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control of an Inverted Pendulum Using Direct model reference Adaptive control

IFAC Proceedings Volumes 1997年第6期30卷 585-590页

作者： Selahattin Ozcelik Julian DeMarchi Howard Kaufman Kevin Craig Department of Mechanical Engineering Aeronautical Engineering and Mechanics Rensselaer Polytechnic Institute Troy New York 12180 Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy New York 12180

This paper presents the design of a robust direct model reference adaptive control (DMRAC) algorithm with focus on the satisfaction of an almost strictly positive real (ASPR) condition over the maximal range of parameter variations of the plant, and its application to an inverted pendulum. To alleviate the ASPR condition, the pendulum is augmented with a feedforward compensator optimized for robustness. A DMRAC algorithm ensuring asymptotic model following is then integrated with the feedforward compensator design. These new experimental results validate the algorithm's use and applicability to the control of an inverted pendulum with a variety of parameter uncertainties. Résumé On presente la conception d'un algorithme robuste de reglage adaptif a 'reference au modele directe (DMRAC) qui dois satisfaire la condition de realization positive presque partout (PPP) et son application a un pendule renverse. Pour alleger la condition PPP, le pendule est ameliore' par l'ajout d'un compensateur "feed-forward" qui est optimise' pour la robustess. Puis, un algorithme DMRAC qui assure que la modele soit suivi asymptotiquement est integre' dans la realisation du compensateur. Les nouvaux resultats experimentaux verifient l'usage et l'application de l'algorithme pour regler le pendule renverse' avec des incretitudes sur les valeurs des parametres.

关键词： Adaptive control Inverted Pendulum model reference control

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A method for direct PID design using I/O data: The virtual model direct design approach

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IFAC Proceedings Volumes 1999年第2期32卷 2690-2695页

作者： Sergio M. Savaresi Guido O. Guardabassi Politecnico di Milano Dipartimento di Elettronica e Informazione Piazza Leonardo da Vinci 32 20133 Milano Tel. ++39.223993542. Fax. ++39.223993412. ITALY.

In this paper, an approach for the design of feedback controllers using only I/O data is presented. Such an approach - called “Virtual model Direct Design” (VMD2) - can be used when the control problem is stated by means of a reference model and I/O measurements of the plant, its main feature being that it reduces the design of the controller to a simple identification problem. The main goal of this paper is to show how such a design philosophy can be successfully used for the direct (data-based) tuning of PID controllers; in particular, it will be shown how the choice of the PID parameters can be reduced, under quite conceivable assumptions, to the unconstrained minimization of a 3-dimensional quadratic function.

关键词： Direct digital control model reference control identification algorithms PID control

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A novel analysis and design of a neural network assisted nonlinear controller for a bioreactor

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 1999年第11期9卷 799-815页

作者： Efe, MO Abadoglu, E Kaynak, O Bogazici Univ Dept Elect & Elect Engn TR-80815 Bebek Turkey Bogazici Univ Dept Math TR-80815 Bebek Turkey Bogazici Univ Chair Elect & Elect Engn Dept TR-80815 Bebek Turkey

A novel approach is presented for the analysis and the design of a controller for a bioreactor. It is based on the model reference control theory, assisted by a neural network identifier. The control objectives specified in the paper require the controller to be a nonlinear one, however, it is shown that it is stable in the sense of bounded input bounded output and locally stabilizing in the sense of Lyapunov. The feasibility and the efficacy of the proposed approach are tested on the benchmark problem. Copyright (C) 1999 John Wiley & Sons, Ltd.

关键词： bioreactor control model reference control neural network identifier bioreactor benchmark problem

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Robustness enhancement of an optimal fuzzy control electrical position servo system by a novel model-following approach

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 1998年第I6期212卷 449-458页

作者： Li, G Tsang, KM Ho, SL Hong Kong Polytech Univ Dept Elect Engn Kowloon Peoples R China

In this paper, an optimal fuzzy model-following control (OFMFC) scheme for position servo systems is presented. A fuzzy model controller (FMC) is used to generate an optimal reference output trajectory and a proportional-integral-derivative adaptation mechanism is included to force the plant output to follow the optimal model output. Both design of the FMC and that of the PID adaptation mechanism are addressed. Numerical results illustrate that the proposed OFMFC scheme can retain optimal system performance even in the presence of significant parameter variations and load disturbance. The comparison between an OFMFC system and an optimal fuzzy control (OFC) system shows that the OFMFC scheme is much more robust than the pure OFC scheme.

关键词： fuzzy logic control model reference control robustness servo system optimal control genetic algorithms

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H_∞ longitudinal control of crippled trijet aircraft with throttles only

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control ENGINEERING PRACTICE 1998年第5期6卷 601-613页

作者： Jonckheere, EA Yu, GR Univ So Calif Dept Elect Engn Los Angeles CA 90089 USA I Shou Univ Dept Elect Engn Kaohsiung 84008 Taiwan

A novel propulsion controlled aircraft (PCA) design technique for airplanes with control surface failures is presented. The H(infinity) model-matching methodology is applied to the problem of controlling the crippled aircraft from conventional stick input commands using the engines as the only available actuators. This paper focuses on pitch control of trijet configuration aircraft, and more specifically on the effect of the height of the tail engine above the center of gravity of the airplane. Simulations on "modified" L-1011 models demonstrate the concept. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： robust control model reference control aircraft control failure isolation propulsion control

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Approximate I/O feedback linearization of discrete-time non-linear systems via virtual input direct design

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AUTOMATICA 1998年第6期34卷 715-722页

作者： Savaresi, SM Guardabassi, GO Politecn Milan Dipartimento Elettron & Informaz I-20133 Milan Italy

