Pub Date : 2017-06-29DOI: 10.23919/ACC.2017.7963491
R. Rozario, T. Oomen, M. Steinbuch
Iterative Learning Control (ILC) enables performance improvement by learning from previous tasks. The aim of this paper is to develop an ILC approach for Linear Parameter Varying (LPV) systems to enable improved performance and increased convergence speed compared to the linear time-invariant approach. This is achieved through dedicated analysis and norm-optimal synthesis of LPV learning filters. Application to a position-dependent motion system shows a significant improvement in accuracy and convergence rate, thereby confirming the potential of the proposed approach.
{"title":"Iterative Learning Control and feedforward for LPV systems: Applied to a position-dependent motion system","authors":"R. Rozario, T. Oomen, M. Steinbuch","doi":"10.23919/ACC.2017.7963491","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963491","url":null,"abstract":"Iterative Learning Control (ILC) enables performance improvement by learning from previous tasks. The aim of this paper is to develop an ILC approach for Linear Parameter Varying (LPV) systems to enable improved performance and increased convergence speed compared to the linear time-invariant approach. This is achieved through dedicated analysis and norm-optimal synthesis of LPV learning filters. Application to a position-dependent motion system shows a significant improvement in accuracy and convergence rate, thereby confirming the potential of the proposed approach.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115622752","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963050
Tianwei Li, Q. Zou
In this paper, an approach is proposed to integrate contact-mode imaging with simultaneous broadband nanomechanical property mapping of soft materials in air by using atomic force microscope(AFM). Simultaneous imaging and nanomechanical mapping is needed to correlate the morphological and mechanical evolutions of the sample during the dynamic phenomena such as cell defusion process. However, current method to mechanical property mapping—the force-volume mapping technique—is limited to static elasticity mapping only, whereas the mechanical properties of soft materials are viscoelastic of frequency-dependence in nature. The proposed approach aims to address these challenges to enable simultaneous imaging and broadband nanomechanical mapping of soft materials in air. Specifically, it is proposed to augment a complex excitation input to the sample topography tracking during the imaging process. The proposed approach is illustrated through experimental implementation on a PDMS sample. The experimental results obtained demonstrate that by using the proposed technique, both topography imaging and broadband viscoelasticity quantification can be reliably achieved.
{"title":"Simultaneous topography imaging and broadband nanomechanical property mapping using atomic force microscope","authors":"Tianwei Li, Q. Zou","doi":"10.23919/ACC.2017.7963050","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963050","url":null,"abstract":"In this paper, an approach is proposed to integrate contact-mode imaging with simultaneous broadband nanomechanical property mapping of soft materials in air by using atomic force microscope(AFM). Simultaneous imaging and nanomechanical mapping is needed to correlate the morphological and mechanical evolutions of the sample during the dynamic phenomena such as cell defusion process. However, current method to mechanical property mapping—the force-volume mapping technique—is limited to static elasticity mapping only, whereas the mechanical properties of soft materials are viscoelastic of frequency-dependence in nature. The proposed approach aims to address these challenges to enable simultaneous imaging and broadband nanomechanical mapping of soft materials in air. Specifically, it is proposed to augment a complex excitation input to the sample topography tracking during the imaging process. The proposed approach is illustrated through experimental implementation on a PDMS sample. The experimental results obtained demonstrate that by using the proposed technique, both topography imaging and broadband viscoelasticity quantification can be reliably achieved.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126970021","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963151
Mayank Baranwal, Alireza Askarian, S. Salapaka, M. Salapaka
This paper addresses the problem of output voltage regulation for multiple DC/DC converters connected to a microgrid, and prescribes a scheme for sharing power among different sources. This architecture is structured in such a way that it admits quantifiable analysis of the closed-loop performance of the network of converters; the analysis simplifies to studying closed-loop performance of an equivalent single-converter system. The proposed architecture allows for the proportion in which the sources provide power to vary with time; thus overcoming limitations of our previous designs in [1]. Additionally, the proposed control framework is suitable to both centralized and decentralized implementations, i.e., the same control architecture can be employed for voltage regulation irrespective of the availability of common load-current (or power) measurement, without the need to modify controller parameters. The performance becomes quantifiably better with better communication of the demanded load to all the controllers at all the converters (in the centralized case); however guarantees viability when such communication is absent. Case studies comprising of battery, PV and generic sources are presented and demonstrate the enhanced performance of prescribed optimal controllers for voltage regulation and power sharing.
