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On the estimation problem of a class of continuous bioreactors with unknown input

JOURNAL OF PROCESS control 2015年 30卷 34-49页

作者： Moreno, Jaime A. Alvarez, Jesus Univ Nacl Autonoma Mexico Inst Ingn Coordinac Elect & Computac Mexico City 04510 DF Mexico

The estimation problem of substrate-biomass reactors with isotonic or nonisotonic growth is addressed. The unmeasured reactor and time-varying feed substrate concentrations must be estimated from the dilution rate input and biomass measurements. First, the solvability conditions (nonlinear-global observability or detectability) are characterized, finding that: (i) the conditions depend on particular motions and growth mechanisms, and (ii) with isotonic (or nonisotonic) growth, the unknown input-state pair is observable in the classical (or nonstandard) single-valued (S) [or bivalued (B)] sense. Then, a robustly convergent S (or B)-observer is designed accordingly. The S-observer yields the estimate of the only unmeasured input-state trajectory pair associated with the measured input-output signal. The B-observer yields the estimates of the two possible unmeasured input-state trajectory pairs associated with the measured input-output signal, each one satisfying the reactor mass balances. The developments and findings are illustrated with representative (Monod and Haldane) examples through analytic assessment and numerical simulation. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Bioprocesses and biosystems State and input estimation nonlinear observer design Unobservable systems Bioreactors

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observer design Using Potential Based Realizations 9

Observer Design Using Potential Based Realizations

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9th IFAC symposium on Advanced control of Chemical Processes ADCHEM 2015

作者： Guay, Martin Bennett, Ryan Hudon, Nicolas Queens Univ Dept Chem Engn Kingston ON K7L 3N6 Canada Catholic Univ Louvain ICTEAM B-1348 Louvain La Neuve Belgium

This paper considers observer design for nonlinear dynamical systems which can be approximated by a dissipative Hamiltonian realization. The design approach decomposes the system associated one form of a given dynamical system over an indeterminate metric using the Homotopy operator to generate exact (potential driver) and anti-exact parts. Then the convexity of the potential system given by the exact part is assessed and we propose a metric equation which yields a Lyaptatov function for the potential driven observer system. An application of this method is demonstrated for a two-dimensional van der Pol oscillator. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： nonlinear observer potential-based realization nonlinear systems

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Sensorless control of PMSM for low speed range

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COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING 2015年第3期34卷 754-765页

作者： Urbanski, Konrad Poznan Univ Tech Inst Control & Informat Engn PL-60965 Poznan Poland

Purpose - The purpose of this paper is to develop the Permanent Magnet Synchronous Motors drive which has possibility to work in sensorless mode at low speed based on back EMFs estimation. design/methodology/approach - Estimation uses modified Luenberger observer and the preprocessing of the EMFs before calculating the speed, using derivative and the Kalman filter (KF) to obtain smooth waveform of the estimated speed. This modification is needed because of the nonlinear change of the estimated back EMFs amplitude as a function of speed, in low-speed range. Findings - How to use back EMF observer to estimate a speed in the low-speed range was found in the course of the work. Simple and effective algorithm uses KF and can work even with a relatively big deformation of the estimated back EMF. Practical implications - Such sensorless drive may be used in low-cost constant or variable speed drive in domestic use or industrial application. Such drive may work properly where there is no initial load torque and the sign of the speed does not change. Originality/value - Presented results challenge the view that at low-speed range (not the standstill), the back EMF-based method of position estimation is very difficult or impossible. However, the problem lays in proper speed estimation, not the position estimation.

关键词： Estimation Permanent magnet machine Sensorless control Kalman filter observer Drive control

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Infinite-Dimensional observer for Process Monitoring in Managed Pressure Drilling 9

Infinite-Dimensional Observer for Process Monitoring in Mana...

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9th IFAC symposium on Advanced control of Chemical Processes ADCHEM 2015

作者： Hasan, Agus Norwegian Univ Sci & Technol Dept Engn Cybernet N-7034 Trondheim Norway

Utilizing flow rate and pressure data in and out of the mud circulation loop provides a driller with real-time trends for the early detection of well-control problems that impact the drilling efficiency. This paper presents state estimation for infinite-dimensional systems used in the process monitoring of oil well drilling. The objective is to monitor the key process variables associated with process safety by designing a model-based nonlinear observer that directly utilizes the available information coming from the continuous-time online process output measurements at the topside of the well. The observer consists of a copy of the plant plus output injection terms where the gain is computed analytically in terms of the Bessel function of the first kind. The design is tested using data from a real-field drilling commissioning test in the North Sea by Statoil Oil Company. The results show that the design estimates the flow and pressure accurately. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Process Monitoring State Estimation Distributed Parameter Systems nonlinear Systems control Applications

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A PEM fuel cells control approach based on differential flatness theory

A PEM fuel cells control approach based on differential flat...

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International symposium on Power Electronics, Electrical Drives, Automation and Motion

作者： Gerasimos Rigatos Pierluigi Siano Unit of Industrial Automation Industrial Systems Institute 26504 Rion Patras Greece Department of Industrial Engineering University of Salerno Fisciano 84084 Italy

ISBN: (纸本)9781509020683

It is proven that the dynamic model of fuel cells is a differentially flat one which means that all its state variables and control inputs can be expressed as differential functions of specific stare variables which are the so-called flat outputs of the system. By exploiting the differential flatness properties of the model its transformation to an equivalent linear form (canonical Brinovsky form) becomes possible. For the latter description of the system's dynamics the design of a state-feedback controller is achieved. This control scheme should be also robust to model uncertainties and external perturbations. To cope with this problem the state-space description of the PEM fuel cells is extended by considering as additional state variables the derivatives of the aggregate disturbance input. Next, a Kalman Filter-based disturbance observer is applied to the linearized extended model of the fuel cells. This estimation method enables to identify the disturbance and model uncertainty terms that affect the system and to introduce a complementary control element that compensates for the perturbations' effects.

