A design tool, the hybrid sensitivity function, for analyzing the performance of a hybrid servo control system is proposed. A hybrid control system is obtained when a continuous-time system is controlled with a computer and when the D/A (digital/analog) unit is modeled as an ideal zero-order hold function. The introduced quantity is a generalization of the pure discrete time sensitivity function, which suffers from the shortcoming that it gives no information about performance between the sampling instants.<>
{"title":"The hybrid sensitivity function-a design tool for sampled data control systems","authors":"K. Nordstrom","doi":"10.1109/CDC.1991.261833","DOIUrl":"https://doi.org/10.1109/CDC.1991.261833","url":null,"abstract":"A design tool, the hybrid sensitivity function, for analyzing the performance of a hybrid servo control system is proposed. A hybrid control system is obtained when a continuous-time system is controlled with a computer and when the D/A (digital/analog) unit is modeled as an ideal zero-order hold function. The introduced quantity is a generalization of the pure discrete time sensitivity function, which suffers from the shortcoming that it gives no information about performance between the sampling instants.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"247 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114562242","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 design scheme for control of a batch process plant is proposed. The batch is assumed to be given in the form of events, conditions, their relations, and time, and is modeled by a timed Petri net. Analytical results are obtained based on the timed Petri net which describe the plant performance such as makespan, reachability state, and utilization of resources. The results are used in a plant controller which through dynamic optimization provides total control of the batch process plant. The resulting algorithm can be implemented either offline or online in real-time. The batch process design scheme discussed is illustrated by application to a small multipurpose batch process and implemented by means of a simulation package. It is noted that the results obtained through timed Petri net modeling, dynamic programming, and the theory of optimality can be used in designing the total real-time control of the batch process plant.<>
{"title":"Modeling and control design of batch process plant by timed Petri net","authors":"S. Lloyd, Y.M. Salleh","doi":"10.1109/CDC.1991.261660","DOIUrl":"https://doi.org/10.1109/CDC.1991.261660","url":null,"abstract":"A design scheme for control of a batch process plant is proposed. The batch is assumed to be given in the form of events, conditions, their relations, and time, and is modeled by a timed Petri net. Analytical results are obtained based on the timed Petri net which describe the plant performance such as makespan, reachability state, and utilization of resources. The results are used in a plant controller which through dynamic optimization provides total control of the batch process plant. The resulting algorithm can be implemented either offline or online in real-time. The batch process design scheme discussed is illustrated by application to a small multipurpose batch process and implemented by means of a simulation package. It is noted that the results obtained through timed Petri net modeling, dynamic programming, and the theory of optimality can be used in designing the total real-time control of the batch process plant.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116171411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The authors present a real-time failure-detection algorithm that will soon be implemented on the Space Shuttle Main Engine, (SSME) on an online basis. It is referred to as the real-time failure control (RTFC) algorithm, and it entails signal-based limit and trend checking based on information from complex model-based estimates. Thus, the SSME digital transient model and the power balance model are used to provide the algorithm with precomputed initial values, expected values, and standard deviations that serve as baselines for nominal operation.<>
{"title":"Real-time fault detection of the Space Shuttle Main Engine","authors":"H. Panossian, V. R. Kemp","doi":"10.1109/CDC.1991.261822","DOIUrl":"https://doi.org/10.1109/CDC.1991.261822","url":null,"abstract":"The authors present a real-time failure-detection algorithm that will soon be implemented on the Space Shuttle Main Engine, (SSME) on an online basis. It is referred to as the real-time failure control (RTFC) algorithm, and it entails signal-based limit and trend checking based on information from complex model-based estimates. Thus, the SSME digital transient model and the power balance model are used to provide the algorithm with precomputed initial values, expected values, and standard deviations that serve as baselines for nominal operation.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116342612","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 derived optimal control law based on optimizing a finite horizon (N) linear quadratic (LQ) criterion at time k for a discrete-time system only yield N time varying feedback gains independent of time k and thus is of an open-loop nature. Applying such a control law at each time iN, i=0, 1, . . ., naturally leads to an N-periodic closed-loop controller called the periodic receding horizon controller. Its closed-loop asymptotic stability and performance properties are studied. Several sufficient conditions for closed-loop asymptotic stability are obtained, one of which, in particular, is weaker than that the solution of the associated Riccati difference equation (RDE) is monotonically nonincreasing and can be rendered satisfied by suitable choice of the initial condition of the RDE. The evaluated infinite time performance of both the periodic receding horizon controller and the receding horizon controller is proved to converge to the optimal one related to the infinite time regulator problem as the horizon N tends to infinity.<>
