Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068430
S. Vasileiadou, D. Kalligeropoulos
Homer, seen from the viewpoint of Technology, reveals an abundance of technological findings and inventions, primitive and contemporary on the one hand, and imaginary concerning the future, on the other. These inventions include descriptions of automata, i.e., machines that move on their own, with internal energy, like living beings. Some of them are the automatic tripods, the adaptive bellows, the female robots of Hephaestus, and the automatic with artificial intelligence ships of Phaeacians. In addition to the introduction of the term `automata', Homer suggests the evolution of machines to automobile machines, to machines with `life'. Such a suggestion constitutes a leap in technology. In this way, Homer challenges the presocratic philosophers to discover the natural `roots' of the self-motion - the fundamental elements that have at their disposal the necessary energy, so as to be able to move by themselves. He also motivates the classical philosophers to investigate the concepts of system, of control, and of feedback. And Homer ends up to the engineers of the Hellenistic period, in order the Homeric automata to be transformed into science and applied technology - the science and the art of making automata, the so-called Automatopoietice.
{"title":"Myth, theory and technology of automatic control in ancient Greece","authors":"S. Vasileiadou, D. Kalligeropoulos","doi":"10.23919/ECC.2007.7068430","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068430","url":null,"abstract":"Homer, seen from the viewpoint of Technology, reveals an abundance of technological findings and inventions, primitive and contemporary on the one hand, and imaginary concerning the future, on the other. These inventions include descriptions of automata, i.e., machines that move on their own, with internal energy, like living beings. Some of them are the automatic tripods, the adaptive bellows, the female robots of Hephaestus, and the automatic with artificial intelligence ships of Phaeacians. In addition to the introduction of the term `automata', Homer suggests the evolution of machines to automobile machines, to machines with `life'. Such a suggestion constitutes a leap in technology. In this way, Homer challenges the presocratic philosophers to discover the natural `roots' of the self-motion - the fundamental elements that have at their disposal the necessary energy, so as to be able to move by themselves. He also motivates the classical philosophers to investigate the concepts of system, of control, and of feedback. And Homer ends up to the engineers of the Hellenistic period, in order the Homeric automata to be transformed into science and applied technology - the science and the art of making automata, the so-called Automatopoietice.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125488055","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068760
Svetlana Iantchenko, A. Ghulchak
In this paper, we consider the problem of robust optimization for a system with uncertainty of rank one. The main result is the canonical parameterization of all destabilizing uncertainties in the dual problem. The corresponding result in the rational case has been previously stated in terms of unstable zero-pole cancellations.In this paper the result is extended to the class of non-rational systems with continuous nominal factors. For non-rational systems the situation with the common zeros is more complicated. The nominal factors can contain a singular component and cannot be treated by unstable cancellations. We have shown that in the general case the common zeros of the plant factors are naturally replaced by a scalar function with the positive winding number. The result has certain similarities with the parameterization of the classical Nehari problem [9]. To illustrate the duality principle, the result is applied to a system with delay. The dual problem can be interpreted as the shortest distance from the nominal plant to all non-stabilizable plants in some metric that has a strong connection to and may be considered as a generalization of the υ-gap metric.
{"title":"Canonical parameterization of the dual problem in robust optimization: Non-rational case","authors":"Svetlana Iantchenko, A. Ghulchak","doi":"10.23919/ECC.2007.7068760","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068760","url":null,"abstract":"In this paper, we consider the problem of robust optimization for a system with uncertainty of rank one. The main result is the canonical parameterization of all destabilizing uncertainties in the dual problem. The corresponding result in the rational case has been previously stated in terms of unstable zero-pole cancellations.In this paper the result is extended to the class of non-rational systems with continuous nominal factors. For non-rational systems the situation with the common zeros is more complicated. The nominal factors can contain a singular component and cannot be treated by unstable cancellations. We have shown that in the general case the common zeros of the plant factors are naturally replaced by a scalar function with the positive winding number. The result has certain similarities with the parameterization of the classical Nehari problem [9]. To illustrate the duality principle, the result is applied to a system with delay. The dual problem can be interpreted as the shortest distance from the nominal plant to all non-stabilizable plants in some metric that has a strong connection to and may be considered as a generalization of the υ-gap metric.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125526108","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068317
Y. Aoustin, A. Formal'sky
This article is devoted to the stabilization of an original circular beam-and-ball system. This system is under actuated one. The control law for this system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The linear model of the circular beam-and-ball system has two unstable modes. The feedback control is designed such that the basin of attraction occupies considerable part of the controllability domain. Simulation results are presented to illustrate the efficiency of this control law.
