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Considerations on loop pairing in MIMO processes. A multi-criteria analysis

IFAC-PapersOnLine 2017年第1期50卷 4454-4459页

作者： Herrero J.M. Reynoso-Meza G. Ramos C. Blasco X. Instituto Universitario de Automática e Informática Industrial Universitat Politècnica de València Camino de Vera s/n Valencia 46022 Spain Industrial and Systems Engineering Graduate Program PPGEPS Polytechnic School Pontifical Catholic University of Paraná PUCPR Rua Imaculada Conceição 1155 Curitiba PR code 80215-901 Brazil

In this paper a new multi-objective approach for loop pairing in multi-input/multi-output processes is studied. Each controller structure of proposed input-output pairing is considered as a possible design concept. Under the meaningful objective space, defined by the control engineer, the concepts are compared and a final controller with a given trade-off is chosen. By means of an example, the paper establishes several findings: first, the controller type can be relevant when deciding on possible pairings and second, it is even more relevant the objectives chosen by the designer and his/her preferences. These findings point to multi-objective approach pairing as a powerful and promising technique. © 2017

关键词： loop pairing multi-input/multi-output systems multi-objective optimization multiloop control

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Considerations on loop pairing in MIMO processes. A multi-criteria analysis.

Considerations on loop pairing in MIMO processes. A multi-cr...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Herrero, J. M. Reynoso-Meza, G. Ramos, C. Blasco, X. Univ Politecn Valencia Inst Univ Automat & Informat Ind Camino de Vera S-N Valencia 46022 Spain Pontifical Catholic Univ Parana PUCPR Polytech School Ind & Syst Engn Grad Program PPGEPS Rua Imaculada Conceiccio 1155 BR-80215901 Curitiba PR Brazil

In this paper a new multi-objective approach for loop pairing in multi-input/multioutput processes is studied. Each controller structure of proposed input-output pairing is considered as a possible design concept. Under the meaningful objective space, defined by the control engineer, the concepts are compared and a final controller with a given trade-off is chosen. By means of an example, the paper establishes several findings: first, the controller type can be relevant when deciding on possible pairings and second, it is even more relevant the objectives chosen by the designer and his/her preferences. These findings point to multi-objective approach pairing as a powerful and promising technique. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： multi-input/multi-output systems multi-objective optimization multiloop control loop pairing

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An asymptotically stable robust controller formulation for a class of MIMO nonlinear systems with uncertain dynamics

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INTERNATIONAL JOURNAL OF systems SCIENCE 2016年第12期47卷 2913-2924页

作者： Bidikli, Baris Tatlicioglu, Enver Zergeroglu, Erkan Bayrak, Alper Izmir Inst Technol Dept Elect & Elect Engn Izmir Turkey Gebze Tech Univ Dept Comp Engn Gebze Turkey Abant Izzet Baysal Univ Dept Elect & Elect Engn Bolu Turkey

In this work, we present a novel continuous robust controller for a class of multi-input/multi-output nonlinear systems that contains unstructured uncertainties in their drift vectors and input matrices. The proposed controller compensates uncertainties in the system dynamics and achieves asymptotic tracking while requiring only the knowledge of the sign of the leading principal minors of the input gain matrix. A Lyapunov-based argument backed up with an integral inequality is applied to prove the asymptotic stability of the closed-loop system. Simulation results are presented to illustrate the viability of the proposed method.

关键词： robust control Lyapunov methods nonlinear uncertain dynamical systems multi-input/multi-output systems

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Discrete-Time Robust Steady-State Control of Nonlinear multivariable systems: A Unified Approach

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IFAC Proceedings Volumes 2014年第3期47卷 8140-8145页

作者： Leonid S. Zhiteckii Valerii N. Azarskov Klavdiia Yu. Solovchuk Olga A. Sushchenko Int. Centre of Inform. Technologies & Systems Institute of Cybernetics 03680 MSP Kiev Ukraine National Aviation University 03058 Kiev Ukraine

