Pub Date : 1989-06-21DOI: 10.1109/ACC.1989.4173318
K. Lim, J. Juang, Z. Kim
In this paper, a measure of the departure from normality is investigated for system robustness. An attractive feature of the normality index is in its simplicity for pole placement designs. To allow a tradeoff between system robustness and control effort, a cost function consisting of the sum of a norm of weighted gain matrix and a normality index is minimized. First and second order necessary conditions for the constrained optimization problem is derived and solved by Newton-Raphson algorithm imbedded into a one-parameter family of neighboring zero problems. The method presented in this paper allows the direct computation of optimal gains in terms of robustness and control effort for pole placement problems.
{"title":"Design of Optimally Normal Minimum Gain Controllers by Continuation Method","authors":"K. Lim, J. Juang, Z. Kim","doi":"10.1109/ACC.1989.4173318","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173318","url":null,"abstract":"In this paper, a measure of the departure from normality is investigated for system robustness. An attractive feature of the normality index is in its simplicity for pole placement designs. To allow a tradeoff between system robustness and control effort, a cost function consisting of the sum of a norm of weighted gain matrix and a normality index is minimized. First and second order necessary conditions for the constrained optimization problem is derived and solved by Newton-Raphson algorithm imbedded into a one-parameter family of neighboring zero problems. The method presented in this paper allows the direct computation of optimal gains in terms of robustness and control effort for pole placement problems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"2 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":"129042959","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.1989.4790391
Tzuu-Hseng S. Li, York-Yih Sun
Model matching control to unmodeled high frequency dynamic is studied using singular perturbation theory. Both the frequency-domain method and sampled-data control approach are examined. It is shown that the controller designed on the basis of reduced-order model is able to make the full system match the stable model.
{"title":"On Model Matching Control to Unmodeled High Frequency Dynamics","authors":"Tzuu-Hseng S. Li, York-Yih Sun","doi":"10.23919/ACC.1989.4790391","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790391","url":null,"abstract":"Model matching control to unmodeled high frequency dynamic is studied using singular perturbation theory. Both the frequency-domain method and sampled-data control approach are examined. It is shown that the controller designed on the basis of reduced-order model is able to make the full system match the stable model.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"29 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":"128809504","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.1989.4173515
Ioannis N. M. Papadakis, S. Thomopoulos
The problem of robust stability of adaptive systems is considered. The introduction of saturating nonlinearities in the adaptation law improves the stability of the adaptive system significantly in the presence of parasitics. Improved stability is achieved in both regulation and tracking. The proposed adaptation laws lead to analytical and quantitative conditions for robust stability which can be tested a priori and can be used as design criteria. Furthermore, the analysis provides us with a more precise characterization of the behavior of the adaptive system and a systematic approach for robust adaptive control design. In the tracking case, the only requirement on the system inputs is boundedness, with the common requirement of sufficiently exciting inputs, necessary for other adaptation schemes being eliminated. Stability is achieved even in the presence of fast parasitics or high frequency inputs. Systems that in the literature are considered highly unstable without the use of saturating nonlinearities, are easily stabilized with adaptation laws incorporating saturating nonlinearities as shown by numerical simulation of several characteristic cases.
{"title":"Effects of Saturating Nonlinearities on the Stability of Reduced order Adaptive Systems in the Presence of Parasitics: Regulation and Tracking","authors":"Ioannis N. M. Papadakis, S. Thomopoulos","doi":"10.1109/ACC.1989.4173515","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173515","url":null,"abstract":"The problem of robust stability of adaptive systems is considered. The introduction of saturating nonlinearities in the adaptation law improves the stability of the adaptive system significantly in the presence of parasitics. Improved stability is achieved in both regulation and tracking. The proposed adaptation laws lead to analytical and quantitative conditions for robust stability which can be tested a priori and can be used as design criteria. Furthermore, the analysis provides us with a more precise characterization of the behavior of the adaptive system and a systematic approach for robust adaptive control design. In the tracking case, the only requirement on the system inputs is boundedness, with the common requirement of sufficiently exciting inputs, necessary for other adaptation schemes being eliminated. Stability is achieved even in the presence of fast parasitics or high frequency inputs. Systems that in the literature are considered highly unstable without the use of saturating nonlinearities, are easily stabilized with adaptation laws incorporating saturating nonlinearities as shown by numerical simulation of several characteristic cases.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"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":"126764189","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.1989.4173224
A. Kornecki
The Air Traffic Control (ATC) system is analyzed from the control engineering viewpoint. Despite human operator in the loop ATC represents a conventional, multidimensional control system. The system observability and controllability can be analyzed. A control performance index representing safety, accuracy, and fuel consumption is introduced. We present the concept of using an expert system as an automatic controller including the outline of the ATC knowledge domain representation. The implementation of such expert controller is discussed.
