This paper describes the application of multivariate regression techniques to the Tennessee Eastman benchmark process. Two methods are applied: linear partial least squares, and a nonlinear variant of this procedure using a radial basis function inner relation. These methods are used to create online inferential models of delayed process measurement. The redundancy so obtained is then used to generate a fault detection and isolation scheme for these sensors. The effectiveness of this scheme is demonstrated on a number of test faults.
{"title":"PLS modelling and fault detection on the Tennessee Eastman benchmark","authors":"D. Wilson, G. Irwin","doi":"10.1109/ACC.1999.786264","DOIUrl":"https://doi.org/10.1109/ACC.1999.786264","url":null,"abstract":"This paper describes the application of multivariate regression techniques to the Tennessee Eastman benchmark process. Two methods are applied: linear partial least squares, and a nonlinear variant of this procedure using a radial basis function inner relation. These methods are used to create online inferential models of delayed process measurement. The redundancy so obtained is then used to generate a fault detection and isolation scheme for these sensors. The effectiveness of this scheme is demonstrated on a number of test faults.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122587099","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}
In this paper we develop generalized Lyapunov and invariant set theorems for nonlinear dynamical systems wherein all regularity assumptions on the Lyapunov function and the system dynamics are removed. In particular, local and global stability theorems are given using lower semicontinuous Lyapunov functions. Furthermore, generalized invariant set theorems are derived wherein system trajectories converge to a union of largest invariant sets contained in intersections over finite intervals of the closure of generalized Lyapunov level surfaces. The proposed results provide transparent generalizations to standard Lyapunov and invariant set theorems.
{"title":"Generalized Lyapunov and invariant set theorems for nonlinear dynamical systems","authors":"V. Chellaboina, A. Leonessa, W. M. Haddad","doi":"10.1109/ACC.1999.782317","DOIUrl":"https://doi.org/10.1109/ACC.1999.782317","url":null,"abstract":"In this paper we develop generalized Lyapunov and invariant set theorems for nonlinear dynamical systems wherein all regularity assumptions on the Lyapunov function and the system dynamics are removed. In particular, local and global stability theorems are given using lower semicontinuous Lyapunov functions. Furthermore, generalized invariant set theorems are derived wherein system trajectories converge to a union of largest invariant sets contained in intersections over finite intervals of the closure of generalized Lyapunov level surfaces. The proposed results provide transparent generalizations to standard Lyapunov and invariant set theorems.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131468444","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}
Simulation and experimental studies are carried out for investigating the possibility of automatic vehicle control system based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. In this paper, an accurate and real-time estimation of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. A steering control algorithm for tracking the desired course stored as absolute position data is also proposed. Simulation and experimental results validates the proposed estimation and control system, and provides the perspective of enhancing the automatic driving control system by use of the absolute position information.
{"title":"DGPS-based position measurement and steering control for automatic driving","authors":"M. Omae, T. Fujioka","doi":"10.1109/ACC.1999.782454","DOIUrl":"https://doi.org/10.1109/ACC.1999.782454","url":null,"abstract":"Simulation and experimental studies are carried out for investigating the possibility of automatic vehicle control system based on absolute position information. Implementation of such control system requires a methodology of measuring the absolute position, and a control algorithm. In this paper, an accurate and real-time estimation of the absolute position by use of DGPS (Differential Global Positioning System) and sensors on a controlled vehicle is proposed. A steering control algorithm for tracking the desired course stored as absolute position data is also proposed. Simulation and experimental results validates the proposed estimation and control system, and provides the perspective of enhancing the automatic driving control system by use of the absolute position information.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129740194","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}
Algorithms for computing the matrix sign function of nonsingular matrices are developed. These algorithms are used to estimate the signal and noise subspaces of the sample covariance matrix when a threshold which separates signal and noise eigenvalues is available. The computed subspaces are then utilized to develop high resolution methods such as MUSIC (multiple signal classification) and ESPRIT (estimation of signal parameters via rotational invariance techniques) for sinusoidal frequency and direction of arrival (DOA) problems. The main features of these algorithms are that they are stable and can be used to generate subspaces that are parameterized by the signal-to-noise ratio (SNR). Additionally, significant computational saving will be obtained due to the fast convergence of some of these iterations. Simulations showing the performance of these methods are also presented.
