This paper is a much abbreviated version of an extensive comparison of four different repetitive control algorithms. Performance issues such as computational intensity and execution time are discussed. These algorithm were used on a computer disk drive. From presented experimental data conclusions are drawn about convergence and robustness.
{"title":"A Comparison of Four Discrete-Time Repetitive Control Algorithms","authors":"C. Kempf, W. Messner, M. Tomizuka, R. Horowitz","doi":"10.1109/37.248004","DOIUrl":"https://doi.org/10.1109/37.248004","url":null,"abstract":"This paper is a much abbreviated version of an extensive comparison of four different repetitive control algorithms. Performance issues such as computational intensity and execution time are discussed. These algorithm were used on a computer disk drive. From presented experimental data conclusions are drawn about convergence and robustness.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"299 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123052057","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792378
Jian-Shiang Chen, Ji-Ching Chen
The motivations behind this paper is to propose a robust compensator to improve the response of a dc servo with compliant load. The low frequency lightly damped mode induced by this inherent compliance will limit the bandwidth of the servo system. In this paper, a VSS-based compensator is designed to improve the overall system performance. Finally, the robustness of this controller, subjected to parameter variation, is investigated through computer simulations and experiments. It is seen that the proposed design will suppress the dominant vibrational mode and result in a fast and accurate positioning and tracking control for a compliant load servo system.
{"title":"Servo Controller Design for A Compliant Load System","authors":"Jian-Shiang Chen, Ji-Ching Chen","doi":"10.23919/ACC.1992.4792378","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792378","url":null,"abstract":"The motivations behind this paper is to propose a robust compensator to improve the response of a dc servo with compliant load. The low frequency lightly damped mode induced by this inherent compliance will limit the bandwidth of the servo system. In this paper, a VSS-based compensator is designed to improve the overall system performance. Finally, the robustness of this controller, subjected to parameter variation, is investigated through computer simulations and experiments. It is seen that the proposed design will suppress the dominant vibrational mode and result in a fast and accurate positioning and tracking control for a compliant load servo system.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115237274","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792014
M. Polycarpou, Petros A. Ioannou
Several empirical studies have demonstrated the feasibility of employing neural networks as models of nonlinear dynamical systems. This paper develops the appropriate mathematical tools for synthesizing and analyzing stable neural network based identification and control schemes. Feedforward network architectures are combined with dynamical elements, in the form of stable filters, to construct a general recurrent network configuration which is shown to be capable of approximating a large class of dynamical systems. Adaptive identification and control schemes, based on neural network models, are developed using the Lyapunov synthesis approach with the projection modification method. These schemes are shown to guarantee stability of the overall system, even in the presence of modelling errors. A crucial characteristic of the methods and formulations developed in this paper is the generality of the results which allows their application to various neural network models as well as other approximators.
{"title":"Modelling, Identification and Stable Adaptive Control of Continuous-Time Nonlinear Dynamical Systems Using Neural Networks","authors":"M. Polycarpou, Petros A. Ioannou","doi":"10.23919/ACC.1992.4792014","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792014","url":null,"abstract":"Several empirical studies have demonstrated the feasibility of employing neural networks as models of nonlinear dynamical systems. This paper develops the appropriate mathematical tools for synthesizing and analyzing stable neural network based identification and control schemes. Feedforward network architectures are combined with dynamical elements, in the form of stable filters, to construct a general recurrent network configuration which is shown to be capable of approximating a large class of dynamical systems. Adaptive identification and control schemes, based on neural network models, are developed using the Lyapunov synthesis approach with the projection modification method. These schemes are shown to guarantee stability of the overall system, even in the presence of modelling errors. A crucial characteristic of the methods and formulations developed in this paper is the generality of the results which allows their application to various neural network models as well as other approximators.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"157 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123072595","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792247
J. Ezzine
It is in general not possible to analytically compute the Lyapunov spectrum of a given dynamical system. This has been achieved for a few special cases only. Therefore, numerical algorithms have been devised for this task. One major drawback of these numerical algorithms is the lack of an adequate stopping rule. In this paper, a stopping rule is proposed to alleviate this shortcoming while computing the Lyapunov spectrum of linear discrete-time random dynamical systems (i.e. linear systems with random parameters). The proposed stopping rule is based on upper bounds on the Lyapunov exponents, along with some results from finite state Markov chains and ergodic stochastic processes. However, only the largest Lyapunov exponent is address in this paper, for the computation of the remaining exponents follows a similar procedure.
