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PID controller Tuning via Dominant Pole Placement in Comparison with Ziegler-Nichols Tuning 15th

PID Controller Tuning via Dominant Pole Placement in Compari...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Fiser, Jaromir Zitek, Pavel Czech Tech Univ Fac Mech Engn Dept Instrumentat & Control Engn Prague 6 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague 6 Czech Republic

The paper provides PID controller tuning for the third-order plants with delay. For obtaining the PID setting the dominant three-pole placement is applied to achieve desired dynamics This dynamics is proposed such that to overcome well-known Ziegler-Nichols (Z-N) tuning rule. The desired dynamics proposal is found out by the integrated absolute error (IAE) optimization of the fourth-order PID control loop with delay. The initial guess for this optimization is based on ultimate frequency assessment and the IAE optimization is performed with respect to disturbance rejection. The dominant three-pole placement approach to the PID tuning is designed for oscillatory, aperiodic and integrating plants of the third-order. On examples the proposed PID tuning is demonstrated overcoming the Z-N tuning. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： dominant pole placement Ziegler-Nichols tuning rule ultimate frequency disturbance rejection three term controller

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Double Deployment of Delayed Resonator in Active Vibration Suppression 15th

Double Deployment of Delayed Resonator in Active Vibration S...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Kucera, Vladimir Fiser, Jaromir Vyhlidal, Tomas Czech Tech Univ Fac Mech Engn Dept Instrumentat & Control Engn Prague 6 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague 6 Czech Republic

In the paper a proposal of active vibration suppression is made for the two-degree-of-freedom primary structure. The active vibration suppression of both masses of the primary structure is achieved by applying the absorber attached to every mass. The absorbers used are the delayed resonators which are tuned by delayed acceleration feedback. The delayed resonators are tuned separately, i.e. the tuning is provided for every mass of the primary structure where each mass is excited by its own external force. Both delayed resonator tunings are performed with respect to the suppression of both external forces and at the same time the stability guarantee of overall structure system. This system due to two feedback delays results in neutral-type system that requires demanding stability investigation. Finally the application example based on the simulation study on laboratory setup vibration suppression shows the effect of the delayed resonator tunings for the vibration suppression. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Vibration suppression delayed feedback resonators two-degree-of-freedom structure neutral system

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A novel nonlinear VSG integrating ELM with noise injection for enhancing energy modelling and analysis on small data 12

A novel nonlinear VSG integrating ELM with noise injection f...

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12th International-Federation-of-Automatic-control (ifac) symposium on Dynamics and control of Process systems including Biosystems (DYCOPS)

作者： Zou, Tong Zhang, Xiaohan Wang, Yanqing Xu, Yuan Zhu, Qun-Xiong He, Yan-Lin Beijing Univ Chem Technol Coll Informat Sci & Technol Beijing 100029 Peoples R China Minist Educ China Engn Res Ctr Intelligent PSE Beijing 100029 Peoples R China

Building a robust and accurate energy analysis model is considered as an important issue in the field of petrochemical industries. Under the circumstance of small samples, the accuracy of the energy analysis model is unacceptable. In order to solve this problem, a novel noise injection integrated with extreme learning machine based nonlinear virtual sample generation method is proposed. Through injecting noise in the output matrix of the hidden layer of Extreme learning machine (ELM), a virtual information matrix that is different from the original one generated using the original small dataset can be obtained. Then the newly generated information matrix is adopted to produce good-quality virtual samples for supplement knowledge for small samples. To authenticate the effectiveness of the proposed method, the proposed method is developed as an energy analysis model for an ethylene production process. Simulation results indicate that good virtual samples can be generated using the proposed method, and the accuracy of the energy analysis model is much improved with the aid of the newly generated virtual samples. The proposed method will effectively help production departments of petrochemical industries set more suitable targets of energy consumption and make better use of available resources. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Modeling and analysis Small dataset Virtual sample generation Extreme learning machine Petrochemical industries

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Manual control with Pursuit Displays: New Insights, New Models, New Issues 14th

Manual Control with Pursuit Displays: New Insights, New Mode...

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14th International-Federation-of-Automatic-control (ifac) symposium on Analysis, Design, and Evaluation of Human Machine systems (HMS)

作者： Mulder, Max Pool, D. M. van der El, K. Drop, F. M. van Paassen, M. M. Delft Univ Technol Control & Simulat Fac Aerosp Engn NL-2629 HS Delft Netherlands Max Planck Inst Biol Cybernet Tubingen Germany

Mathematical control models are widely used in tuning manual control systems and understanding human performance. The most common model, the crossover model, is severely limited, however, in describing realistic human control behaviour in relevant control tasks as it is only valid for tracking with a compensatory display. This paper first discusses the state-of-the-art in modelling human control in tracking with pursuit displays. It is shown that, although both tasks seem very similar, the separate presentation of target and system output signals allows operators to adopt a huge variety in control strategies, which makes the development of a universal model for pursuit control a challenge. Two recent models are then described which can act as precursors to such a universal model. Third, system identification choices and issues are discussed for pursuit tracking tasks. Finally, it is argued that it is inevitable that time-varying rather than time-invariant methods are needed to properly describe human behaviour in the pursuit tracking task, as skilled operators will learn to characterize the probabilistic nature of the task, which cannot be captured in a single, linear, time-invariant model. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Cybernetics manual control system identification human-machine interface

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Robust Optimal control-based Design of Combined Chemo- and Immunotherapy Delivery Profiles 8th

Robust Optimal Control-based Design of Combined Chemo- and I...

