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Saturated sliding mode control with limited magnitude and rate

IET control THEORY AND APPLICATIONS 2018年第8期12卷 1075-1085页

作者： Wang, Siyi Gao, Yabing Liu, Jianxing Wu, Ligang Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150001 Heilongjiang Peoples R China

This study is concerned with the sliding mode control design subject to actuator saturation. The actuator saturation is formulated with the rate limitation and the standard magnitude limitation. Both the saturated sliding mode control approaches against the known and the unknown bounded uncertainties are discussed. The stability analysis for the resulting overall closed-loop systems is conducted. Moreover, several optimisation conditions are established to estimate the attraction domain of the saturated system under the designed controllers, by determining the invariant set of the system. Finally, simulation examples are shown to illustrate the proposed control design scheme.

关键词： Optimisation techniques saturated sliding mode control design Multivariable control systems Combinatorial mathematics rate limitation variable structure systems stability control system synthesis Stability in control theory stability analysis closed-loop systems actuator saturation control system analysis and synthesis methods closed loop systems standard magnitude limitation known bounded uncertainties invariant set uncertain systems set theory attraction domain optimisation unknown bounded uncertainties actuators invariance optimisation conditions

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ANALYTICAL REDUNDANCY USING BAND-LIMITING FILTERS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1988年第4期135卷 257-267页

作者： JONES, JG CORBIN, MJ ROYAL AIRCRAFT ESTAB DEPT MISSION MANAGEMENTFARNBOROUGH GU14 6TDHANTSENGLAND

A method is described whereby faults in control systems may be detected on the basis of the generation and crosscomparison of bandlimited signals from dissimilar sources. While signals measured at different points in the system may differ widely when viewed over a wide bandwidth, over limited pass bands there are shown to exist simple relationships which can be verified by means of appropriate filtering and comparison logic. The band-limiting filters employed are, in effect, used to monitor the propagation of information, originating in the structure of external inputs, through the system.

关键词： analytical redundancy band-pass filters redundancy control system analysis control systems band-limiting filters Information theory fault detection control system analysis and synthesis methods band pass filters

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Adaptive notch filter solution under unbalanced and/or distorted point of common coupling voltage for three-phase four-wire shunt active power filter with sinusoidal utility current strategy

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IET GENERATION TRANSMISSION & DISTRIBUTION 2015年第13期9卷 1580-1596页

作者： Nguyen Duy Dinh Nguyen Duc Tuyen Fujita, Goro Funabashi, Toshihisa Shibaura Inst Technol Power Syst Lab Tokyo 1358548 Japan Nagoya Univ EcoTopia Nagoya Aichi 4648603 Japan

In this study, the three-phase four-wire shunt active power filter (ShAPF) dealing with non-ideal point of common coupling (PCC) voltages will be presented. The instantaneous power theory is applied to design the ShAPF controller which shows reliable performances. An adaptive notch filter (ANF) is proposed to process those unbalanced and/or distorted PCC voltage. The power balance among utility, load and ShAPF while applying ANF is clarified by an in-depth explanation. The simulation results prove that the ANF can successfully facilitate the ShAPF in terms of compensating unbalanced/distorted current of loads under a non-ideal PCC voltage circumstance.

关键词： power harmonic filters control of electric power systems notch filters distorted current compensation harmonic distortion ANF unbalanced load compensation instantaneous power theory Power supply quality and harmonics sinusoidal utility current strategy control system analysis and synthesis methods adaptive filters PCC voltage distortion active filters control system synthesis power balance shunt active power filter non-ideal point of common coupling adaptive notch filter ShAPF controller design

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Robust design methodology for simultaneous feedforward and feedback tuning

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IET control THEORY AND APPLICATIONS 2016年第1期10卷 84-94页

作者： Rodriguez, Carlos Normey-Rico, Julio E. Guzman, Jose Luis Berenguel, Manuel Univ Almeria Dept Informat Almeria 04120 Almeria Spain UFSC DAS BR-88040900 Sn Florianopolis SC Brazil

This study presents a control design methodology to address simultaneous robust feedforward and feedback tuning. A tuning guideline including tuning rules based on the time-domain response is introduced. Then, an optimisation algorithm is used in the frequency domain to find the optimal feedback-feedforward controller. Detailed simulations covering a wide range of industrial process models are carried out to demonstrate the validity of the proposed methodology and its advantages over other approaches.

