The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum.
{"title":"Swing-up control of an inverted pendulum by energy-based methods","authors":"K. Yoshida","doi":"10.1109/ACC.1999.786297","DOIUrl":"https://doi.org/10.1109/ACC.1999.786297","url":null,"abstract":"The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124160612","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}
A decentralized model reference controller is designed to reduce the magnitude of the transversal vibration of a flexible cable-stayed beam structure induced by a seismic excitation. The controller design is made based on the principle of sliding mode such that a priori knowledge on the bounds of the uncertainties and disturbances is not required. A numerical simulation example is presented to illustrate the effectiveness of the proposed control scheme for a scaled model of a bridge.
{"title":"Decentralized model reference control of flexible cable-stayed beam structures","authors":"N. Luo, J. Rodellar, M. de La Sen, J. Vehí","doi":"10.1109/ACC.1999.786229","DOIUrl":"https://doi.org/10.1109/ACC.1999.786229","url":null,"abstract":"A decentralized model reference controller is designed to reduce the magnitude of the transversal vibration of a flexible cable-stayed beam structure induced by a seismic excitation. The controller design is made based on the principle of sliding mode such that a priori knowledge on the bounds of the uncertainties and disturbances is not required. A numerical simulation example is presented to illustrate the effectiveness of the proposed control scheme for a scaled model of a bridge.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126429334","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}
The design of discrete-time controllers as a multiobjective l/sub 1/-optimal control problem is addressed in this paper. The multiobjective linear programming problem that results from the use of approximation methods based on the theory of l/sub 1/ optimization is solved by a goal programming technique, which reveals to be an efficient design technique. Performance specifications are easily described as goals for the objectives and their trade-offs can be explicitly represented. In addition, the goal programming formulation efficiently explores the properties of l/sub 1/-optimal control methods based on linear programming. The paper includes numerical examples that illustrate the proposed approach.
{"title":"Design of l/sub 1/-optimal controllers by multiobjective linear programming","authors":"J. Carvalho, P. Ferreira","doi":"10.1109/ACC.1999.783170","DOIUrl":"https://doi.org/10.1109/ACC.1999.783170","url":null,"abstract":"The design of discrete-time controllers as a multiobjective l/sub 1/-optimal control problem is addressed in this paper. The multiobjective linear programming problem that results from the use of approximation methods based on the theory of l/sub 1/ optimization is solved by a goal programming technique, which reveals to be an efficient design technique. Performance specifications are easily described as goals for the objectives and their trade-offs can be explicitly represented. In addition, the goal programming formulation efficiently explores the properties of l/sub 1/-optimal control methods based on linear programming. The paper includes numerical examples that illustrate the proposed approach.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126523138","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}
Deals with predictive control tuning. The study is carried out by simulating second order linear or non-linear processes, corresponding to simulator models of industrial furnaces. The interest for predictive control is tied to its attractive concept and properties, as well as to its widespread use in industry. Unfortunately many parameters have to be tuned in order to achieve efficient control laws. The goal of the present work was to concentrate on the model-based predictive controller (MPC) tuning methodology in order to derive a nearly automatic design strategy. Firstly, new design parameters are introduced in order to improve the results when the reference signal is known in advance. Secondly, propositions are made for a heuristic tuning method based on expert rules. A nonlinear furnace model is used to illustrate the guidelines.
{"title":"Predictive control: propositions for the design methodology","authors":"S. Drogies, D. de Geest","doi":"10.1109/ACC.1999.782908","DOIUrl":"https://doi.org/10.1109/ACC.1999.782908","url":null,"abstract":"Deals with predictive control tuning. The study is carried out by simulating second order linear or non-linear processes, corresponding to simulator models of industrial furnaces. The interest for predictive control is tied to its attractive concept and properties, as well as to its widespread use in industry. Unfortunately many parameters have to be tuned in order to achieve efficient control laws. The goal of the present work was to concentrate on the model-based predictive controller (MPC) tuning methodology in order to derive a nearly automatic design strategy. Firstly, new design parameters are introduced in order to improve the results when the reference signal is known in advance. Secondly, propositions are made for a heuristic tuning method based on expert rules. A nonlinear furnace model is used to illustrate the guidelines.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128069863","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}
Analyses a linear discrete-time system controlled by a state-space predictive controller. It is assumed that the parameters and the dynamic order of the system used for the design of the controller differ from the true parameters of the plant. For such a system, the steady state output predictions are calculated. Subsequently, it is shown that the steady-state tracking error is zero. Some generalisations of this result are also discussed.