{"title":"An original circular ball-and-beam system: Stabilization strategy under saturating control with large basin of attraction","authors":"Y. Aoustin, A. Formal'sky","doi":"10.23919/ECC.2007.7068317","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068317","url":null,"abstract":"This article is devoted to the stabilization of an original circular beam-and-ball system. This system is under actuated one. The control law for this system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The linear model of the circular beam-and-ball system has two unstable modes. The feedback control is designed such that the basin of attraction occupies considerable part of the controllability domain. Simulation results are presented to illustrate the efficiency of this control law.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125670785","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068482
J. López, R. Dormido, J. Gómez, S. Dormido, J. M. Díaz
The main objective of this paper is to design and compare two altitude command tracker controllers for an UAV using H∞ and QFT techniques. Both methods require the use of specialized software tools. The different stages of QFT methodology have been done with help of software tool QFTIT (Quantitative Feedback Theory Interactive Tool). This is a free software tool that is characterized by its easy of use and interactive nature. QFT's standing as a viable control design method that can be applied to practical problems and produce implementable results. Tests with realistically large control inputs are use to validate and compare both designs.
{"title":"Comparison of H∞ with QFT applied to an altitude command tracker for an UAV","authors":"J. López, R. Dormido, J. Gómez, S. Dormido, J. M. Díaz","doi":"10.23919/ECC.2007.7068482","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068482","url":null,"abstract":"The main objective of this paper is to design and compare two altitude command tracker controllers for an UAV using H∞ and QFT techniques. Both methods require the use of specialized software tools. The different stages of QFT methodology have been done with help of software tool QFTIT (Quantitative Feedback Theory Interactive Tool). This is a free software tool that is characterized by its easy of use and interactive nature. QFT's standing as a viable control design method that can be applied to practical problems and produce implementable results. Tests with realistically large control inputs are use to validate and compare both designs.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115064918","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068650
Jun Zhang, R. Kosut
In this paper we address the robust design of the quantum potential profile in a in semiconductor nanodevice to achieve a desired electron transmission coefficient vs. bias voltage characteristic despite uncertainty. We formulate an optimization problem which is solved locally via a sequential linear program.
{"title":"Robust design of quantum potential profile for electron transmission in semiconductor nanodevices","authors":"Jun Zhang, R. Kosut","doi":"10.23919/ECC.2007.7068650","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068650","url":null,"abstract":"In this paper we address the robust design of the quantum potential profile in a in semiconductor nanodevice to achieve a desired electron transmission coefficient vs. bias voltage characteristic despite uncertainty. We formulate an optimization problem which is solved locally via a sequential linear program.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"177 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115197530","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068229
M. Alamir
In this paper, a framework for dynamic monitoring of sampling periods for nonlinear controlled systems is proposed. This framework is particularly adapted to the context of controlled systems sharing limited computational resources. The proposed scheme can be used in a cascaded structure with any feedback scheduling design. Illustrative examples are given to assess the efficiency of the proposed framework.
{"title":"On state-dependant sampling for nonlinear controlled systems sharing limited computational resources","authors":"M. Alamir","doi":"10.23919/ECC.2007.7068229","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068229","url":null,"abstract":"In this paper, a framework for dynamic monitoring of sampling periods for nonlinear controlled systems is proposed. This framework is particularly adapted to the context of controlled systems sharing limited computational resources. The proposed scheme can be used in a cascaded structure with any feedback scheduling design. Illustrative examples are given to assess the efficiency of the proposed framework.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115533745","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068373
J. Martínez, O. Sename, A. Voda
This paper deals with the experimental validation and the corresponding robust control of the opto-mechanical coupling effect in new generations of optical disk drives. While in many industrial control implementations, the radial and focus loops are considered as decoupled (e.g. DVD format), this is no longer true for HD-DVD and Blu-ray disc (BD) formats which are sensitive to opto-mechanical interactions. The impact of such phenomena on the performance of the servo is here evaluated by using experimental data, and a ℋ∞ controller is designed to reduce the coupling effect, by using a suitable disturbance model into the problem formulation. Simulations using experimental data illustrate the performance improvement of the compensated system.
