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POSITIVE REALNESS AND THE ANALYSIS OF A CLASS OF 2D LINEAR systems

IFAC Proceedings Volumes 2002年第1期35卷 219-224页

作者： K. Galkowski W. Paszke B. Sulikowski E. Rogers S. Xu J. Lam Z. Lin D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Departament of Electrical and Computer Engineering University of Alberta Edmonton Alberta Canada T6G 2V4 Department of Mechanical Engineering University of Hong Kong School of EEE Nanyang Technological University Nanyang Ave. 639798 Singapore Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Repetitive processes are a distinct class of 2D linear systems with applications in areas ranging from long-wall coal cutting and metal rolling operations through to iterative learning control schemes. The main feature which makes them distinct from other classes of 2D linear systems is that information propagation in one of the two independent directions only occurs over a finite duration. This, in turn, means that a distinct systems theory must be developed for them, which can then be translated into efficient routinely applicable controller design algorithms for applications domains. In this paper, we give the first significant results on a positive realness based approach to the analysis of these processes.

关键词： 2D linear systems repetitive processes positive realness

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L/sub 2/ anti-windup via receding horizon optimal control

L/sub 2/ anti-windup via receding horizon optimal control

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American control Conference (ACC)

作者： A. Bemporad A.R. Teel L. Zaccarian Dipartimento di Ingegneria dellE28099 Informazione University of Sienna Siena Italy Automatic Control Laboratory ETH Zurich Switzerland Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Dipartimento di Informatica Sistemi e Produzione Uniiversity of Rome Rome Italy

The nonlinear L/sub 2/ anti-windup framework introduced by Teel and Kapoor (1997) reduces the anti-windup synthesis problem to a state feedback synthesis problem for linear systems with input saturation and input matched L/sub 2/ disturbances. In this paper, such a state feedback is synthesized using receding horizon optimal control techniques, and its equivalent piecewise affine closed-form is computed using the techniques of Bemporad et al. (2002). The properties of the resulting anti-windup compensation scheme are analyzed in the paper, and its performance is investigated through a simulation example.

关键词： Optimal control Roentgenium control systems Predictive models Predictive control Industrial control Sampling methods Constraint optimization Performance analysis Costs

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Applications of coordinate logic filters in image analysis and pattern recognition

Applications of coordinate logic filters in image analysis a...

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International Symposium on Image and Signal Processing and Analysis

作者： B.G. Mertzios K. Tsirikolias Automatic Control Systems Laboratory Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece

ISBN: (纸本)9539676940

The paper presents a number of image processing and pattern recognition applications using coordinate logic filters which execute coordinate logic operations among the pixels of the image. These filters are very efficient in various 1D, 2D or higher-dimensional digital signal processing applications, such as noise removal, magnification, opening, closing, skeletonization, coding, edge detection, feature extraction, and fractal modeling. The key issue in the coordinate logic analysis of images is the method of fast successive filtering and managing of the residues. The desired processing is achieved by executing only direct logic operations among the pixels of the given image. Coordinate logic filters can be easily and quickly implemented using logic circuits or cellular automata; this is their primary advantage.

关键词： Image analysis Image edge detection Pixel Logic circuits Image processing Pattern recognition Digital filters Digital signal processing Image coding Feature extraction

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Robust PI and PID controllers including Smith predictor structure

Robust PI and PID controllers including Smith predictor stru...

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American control Conference (ACC)

作者： B. Kristiansson B. Lennartson Department of Electrical and Computer Engineering Chalmers Lindholmen Goteborg Sweden Department of Signals and Systems Control and Automation Laboratory Chalmers University of Technology Goteborg Sweden

In this paper PI and PID controllers augmented by a Smith predictor structure are compared to ordinary PI and PID controllers, for plants with medium and great time delays. The comparison is based an a systematic evaluation method, where both robustness and performance aspects in different frequency regions are taken into account. The results show that a Smith predictor increases performance somewhat for a PID controller when the time delay is moderate. For great time delays, however, the improvement is insignificant. An important remark is that it is necessary to include the predictor structure in the design to get acceptable robustness properties. For a PI controller the benefits from a predictor are mostly small or negligible independent of time delay. Most important is, however that a derivative part obviously will bring significantly greater improvement than a Smith predictor to a system with a PI controller. This result is somewhat surprising, since Smith predictors are normally used together with PI and not with PID controllers. Furthermore, it is sometimes argued that it is no use to include derivative action for plants with significant time delay.

关键词： Robust control Three-term control control systems Delay effects automatic control Frequency Robustness Robust stability Automation Pi control

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On simulation based analysis and synthesis of hierarchical network sturctures 6

On simulation based analysis and synthesis of hierarchical n...