关键词： PEM fuel cells nonlinear control Differential flatness theory Global linearization Kalman Filtering Disturbances estimator

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Distributed Adaptive High-Gain Extended Kalman Filtering for nonlinear systems 9

Distributed Adaptive High-Gain Extended Kalman Filtering for...

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9th IFAC symposium on Advanced control of Chemical Processes ADCHEM 2015

作者： Rashedi, Mohammad Liu, Jinfeng Huang, Biao Univ Alberta Dept Chem & Mat Engn Edmonton AB T6G 2V4 Canada

In this work, we propose a distributed adaptive high-gain extended Kalman filtering approach for nonlinear systems. Specifically, we consider a class of nonlinear systems that are composed of several subsystems interacting with each other via their states. In the proposed approach, an adaptive high-gain extended Kalman filter is designed for each subsystem. The distributed Kalman filters communicate with each other to exchange subsystem state estimates. First, an implementation strategy which specifies how the distributed filters should communicate IS designed. Second, the detailed design of the subsystem filter is described. Subsequently, the stability of the proposed distributed state estimation is analyzed. finally, the effectiveness and applicability of the proposed design are illustrated via the application to a chemical process example. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Distributed state estimation Extended Kalman filter nonlinear systems High gain observer

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Multi-innovation gradient identification for input nonlinear state space systems 9

Multi-innovation gradient identification for input nonlinear...

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9th IFAC symposium on Advanced control of Chemical Processes ADCHEM 2015

作者： Wang, X. H. Liu, Yanjun Ding, Feng Jiangnan Univ Minist Educ Key Lab Adv Proc Control Light Ind Wuxi 214122 Peoples R China Henan Univ Urban Construct Sch Math & Phys Pingdingshan 467036 Peoples R China

This paper presents a multi-innovation stochastic gradient algorithm for an input nonlinear state space system by deriving the identification model of the system and by decomposing the model into two sub-models. The basic idea is to design a state observer to estimate the unmeasurable states and to estimate interactively the unknown parameters of two subsystems by using the hierarchical identification principle. The simulation results show that the proposed algorithm is efficient. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Recursive identification Gradient search Multi-innovation identification State space model

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Robust nonlinear control of an innovative engine cooling system 8

Robust nonlinear control of an innovative engine cooling sys...

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8th IFAC symposium on Robust control design, ROCOND 2015

作者： Butt, Saif S. Prabel, Robert Aschemann, Harald Department of Mechatronics University of Rostock RostockD-18059 Germany

In this paper, a robust nonlinear control of an engine cooling system for vehicles is presented, where an electrically driven radiator fan serves as the control input. A simplified control-oriented model of the engine cooling system is derived using the first law of thermodynamics. The control design is based on an integral sliding mode approach and aims at tracking of desired trajectories for the engine outlet temperature. A gain-scheduled modified Utkin sliding mode observer, which uses both a switching term and an output error feedback, is employed to estimate unknown heat flows acting as system disturbances. The estimated heat flows are used in the control structure for a disturbance compensation. An experimental analysis highlights the effectiveness of the integral sliding mode control strategy in combination with the gain-scheduled sliding mode observer. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robust control

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On nonlinear observer parameterizations and its application to fault detection 9

On nonlinear observer parameterizations and its application ...

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9th IFAC symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2015

作者： Li, Liniin Ding, Steven X. Yang, Ying Zhang, Yong Dominic, Shane Institute for Automatic Control and Complex Systems Faculty of Engineering University of Duisburg-Essen Duisburg47057 Germany State Key Lab for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

This paper investigates observer parameterizations and its application to observerbased fault detection for nonlinear systems. With the aid of coprime factorization techniques, the observer parameterization forms are first derived in terms of input-to-output approach and state space representation. To further implement the methodology, one design scheme is proposed for the so-called affine nonlinear systems. Then, the application of the proposed observer parameterization form to observer-based fault detection is studied. In the end, a numerical example is given to demonstrate the efficiency of our proposed scheme. © 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault detection

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Dynamic Model Identification of Axial Force in Robotic Friction Stir Welding 15

Dynamic Model Identification of Axial Force in Robotic Frict...

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15th IFAC symposium on Information control Problems in Manufacturing

作者： Wang, K. Leonard, F. Abba, G. Arts & Metiers ParisTech Design Engn Mfg & Control Lab LCFC F-57078 Metz France Ecole Natl Ingenieurs Metz Design Engn Mfg & Control Lab LCFC F-57035 Metz France

This paper presents the dynamic model identification of axial force during the robotic Friction Stir Welding (FSW) process. Due to the large external force exerted on the robot, the natural stiffness of the industrial robot is not, sufficient and the deformation is nonnegligible. Thus, two dynamic models of axial force are proposed by using the positioning error along the spindle axis and its changing rate. By means of a nonlinear observer and data, filtering, experimental studies have been carried out on a robot-based FSW system in order to identify the proposed models based on the least, squares (LS) method. The results especially for errors of identified models have been systematically analyzed, showing good performance of the identification. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Dynamic model identification Axial force Industrial robot Friction Stir Welding

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