关键词： frequency-domain analysis robust control Stability in control theory control system synthesis feedback optimal feedback-feedforward controller simultaneous robust feedforward-feedback tuning industrial process models time-domain response control system analysis and synthesis methods optimal control tuning rules tuning guideline Mathematical analysis time-domain analysis robust control design methodology Optimal control feedforward

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Robust exponential stability and stabilisation of parametric uncertain switched linear systems under arbitrary switching

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IET control THEORY AND APPLICATIONS 2016年第4期10卷 381-390页

作者： Bagherzadeh, Mohamad Ali Ghaisari, Jafar Askari, Javad Isfahan Univ Technol Dept Elect & Comp Engn Esfahan *** Iran

Stability of switched linear systems under arbitrary switching signals is an important requirement, when the switching mechanism is unknown, or too complicated to be useful in the stability analysis. In this study, robust exponential stability and exponential stabilisation of parametric uncertain switched linear systems are investigated under arbitrary switching. First, sufficient conditions are proposed to ensure the existence of a common quadratic Lyapunov function (CQLF) for arbitrary switched linear systems with uncertain parameters belong to known intervals. Then, an estimation of stability intervals for uncertain parameters is provided via a theorem. To enlarge the estimated stability intervals, an offline optimisation algorithm is also proposed. Finally, the derived results for robust exponential stability are used to stabilise the uncertain switched linear systems which are not stable under arbitrary switching signals. For this purpose, a method is proposed to design a single state feedback gain in the way that the closed-loop switched linear system is robustly exponentially stable under arbitrarily fast switching signals. Numerical examples are included to demonstrate the effectiveness of the results.

关键词： CQLF Optimisation techniques common quadratic Lyapunov function offline optimisation algorithm switching systems (control) Time-varying control systems Stability in control theory control system synthesis arbitrary switching signals control system analysis and synthesis methods state feedback stability interval estimation closed loop systems state feedback gain design linear systems closed-loop switched linear system robust control Lyapunov methods sufficient conditions uncertain parameters uncertain systems parametric uncertain switched linear systems optimisation arbitrary switched linear systems robust exponential stability known intervals asymptotic stability

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SENSITIVITY-REDUCED OPTIMAL DISCRETE LINEAR REGULATOR WITH PRESCRIBED CLOSED-LOOP EIGENVALUES

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1985年第1期132卷 18-24页

作者： GOPAL, M NAIR, PP Department of Electrical Engineering Indian Institute of Technology New Delhi India

A method is proposed for the design of constant-gain optimal feedback control laws for discrete-time systems, which reduce trajectory sensitivity to small system parameter variations and ensure the closed-loop eigenvalues at the prescribed locations. The selected performance index is of standard linear regulator type, modified to include a quadratic sensitivity term. An efficient computational procedure, based on direct cost optimisation and using a gradient-type algorithm, is also reported. A case study of a boiling-water reactor power plant has been presented to illustrate the application of the design procedure.

关键词： discrete time systems eigenvalues and eigenfunctions optimal control performance index Discrete control systems sensitivity reduced systems Optimal control linear systems constant-gain optimal feedback control laws control system synthesis discrete-time systems closed-loop eigenvalues feedback control system analysis and synthesis methods linear regulator

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Non-blocking supervision for uncertain discrete event systems with internal unobservable transitions

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2005年第2期152卷 165-170页

作者： Park, SJ Lim, JT Ajou Univ Sch Elect & Comp Engn Suwon 443749 South Korea Korea Adv Inst Sci & Technol Dept Elect Engn Taejon 305701 South Korea

A nonblocking supervisory control problem for uncertain discrete event systems (DESs) is considered, in which a D-transition describes the behaviour caused by internal and unobservable events. It is assumed that at a state with the assigned positive integer value p, a system experiences at most a p-step state transition by D. However, for some states, the internal and unobservable events may occur but the assigned positive integer values for the states are not known exactly. For the uncertain DESs, it is shown that they can be represented as a set of some non-deterministic models. Specifically, this paper presents necessary and sufficient conditions for the existence of a robust and non-blocking supervisor that achieves a given specification language for any model in the set. Moreover, when a given specification language does not satisfy the developed existence conditions, a supervisor synthesis problem is addressed to find the supremal sublanguage of the specification satisfying the conditions.

关键词： discrete event systems Formal languages and computational linguistics formal languages Combinatorial mathematics specification language supremal sublanguage internal unobservable transitions supervisor synthesis problem nondeterministic models necessary and sufficient conditions Discrete control systems control system synthesis control system analysis and synthesis methods uncertain discrete event systems nonblocking supervision uncertain systems robust control Stability in control theory Δ-transition

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H_∞ disturbance observer design for high precision track following in hard disk drives

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IET control THEORY AND APPLICATIONS 2009年第12期3卷 1591-1598页

作者： Thum, C. K. Du, C. Lewis, F. L. Chen, B. M. Ong, E. H. Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore ASTAR Data Storage Inst Singapore 117608 Singapore Univ Texas Arlington Automat & Robot Res Inst Adv Controls & Sensors Grp Arlington TX 76019 USA

Contrary to the conventional method of disturbance observers (DOB) where Q-filter is designed to be a low-pass filter with unity DC gain, the optimal H-infinity method has been proposed to design the Q-filter and applied in the servo control system of hard disk drives in track following. Simulation and implementation results have shown that the resultant H-infinity DOB improves low-frequency disturbance attenuation without compromising the disturbances attenuation performance at higher frequency region achieved by the nominal feedback controller. In terms of track-following precision, the proposed method is approximately 5% more accurate than the conventional method.

