Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068519
J. Bonilla, R. D. De Keyser, D. Plaza
This work presents the results of linear and nonlinear control techniques applied to a DC-DC boost converter. A Non-linear Extended Prediction Self-Adaptive Controller (NEPSAC) is designed for this particular system. The results are compared to those of a PID which is usually applied to commercial converters. The PID is tuned using a frequency domain approach by means of a Frequency Domain Toolbox-FRTool. The designed controllers are evaluated by simulation using a hybrid model of the boost converter obtained from experimental data.
{"title":"Nonlinear predictive control of a DC-DC converter: A NEPSAC approach","authors":"J. Bonilla, R. D. De Keyser, D. Plaza","doi":"10.23919/ECC.2007.7068519","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068519","url":null,"abstract":"This work presents the results of linear and nonlinear control techniques applied to a DC-DC boost converter. A Non-linear Extended Prediction Self-Adaptive Controller (NEPSAC) is designed for this particular system. The results are compared to those of a PID which is usually applied to commercial converters. The PID is tuned using a frequency domain approach by means of a Frequency Domain Toolbox-FRTool. The designed controllers are evaluated by simulation using a hybrid model of the boost converter obtained from experimental data.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"168 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":"131078355","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.2007.7068498
T. Besselmann, P. Rostalski, M. Morari
In this paper the concept of Hybrid Parameter-Varying Model Predictive Control (HPV-MPC) is applied for lateral vehicle stabilization. Parameter-varying in the MPC context means that a prediction model with non-constant, parameter-varying system matrices is employed. In the investigated scenario, the displacement of a car on an icy road under a side wind gust shall be mitigated. In order to explore a possible reduction of online computations and the inherent degradation of control performance, the nonlinear model of the lateral dynamics is approximated in various ways. A comparison between controllers using prediction models varying from the full nonlinear model, as an indication for the maximal achievable performance, to a linear model has been performed. Particular emphasis was put on the hybrid parameter-varying prediction model, to investigate their potential in terms of computational effort and control performance.
{"title":"Hybrid Parameter-Varying Model Predictive Control for lateral vehicle stabilization","authors":"T. Besselmann, P. Rostalski, M. Morari","doi":"10.23919/ECC.2007.7068498","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068498","url":null,"abstract":"In this paper the concept of Hybrid Parameter-Varying Model Predictive Control (HPV-MPC) is applied for lateral vehicle stabilization. Parameter-varying in the MPC context means that a prediction model with non-constant, parameter-varying system matrices is employed. In the investigated scenario, the displacement of a car on an icy road under a side wind gust shall be mitigated. In order to explore a possible reduction of online computations and the inherent degradation of control performance, the nonlinear model of the lateral dynamics is approximated in various ways. A comparison between controllers using prediction models varying from the full nonlinear model, as an indication for the maximal achievable performance, to a linear model has been performed. Particular emphasis was put on the hybrid parameter-varying prediction model, to investigate their potential in terms of computational effort and control performance.","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":"130843076","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.2007.7068536
M. Basso, Marco Romagnoli
The aim of the paper is to present a realization of a flexible architecture for remote control learning based on RTAI Linux. More specifically, we review the typical platform design taking into account a new paradigm based on web-services, which provide an easier way to interact with a distributed real time domain (the lab) where control experiments are performed.
{"title":"A real time distributed platform for control learning","authors":"M. Basso, Marco Romagnoli","doi":"10.23919/ECC.2007.7068536","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068536","url":null,"abstract":"The aim of the paper is to present a realization of a flexible architecture for remote control learning based on RTAI Linux. More specifically, we review the typical platform design taking into account a new paradigm based on web-services, which provide an easier way to interact with a distributed real time domain (the lab) where control experiments are performed.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"134 5 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":"131035719","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.2007.7068342
E. Jarlebring
In this work we address the problem of finding the critical delays of a linear neutral delay system, i.e., the delays such that the system has a purely imaginary eigenvalue. Even though neutral delay systems exhibit some discontinuity properties with respect to changes in the delays an essential part in a non-conservative stability analysis with respect to changes in the delays, is the computation of the critical delays.
