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A computational model of time for stiff hybrid systems applied to control synthesis

control ENGINEERING PRACTICE 2012年第1期20卷 2-13页

作者： Mosterman, Pieter J. Zander, Justyna Hamon, Gregoire Denckla, Ben MathWorks Natick MA 01760 USA Fraunhofer Inst FOKUS D-10589 Berlin Germany Harvard Univ HHI Cambridge MA 02138 USA Denckla Consulting Los Angeles CA USA

Computation has quickly become of paramount importance in the design of engineered systems, both to support their features as well as their design. Tool support for high-level modeling formalisms has endowed design specifications with executable semantics. Such specifications typically include not only discrete-time and discrete-event behavior, but also continuous-time behavior that is stiff from a numerical integration perspective. The resulting stiff hybrid dynamic systems necessitate variable-step solvers to simulate the continuous-time behavior as well as solver algorithms for the simulation of discrete-time and discrete-event behavior. The combined solvers rely on complex computer code which makes it difficult to directly solve design tasks with the executable specifications. To further leverage the executable specifications in design, this work aims to formalize the semantics of stiff hybrid dynamic systems at a declarative level by removing implementation detail and only retaining 'what' the computer code does and not 'how' it does it. A stream-based approach is adopted to formalize variable-step solver semantics and to establish a computational model of time that supports discrete-time and discrete-event behavior. The corresponding declarative formalization is amenable to computational methods and it is shown how model checking can automatically generate, or synthesize, a feedforward control strategy for a stiff hybrid dynamic system. Specifically, a stamper in a surface mount device is controlled to maintain a low acceleration of the stamped component for a prescribed minimum duration of time. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Computational methods computer simulation computer-aided control system design Embedded systems systems design Verification

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control system design automation for mechanical systems

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JOURNAL OF INTELLIGENT & ROBOTIC systemS 1998年第3期21卷 239-256页

作者： Maekawa, K Pang, GKH Mitsubishi Elect Co Ind Elect & Syst Lab Amagasaki Hyogo 661 Japan Univ Hong Kong Dept Elect & Elect Engn Hong Kong Hong Kong

In this paper, a user-friendly and comprehensive control system design package called control system design Automation (CSDA) is described. The system consists of five main blocks: a requirement interpretation block, a modeling block, an analysis/design block, a database management and knowledge base block, and a verification block. The requirement interpretation block transforms the specifications in terms of the application to those in terms of control. The analysis/design block selects an optimal control structure and determines the controller parameters. In addition to the conventional design methods, CSDA also contains the more recent design methods such as the LMI design approach and the Kessler/Manabe method. The LMI approach can obtain a controller which satisfies multiple specification items at the same time. The configuration of the system as well as the analysis/design block are described in detail in this paper.

关键词： control system design mechanical systems feedback control design automation computer-aided control system design

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LMIs for constrained polynomial interpolation with application in trajectory planning

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systemS & control LETTERS 2006年第6期55卷 473-477页

作者： Henrion, D Lasserre, JB CNRS LAAS F-31077 Toulouse France Czech Tech Univ Fac Elect Engn Dept Control Engn Prague 16626 Czech Republic Univ Toulouse 3 Inst Math F-31602 Toulouse France

We consider an open-loop trajectory planning problem for linear systems with bound constraints originating from saturations or physical limitations. Using an algebraic approach and results on positive polynomials, we show that this control problem can be cast into a constrained polynomial interpolation problem admitting a convex linear matrix inequality (LMI) formulation. (c) 2005 Elsevier B.V. All rights reserved.

关键词： linear systems algebraic/polynomial approach trajectory planning polynomial interpolation positive polynomials LMI computer-aided control system design

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Solution to the Shell standard control problem using genetically tuned PID controllers

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control ENGINEERING PRACTICE 2002年第2期10卷 151-163页

作者： Vlachos, C Williams, D Gomm, JB Liverpool John Moores Univ Sch Engn Control Syst Res Grp Liverpool L3 3AF Merseyside England

A solution to the Shell standard control problem is presented in this paper, based on genetic algorithms (GAs). The proposed scheme includes two discrete-time PID controllers with integral anti-windup and a multivariable Smith predictor to provide the required process output regulation, while the process input minimisation problem is analytically solved on-line, by estimating the unmeasured disturbances entering the process and solving the associated linear programming problem. This, as well as the presence of constraints in the process manipulated variables, results in a complex, non-linear closed-loop system and hence, the manual tuning of the PID controllers according to some given performance specifications becomes a difficult task. GAs are successfully applied to the automatic tuning of the PID controllers according to the given specifications, using a specially formulated objective function which quantifies the controller performance in terms of time-domain bounds on the closed-loop system responses. Simulation results are presented to demonstrate the effectiveness of the proposed control scheme. (C) 2002 Elsevier Science Ltd. All rights reserved.

关键词： PID control multivariable control systems process control computer-aided control system design regulation parameter optimisation genetic algorithms

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Telecontrol system based on the Smith predictor using the TCP/IP protocol

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ROBOTICA 2003年第5-6期21卷 303-312页

作者： Baigorria, PLA Postigo, JF Mut, VA Carelli, RO Univ Nacl San Juan Fac Ingn Inst Automat INAUT San Juan Argentina

In this paper, development and implementation are presented of a client software package for remote process control. The proposed software is based on a client-server model under an Intranet architecture. The architecture is proposed for a telecontrol system of a real process, which includes the possibility of integrating I/O devices with data networks based on open protocols such as TCP/IP. This protocol allows the implementation of control systems using a low-cost alternative. Also, the Smith predictor is revised for remote control applications over an Ethernet network. Some experiences on a laboratory pasteurization plant are addressed to show both developed controllers and architecture performance.

