In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizing transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.
{"title":"Position control by feedback linearization for a simplified helicopter model","authors":"S. Rebeschiess, M. Roloff","doi":"10.1109/CCA.1999.806165","DOIUrl":"https://doi.org/10.1109/CCA.1999.806165","url":null,"abstract":"In this paper we describe a method for angular pitch control with feedback linearization for a laboratory helicopter model. Linear angular control can only be applied in a small angle interval. Better control can be obtained by using a linearizing transformation. This transformation tends to be very complex. For the application in this paper it can be shown that a simplified transformation can be sufficient for achieving good control results.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131994893","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}
This paper formulates the problem of generating structural design constraints for spaceborne precision pointing systems as a robust performance problem. This problem is relevant during the initial requirement flow-down and preliminary design phase for these types of systems. Using a nominal controller design, which satisfies the performance requirements on a nominal plant model, frequency dependent uncertainty weights are chosen such that a compromise between simplicity in control architecture and feasibility of mechanical design are made. The analysis problem is formulated as a structural singular value test. The procedure is demonstrated on a single-axis model of a gimbal inertial pointing system when the inertial measurement device is either on or off the gimbal.
{"title":"Generation of structural design constraints for spaceborne precision pointing systems","authors":"G. Becker, R. Cubalchini, Q. Tham, J. Anagnost","doi":"10.1109/CCA.1999.806145","DOIUrl":"https://doi.org/10.1109/CCA.1999.806145","url":null,"abstract":"This paper formulates the problem of generating structural design constraints for spaceborne precision pointing systems as a robust performance problem. This problem is relevant during the initial requirement flow-down and preliminary design phase for these types of systems. Using a nominal controller design, which satisfies the performance requirements on a nominal plant model, frequency dependent uncertainty weights are chosen such that a compromise between simplicity in control architecture and feasibility of mechanical design are made. The analysis problem is formulated as a structural singular value test. The procedure is demonstrated on a single-axis model of a gimbal inertial pointing system when the inertial measurement device is either on or off the gimbal.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132119279","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}
This paper proposes a simultaneous tuning approach for power system damping controllers which seems better able than current SISO-based methods to cope with the foreseeable increase in system complexity and adverse interactions. To tackle the most difficult situations, the retained control architecture comprises several degrees-of-freedom in terms of dynamic feedback loops, each consisting of a high-order differential filter. The tuning of these flexible controllers is then performed by minimizing a selective modal performance index in the parameter space. Adding stability and robustness constraints greatly improves the engineering significance of the resulting design. Three examples adapted from the literature are used for illustration: a robust power system stabilizer (PSS) for a single-machine infinite-bus system with multiple operating points, a thyristor-controlled series capacitor (TCSC) controller for a large power system, and a coordinated design of multiple PSSs for a two-area/four-machine test system.
{"title":"Optimization-based tuning and coordination of flexible damping controllers for bulk power systems","authors":"I. Kamwa, G. Trudel, D. Lefebvre","doi":"10.1109/CCA.1999.807773","DOIUrl":"https://doi.org/10.1109/CCA.1999.807773","url":null,"abstract":"This paper proposes a simultaneous tuning approach for power system damping controllers which seems better able than current SISO-based methods to cope with the foreseeable increase in system complexity and adverse interactions. To tackle the most difficult situations, the retained control architecture comprises several degrees-of-freedom in terms of dynamic feedback loops, each consisting of a high-order differential filter. The tuning of these flexible controllers is then performed by minimizing a selective modal performance index in the parameter space. Adding stability and robustness constraints greatly improves the engineering significance of the resulting design. Three examples adapted from the literature are used for illustration: a robust power system stabilizer (PSS) for a single-machine infinite-bus system with multiple operating points, a thyristor-controlled series capacitor (TCSC) controller for a large power system, and a coordinated design of multiple PSSs for a two-area/four-machine test system.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133049595","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}
Presents a testbed for vehicle control experiments: The Illinois Roadway Simulator (IRS). This is a scaled roadway suitable for easily visualizing preliminary vehicle control studies. The concept of the IRS is given along with the details of its design and construction. A review of vehicle dynamics gives the standard bicycle model for linear operating conditions. The parameters of the model are then obtained for representative IRS vehicles. The resulting vehicle dynamics are then compared with dynamics of full-scale vehicles for dynamic similitude. The dynamic similitude comparison is the key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles. A series of experimental verifications are used to match the identified vehicle dynamics to the responses predicted by the standard vehicle model with some additional augmentations.