{"title":"Air Traffic Control System - Can We Close the Control Loop?","authors":"A. Kornecki","doi":"10.1109/ACC.1989.4173224","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173224","url":null,"abstract":"The Air Traffic Control (ATC) system is analyzed from the control engineering viewpoint. Despite human operator in the loop ATC represents a conventional, multidimensional control system. The system observability and controllability can be analyzed. A control performance index representing safety, accuracy, and fuel consumption is introduced. We present the concept of using an expert system as an automatic controller including the outline of the ATC knowledge domain representation. The implementation of such expert controller is discussed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"6 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":"123343548","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.1989.4173375
P. Hattis, R. Smolskis
A method for determining the optimum trajectory flight path for an air-breathing single-stage-to-orbit vehicle is presented. A calculus of variations direct method of steepest descent is employed to determine angle-of-attack, bank angle, and engine power setting time histories. Trajectory profiles resulting from using both nominal and off-nominal vehicle system parameters and environmental conditions are addressed. Design and/or control trades which will become apparent from trajectory study results are identified. Considerations affecting the application of analysis algorithm features to the on-board guidance strategy are also discussed.
{"title":"Optimal Trajectory Generation and Design Trades for Hypersonic Vehicles","authors":"P. Hattis, R. Smolskis","doi":"10.1109/ACC.1989.4173375","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173375","url":null,"abstract":"A method for determining the optimum trajectory flight path for an air-breathing single-stage-to-orbit vehicle is presented. A calculus of variations direct method of steepest descent is employed to determine angle-of-attack, bank angle, and engine power setting time histories. Trajectory profiles resulting from using both nominal and off-nominal vehicle system parameters and environmental conditions are addressed. Design and/or control trades which will become apparent from trajectory study results are identified. Considerations affecting the application of analysis algorithm features to the on-board guidance strategy are also discussed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"57 20","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120885469","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.1989.4790508
M. Leu, D. Freed
A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion.
{"title":"PDF Subvariable Control and its Application Torobot Motion Control","authors":"M. Leu, D. Freed","doi":"10.23919/ACC.1989.4790508","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790508","url":null,"abstract":"A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"8 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":"115250777","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.1989.4790543
D. W. Fountain, F. Lewis
We show the dynamical significance of the subspaces generated by the steps of the recursions for the supremal (A, E, Image(B))-invariant subspace and the infimal almost controllability subspace for discrete-time singular systems. We also show the dynamical interpretation of these recursions when performed on the dual system. We thus give duality results for subspaces computed from the original system matrices. Our approach should be contrasted with previous results which give duality results in terms of (different) subspaces computed from a slow/fast decomposition of the system.
给出了离散奇异系统的最高(A, E, Image(B))不变子空间和最低几乎可控子空间的递推步生成的子空间的动力学意义。我们还展示了这些递归在对偶系统上执行时的动态解释。因此，我们给出了由原系统矩阵计算出的子空间的对偶结果。我们的方法应该与之前的结果进行对比，这些结果给出了根据系统的慢/快分解计算的(不同)子空间的对偶结果。
{"title":"Generalized Notions in Geometry and Duality","authors":"D. W. Fountain, F. Lewis","doi":"10.23919/ACC.1989.4790543","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790543","url":null,"abstract":"We show the dynamical significance of the subspaces generated by the steps of the recursions for the supremal (A, E, Image(B))-invariant subspace and the infimal almost controllability subspace for discrete-time singular systems. We also show the dynamical interpretation of these recursions when performed on the dual system. We thus give duality results for subspaces computed from the original system matrices. Our approach should be contrasted with previous results which give duality results in terms of (different) subspaces computed from a slow/fast decomposition of the system.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"1 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":"121158225","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.1989.4790652
H. K. Eldeib
There has been an increasing interest recently in real-time implementations of knowledge-based control systems. Such systems typically consist of a real-time control system that implements a control algorithm and a supervisory knowledge-based system that monitors the inputs and outputs of the control system to detect any degradation in its performance. If the performance is found to be deteriorating the knowledge-based system attempts to reconfigure the control in order to restore its performance or to maintain safe operation. Implementation of the control algorithm usually involves numerical computing while reasoning performed by the knowledge-based system involves symbolic computing. Real-time implementations of knowledge-based control have been limited by the intensive computational needs required by traditional symbolic computing systems. In this paper we review a number of solutions to the problems of implementing knowledge based contol that use special computer architectures. These approaches include the use of dual-processing; separating symbolic computing from numerical computing. This includes using two different computers; such as a Lisp machine and a Vax, using a Lisp machine with a dual 68020 processor board for numerical computation, and by using an IBM PC-AT with a dual digital signal processing board (Texas Instrument's TMS32010). The paper also examines a number of proposed solutions based on distributed computer architectures for control tasks and/or for the knowledge-based reasoning task. Reported performance and limitations of each approach to implementation and possible future directions for will be discussed.
