Pub Date : 1992-06-24DOI: 10.1109/ACC.1992.4175453
Zhaoshu Feng
Multidelay linear composite (or interconnected, large-scale) stochastic systems with structured and unstructured uncertainties are considered. By using the Lyapunov functionals, the allowable bounds for the structured and unstructured uncertainties as well as the intensities of the stochastic disturbances are established to maintain the mean-square asymptotic stability of the composite stochastic systems. For the unstructured uncertain systems, the robustness bounds are obtained directly from the system matrices even without solving the Lyapunov equation. A specific example is given to illustrate the results.
{"title":"Multidelay Linear Composite Stochastic Systems with Structured and Unstructured Uncertainties: Robust Mean-Square Stability Independent of Delay","authors":"Zhaoshu Feng","doi":"10.1109/ACC.1992.4175453","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175453","url":null,"abstract":"Multidelay linear composite (or interconnected, large-scale) stochastic systems with structured and unstructured uncertainties are considered. By using the Lyapunov functionals, the allowable bounds for the structured and unstructured uncertainties as well as the intensities of the stochastic disturbances are established to maintain the mean-square asymptotic stability of the composite stochastic systems. For the unstructured uncertain systems, the robustness bounds are obtained directly from the system matrices even without solving the Lyapunov equation. A specific example is given to illustrate the results.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"3 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":"121991850","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.1992.4792588
M. Kaliski
The design of a finite-state controller entails not just the design of the finite-state Compensator itself, but of the analog-to-digital and digital-to-analog converters that interface the plant with the compensator. This paper deals with the optimal design of the digital-to-analog converter (DAC). Algorithms for optimal converter design are described and examples are given to illustrate the methodology.
{"title":"Optimal DAC Design in Finite-State Controller Architectures","authors":"M. Kaliski","doi":"10.23919/ACC.1992.4792588","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792588","url":null,"abstract":"The design of a finite-state controller entails not just the design of the finite-state Compensator itself, but of the analog-to-digital and digital-to-analog converters that interface the plant with the compensator. This paper deals with the optimal design of the digital-to-analog converter (DAC). Algorithms for optimal converter design are described and examples are given to illustrate the methodology.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"59 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":"123991895","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.1992.4792120
S. Leonhardt, C. Schmidt, K. Voigt, R. Isermann
In this paper, a dynamical engine test stand is presented which may be used as an advanced tool for combustion engine optimization and control. To simulate the dynamics of load changes occuring in a driving vehicle, a model of the car body including drive line, differential and wheels and a driver simulation have been developed and implemented on the test stand. Simulation results are presented and discussed.
{"title":"Real-Time Simulation of Drive Chaines for Use in Dynamical Engine Test Stands","authors":"S. Leonhardt, C. Schmidt, K. Voigt, R. Isermann","doi":"10.23919/ACC.1992.4792120","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792120","url":null,"abstract":"In this paper, a dynamical engine test stand is presented which may be used as an advanced tool for combustion engine optimization and control. To simulate the dynamics of load changes occuring in a driving vehicle, a model of the car body including drive line, differential and wheels and a driver simulation have been developed and implemented on the test stand. Simulation results are presented and discussed.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"38 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":"124471018","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.1992.4792575
M. Dahleh
In this paper we will analyze the SPR condition in output error adaptive estimation schemes. An idea of Tomizuka is used to reduce the restrictive nature of the SPR condition, and is strengthened by exploiting certain a priori information on the uncertainty structure of the underlying plant, which is represented by an interval plant description. New results for the analysis of these types of systems are obtained, and are subsequently incorporated in the analysis of the adaptive system.