{"title":"A scaled testbed for vehicle control: the IRS","authors":"S. Brennan, A. Alleyne","doi":"10.1109/CCA.1999.806652","DOIUrl":"https://doi.org/10.1109/CCA.1999.806652","url":null,"abstract":"Presents a testbed for vehicle control experiments: The Illinois Roadway Simulator (IRS). This is a scaled roadway suitable for easily visualizing preliminary vehicle control studies. The concept of the IRS is given along with the details of its design and construction. A review of vehicle dynamics gives the standard bicycle model for linear operating conditions. The parameters of the model are then obtained for representative IRS vehicles. The resulting vehicle dynamics are then compared with dynamics of full-scale vehicles for dynamic similitude. The dynamic similitude comparison is the key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles. A series of experimental verifications are used to match the identified vehicle dynamics to the responses predicted by the standard vehicle model with some additional augmentations.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115721200","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}
Vibration control has been identified by wood products industry as one of the key technologies for increasing wood recovery in wood machining. This paper presents results of a research project for active vibration control of circular saws using magnetic actuators. An active control system is developed to increase wood recovery by reducing saw blade vibration. For online estimation and control of vibration characteristics, a state-space model is developed based on the finite element model analysis and experimental measurement. The characteristics of different vibration modes is estimated online by a Kalman filler based state estimator. A state feedback controller design is then implemented online and good clamping results have been achieved.
{"title":"Estimation and control of vibrations of circular saws","authors":"X.G. Wang, F.J. Xi, Daming Li, Zhong Qin","doi":"10.1109/CCA.1999.806698","DOIUrl":"https://doi.org/10.1109/CCA.1999.806698","url":null,"abstract":"Vibration control has been identified by wood products industry as one of the key technologies for increasing wood recovery in wood machining. This paper presents results of a research project for active vibration control of circular saws using magnetic actuators. An active control system is developed to increase wood recovery by reducing saw blade vibration. For online estimation and control of vibration characteristics, a state-space model is developed based on the finite element model analysis and experimental measurement. The characteristics of different vibration modes is estimated online by a Kalman filler based state estimator. A state feedback controller design is then implemented online and good clamping results have been achieved.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114527905","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 model-based recurrent neural network (MBRNN) is introduced for modeling nonlinear dynamic systems. The topology of MBRNN as well as its initial weights are defined according to the linearized state-space model of the plant. As such, the MBRNN has the ability to incorporate the analytical knowledge of the plant in its formulation. With its original topology intact, the MBRNN can then be trained to represent the plant nonlinearities through modifying its node activation functions, which consist of contours of Gaussian radial basis functions (RBFs). Training involves adjusting the weights of the RBFs so as to modify the contours representing the activation functions. The performance of the MBRNN is demonstrated via several examples. The results indicate that it requires much shorter training than needed by ordinary recurrent networks. This training efficiency is attributed to the MBRNN's fixed topology, which is independent of training.
