Pub Date : 1992-06-24DOI: 10.1109/ACC.1992.4175675
L. El Ghaoui, V. Balakrishnan, E. Feron, Stephen P. Boyd
In this paper, we propose a robustness measure for LTI systems with causal, nonlinear diagonal perturbations with finite L2-gain. We propose an algorithm to reliably compute this quantity. We show how to find a state-feedback controller that achieves the global maximum of the robustness measure.
{"title":"On Maximizing a Robustness Measure for Structured Nonlinear Perturbations","authors":"L. El Ghaoui, V. Balakrishnan, E. Feron, Stephen P. Boyd","doi":"10.1109/ACC.1992.4175675","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175675","url":null,"abstract":"In this paper, we propose a robustness measure for LTI systems with causal, nonlinear diagonal perturbations with finite L2-gain. We propose an algorithm to reliably compute this quantity. We show how to find a state-feedback controller that achieves the global maximum of the robustness measure.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"28 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":"124113360","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.1992.4792135
N. Rousan
This paper deal with the pole location of a perturbed matrix A + B. Sufficient conditions are derived for the eigenvalues of A + B to located within a vertical strip in the complex plane. It is assumed that only the spectral norm of the perturbations E is given. Numerical example is presented for illustration.
{"title":"Constrained Pole Assignment Robustness","authors":"N. Rousan","doi":"10.23919/ACC.1992.4792135","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792135","url":null,"abstract":"This paper deal with the pole location of a perturbed matrix A + B. Sufficient conditions are derived for the eigenvalues of A + B to located within a vertical strip in the complex plane. It is assumed that only the spectral norm of the perturbations E is given. Numerical example is presented for illustration.","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":"124211896","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.1992.4792659
Z. Zang, R. Bitmead, M. Gevers
Many practical applications of control system design based on input-output measurements permit the repeated application of a system identification procedure operating on closed loop data together with successive refinement of the designed controller. Recently several iterative schemes for mutually enhanced plant identification and robust control design have been proposed [l]-[3]. In this paper we shall analyze the methodology of [1] from the viewpoint of closed loop signal conditioning and investigate the effect of the noise modelling error and plant modelling error on the closed loop performance.
{"title":"Disturbance Rejection: on-line refinement of controllers by closed loop modelling","authors":"Z. Zang, R. Bitmead, M. Gevers","doi":"10.23919/ACC.1992.4792659","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792659","url":null,"abstract":"Many practical applications of control system design based on input-output measurements permit the repeated application of a system identification procedure operating on closed loop data together with successive refinement of the designed controller. Recently several iterative schemes for mutually enhanced plant identification and robust control design have been proposed [l]-[3]. In this paper we shall analyze the methodology of [1] from the viewpoint of closed loop signal conditioning and investigate the effect of the noise modelling error and plant modelling error on the closed loop performance.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"24 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":"123236721","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.1992.4792765
F. Ghorbel, M. Spong
In this paper we derive a new adaptive corrective control law for a class of flexible joint robot manipulators with configuration-invariant inertia matrices. The control law consists of a fast controller to damp the elastic oscillations of the joints and a slow (corrective) controller designed based on the theory of integral manifolds for singularly perturbed nonlinear systems. We derive the first parameter update law that takes into consideration joint flexibility. We present detailed stability analysis using the composite Lyapunov function method.
{"title":"Adaptive Integral Manifold Control of Flexible Joint Robots with Configuration Invariant Inertia","authors":"F. Ghorbel, M. Spong","doi":"10.23919/ACC.1992.4792765","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792765","url":null,"abstract":"In this paper we derive a new adaptive corrective control law for a class of flexible joint robot manipulators with configuration-invariant inertia matrices. The control law consists of a fast controller to damp the elastic oscillations of the joints and a slow (corrective) controller designed based on the theory of integral manifolds for singularly perturbed nonlinear systems. We derive the first parameter update law that takes into consideration joint flexibility. We present detailed stability analysis using the composite Lyapunov function method.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"18 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":"123341916","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.1992.4792061
Z. Qu, J. Dorsey, J. Bond, J. McCalley
For transient stability of a synchromous machine connected to an infinite bus, a new controller is introduced. The control is continuous, guarantees global exponential stability, and robust with respect to possible variations of system parameters. The design procedure is based on a straightforward application of Lyapunov's direct method. Neither local linearization nor feedback linearization is required. The design procedure as well as the resulting controller can be easily extended to a multimachine power system. Digital simulation is included to demonstrate the effectiveness of the control.