{"title":"Computer Architectures for Real-Time Knowledge-Based Control","authors":"H. K. Eldeib","doi":"10.23919/ACC.1989.4790652","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790652","url":null,"abstract":"There has been an increasing interest recently in real-time implementations of knowledge-based control systems. Such systems typically consist of a real-time control system that implements a control algorithm and a supervisory knowledge-based system that monitors the inputs and outputs of the control system to detect any degradation in its performance. If the performance is found to be deteriorating the knowledge-based system attempts to reconfigure the control in order to restore its performance or to maintain safe operation. Implementation of the control algorithm usually involves numerical computing while reasoning performed by the knowledge-based system involves symbolic computing. Real-time implementations of knowledge-based control have been limited by the intensive computational needs required by traditional symbolic computing systems. In this paper we review a number of solutions to the problems of implementing knowledge based contol that use special computer architectures. These approaches include the use of dual-processing; separating symbolic computing from numerical computing. This includes using two different computers; such as a Lisp machine and a Vax, using a Lisp machine with a dual 68020 processor board for numerical computation, and by using an IBM PC-AT with a dual digital signal processing board (Texas Instrument's TMS32010). The paper also examines a number of proposed solutions based on distributed computer architectures for control tasks and/or for the knowledge-based reasoning task. Reported performance and limitations of each approach to implementation and possible future directions for will be discussed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"2 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":"125609925","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.1989.4790403
E. Bristol
Artificial Intelligence (AI) suggests the paradox of the solution of problems not subject to any systematic analysis. In Process Control, this impression is attractive - we need solutions. It is also unacceptable - we need formal confidence in our designs. This paper adopts three bases to overcome the paradox: *The formal analysis of such AI structures as Rules and Objects; *The analysis of higher level control system issues that might be fruitfully modeled by AI structures; *The discussion of computer-aided methods for analyzing and validating Process Control AI systems. Specifically, this paper examines Objects and Rules as examples of Self-Marshaling Functions, and their utility for modeling, documenting, and implementing control systems.
{"title":"Objects, Rules, and Process Control","authors":"E. Bristol","doi":"10.23919/ACC.1989.4790403","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790403","url":null,"abstract":"Artificial Intelligence (AI) suggests the paradox of the solution of problems not subject to any systematic analysis. In Process Control, this impression is attractive - we need solutions. It is also unacceptable - we need formal confidence in our designs. This paper adopts three bases to overcome the paradox: *The formal analysis of such AI structures as Rules and Objects; *The analysis of higher level control system issues that might be fruitfully modeled by AI structures; *The discussion of computer-aided methods for analyzing and validating Process Control AI systems. Specifically, this paper examines Objects and Rules as examples of Self-Marshaling Functions, and their utility for modeling, documenting, and implementing control systems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"36 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":"125659356","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.1989.4790532
C. Fuller, V. L. Metcalf, R. Silcox, D. E. Brown
Active control of sound transmission through an elastic plate has been experimentally studied. The control was applied directly to the plate by point force vibration inputs while the error information and performance was measured in the radiated acoustic field by discrete microphones. Test cases were also performed in which the error sensors were accelerometers mounted on the plate. A time domain LMS adaptive algorithm was used as the basis of the control system design. The results show an impressive increase in plate transmission loss over a wide range of frequencies with a maximum of two control shakers. The advantages of using error information derived from the radiated acoustic field rather than structural response is demonstrated. The mechanisms behind the efficiency of this control approach are discussed.
{"title":"Experiments on Structural Control of Sound Transmitted Through an Elastic Plate","authors":"C. Fuller, V. L. Metcalf, R. Silcox, D. E. Brown","doi":"10.23919/ACC.1989.4790532","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790532","url":null,"abstract":"Active control of sound transmission through an elastic plate has been experimentally studied. The control was applied directly to the plate by point force vibration inputs while the error information and performance was measured in the radiated acoustic field by discrete microphones. Test cases were also performed in which the error sensors were accelerometers mounted on the plate. A time domain LMS adaptive algorithm was used as the basis of the control system design. The results show an impressive increase in plate transmission loss over a wide range of frequencies with a maximum of two control shakers. The advantages of using error information derived from the radiated acoustic field rather than structural response is demonstrated. The mechanisms behind the efficiency of this control approach are discussed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"37 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":"125662303","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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