{"title":"Model-based recurrent neural network for modeling nonlinear dynamic systems","authors":"C. Gan, K. Danai","doi":"10.1109/CCA.1999.801236","DOIUrl":"https://doi.org/10.1109/CCA.1999.801236","url":null,"abstract":"A model-based recurrent neural network (MBRNN) is introduced for modeling nonlinear dynamic systems. The topology of MBRNN as well as its initial weights are defined according to the linearized state-space model of the plant. As such, the MBRNN has the ability to incorporate the analytical knowledge of the plant in its formulation. With its original topology intact, the MBRNN can then be trained to represent the plant nonlinearities through modifying its node activation functions, which consist of contours of Gaussian radial basis functions (RBFs). Training involves adjusting the weights of the RBFs so as to modify the contours representing the activation functions. The performance of the MBRNN is demonstrated via several examples. The results indicate that it requires much shorter training than needed by ordinary recurrent networks. This training efficiency is attributed to the MBRNN's fixed topology, which is independent of training.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117093535","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}
Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimize the required active control effort to satisfy given output variance constraints and robust performance constraints. The problem is formulated as an iterative sequential control design followed by control/structure redesign. Each step of the iterative algorithm is formulated as a linear matrix inequality (LMI) optimization problem that can be solved effectively using available LMI solvers. Convergence of the proposed algorithm to a solution that provides improved control effort and robust stability compared to the single-step structural and control design is guaranteed. Both static state-feedback and dynamic output feedback problems are considered.
{"title":"Integrated structural and control design for structural systems via LMIs","authors":"A. Mayzus, K. Grigoriadis","doi":"10.1109/CCA.1999.806146","DOIUrl":"https://doi.org/10.1109/CCA.1999.806146","url":null,"abstract":"Iterative redesign techniques are proposed to integrate the design of the structural parameters and the active control parameters for vector second-order lumped-parameter structural systems. The objective is to minimize the required active control effort to satisfy given output variance constraints and robust performance constraints. The problem is formulated as an iterative sequential control design followed by control/structure redesign. Each step of the iterative algorithm is formulated as a linear matrix inequality (LMI) optimization problem that can be solved effectively using available LMI solvers. Convergence of the proposed algorithm to a solution that provides improved control effort and robust stability compared to the single-step structural and control design is guaranteed. Both static state-feedback and dynamic output feedback problems are considered.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115106500","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}
Digital based excitation control systems (ECSs) with microprocessors or PCs are coming up very fast and replacing analog controllers for excitation. The ECS model ST4B is a fast responding digital based ECS incorporating proportional integral controls, recently proposed by IEEE. Detailed state space model of ST4B with a single machine connected to infinite bus (SMIB) has been developed to provide a complete description and a thorough insight of the model. SMIB has been modelled in terms of K-constants arrived at based on a detailed analysis by the author (1998). The chosen significant parameters of ECS, voltage regulator gains K/sub pr/ and K/sub ir/ and time constant T/sub A/, have been varied over a wide range and time response and frequency response characteristics have been derived through simulation and computation, using specially developed programmes along with the software package MATLAB-SIMULINK, and the best values of the parameters arrived at. As K/sub pr/ and K/sub ir/ increase up to an optimum value, the time responses improve and for higher values of gains the responses tend to become uneven and oscillatory.
{"title":"Development of state space model and study of performance characteristics of digital based excitation control system ST4B with single machine connected to infinite bus","authors":"S. Rangnekar","doi":"10.1109/CCA.1999.801187","DOIUrl":"https://doi.org/10.1109/CCA.1999.801187","url":null,"abstract":"Digital based excitation control systems (ECSs) with microprocessors or PCs are coming up very fast and replacing analog controllers for excitation. The ECS model ST4B is a fast responding digital based ECS incorporating proportional integral controls, recently proposed by IEEE. Detailed state space model of ST4B with a single machine connected to infinite bus (SMIB) has been developed to provide a complete description and a thorough insight of the model. SMIB has been modelled in terms of K-constants arrived at based on a detailed analysis by the author (1998). The chosen significant parameters of ECS, voltage regulator gains K/sub pr/ and K/sub ir/ and time constant T/sub A/, have been varied over a wide range and time response and frequency response characteristics have been derived through simulation and computation, using specially developed programmes along with the software package MATLAB-SIMULINK, and the best values of the parameters arrived at. As K/sub pr/ and K/sub ir/ increase up to an optimum value, the time responses improve and for higher values of gains the responses tend to become uneven and oscillatory.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124700117","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}
G. Fernholz, Wei Wang, S. Engell, K. Fougner, J.-P. Bredehoft
Reactive distillation integrates reaction and separation into one apparatus and offers the possibility to overcome restrictions given by chemical and phase equilibria. The batch and semibatch modes permit a more flexible operation compared to the continuous case especially for multi product plants. Here the heterogeneously catalysed esterification of methanol and acetic acid in a reactive distillation column which is operated in semibatch mode is investigated. The solution of a minimum batch time problem defines the optimal trajectory of the process. The task of feedback control is to track this trajectory in the presence of disturbances and model uncertainties. Due to the nonlinear plant behaviour, robustness properties have to be taken into consideration in the design. The nonlinearity of the system is considered as an uncertainty of the linear nominal model in the optimal operating region. A robust controller is designed using a combination of a loop shaping procedure and frequency response approximation. The linear closed-loop system is stable for the nominal model as well as for the models containing uncertainties. The controller also shows good tracking performance when used with the nonlinear model.
