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A Matlab toolbox for LMI-based analysis and synthesis of LPV/LFT self-scheduled H∞ control systems

A Matlab toolbox for LMI-based analysis and synthesis of LPV...

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ieee international symposium on computer aided control system design (cacsd)

作者： Daniele De Vito Aymeric Kron Jean de Lafontaine Marco Lovera Dipartimento di Elettronica e Inforamazione Politecnico di Milano Milan Italy NGC AeroSpace Limited Sherbrooke QUE Canada

When controlling a Linear Parameter Varying (LPV) system, a LPV regulator is advisable, since it ensures better performance than a simple Linear Time Invariant actually does. In fact, real-time scheduling to the variations of the system allows the achievement of stability and performance requirements for a number of operating points. Within this setting, this paper discusses a Matlab toolbox achieving a self-scheduled LPV controller for an LPV model of the plant, robust in an H ∞ sense in the face of uncertainties affecting the system's dynamics, through a Linear Matrix Inequality approach. The resulting algorithm alternatively implements synthesis and analysis steps, until the desired closed-loop performance level has been reached or no improvement between two successive steps arises.

关键词： Robustness Mathematical model Uncertainty Algorithm design and analysis Heuristic algorithms control systems Computational modeling

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Maintenance of process control algorithms based on dynamic program slicing

Maintenance of process control algorithms based on dynamic p...

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ieee international symposium on computer aided control system design (cacsd)

作者： Ole Fink Hansen Nils Axel Andersen Ole Ravn Automation and Control Department of Electrical Engineering Technical University of Denmark Denmark

Today's industrial control systems gradually lose performance after installation and must be regularly maintained by means of adjusting parameters and modifying the control algorithm, in order to regain high performance. Industrial control algorithms are complex software systems, and it is particularly difficult to locate causes of performance loss, while readjusting the algorithm once the cause of performance loss is actually realized and found is relatively simple. In this paper we present a software-engineering approach to the maintenance problem, which provides tools for exploring the behavior of a control algorithm, enables maintenance personnel to focus on only relevant parts of the algorithm and semi-automatically locate the part of the algorithm that is responsible for the reduced performance. The solution is tuning-free and can be applied to installed and running systems without modifying the existing control algorithm, which makes the solution well suited for industrial applications.

关键词： Heuristic algorithms Software algorithms Process control control systems Algorithm design and analysis Maintenance engineering Equations

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Symbolic computation in analysis and synthesis for homogeneous multi-agent dynamical systems

Symbolic computation in analysis and synthesis for homogeneo...

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ieee international symposium on computer aided control system design (cacsd)

作者： Shinji Hara Hirokazu Anai Department of Information Physics and Computing University of Tokyo Bunkyo Tokyo Japan Kyushu University Kawasaki Japan

This paper is concerned with symbolic computation in analysis and synthesis for multi-agent dynamical systems, where all the agents share a common linear time-invariant (LTI) system h(s). Such a system can be represented by the LTI system with generalized frequency variable φ(s) :=1/h(s). There are a very few results on the analysis and synthesis except stability test, since the system is large and more complex than the standard LTI system. Actually, most of the problems are nonconvex in general, and hence numerical computations do not work so well. Instead, appropriate use of symbolic computations may help to solve the problems. This paper treat two types of analysis problems on robustness of the system, namely H ∞ -norm computation and D-stability test, and show that symbolic computation including quantifier elimination (QE) method effectively works for solving the problems.

关键词： Stability analysis Eigenvalues and eigenfunctions Transfer functions Polynomials control systems systematics Numerical stability

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Low-rank exploitation in semidefinite programming for control

Low-rank exploitation in semidefinite programming for contro...

