The paper presents polynomial controller design giving the 1st order constrained closed loop dynamics. As particular examples, constrained PID and PI-dead time (predictive) controllers are derived. These examples characterize two most important design features - compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems
{"title":"Controller Design Based on the 1st Order Constrained Dynamics","authors":"H. Mikulas, K. Martin","doi":"10.1109/MED.2006.328741","DOIUrl":"https://doi.org/10.1109/MED.2006.328741","url":null,"abstract":"The paper presents polynomial controller design giving the 1st order constrained closed loop dynamics. As particular examples, constrained PID and PI-dead time (predictive) controllers are derived. These examples characterize two most important design features - compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115665273","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}
We show that strongly monotone systems of ordinary differential equations which have a certain translation-invariance property are so that all solutions converge to a unique equilibrium. The result may be seen as a dual of a well-known theorem of Mierczynski for systems that satisfy a conservation law. An application to a reaction of interest in biochemistry is provided as an illustration
{"title":"A note on Monotone Systems with Positive Translation Invariance","authors":"D. Angeli, E. Sontag","doi":"10.1109/MED.2006.328782","DOIUrl":"https://doi.org/10.1109/MED.2006.328782","url":null,"abstract":"We show that strongly monotone systems of ordinary differential equations which have a certain translation-invariance property are so that all solutions converge to a unique equilibrium. The result may be seen as a dual of a well-known theorem of Mierczynski for systems that satisfy a conservation law. An application to a reaction of interest in biochemistry is provided as an illustration","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114300295","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 presents a finite time unknown input observer for linear systems, i.e. an observer which estimates the exact state of a linear system with unknown input disturbances in a predefined finite time. Based on recent results in observer design for linear systems, conditions are established to guarantee finite time convergence of the estimation error dynamics. The proposed observer is demonstrated on a DC motor for the estimation of the rotor current and the angular velocity despite an unknown input disturbance in the stator voltage
{"title":"A Finite Time Unknown Input Observer For Linear Systems","authors":"T. Raff, F. Lachner, F. Allgower","doi":"10.1109/MED.2006.328795","DOIUrl":"https://doi.org/10.1109/MED.2006.328795","url":null,"abstract":"This paper presents a finite time unknown input observer for linear systems, i.e. an observer which estimates the exact state of a linear system with unknown input disturbances in a predefined finite time. Based on recent results in observer design for linear systems, conditions are established to guarantee finite time convergence of the estimation error dynamics. The proposed observer is demonstrated on a DC motor for the estimation of the rotor current and the angular velocity despite an unknown input disturbance in the stator voltage","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114440671","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 studies the realizability property of continuous-time bilinear i/o equations in the classical state space form. Constraints on the parameters of the bilinear i/o model are suggested that lead to realizable models. The paper proves that the 2nd order bilinear i/o differential equation, unlike the discrete-time case, is always realizable in the classical state space form. The complete list of 3rd and 4th order realizable i/o bilinear models is given and two subclasses of realizable i/o bilinear systems are suggested. Our conditions rely basically upon the property that certain combinations of coefficients of the i/o equations are zero or not zero. We provide explicit state equations for all realizable 2nd and 3rd order bilinear i/o equations, and for one realizable subclass of bilinear i/o equations of arbitrary order
{"title":"On Classical State Space Realizability of Bilinear Input-Output Differential Equations","authors":"U. Kotta, T. Mullari, P. Kotta, A. Zinober","doi":"10.1109/MED.2006.328729","DOIUrl":"https://doi.org/10.1109/MED.2006.328729","url":null,"abstract":"This paper studies the realizability property of continuous-time bilinear i/o equations in the classical state space form. Constraints on the parameters of the bilinear i/o model are suggested that lead to realizable models. The paper proves that the 2nd order bilinear i/o differential equation, unlike the discrete-time case, is always realizable in the classical state space form. The complete list of 3rd and 4th order realizable i/o bilinear models is given and two subclasses of realizable i/o bilinear systems are suggested. Our conditions rely basically upon the property that certain combinations of coefficients of the i/o equations are zero or not zero. We provide explicit state equations for all realizable 2nd and 3rd order bilinear i/o equations, and for one realizable subclass of bilinear i/o equations of arbitrary order","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116538012","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}