The design of linearizing compensators via output-feedback for discrete-time non-linear plants, using I/O measurements only, is typically performed in an indirect way by identifying first a non-linear model of the plant, and resorting then to a suitable model-based design technique. In this paper we propose the use of a new method, based on a virtual input direct design (VID2) approach. The main feature of such a method is to carry the control design into a standard non-linear mapping approximation problem, thus avoiding any preliminary plant-identification phase. As compared with the existing methods, the new one requires less computational effort, while taking full advantage of the non-linear approximation software tools already available. In this paper, the new method is described, and some theoretical results are given, concerning the I/O linearization of discrete-time systems via dynamic output feedback. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： direct control model reference control non-linear systems linearization identification

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From Sioux City to the X-33

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IFAC Proceedings Volumes 1998年第18期31卷 577-588页

作者： Edmond A. Jonckheere Dept. of Electrical Engineering-Systems University of Southern California Los Angeles CA 90089-2563 USA

The history of the “Propulsion controlled Aircraft (PCA)” problem is reviewed. While there had been repeated warnings that life-threatening hydraulic failure in a modern airliner can occur despite an estimated probability of 10-9, only after the Sioux City accident was the possibility of using some automatic fly-by-throttle bade up control system for crippled airplane seriously considered. Several different schemes to help pilots fly hydraulically depleted aircraft by using collective and differential thrust of the engines will be reviewed. Special attention will be devoted to the so-called “model matching” methodology. Finally, it will be shown how this research can be extrapolated to the X-33, the reduced scale demonstration vehicle of the new space shuttle. Dans cet article, on retrace l'histoire du contrôle des avions par propulsion. Quoique le contrôle par propulsion soit devenu un sujet accepté scientifiquement à la suite de l'accident de Sioux City, bien avant cet accident, il y avaient eu plusieurs incidents, accidents, et même catastrophes, qui auraient dû avertir les autorités qu'une panne hydraulique grâve peut se produire á bord d'un avion de la derniére génération, malgré une probabilité estimée á un sur un milliard. Il y a plusieurs sysémes de commande qu'on peut entrevoir pour aider un pilote á contrôler un avion au moyen des moteurs seulement, mais on retriendra tout particuliérement la méthode adaptative du modéle de référence. Finalement, on expliquera comment l'expérience acquise peut être appliquée au X-33, le précurseur de la nouvelle navette spatiale.

关键词： Robust control model reference control Failure Isolation Aircraft control Propulsion control

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Asymptotic model Matching for Finite State Machines 1

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IFAC Proceedings Volumes 1998年第18期31卷 435-440页

作者： M.D. Di Benedetto A. Saldanha A. Sangiovanni-Vincentelli Dipartimento di Ingegneria Elettrica Universitá de L'Aquila 67040 Monteluco di Roio L'Aquila Italy. Cadence European Laboratories and PARADES Via di San Pantaleo 66 Rome Italy Department of EECS University of California at Berkeley CA 94720 U.S.A. Cadence Berkeley Laboratories Berkeley CA 94720 U.S.A.

The problem of asymptotic model matching for finite state machines (FSM's) consists of finding a controller for a given open loop system so that the resulting closed loop system matches a desired input-output behavior after a finite number of steps corresponding to the application of a finite subsequence of the input sequence. Necessary and sufficient conditions for the existence of a solution to this problem are given. A constructive procedure is given to determine the controller that solves the problem. Le problème de la poursuite asymptotique de modèle pour des systèmes á états finis consiste en la détermination d'un contrôleur tel que, après un nombre fini de pas, le comportement entrée - sortie du système en boucle fermée soit égal au comportement entrée - sortie d'un modèle de référence. Nous proposons des conditions nécessaires et suffisantes pour la résolution de ce problème et une procédure constructive pour la détermination du contrôleur solution.

关键词： Finite State Machines model reference control Discrete-event dynamic systems

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A model-reference control-STRUCTURE USING A FUZZY NEURAL-NETWORK

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FUZZY SETS AND SYSTEMS 1995年第3期73卷 291-312页

作者： CHEN, YC TENG, CC NATL CHIAO TUNG UNIV INST CONTROL ENGNHSINCHUTAIWAN

In this paper, we present a design method for a model reference control structure using a fuzzy neural network. We study a simple fuzzy-logic based neural network system. Knowledge of rules is explicitly encoded in the weights of the proposed network and inferences are executed efficiently at high rate. Two fuzzy neural networks are utilized in the control structure. One is a controller, called the fuzzy neural network controller (FNNC);the other is an identifier, called the fuzzy neural network identifier (FNNI). Adaptive learning rates for both the FNNC and FNNI are guaranteed to converge by a Lyapunov function. The on-line control ability, robustness, learning ability and interpolation ability of the proposed model reference control structure are confirmed by simulation results.

关键词： FUZZY LOGIC NEURAL NETWORK FUZZY NEURAL NETWORK model reference control

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model reference Linearization Based on H ∞ control

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IFAC Proceedings Volumes 1997年第21期30卷 87-92页

作者： E. Bertran G. Montoro Department of Signal Theory and Communications. Universitat Politècnica de Catalunya C/ Jordi Girona 1-3 08034-Barcelona (Spain)

The use of H ∞ optimization methods in model reference structures is a new approach to system linearization. This paper presents a design methodology to linearize a system in this way. The resulting system is based on output error feedback (linear), and it has properties of robustness. The only information required about the nonlinearity is a bound of its gain (induced norm). Thus, it is a useful method for solving the tracking problem in uncertain systems (unmodelled dynamics). Theoretical results are applied to the linearization of a radiofrequency bandpass power amplifier.

关键词： H-infinity control Linearization model reference control Nonlinear control systems Saturation control

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