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8th Conference on Foundations of systems Biology in Engineering (FOBSE)

作者： Moussa, Kaouther Fiacchini, Mirko Alamir, Mazen Univ Grenoble Alpes CNRS Grenoble INP GIPSA Lab F-38000 Grenoble France

This paper addresses the problem of drug injection schedules design for cancer treatment, in the presence of model parametric uncertainties. It is commonly known that achieving optimal recovery performances under uncertainties is a complex task. Therefore, we propose to use a recent optimal control approach, based on the moment optimization framework. This method allows to formulate and solve robust optimal control problems by taking into account uncertain parameters and initial states, modeled as probability distributions. We analyse a two dimensional model that describes the interaction dynamics between tumor and immune cells. Furthermore, we derive statistically optimal combined strategies of chemo- and immunotherapy treatments, assuming the knowledge of probability distributions of some uncertain model parameters, namely, the tumor growth rate and the rate of immune cells influx. Numerical simulations are carried out in order to illustrate the effects of parametric uncertainties on dynamics, when using a nominal injection profile. Finally, we compare the recovery performance of nominal and robust schedules. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： biomedical control robust optimal control uncertain dynamic systems generalized moment problem cancer treatment scheduling chemotherapy immunotherapy

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Analysis of Human Skill Development in Manual Ramp-Tracking Tasks 14th

Analysis of Human Skill Development in Manual Ramp-Tracking ...

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14th International-Federation-of-Automatic-control (ifac) symposium on Analysis, Design, and Evaluation of Human Machine systems (HMS)

作者： Willems, M. Pool, D. M. van der El, K. Damveld, H. J. van Paassen, M. M. Mulder, Max Delft Univ Technol Fac Aerosp Engn Control & Simulat NL-2629 HS Delft Netherlands

Human modelling approaches are typically limited to feedback-only, compensatory tracking tasks. Advances in system identification techniques allow us to consider more realistic tasks that involve feedforward and even precognitive control. In this paper we study the human development of a feedforward control response while learning to accurately follow a ramp-shaped target signal in the presence of a disturbance acting on the controlled element. An experiment was conducted in which two groups of eight subjects each tracked ramps of different steepnesses in a random or ordered fashion. In addition, ordered runs were followed by a 'surprise' run with a random ramp steepness. Results show that operators learn rapidly, continue to learn during the entire experiment, and can adapt very quickly to surprise situations. Experiments involving learning operators are challenging, as it is difficult to balance-out all experimental conditions and control for inevitable differences between (groups of) subjects. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： cybernetics manual control skill learning modeling

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Predictive Active Disturbance Rejection control for Insulin Infusion in Patients with T1DM 7

Predictive Active Disturbance Rejection Control for Insulin ...

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7th ifac symposium on System Structure and control (SSSC) jointly held with the 15th ifac Workshop on Time Delay systems (TDS)

作者： Carreno-Zagarra, J. J. Villamizar, R. Moreno, J. C. Guzman, J. L. Univ Ind Santander Bucaramanga 680002 Colombia Univ Santo Tomas Fac Ingn Mecatron Bucaramanga 680011 Colombia Univ Almeria CIESOL Almeria 04120 Spain

This paper presents an active disturbance rejection control scheme to automatically regulate the glucose level in type 1 diabetic patients. Although the blood glucose system is nonlinear, in this control approach, it is represented as a linear perturbed system, whose lumped disturbance input is estimated by an Extended State Observer (ESO) and then compensated by an robust controller tuned with Quantitative Feedback Theory (QFT). The robust control scheme uses a Smith predictor for the time delay compensation and allows taking into account the inter-patient variability presented in the glucose control problem. In order to validate the effectiveness of this approach, the controller is tested in silico on a cohort of adult patients of the UVA/Padova metabolic simulator, which has been accepted by the Food and Drug Administration (FDA). In silico results indicate that safe blood glucose control can be achieved by the proposed controller. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Glucose control Time delay Active Disturbance Rejection control Smith Predictor Quantitative Feedback Theory (QFT) Uncertainty

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Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications 15th

