A novel direct closed-loop identification method based on an output inter-sampling scheme is presented. By taking the faster sampling of the plant output than the control input, we can give a SIMO model representation. It is clarified that the SIMO structure can provide a new identification scheme to identify an unstable plant in closed-loop. One of the advantages is that the proposed identification method can remove the ordinary restrictive identifiability condition, and does not require that the reference input hold the persistently exciting (PE) property. Thus only one inter-sampling of the plant output can assure the identifiability of the plant parameters.
{"title":"Direct closed-loop identification of unstable system by output inter-sampling scheme","authors":"Lianming Sun, H. Ohmori, A. Sano","doi":"10.1109/ACC.1999.782793","DOIUrl":"https://doi.org/10.1109/ACC.1999.782793","url":null,"abstract":"A novel direct closed-loop identification method based on an output inter-sampling scheme is presented. By taking the faster sampling of the plant output than the control input, we can give a SIMO model representation. It is clarified that the SIMO structure can provide a new identification scheme to identify an unstable plant in closed-loop. One of the advantages is that the proposed identification method can remove the ordinary restrictive identifiability condition, and does not require that the reference input hold the persistently exciting (PE) property. Thus only one inter-sampling of the plant output can assure the identifiability of the plant parameters.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"1 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":"124738063","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}
Risk-sensitive optimal stochastic control problems have an interpretation in terms of managing the value of a denumerable linear combination of the cumulants of a traditional performance index. Such an interpretation is particularly attractive in the context of physical control problems with a naturally occurring process which is well modelled in the stochastic sense. The extremely important case of civil structures assailed by earthquakes, wind, and seas is precisely such a problem. This paper considers a state-feedback solution to the LQG version of this problem class. The formulation is parametrized by the number k of cumulants chosen for design. A general solution of this k-cumulant problem, together with studies of its application to the SDOF system described by Chung et al. (1988), is the subject of this work.
{"title":"Generalized risk sensitive building control: protecting civil structures with multiple cost cumulants","authors":"K. Pham, S. Liberty, M. Sain, B. F. Spencer","doi":"10.1109/ACC.1999.782878","DOIUrl":"https://doi.org/10.1109/ACC.1999.782878","url":null,"abstract":"Risk-sensitive optimal stochastic control problems have an interpretation in terms of managing the value of a denumerable linear combination of the cumulants of a traditional performance index. Such an interpretation is particularly attractive in the context of physical control problems with a naturally occurring process which is well modelled in the stochastic sense. The extremely important case of civil structures assailed by earthquakes, wind, and seas is precisely such a problem. This paper considers a state-feedback solution to the LQG version of this problem class. The formulation is parametrized by the number k of cumulants chosen for design. A general solution of this k-cumulant problem, together with studies of its application to the SDOF system described by Chung et al. (1988), is the subject of this work.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"207 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":"116395506","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 address the derivation of reduced-order nonlinear models of high-purity distillation columns with large recycle and internal flowrates. We show through a singular perturbation analysis of the detailed tray-by-tray model that the presence of large internal flowrates leads to a time-scale separation in the column: (i) a fast dynamics corresponding to the individual stages, and (ii) a low-order slow dynamics of the column that governs the overall nonlinear input-output behavior. A description of the low-order slow dynamics of the column is derived and used for the synthesis of a well-conditioned nonlinear feedback controller.
{"title":"Nonlinear model reduction and control of high-purity distillation columns","authors":"A. Kumar, P. Daoutidis","doi":"10.1109/ACC.1999.786281","DOIUrl":"https://doi.org/10.1109/ACC.1999.786281","url":null,"abstract":"We address the derivation of reduced-order nonlinear models of high-purity distillation columns with large recycle and internal flowrates. We show through a singular perturbation analysis of the detailed tray-by-tray model that the presence of large internal flowrates leads to a time-scale separation in the column: (i) a fast dynamics corresponding to the individual stages, and (ii) a low-order slow dynamics of the column that governs the overall nonlinear input-output behavior. A description of the low-order slow dynamics of the column is derived and used for the synthesis of a well-conditioned nonlinear feedback controller.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"98 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":"129155537","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}
C. F. Pfeiffer, Thomas F. Edgar, Benito R. Fernandez
Three design techniques for global nonlinear controllers are discussed and linked together: feedback linearization, sliding mode control and fuzzy heuristic control. It is shown how feedback linearization and sliding mode control can be combined to design a "robust feedback linearization controller", and how some properties of this kind of controller can be used to obtain guidelines for the application of fuzzy heuristic controllers. The techniques are applied to a stirred tank reactor system.