{"title":"A robust scheme for distributed control of power converters in DC microgrids with time-varying power sharing","authors":"Mayank Baranwal, Alireza Askarian, S. Salapaka, M. Salapaka","doi":"10.23919/ACC.2017.7963151","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963151","url":null,"abstract":"This paper addresses the problem of output voltage regulation for multiple DC/DC converters connected to a microgrid, and prescribes a scheme for sharing power among different sources. This architecture is structured in such a way that it admits quantifiable analysis of the closed-loop performance of the network of converters; the analysis simplifies to studying closed-loop performance of an equivalent single-converter system. The proposed architecture allows for the proportion in which the sources provide power to vary with time; thus overcoming limitations of our previous designs in [1]. Additionally, the proposed control framework is suitable to both centralized and decentralized implementations, i.e., the same control architecture can be employed for voltage regulation irrespective of the availability of common load-current (or power) measurement, without the need to modify controller parameters. The performance becomes quantifiably better with better communication of the demanded load to all the controllers at all the converters (in the centralized case); however guarantees viability when such communication is absent. Case studies comprising of battery, PV and generic sources are presented and demonstrate the enhanced performance of prescribed optimal controllers for voltage regulation and power sharing.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127870322","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963860
Perry Y. Li
Angle-domain structured disturbances refer to disturbances that satisfy a dynamic structure in a generic angle variable which is monotonically increasing with time but not uniformly. A difficulty in designing controllers to compensate for such angle-domain structured disturbances is that the system is invariably either time-varying or angle-varying. This paper uses the affine parameterization control design perspective and proposes a straight forward design procedure that utilizes a time-varying Kalman filter to estimate the disturbance state and a feedforward controller to install the disturbance cancellation. A sandwiched system is assumed where the input and output plants can be non-minimum phase. With non-minimum phase input plants, approximate feedforward controls are proposed to avoid the need for full future information on the angular rate.
{"title":"Angle-domain internal model control via a time-varying Kalman filter","authors":"Perry Y. Li","doi":"10.23919/ACC.2017.7963860","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963860","url":null,"abstract":"Angle-domain structured disturbances refer to disturbances that satisfy a dynamic structure in a generic angle variable which is monotonically increasing with time but not uniformly. A difficulty in designing controllers to compensate for such angle-domain structured disturbances is that the system is invariably either time-varying or angle-varying. This paper uses the affine parameterization control design perspective and proposes a straight forward design procedure that utilizes a time-varying Kalman filter to estimate the disturbance state and a feedforward controller to install the disturbance cancellation. A sandwiched system is assumed where the input and output plants can be non-minimum phase. With non-minimum phase input plants, approximate feedforward controls are proposed to avoid the need for full future information on the angular rate.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132756896","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963764
Amir Valibeygi, I. M.HadiBalaghi, K. Vijayaraghavan
A recently developed nonlinear H∞ observer and Extended Kalman Filter (EKF) offer two filters for state estimation in nonlinear systems. The Riccati equation that arises while developing the nonlinear H∞ observer is compared with the Riccati equation arising from the Extended Kalman Filter (EKF). Variations between the two Riccati equations translate into the differences in the performance of these alternative estimation methods. The H∞ filter offers faster convergence of the estimation covariance at large estimation errors during the transience of the filter. The Extended Kalman Filter, on the other hand, maintains higher levels of optimality at steady state at the expense of higher computational load. An LMI formulation for the H∞ filter is also presented that allows leveraging the bound on the nonlinearity to seek a stable filter for nonlinear systems.
{"title":"A comparative study of Extended Kalman Filter and an optimal nonlinear observer for state estimation","authors":"Amir Valibeygi, I. M.HadiBalaghi, K. Vijayaraghavan","doi":"10.23919/ACC.2017.7963764","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963764","url":null,"abstract":"A recently developed nonlinear H∞ observer and Extended Kalman Filter (EKF) offer two filters for state estimation in nonlinear systems. The Riccati equation that arises while developing the nonlinear H∞ observer is compared with the Riccati equation arising from the Extended Kalman Filter (EKF). Variations between the two Riccati equations translate into the differences in the performance of these alternative estimation methods. The H∞ filter offers faster convergence of the estimation covariance at large estimation errors during the transience of the filter. The Extended Kalman Filter, on the other hand, maintains higher levels of optimality at steady state at the expense of higher computational load. An LMI formulation for the H∞ filter is also presented that allows leveraging the bound on the nonlinearity to seek a stable filter for nonlinear systems.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133495435","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963835
S. Chitraganti, R. Tóth, N. Meskin, J. Mohammadpour
This paper considers a stochastic model predictive control of linear parameter-varying (LPV) systems described by affine parameter dependent state-space representations with additive stochastic uncertainties and probabilistic state constraints. In computing the prediction dynamics for LPV systems, the scheduling signal is given a stochastic description during the prediction horizon, which aims to overcome the shortcomings of the existing approaches where the scheduling signal is assumed to be constant or allowed to vary in a convex set. The above representation leads to LPV system dynamics consisting of additive and multiplicative uncertain stochastic terms up to second order. The prediction dynamics are reposed in an augmented form, which facilitates the feasibility of probabilistic constraints and closed-loop stability in the presence of stochastic uncertainties.