{"title":"On a Practicle Stopping Rule for the Numerical Computation of the Lyapunov Spectrum","authors":"J. Ezzine","doi":"10.23919/ACC.1992.4792247","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792247","url":null,"abstract":"It is in general not possible to analytically compute the Lyapunov spectrum of a given dynamical system. This has been achieved for a few special cases only. Therefore, numerical algorithms have been devised for this task. One major drawback of these numerical algorithms is the lack of an adequate stopping rule. In this paper, a stopping rule is proposed to alleviate this shortcoming while computing the Lyapunov spectrum of linear discrete-time random dynamical systems (i.e. linear systems with random parameters). The proposed stopping rule is based on upper bounds on the Lyapunov exponents, along with some results from finite state Markov chains and ergodic stochastic processes. However, only the largest Lyapunov exponent is address in this paper, for the computation of the remaining exponents follows a similar procedure.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117201714","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 : 1992-06-24DOI: 10.1109/ACC.1992.4175315
Richard D. Jones, J. Bossi
This paper describes the development and application of a nonlinear fin mixer to control aerodynamic vehicles during demanding flight maneuvers. Maneuvers that may be experienced by a bank-to-turn homing missile utilizing a proportional navigation guidance scheme often drive fin actuators into acceleration, rate and/or position limitations For vehicles where each fin is used to control multiple degrees-of-freedom, these saturations can lead to vehicle instability. This paper explores these regions of instability and develops a nonlinear fin mixer which utilizes information on the actuator limitations to eliminate these instabilities in an optimal manner. The paper presents an implementation of the nonlinear fin mixer in terms of a set of parallel dynamic systems and relates this implementation to that of an Artificial Neural Network. The improvements due to the implementation of the nonlinear mixer are demonstrated using a nonlinear Monte Carlo simulation of a bank-to-turn homing missile pursuing a maneuvering ground target.
{"title":"Development and Application of a Nonlinear Fin Mixer","authors":"Richard D. Jones, J. Bossi","doi":"10.1109/ACC.1992.4175315","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175315","url":null,"abstract":"This paper describes the development and application of a nonlinear fin mixer to control aerodynamic vehicles during demanding flight maneuvers. Maneuvers that may be experienced by a bank-to-turn homing missile utilizing a proportional navigation guidance scheme often drive fin actuators into acceleration, rate and/or position limitations For vehicles where each fin is used to control multiple degrees-of-freedom, these saturations can lead to vehicle instability. This paper explores these regions of instability and develops a nonlinear fin mixer which utilizes information on the actuator limitations to eliminate these instabilities in an optimal manner. The paper presents an implementation of the nonlinear fin mixer in terms of a set of parallel dynamic systems and relates this implementation to that of an Artificial Neural Network. The improvements due to the implementation of the nonlinear mixer are demonstrated using a nonlinear Monte Carlo simulation of a bank-to-turn homing missile pursuing a maneuvering ground target.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117340340","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792592
W. Clark, H. Robertshaw
Transmission of unwanted vibration is a problem which can be found in many different situations. These problems have been addressed in the past by passive techniques, either by designing mounts which inhibit the transmission of unwanted vibration or by designing effectively rigid structures (as in the case of space structures) whose resonances are out of the bandwidth of the incoming disturbances. More recently, active techniques have come to the forefront. Active vibration isolation techniques have the potential of providing better isolation performance both through reducing amplitudes of transmitted vibrations and by adapting to changes in the system or its disturbances. This paper presents the results of a study investigating the use of adaptive structures with force feedback (using classical compensators as well as LQR approaches) for active vibration isolation.
{"title":"Application of Adaptive Trusses to Vibration Isolation in Flexible Structures","authors":"W. Clark, H. Robertshaw","doi":"10.23919/ACC.1992.4792592","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792592","url":null,"abstract":"Transmission of unwanted vibration is a problem which can be found in many different situations. These problems have been addressed in the past by passive techniques, either by designing mounts which inhibit the transmission of unwanted vibration or by designing effectively rigid structures (as in the case of space structures) whose resonances are out of the bandwidth of the incoming disturbances. More recently, active techniques have come to the forefront. Active vibration isolation techniques have the potential of providing better isolation performance both through reducing amplitudes of transmitted vibrations and by adapting to changes in the system or its disturbances. This paper presents the results of a study investigating the use of adaptive structures with force feedback (using classical compensators as well as LQR approaches) for active vibration isolation.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120973235","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792212
A. Holohan, M. Safonov
In this paper, classical frequency-response multivariable comnpensator design is studied. This problem consists of chosing a linear controller which gives the sensitivity and complementary sensitivity functions desirable properties. The problem is given two formulations as optimal multivariable stability margin (km) synthesis (or ¿-synthesis, robustness margin synthesis) problems, thereby establishing the consistency with and unification of the present problem with modern robust control theory. These formulations are termed the nominal and the robust loop shaping problems. A quantitative assessment of how well the standard H¿-theory performs in this context is given for the multivariable case, using new bounds. The primary conclusion is that the existing H¿-theory does surprisingly well in handling multivariable problems with classical frequency response specifications.
