This paper addresses a problem of controlling diesel engines equipped with a variable geometry turbocharger and an exhaust gas recirculation valve. The presence of two actuators and nonlinear behavior of the system makes the problem difficult to handle using classical control designs. Instead, we employ a recently developed control Lyapunov function based design method that guarantees a robustness property interpretable as gain and phase margins. The controller has been tested in simulations and experimentally in the dynamometer test cell.
{"title":"Robust nonlinear controller for turbocharged diesel engines","authors":"M. Janković, I. Kolmanovsky","doi":"10.1109/ACC.1998.707047","DOIUrl":"https://doi.org/10.1109/ACC.1998.707047","url":null,"abstract":"This paper addresses a problem of controlling diesel engines equipped with a variable geometry turbocharger and an exhaust gas recirculation valve. The presence of two actuators and nonlinear behavior of the system makes the problem difficult to handle using classical control designs. Instead, we employ a recently developed control Lyapunov function based design method that guarantees a robustness property interpretable as gain and phase margins. The controller has been tested in simulations and experimentally in the dynamometer test cell.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122828139","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 theorem concerning the basic triangle chain is proved.
证明了关于基本三角链的一个定理。
{"title":"On the boundedness of kinetic energy of a two degree of freedom manipulator","authors":"C. Ibáñez, M. B. Estrada","doi":"10.1109/ACC.1998.703543","DOIUrl":"https://doi.org/10.1109/ACC.1998.703543","url":null,"abstract":"A theorem concerning the basic triangle chain is proved.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121710197","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 provides a μ analysis and synthesis method of state feedback systems. First, we derive a sufficient condition for the dynamical system to have μ less than a specified value γ by using parameter-dependent multipliers and the positive real lemma. It requires no higher order multiplier and no frequency sweep while being less conservative than former methods. Second, based on this result, we give an LMI condition for the existence of a state feedback gain which achieves that μ of the closed loop system is less than given γ. Finally, an illustrative numerical example is given.
{"title":"μ-analysis and synthesis of state feedback systems based on multipliers and LMI's","authors":"Gan Chen, T. Sugie","doi":"10.1109/ACC.1998.694726","DOIUrl":"https://doi.org/10.1109/ACC.1998.694726","url":null,"abstract":"This paper provides a μ analysis and synthesis method of state feedback systems. First, we derive a sufficient condition for the dynamical system to have μ less than a specified value γ by using parameter-dependent multipliers and the positive real lemma. It requires no higher order multiplier and no frequency sweep while being less conservative than former methods. Second, based on this result, we give an LMI condition for the existence of a state feedback gain which achieves that μ of the closed loop system is less than given γ. Finally, an illustrative numerical example is given.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128696055","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}
Global nonlinear parameteric modeling technique is described and demonstrated. The technique uses multivariate orthogonal modeling functions generated from the data to determine nonlinear model structure, then expands each retained modeling function into an ordinary multivariate polynomial. The final model form is a finite multivariate power series expansion for the dependent variable in terms of the independent variables. Partial derivatives of the identified models can be used to assemble globally valid linear parameter varying models. The technique is demonstrated by identifying global nonlinear parametric models for nondimensional aerodynamic force and moment coefficients from a subsonic wind tunnel database for the F-16 fighter aircraft. Results show less than 10% difference between wind tunnel aerodynamic data and the nonlinear parameterized model for a simulated doublet maneuver at moderate angle of attack. Analysis indicated that the global nonlinear parametric models adequately captured the multivariate nonlinear aerodynamic functional dependence.
{"title":"Global nonlinear parametric modelling with application to F-16 aerodynamics","authors":"Eugene A. Morelli","doi":"10.1109/ACC.1998.703559","DOIUrl":"https://doi.org/10.1109/ACC.1998.703559","url":null,"abstract":"Global nonlinear parameteric modeling technique is described and demonstrated. The technique uses multivariate orthogonal modeling functions generated from the data to determine nonlinear model structure, then expands each retained modeling function into an ordinary multivariate polynomial. The final model form is a finite multivariate power series expansion for the dependent variable in terms of the independent variables. Partial derivatives of the identified models can be used to assemble globally valid linear parameter varying models. The technique is demonstrated by identifying global nonlinear parametric models for nondimensional aerodynamic force and moment coefficients from a subsonic wind tunnel database for the F-16 fighter aircraft. Results show less than 10% difference between wind tunnel aerodynamic data and the nonlinear parameterized model for a simulated doublet maneuver at moderate angle of attack. Analysis indicated that the global nonlinear parametric models adequately captured the multivariate nonlinear aerodynamic functional dependence.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129938534","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 consider the problem of reducing unburned tailpipe hydrocarbon (HC) emissions for internal combustion engines during the "cold start" period. Using Pareto-optimization, a cold start engine and catalyst model, the trade-offs between rapid catalyst "light-off" and reduction in unburned HC are analyzed. The effects of different operating constraints and catalyst light-off characteristics on the optimization results are also discussed.