{"title":"On the SPR Condition in Output Error Estimation Schemes","authors":"M. Dahleh","doi":"10.23919/ACC.1992.4792575","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792575","url":null,"abstract":"In this paper we will analyze the SPR condition in output error adaptive estimation schemes. An idea of Tomizuka is used to reduce the restrictive nature of the SPR condition, and is strengthened by exploiting certain a priori information on the uncertainty structure of the underlying plant, which is represented by an interval plant description. New results for the analysis of these types of systems are obtained, and are subsequently incorporated in the analysis of the adaptive system.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"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":"124606108","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.1992.4792162
H. Toivonen
Sampling prefilters with an H∞, performance criterion are studied. An important application area for sampling prefilters in H∞, is the problem of designing optimal prefilters in the context of sampled-data H∞, optimal control. The problem is to estimate a given linear function of the state of a continuous-time plant at discrete time instants. In this problem the process noise is a continuous L2-signal, and the estimation error is a discrete signal in l2. A continuous-time sampling prefilter is then designed so as to achieve an H∞, performance bound. Conditions for the existence of a sampling prefilter that satisfies the performance bound are obtained, and explicit formulae for a filter which achieves the performance bound are given. It is also shown how the filters studied in this paper can be applied to the design of optimal prefilters in sampled-data H∞, optimal control.
{"title":"Sampling prefilters with an H∞ criterion","authors":"H. Toivonen","doi":"10.23919/ACC.1992.4792162","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792162","url":null,"abstract":"Sampling prefilters with an H<sub>∞</sub>, performance criterion are studied. An important application area for sampling prefilters in H<sub>∞</sub>, is the problem of designing optimal prefilters in the context of sampled-data H<sub>∞</sub>, optimal control. The problem is to estimate a given linear function of the state of a continuous-time plant at discrete time instants. In this problem the process noise is a continuous L<sub>2</sub>-signal, and the estimation error is a discrete signal in l<sub>2</sub>. A continuous-time sampling prefilter is then designed so as to achieve an H<sub>∞</sub>, performance bound. Conditions for the existence of a sampling prefilter that satisfies the performance bound are obtained, and explicit formulae for a filter which achieves the performance bound are given. It is also shown how the filters studied in this paper can be applied to the design of optimal prefilters in sampled-data H<sub>∞</sub>, optimal control.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"9 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":"124789912","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.1992.4175360
Chiu-Pin Cheng, Tzuu-Hseng S. Li, Ching-Fang Lin
This paper applies a newly developed optimal dynamic output feedback control method to control the angle of attack ¿ and pitch angle ¿ (for longitudinal control), and the angle of sideslip ß and roll angle ø (for lateral-directional control), so that pilot can maneuver and control the airplane to the desired flight attitude precisely. The control design model is based on the linearized aircraft model. The unmodeled high frequency dynamics are ignored in this model. Singular perturbation method is used to analyze the effects of the unmodeled high frequency dynamics of the proposed controller. It is shown that the unmodeled dynamics affect the poles of the closed-loop system in the order of O(¿) only. The computer simulations verify the desired performance of the proposed scheme.
{"title":"A New Flight Control Design Scheme using Optimal Dynamic Output Feedback","authors":"Chiu-Pin Cheng, Tzuu-Hseng S. Li, Ching-Fang Lin","doi":"10.1109/ACC.1992.4175360","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175360","url":null,"abstract":"This paper applies a newly developed optimal dynamic output feedback control method to control the angle of attack ¿ and pitch angle ¿ (for longitudinal control), and the angle of sideslip ß and roll angle ø (for lateral-directional control), so that pilot can maneuver and control the airplane to the desired flight attitude precisely. The control design model is based on the linearized aircraft model. The unmodeled high frequency dynamics are ignored in this model. Singular perturbation method is used to analyze the effects of the unmodeled high frequency dynamics of the proposed controller. It is shown that the unmodeled dynamics affect the poles of the closed-loop system in the order of O(¿) only. The computer simulations verify the desired performance of the proposed scheme.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"61 8 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":"128348591","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.1992.4792689
Xiaoling Chen, M. Shayman
A class of constrained nonlinear systems is studied. We first characterize the constrained submanifold and the constrained dynamics without using the vector relative degree. Applying the nonlinear feedback and exact linearization techniques to constrained systems, we discuss several control problems for the constrained dynamics such as asymptotic stabilization, asymptotically tracking reference outputs, etc. Our results for the control of constrained nonlinear systems extend previous results, which are based on linear approximation and linear feedback.