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6th European control Conference, ECC 2001

作者： Tanevska, Dijana J. Dimirovski, Georgi M. Stankovski, Mile J. Jing, Yuanwei Makedonski Telekomunikacii AD Orce Nikolov Str. b.b. SkopjeMK-91000 Macedonia Inst. of Automation and Systems Engg. Faculty of Electrical Engg. SS Cyril and Methodius University SkopjeMK-1000 Macedonia Department of Computer Engg. Faculty of Engineering DOGUS University Kadikoy-IstanbulTR-81010 Turkey Dept. of Automatic Control and Control Eng. School of Information Science and Engineering Northeastern University Shenyang Liaoning110006 China

ISBN: (纸本)9783952417362

Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. Theory of graphs and binary matrices appear to be most suitable tools for modelling the overall structure of complex systems, in general, and of systemic hierarchies, in particular. A systematic methodology has been developed for computer simulation analysis and detecting general hierarchies in communications networking as well as for synthesis of system hierarchies. This methodology is an improved extension of Warfield's technique. © 2001 EUCA.

关键词： Discrete event simulation

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Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode

Nonlinear control of a pneumatic muscle actuator: backsteppi...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Air Force Research Laboratory OH USA

This paper weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.

关键词： Muscles Pneumatic actuators Backstepping Sliding mode control Robust control Programmable control Adaptive control Uncertainty Stability Robustness

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A fuzzy backstepping controller for a pneumatic muscle actuator system

A fuzzy backstepping controller for a pneumatic muscle actua...

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IEEE International Symposium on Intelligent control (ISIC)

作者： P. Carbonell Z.P. Jiang D.W. Repperger Department of Systems Engineering and Control Polytechnic University of Valencia Alcoy Spain Department of Electrical and Computer Engineering Brooklyn Metrotech Center Polytechnic University Brooklyn NY USA HECP Air Force Research Laboratory OH USA

A nonlinear fuzzy backstepping controller is presented for set-point regulation of a pneumatic muscle actuator. Inflation and deflation are the two possible modes of operation of this actuator. Three fuzzy sets, one for each of both modes and one for the transition region, are considered. Each fuzzy set is associated with a local backstepping controller. At the inflation and deflation regimes, the associated controllers are exact backstepping controllers, whereas a robust nonlinear backstepping controller is used at the transition regime and deals with regime uncertainty. The use of fuzzy membership functions provides a smooth controller. The closed-loop system is globally and ultimately bounded.

关键词： Fuzzy control Fuzzy systems Backstepping control systems Muscles Pneumatic actuators Sliding mode control Nonlinear control systems Robust control Nonlinear dynamical systems

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A resettable Kalman filter based on numerical differentiation 6

A resettable Kalman filter based on numerical differentiatio...

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6th European control Conference, ECC 2001

作者： Diop, S. Fromion, V. Grizzle, J.W. Laboratoire des Signaux and Systèmes Suéelec Gif sur Yvette Cedex91192 France Laboratoire d'Analyse des Systèmes et de Biométrie INRA Montpellier Cedex 134060 France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann ArborMI48109-2122 United States

ISBN: (纸本)9783952417362

关键词： Nonlinear systems

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BIFURCATION control AND NONSMOOTH FEEDBACK

BIFURCATION CONTROL AND NONSMOOTH FEEDBACK

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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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A global exponential observer based on numerical differentiation

A global exponential observer based on numerical differentia...

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IEEE Conference on Decision and control

作者： S. Diop V. Fromion J.W. Grizzle Laboratoire des Signaux & Systèmes Supélec Gif-sur-Yvette France Laboratoired'Analyse des Systkmes et de Biométrie INRA Montpellier France Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA

ISBN: (纸本)0780370619

The extended Kalman filter is known to have excellent filtering characteristics, but its convergence is guaranteed only if it is initialized close enough to the true state value. Numerical differentiation based observers, on the other hand, may be designed to be globally convergent to a neighborhood of the true state value, but when the measurements are corrupted by significant uncertain signals their state estimates are delayed. In a previous work we proposed an observer design scheme for nonlinear systems which combines these two techniques to yield a globally exponentially converging observer. The necessity to implement an extended Kalman filter has two shortcomings. One is it does not apply when we face a system with an observability condition weaker than that the linearized dynamics about the estimated trajectory is completely uniformly observable. The other limitation is the computation burden. In this paper we propose an alternative which is still a global exponential observer. While the computation burden may not have been significantly reduced, definitely, it applies to a wider class of nonlinear systems. Noteworthy we prove that this global exponential observer is also bounded which is a feature the nonlinear observers in the literature rarely possess. The observer scheme is illustrated through a bioprocess example whose linearization is not completely uniformly observable.

关键词： State estimation Observers Delay estimation Nonlinear systems Observability Filtering Signal design Nonlinear dynamical systems Convergence Linear systems

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