{"title":"Issues in cold start emission control for automotive IC engines","authors":"J. Sun, N. Sivashankar","doi":"10.1109/ACC.1998.707039","DOIUrl":"https://doi.org/10.1109/ACC.1998.707039","url":null,"abstract":"We consider the problem of reducing unburned tailpipe hydrocarbon (HC) emissions for internal combustion engines during the \"cold start\" period. Using Pareto-optimization, a cold start engine and catalyst model, the trade-offs between rapid catalyst \"light-off\" and reduction in unburned HC are analyzed. The effects of different operating constraints and catalyst light-off characteristics on the optimization results are also discussed.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115293940","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}
Deals with the problem of local stabilization of linear discrete-time systems subject to control saturation. An LMI-based framework is proposed in order to compute a saturating state feedback that stabilizes the system with respect to a given set of admissible initial states and, in addition, guarantees some dynamical performances when the system operates in the zone of linear behavior (without control saturation).
{"title":"Local stabilization of discrete-time linear systems with saturating controls: an LMI-based approach","authors":"J. G. D. Silva, S. Tarbouriech","doi":"10.1109/ACC.1998.694635","DOIUrl":"https://doi.org/10.1109/ACC.1998.694635","url":null,"abstract":"Deals with the problem of local stabilization of linear discrete-time systems subject to control saturation. An LMI-based framework is proposed in order to compute a saturating state feedback that stabilizes the system with respect to a given set of admissible initial states and, in addition, guarantees some dynamical performances when the system operates in the zone of linear behavior (without control saturation).","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115618168","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}
Yaw rate feedback to the front wheel steering angle via a PID controller with positive gains is analyzed. It is shown that oversteering cars in their stable velocity range cannot be made unstable by any such controller. For understeering cars bounds on the vehicle parameters for the possible loss of stability are derived.
{"title":"Robustly stabilizing PID controllers for car steering systems","authors":"Long Wang, J. Ackermann","doi":"10.1109/ACC.1998.694624","DOIUrl":"https://doi.org/10.1109/ACC.1998.694624","url":null,"abstract":"Yaw rate feedback to the front wheel steering angle via a PID controller with positive gains is analyzed. It is shown that oversteering cars in their stable velocity range cannot be made unstable by any such controller. For understeering cars bounds on the vehicle parameters for the possible loss of stability are derived.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117344270","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 goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H/sub /spl infin// control. The dynamic equations for the manipulator are derived following a Langrangian approach.
{"title":"Comparison of linear and nonlinear H/sub /spl infin// control for a flexible-link manipulator","authors":"M. Yazdanpanah, K. Khorasani, R. Patel","doi":"10.1109/ACC.1998.707330","DOIUrl":"https://doi.org/10.1109/ACC.1998.707330","url":null,"abstract":"The goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H/sub /spl infin// control. The dynamic equations for the manipulator are derived following a Langrangian approach.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"61 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120897084","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 consider a simple robust adaptive stabilization problem based on an H/sub /spl infin// uncertainty model with a discrete unknown parameter. In the proposed problem formulation, the unknown plant is assumed to belong to one of N possible uncertainty models, where each model is described by a known, linear nominal plant with H/sub /spl infin// bounds on the unmodeled dynamics. We show that if each of the models can be robustly stabilized with a linear time-invariant (LTI) controller, then there exists a single adaptive (possibly nonlinear and time-varying) controller that simultaneously robustly stabilizes all the N possible uncertainty models. The adaptive controller can provide the same level of stability robustness as the LTI controllers, and introduces, at most, a bounded transient in the output. Our approach is based on a simple switching algorithm and a novel application of H/sub /spl infin// filtering methods.
{"title":"Robust adaptive stabilization with multiple H/sub /spl infin// uncertainty models and switching","authors":"Sundeep Rangan, K. Poolla","doi":"10.1109/ACC.1998.703293","DOIUrl":"https://doi.org/10.1109/ACC.1998.703293","url":null,"abstract":"We consider a simple robust adaptive stabilization problem based on an H/sub /spl infin// uncertainty model with a discrete unknown parameter. In the proposed problem formulation, the unknown plant is assumed to belong to one of N possible uncertainty models, where each model is described by a known, linear nominal plant with H/sub /spl infin// bounds on the unmodeled dynamics. We show that if each of the models can be robustly stabilized with a linear time-invariant (LTI) controller, then there exists a single adaptive (possibly nonlinear and time-varying) controller that simultaneously robustly stabilizes all the N possible uncertainty models. The adaptive controller can provide the same level of stability robustness as the LTI controllers, and introduces, at most, a bounded transient in the output. Our approach is based on a simple switching algorithm and a novel application of H/sub /spl infin// filtering methods.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120978891","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}
Discusses the current state of the sensorless control of VSR motors. A brief overview of the functioning and operating characteristics of a VSR motor is given. Current and voltage control are discussed, as well as the importance of phase angle control. The paper then examines a variety of approaches for the sensorless commutation as reported in the literature. An attempt is made not only to explain the working of the algorithm, but also to discuss the advantages and drawback of the individual method for real life industrial applications.
{"title":"The sensorless control of variable switched reluctance motors","authors":"G.H. Holling","doi":"10.1109/ACC.1998.703630","DOIUrl":"https://doi.org/10.1109/ACC.1998.703630","url":null,"abstract":"Discusses the current state of the sensorless control of VSR motors. A brief overview of the functioning and operating characteristics of a VSR motor is given. Current and voltage control are discussed, as well as the importance of phase angle control. The paper then examines a variety of approaches for the sensorless commutation as reported in the literature. An attempt is made not only to explain the working of the algorithm, but also to discuss the advantages and drawback of the individual method for real life industrial applications.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127381852","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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