Damping oscillation of suspended payload by up and down moti...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Kure, Matej Busek, Jaroslav Vyhlidal, Tomas Niculescu, Silviu-Iulian Czech Tech Univ Fac Mech Engn Dept Instrumentat & Control Engn Tech 1902-4 Prague 16607 6 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Jugoslavskych Partyzanu 1580-3 Prague 16000 6 Czech Republic Univ Paris Sud CNRS Univ Paris Saclay Lab Signaux & SystCent Supelec 3 Rue Joliot Curie F-91192 Gif Sur Yvette France

A case study problem of damping oscillations of a pendulum by moving a pivot in vertical direction is presented. The motivation for solving this task comes from a broader research on designing advanced control algorithms for Unmanned Aerial Vehicles (UAVs) carrying a suspended payload. First, a nonlinear model for vertical motion of a quadcopter carrying a payload is derived and simplified to a nonlinear pendulum-like model. The main result is in deriving a nonlinear time-delay control law allowing to predefine a damping factor of the oscillations. Note that the problem at hand cannot be solved by a linear controller, as the oscillatory mode is not controllable once the model is linearised. The control law is then extended from pendulum to the quadcopter model considering an outer loop to control the horizontal motion. The theoretical results are then validated by simulations. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： quadcopter suspended load oscillation suppression pendulum moving pivot delayed feedback

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Kinetic Modeling of Coagulation and Fibrinolysis 8th

Kinetic Modeling of Coagulation and Fibrinolysis

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8th Conference on Foundations of systems Biology in Engineering (FOBSE)

作者： LeCover, Rachel Orfeo, Thomas Brummel-Ziedins, Kathleen Bravo, Maria Pusateri, Anthony Varner, Jeffrey Cornell Univ Robert Frederick Smith Sch Chem & Biomol Engn Ithaca NY 14850 USA Univ Vermont Coll Med Dept Biochem Burlington VT 05405 USA Joint Base San Antonio Ft Sam Houston Army Inst Surg Res San Antonio TX USA

Thromboelastic testing provides an assessment of a patient's coagulation and fibrinolytic systems. In recent years, thromboelastic testing has become an important point of care technique. However, its direct connection with the underlying biochemistry of coagulation and clot formation is not obvious. Toward this issue, we describe a validated reduced order mathematical model of coagulation and fibrinolysis, consisting of 22 ordinary differential equations, which described clot formation from initiation of the coagulation cascade through the degradation of polymerized fibrin by plasmin. We trained the model via leave one out cross validation on ROTEM measurements, a common thromboelastic test, on four patients, and then predicted ROTEM trajectories on four unseen patients, in whole blood and whole blood with the addition of 2 nM tissue plasminogen activator. Following model validation, sensitivity analysis suggested which biochemical interactions and species controlled the system response. Lastly, we investigated if we could estimate protein concentrations from commonly reported thromboelastic metrics. These estimation studies suggested we could (on average) relearn the initial fibrinogen concentration to within 20% of its true value. Taken together, this work presents a model which connects the underlying biochemistry of coagulation and clot formation in patients to a common point of care thrombelastographic test. (C) 2019, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： dynamics parameter estimation biomedical systems ROTEM coagulation fibrinolysis

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Active Vibration control Through Quasi-Polynomial Based controller 15th

Active Vibration Control Through Quasi-Polynomial Based Cont...

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15th ifac Workshop on Time Delay systems (TDS) jointly held with the 7th ifac symposium on System Structure and control (SSSC)

作者： Tliba, Sami Boussaada, Islam Bedouhene, Fazia Niculescu, Silviu-Iulian Univ Paris Saclay Univ Paris Sud CNRS L2SCent Supelec F-91190 Gif Sur Yvette France Inria Saclay Ile De France Equipe DISCO Palaiseau France IPSA 63 Blvd Brandebourg F-94200 Ivry France Mouloud Mammeri Univ Tizi Ouzou Lab Math Pures & Appl Tizi Ouzou Algeria

This paper is about the problem of the vibration damping for a thin flexible beam, with an Euler-Bernoulli configuration, thanks to a new type of output feedback controller based on delayed proportional actions. The considered beam is equipped with two piezoelectric patches: one of them works as a sensor and the other as an actuator. Each one of them is bonded on one side of the beam and both are collocated. The model of this system is obtained numerically with a finite element modeling, leading to a linear state-space model. This paper addresses the design of a controller based on proportional and delayed-proportional actions on the input and output signals. The purpose of this work is to investigate the properties of the proposed output feedback controller in terms of vibration damping and of robustness. This controller is based on a rightmost-characteristic root assignment approach. Simulation results show the effectiveness of this controller design method and its ability to assign several poles of a linear system with fewer degrees of freedom than a minimal order linear controller with the usual pole placement technique. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

关键词： Time-delay infinite dimension system quasipolynomial pole-assignment spectral abscissa active vibration damping

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