{"title":"Periodic receding horizon LQ regulators for discrete-time systems","authors":"W. Yan, R. Bitmead","doi":"10.1109/CDC.1991.261573","DOIUrl":"https://doi.org/10.1109/CDC.1991.261573","url":null,"abstract":"A derived optimal control law based on optimizing a finite horizon (N) linear quadratic (LQ) criterion at time k for a discrete-time system only yield N time varying feedback gains independent of time k and thus is of an open-loop nature. Applying such a control law at each time iN, i=0, 1, . . ., naturally leads to an N-periodic closed-loop controller called the periodic receding horizon controller. Its closed-loop asymptotic stability and performance properties are studied. Several sufficient conditions for closed-loop asymptotic stability are obtained, one of which, in particular, is weaker than that the solution of the associated Riccati difference equation (RDE) is monotonically nonincreasing and can be rendered satisfied by suitable choice of the initial condition of the RDE. The evaluated infinite time performance of both the periodic receding horizon controller and the receding horizon controller is proved to converge to the optimal one related to the infinite time regulator problem as the horizon N tends to infinity.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121487773","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}
It is pointed out that by approximating the impulse response of a linear time-invariant stable system by a finite sum of given exponentials, the problem of estimating the transfer function is considerably simplified. The author shows how the complexity can be reduced further by using orthogonalized exponentials. The analysis is based on the result that the corresponding normal equations will then have a Toeplitz structure. The z-transform of orthogonalized exponentials corresponds to discrete Kautz functions, which generalize discrete Laguerre functions to the several, possibly complex, poles case. Hence, by appropriate choice of time constants Kautz models give low-order useful approximations of many systems of interest. In particular, resonant systems can be well approximated using Kautz models with complex poles. Several basic results on transfer function estimation are extended to discrete Kautz models.<>
{"title":"Identification of resonant systems using Kautz filters","authors":"B. Wahlberg","doi":"10.1109/CDC.1991.261769","DOIUrl":"https://doi.org/10.1109/CDC.1991.261769","url":null,"abstract":"It is pointed out that by approximating the impulse response of a linear time-invariant stable system by a finite sum of given exponentials, the problem of estimating the transfer function is considerably simplified. The author shows how the complexity can be reduced further by using orthogonalized exponentials. The analysis is based on the result that the corresponding normal equations will then have a Toeplitz structure. The z-transform of orthogonalized exponentials corresponds to discrete Kautz functions, which generalize discrete Laguerre functions to the several, possibly complex, poles case. Hence, by appropriate choice of time constants Kautz models give low-order useful approximations of many systems of interest. In particular, resonant systems can be well approximated using Kautz models with complex poles. Several basic results on transfer function estimation are extended to discrete Kautz models.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126419334","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}
For stabilizable systems for which a stabilizing controller is known approximately, the authors consider system identification in the graph, gap and chordal metrics using robust H/sub infinity / identification of the closed-loop transfer function. Error bounds are derived showing that robust convergence is guaranteed. Two notions of robust identification of stable systems are compared, and an alternative identification technique, based on smoothing, is examined.<>
{"title":"Robust identification of stabilizable systems","authors":"J. Partington, P. Makila","doi":"10.1109/CDC.1991.261385","DOIUrl":"https://doi.org/10.1109/CDC.1991.261385","url":null,"abstract":"For stabilizable systems for which a stabilizing controller is known approximately, the authors consider system identification in the graph, gap and chordal metrics using robust H/sub infinity / identification of the closed-loop transfer function. Error bounds are derived showing that robust convergence is guaranteed. Two notions of robust identification of stable systems are compared, and an alternative identification technique, based on smoothing, is examined.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121916665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The authors examine a class of discrete event systems (DESs) modeled as asynchronous hierarchical state machines (AHSMs). For this class of DESs, they provide an efficient method for testing reachability, which is an essential step in many control synthesis procedures. This method utilizes the asynchronous nature and hierarchical structure of AHSMs, thereby illustrating the advantage of the AHSM representation as compared with its equivalent (flat) state machine representation. An application of the method is presented where an online minimally restrictive solution is proposed for the problem of maintaining a controlled AHSM within prescribed legal bounds.<>