{"title":"On critical delays for linear neutral delay systems","authors":"E. Jarlebring","doi":"10.23919/ECC.2007.7068342","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068342","url":null,"abstract":"In this work we address the problem of finding the critical delays of a linear neutral delay system, i.e., the delays such that the system has a purely imaginary eigenvalue. Even though neutral delay systems exhibit some discontinuity properties with respect to changes in the delays an essential part in a non-conservative stability analysis with respect to changes in the delays, is the computation of the critical delays.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"21 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":"132818122","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.2007.7068924
M. Bozorg
In this paper, control of linear systems with uncertain parameters is considered and a method is presented for the computation of allowable parameter perturbations to maintain stability and performance conditions. The desired performance is attained by putting frequency bounds on the sensitivity and the complementary sensitivity functions of the system in order to guarantee appropriate input tracking and sensor noise attenuation. The algorithm makes use of Neimark's D-partition results on robust stability and extends the results to the case of robust performance. Explicit formulae are provided for performance measures, need to be minimized in a frequency range to compute the robust performance margin. The algorithm is then used in a controller synthesis procedure to design robust controllers in order to meet both stability and performance requirements. The details of the implementation of the procedure are illustrated through a case study.
{"title":"Robust performance of control systems containing parameter uncertainty","authors":"M. Bozorg","doi":"10.23919/ECC.2007.7068924","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068924","url":null,"abstract":"In this paper, control of linear systems with uncertain parameters is considered and a method is presented for the computation of allowable parameter perturbations to maintain stability and performance conditions. The desired performance is attained by putting frequency bounds on the sensitivity and the complementary sensitivity functions of the system in order to guarantee appropriate input tracking and sensor noise attenuation. The algorithm makes use of Neimark's D-partition results on robust stability and extends the results to the case of robust performance. Explicit formulae are provided for performance measures, need to be minimized in a frequency range to compute the robust performance margin. The algorithm is then used in a controller synthesis procedure to design robust controllers in order to meet both stability and performance requirements. The details of the implementation of the procedure are illustrated through a case study.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"26 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":"133511813","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.2007.7068855
L. Greco, A. Fagiolini, A. Bicchi, B. Piccoli
Complex dynamical systems can be steered by using symbolic input plans. These plans must have a finite descriptive length, and can be expressed by means of words chosen in an alphabet of symbols. In this way, such plans can be sent through a limited capacity channel to a remote system, where they are decoded in suitable control actions. The choice of this symbols is essential to efficiently encode steering plans. To this aim, in this paper, we state the problem of finding symbols maximizing the interval of points reachable by the system along paths with constrained length. We focus on the problem with two symbols, and compare the results with those produced by plans not accounting for the length constraint. Moreover, the behavior of a simple helicopter, steered by both kinds of plans, has been simulated, in order to illustrate the power of the overall control system, and to emphasize the improvements introduced by the new plans.
{"title":"Steering dynamical systems with finite plans and limited path length","authors":"L. Greco, A. Fagiolini, A. Bicchi, B. Piccoli","doi":"10.23919/ECC.2007.7068855","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068855","url":null,"abstract":"Complex dynamical systems can be steered by using symbolic input plans. These plans must have a finite descriptive length, and can be expressed by means of words chosen in an alphabet of symbols. In this way, such plans can be sent through a limited capacity channel to a remote system, where they are decoded in suitable control actions. The choice of this symbols is essential to efficiently encode steering plans. To this aim, in this paper, we state the problem of finding symbols maximizing the interval of points reachable by the system along paths with constrained length. We focus on the problem with two symbols, and compare the results with those produced by plans not accounting for the length constraint. Moreover, the behavior of a simple helicopter, steered by both kinds of plans, has been simulated, in order to illustrate the power of the overall control system, and to emphasize the improvements introduced by the new plans.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"70 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":"133632420","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.2007.7069018
S. Djouadi, C. Charalambous
The optimal robust disturbance rejection problem plays an important role in feedback control theory. Here its time-varying version is solved explicitly in terms of duality and operator theory. In particular, the optimum is shown to satisfy a time-varying all-pass property. Moreover, optimal performance is given in terms of the norm of a bilinear form. The latter depends on a lower triangular projection and a multiplication operator defined on special versions of spaces of compact operators.
