominal plant model and the boundary of the nominal plant envelope is measured in the gap metric, a sufficient condition on the closed-loop stability can be given. Low-order controllers are derived using either model reduction or controller reduction techniques. It is shown that when using controller design followed by controller reduction techniques the size of the plant envelope is larger than if one is using plant model reduction followed by controller design.<>
{"title":"Low order robust H/sub infinity / controller synthesis","authors":"P. Bongers, O. Bosgra","doi":"10.1109/CDC.1990.203575","DOIUrl":"https://doi.org/10.1109/CDC.1990.203575","url":null,"abstract":"Robust stability of the closed-loop behavior of plants is investigated. It is shown that when the distance between the nominal plant model and the boundary of the nominal plant envelope is measured in the gap metric, a sufficient condition on the closed-loop stability can be given. Low-order controllers are derived using either model reduction or controller reduction techniques. It is shown that when using controller design followed by controller reduction techniques the size of the plant envelope is larger than if one is using plant model reduction followed by controller design.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115696623","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}
Problems involved in the regulation of spatial systems with point sensing and control are considered. These systems can be reformulated as having admissible controls and constraints on certain operators. It is shown that, by taking a geometric approach, one can regulate certain unbounded systems. Typical examples that fall within this category are point sensing problems and functional delay systems. Other examples occur in problems such as the boundary control of deflected beams.<>
{"title":"On regulation problems for point sensing and control systems","authors":"G. Knowles","doi":"10.1109/CDC.1990.203327","DOIUrl":"https://doi.org/10.1109/CDC.1990.203327","url":null,"abstract":"Problems involved in the regulation of spatial systems with point sensing and control are considered. These systems can be reformulated as having admissible controls and constraints on certain operators. It is shown that, by taking a geometric approach, one can regulate certain unbounded systems. Typical examples that fall within this category are point sensing problems and functional delay systems. Other examples occur in problems such as the boundary control of deflected beams.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115753363","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 author addresses the problem of estimating the parameters of stochastic linear systems when the measurements of the system input as well as the system output are noise-contaminated. It is assumed that the input is non-Gaussian and the noises are Gaussian. Magnitude of the fourth cumulant of a generalized error signal, and its square root, are proposed as performance criteria for parameter estimation. An optimization algorithm is presented. Strong consistency of the proposed parameter estimators is proved under certain sufficient conditions. Both single input single output and multiple input multiple output cases are investigated. Finally, simulation results are presented to illustrate the proposed approach.<>
{"title":"Stochastic system identification with noisy input using cumulant statistics","authors":"Jitendra Tugnait","doi":"10.1109/CDC.1990.203768","DOIUrl":"https://doi.org/10.1109/CDC.1990.203768","url":null,"abstract":"The author addresses the problem of estimating the parameters of stochastic linear systems when the measurements of the system input as well as the system output are noise-contaminated. It is assumed that the input is non-Gaussian and the noises are Gaussian. Magnitude of the fourth cumulant of a generalized error signal, and its square root, are proposed as performance criteria for parameter estimation. An optimization algorithm is presented. Strong consistency of the proposed parameter estimators is proved under certain sufficient conditions. Both single input single output and multiple input multiple output cases are investigated. Finally, simulation results are presented to illustrate the proposed approach.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115804596","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}
Reaction systems constitute a class of nonlinear dynamical systems relevant in many engineering fields such as chemical engineering, biotechnology and ecology. It is shown that the state reachability rank of generic reaction systems can be characterized, irrespective of the reaction kinetics, by simple algebraic criteria closely related to the underlying structure of the reaction network and the associated transport dynamics. In particular, simple algebraic criteria are described for the determination of the reachability rank of generic reaction systems without resorting to Lie bracket computations.<>
{"title":"On state reachability of reaction systems","authors":"G. Bastin, J. Lévine","doi":"10.1109/CDC.1990.203292","DOIUrl":"https://doi.org/10.1109/CDC.1990.203292","url":null,"abstract":"Reaction systems constitute a class of nonlinear dynamical systems relevant in many engineering fields such as chemical engineering, biotechnology and ecology. It is shown that the state reachability rank of generic reaction systems can be characterized, irrespective of the reaction kinetics, by simple algebraic criteria closely related to the underlying structure of the reaction network and the associated transport dynamics. In particular, simple algebraic criteria are described for the determination of the reachability rank of generic reaction systems without resorting to Lie bracket computations.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124133858","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 parameterization of the set of all stabilizing state feedback gains is given, and a geometric structure of the set of stable state feedback systems in the set of stable matrices is used. It is shown that it is natural to provide these sets with a vector bundle structure. Obtained results not only provide fundamental guidelines for designing state feedback gains using parameterization, but also a new approach to analyzing structures of linear stable systems.<>
{"title":"Geometric structures of stable state feedback systems","authors":"A. Ohara, T. Kitamori","doi":"10.1109/CDC.1990.204076","DOIUrl":"https://doi.org/10.1109/CDC.1990.204076","url":null,"abstract":"A parameterization of the set of all stabilizing state feedback gains is given, and a geometric structure of the set of stable state feedback systems in the set of stable matrices is used. It is shown that it is natural to provide these sets with a vector bundle structure. Obtained results not only provide fundamental guidelines for designing state feedback gains using parameterization, but also a new approach to analyzing structures of linear stable systems.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1990-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124380289","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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