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MIMO Frequency Domain Iterative Tuning for Tracking Control

IFAC Proceedings Volumes 2008年第2期41卷 15463-15468页

作者： J Luo S M Veres School of Engineering Sciences University of Southampton Highfield Southampton SO17 1BJ UK

A new ‘model-free’ iterative controller tuning method is presented for multiple-input multiple output control systems based estimation algorithms in the frequency domain. The method relies on efficient computation of the negative gradient of the controller cost function in the frequency domain. Only one experiment is used per iteration and the method is therefore suitable for realtime implementation by periodic adjustments of the controller. Both feedback and/or feed-forward controllers can be tuned. Primary target application areas can be self-tuning feedforward/feedback controllers in industry where the reference signals are periodic.

关键词： Self tuning control Feedback/Feedforward control Iterative methods Tracking control Frequency domains multi-input/multi-output systems

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Reconfigurable Control Strategies for Submarine Dynamic Models

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IFAC Proceedings Volumes 1996年第1期29卷 8029-8034页

作者： D.A. Derradji N. Mort Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK

This paper is concerned with the application of artificial neural networks to design a reconfigurable controller that can be adaptive and intelligent enough to gather information from the environment and to develop its own control strategies. Two different approaches to addressing the reconfiguration problem are designed and tested on failure of control surfaces. An example involving submarine surface impairment is given to explain the control strategies and these show improvement in the overall system performance after reconfiguration.

关键词： Fault-tolerant systems Neural networks Marine systems multi-input/multi-output systems

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Predictive Feedforward Control of an Electro-Hydraulic Automotive Seat Motion Simulator

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IFAC Proceedings Volumes 1996年第1期29卷 7963-7968页

作者： K. Shen L. Liu C. Mo M. Sunwoo W.N. Patten School of Aerospace and Mechanical Engineering University of Oklahoma Automotive Engineering Hanyang University Seoul Korea

The paper describes the application of the extended dynamic matrix control approach, which belongs to a class of model based predictive control techniques that provide a rational basis tor the design of feedback/feedforward controllers. The technique is applied to the design of a three degree of freedom motion simulator that is used in automotive testings. The design was tested and shown to produce a flat amplitude and phase response over the specified range of frequency desired.

关键词： Feedforward Control Tracking Characteristics Predictive Control multi-input/multi-output systems

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Time-Series Analysis and Modelling of Electrolyte Temperature in Aluminium Reduction Cells

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IFAC Proceedings Volumes 2001年第18期34卷 297-302页

作者： F. J. Stevens McFadden P.C. Austin B.J. Welch Comalco Research Centre PO Box 316 Thomastown 3074 Australia School of Engineering The University of Auckland Private Bag 92019 Auckland New Zealand

The temperature of the molten electrolyte in an aluminium reduction cell is an important process variable, due to its significant impact on the aluminium production yield. Smelter operators generally perceive that electrolyte temperature is difficult to control and the variability is higher than desired. This paper presents results from the exploratory data analysis of temperature variation and the identification of a time-series model to predict electrolyte temperature from a number of inputs. The inputs of importance for the models predictive performance, along with aspects of the model quality are presented. Implications for the control of electrolyte temperature are then discussed.

关键词： metals time-series analysis multi-input/multi-output systems dynamic models closed-loop identification polynomial models ARMA models

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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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Robust Tool Point Control for Offshore Knuckle Boom Crane

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IFAC Proceedings Volumes 2011年第1期44卷 4594-4599页

作者： M.K. Bak M.R. Hansen H.R. Karimi Department of Enginering Faculty of Engineering and Science University of Agder NO-4898 Grimstad Norway

Abstract This paper considers the design of an H ∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane's mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible controller that solves the problem of robust regulation against step inputs with an H ∞ constraint based on the internal model principle. Simulation results are given to show the effectiveness of the method.

关键词： multi-input/multi-output systems state feedback robust control

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Efficient Implementation of a Binary Iterative Learning Control

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IFAC-PapersOnLine 2020年第2期53卷 1499-1504页

作者： Florian Arnold Daniel Topalovic Rudibert King Technische Universität Berlin Department of Process Engineering Chair of Measurement and Control Strasse des 17. Juni 135 10623 Berlin Germany

Iterative learning control (ILC) is an adequate control approach to handle various types of cyclic control tasks. However, when in each iteration the calculation of the control trajectory requires the solution of a high dimensional constrained quadratic program, the algorithm is bound to be infeasible for real-time applications with very small cycle lengths in the order of milliseconds due to the prohibitively large computational cost. In this contribution, an approach is presented to reduce the computational burden to solve an optimization-based iterative learning control that is restricted to a binary domain by orders of magnitude. The method is suitable for control trajectories that contain only few 1’s, but a large number of 0’s in each iteration for a specific class of problems, e.g., for cyclic firing synchronization of combustion tubes. The presented setup is tested experimentally at an acoustic mock-up of an annular pulse detonation combustor to determine an appropriate fire synchronization. More specifically, it is used to adjust the firing pattern of multiple simulated combustion tubes in order to reduce pressure fluctuations measured downstream in an annular plenum, which is a prerequisite to apply such a new thermodynamically efficient combustion process in a real gas turbine.

关键词： Learning control optimal control quadratic programming binary control discrete-time systems multi-input/multi-output systems

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Adaptability Analysis and Controller Optimal-Tuning Method for MIMO Bilinear Control systems

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IFAC Proceedings Volumes 2004年第21期37卷 521-526页

作者： M.V. Morozov I.B. Yadykin Trapeznikov Institute of Control Sciences Russian Academy of Sciences 65 Profsojuznaya Str. 117997 Moscow Russia

Controller Optimal-Tuning Method for a fixed order linear controllers for bilinear multi-input/multi-output (MIMO) plants, the models belong to the class of state models, is proposed. H 2 tuning controller parameters synthesis method is based on minimization of the proximity criteria of transient responses for an open loop control system and its implicit reference model. The controller tuning algorithms use the estimates of the parameters of the MIMO bilinear plant. For determining the parameters of the bilinear plant, the parametric identification algorithms are used. Local and global, complete and partial adaptability are defined for bilinear control systems. Criteria for the local and global, complete and partial adaptability are formulated in the form of rank properties of special adaptability matrices.

关键词： PID controller optimization control system design process identification bilinear systems multi-input/multi-output systems Adaptive algorithms

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APPLICATIONS OF COUPLING ANALYSIS ON BIOREACTOR MODELS

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IFAC Proceedings Volumes 2005年第1期38卷 165-170页

作者： Björn Halvarsson Pär Samuelsson Bengt Carlsson Division of Systems and Control Department of Information Technology Uppsala University PO Box 337 SE-751 05 Uppsala Sweden

In this paper the well-known Relative Gain Array (RGA) and the recently proposed Hankel Interaction Index Array (HIIA) are utilized for quantifying the degree of channel interaction in a multivariable bioreactor model, an activated sludge process configured for nitrogen removal. The HIIA can deal with plant structures where the RGA fails and can furthermore also be used to evaluate multivariable controller structures. It was found that the RGA method was unable to give reasonable input-output pairing suggestions in some cases while the HIIA method provided useful information in all of the considered cases.

关键词： Activated sludge process Bio control Interaction multi-input/multi-output systems multivariable systems Process control Wastewater treatment

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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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