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13th European Control Conference (ECC)

作者： Bombois, Xavier Potters, Max Mesbah, Ali Delft Univ Technol Delft Ctr Syst & Control NL-2628 CD Delft Netherlands MIT Dept Chem Engn Cambridge MA 02139 USA

ISBN: (纸本)9783952426913

The time-varying dynamics of real systems often limit the life-time performance of model predictive control applications. A critical step for cost-effective maintenance of control systems is to distinguish between control-relevant plant changes and variations in disturbance characteristics in the event of an observed closed-loop performance drop. This paper addresses the latter performance diagnosis problem for a general class of model predictive control systems using prediction error identification. The performance diagnosis approach is demonstrated with a simulation case study.

关键词： Accuracy closed loop systems Computational modeling Degradation Predictive control Predictive models Vectors Predictive control closed loop systems Computational modeling Prediction models control systems Model predictive control closed-loop performance performance diagnosis deterioration Cloning Vectors

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Pseudo feedforward dynamic matrix control algorithm for desired closed-loop performance in MPC systems

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JOURNAL OF PROCESS CONTROL 2023年第1期123卷 37-49页

作者： Shi, Yao Zhang, Zhiming Chang, Haiying Xie, Lei Su, Hongye Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Zhejiang Zhongzhida Technol Co Ltd Zhejiang 311100 Peoples R China

Asa practical approach, the dynamic matrix control (DMC) algorithm has been widely used in the control of chemical processes for decades. Nevertheless, there is no strong relationship between the tuning parameters of DMC and the closed-loop dynamics. In this article, a pseudo feedforward dynamic matrix control (PFFDMC) algorithm for realizing desired closed-loop performance in industrial systems is proposed. Building on insights from cascade control, a pseudo feedforward compensator is added in front of the process to precondition the overall system offline for expected characteristics achievement. Then, the actual manipulated variables can be obtained first by solving a modified objective function and then through matrix transformation. The proposed algorithm provides a quantitative relation between the pseudo feedforward sequence and the final setpoint tracking results rather than a qualitative way. Numerical simulations on SISO and MIMO systems are performed to verify the effectiveness of the proposed algorithm on performance criteria achievement.(c) 2023 Elsevier Ltd. All rights reserved.

关键词： Dynamic matrix control Feedforward compensator closed-loop performance Quantitative relationship

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Controller reduction by balanced approach with guaranteed closed-loop performance

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INTERNATIONAL JOURNAL OF AUTOMATION AND CONTROL 2012年第2期6卷 105-119页

作者： Kumar, Deepak Tiwari, J. P. Nagar, S. K. Banaras Hindu Univ Inst Technol Dept Elect Engn Varanasi 221005 Uttar Pradesh India

This paper addresses an algorithmic approach for controller reduction problem using balanced singular perturbation approximation (BSPA) technique for unweighted cases. The controller design methods generally lead to a controller of order comparable to plant and sometimes unstable controllers. For reduction of such controllers, a controller decomposition algorithm in conjunction with BSPA technique is presented. It is shown by numerical examples that reduced order controller by balanced truncation fails for some cases to stabilize the closed-loop system whereas resulting closed-loop system with reduced order controller using BSPA is guaranteed to preserve the closed-loop system stability and H-infinity performance.

关键词： Controller reduction unstable controller decompositon closed-loop performance

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Tuning MPC for Desired closed-loop performance for SISO Systems

Tuning MPC for Desired Closed-Loop Performance for SISO Syst...

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18th Annual International Mediterranean Conference on Control and Automation (MED)

作者： Shah, Gaurang Engell, Sebastian Tech Univ Dortmund Dept Bio & Chem Engn Proc Dynam & Operat Grp Dortmund Germany

ISBN: (纸本)9781424480920

Model Predictive Control (MPC) is widely used in the process industries. A successful implementation of MPC involves the setting of a considerable number of parameters which must be appropriately tuned. Despite a number of publications on MPC tuning, there is a lack of a systematic approach that relates MPC tuning to linear control theory. In this paper, a systematic tuning of the prediction horizon, the control horizon and the penalty weights is discussed such that desired closed-loop pole and zero locations result as long as the constraints are not active. We verify our approach on two challenging examples.

关键词： single input single output systems closed-loop performance control horizon tuning Control Theory

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closed-loop performance of a proportional controller for visual stabilization using a fly-robot interface

Closed-loop performance of a proportional controller for vis...

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IEEE International Conference on Robotics and Biomimetics

作者： Naveed Ejaz Reiko J. Tanaka Holger G. Krapp Department of Bioengineering Imperial College London

ISBN: (纸本)9781457721366

The blowfly Calliphora is the model of choice for studying sensori-motor control principles common in biological systems. We present a fly-robot interface where the neural activity of an identified visual interneuron is used to control the angular velocity of a rotating robot. By placing the robot on a rotating turn-table in a visual arena, we use the fly-robot interface to quantify the dynamics and performance of a proportional controller in a closed-loop visual stabilization system. The properties of the system were characterized for both step and frequency responses. We analysed the data using a performance index based on the input-output energy dissipated by the controller. Our results suggest that the optimal strategy for the fly to minimize the visual slip speed would be to tune the closed-loop gain to the angular velocity and angular acceleration of the input stimuli. The design principles discovered by reverse-engineering sensori-motor control in to develop the next generation of autonomous robots and smart sensors.

关键词： proportional controller ANGULAR VELOCITY Visualization Slip velocity performance indicators closed-loop gain closed-loop performance stabilization system Angular acceleration Autonomous robots intelligent sensors frequency response optimal strategy design theory

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closed-loop performance Diagnosis Using Prediction Error Identification

Closed-loop Performance Diagnosis Using Prediction Error Ide...