{"title":"Time-varying optimal disturbance rejection in presence of plant uncertainty","authors":"S. Djouadi, C. Charalambous","doi":"10.23919/ECC.2007.7069018","DOIUrl":"https://doi.org/10.23919/ECC.2007.7069018","url":null,"abstract":"The optimal robust disturbance rejection problem plays an important role in feedback control theory. Here its time-varying version is solved explicitly in terms of duality and operator theory. In particular, the optimum is shown to satisfy a time-varying all-pass property. Moreover, optimal performance is given in terms of the norm of a bilinear form. The latter depends on a lower triangular projection and a multiplication operator defined on special versions of spaces of compact operators.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"111 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":"133664290","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.2007.7068872
S. Brahma, B. Datta
In this paper, we propose a Sylvester equation based parametric algorithm for generating a family of feedback matrices to solve the quadratic partial eigenvalue problem (QPEVAP) arising in controlling dangerous vibrations, such as resonance, in structures like bridges, highways, air and spacecrafts. It is then shown how the parametric matrix can be optimally chosen using a numerical optimization technique so that feedback matrices have minimum norms. Such minimum-norm feedback gains naturally lead to smaller control signals and are useful in reducing noises. The distinguished features of the algorithm making it applicable to even very large practical structures are: (i) the algorithm works directly in quadratic setting without any need to transformation to a standard state-space form, which might require ill-conditioned matrix inversion and destroys the exploitable structural properties, (ii) no model reduction is needed, no matter how large the problem is, (iii) knowledge of only a small amount of eigenvalues and eigenvectors of the associated quadratic eigenvalue problem that can be computed using the state-of-the-art matrix computational techniques, is sufficient for its implementation, and (iv) the algorithm is capable of exploiting the structural properties of the system, such as the sparsity, bandedness, symmetry and positive definiteness, etc., in a computational setting.
{"title":"A norm-minimizing parametric algorithm for quadratic partial eigenvalue assignment via Sylvester equation","authors":"S. Brahma, B. Datta","doi":"10.23919/ECC.2007.7068872","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068872","url":null,"abstract":"In this paper, we propose a Sylvester equation based parametric algorithm for generating a family of feedback matrices to solve the quadratic partial eigenvalue problem (QPEVAP) arising in controlling dangerous vibrations, such as resonance, in structures like bridges, highways, air and spacecrafts. It is then shown how the parametric matrix can be optimally chosen using a numerical optimization technique so that feedback matrices have minimum norms. Such minimum-norm feedback gains naturally lead to smaller control signals and are useful in reducing noises. The distinguished features of the algorithm making it applicable to even very large practical structures are: (i) the algorithm works directly in quadratic setting without any need to transformation to a standard state-space form, which might require ill-conditioned matrix inversion and destroys the exploitable structural properties, (ii) no model reduction is needed, no matter how large the problem is, (iii) knowledge of only a small amount of eigenvalues and eigenvectors of the associated quadratic eigenvalue problem that can be computed using the state-of-the-art matrix computational techniques, is sufficient for its implementation, and (iv) the algorithm is capable of exploiting the structural properties of the system, such as the sparsity, bandedness, symmetry and positive definiteness, etc., in a computational setting.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"218 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":"133679026","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.2007.7068414
Y. Bolea, V. Puig, J. Blesa
In this paper the use of the Muskingum model as an sewer model for automatic feedback (digital and continuous) control is discussed, taking into account several characteristics (the structure, the effects of the ZOH in the closed-loop and the sampling time). This analysis is carried out by comparison with a virtual reservoir model that is widely used for sewer network control. The results are presented and visualised using a test-bench sewer with a typical geometry.
{"title":"On the use of the Muskingum model in real-time sewer network control","authors":"Y. Bolea, V. Puig, J. Blesa","doi":"10.23919/ECC.2007.7068414","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068414","url":null,"abstract":"In this paper the use of the Muskingum model as an sewer model for automatic feedback (digital and continuous) control is discussed, taking into account several characteristics (the structure, the effects of the ZOH in the closed-loop and the sampling time). This analysis is carried out by comparison with a virtual reservoir model that is widely used for sewer network control. The results are presented and visualised using a test-bench sewer with a typical geometry.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"108 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":"132162905","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.2007.7069004
D. Vissière, Alain-P. Martin, N. Petit
We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU). In this paper, we present a Kalman filtering technique which takes advantage of the magnetic disturbances usually observed indoors. This is an important topic for military operations in urban areas where GPS is often unavailable. This approach yields significant improvements in estimation accuracy. We illustrate our technique with several experimental results obtained with a low cost IMU.
{"title":"Using magnetic disturbances to improve IMU-based position estimation","authors":"D. Vissière, Alain-P. Martin, N. Petit","doi":"10.23919/ECC.2007.7069004","DOIUrl":"https://doi.org/10.23919/ECC.2007.7069004","url":null,"abstract":"We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU). In this paper, we present a Kalman filtering technique which takes advantage of the magnetic disturbances usually observed indoors. This is an important topic for military operations in urban areas where GPS is often unavailable. This approach yields significant improvements in estimation accuracy. We illustrate our technique with several experimental results obtained with a low cost IMU.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"306 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":"132190071","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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