{"title":"Matrix sign algorithms for signal subspace applications","authors":"M. Hasan, Jiann-Shiou Yang, J. Hasan","doi":"10.1109/ACC.1999.786464","DOIUrl":"https://doi.org/10.1109/ACC.1999.786464","url":null,"abstract":"Algorithms for computing the matrix sign function of nonsingular matrices are developed. These algorithms are used to estimate the signal and noise subspaces of the sample covariance matrix when a threshold which separates signal and noise eigenvalues is available. The computed subspaces are then utilized to develop high resolution methods such as MUSIC (multiple signal classification) and ESPRIT (estimation of signal parameters via rotational invariance techniques) for sinusoidal frequency and direction of arrival (DOA) problems. The main features of these algorithms are that they are stable and can be used to generate subspaces that are parameterized by the signal-to-noise ratio (SNR). Additionally, significant computational saving will be obtained due to the fast convergence of some of these iterations. Simulations showing the performance of these methods are also presented.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115381332","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 model-refining method is proposed to alleviate the complexity regarding specification interpretation of DES control problems. The legal constraint language is defined in terms of illegal states and events in contrast with constructing the automaton of the specification language. This method could provide a more intuitive view of the DES control problem and would be suitable for practical implementation. One example, which was commonly used in the literature, is illustrated to show the efficiency of the proposed method. Furthermore, under this framework, it is shown that the supremal controllable sublanguage can take a simpler form by the concept of illegal state set. A state-based supervisor synthesis procedure is presented and a simple example is illustrated.
{"title":"A modified method for supervisor specification and synthesis of a class of discrete event systems","authors":"Yeong-Chang Ou, Jwusheng Hu","doi":"10.1109/ACC.1999.786215","DOIUrl":"https://doi.org/10.1109/ACC.1999.786215","url":null,"abstract":"A model-refining method is proposed to alleviate the complexity regarding specification interpretation of DES control problems. The legal constraint language is defined in terms of illegal states and events in contrast with constructing the automaton of the specification language. This method could provide a more intuitive view of the DES control problem and would be suitable for practical implementation. One example, which was commonly used in the literature, is illustrated to show the efficiency of the proposed method. Furthermore, under this framework, it is shown that the supremal controllable sublanguage can take a simpler form by the concept of illegal state set. A state-based supervisor synthesis procedure is presented and a simple example is illustrated.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"54 56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124701500","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 compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.
{"title":"Adaptive control of systems with backlash hysteresis at the input","authors":"N. Ahmad, F. Khorrami","doi":"10.1109/ACC.1999.782315","DOIUrl":"https://doi.org/10.1109/ACC.1999.782315","url":null,"abstract":"A new compact dynamical model for backlash inverse is presented. This model may be utilized for both backlash at the input or at the output. Two cases are considered: the case where the backlash spacing is known as well as the case of unknown backlash spacing. For the latter case, an adaptive update law is developed to compensate for the unknown spacing. The adaptive backlash inverse controller is a break-away from existing backlash compensators which are mostly implemented in discrete-time and utilize complex control algorithms. The advocated results are applied to a one degree-of-freedom system affected by backlash. The stability of the closed-loop system is shown using Lyapunov arguments. Simulation results show that the control methodology greatly improves tracking performance over a PD type controller.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132905132","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}
Addresses the dynamics and optimal cruise control of concentrated-driven high speed train. The dynamical model is completed by a multi-body system, in which couplers connecting adjacent vehicles are characterized by nonlinear hardening/softening springs. The design specification is a mix of command tracking and disturbance rejection. The authors apply a linear matrix inequalities approach to synthesize a multi-model multi-objective (H/sub 2//H/sub /spl infin// performance) state-feedback controller. Numerical simulations show the validity of the resulting controller.
