The author presents a robust technique for designing compensators for a certain class of nonlinear systems following the philosophy behind input-output linearization and sliding mode control. The technique takes advantage of a robust equivalent feedback linearization using sliding mode theory and then superimposes linear design algorithms in order to shape the loop operator (loop transfer function) of the feedback linearized system. Robustness issues are addressed; when the external disturbances to the system and modeling parameter uncertainties are bounded and satisfy the matching conditions, the nonlinear system can be robustly linearized. The proposed scheme has enough parameters to give flexibility in the choice of the desired closed-loop characteristics. At the same time, it leaves the designer with the responsibility of selecting the following parameters: boundary layer, strength of attraction to the sliding surface, and bandwidth.<>
{"title":"Robust feedback linearization through sliding mode control","authors":"B. Fernandez","doi":"10.1109/CDC.1990.203427","DOIUrl":"https://doi.org/10.1109/CDC.1990.203427","url":null,"abstract":"The author presents a robust technique for designing compensators for a certain class of nonlinear systems following the philosophy behind input-output linearization and sliding mode control. The technique takes advantage of a robust equivalent feedback linearization using sliding mode theory and then superimposes linear design algorithms in order to shape the loop operator (loop transfer function) of the feedback linearized system. Robustness issues are addressed; when the external disturbances to the system and modeling parameter uncertainties are bounded and satisfy the matching conditions, the nonlinear system can be robustly linearized. The proposed scheme has enough parameters to give flexibility in the choice of the desired closed-loop characteristics. At the same time, it leaves the designer with the responsibility of selecting the following parameters: boundary layer, strength of attraction to the sliding surface, and bandwidth.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"198 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":"115838258","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 selections of design method and design specifications for sampled-data adaptive controllers are discussed. The following issues are considered: choice of design method, choice and effect of sampling frequency and antialiasing filters, interplay between estimation and design, and implementation aspects and numerics.<>
{"title":"On the choice of design method in adaptive control","authors":"B. Wittenmark","doi":"10.1109/CDC.1990.203604","DOIUrl":"https://doi.org/10.1109/CDC.1990.203604","url":null,"abstract":"The selections of design method and design specifications for sampled-data adaptive controllers are discussed. The following issues are considered: choice of design method, choice and effect of sampling frequency and antialiasing filters, interplay between estimation and design, and implementation aspects and numerics.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"74 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":"115854678","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 phase margin for a multivariable system is defined by examining the unitary portion of the polar decomposition of a perturbation, Delta , in the feedback path. A dual result defining the gain margin for a multivariable system is derived by examining the positive definite hermitian (PDH) portion of the polar decompositions for nonsingular perturbations. This study focuses on the multivariable gain margin. The main result is an extension of the classical SISO (single input single output) concept for all PDH matrices in the feedback path whose gain is less than the gain margin of the system. Calculation of the gain margin requires solving a constrained optimization problem which is almost a complete dual of the constrained optimization problem solved when calculating the phase margin.<>
{"title":"Gain margins for multivariable control systems","authors":"J. R. Bar-on, E. Jonckheere","doi":"10.1109/CDC.1990.203609","DOIUrl":"https://doi.org/10.1109/CDC.1990.203609","url":null,"abstract":"The phase margin for a multivariable system is defined by examining the unitary portion of the polar decomposition of a perturbation, Delta , in the feedback path. A dual result defining the gain margin for a multivariable system is derived by examining the positive definite hermitian (PDH) portion of the polar decompositions for nonsingular perturbations. This study focuses on the multivariable gain margin. The main result is an extension of the classical SISO (single input single output) concept for all PDH matrices in the feedback path whose gain is less than the gain margin of the system. Calculation of the gain margin requires solving a constrained optimization problem which is almost a complete dual of the constrained optimization problem solved when calculating the phase margin.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"34 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":"132421937","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 application of a backpropagation neural network to the classification of acoustical signals emanating from the laser welding process is discussed. The investigations which are discussed demonstrate that, at least in a relatively simple setting, the backpropagation network is capable of determining whether or not a laser weld has achieved full or partial penetration from its acoustical signature. This result is seen as having important implications for future developments in monitoring and control of these processes.<>