The steady-state control of multivariable nonlinear discrete-time, time-invariant systems in the presence of arbitrary unmeasurable but bounded disturbances is addressed in this paper. The pseudoinverse model approach as a unified concept to cope with possible noninvertibility and to achieve a desired behavior of a wide class of both linear and of nonlinear multi-input multi-output square and also nonsquare systems is proposed. It is assumed that the number of the system outputs is not less than the number of its control inputs. Some results regarding equilibrium states are given. In particular, it is shown that the equilibrium state may not exist, in general. A simple linear pseudoinverse-based controller of the integral action is designed for regulating these nonlinear multivariable systems. The properties of robust stability and the boundedness of all signals caused by this controller are derived. Numerical examples are given to support the theoretical investigations.

关键词： Discrete time feedback control methods model-based control multi-input/multi-output systems nonlinearity robustness stability analysis

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Application of Newton's Method with Analytical Computation of Jacobian Matrix to Solve multi-linear Pole Assignment Equations

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IFAC Proceedings Volumes 2014年第1期47卷 706-710页

作者： Gopal Jee Sarabhai Space Centre Thiruvananthapuram Pin 695022 INDIA

output feedback pole placement problem is not solvable analytically for the plants having either number of inputs or number of outputs, more than two. There is even lack of a good numerical method which solves any general pole assignment problem. Due to the multi-linear nature of the pole placement problem there is a possibility to utilize multi-linear structure and arrive at a better numerical solution. This paper shows that it is possible to compute analytically the Jacobian and Hessian matrix in an easy manner and utilize them in an iterative numerical method to solve the pole-placement problem. Newton-Raphson method is used with analytical solution of Jacobian matrix to give an iterative solution of pole placement equations with better percentage success rate than the other methods quoted in literature.

关键词： Pole assignment output feedback multi-input/multi-output systems numerical algorithms

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On controller initialization in multivariable switching systems

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AUTOMATICA 2012年第12期48卷 3157-3165页

作者： Safaei, Farshad R. Pour Hespanha, Joao P. Stewart, Gregory Univ Calif Santa Barbara Santa Barbara CA 93106 USA Honeywell N Vancouver BC V7J 3S4 Canada

We consider a class of switched systems which consists of a linear MIMO and possibly unstable process in feedback interconnection with a multicontroller whose dynamics switch. It is shown how one can achieve significantly better transient performance by selecting the initial condition for every controller when it is inserted into the feedback loop. This initialization is obtained by performing the minimization of a quadratic cost function of the tracking error, controlled output, and control signal. We guarantee input-to-state stability of the closed-loop system when the average number of switches per unit of time is smaller than a specific value. If this is not the case then stability can still be achieved by adding a mild constraint to the optimization. We illustrate the use of our results in the control of a flexible beam actuated in torque. This system is unstable with two poles at the origin and contains several lightly damped modes, which can be easily excited by controller switching. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Switching controllers Linear systems multi-input/multi-output systems Quadratic performance indices

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MODELLING, IDENTIFICATION AND SIMULATION OF A DOUBLE CLOSED-LOOP INDUSTRIAL WET GRINDING CIRCUIT

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IFAC Proceedings Volumes 2012年第23期45卷 72-77页

作者： Moïse Mukepe Kahilu Michel Kinnaert Pierre Kalenga Ngoy Jean-Marie Moanda Ndeko Department of Automatic Control and Systems Analysis Université Libre de Bruxelles (ULB) 50 Av F.D. Roosevelt 1050 Brussels e-mail:{mmukepek michel.kinnaert}@ulb.ac.be Polytechnic Faculty Université de Lubumbashi (UNILU) DR Congo e-mail:kalenga.ngoy@unilu.ac.cd Polytechnic Faculty Université de Kinshasa (UNIKIN) DR Congo e-mail: jmariemoanda@unikin.cd

In this paper, a comprehensive approach for modelling, parameter estimation and global simulation of the grinding circuit of the Kolwezi Concentrator is presented. This process can be described by a nonlinear distributed parameter system. To differentiate between wet and dry grinding, the derived model takes into account the increase of the specific rate of breakage in the wet grinding process. In order to determine material transport dynamics within the mills, a new experimental method has been developed. Due to the lack of a colorant or a radioactive sensor, this procedure is based on the use of the G41 foaming as tracer. Both steady-state and dynamic simulation results are discussed and are shown to be in agreement with the experimental data.