{"title":"Continuous Control Design for Synchronous Machines","authors":"Z. Qu, J. Dorsey, J. Bond, J. McCalley","doi":"10.23919/ACC.1992.4792061","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792061","url":null,"abstract":"For transient stability of a synchromous machine connected to an infinite bus, a new controller is introduced. The control is continuous, guarantees global exponential stability, and robust with respect to possible variations of system parameters. The design procedure is based on a straightforward application of Lyapunov's direct method. Neither local linearization nor feedback linearization is required. The design procedure as well as the resulting controller can be easily extended to a multimachine power system. Digital simulation is included to demonstrate the effectiveness of the control.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"55 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":"123504395","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.1992.4792532
Xiaoning Dong, Guanrong Chen
Themin efforts im curret resach on feedback control of (Hnear and nonlinea) dynamic ystem have been focuing on et s h an unsable system or c g a stable system for cetain ing purpos. Recently, it has been observed tha titing trol stratei for dcatic -systems is needed n som ara suh as biomedial sciences and neural . This can be seen frown for example, Freemn's aricle (1V9), where It stes: "Conceivaby, the ochas we have obseved is impy an inetbe by-product a the brain's comLity, including its riad . Yet or evidence suggesb that the l c of the hm is more than an accdental by-product Indeed, it may be the ciief property hatmkes the brain dHEeret frm an artiftcial-iteigence machine." At the present ste, however, wry lttle is knownashow to control a chaoic dynamic system, pa a a discretetime chaotic system for some practical purpo . T" isyet some current -research on the toi by Huble (1M7), Jacks (1991) and Ott, Grebogi and Yorke (1990), and the related references cited therein. Other related papen indu& Ditto, Rause and Spano (1990) ad Hunt (1991). May deep insights and new ideas -can be found from these papers as how to understand the dynamic behavior of a complex systemand how to control it, where tih mai of Ott, Grebog and Yorke is to use a small and caefuly chos perturbation to control ("ttabls") :an unstable periodic orbit and that a Hfibler and Jackson s to use cmtrol without fdbck. It states imJason (1991) that once the control is initiated there is no need to further moitor the system's dynaiis, no to feedback this inormatiam order to -sustain the controL This is -obviouly very important in system which have chatic dynamics, since their sensitivity to small erors makes -them very difficult, -and probably impobe, to control usi conventional fedback methods over all of their phase space." Despite this negtive coment on te use of conventional feedback cotrol tecniques for chaotic dynamic systems, we present in this paper some interesting observations, analysis and simulation results on the control of chaotic Hinon svstems using conventional feedback control strategies. We demonstrate that the conventional feedback approach not only works for discrete-time chaotic dynamic systems, as shown in Chen and Doug (1992) and in this p'per, but als applies to continuous-tine chotc systems (see Chen and Dong (1991)). 2. Feedback control of the Hinon system Consider the nlinear H sstem { zi(n + 1) p,(-n) +zdtn)+ z,2(n + 1) =qzr(n), with suitablychosenreal parawtrp andq, which display chaotic ashoainF lkwIthp= lJad q =02 for lar m -to u: (a=-)
{"title":"Controlling Discrete-Time Chaotic Systems","authors":"Xiaoning Dong, Guanrong Chen","doi":"10.23919/ACC.1992.4792532","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792532","url":null,"abstract":"Themin efforts im curret resach on feedback control of (Hnear and nonlinea) dynamic ystem have been focuing on et s h an unsable system or c g a stable system for cetain ing purpos. Recently, it has been observed tha titing trol stratei for dcatic -systems is needed n som ara suh as biomedial sciences and neural . This can be seen frown for example, Freemn's aricle (1V9), where It stes: \"Conceivaby, the ochas we have obseved is impy an inetbe by-product a the brain's comLity, including its riad . Yet or evidence suggesb that the l c of the hm is more than an accdental by-product Indeed, it may be the ciief property hatmkes the brain dHEeret frm an artiftcial-iteigence machine.