{"title":"Classification of laser welds by acoustic signature","authors":"D. Farson, K. Fang, K. T. Kern","doi":"10.1109/CDC.1990.203888","DOIUrl":"https://doi.org/10.1109/CDC.1990.203888","url":null,"abstract":"The application of a backpropagation neural network to the classification of acoustical signals emanating from the laser welding process is discussed. The investigations which are discussed demonstrate that, at least in a relatively simple setting, the backpropagation network is capable of determining whether or not a laser weld has achieved full or partial penetration from its acoustical signature. This result is seen as having important implications for future developments in monitoring and control of these processes.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"84 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":"132543958","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 variable structure model reference adaptive controller (VS-MRAC) using only input and output measurements was previously proposed and was shown to be globally asymptotically stable with superior transient behavior and disturbance rejection properties. In the present work a singular perturbation approach is used to establish the robustness of the controller in the presence of unmodeled dynamics (parasitics) and disturbances. A novel Lyapunov-based technique is developed to analyze the overall system, and it is shown that, for sufficiently small parasitics, the system remains stable and the output error is small in some sense. It is shown that no explicit restriction appears in the derivative of the reference signal, as opposed to certain results found in the literature of adaptive control.<>
{"title":"Robustness of VS-MRAC with respect to unmodeled dynamics and external disturbances","authors":"R. Costa, L. Hsu","doi":"10.1109/CDC.1990.203383","DOIUrl":"https://doi.org/10.1109/CDC.1990.203383","url":null,"abstract":"A variable structure model reference adaptive controller (VS-MRAC) using only input and output measurements was previously proposed and was shown to be globally asymptotically stable with superior transient behavior and disturbance rejection properties. In the present work a singular perturbation approach is used to establish the robustness of the controller in the presence of unmodeled dynamics (parasitics) and disturbances. A novel Lyapunov-based technique is developed to analyze the overall system, and it is shown that, for sufficiently small parasitics, the system remains stable and the output error is small in some sense. It is shown that no explicit restriction appears in the derivative of the reference signal, as opposed to certain results found in the literature of adaptive control.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"21 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":"132546675","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 relatively simple MIMO (multiple input, multiple output) controller which converts an instrument with a nondiagonally dominant transfer function matrix into a strongly diagonally dominant device is developed. The instrument, which uses inductance bridges to sense the position of a magnetically levitated superconducting mass, has very lightly damped resonances and fairly strong cross coupling. By taking advantage of the particular structure of the instrument's transfer function matrix, it is possible to develop a relatively simple controller which achieves the desired decoupling. This controller consists of two parts. The first part cancels the nondiagonal terms of the open-loop transfer function matrix, while the second part is simply a set of SISO (single input, single output) controllers. The stability of the closed-loop system is studied using Rosenbrock's inverse Nyquist array technique which produces a simple set of conditions guaranteeing stability. Simulation of the closed-loop system indicates that it should easily achieve its performance goals.<>
{"title":"Diagonalizing controller for a superconducting six-axis accelerometer","authors":"B. Bachrach, E. Canavan, W. Levine","doi":"10.1109/CDC.1990.203285","DOIUrl":"https://doi.org/10.1109/CDC.1990.203285","url":null,"abstract":"A relatively simple MIMO (multiple input, multiple output) controller which converts an instrument with a nondiagonally dominant transfer function matrix into a strongly diagonally dominant device is developed. The instrument, which uses inductance bridges to sense the position of a magnetically levitated superconducting mass, has very lightly damped resonances and fairly strong cross coupling. By taking advantage of the particular structure of the instrument's transfer function matrix, it is possible to develop a relatively simple controller which achieves the desired decoupling. This controller consists of two parts. The first part cancels the nondiagonal terms of the open-loop transfer function matrix, while the second part is simply a set of SISO (single input, single output) controllers. The stability of the closed-loop system is studied using Rosenbrock's inverse Nyquist array technique which produces a simple set of conditions guaranteeing stability. Simulation of the closed-loop system indicates that it should easily achieve its performance goals.<<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":"130203388","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 acronym COCOLOG is used to denote the family of first order conditional observer and controller logics for any given input-state-output system. A semantics is supplied for each COCOLOG in terms of interpretation of controlled transitions on a tree of state estimate sets indexed by observation o(k). Extra-logical rules relating members of family logics of a COCOLOG are then presented in the form of meta-level axioms and inference rules. Consistency and completeness of the first order theories in a COCOLOG family are established, and examples of the operation of a COCOLOG logic control system are given. Finally, comparisons of the features of flexibility and complexity issues of logic-based and classical control systems are addressed, and mention is made of mechanical theorem proving in COCOLOG.<>