关键词： Concentrators distributed parameter systems dynamic modelling multi-input/multi-output systems nonlinear models process parameter estimation process simulators

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Model reduction of homogeneous-in-the-state bilinear systems with input constraints

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AUTOMATICA 2011年第4期47卷 761-768页

作者： Couchman, Ian J. Kerrigan, Eric C. Boehm, Christoph Univ London Imperial Coll Sci Technol & Med Dept Elect & Elect Engn London SW7 2AZ England Univ London Imperial Coll Sci Technol & Med Dept Aeronaut London SW7 2AZ England Univ Stuttgart Inst Syst Theory & Automat Control D-70550 Stuttgart Germany

Homogeneous-in-the-state bilinear systems, appended by an additive disturbance, appear both from the discretization of some partial differential equations and from the bilinearization of certain nonlinear systems. They often have large state vectors that can be cumbersome for simulation and control system design. Our aim is to define a method, invariant to time transformations, for finding a reduced-order model with similar disturbance-output characteristics to those of the plant for all admissible input sequences. The inputs considered satisfy simple upper and lower bound constraints, representing saturating actuators. The approximation is based on a model truncation approach and a condition for the existence of such an approximation is given in terms of the feasibility of a set of linear matrix inequalities. A novelty of our work is in the definition of a new Gramian for this class of systems. Explicit error bounds on the scheme are included. The paper concludes with a demonstration of the proposed approach to the model reduction of a solar collector plant. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Model reduction Bilinear systems Constraints multi-input/multi-output systems Dynamic models

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Self-tuning Control based on Discrete-time Sliding Mode with Applications

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IFAC Proceedings Volumes 2011年第1期44卷 774-779页

作者： Katsuhisa Furuta Akira Ohata Akihiko Sugiki Tokyo Denki University 2-2 Kanda Nishikicyo Chiyoda-ku Tokyo 101-8457 JAPAN Toyota Motor Corporation Higashifuji Technical Center 1200 Mishuku Susono Shizuoka 410-1193 JAPAN Nikki Denso Co. Ltd. 1-4-2 Osaku Sakura Chiba 285-0802 JAPAN

Abstract A multi-variable self-tuning controller is presented in this paper using the idea of discrete-time sliding mode. It was successfully applied to the engine start control on an automotive V6 engine model provided from SICE in 2006 of which the order was over 50. The requirements of the control were to suppress the engine speed overshoot just after the ignition and to regulate the engine speed 650 ± 50( rpm ) within 1.5( s ). The control results show the effectiveness of the proposed control.

关键词： Discrete-time systems Automotive engine control Lyapunov function multi-input/multi-output systems Self-tuning control Sliding mode

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Linear Slip Control Formulation for Vehicular Anti-Lock Braking System with Suspension Effects

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IFAC Proceedings Volumes 2011年第1期44卷 4779-4784页

作者： Otis T. Nyandoro Jimoh O. Pedro Olurotimi A. Dahunsi Barry. Dwolatzky School of Electrical & Information Engineering Johannesburg South Africa School of Mechanical Industrial & Aeronautical Engineering Johannesburg South Africa Johannesburg Centre for Software Engineering Johannesburg South Africa University of the Witwatersrand Johannesburg South Africa

Abstract This paper presents the formulation of a slip-control model for purposes of performing slip tracking of target slip. System modeling is performed to develop a braking model incorporating an active suspension. Linearisation of the highly non-linear multi-input multi-output developed Anti-lock Braking System model is performed by way of input-output feedback linearisation. Feedback linearisation is shown to provide a transformed linear ABS model while ensuring a verifiable stable state transformation. Lie algebra is used to find the stability of the internal dynamics through zero dynamics analysis. Simulation results demonstrate the validity of the approach along with the development of a stabilising condition for the linearisation approach.

关键词： antilock braking systems active vehicle suspension feedback linearisation multi-input/multi-output systems dynamics differential geometry

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