{"title":"Robust cruise control of high speed train with hardening/softening nonlinear coupler","authors":"C. Yang, Yun-Ping Sun","doi":"10.1109/ACC.1999.786346","DOIUrl":"https://doi.org/10.1109/ACC.1999.786346","url":null,"abstract":"Addresses the dynamics and optimal cruise control of concentrated-driven high speed train. The dynamical model is completed by a multi-body system, in which couplers connecting adjacent vehicles are characterized by nonlinear hardening/softening springs. The design specification is a mix of command tracking and disturbance rejection. The authors apply a linear matrix inequalities approach to synthesize a multi-model multi-objective (H/sub 2//H/sub /spl infin// performance) state-feedback controller. Numerical simulations show the validity of the resulting controller.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126424449","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. Sebastian, M. Salapaka, D.J. Chen, J. Cleveland
In this paper we use harmonic balance and averaging techniques to analyze the tapping mode dynamics of the atomic force microscope (AFM). A model for the cantilever sample interaction is developed. Experimental results show that the analysis and the model predict the behavior of the tapping cantilever.
{"title":"Harmonic analysis based modeling of tapping-mode AFM","authors":"A. Sebastian, M. Salapaka, D.J. Chen, J. Cleveland","doi":"10.1109/ACC.1999.782775","DOIUrl":"https://doi.org/10.1109/ACC.1999.782775","url":null,"abstract":"In this paper we use harmonic balance and averaging techniques to analyze the tapping mode dynamics of the atomic force microscope (AFM). A model for the cantilever sample interaction is developed. Experimental results show that the analysis and the model predict the behavior of the tapping cantilever.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125601728","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}
In this paper, an adaptive current-level controller is designed for two-dimensional linear stepper motors that renders the closed-loop system robust to a variety of uncertainties and disturbances prevalent in the motor dynamics. The controller uses only the motor position and the yaw angle for feedback. The tracking error is shown to be globally uniformly bounded. Simulation studies are presented to validate the controller performance.
{"title":"Output feedback control of a three degree-of-freedom linear stepper motor with position measurements only","authors":"H. Melkote, F. Khorrami","doi":"10.1109/ACC.1999.786511","DOIUrl":"https://doi.org/10.1109/ACC.1999.786511","url":null,"abstract":"In this paper, an adaptive current-level controller is designed for two-dimensional linear stepper motors that renders the closed-loop system robust to a variety of uncertainties and disturbances prevalent in the motor dynamics. The controller uses only the motor position and the yaw angle for feedback. The tracking error is shown to be globally uniformly bounded. Simulation studies are presented to validate the controller performance.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125592107","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 position sensorless field oriented control scheme for surface mount permanent magnet AC (PMAC) motor is presented. A digital signal processor (DSP) is used to implement the sensorless scheme. The PMAC stator is wound like that of a conventional three-phase induction motor. Taps are also provided which are used for voltage measurements. By measuring the tap voltages, absolute position of the permanent magnet AC motor, driven by a current regulated PWM inverter, with a fixed frequency ramp comparison controller, is estimated. The estimated position information is independent of the stator resistance, thus this scheme is even applicable at low speeds.
{"title":"Sensorless operation of surface mount permanent magnet AC (PMAC) motors","authors":"H. Toliyat, D. S. Shet","doi":"10.1109/ACC.1999.786321","DOIUrl":"https://doi.org/10.1109/ACC.1999.786321","url":null,"abstract":"A position sensorless field oriented control scheme for surface mount permanent magnet AC (PMAC) motor is presented. A digital signal processor (DSP) is used to implement the sensorless scheme. The PMAC stator is wound like that of a conventional three-phase induction motor. Taps are also provided which are used for voltage measurements. By measuring the tap voltages, absolute position of the permanent magnet AC motor, driven by a current regulated PWM inverter, with a fixed frequency ramp comparison controller, is estimated. The estimated position information is independent of the stator resistance, thus this scheme is even applicable at low speeds.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126949438","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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