关键词： H∞ control Storage on moving magnetic media Q-filter disc drives feedback controller control system synthesis control system analysis and synthesis methods low-pass filters Other applications of control hard disk drives low-frequency disturbance attenuation feedback high precision track following Optimal control observers hard discs H∞ disturbance observer design Simulation, modelling and identification low-pass filter

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Position-heading quadrotor control using LPV techniques

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IET control THEORY AND APPLICATIONS 2019年第6期13卷 783-794页

作者： Trapiello, Carlos Puig, Vicenc Morcego, Bernardo Univ Politecn Cataluna Automat Control Dept Adv Control Syst Grp Rambla Sant Nebridi 10 Terrassa 08222 Spain

This work presents a solution to the position-heading control problem of a small quadrotor. The main idea of this study is to exploit the advantages of the linear parameter varying (LPV) control approach together with a feedback linearisation approach for designing a cascade control structure without the need to perform simplifications with respect to the reference dynamic model used in the literature. The use of a LPV representation of the attitude subsystem allows to consider it as independent of the position one, allowing the use of a cascade control structure. For the inner attitude control loop, the proposed quasi-LPV-linear-quadratic regulator (LQR) controller and proportional-integral observer (PIO) are solved in an optimal manner by solving a set of linear matrix inequalities (LMIs). While for the outer position control loop, a feedback linearisation approach is developed before designing the corresponding controller and PIO also minimising the LQR problem by means of LMIs. Furthermore, another outer loop, interchangeable with the position one, such that controls the velocities in the body frame is proposed. This velocities controller is also solved in an optimal manner using a combination of feedback linearisation and LPV techniques. The proposed solutions are applied to an AscTec Hummingbird unmanned aerial vehicle in simulation.

关键词： Spatial variables control reference dynamic model LPV techniques outer position control loop attitude subsystem cascade control structure Aerospace control LQR problem control system synthesis Stability in control theory linear quadratic control LPV representation control system analysis and synthesis methods Nonlinear control systems LMI helicopters velocity control position-heading quadrotor control linear systems Velocity, acceleration and rotation control feedback Algebra quasi-LPV–linear-quadratic regulator controller inner attitude control loop remotely operated vehicles nonlinear control systems velocities controller position-heading control problem linear matrix inequalities Optimal control Hummingbird unmanned aerial vehicle autonomous aerial vehicles position control linear parameter proportional–integral observer observers Telerobotics optimal manner cascade control linearisation techniques feedback linearisation approach Mobile robots attitude control

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Disturbance observer aided optimised fractional-order three-degree-of-freedom tilt-integral-derivative controller for load frequency control of power systems

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IET GENERATION TRANSMISSION & DISTRIBUTION 2021年第4期15卷 716-736页

作者： Guha, Dipayan Roy, Provas Kumar Banerjee, Subrata Motilal Nehru Natl Inst Technol Dept Elect Engn Prayagraj 211004 UP India Kalyani Govt Engn Coll Dept Elect Engn Kalyani 741235 W Bengal India Natl Inst Technol Durgapur Dept Elect Engn Durgapur 713209 W Bengal India

This work demonstrates a maiden application of a fractional-order based three-degree-of-freedom tilt-integral-derivative controller for escalating the load frequency control performance of power system having wind power generator integrated. The disturbance observer is housed with the proposed fractional-order-three-degree-of-freedom-tilt-integral-derivative controller to efficiently estimate the wind velocity's uncertain profile and subsequently enrich the control law. The mastery of the proposed control algorithm has been tested on multi-area interconnected power systems by performing an extensive comparative study with other prevalent techniques reported in the state-of-art. Harris' Hawks optimisation is applied to explore the proposed controllers' optimum gains, exercising an integral error-based criterion. Time response measurements of the studied test systems in the wake of load fluctuation and intermittent output of wind power generator explicitly establish the efficacy of the proposed Harris' Hawks optimisation tuned disturbance observer-based fractional-order-three-degree-of-freedom-tilt-integral-derivative controller over its other counterparts concerning damping of system oscillations. Furthermore, the developed control system's robust stability is affirmed using Kharitonov's stability theorem, considering +/- 25% variation in system parameters.

关键词： control law studied test systems power system control control of electric power systems Harris' Hawks optimisation control algorithm three-term control developed control system Power system management, operation and economics Optimisation techniques disturbance observer three-degree-of-freedom tilt-integral-derivative controller multiarea interconnected power systems Fuzzy control Power system control wind power generator integral error-based criterion wind power plants power generation control Wind power plants fractional-order-three-degree-of-freedom-tilt-integral-derivative controller fuzzy control control system analysis and synthesis methods robust control observers power system Stability in control theory load frequency control performance control system synthesis frequency control load regulation stability Frequency control power system interconnection controllers PI control

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