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}
In this paper it is shown how Bode's integral has a natural generalization for time-varying systems which possess an exponential dichotomy. Moreover, the sensitivity function is constrained, on average, by the lower Bohl and Lyapunov exponents of the open-loop system. These take the place of the magnitude of the open-loop poles. The analysis is carried out for discrete-time systems.
{"title":"Analytic constraints in feedback control of linear time-varying systems: Bode's sensitivity integral","authors":"P. Iglesias","doi":"10.1109/ACC.1999.786218","DOIUrl":"https://doi.org/10.1109/ACC.1999.786218","url":null,"abstract":"In this paper it is shown how Bode's integral has a natural generalization for time-varying systems which possess an exponential dichotomy. Moreover, the sensitivity function is constrained, on average, by the lower Bohl and Lyapunov exponents of the open-loop system. These take the place of the magnitude of the open-loop poles. The analysis is carried out for discrete-time systems.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"33 23","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113984268","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}
Y. Chu, T. Duncan, M. T. Matache, B. Pasik-Duncan, P. Zimmer
This paper describes a study of asynchronous transfer mode (ATM) cell data, considering both the analysis and the modeling of the data. For the data analysis portion of the work, cell counts per unit time are done, and interarrival times between cells are determined. Source modeling is done for the two large variable bit rate users and a constant bit rate user from the data. From the empirical distribution of interarrival times, the source modeling is made by a sequence of pairs of random variables (X, Y) where X represents the cell bursts and Y represents the interarrival times between bursts. Within each burst, the distribution of cells is determined by a finite state Markov chain, and the interarrival times of the bursts are also determined by a different finite state Markov chain for two users. The model is validated by comparing the interarrival times of the model and of the trace data. The analysis of the queue in the buffer is done; quantiles of the tail of the queue are also determined, as well as mean cell delays and cell loss ratios.
{"title":"Analysis and modeling of ATM traffic data","authors":"Y. Chu, T. Duncan, M. T. Matache, B. Pasik-Duncan, P. Zimmer","doi":"10.1109/ACC.1999.786416","DOIUrl":"https://doi.org/10.1109/ACC.1999.786416","url":null,"abstract":"This paper describes a study of asynchronous transfer mode (ATM) cell data, considering both the analysis and the modeling of the data. For the data analysis portion of the work, cell counts per unit time are done, and interarrival times between cells are determined. Source modeling is done for the two large variable bit rate users and a constant bit rate user from the data. From the empirical distribution of interarrival times, the source modeling is made by a sequence of pairs of random variables (X, Y) where X represents the cell bursts and Y represents the interarrival times between bursts. Within each burst, the distribution of cells is determined by a finite state Markov chain, and the interarrival times of the bursts are also determined by a different finite state Markov chain for two users. The model is validated by comparing the interarrival times of the model and of the trace data. The analysis of the queue in the buffer is done; quantiles of the tail of the queue are also determined, as well as mean cell delays and cell loss ratios.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"24 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":"122382458","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}
We discuss the effect of parameter uncertainty on the stability of the closed-loop system regulated by a state feedback that linearizes a nominal discrete-time nonlinear system which includes an observer. We show that the stability of the perturbed closed-loop system is assured if the closed-loop nominal system has an exponentially stable equilibrium point including an exponential observer, and provided some other conditions on the perturbation magnitude are also satisfied. An analysis of the effect of parameter perturbations on the stability of input-state linearizing controllers that make use of a state estimator, is presented.
{"title":"Stability robustness of linearizing controllers with state estimation for discrete-time nonlinear systems","authors":"C. Cruz, J. Alvarez, R. Castro","doi":"10.1109/ACC.1999.786273","DOIUrl":"https://doi.org/10.1109/ACC.1999.786273","url":null,"abstract":"We discuss the effect of parameter uncertainty on the stability of the closed-loop system regulated by a state feedback that linearizes a nominal discrete-time nonlinear system which includes an observer. We show that the stability of the perturbed closed-loop system is assured if the closed-loop nominal system has an exponentially stable equilibrium point including an exponential observer, and provided some other conditions on the perturbation magnitude are also satisfied. An analysis of the effect of parameter perturbations on the stability of input-state linearizing controllers that make use of a state estimator, is presented.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"37 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":"115962409","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 development of a fault detection scheme for linear jump discrete systems is addressed. The system's parameter vector is identified through a sliding-window orthotopic set membership identification scheme. A recursive algorithm predicts the interval of the system's output based on the identified parameter bounds. The fault is detected when the actual system output is not within the predicted 'worst case' interval output, or when the actual parameter vector is not within the identified interval. Simulation and experimental studies are offered to illustrate the scheme's performance.