{"title":"COCOLOG: a conditional observer and controller logic for finite machines","authors":"P. Caines, Suning Wang","doi":"10.1109/CDC.1990.203298","DOIUrl":"https://doi.org/10.1109/CDC.1990.203298","url":null,"abstract":"The acronym COCOLOG is used to denote the family of first order conditional observer and controller logics for any given input-state-output system. A semantics is supplied for each COCOLOG in terms of interpretation of controlled transitions on a tree of state estimate sets indexed by observation o(k). Extra-logical rules relating members of family logics of a COCOLOG are then presented in the form of meta-level axioms and inference rules. Consistency and completeness of the first order theories in a COCOLOG family are established, and examples of the operation of a COCOLOG logic control system are given. Finally, comparisons of the features of flexibility and complexity issues of logic-based and classical control systems are addressed, and mention is made of mechanical theorem proving in COCOLOG.<<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":"134151172","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}
Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. R.W. Brockett (1981) derived the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their (first-order) Lie brackets. Using Brockett's result as motivation, the authors derive suboptimal trajectories for systems which are not in canonical form and consider systems in which it takes more than one level of bracketing to achieve controllability. These trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. Examples and simulation results are presented.<>
{"title":"Steering nonholonomic systems using sinusoids","authors":"Richard M. Murray, S. Sastry","doi":"10.1109/CDC.1990.203994","DOIUrl":"https://doi.org/10.1109/CDC.1990.203994","url":null,"abstract":"Methods for steering systems with nonholonomic constraints between arbitrary configurations are investigated. R.W. Brockett (1981) derived the optimal controls for a set of canonical systems in which the tangent space to the configuration manifold is spanned by the input vector fields and their (first-order) Lie brackets. Using Brockett's result as motivation, the authors derive suboptimal trajectories for systems which are not in canonical form and consider systems in which it takes more than one level of bracketing to achieve controllability. These trajectories use sinusoids at integrally related frequencies to achieve motion at a given bracketing level. Examples and simulation results are presented.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"30 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":"134404473","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 development and use of a nonlinear dynamical mathematical model of a four-fuel steam boiler combustion control system are described. The 140 ton/h drum boiler can burn four fuels simultaneously. The combustion control system includes the fuel control system and the air control system. A 13th order combustion control system model was developed to study the plant combustion control system behavior in normal operating conditions. The model was developed and validated using actual power plant data. The simulation revealed the need for important modifications in both fuel and air control systems. The modifications, after being tested in the model, were proposed to the plant personnel and some of them have been successfully implemented in the actual plant. A reduced-order SISO linear model was developed for the fuel control system. The linearized model helps tune the fuel control system global controller and runs five times faster than the nonlinear one.<>
{"title":"A four fuel drum boiler combustion control system study and redesign","authors":"R. T. Pena, L. A. Aguirre, E. Mendes","doi":"10.1109/CDC.1990.203877","DOIUrl":"https://doi.org/10.1109/CDC.1990.203877","url":null,"abstract":"The development and use of a nonlinear dynamical mathematical model of a four-fuel steam boiler combustion control system are described. The 140 ton/h drum boiler can burn four fuels simultaneously. The combustion control system includes the fuel control system and the air control system. A 13th order combustion control system model was developed to study the plant combustion control system behavior in normal operating conditions. The model was developed and validated using actual power plant data. The simulation revealed the need for important modifications in both fuel and air control systems. The modifications, after being tested in the model, were proposed to the plant personnel and some of them have been successfully implemented in the actual plant. A reduced-order SISO linear model was developed for the fuel control system. The linearized model helps tune the fuel control system global controller and runs five times faster than the nonlinear one.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"14 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":"134542240","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 method for dealing with the rational interpolation problem, first proposed in A.C. Antoulas, and B.D.O. Willems (1990) and extended in A.C. Antoulas et al. (1990), is summarized. It is based on the reachability of an appropriately defined pair of matrices.<>
本文总结了A.C. Antoulas和B.D.O. Willems(1990)首次提出并在A.C. Antoulas et al.(1990)中得到推广的一种处理有理插值问题的新方法。它是基于一个适当定义的矩阵对的可达性。
{"title":"The solution of the rational interpolation problem: a summary","authors":"A. Antoulas, J. Ball, J. Kang, J. Willems","doi":"10.1109/CDC.1990.203507","DOIUrl":"https://doi.org/10.1109/CDC.1990.203507","url":null,"abstract":"A novel method for dealing with the rational interpolation problem, first proposed in A.C. Antoulas, and B.D.O. Willems (1990) and extended in A.C. Antoulas et al. (1990), is summarized. It is based on the reachability of an appropriately defined pair of matrices.<<ETX>>","PeriodicalId":287089,"journal":{"name":"29th IEEE Conference on Decision and Control","volume":"42 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":"133958483","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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