{"title":"Operation and control of a semibatch reactive distillation column","authors":"G. Fernholz, Wei Wang, S. Engell, K. Fougner, J.-P. Bredehoft","doi":"10.1109/CCA.1999.806668","DOIUrl":"https://doi.org/10.1109/CCA.1999.806668","url":null,"abstract":"Reactive distillation integrates reaction and separation into one apparatus and offers the possibility to overcome restrictions given by chemical and phase equilibria. The batch and semibatch modes permit a more flexible operation compared to the continuous case especially for multi product plants. Here the heterogeneously catalysed esterification of methanol and acetic acid in a reactive distillation column which is operated in semibatch mode is investigated. The solution of a minimum batch time problem defines the optimal trajectory of the process. The task of feedback control is to track this trajectory in the presence of disturbances and model uncertainties. Due to the nonlinear plant behaviour, robustness properties have to be taken into consideration in the design. The nonlinearity of the system is considered as an uncertainty of the linear nominal model in the optimal operating region. A robust controller is designed using a combination of a loop shaping procedure and frequency response approximation. The linear closed-loop system is stable for the nominal model as well as for the models containing uncertainties. The controller also shows good tracking performance when used with the nonlinear model.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123431991","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}
T. Kitti, N. Jongkol, J. Prasit, T. Thanit, L. Michihiko
This paper presents a design technique for the 2-DOF control system using PID/spl times/(n-2) stage PD as a cascade controller for a class of n/sup th/ order plant. It is intended to satisfy both transient and steady state response specifications based on the root locus approach. This controller can be used instead of the conventional PID controller for the higher order plant to obtain better performance. The transfer function of a class of n/sup th/ order plant should not include zeros, the poles of the plant should have negative real part. The overall system is approximated as a stable and robust second order system. The performances of the controlled system are satisfied by this design technique. Moreover, this technique can also be applied to the plant with small dead time. The cascade controller gain can be adjusted to meet faster responses with a little or no overshoot. Robustness properties given by this controller proposed are demonstrated by numerical examples.
{"title":"Robust PID/spl times/(n-2) stage PD cascade controller","authors":"T. Kitti, N. Jongkol, J. Prasit, T. Thanit, L. Michihiko","doi":"10.1109/CCA.1999.806152","DOIUrl":"https://doi.org/10.1109/CCA.1999.806152","url":null,"abstract":"This paper presents a design technique for the 2-DOF control system using PID/spl times/(n-2) stage PD as a cascade controller for a class of n/sup th/ order plant. It is intended to satisfy both transient and steady state response specifications based on the root locus approach. This controller can be used instead of the conventional PID controller for the higher order plant to obtain better performance. The transfer function of a class of n/sup th/ order plant should not include zeros, the poles of the plant should have negative real part. The overall system is approximated as a stable and robust second order system. The performances of the controlled system are satisfied by this design technique. Moreover, this technique can also be applied to the plant with small dead time. The cascade controller gain can be adjusted to meet faster responses with a little or no overshoot. Robustness properties given by this controller proposed are demonstrated by numerical examples.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"292 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121715857","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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