{"title":"Fault detection for jump discrete systems","authors":"Anthony Tzes, K. Le","doi":"10.1109/ACC.1999.786436","DOIUrl":"https://doi.org/10.1109/ACC.1999.786436","url":null,"abstract":"The development of a fault detection scheme for linear jump discrete systems is addressed. The system's parameter vector is identified through a sliding-window orthotopic set membership identification scheme. A recursive algorithm predicts the interval of the system's output based on the identified parameter bounds. The fault is detected when the actual system output is not within the predicted 'worst case' interval output, or when the actual parameter vector is not within the identified interval. Simulation and experimental studies are offered to illustrate the scheme's performance.","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":"115465163","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}
We consider a broad class of nonisothermal, spatially homogeneous reaction systems, with fast and slow reactions. The dynamic model of such systems exhibits stiffness (time-scale multiplicity) but is not in a standard singularly perturbed form. For such systems, we address the derivation of reduced order nonlinear models of the slow dynamics, through (i) the identification of algebraic constraints that need to be satisfied in the slow time scale (e.g. reaction equilibrium constraint in the case of fast reversible reactions), and (ii) the derivation of state-space realizations of the resulting differential algebraic system that describes the slow dynamics.
{"title":"Nonlinear model reduction of chemical reaction systems","authors":"N. Vora, P. Daoutidis","doi":"10.1109/ACC.1999.786094","DOIUrl":"https://doi.org/10.1109/ACC.1999.786094","url":null,"abstract":"We consider a broad class of nonisothermal, spatially homogeneous reaction systems, with fast and slow reactions. The dynamic model of such systems exhibits stiffness (time-scale multiplicity) but is not in a standard singularly perturbed form. For such systems, we address the derivation of reduced order nonlinear models of the slow dynamics, through (i) the identification of algebraic constraints that need to be satisfied in the slow time scale (e.g. reaction equilibrium constraint in the case of fast reversible reactions), and (ii) the derivation of state-space realizations of the resulting differential algebraic system that describes the slow dynamics.","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":"125856439","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}
We propose a parameterization of all plug-in adaptive controllers based on the external model principle. The plug-in adaptive controller can reject periodic sinusoidal disturbance in an adaptive manner at selected frequencies independently.
{"title":"Parameterization of all plug-in adaptive controllers for sinusoidal disturbance rejection","authors":"H. Miyamoto, H. Ohmori, A. Sano","doi":"10.1109/ACC.1999.786268","DOIUrl":"https://doi.org/10.1109/ACC.1999.786268","url":null,"abstract":"We propose a parameterization of all plug-in adaptive controllers based on the external model principle. The plug-in adaptive controller can reject periodic sinusoidal disturbance in an adaptive manner at selected frequencies independently.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"12 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":"125202382","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, the dynamics and control of a reactive distillation column for the production of ethyl acetate are studied. Initially, the existence of fast and slow dynamics corresponding to the liquid flow rates, and the liquid compositions and hold-ups, respectively, is documented and analyzed. A description of the slow dynamics of the column is derived using singular perturbation arguments, and is used for the synthesis of a nonlinear feedback controller. The performance and robustness of this controller are evaluated and compared with those of a controller based on the exact two time scale model.
{"title":"Time scale multiplicity and nonlinear control of an ethyl acetate reactive distillation column","authors":"N. Vora, P. Daoutidis","doi":"10.1109/ACC.1999.786515","DOIUrl":"https://doi.org/10.1109/ACC.1999.786515","url":null,"abstract":"In this paper, the dynamics and control of a reactive distillation column for the production of ethyl acetate are studied. Initially, the existence of fast and slow dynamics corresponding to the liquid flow rates, and the liquid compositions and hold-ups, respectively, is documented and analyzed. A description of the slow dynamics of the column is derived using singular perturbation arguments, and is used for the synthesis of a nonlinear feedback controller. The performance and robustness of this controller are evaluated and compared with those of a controller based on the exact two time scale model.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"34 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":"124143866","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}
J. Ramallo, E. A. Johnson, B. F. Spencer, M. K. Sain
Passive base isolation systems are one of the most successful and widely implemented technologies for seismic hazard mitigation. However, recent changes to the building codes have made the design requirements such that some of the potential gains of such systems may not be realized. This paper investigates the effects of using controllable semi-active dampers, such as magnetorheological fluid dampers, in a base isolation system. A two degree-of-freedom model of a base isolated building is used, with linear viscous, active, and semi-active supplemental damping devices in the isolation layer. Using an H/sub 2//LQG control design, semi-active and active devices are able to achieve a notable decrease in base drifts, compared to the optimal linear passive designs, with no accompanying increase in accelerations imparted into the superstructure.
{"title":"Semi-active building base isolation","authors":"J. Ramallo, E. A. Johnson, B. F. Spencer, M. K. Sain","doi":"10.1109/ACC.1999.782881","DOIUrl":"https://doi.org/10.1109/ACC.1999.782881","url":null,"abstract":"Passive base isolation systems are one of the most successful and widely implemented technologies for seismic hazard mitigation. However, recent changes to the building codes have made the design requirements such that some of the potential gains of such systems may not be realized. This paper investigates the effects of using controllable semi-active dampers, such as magnetorheological fluid dampers, in a base isolation system. A two degree-of-freedom model of a base isolated building is used, with linear viscous, active, and semi-active supplemental damping devices in the isolation layer. Using an H/sub 2//LQG control design, semi-active and active devices are able to achieve a notable decrease in base drifts, compared to the optimal linear passive designs, with no accompanying increase in accelerations imparted into the superstructure.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"70 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":"122190575","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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