Generalized predictive control, in its linear and analytical version, is a general-purpose technique that has been successfully applied to various classes of plants. However, when we move from stable and well-damped p...
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Generalized predictive control, in its linear and analytical version, is a general-purpose technique that has been successfully applied to various classes of plants. However, when we move from stable and well-damped plants to plants with more complex dynamics (unstable, oscillatory), choosing the appropriate GPC parameters may become difficult. This paper introduces a case study which involves a rotary flexible joint, i.e. a system with an integrator and a stable lightly-damped mode, and shows that is indeed possible to tune quickly and effectively a GPC controller. This goal is achieved through a methodology based on the use of the usual sensitivity functions as closed-loop performance indicators, on a simplified choice of the observer polynomial and on plant-oriented design guidelines. The proposed methodology finds an adequate support in SIMART, a CACSD package for advanced control.
In the mid 1980s, the UK Science and Engineering Research Council funded a number of projects to develop computer-aided control system design (CACSD) environments. The flagship project was ECSTASY (Environment for Con...
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In the mid 1980s, the UK Science and Engineering Research Council funded a number of projects to develop computer-aided control system design (CACSD) environments. The flagship project was ECSTASY (Environment for controlsystem Theory and SYnthesis), a database-mediated framework for hosting a number of popular controlsystems design tools. As the ECSTASY project neared its completion, some of the most urgently requested features appeared in rival commercial packages, and the short-falls in tool provision that ECSTASY was designed to address apparently went away. Using as a benchmark the capabilities of the current generation of the popular CACSD package MATLAB, the prescience of the original ECSTASY proposal will be demonstrated. A couple of areas that the environment excelled in, the use of a common information model and common user interface, will be discussed in the context of recent work done in the University of Wales and elsewhere. Finally, two topics of particular interest to the authors, the proposed standard reference model for computer-aidedcontrol engineering and an Object-Oriented Unified Infonnation Model for CACSD will be revisited in the light of recent developments in internet computing.
A new graph pruning algorithm is presented that overcomes some the difficulties of depth first search when building a state-space description of an inputoutput model prior to controlsystem analysis. The algorithm is ...
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A new graph pruning algorithm is presented that overcomes some the difficulties of depth first search when building a state-space description of an inputoutput model prior to controlsystem analysis. The algorithm is suitable for manipulating state-space models directly without transformation into the Laplace domain and overcomes some the numerical problems associated with existing techniques. The approach is particularly relevant to Web-based controlsystemdesign.
In this article, we present an overview on the web-based virtual laboratories currently available in the Department of Electrical and computer Engineering, NUS (National University of Singapore). Two pilot web-based v...
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In this article, we present an overview on the web-based virtual laboratories currently available in the Department of Electrical and computer Engineering, NUS (National University of Singapore). Two pilot web-based virtual laboratories have been developed and launched in the Faculty of Engineering at NUS. One laboratory is on an oscilloscope experiment and is aimed to serve over 1000 first year undergraduate engineering students in the Faculty. The other is on the control of a coupled-tank system and with the capability to implement and test various control strategies, is developed for both teaching and research. Rather than simulating what was happening in the real world on the client as is often done in other virtual laboratories, the system developed makes use of real time video and audio capture of actual instrument and apparatus. In addition, the use of the mouse to turn the control buttons and knobs of the instruments has been implemented so that a more realistic feel of the instrument is provided. The launch of the virtual laboratory on the oscilloscope experiment in early March 1999 has created a lot of interests, with numerous user feedback and comments received. Both laboratories can be accessed at http://***/vlab .
designing controlsystems using multiobjective genetic algorithms can lead to a substantial computational load as a result of the repeated evaluation of the multiple objectives and the population-based nature of the s...
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designing controlsystems using multiobjective genetic algorithms can lead to a substantial computational load as a result of the repeated evaluation of the multiple objectives and the population-based nature of the search. Here, a neural network approach, based on radial basis functions, is introduced to alleviate this problem by providing computationally inexpensive estimates of objective values during the search. A straightforward example demonstrates the utility of the approach.
Most of the methods which are used for the analysis and design of systems with parametric uncertainty require extensive computations. Therefore, it is value to develop computer programs which enable one to deal with u...
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Most of the methods which are used for the analysis and design of systems with parametric uncertainty require extensive computations. Therefore, it is value to develop computer programs which enable one to deal with uncertain systems in an easy way. This paper describes a user friendly software package(AISTK-Analysis of Interval systems Toolkit). Algorithms have been developed in the MATLAB environment by using the Kharitonov theorem and related approaches. The objective in developing AISTK was to gather these algorithms under a toolkit and make them easily usable by students or other users.
This paper will describe the development of a prototype software toolbox that can analyze and process a Simulink block diagram model in order to produce a VHDL representation of the model. The derived VHDL model will ...
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This paper will describe the development of a prototype software toolbox that can analyze and process a Simulink block diagram model in order to produce a VHDL representation of the model. The derived VHDL model will consist of a combination of behavioural, RTL and structural definitions mapped directly from the Simulink model. This approach may enable a user to develop and simulate a digital control algorithm using Mat/ab and once complete, convert this to VHDL code. This would then be synthesized into digital logic hardware for implementation on devices such as FPGAs (Field Programmable Gate Arrays) and ASICs (Application Specific Integrated Circuits).
We present results on creation and employment of the software system DYNAMICS for research of dynamic processes in complex controlsystems. The software tool supports functions modelling and simulation for spacecraft,...
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We present results on creation and employment of the software system DYNAMICS for research of dynamic processes in complex controlsystems. The software tool supports functions modelling and simulation for spacecraft, controlsystems 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 controlsystem.
A general purpose computeraidedcontrolsystemdesign package called SIMART has been developed from the available control theory. Equipped with sound real-time and simulation capabilities, it is intended to serve as ...
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A general purpose computeraidedcontrolsystemdesign package called SIMART has been developed from the available control theory. Equipped with sound real-time and simulation capabilities, it is intended to serve as a control engineering framework as well as a learning basis for advanced control techniques. An advanced control approach which, starting from a specification-compatible identified model, performs design through shaping of the usual sensitivity functions, has been established. Simple and effective guidelines for learners may be obtained, provided that the quest for a universal design method is abandoned in favor of a more realistic case-specific approach, using plant characteristics, such as oscillatory behavior or actuator limitations, to orientate design choices. Two case studies are reported at the end of the paper.
designing a controller usually involves several iterations between the synthesis based on a set of parameters, the analysis of the robustness and performance obtained so far, and correction of the design parameters. A...
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designing a controller usually involves several iterations between the synthesis based on a set of parameters, the analysis of the robustness and performance obtained so far, and correction of the design parameters. An approach based on computer-aideddesign is proposed, where the engineer manipulates the graphics with a mouse, sees immediately how the performance changes, and feels how the different objectives are linked. The instantaneous performance display enables understanding the problem better and obtaining a satisfactory compromise. Applications to research and education are described.
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