{"title":"Nominal and Robust Loop Shaping","authors":"A. Holohan, M. Safonov","doi":"10.23919/ACC.1992.4792212","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792212","url":null,"abstract":"In this paper, classical frequency-response multivariable comnpensator design is studied. This problem consists of chosing a linear controller which gives the sensitivity and complementary sensitivity functions desirable properties. The problem is given two formulations as optimal multivariable stability margin (km) synthesis (or ¿-synthesis, robustness margin synthesis) problems, thereby establishing the consistency with and unification of the present problem with modern robust control theory. These formulations are termed the nominal and the robust loop shaping problems. A quantitative assessment of how well the standard H¿-theory performs in this context is given for the multivariable case, using new bounds. The primary conclusion is that the existing H¿-theory does surprisingly well in handling multivariable problems with classical frequency response specifications.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125827704","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792141
P. Singstad, H. Nordhus, K. Strand, Mangor Lien, L. B. Lyngmo, O. Moen
New methods for control of industrial LDPE (low density polyethene) autoclave reactors are presented in this paper. The control system is constructed to enhance product quality optimization and improve the operability and stability of the reactor. The new control is performed at two levels. At the basic level, the reactor pressure, the temperature profile and the production rates are controlled. Quality optimization is done at the supervisory level, where set points for the basic level controller are calculated. The paper contains details on the basic level system, which is a multivariable controller derived by use of nonlinear decoupling. The properties of this controller are shown in simulations. Comparisons are made with the conventional control that was used in the plant until recently. Finally, some results are presented from the use of the new controller at Statoil's LDPE plant in Bamble, Norway.
{"title":"Multivariable Non-linear Control of Industrial LDPE Autoclave Reactors","authors":"P. Singstad, H. Nordhus, K. Strand, Mangor Lien, L. B. Lyngmo, O. Moen","doi":"10.23919/ACC.1992.4792141","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792141","url":null,"abstract":"New methods for control of industrial LDPE (low density polyethene) autoclave reactors are presented in this paper. The control system is constructed to enhance product quality optimization and improve the operability and stability of the reactor. The new control is performed at two levels. At the basic level, the reactor pressure, the temperature profile and the production rates are controlled. Quality optimization is done at the supervisory level, where set points for the basic level controller are calculated. The paper contains details on the basic level system, which is a multivariable controller derived by use of nonlinear decoupling. The properties of this controller are shown in simulations. Comparisons are made with the conventional control that was used in the plant until recently. Finally, some results are presented from the use of the new controller at Statoil's LDPE plant in Bamble, Norway.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125870759","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792143
H. G. Pandit, R. Rhinehart, James B. Riggs
This paper reports experimental results of a nonlinear model-based controller applied to a lab-scale nonideal methanol-water distillation column. Both servo and regulatory control is demonstrated. Process characteristics include nonlinear multivariable interactions, nonideal thermodynamic behavior, significant disturbances, and disparate dynamics. A steady-state tray-to-tray model is developed, shown to adequately represent the process behavior, and is used in the Generic Model Control (GMC) law. Adjustable model parameters are tray efficiency and a vapor boilup bias.
{"title":"Experimental Demonstration of Nonlinear Model-Based Control of a Nonideal Binary Distillation Column","authors":"H. G. Pandit, R. Rhinehart, James B. Riggs","doi":"10.23919/ACC.1992.4792143","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792143","url":null,"abstract":"This paper reports experimental results of a nonlinear model-based controller applied to a lab-scale nonideal methanol-water distillation column. Both servo and regulatory control is demonstrated. Process characteristics include nonlinear multivariable interactions, nonideal thermodynamic behavior, significant disturbances, and disparate dynamics. A steady-state tray-to-tray model is developed, shown to adequately represent the process behavior, and is used in the Generic Model Control (GMC) law. Adjustable model parameters are tray efficiency and a vapor boilup bias.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126060391","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 : 1992-06-24DOI: 10.23919/ACC.1992.4792394
Scott A. Buddie, T. Georgiou, U. Ozguner, Malcolm C. Smith
This paper describes some control system experiments which were carried out on flexible structure facilities at the Jet Propulsion Laboratory (JPL) and the Wright Patterson Air Force Base (WPAFB). The feedback controllers were designed using the H∞ technique of weighted gap optimization to increase the structural damping and achieve robust control.
{"title":"Flexible structure experiments at JPL and WPAFB: H∞ controller designs","authors":"Scott A. Buddie, T. Georgiou, U. Ozguner, Malcolm C. Smith","doi":"10.23919/ACC.1992.4792394","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792394","url":null,"abstract":"This paper describes some control system experiments which were carried out on flexible structure facilities at the Jet Propulsion Laboratory (JPL) and the Wright Patterson Air Force Base (WPAFB). The feedback controllers were designed using the H∞ technique of weighted gap optimization to increase the structural damping and achieve robust control.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"71 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126135308","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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