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IEEE Conference on Decision and Control

作者： Ali Mesbah Xavier Bombois Jobert H.A. Ludlage Paul M.J. Van den Hof Delft Center for Systems and Control Delft University of Technology Mekelweg 2 2628 CD Delft The Netherlands

ISBN: (纸本)9781612848006

This paper presents a methodology to detect the origin of closed-loop performance degradation of model-based control systems. The approach exploits the statistical hypothesis testing framework. The decision rule consists of examining if an identified model of the true system lies in a set containing all models that fulfill the closed-loop performance requirements. This allows us to determine whether performance degradation arises from changes in system dynamics or from variations in disturbance characteristics. The probability of making an erroneous decision is estimated a posteriori using the known distribution of the identified model with respect to the unknown true system.

关键词： closed-loop performance decision rule degradation of performance System dynamics control systems Error of prediction

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A Unified Experiment Design Framework for Detection and Identification in closed-loop performance Diagnosis

A Unified Experiment Design Framework for Detection and Iden...

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IEEE Annual Conference on Decision and Control

作者： Ali Mesbah Xavier Bombois Marco Forgione Jobert H. A. Ludlage Per Erik Moden Hakan Hjalmarsson Paul M. J. Van den Hof Delft Center for Systems and Control Delft University of Technology ABB AB Corporate Research Automatic Control Lab and the ACCESS Linnaeus Center KTH - Royal Institute of Technology Department of Electrical Engineering Eindhoven University of Technology

ISBN: (纸本)9781467320658

This paper presents a least-costly experiment design framework for closed-loop performance diagnosis using prediction error identification. The performance diagnosis methodology consists in verifying whether an identified model of the true system lies in a performance-related region of interest. The experiment design framework minimizes the overall excitation cost incurred for detecting the cause of the performance drop and re-identifying the system dynamics when the degraded performance is due to control-relevant system changes. The optimal design of excitation signals is performed for a desired detection rate and a pre-specified level of accuracy required for the re-identified model.

关键词： closed-loop performance Experimental Design System dynamics degraded performance Optimal design detection rate (DR) Detection and identification excitation signal Frameworks performance diagnosis

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Integrating topology optimization in precision motion system design for optimal closed-loop control performance

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MECHATRONICS 2017年 47卷 1-13页

作者： van der Veen, Gijs Langelaar, Matthijs van der Meulen, Stan Laro, Dick Aangenent, Wouter van Keulen, Fred Delft Univ Technol Mekelweg 2 NL-2628 CD Delft Netherlands Delft Univ Technol Struct Optimizat & Mech Grp Mekelweg 2 NL-2628 CD Delft Netherlands ASML Res Mechatron & Control POB 324 NL-5500 AH Veldhoven Netherlands MI Partners BV Dillenburgstr 9N NL-5652 AM Eindhoven Netherlands

In pursuit of better accuracy, higher speed and larger scale, manufacturers of high-performance devices increasingly rely on components which have been designed with a multidisciplinary approach from the outset. In the context of motion systems, this means that for instance structural mechanics, control engineering and thermal analysis are considered early in the design. In addition, the prospect of producing freeform device components using additive manufacturing at full scale allows designers to even further refine components to a specific purpose, or even integrate multiple functions into a single component. The design freedom offered by additive manufacturing is far greater than that offered by traditional techniques. To exploit this freedom a topology optimization framework is proposed that allows to determine the optimal material quantity and distribution within a design volume. In particular, this article focuses on the closed-loop control performance of a motion system component, while simultaneously ensuring that mechanical requirements are met. Based on an example, it is demonstrated that this leads to non-trivial and non-intuitive designs which provide improved performance at lower structural mass compared to eigenfrequency designs. The framework allows rapid development of prototype designs, which may eliminate some of the costly design iterations which are currently made in industrial practice. (C) 2017 Published by Elsevier Ltd.

关键词： Topology optimization Motion systems Mechatronics Integrated design closed-loop performance Design sensitivity analysis

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Verifying closed-loop performance before inserting a new controller

Verifying closed-loop performance before inserting a new con...

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American Control Conference

作者： Arvin Dehghani Brian D. O. Anderson Sung H. Cha Research School of Information Sciences and Engineering The Australian National University ACT 0200 Australia

ISBN: (纸本)9781424474264

Consider a closed-loop interconnection of an unknown linear plant and a known linear stabilizing controller, and assume that some knowledge of the closed-loop system is available. Suppose--on the basis of that knowledge--the existing, still stabilizing, controller no longer provides a satisfactory closed-loop performance, and hence the use of a new controller appears attractive. This scenario is common in Multiple Model Adaptive Control and Iterative Identification and Control algorithms. Our results will provide assurance for the closed-loop performance before the insertion of a new controller, and complement our earlier results for guaranteeing closed-loop stability in advance.

关键词： closed-loop performance Controllers closed loop systems inserts advance

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A down-sampled controller to reduce network usage with guaranteed closed-loop performance

A down-sampled controller to reduce network usage with guara...

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IEEE Annual Conference on Decision and Control

作者： Jose Araujo Andre Teixeira Erik Henriksson Karl H. Johansson ACCESS Linnaeus Centre KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781467360890

We propose and evaluate a down-sampled controller which reduces the network usage while providing a guaranteed desired linear quadratic control performance. This method is based on fast and slow sampling intervals, as the closed-system benefits by being brought quickly to steady-state conditions while behaving satisfactorily when being actuated at a slow rate once at those conditions. This mechanism is shown to provide large savings with respect to network usage when compared to traditional periodic time-triggered control and other aperiodic controllers proposed in the literature.

关键词： Controllers closed-loop performance linear quadratic control Network

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