\" At the present ste, however, wry lttle is knownashow to control a chaoic dynamic system, pa a a discretetime chaotic system for some practical purpo . T\" isyet some current -research on the toi by Huble (1M7), Jacks (1991) and Ott, Grebogi and Yorke (1990), and the related references cited therein. Other related papen indu& Ditto, Rause and Spano (1990) ad Hunt (1991). May deep insights and new ideas -can be found from these papers as how to understand the dynamic behavior of a complex systemand how to control it, where tih mai of Ott, Grebog and Yorke is to use a small and caefuly chos perturbation to control (\"ttabls\") :an unstable periodic orbit and that a Hfibler and Jackson s to use cmtrol without fdbck. It states imJason (1991) that once the control is initiated there is no need to further moitor the system's dynaiis, no to feedback this inormatiam order to -sustain the controL This is -obviouly very important in system which have chatic dynamics, since their sensitivity to small erors makes -them very difficult, -and probably impobe, to control usi conventional fedback methods over all of their phase space.\" Despite this negtive coment on te use of conventional feedback cotrol tecniques for chaotic dynamic systems, we present in this paper some interesting observations, analysis and simulation results on the control of chaotic Hinon svstems using conventional feedback control strategies. We demonstrate that the conventional feedback approach not only works for discrete-time chaotic dynamic systems, as shown in Chen and Doug (1992) and in this p'per, but als applies to continuous-tine chotc systems (see Chen and Dong (1991)). 2. Feedback control of the Hinon system Consider the nlinear H sstem { zi(n + 1) p,(-n) +zdtn)+ z,2(n + 1) =qzr(n), with suitablychosenreal parawtrp andq, which display chaotic ashoainF lkwIthp= lJad q =02 for lar m -to u: (a=-)","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"18 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":"123674033","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.1992.4792774
Zhang Hong Hua, Zhang Hong Yue
Estimating the time-varying parameter ¿ko, of linear model yk = ¿kr¿ko + vk is attracting many experts attension in the field of system identification and adaptive control. Guo[1990] established the convergence and stability properties of Kalman filter based parameter estimator for the model. Chen [1990] proved the consistency of LMS-type algorithm for estimating the parameter ¿ko. However, there is still no result on the properties of LS- type estimator for the model. In this paper, we propose the concept of generalized consistency of algorithms for estimating time-varying parameter, thus construct a kind of least-square(LS) algorithm which has the property of generalized consistency under the condition of "conditional richness".
{"title":"LS-Type Estimation for Time-Varying Parameters","authors":"Zhang Hong Hua, Zhang Hong Yue","doi":"10.23919/ACC.1992.4792774","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792774","url":null,"abstract":"Estimating the time-varying parameter ¿<inf>k</inf><sup>o</sup>, of linear model y<inf>k</inf> = ¿<inf>k</inf><sup>r</sup>¿<inf>k</inf><sup>o</sup> + v<inf>k</inf> is attracting many experts attension in the field of system identification and adaptive control. Guo[1990] established the convergence and stability properties of Kalman filter based parameter estimator for the model. Chen [1990] proved the consistency of LMS-type algorithm for estimating the parameter ¿<inf>k</inf><sup>o</sup>. However, there is still no result on the properties of LS- type estimator for the model. In this paper, we propose the concept of generalized consistency of algorithms for estimating time-varying parameter, thus construct a kind of least-square(LS) algorithm which has the property of generalized consistency under the condition of \"conditional richness\".","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"130 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":"116263565","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.1992.4792581
Kok-Meng Lee, Xiao-an Wang
This paper presents the dynamic modeling and the control strategy of an interesting three degrees-of-freedom (DOF) variable-reluctance (VR) spherical motor which offers some attractive features by combining pitch, roll, and yaw motion in a single joint. Both the forward dynamics which determine the motion as a result of activating the electromagnetic coils and the inverse model which determine the coil excitations required to generate the desired torque are derived. The model represents the first detailed study on the inverse dynamic, and yet, permits a spectrum of design configurations to be analyzed. The solution to the forward dynamics of the spherical motor is unique but the inverse model may have multiple solutions and therefore an optimal choice is required. The control strategy of a VR spherical motor consists of two puts; namely, the control of the rotor dynamic in terms of the actuating torque, and the determination of the optimal inputs for the required torque. An optimal choice is determined from an unconstrained optimization problem. The implementation issues in determining the optimal control input vector in real-time are also addressed.