{"title":"Stochastic model predictive control for LPV systems","authors":"S. Chitraganti, R. Tóth, N. Meskin, J. Mohammadpour","doi":"10.23919/ACC.2017.7963835","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963835","url":null,"abstract":"This paper considers a stochastic model predictive control of linear parameter-varying (LPV) systems described by affine parameter dependent state-space representations with additive stochastic uncertainties and probabilistic state constraints. In computing the prediction dynamics for LPV systems, the scheduling signal is given a stochastic description during the prediction horizon, which aims to overcome the shortcomings of the existing approaches where the scheduling signal is assumed to be constant or allowed to vary in a convex set. The above representation leads to LPV system dynamics consisting of additive and multiplicative uncertain stochastic terms up to second order. The prediction dynamics are reposed in an augmented form, which facilitates the feasibility of probabilistic constraints and closed-loop stability in the presence of stochastic uncertainties.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130973045","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963282
Harish Ganesh, E. Taleff, T. Edgar, M. Baldea
Quench hardening is a mechanical process in which steel workpieces are hardened and strengthened. It consists of heating the workpieces to a high temperature in order to transform the metal to austenite, followed by quenching in oil, water or brine. In this work, we report on potential improvements for the energy efficiency of a steel quench hardening process, currently in operation at an industrial partner, which can be achieved via model-based optimal control. To obtain a defect-free and structurally sound product, both the macroscopic temperature and microstructural properties of the workpieces need to be controlled. The novelty of this work lies in the modeling approach considered to solve the furnace energy consumption minimization problem. A previously-developed radiation-based model is used to evaluate the energy consumption and part temperature distribution as a function of the time of processing. Simultaneously, we predict the effects of process variables on microstructural evolution of the parts and their consequences on the hardness and toughness of the quenched product. A response surface method is used to find the optimal set points of the feedback controllers that minimize the furnace energy consumption without violating the heating requirements and the desired grain size. Furnace operation under optimal set points results in a significant energy efficiency gain of 3.5% when compared with the heuristic operation currently in place.
{"title":"Simultaneous optimization of material properties and energy efficiency of a steel quench hardening process","authors":"Harish Ganesh, E. Taleff, T. Edgar, M. Baldea","doi":"10.23919/ACC.2017.7963282","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963282","url":null,"abstract":"Quench hardening is a mechanical process in which steel workpieces are hardened and strengthened. It consists of heating the workpieces to a high temperature in order to transform the metal to austenite, followed by quenching in oil, water or brine. In this work, we report on potential improvements for the energy efficiency of a steel quench hardening process, currently in operation at an industrial partner, which can be achieved via model-based optimal control. To obtain a defect-free and structurally sound product, both the macroscopic temperature and microstructural properties of the workpieces need to be controlled. The novelty of this work lies in the modeling approach considered to solve the furnace energy consumption minimization problem. A previously-developed radiation-based model is used to evaluate the energy consumption and part temperature distribution as a function of the time of processing. Simultaneously, we predict the effects of process variables on microstructural evolution of the parts and their consequences on the hardness and toughness of the quenched product. A response surface method is used to find the optimal set points of the feedback controllers that minimize the furnace energy consumption without violating the heating requirements and the desired grain size. Furnace operation under optimal set points results in a significant energy efficiency gain of 3.5% when compared with the heuristic operation currently in place.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123928733","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963411
S. Prakash, E. V. Horssen, D. Antunes, W. Heemels
Delays are often present in embedded and networked control loops and represent one of the main sources of performance limitations. In this paper, we propose two aperiodic control strategies to optimize closed-loop performance in the presence of stochastic delays: (i) a self-triggered strategy, in which the deadline to drop data is decided on-line based on the current state; (ii) an event-driven strategy, whereby the control input is updated immediately after the delayed data becomes available, leading in general to faster but time-varying control loops. These schemes are designed and analyzed using a standard LQG framework, which allows for assessing and comparing closed-loop performance. We establish that our self-triggered strategy always achieves a better closed-loop performance than periodic control with an optimal sampling period. Moreover, we provide examples where the event-driven strategy outperforms the self-triggered strategy and examples where the opposite is observed.