{"title":"Control of discrete event systems modeled as hierarchical state machines","authors":"Y. Brave","doi":"10.1109/CDC.1991.261652","DOIUrl":"https://doi.org/10.1109/CDC.1991.261652","url":null,"abstract":"The authors examine a class of discrete event systems (DESs) modeled as asynchronous hierarchical state machines (AHSMs). For this class of DESs, they provide an efficient method for testing reachability, which is an essential step in many control synthesis procedures. This method utilizes the asynchronous nature and hierarchical structure of AHSMs, thereby illustrating the advantage of the AHSM representation as compared with its equivalent (flat) state machine representation. An application of the method is presented where an online minimally restrictive solution is proposed for the problem of maintaining a controlled AHSM within prescribed legal bounds.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127914235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The author describes the underlying theorem which makes it possible to construct the most extended set of admissible parameter variations for a class of robustly stable dynamic systems described in either a matrix or a polynomial form.<>
{"title":"Numerical case studies for constructing robustly stable dynamic systems","authors":"M. Eslami","doi":"10.1109/CDC.1991.261105","DOIUrl":"https://doi.org/10.1109/CDC.1991.261105","url":null,"abstract":"The author describes the underlying theorem which makes it possible to construct the most extended set of admissible parameter variations for a class of robustly stable dynamic systems described in either a matrix or a polynomial form.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115772351","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The authors describe some preliminary results on the application of oscillatory neural networks to the coordination and control of nonrhythmic, sensor-induced, free movement in intelligent adaptive industrial robots. In such devices, as appears to be the case in living creatures, sensory stimuli arrive at specific sensors and generate oscillatory space-time neural activity which results in recognition, association, and generation of corresponding motor trajectories. Some preliminary results are described from network simulations which demonstrate this type of behavior, and an attempt is made to relate them to recent experimental results from neurophysiological studies of visual perception.<>
{"title":"Sensory-motor control of intelligent robots using oscillatory neural networks","authors":"M. Denham, S. Patel, L. Troup, M. Norman","doi":"10.1109/CDC.1991.261279","DOIUrl":"https://doi.org/10.1109/CDC.1991.261279","url":null,"abstract":"The authors describe some preliminary results on the application of oscillatory neural networks to the coordination and control of nonrhythmic, sensor-induced, free movement in intelligent adaptive industrial robots. In such devices, as appears to be the case in living creatures, sensory stimuli arrive at specific sensors and generate oscillatory space-time neural activity which results in recognition, association, and generation of corresponding motor trajectories. Some preliminary results are described from network simulations which demonstrate this type of behavior, and an attempt is made to relate them to recent experimental results from neurophysiological studies of visual perception.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"275 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115945631","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 parameterization of hyperstable linear time-invariant controllers is proposed, where the free parameters are to be determined by parameter optimization in order to meet various design requirements of the closed-loop system. The class of hyperstable controllers is of special importance since a control loop with hyperstable controller is guaranteed to be stable as long as the plant remains hyperstable despite model uncertainties. As a tool for deriving hyperstable parameterizations a modified controllable canonical form is introduced, which allows a block-wise and parameter-continuous placement of eigenvalues.<>
{"title":"Parameter optimized hyperstable controllers","authors":"J. Bals","doi":"10.1109/CDC.1991.261462","DOIUrl":"https://doi.org/10.1109/CDC.1991.261462","url":null,"abstract":"A parameterization of hyperstable linear time-invariant controllers is proposed, where the free parameters are to be determined by parameter optimization in order to meet various design requirements of the closed-loop system. The class of hyperstable controllers is of special importance since a control loop with hyperstable controller is guaranteed to be stable as long as the plant remains hyperstable despite model uncertainties. As a tool for deriving hyperstable parameterizations a modified controllable canonical form is introduced, which allows a block-wise and parameter-continuous placement of eigenvalues.<<ETX>>","PeriodicalId":344553,"journal":{"name":"[1991] Proceedings of the 30th IEEE Conference on Decision and Control","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1991-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115902476","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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