{"title":"Dynamic Modeling and Control of a Ball-Joint-Like Variable-Reluctance Spherical Motor","authors":"Kok-Meng Lee, Xiao-an Wang","doi":"10.23919/ACC.1992.4792581","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792581","url":null,"abstract":"This paper presents the dynamic modeling and the control strategy of an interesting three degrees-of-freedom (DOF) variable-reluctance (VR) spherical motor which offers some attractive features by combining pitch, roll, and yaw motion in a single joint. Both the forward dynamics which determine the motion as a result of activating the electromagnetic coils and the inverse model which determine the coil excitations required to generate the desired torque are derived. The model represents the first detailed study on the inverse dynamic, and yet, permits a spectrum of design configurations to be analyzed. The solution to the forward dynamics of the spherical motor is unique but the inverse model may have multiple solutions and therefore an optimal choice is required. The control strategy of a VR spherical motor consists of two puts; namely, the control of the rotor dynamic in terms of the actuating torque, and the determination of the optimal inputs for the required torque. An optimal choice is determined from an unconstrained optimization problem. The implementation issues in determining the optimal control input vector in real-time are also addressed.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"34 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":"114719430","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.1992.4792335
J. Broussard, Chris S. McLean
A multiple plant model formulation with a quadratic cost function has been shown to be a method for synthesizing stabilizing feedback controllers based on Kharitonov's theorem. An algorithm which solves the multiple plant model quadratic cost function problem is presented in this paper. The algorithm starts with a different full state feedback gain for each model then attempts to converge each gain to the fixed Kharitonov feedback gain. The Kharitonov feedback gain can have an output feedback or decentralized output feedback structure. An extension of the algorithm to synthesizing optimal gain scheduled control laws over a regime of plant models for centralized and decentralized output feedback is also presented.
{"title":"An Algorithm for Kharitonov Synthesis","authors":"J. Broussard, Chris S. McLean","doi":"10.23919/ACC.1992.4792335","DOIUrl":"https://doi.org/10.23919/ACC.1992.4792335","url":null,"abstract":"A multiple plant model formulation with a quadratic cost function has been shown to be a method for synthesizing stabilizing feedback controllers based on Kharitonov's theorem. An algorithm which solves the multiple plant model quadratic cost function problem is presented in this paper. The algorithm starts with a different full state feedback gain for each model then attempts to converge each gain to the fixed Kharitonov feedback gain. The Kharitonov feedback gain can have an output feedback or decentralized output feedback structure. An extension of the algorithm to synthesizing optimal gain scheduled control laws over a regime of plant models for centralized and decentralized output feedback is also presented.","PeriodicalId":297258,"journal":{"name":"1992 American Control Conference","volume":"46 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":"114783818","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.1992.4175096
W. Chai, N. Loh, C. Lin, N. Coleman
This paper deals with the design of robust digital controllers for gun-turret systems which exhibit large parameter and high frequency unmodeled uncertainties. A method based on quadratic stability criteria is developed to search control laws which achieve possible maximum tolerance for system uncertainties while remaining high degree of tracking and reulating precision. Simulated results are shown and the superiority of the proposed method is demonstrated.
{"title":"Robust Digital Control of Gun Turret Systems","authors":"W. Chai, N. Loh, C. Lin, N. Coleman","doi":"10.1109/ACC.1992.4175096","DOIUrl":"https://doi.org/10.1109/ACC.1992.4175096","url":null,"abstract":"This paper deals with the design of robust digital controllers for gun-turret systems which exhibit large parameter and high frequency unmodeled uncertainties. A method based on quadratic stability criteria is developed to search control laws which achieve possible maximum tolerance for system uncertainties while remaining high degree of tracking and reulating precision. Simulated results are shown and the superiority of the proposed method is demonstrated.","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":"124375218","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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