{"title":"Self-triggered and event-driven control for linear systems with stochastic delays","authors":"S. Prakash, E. V. Horssen, D. Antunes, W. Heemels","doi":"10.23919/ACC.2017.7963411","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963411","url":null,"abstract":"Delays are often present in embedded and networked control loops and represent one of the main sources of performance limitations. In this paper, we propose two aperiodic control strategies to optimize closed-loop performance in the presence of stochastic delays: (i) a self-triggered strategy, in which the deadline to drop data is decided on-line based on the current state; (ii) an event-driven strategy, whereby the control input is updated immediately after the delayed data becomes available, leading in general to faster but time-varying control loops. These schemes are designed and analyzed using a standard LQG framework, which allows for assessing and comparing closed-loop performance. We establish that our self-triggered strategy always achieves a better closed-loop performance than periodic control with an optimal sampling period. Moreover, we provide examples where the event-driven strategy outperforms the self-triggered strategy and examples where the opposite is observed.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124179908","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963389
M. Heertjes, Maurice L. J. van de Ven, Ramidin Kamidi
Bandwidth-limiting flexible modes in motion systems like the stage systems of a wafer scanner can effectively be damped by incorporating a viscoelastic tuned-mass-damper. This allows for an increase of bandwidth. The viscoelastic properties however pose a challenge on the feedforward design and thereby limit the achievable tracking performance. This is because the viscoelastic properties, which cannot be described by the simple addition of an elastic and a viscous element, induce a relaxation effect that prolongs well beyond the moment that inertial forces induced by the setpoint are being applied to the system. To cope with this problem, a tenth-order model fit from measured frequency response data that sufficiently captures the viscoelastic properties is combined with a data-based optimization approach needed to fine-tune a limited set of acceleration-snap feedforward gains. Experimental results from an industrial wafer stage system demonstrate the applicability of the approach.
{"title":"Acceleration-snap feedforward scheme for a motion system with viscoelastic tuned-mass-damper","authors":"M. Heertjes, Maurice L. J. van de Ven, Ramidin Kamidi","doi":"10.23919/ACC.2017.7963389","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963389","url":null,"abstract":"Bandwidth-limiting flexible modes in motion systems like the stage systems of a wafer scanner can effectively be damped by incorporating a viscoelastic tuned-mass-damper. This allows for an increase of bandwidth. The viscoelastic properties however pose a challenge on the feedforward design and thereby limit the achievable tracking performance. This is because the viscoelastic properties, which cannot be described by the simple addition of an elastic and a viscous element, induce a relaxation effect that prolongs well beyond the moment that inertial forces induced by the setpoint are being applied to the system. To cope with this problem, a tenth-order model fit from measured frequency response data that sufficiently captures the viscoelastic properties is combined with a data-based optimization approach needed to fine-tune a limited set of acceleration-snap feedforward gains. Experimental results from an industrial wafer stage system demonstrate the applicability of the approach.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131712732","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 : 2017-05-24DOI: 10.23919/ACC.2017.7963133
Yuh-Shyang Wang, N. Matni, J. Doyle
We introduce the system level approach to controller synthesis, which is composed of three elements: System Level Parameterizations (SLPs), System Level Constraints (SLCs) and System Level Synthesis (SLS) problems. SLPs provide a novel parameterization of all internally stabilizing controllers and the system responses that they achieve. These can be combined with SLCs to provide parameterizations of constrained stabilizing controllers. We provide a catalog of useful SLCs, and show that by using SLPs with SLCs, we can parameterize the largest known class of constrained stabilizing controllers that admit a convex characterization. Finally, we formulate the SLS problem, and show that it defines the broadest known class of constrained optimal control problems that can be solved using convex programming. We end by using the system level approach to computationally explore tradeoffs in controller performance, architecture cost, robustness and synthesis/implementation complexity.
{"title":"System Level Parameterizations, constraints and synthesis","authors":"Yuh-Shyang Wang, N. Matni, J. Doyle","doi":"10.23919/ACC.2017.7963133","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963133","url":null,"abstract":"We introduce the system level approach to controller synthesis, which is composed of three elements: System Level Parameterizations (SLPs), System Level Constraints (SLCs) and System Level Synthesis (SLS) problems. SLPs provide a novel parameterization of all internally stabilizing controllers and the system responses that they achieve. These can be combined with SLCs to provide parameterizations of constrained stabilizing controllers. We provide a catalog of useful SLCs, and show that by using SLPs with SLCs, we can parameterize the largest known class of constrained stabilizing controllers that admit a convex characterization. Finally, we formulate the SLS problem, and show that it defines the broadest known class of constrained optimal control problems that can be solved using convex programming. We end by using the system level approach to computationally explore tradeoffs in controller performance, architecture cost, robustness and synthesis/implementation complexity.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127347080","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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