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ieee international symposium on computer aided control system design (cacsd)

作者： Rikard Falkeborn Johan Löfberg Anders Hansson Department of Computer Science City University of Hong Kong Hong Kong China wanzhang

Many control related problems can be cast as semidefinite programs but, even though there exist polynomial time algorithms and good publicly available solvers, the time it takes to solve these problems can be long. Something many of these problems have in common, is that some of the variables enter as matrix valued variables. This leads to a low-rank structure in the basis matrices which can be exploited when forming the Newton equations. In this paper, we describe how this can be done, and show how our code can be used when using SDPT3. The idea behind this is old and is implemented in LMI Lab, but we show that when using a modern algorithm, the computational time can be reduced. Finally, we describe how the modeling language YALMIP is changed in such a way that our code can be interfaced using standard YALMIP commands, which greatly simplifies for the user.

关键词： Linear matrix inequalities Programming Symmetric matrices Optimization Computational modeling Equations control systems

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Automatic code generation for real-time implementation of Model Predictive control

Automatic code generation for real-time implementation of Mo...

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ieee international symposium on computer aided control system design (cacsd)

作者： Michal Kvasnica Ivana Rauová Miroslav Fikar Institute of Information Engineering Automation Mathematics Faculty of Chemical and Food Technology Slovak University of Technology Bratislava Slovakia

Model Predictive control (MPC) is a proven control concept with many applications in the process industry. Popularity of the framework is mainly due to its ability to optimize behavior of the process while respecting physical and economical constraints. The major challenge of implementing MPC in real time on low-cost hardware is the inherent computational complexity. To address this goal, it is proposed to solve a given MPC problem using parametric programming, which encodes the optimal control moves as a lookup table. A great advantage being that such tables can then be processed even with low computational resources and therefore allow MPC to be deployed to low cost control devices. In the paper we present a unique software tool which allows MPC problems to be designed with low human effort, and is capable to automatically generate real-time executable code for various target platforms.

关键词： Table lookup Optimization Real time systems Optimal control Mathematical model Process control Binary search trees

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Robust analysis of the longitudinal control of a civil aircraft using RoMulOC

Robust analysis of the longitudinal control of a civil aircr...

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ieee international symposium on computer aided control system design (cacsd)

作者： Guilherme Chevarria Dimitri Peaucelle Denis Arzelier Guilhem Puyou Systems and Automation Department Federal University of Santa Catarina Florianopolis Brazil CNRS LAAS Toulouse France LAAS UPS INSA INP ISAE Université de Toulouse Toulouse France Airbus Toulouse France

Recent robust analysis techniques are applied to assess the robust stability and robust performances of the longitudinal control system of an aircraft. Two different uncertain models, polytopic or LFT models are considered. Robust analysis certificates are built by computing unique Lyapunov functions or parameter dependent Lyapunov functions (PDLF). Several criteria are dealt with: Closed-loop pole placement, worst-case H ∞ cost, worst-case H 2 cost and impulse-to-peak response. All tests are done using the RoMulOC toolbox which generates the related LMI optimization problems in YALMIP format that are then solved using available semidefinite programming solvers. Numerical results are analyzed and some preliminary conclusions are drawn.

关键词： Robustness Robust stability Upper bound Stability analysis Uncertainty Computational modeling Analytical models

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Sequential randomized algorithms: A probabilistic cutting plane technique based on maximum volume ellipsoid center

Sequential randomized algorithms: A probabilistic cutting pl...

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ieee international symposium on computer aided control system design (cacsd)

作者： Takayuki Wada Yasumasa Fujisaki Department of Systems Science Graduate School of System Informatics Kobe University Kobe Japan

A sequential randomized algorithm is developed for robust optimization which is to minimize a linear objective function subject to a parameter dependent convex constraint for all uncertain parameter values. The algorithm is realized as a probabilistic cutting plane technique based on maximum volume ellipsoid center, where candidates of the optimal value and of the optimal solution are sequentially updated by a series of cutting planes generated by random samples of the uncertain parameters. This algorithm stops in a finite number of iterations which is of polynomial order of the problem size, and provides a feasible solution of a chance constraint optimization which corresponds to a probabilistic relaxation of the robust optimization with a prescribed probability. Then, it is shown that the algorithm can find a suboptimal value whose lower bound is the optimal value of the chance constrained optimization with the prescribed probability and whose upper bound is determined by the optimal value of the robust optimization.