S. Frattesi, L. Andrenacci, L. Pasqualini, L. Starna
Household appliances are becoming smarter and smarter. Their easiness of use and performances are improving dramatically, mainly thanks to a massive introduction of electronic control systems. This tendency is even more evident in white goods, where nowadays electronic is the real brain of the appliance. The added values to the customer are constantly growing up; but, from a manufacturer point of view, electronics gives a previously unknown flexibility and thus the space of possible behaviors of electronically controlled appliances has became huge. In this scenario it arises the necessity of a proper set of automatic tools to assist the whole product's design and testing procedure. In this article we introduce Indesit Company's experience and philosophy on these systems
{"title":"A modern approach to the automatic design and testing of domestic appliances","authors":"S. Frattesi, L. Andrenacci, L. Pasqualini, L. Starna","doi":"10.1109/MED.2006.328705","DOIUrl":"https://doi.org/10.1109/MED.2006.328705","url":null,"abstract":"Household appliances are becoming smarter and smarter. Their easiness of use and performances are improving dramatically, mainly thanks to a massive introduction of electronic control systems. This tendency is even more evident in white goods, where nowadays electronic is the real brain of the appliance. The added values to the customer are constantly growing up; but, from a manufacturer point of view, electronics gives a previously unknown flexibility and thus the space of possible behaviors of electronically controlled appliances has became huge. In this scenario it arises the necessity of a proper set of automatic tools to assist the whole product's design and testing procedure. In this article we introduce Indesit Company's experience and philosophy on these systems","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115506167","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 present work deals with a specific signaling pathway called EGFR pathway (epidermal growth factor receptor) which is composed of twenty three proteins and their interactions. It is an essential part of the cell since it affects metabolism, growth and dimerization. The pathway can be modelled by an autonomous ODE. The aim is the construction of a computational model which predicts the dynamic behavior of each protein in the EGFR pathway. The mathematical tool used, is the so called recurrent high order neural network (RHONN). RHONN is a recurrent neural network with dynamical components distributed throughout its body in the form of dynamical neurons. It is applicable for the identification of dynamical systems. The RHONN model consists of twenty three neurons and it is trained by a set containing various initial conditions and the dynamical output of each protein. We use three different learning algorithms concluding to three different RHONN models. When the training stops the appropriate weights are calculated and frozen so as to produce reliable models to identify the EGFR pathway
{"title":"Recurrent High Order Neural Networks for Identification of the EGFR Signaling Pathway","authors":"M. Christodoulou, D. Zarkogianni","doi":"10.1109/MED.2006.328819","DOIUrl":"https://doi.org/10.1109/MED.2006.328819","url":null,"abstract":"The present work deals with a specific signaling pathway called EGFR pathway (epidermal growth factor receptor) which is composed of twenty three proteins and their interactions. It is an essential part of the cell since it affects metabolism, growth and dimerization. The pathway can be modelled by an autonomous ODE. The aim is the construction of a computational model which predicts the dynamic behavior of each protein in the EGFR pathway. The mathematical tool used, is the so called recurrent high order neural network (RHONN). RHONN is a recurrent neural network with dynamical components distributed throughout its body in the form of dynamical neurons. It is applicable for the identification of dynamical systems. The RHONN model consists of twenty three neurons and it is trained by a set containing various initial conditions and the dynamical output of each protein. We use three different learning algorithms concluding to three different RHONN models. When the training stops the appropriate weights are calculated and frozen so as to produce reliable models to identify the EGFR pathway","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124730969","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 study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated
{"title":"Further results on stability of a rigid robot with model uncertainty and time-delay in feedback","authors":"A. Ailon, B. Ahn","doi":"10.1109/MED.2006.328834","DOIUrl":"https://doi.org/10.1109/MED.2006.328834","url":null,"abstract":"This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124996316","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 problem of identifying stochastic systems under multiple operating conditions, by using excitation-response signals obtained from each condition, is addressed. Each operating condition is characterized by several measurable variables forming a vector operating parameter. The problem is tackled within a novel framework consisting of postulated vector dependent functionally pooled ARX (VFP-ARX) models, proper data pooling techniques, and statistical parameter estimation. Least squares (LS) and maximum likelihood (ML) estimation methods are developed. Their strong consistency is established and their performance characteristics are assessed via a Monte Carlo study
