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A Dual Internal Model Based Repetitive Control for linear discrete-time systems

IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2019年第2期64卷 812-819页

作者： Zhu, Qiao Southwest Jiaotong Univ Sch Mech Engn Chengdu 610031 Sichuan Peoples R China

A novel discrete-time repetitive control (RC) scheme is proposed to achieve both the fast convergence rate and the perfect tracking/rejection by updating the input period by period and in the internal of the periods simultaneously. By using the internal model (IM) of the external periodic signals, the classic RC achieves perfect tracking/rejection. Furthermore, a polynomial IM (PIM) is introduced, which only incorporates the dominant frequencies of the external signals. The PIM-based RC is faster than the classic RC because of the fact that the PIM makes the input update in the internal of the periods. However, the PIM-based RC cannot achieve perfect tracking/rejection. Motivated by the fast convergence rate of the PIM-based RC and the perfect tracking/rejection of the classic RC, a new RC scheme is proposed whose IM is the product of the IMs of the classic and PIM-based RCs. As such, the new RC scheme is named as a dual IM (DIM)-based RC. By using the 2-D H-infinity theory, it is verified that the DIM-based RC can achieve both the fast convergence rate and perfect tracking/rejection. In addition, by further comparing the classic, PIM-based, and DIM-based RCs in frequency domain, the merits and demerits of the three RCs on the convergence rate and the steady-state performance are deeply discussed. Finally, an experimental apparatus about the rotational system with two dc motors is given to illustrate the advantage of the proposed DIM-based RC.

关键词： Convergence rate dual internal model (IM) linear discrete-time system periodic signal repetitive control (RC)

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Mean Square Stability of discrete-time linear systems with Random Impulsive Disturbance 40

Mean Square Stability of Discrete-Time Linear Systems with R...

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40th Chinese Control Conference (CCC)

作者： Long, Jiamei Guo, Yuqian Gui, Weihua Cent South Univ Sch Automat Changsha 410083 Peoples R China

ISBN: (纸本)9789881563804

This study investigates the mean square stability of linear discrete-time systems with random impulsive disturbance based on a hybrid index model. The sequence of intervals between successive impulses is assumed to be independent and identically distributed. Subsequently, the dynamical system of the column-stacking form of the variance matrix of the after-jump state is derived. Based on the obtained system, a necessary and sufficient condition of the mean square stability of systems with random impulsive disturbance is obtained. Further, a numerical example is provided to explain the proposed result.

关键词： linear discrete-time system Mean square stability Random impulse Hybrid index model Smallest invariant subspace

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On the equivalence between the unbiased minimum-variance estimation and the infinity augmented Kalman filter

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INTERNATIONAL JOURNAL OF CONTROL 2020年第12期93卷 2995-3002页

作者： Ding, Bo Zhang, Tianping Fang, Huajing Yangzhou Univ Coll Informat Engn Dept Automat Yangzhou Jiangsu Peoples R China Huazhong Univ Sci & Technol Minist Educ Key Lab Image Proc & Intelligent Control Sch Automat Wuhan Peoples R China

In this paper, the augment Kalman filter (AKF) approach is discussed under the infinity condition. It is proved that the AKF in infinity condition is equivalent to the minimum-variance unbiased (MVU) estimation proposed in Gillijns & De Moor [(2007). Unbiased minimum-variance input and state estimation for linear discrete-time systems. Automatica, 43(1), 111-116]. This result can be regarded as a new contribution in the field of joint input and state estimation. Meanwhile, this result gives another way to estimate the state and unknown input simultaneously. Finally, the theoretical result is validated by simulations.

关键词： Infinity augment Kalman filter state estimation unknown input estimation linear discrete-time system

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Iterative Learning Control for linear discrete-time systems with Unknown High-Order Internal Models: A time-Frequency Analysis Approach

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ASIAN JOURNAL OF CONTROL 2018年第1期20卷 370-385页

作者： Zhu, Qiao Xu, Jian-Xin Huang, Deqing Hu, Guang-Di Southwest Jiaotong Univ Sch Mech Engn Chengdu 610031 Sichuan Peoples R China Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Southwest Jiaotong Univ Sch Elect Engn Chengdu 610031 Sichuan Peoples R China

This work focuses on the iterative learning control (ILC) for linear discrete-time systems with unknown initial state and disturbances. First, multiple high-order internal models (HOIMs) are introduced for the reference, initial state, and disturbances. Both the initial state and disturbance consist of two components, one strictly satisfies HOIM and the other is random bounded. Then, an ILC scheme is constructed according to an augmented HOIM that is the aggregation of all HOIMs. For all known HOIMs, an ILC design criterion is introduced to achieve satisfactory tracking performance based on the 2-D H theory. Next, the case with unknown HOIMs is discussed, where a time-frequency-analysis (TFA)-based ILC algorithm is proposed. In this situation, it is shown that the tracking error inherits the unknown augmented HOIM that is an aggregation of all unknown HOIMs. Then, a TFA-based method, e.g., the short-time Fourier transformation (STFT), is employed to identify the unknown augmented HOIM, where the STFT could ignore the effect of the random bounded initial state and disturbances. A new ILC law is designed for the identified unknown augmented HOIM, which has the ability to reject the unknown the initial state and disturbances that strictly satisfy HOIMs. Finally, a gantry robot system with iteration-invariant or slowly-varying frequencies is given to illustrate the efficiency of the proposed TFA-based ILC algorithm.