关键词： Optimization Ellipsoids Robustness Probabilistic logic Approximation algorithms Algorithm design and analysis Convex functions

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Further results on randomized quantized averaging: A surplus-based approach

Further results on randomized quantized averaging: A surplus...

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ieee international symposium on computer aided control system design (cacsd)

作者： Kai Cai Hideaki Ishii Department of Computational Intelligence and System Science Tokyo Institute of Technology Yokohama Japan

We have recently proposed a class of randomized gossip algorithms which solves the distributed averaging problem on directed graphs, with the constraint that each node has an integer-valued state. The essence of this algorithm is to maintain local records, called “surplus”, of individual state updates, thereby achieving average consensus even though the state sum of all nodes is not preserved. In this paper we study a modified version of this algorithm, whose feature is primarily in reducing both computation and communication effort. Concretely, each node needs to update fewer local variables, and each transmission of surplus requires only one bit. Under this modified algorithm we prove that reaching the average is ensured for arbitrary strongly connected graphs, a condition that is weaker than those in the literature for either real-valued or quantized states, in the sense that it does not require symmetric (or balanced) network structure. Finally, we provide numerical examples to illustrate the convergence result on a set of typical graph topologies.

关键词： Convergence Algorithm design and analysis Binary trees Topology Approximation algorithms Zinc Upper bound

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Robust H2 control of uncertain discrete-time linear systems with periodically time-varying memory state-feedback

Robust H2 control of uncertain discrete-time linear systems ...

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ieee international symposium on computer aided control system design (cacsd)

作者： Yoshio Ebihara Department of Electrical Engineering Kyoto University Kyoto Japan

This study is concerned with the synthesis of periodically time-varying memory state-feedback controllers (PTVMSFCs) for discrete-time linear systems. In our preceding studies, we have already established a solid theoretical basis for the LMI-based (robust) H ∞ -PTVMSFCs synthesis, and the goal of this paper is to extend those results to the H 2 performance criterion. In the H 2 case, the main difficulty stems from the fact that we have to ensure the existence of common auxiliary variables for multiple LMI conditions that are related to the Lyapunov inequality and inequalities for bounding traces that characterize the H 2 norm. We can indeed overcome this difficulty and derive a necessary and sufficient LMI condition for the optimal H 2 -PTVMSFC synthesis. Based on this result, we also consider robust H 2 -PTVMSFC synthesis for polytopic-type uncertain LTI systems.

关键词： Robustness Time varying systems Linear systems Helium Symmetric matrices control systems Book reviews

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Event-based reduced-attention predictive control for nonlinear uncertain systems

Event-based reduced-attention predictive control for nonline...

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ieee international symposium on computer aided control system design (cacsd)

作者： P. Varutti T. Faulwasser B. Kern M. Kögel R. Findeisen Design and Optimization in Chemical and Biochemical Process Engineering International Max Planck Research School for Analysis Magdeburg Germany Automation Engineering Otto von Guericke University Magdeburg Germany

Event-based control is an alternative to traditional control where new measurements are sampled only if critical events occur. This not only allows to reduce the control effort but it satisfies nowadays application requirements, such for example reduction of information exchange, computational power, or energy consumption. The work in this field is, however, still sparse and only a few results are available. Properly choosing an event-detection logic can considerably improve the overall system's performance. We propose a control algorithm which makes use of a model-based triggering strategy to reduce the control effort (reduced-attention control), while guaranteeing robustness against bounded additive perturbations for nonlinear continuous time systems. In particular, we derive conditions which guarantee that asymptotic stability of the nominal system implies practical stability of the real one in a neighborhood of the origin. A continuous stirred tank reactor is used as a benchmark problem to show the effectiveness of the presented algorithm.

关键词： Trajectory Cost function Predictive control Convergence Closed loop systems Stability analysis Additives

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