关键词： telecontrol communication protocols computer-aided control system design industry automation remote control industry automation time delayed systems control networks

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An integrated software environment for the design and real-time implementation of control systems

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control ENGINEERING PRACTICE 1998年第10期6卷 1287-1293页

作者： Koga, M Toriumi, H Sampei, M Tokyo Inst Technol Dept Mech & Environm Informat Meguro Ku Tokyo 1528552 Japan

This paper introduces the development of a CAD environment for control systems, which supports not only the analysis of control systems, and the design of controllers, but also the real-time implementation of controllers. By utilizing this software, the control engineer is able to repeat the procedure for the modification of both controllers and experiments, without recompiling, to attain better performance. The software also offers a facility to update the parameters of controllers without interrupting the real-time control, which helps in the on-line tuning of controllers. Otherwise, if some of the parameters of a controller are changed on-line, the control input may change in a discontinuous fashion. This would have a serious effect on the control systems. A method for the on-line tuning of a state feedback controller with a state observer is proposed and Verified through an experiment with an inverted pendulum. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： computer-aided control system design real-time control simulation on-line tuning

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Symmetric matrix polynomial equation: Interpolation results

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AUTOMATICA 1998年第7期34卷 811-824页

作者： Henrion, D Sebek, M LAAS CNRS F-31077 Toulouse 4 France Czech Tech Univ Fac Elect Engn Trnka Lab Automat Control Prague Czech Republic Acad Sci Czech Republ Inst Informat Theory & Automat CR-18208 Prague Czech Republic

New numerical procedures are proposed to solve the symmetric matrix polynomial equation A(T)(-s) X(s) + X-T(-s) A(s)= 2B(s) that is frequently encountered in control and signal processing. An interpolation approach is presented that takes full advantage of symmetry properties and leads to an equivalent reduced-size linear system of equations. It results in a simple and general characterization of all solutions of expected column degrees. Several new theoretical results concerning stability theory and reduced Sylvester resultant matrices are also developed and used to conclude a priori on the existence of a solution. By means of numerical experiments, it is shown that our algorithms are more efficient than older methods and, namely, appear to be numerically reliable. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： matrix polynomial equations numerical methods interpolation algorithms efficient algorithms continuous-time systems computer-aided control system design

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Multi-agent system design and integration via agent development environment

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2012年第4期25卷 846-852页

作者： Tichy, Pavel Kadera, Petr Staron, Raymond J. Vrba, Pavel Marik, Vladimir Rockwell Automat Sro Prague 15500 5 Czech Republic Czech Tech Univ Prague 16627 Czech Republic Rockwell Automat Mayfield Hts OH 44124 USA

design and integration of multi-agent systems are becoming more and more important since there is evidence of a shift of multi-agent application deployment from academic or lab testing areas to real world applications such as manufacturing, aerospace, logistics, and networking. Therefore, utilization of an environment that guides the development process starting from the design of templates that can be reused multiple times up to the code generation and debugging is essential. In this manuscript we present advancements in the Agent Development Environment that can be used not only for the development of agents designed for high-level decision-making, but also for distributed low-level control that is automatically integrated. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： computer-aided control system design Agents control systems Distributed control Intelligent manufacturing systems

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A Toeplitz algorithm for polynomial J-spectral factorization

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AUTOMATICA 2006年第7期42卷 1085-1093页

作者： Zuniga, Juan Carlos Henrion, Didier CNRS LAAS F-31077 Toulouse France Czech Tech Univ Fac Elect Engn Dept Control Engn Prague 16627 Czech Republic

A block Toeplitz algorithm is proposed to perform the J-spectral factorization of a para-Hermitian polynomial matrix. The input matrix can be singular or indefinite, and it can have zeros along the imaginary axis. The key assumption is that the finite zeros of the input polynomial matrix are given as input data. The algorithm is based on numerically reliable operations only, namely computation of the null-spaces of related block Toeplitz matrices, polynomial matrix factor extraction and linear polynomial matrix equations solving. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： polynomial matrices spectral factorization numerical algorithms computer-aided control system design

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computer aided design and flight support of spacecraft control systems

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IFAC Proceedings Volumes 1999年第2期32卷 6101-6106页

作者： Ye.I. Somov S.A. Butyrin I.A. Gerasin S.A. Gerasin Yu.G. Antonov V.P. Makarov I.V. Kandalov V.A. Rayevsky G.P. Titov Applied Research Center Research Institute of Mechanical Systems Reliability Samara State Technical University 141 Galaktionovskaya Str. Samara 443010 Russia The Stability and Nonlinear Dynamics Research Center the Mashinery Research Institute (IMash) of RAS 5 Dm. Ul'yanov Str. Moscow 117333 Russia The Systems Dynamics & Control Theory Institute of RAS 134 Lermontov Str. Irkutsk 664033 Russia Central Specialized Design Bureau (TsSKB) the RSA 18 Pskovskaya Str. Samara 443009 Russia The RPA “Applied Mechanics” (NPO PM) the RSA 68 Lenin Str Krasnoyarsk-26 660026 Russia

We present results on creation and employment of the software system DYNAMICS for research of dynamic processes in complex control systems. The software tool supports functions modelling and simulation for spacecraft, control systems design, as well as solving any user problems in special problem areas which are described by differential and difference equations, also by transfer functions and logic conditions including a logic automata for real time. We present also the decision support system, which is based on the DYNAMICS and is used by the flight controller at the spacecraft Flight control Center in the process of state diagnostics and decision-making on contradictory failures in the onboard spacecraft's motion control system.

关键词： space vehicles computer-aided control system design flight support

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