{"title":"Steady state offset in predictive control","authors":"A. Ordys","doi":"10.1109/ACC.1999.783151","DOIUrl":"https://doi.org/10.1109/ACC.1999.783151","url":null,"abstract":"Analyses a linear discrete-time system controlled by a state-space predictive controller. It is assumed that the parameters and the dynamic order of the system used for the design of the controller differ from the true parameters of the plant. For such a system, the steady state output predictions are calculated. Subsequently, it is shown that the steady-state tracking error is zero. Some generalisations of this result are also discussed.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115734654","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}
The PAC learning theory creates a framework to assess the learning properties of a modeling procedure. This paper presents a bound on the size of the training data set required to train a nonlinear FIR model, where the input data are assumed to be generated according to the uniform distribution. The bound is further specified for a family of feedforward neural networks, which utilizes a sigmoid activation function. The learning properties of a neural identification task have been assessed using the aforesaid family of neural networks. Also, using the structural risk minimization algorithm, a learning procedure for the modeling tasks in which the exact number of the hidden neurons is unknown, is introduced.
{"title":"Learning of nonlinear FIR models under uniform distribution","authors":"K. Najarian, G. Dumont, M. Davies, N. Heckman","doi":"10.1109/ACC.1999.783163","DOIUrl":"https://doi.org/10.1109/ACC.1999.783163","url":null,"abstract":"The PAC learning theory creates a framework to assess the learning properties of a modeling procedure. This paper presents a bound on the size of the training data set required to train a nonlinear FIR model, where the input data are assumed to be generated according to the uniform distribution. The bound is further specified for a family of feedforward neural networks, which utilizes a sigmoid activation function. The learning properties of a neural identification task have been assessed using the aforesaid family of neural networks. Also, using the structural risk minimization algorithm, a learning procedure for the modeling tasks in which the exact number of the hidden neurons is unknown, is introduced.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132072716","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}
This paper examines the potential for using empirical models derived from real plant data for online quality control for an enamelled wire production process. Existing procedures are based around a well-established offline technique known as Tangent Delta. Using data recorded from normal production operations, models representing parameter input/output relationships are fast developed using standard linear regression. The linear models do not capture the behaviour of the process sufficiently well so other methods based on nonlinear and fuzzy methods and artificial neural networks are developed. The ability of each of these methods to capture the process characteristics are compared using test set data. The results indicate that the nonlinear models derived using the group method of data handling (GMDH) approach offer considerable promise for online quality control in this industrial application.
{"title":"Modelling the enamelled wire manufacturing process to improve on-line quality control","authors":"N. Mort, L. Bridges","doi":"10.1109/ACC.1999.786314","DOIUrl":"https://doi.org/10.1109/ACC.1999.786314","url":null,"abstract":"This paper examines the potential for using empirical models derived from real plant data for online quality control for an enamelled wire production process. Existing procedures are based around a well-established offline technique known as Tangent Delta. Using data recorded from normal production operations, models representing parameter input/output relationships are fast developed using standard linear regression. The linear models do not capture the behaviour of the process sufficiently well so other methods based on nonlinear and fuzzy methods and artificial neural networks are developed. The ability of each of these methods to capture the process characteristics are compared using test set data. The results indicate that the nonlinear models derived using the group method of data handling (GMDH) approach offer considerable promise for online quality control in this industrial application.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130162956","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}
A new methodology is developed to assess the performance of PI controllers from closed-loop response data for a setpoint step change. It is based on two new dimensionless performance indices, the dimensionless settling time and the dimensionless integral of the absolute value of the error. The methodology is used to quantify how far a control loop is from the best achievable performance of PI control. It also identifies poorly performing control loops, such as those that are excessively sluggish. The performance and robustness properties of the internal model control (IMC) tuning method are analyzed and are used as industrially relevant benchmarks. The proposed methodology is also applicable to PID controllers.