{"title":"Experimental validation and ℋ∞ control of the opto-mechanical coupling effect in DVD servo-mechanisms","authors":"J. Martínez, O. Sename, A. Voda","doi":"10.23919/ECC.2007.7068373","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068373","url":null,"abstract":"This paper deals with the experimental validation and the corresponding robust control of the opto-mechanical coupling effect in new generations of optical disk drives. While in many industrial control implementations, the radial and focus loops are considered as decoupled (e.g. DVD format), this is no longer true for HD-DVD and Blu-ray disc (BD) formats which are sensitive to opto-mechanical interactions. The impact of such phenomena on the performance of the servo is here evaluated by using experimental data, and a ℋ∞ controller is designed to reduce the coupling effect, by using a suitable disturbance model into the problem formulation. Simulations using experimental data illustrate the performance improvement of the compensated system.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122302747","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068556
Dimos V. Dimarogonas, K. Kyriakopoulos
A connection between Rantzer's dual Lyapunov Theorem that appeared in [25] with decentralized formation stabilization of multiple single integrator kinematic agents is presented. A similar result for decentralized navigation to non-cooperative equilibria was recently provided by the authors in [7]. It is shown that when the agents' control law does not contain an element that forces them to cooperate with the rest of the team once they have reached their desired goal, global convergence cannot be guaranteed. A sufficient condition for this to happen is derived based on Rantzer's Theorem. In particular, it is shown that agents are driven towards the desired formation structure provided that collisions between the team members tend to occur whenever the formation potential of each agent is sufficiently large. This is derived based on the properties of the critical points of the proposed decentralized potential field-based control laws imposed by Rantzer's Theorem. The result can be used as a new approach to guaranteed local-minima free decentralized control approaches.
{"title":"An application of Rantzer's dual Lyapunov Theorem to decentralized formation stabilization","authors":"Dimos V. Dimarogonas, K. Kyriakopoulos","doi":"10.23919/ECC.2007.7068556","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068556","url":null,"abstract":"A connection between Rantzer's dual Lyapunov Theorem that appeared in [25] with decentralized formation stabilization of multiple single integrator kinematic agents is presented. A similar result for decentralized navigation to non-cooperative equilibria was recently provided by the authors in [7]. It is shown that when the agents' control law does not contain an element that forces them to cooperate with the rest of the team once they have reached their desired goal, global convergence cannot be guaranteed. A sufficient condition for this to happen is derived based on Rantzer's Theorem. In particular, it is shown that agents are driven towards the desired formation structure provided that collisions between the team members tend to occur whenever the formation potential of each agent is sufficiently large. This is derived based on the properties of the critical points of the proposed decentralized potential field-based control laws imposed by Rantzer's Theorem. The result can be used as a new approach to guaranteed local-minima free decentralized control approaches.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122627531","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068636
F. Paganini
This paper describes a developing field of research in which control, networking and economic theory are interacting at an unprecedented level of depth, over problems of network resource allocation. Networking provides a large scale application with fully embedded decentralized control systems, and users with competing objectives; economics brings market tools to understand this decentralization of decision makers and objectives; control theory brings the dynamic viewpoint to fields accustomed to the equilibrium perspective. The key to a more unified theory is the language of convex optimization. We will describe a prototype problem and its current understanding through a combination of the above viewpoints, and outline other directions of development of this fertile interaction.
{"title":"Control and economics in networking, via optimization: Perspectives from an emerging discipline","authors":"F. Paganini","doi":"10.23919/ECC.2007.7068636","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068636","url":null,"abstract":"This paper describes a developing field of research in which control, networking and economic theory are interacting at an unprecedented level of depth, over problems of network resource allocation. Networking provides a large scale application with fully embedded decentralized control systems, and users with competing objectives; economics brings market tools to understand this decentralization of decision makers and objectives; control theory brings the dynamic viewpoint to fields accustomed to the equilibrium perspective. The key to a more unified theory is the language of convex optimization. We will describe a prototype problem and its current understanding through a combination of the above viewpoints, and outline other directions of development of this fertile interaction.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"836 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114059035","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 : 2007-07-02DOI: 10.23919/ECC.2007.7068891
P. Cofré, A. Cipriano
In their original formulations, state estimation schemes such as Kalman Filter, do not allow the incorporation of prior information on their physical bounds. This results in a certain probability of generating estimates that are physically impossible. Also, the Gaussian assumption in conventional schemes produces a trade-off between estimation error and estimation speed. This paper presents a solution based on a particle filter for which a bounded a priori parameter distribution is chosen. It is shown that a Beta distribution with hard bounds and adaptive estimation variance can overcome both drawbacks, thus achieving a lower fault detection time delay without increasing the estimation error, compared with the Extended Kalman Filter.
{"title":"An application of particle filter for FDI oriented change detection and bounded parameter estimation","authors":"P. Cofré, A. Cipriano","doi":"10.23919/ECC.2007.7068891","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068891","url":null,"abstract":"In their original formulations, state estimation schemes such as Kalman Filter, do not allow the incorporation of prior information on their physical bounds. This results in a certain probability of generating estimates that are physically impossible. Also, the Gaussian assumption in conventional schemes produces a trade-off between estimation error and estimation speed. This paper presents a solution based on a particle filter for which a bounded a priori parameter distribution is chosen. It is shown that a Beta distribution with hard bounds and adaptive estimation variance can overcome both drawbacks, thus achieving a lower fault detection time delay without increasing the estimation error, compared with the Extended Kalman Filter.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114580033","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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