Pub Date : 1989-06-21DOI: 10.23919/ACC.1989.4790324
F. Esfandiari, H. Khalil
In this paper we study the problem of observer design for a class of state-feedback controllers that includes high-gain linear control, continuous approximations of min-max control and continuous approximations of variable structure control. Assuming that the state-feedback controller robustly stabilizes the system in the presence of matched parametric uncertainties, we are to design the observer such that the observer-based control recovers the stability robustness of the state-feedback-control. We will show that it is possible to design such an observer, if the nominal, system is left-invertible and minimum-phase.
{"title":"Observer-based Control of Uncertain Linear Systems: Recovering State Feedback Robustness Under Matching Condition","authors":"F. Esfandiari, H. Khalil","doi":"10.23919/ACC.1989.4790324","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790324","url":null,"abstract":"In this paper we study the problem of observer design for a class of state-feedback controllers that includes high-gain linear control, continuous approximations of min-max control and continuous approximations of variable structure control. Assuming that the state-feedback controller robustly stabilizes the system in the presence of matched parametric uncertainties, we are to design the observer such that the observer-based control recovers the stability robustness of the state-feedback-control. We will show that it is possible to design such an observer, if the nominal, system is left-invertible and minimum-phase.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127452860","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790477
Y. Lino, T. Shigemasa
In this paper, practical modelling and control system design methode for CAE (Computer Aided Engineering) systems are presented. The Partial Model Matching method (PMM) is effective in designing conventional PID (Proportional, Integral, Derivative) control systems used widely in industrial processes, and some extended types of PID control systems such as decoupling PID control systems and digital PID control systems. In order to design a control system by the PMM method, a transfer function for process dynamics that has a simple structure is needed. Furthermore the cut-off frejuency characteristics that determine the stabilty and response charscteristics of the control system are essential for control system design. Thus, an effective modelling method is proposed that identifies a transfer function by the response data that shows the cut-off frequency characteristics exactly and reduces it to a simple Structured transfer function. The combination of the modeling method and the PMM method is applicable to various dynamics, such as processes with delay time, dead time, overshooting, reverse shooting and oscillation. A CAE system developed on a laptop personal computer using the methods is outlined.
{"title":"Practical Modelling and Control System Design Methods for CAE Systems","authors":"Y. Lino, T. Shigemasa","doi":"10.23919/ACC.1989.4790477","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790477","url":null,"abstract":"In this paper, practical modelling and control system design methode for CAE (Computer Aided Engineering) systems are presented. The Partial Model Matching method (PMM) is effective in designing conventional PID (Proportional, Integral, Derivative) control systems used widely in industrial processes, and some extended types of PID control systems such as decoupling PID control systems and digital PID control systems. In order to design a control system by the PMM method, a transfer function for process dynamics that has a simple structure is needed. Furthermore the cut-off frejuency characteristics that determine the stabilty and response charscteristics of the control system are essential for control system design. Thus, an effective modelling method is proposed that identifies a transfer function by the response data that shows the cut-off frequency characteristics exactly and reduces it to a simple Structured transfer function. The combination of the modeling method and the PMM method is applicable to various dynamics, such as processes with delay time, dead time, overshooting, reverse shooting and oscillation. A CAE system developed on a laptop personal computer using the methods is outlined.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124788374","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 : 1989-06-21DOI: 10.1109/ACC.1989.4173471
R. Ravi, C. Nett, K. Minto, P. Khargonekar
In this note we consider the class of linear finite dimensional multirate operators in the general time-varying case and describe a way of parametrizing all stabilizing controllers for any plant in this class.
{"title":"Controller Parametrization for Multirate Plants","authors":"R. Ravi, C. Nett, K. Minto, P. Khargonekar","doi":"10.1109/ACC.1989.4173471","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173471","url":null,"abstract":"In this note we consider the class of linear finite dimensional multirate operators in the general time-varying case and describe a way of parametrizing all stabilizing controllers for any plant in this class.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124799512","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790414
J. Krause
A stability robustness problem is posed in which a plant description contains both parametric and unstructured uncertainty, and test data is available for reduction of the parameter uncertainty through identification. An expression is obtained for the minimal stability margin consistent with the test data and unstructured uncertainty assumptions. Computational procedures for obtaining bounds on the stability margin are indicated. The computations require the solution of a convex optimization problem.
{"title":"Stability Margins with Real Parameter Uncertainy: Test Data Implications","authors":"J. Krause","doi":"10.23919/ACC.1989.4790414","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790414","url":null,"abstract":"A stability robustness problem is posed in which a plant description contains both parametric and unstructured uncertainty, and test data is available for reduction of the parameter uncertainty through identification. An expression is obtained for the minimal stability margin consistent with the test data and unstructured uncertainty assumptions. Computational procedures for obtaining bounds on the stability margin are indicated. The computations require the solution of a convex optimization problem.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"5 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125146844","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790494
A. R. McIntosh, Sirish L. Shah, D. Fisher
The Generalized Predictive Controller [1,2] is capable of controlling simple low order processes as well as complex plants with variable dead-time, unknown model orders and unstable poles and zeros which cause difficulties for other adaptive techniques. This paper shows how the GPC control law can be written in an equivalent general linear transfer function form. A closed-loop analysis provides a better understanding of the role of the various design and tuning parameters. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed-loop speed of response on-line using only a single active tuning parameter. Simulation results combined with a root locus analysis demonstrate the ease of applying the algorithm.