{"title":"Controller performance assessment based on setpoint response data","authors":"A. P. Swanda, D. Seborg","doi":"10.1109/ACC.1999.786240","DOIUrl":"https://doi.org/10.1109/ACC.1999.786240","url":null,"abstract":"A new methodology is developed to assess the performance of PI controllers from closed-loop response data for a setpoint step change. It is based on two new dimensionless performance indices, the dimensionless settling time and the dimensionless integral of the absolute value of the error. The methodology is used to quantify how far a control loop is from the best achievable performance of PI control. It also identifies poorly performing control loops, such as those that are excessively sluggish. The performance and robustness properties of the internal model control (IMC) tuning method are analyzed and are used as industrially relevant benchmarks. The proposed methodology is also applicable to PID controllers.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134578554","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}
The paper is concerned with the problem of linear H/sub /spl infin// controller design for linear time-invariant systems, in the presence of controller uncertainty. The controller to be designed is assumed to have time-varying, but norm-bounded additive uncertainties. Design methods are presented for both state feedback and dynamic output (measurement) feedback, both of which degenerate to the standard H/sub /spl infin// state and output feedback control designs, respectively, when the controller uncertainties become zero. The designed controller with uncertainty is such that the closed-loop system is quadratically stable and has an H/sub /spl infin// disturbance attenuation bound. The existence of a solution to the standard H/sub /spl infin// control problem guarantees the existence of such H/sub /spl infin// controllers with a certain level of controller uncertainities. The generalization to an uncertain plant is also considered. Numerical examples are given to illustrate the design procedures and their effectiveness.
{"title":"H/sub /spl infin// control for linear systems with controller uncertainty","authors":"Guanghong Yang, J. Wang, Chong Lin","doi":"10.1109/ACC.1999.782391","DOIUrl":"https://doi.org/10.1109/ACC.1999.782391","url":null,"abstract":"The paper is concerned with the problem of linear H/sub /spl infin// controller design for linear time-invariant systems, in the presence of controller uncertainty. The controller to be designed is assumed to have time-varying, but norm-bounded additive uncertainties. Design methods are presented for both state feedback and dynamic output (measurement) feedback, both of which degenerate to the standard H/sub /spl infin// state and output feedback control designs, respectively, when the controller uncertainties become zero. The designed controller with uncertainty is such that the closed-loop system is quadratically stable and has an H/sub /spl infin// disturbance attenuation bound. The existence of a solution to the standard H/sub /spl infin// control problem guarantees the existence of such H/sub /spl infin// controllers with a certain level of controller uncertainities. The generalization to an uncertain plant is also considered. Numerical examples are given to illustrate the design procedures and their effectiveness.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131059475","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}
Based on the Gramian assignment technique, a continuous fuzzy controller for a class of uncertain nonlinear systems is developed. These nonlinear systems considered are represented by Takagi-Sugeno fuzzy models. The design of this fuzzy controller can be accomplished by assigning a certain common observability Gramian for each rule of these Takagi-Sugeno fuzzy models.
{"title":"Fuzzy control with common observability Gramian assignment for continuous Takagi-Sugeno models","authors":"Wen‐Jer Chang, Chein-Chung Sun","doi":"10.1109/ACC.1999.783591","DOIUrl":"https://doi.org/10.1109/ACC.1999.783591","url":null,"abstract":"Based on the Gramian assignment technique, a continuous fuzzy controller for a class of uncertain nonlinear systems is developed. These nonlinear systems considered are represented by Takagi-Sugeno fuzzy models. The design of this fuzzy controller can be accomplished by assigning a certain common observability Gramian for each rule of these Takagi-Sugeno fuzzy models.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133420925","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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