{"title":"Robust feedback linearization and fuzzy control","authors":"C. F. Pfeiffer, Thomas F. Edgar, Benito R. Fernandez","doi":"10.1109/ACC.1999.786076","DOIUrl":"https://doi.org/10.1109/ACC.1999.786076","url":null,"abstract":"Three design techniques for global nonlinear controllers are discussed and linked together: feedback linearization, sliding mode control and fuzzy heuristic control. It is shown how feedback linearization and sliding mode control can be combined to design a \"robust feedback linearization controller\", and how some properties of this kind of controller can be used to obtain guidelines for the application of fuzzy heuristic controllers. The techniques are applied to a stirred tank reactor system.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"19 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":"126507773","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}
For a class of second-order switched systems consisting of two linear time-invariant (LTI) subsystems, we show that the so-called conic switching law proposed previously by the present authors is robust, not only in the sense that the control law is flexible (to be explained further), but also in the sense that the Lyapunov stability (resp. Lagrange stability) properties of the switched system are preserved in the presence of certain kinds of vanishing perturbations (resp., nonvanishing perturbations). The analysis is possible since the conic switching laws always possess certain kinds of "quasiperiodic switching operations". We also propose for a class of nonlinear second-order switched systems with time-invariant subsystems a switching control law which locally exponentially stabilizes the entire nonlinear switched system, provided that the conic switching law exponentially stabilizes the linearized switched systems (consisting of the linearization of each nonlinear subsystem). This switched control law is robust in the sense mentioned above.
{"title":"Robust stabilizing control laws for a class of second-order switched systems","authors":"Bo Hu, Xuping Xu, A. Michel, P. Antsaklis","doi":"10.1109/ACC.1999.786616","DOIUrl":"https://doi.org/10.1109/ACC.1999.786616","url":null,"abstract":"For a class of second-order switched systems consisting of two linear time-invariant (LTI) subsystems, we show that the so-called conic switching law proposed previously by the present authors is robust, not only in the sense that the control law is flexible (to be explained further), but also in the sense that the Lyapunov stability (resp. Lagrange stability) properties of the switched system are preserved in the presence of certain kinds of vanishing perturbations (resp., nonvanishing perturbations). The analysis is possible since the conic switching laws always possess certain kinds of \"quasiperiodic switching operations\". We also propose for a class of nonlinear second-order switched systems with time-invariant subsystems a switching control law which locally exponentially stabilizes the entire nonlinear switched system, provided that the conic switching law exponentially stabilizes the linearized switched systems (consisting of the linearization of each nonlinear subsystem). This switched control law is robust in the sense mentioned above.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130810157","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 near future, there will be two more civilian GPS signals, at 1227.60 MHz and 1176.45 MHz, in addition to the present one at 1575.42 MHz. Of many possible benefits from the three civilian signals, this paper focuses on how to achieve high integrity and continuity in local area differential navigation by using multiple combinations of the carrier wave frequencies of the signals. The carrier frequencies of the three civil signals can be used to form measurements with different wavelengths, both longer and shorter than their own, depending on the specific combination used. By using these combinations in cascade manner, first finding the integer of the signal with the longest wavelength then moving on to a shorter one, the L1 integer can be resolved without using redundant measurements. Since integrity and continuity of differential carrier phase navigation depends on the validity of the integer solution, an integer rounding criterion based on wavelength and measurement noise is developed to verify the solution. Analysis of the integer rounding criterion shows that multiple levels of integrity and continuity for differential carrier phase navigation are possible, depending on the measurement noise level. Sensitivity analysis is carried out to study the effect of receiver noise, multipath delay, ionosphere delay and change in distance between an user and a reference receiver.