{"title":"Identification of Stochastic Systems Under Multiple Operating Conditions: The Vector Dependent FP-ARX Parametrization","authors":"F. Kopsaftopoulos, S. Fassois","doi":"10.1109/MED.2006.328813","DOIUrl":"https://doi.org/10.1109/MED.2006.328813","url":null,"abstract":"The problem of identifying stochastic systems under multiple operating conditions, by using excitation-response signals obtained from each condition, is addressed. Each operating condition is characterized by several measurable variables forming a vector operating parameter. The problem is tackled within a novel framework consisting of postulated vector dependent functionally pooled ARX (VFP-ARX) models, proper data pooling techniques, and statistical parameter estimation. Least squares (LS) and maximum likelihood (ML) estimation methods are developed. Their strong consistency is established and their performance characteristics are assessed via a Monte Carlo study","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123649990","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 presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: the leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results
{"title":"Decentralized Cohesive Motion Control of Multi-Agent Formations","authors":"S. Sandeep, B. Fidan, Changbin Yu","doi":"10.1109/MED.2006.328692","DOIUrl":"https://doi.org/10.1109/MED.2006.328692","url":null,"abstract":"This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: the leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and orientation are specified to a new desired position and orientation cohesively, i.e., without deforming the shape of the formation during the motion. We elaborate our designs considering the path smoothness, chattering, and agent kinematics issues and demonstrate their effectiveness via a set of simulation results","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123810727","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 nonlinearity and high dimension of computational fluid dynamics (CFD) models (O(104) at the low end) reflect fluid dynamics' intrinsic complexity. It is a formidable challenge, setting fluid flow control apart from conventional applications. Its implications include restrictions on model based control design, reliable state estimation, and thus, on feedback implementation. Seeking low order, design accessible models, the issue of an ample dynamic envelope, covering targeted free and actuated transients, is in the essence. We review some enablers for very low order, Galerkin models (GMs). Those include the combination of empirical proper orthogonal decomposition (POD) and physics based modes, estimation of turbulence and pressure effects, actuation models, interpolated models that cover an enhanced dynamic range, and auxiliary, phasor models, focused on sensor readings. The dynamic manifold of model validity must be respected for a meaningful use of the model, but can also be exploited, such as by a restriction to slow drift in the system's periodic behavior, enabling the use of simplifying dynamic phasor models. Finally, we shall highlight some intrinsic performance limitations in GM based feedback flow control
{"title":"Control Oriented Models & Feedback Design in Fluid Flow Systems: A Review","authors":"G. Tadmor, B. R. Noack, M. Morzynski","doi":"10.1109/MED.2006.328757","DOIUrl":"https://doi.org/10.1109/MED.2006.328757","url":null,"abstract":"The nonlinearity and high dimension of computational fluid dynamics (CFD) models (O(104) at the low end) reflect fluid dynamics' intrinsic complexity. It is a formidable challenge, setting fluid flow control apart from conventional applications. Its implications include restrictions on model based control design, reliable state estimation, and thus, on feedback implementation. Seeking low order, design accessible models, the issue of an ample dynamic envelope, covering targeted free and actuated transients, is in the essence. We review some enablers for very low order, Galerkin models (GMs). Those include the combination of empirical proper orthogonal decomposition (POD) and physics based modes, estimation of turbulence and pressure effects, actuation models, interpolated models that cover an enhanced dynamic range, and auxiliary, phasor models, focused on sensor readings. The dynamic manifold of model validity must be respected for a meaningful use of the model, but can also be exploited, such as by a restriction to slow drift in the system's periodic behavior, enabling the use of simplifying dynamic phasor models. Finally, we shall highlight some intrinsic performance limitations in GM based feedback flow control","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130277495","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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