{"title":"Dynamics and Control of Constrained Nonlinear Systems with Application to Robotics","authors":"Xiaoling Chen, M. Shayman","doi":"10.23919/ACC.1992.4792689","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792689","url":null,"abstract":"A class of constrained nonlinear systems is studied. We first characterize the constrained submanifold and the constrained dynamics without using the vector relative degree. Applying the nonlinear feedback and exact linearization techniques to constrained systems, we discuss several control problems for the constrained dynamics such as asymptotic stabilization, asymptotically tracking reference outputs, etc. Our results for the control of constrained nonlinear systems extend previous results, which are based on linear approximation and linear feedback.","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":"128586325","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.1992.4792699
M. Spathopoulos, B.D. Hofig
In this paper we present an instrumental variable algorithm with a finite-data window in order to estimate recursively frequencies of sinusoids in noise. The instruments are sinewaves at preselected frequencies. The consistency behaviour of this technique is studied.
{"title":"On the Fourier Instrumental Variable Algorithm","authors":"M. Spathopoulos, B.D. Hofig","doi":"10.23919/ACC.1992.4792699","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792699","url":null,"abstract":"In this paper we present an instrumental variable algorithm with a finite-data window in order to estimate recursively frequencies of sinusoids in noise. The instruments are sinewaves at preselected frequencies. The consistency behaviour of this technique is studied.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"73 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":"129616189","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.1992.4792648
R. Skelton, J. H. Kim
For a given plant, this paper begins with the assumption that a controller is given which yields desired closed-loop properties. Both the controller and the original plant are redesigned so as to yield the same original closed-loop properties with a minimal active control effort. The initial linear controller before plant redesign is not restricted; it could be static or dynamic. We call this the optimal mix problem since we optimally mix parameter changes of the plant with parameter changes of the controller. The problem requires matching the entire plant matrix of the original system (before and after redesign). The problem is reduced to a standard mathematical quadratic program. Hence globally optimal answer is obtained in a finite number of steps. The applicability of the optimal mix theory to a general mechanical system is demonstrated by numerical examples of a spring-mass-damper system.
{"title":"The Optimal Mix of Structure Redesign and Active Dynamic Controllers","authors":"R. Skelton, J. H. Kim","doi":"10.23919/ACC.1992.4792648","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792648","url":null,"abstract":"For a given plant, this paper begins with the assumption that a controller is given which yields desired closed-loop properties. Both the controller and the original plant are redesigned so as to yield the same original closed-loop properties with a minimal active control effort. The initial linear controller before plant redesign is not restricted; it could be static or dynamic. We call this the optimal mix problem since we optimally mix parameter changes of the plant with parameter changes of the controller. The problem requires matching the entire plant matrix of the original system (before and after redesign). The problem is reduced to a standard mathematical quadratic program. Hence globally optimal answer is obtained in a finite number of steps. The applicability of the optimal mix theory to a general mechanical system is demonstrated by numerical examples of a spring-mass-damper system.","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":"129617755","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.1992.4792164
A. Khayatian, David G. Taylor
In this paper, we study pulse-width modulated (PWM) control systems without assuming an arbitrarily high switching frequency. Although we restrict our investigation to linear continuous open-loop dynamics, the PWM process introduces significant nonliearities into the corresponding sampled-data models. Both single-rate and multirate approaches to PWM control are considered, and the latter type of control is shown to be more useful from the point of view of establishing desired equilibrium points. Conditions are found under which the sampled-data models are feedback linearizable, and design techniques are described which can achieve asymptotic regulation or tracking, using either state or output feedback.
{"title":"Feedback Control of Linear Continuous Systems by Pulse-Width Modulation","authors":"A. Khayatian, David G. Taylor","doi":"10.23919/ACC.1992.4792164","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792164","url":null,"abstract":"In this paper, we study pulse-width modulated (PWM) control systems without assuming an arbitrarily high switching frequency. Although we restrict our investigation to linear continuous open-loop dynamics, the PWM process introduces significant nonliearities into the corresponding sampled-data models. Both single-rate and multirate approaches to PWM control are considered, and the latter type of control is shown to be more useful from the point of view of establishing desired equilibrium points. Conditions are found under which the sampled-data models are feedback linearizable, and design techniques are described which can achieve asymptotic regulation or tracking, using either state or output feedback.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"60 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":"127228326","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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