{"title":"High integrity carrier phase navigation for future LAAS using multiple civilian GPS signals","authors":"P. Enge, J. Jung, B. Pervan","doi":"10.1109/ACC.1999.782447","DOIUrl":"https://doi.org/10.1109/ACC.1999.782447","url":null,"abstract":"In near future, there will be two more civilian GPS signals, at 1227.60 MHz and 1176.45 MHz, in addition to the present one at 1575.42 MHz. Of many possible benefits from the three civilian signals, this paper focuses on how to achieve high integrity and continuity in local area differential navigation by using multiple combinations of the carrier wave frequencies of the signals. The carrier frequencies of the three civil signals can be used to form measurements with different wavelengths, both longer and shorter than their own, depending on the specific combination used. By using these combinations in cascade manner, first finding the integer of the signal with the longest wavelength then moving on to a shorter one, the L1 integer can be resolved without using redundant measurements. Since integrity and continuity of differential carrier phase navigation depends on the validity of the integer solution, an integer rounding criterion based on wavelength and measurement noise is developed to verify the solution. Analysis of the integer rounding criterion shows that multiple levels of integrity and continuity for differential carrier phase navigation are possible, depending on the measurement noise level. Sensitivity analysis is carried out to study the effect of receiver noise, multipath delay, ionosphere delay and change in distance between an user and a reference receiver.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122214156","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}
Develops and analyses a model of a falling film evaporator with mechanical vapour recompression for the purpose of examining the coupling and functional controllability of the two core control loops for effecting temperature and product dry mass fraction. The relative gain array is used to assess coupling and the functional controllability analysis uses the methodology of Skogestad and Postlethwaite (1996). This determines if adequate levels of disturbance rejection can be achieved with allowable levels of manipulation. The aim is to understand the fundamental properties of the process which limit the ability of the control system to reject disturbances. A first principles model of appropriate complexity which captures the essential mechanism is developed and used.
{"title":"Dynamics and control of falling film evaporators with mechanical vapour recompression","authors":"J. Winchester, C. Marsh","doi":"10.1109/ACC.1999.782437","DOIUrl":"https://doi.org/10.1109/ACC.1999.782437","url":null,"abstract":"Develops and analyses a model of a falling film evaporator with mechanical vapour recompression for the purpose of examining the coupling and functional controllability of the two core control loops for effecting temperature and product dry mass fraction. The relative gain array is used to assess coupling and the functional controllability analysis uses the methodology of Skogestad and Postlethwaite (1996). This determines if adequate levels of disturbance rejection can be achieved with allowable levels of manipulation. The aim is to understand the fundamental properties of the process which limit the ability of the control system to reject disturbances. A first principles model of appropriate complexity which captures the essential mechanism is developed and used.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122981581","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 Kalman-Bucy filter is designed for an Ito-Volterra process over Ito-Volterra observations that cannot be reduced to the case of a differential observation equation. The Kalman-Bucy filter is then designed for an Ito-Volterra process over discontinuous Ito-Volterra observations.
{"title":"On filtering problems over Ito-Volterra observations","authors":"M. Basin, M.A. Villanueva Llanes","doi":"10.1109/ACC.1999.782397","DOIUrl":"https://doi.org/10.1109/ACC.1999.782397","url":null,"abstract":"In this paper, the Kalman-Bucy filter is designed for an Ito-Volterra process over Ito-Volterra observations that cannot be reduced to the case of a differential observation equation. The Kalman-Bucy filter is then designed for an Ito-Volterra process over discontinuous Ito-Volterra observations.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114454490","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 provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance.
{"title":"A composite adaptive output feedback tracking controller for robotic manipulators","authors":"E. Zergeroglu, W. Dixon, D. Haste, D. Dawson","doi":"10.1109/ACC.1999.782314","DOIUrl":"https://doi.org/10.1109/ACC.1999.782314","url":null,"abstract":"This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133835956","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. Shkel, Roberto Horowitz, Ashwin A. Seshia, Sungsu Park, Roger T. Howe
We summarize principles of operation of micromachined gyroscopes, analyze dynamics of ideal and non-ideal systems, and propose an approach for formulation and solving problems of control. The suggested approach uses active nonlinear feedback control for drive and compensation of errors. Both non-adaptive and adaptive strategies are presented. These strategies can be used for a broad class of micromachined vibratory gyroscopes including those for angle and angular rate measurement.
{"title":"Dynamics and control of micromachined gyroscopes","authors":"A. Shkel, Roberto Horowitz, Ashwin A. Seshia, Sungsu Park, Roger T. Howe","doi":"10.1109/ACC.1999.786303","DOIUrl":"https://doi.org/10.1109/ACC.1999.786303","url":null,"abstract":"We summarize principles of operation of micromachined gyroscopes, analyze dynamics of ideal and non-ideal systems, and propose an approach for formulation and solving problems of control. The suggested approach uses active nonlinear feedback control for drive and compensation of errors. Both non-adaptive and adaptive strategies are presented. These strategies can be used for a broad class of micromachined vibratory gyroscopes including those for angle and angular rate measurement.","PeriodicalId":441363,"journal":{"name":"Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114978159","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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