关键词： Iterative learning control linear discrete-time system high-order internal model random bounded disturbance time-frequency analysis approach

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L2-Gain Performance Analysis for discrete-time systems with Input Saturation: an LPV Approach 21st

L2-Gain Performance Analysis for Discrete-Time Systems with ...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Nguyen, Hoai-Nam IFP Energies Nouvelles Control Signal & Syst Dept Rond Point Echangeur Solaize BP3 F-69360 Solaize France

In this paper, we consider the problem of estimating the L-2-gain under a given feedback law for linear discrete-time systems subject to actuator saturation. The basic idea is to use the linear parameter varying system framework to model the saturation nonlinearity. It is shown that the conditions can be expressed as a set of linear matrix inequalities. Furthermore, it is proved that the conditions are guaranteed to be less conservative than several existing solutions in the literature. One numerical example is presented to illustrate the effectiveness of the proposed method. Copyright (C) 2020 The Authors.

关键词： linear discrete-time system Actuator Saturation LPV Modeling L-2-gain linear Matrix Inequalities (LMI)

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Interval estimation of actuator fault by interval analysis

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IET CONTROL THEORY AND APPLICATIONS 2019年第16期13卷 2717-2724页

作者： Zhang, Wenhan Wang, Zhenhua Shen, Yi Guo, Shenghui Zhu, Fanglai Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China Suzhou Univ Sci & Technol Sch Elect & Informat Engn Suzhou 215009 Peoples R China Tongji Univ Coll Elect & Informat Engn Shanghai 201804 Peoples R China

This study proposes an interval estimation method of actuator fault for linear discrete-time system. An augmented descriptor system, which is equivalent to the original system, is formulated by letting the actuator fault term be an auxiliary state. Then, an $H_{\infty }$H infinity fault estimation observer is constructed to attenuate the effect of unknown but bounded disturbances and measurement noise. By using interval analysis technique, the interval estimation of actuator fault can be obtained. Finally, a DC servo-motor example is given to show the effectiveness and superiority of the proposed method.

关键词： control system synthesis servomotors observers linear systems actuators discrete time systems fault diagnosis DC motors interval estimation method linear discrete-time system augmented descriptor system actuator fault term interval analysis technique H-infinity fault estimation observer DC servomotor

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Mean Square Stability of discrete-time linear systems with Random Impulsive Disturbance

Mean Square Stability of Discrete-Time Linear Systems with R...

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第40届中国控制会议

作者： Jiamei Long Yuqian Guo Weihua Gui School of Automation Central South University

关键词： linear discrete-time system Mean square stability Random impulse Hybrid index model Smallest invariant subspace

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L 2 -Gain Performance Analysis for discrete-time systems with Input Saturation: an LPV Approach

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IFAC-PapersOnLine 2020年第2期53卷 4588-4592页

作者： Hoai-Nam Nguyen Control Signal and System Department - IFP Energies Nouvelles Rond-point de l’echangeur de Solaize BP3 69360 Solaize France

In this paper, we consider the problem of estimating the L 2 -gain under a given feedback law for linear discrete-time systems subject to actuator saturation. The basic idea is to use the linear parameter varying system framework to model the saturation nonlinearity. It is shown that the conditions can be expressed as a set of linear matrix inequalities. Furthermore, it is proved that the conditions are guaranteed to be less conservative than several existing solutions in the literature. One numerical example is presented to illustrate the effectiveness of the proposed method.

关键词： linear discrete-time system Actuator Saturation LPV Modeling L 2 -gain linear Matrix Inequalities (LMI)

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STABILITY OF INTERVAL POSITIVE FRACTIONAL discrete-time linear systemS

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE 2018年第3期28卷 451-456页

作者： Kaczorek, Tadeusz Bialystok Tech Univ Fac Elect Engn Wiejska 45D PL-15351 Bialystok Poland

The aim of this work is to show that interval positive fractional discrete-time linear systems are asymptotically stable if and only if the respective lower and upper bound systems are asymptotically stable. The class... 详细信息

关键词： interval system positive system fractional system linear discrete-time system stability

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Iterative Learning Control for linear discrete-time systems with Iteration-varying initial state and Packet Loss 28

Iterative Learning Control for Linear Discrete-Time Systems ...

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28th Chinese Control and Decision Conference

作者： Zhu, Qiao Yue, Jun-Zhou Hu, Guang-Di Xiong, Neng Southwest Jiaotong Univ Sch Mech Engn Chengdu 610031 Sichuan Peoples R China

ISBN: (纸本)9781467397148

This paper is concerned with the iterative learning control (ILC) design problem of linear discrete-time systems with iteration-varying initial state and packet loss. First, the iteration-varying initial state and the packet loss is introduced into the ILC process. In addition, the ILC design problem is transformed into a controller design problem of 2-D Roesser model. Next, the asymptotic stability of 2-D Roesser models under orthogonal initial states are investigated. Then, based on the 2-D asymptotic stability, a ILC algorithm is proposed to deal with the iteration-varying initial state and the packet loss. Finally, the effectiveness of the developed ILC algorithm is demonstrated by a simple example with various packet loss rate.

关键词： Iterative learning control linear discrete-time system iteration-varying initial states packet loss 2-D system theory

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