{"title":"Selection of Tuning Parameters for Adaptive Generalized Predictive Control","authors":"A. R. McIntosh, Sirish L. Shah, D. Fisher","doi":"10.23919/ACC.1989.4790494","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790494","url":null,"abstract":"The Generalized Predictive Controller [1,2] is capable of controlling simple low order processes as well as complex plants with variable dead-time, unknown model orders and unstable poles and zeros which cause difficulties for other adaptive techniques. This paper shows how the GPC control law can be written in an equivalent general linear transfer function form. A closed-loop analysis provides a better understanding of the role of the various design and tuning parameters. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed-loop speed of response on-line using only a single active tuning parameter. Simulation results combined with a root locus analysis demonstrate the ease of applying the algorithm.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126151350","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 : 1989-06-21DOI: 10.1109/ACC.1989.4173456
P. K. De, A. Iyer
The problem of joint stabilization and tracking of a spinning satellite system in addition to its regulation are considered. Rational Fractional approach is used to obtain coprime equations in a multivariate setting. Parameterized compensators are obtained for regulation and, simultaneous stabilization and tracking cases. Simulation results are presented to show the accomplishment of attitude control in different settings with simple control inputs.
{"title":"Rational Fraction Approach and Attitude Control of Spinning Satellite using Gyrotorquer","authors":"P. K. De, A. Iyer","doi":"10.1109/ACC.1989.4173456","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173456","url":null,"abstract":"The problem of joint stabilization and tracking of a spinning satellite system in addition to its regulation are considered. Rational Fractional approach is used to obtain coprime equations in a multivariate setting. Parameterized compensators are obtained for regulation and, simultaneous stabilization and tracking cases. Simulation results are presented to show the accomplishment of attitude control in different settings with simple control inputs.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"54 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123523027","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790480
A. M. Baum, Donald J. McMillan
We have developed a general method for analyzing a certain class of continuous system simulation programs and for producing automatically a parallel version of the original serial program. The resulting parallel program runs on a local memory, message passing architecture parallel processor such as a hypercube. Our results indicate that significant speed-ups are possible even when message-passing overhead is taken into account.
{"title":"Parallel Simulation on a Hypercube Parallel Processor","authors":"A. M. Baum, Donald J. McMillan","doi":"10.23919/ACC.1989.4790480","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790480","url":null,"abstract":"We have developed a general method for analyzing a certain class of continuous system simulation programs and for producing automatically a parallel version of the original serial program. The resulting parallel program runs on a local memory, message passing architecture parallel processor such as a hypercube. Our results indicate that significant speed-ups are possible even when message-passing overhead is taken into account.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123721717","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790458
C. Diduch, R. Doraiswami
Zero order hold discrete time equivalents of sampled data plants with multiple input and output delays are derived. The delay is not assumed to be an integral multiple of the sample period nor is it assumed identical for all inputs or outputs. It is proven that the discrete equivalent is both observable and controllable iff, (i) the discrete time equivalent with zero integral delay is both observable and controllable, (ii) the number of plant inputs and outputs is equal and (iii) there are no transmission zeros at the origin. These are useful design considerations when implementation delays are to be lumped with a discretized plant model.
{"title":"Controllability and Observability of Multivariable Sampled Data Systems with Input and Output Delays","authors":"C. Diduch, R. Doraiswami","doi":"10.23919/ACC.1989.4790458","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790458","url":null,"abstract":"Zero order hold discrete time equivalents of sampled data plants with multiple input and output delays are derived. The delay is not assumed to be an integral multiple of the sample period nor is it assumed identical for all inputs or outputs. It is proven that the discrete equivalent is both observable and controllable iff, (i) the discrete time equivalent with zero integral delay is both observable and controllable, (ii) the number of plant inputs and outputs is equal and (iii) there are no transmission zeros at the origin. These are useful design considerations when implementation delays are to be lumped with a discretized plant model.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126869337","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790442
H.X. Hu, N. Loh
The problem of robust control with structured perturbations is addressed in state space. Measures of preserving the closed-loop system stability for a given stabilizing controller with respect to parameter variations are determined in the parameter space using the Krasovskii stability theorem. Since the measures are directly given in terms of the nominal system matrix and perturbation structure matrix, solving the Lyapunov matrix equation required in approaches recently reported in the literature, is avoided. Based on the robust stability measure defined, an iterative design procedure is proposed to determine a robust controller for the perturbed system with prescribed range of perturbations. Numerical examples are also provided to illustrate the effectiveness of the results developed.
{"title":"Robust Control in State Space: An Approach via the Krasovskii Theorem","authors":"H.X. Hu, N. Loh","doi":"10.23919/ACC.1989.4790442","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790442","url":null,"abstract":"The problem of robust control with structured perturbations is addressed in state space. Measures of preserving the closed-loop system stability for a given stabilizing controller with respect to parameter variations are determined in the parameter space using the Krasovskii stability theorem. Since the measures are directly given in terms of the nominal system matrix and perturbation structure matrix, solving the Lyapunov matrix equation required in approaches recently reported in the literature, is avoided. Based on the robust stability measure defined, an iterative design procedure is proposed to determine a robust controller for the perturbed system with prescribed range of perturbations. Numerical examples are also provided to illustrate the effectiveness of the results developed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116541761","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 : 1989-06-21DOI: 10.23919/ACC.1989.4790404
W. Book, S. Lee
The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.
{"title":"Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm","authors":"W. Book, S. Lee","doi":"10.23919/ACC.1989.4790404","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790404","url":null,"abstract":"The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"744 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122959900","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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