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American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering University of Cincinnati Cincinnati OH USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA School of Aerospace Engineering Laboratory for Identification and Control of Complex Highly Uncertain Systems Georgia Institute of Technology Atlanta GA USA

This paper examines the system identification problem from the standpoint of control system design. Noting first that nearly all robust control design methods require explicit worst-case/deterministic bounds on the existing plant uncertainty, it is argued that the class of system identification methods which are inherently compatible with robust control design methods-or control-oriented is a subset of the class of system identification methods which yield an explicit worst-case/deterministic bound on the resulting identification error. An abstract theoretical framework for control-oriented system identification is then developed. This framework is inherently worst-case/deterministic in nature, and makes precise such notions as identification error, algorithm convergence, and algorithm optimality from a worst-case/deterministic standpoint. Finally, the abstract theoretical framework is utilized to formulate and solve two related control-oriented system identification problems for stable, linear, shift-invariant, distributed parameter plants. In each of these problems the assumed apriori information is minimal, consisting only of a lower bound on the relative stability of the plant, an upper bound on a certain gain associated with the plant, and an upper bound on the noise level. In neither case are any assumptions made concerning the structure of either the plant (i.e., dynamic order, relative order, etc.) or the noise (i.e., zero-mean, etc.). The first of these problems involves identification of a point sample of the plant frequency response from a noisy, finite, output time series obtained in response to an applied sinusoidal input with frequency corresponding to the frequency point of interest.

关键词： control systems System identification Robust control Design methodology Upper bound Frequency Uncertainty Error correction Convergence Stability

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CAE Tools for Nonlinear systems Analysis and Design Based on Sinusoidal-Input Describing Functions

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IFAC Proceedings Volumes 1991年第4期24卷 89-94页

作者： J.R. O'Donnell J.H. Taylor Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA Control Systems Laboratory General Electric Corporate Research and Development P. O. Box 8 Schenectady NY 12301 USA

We report on recent progress in the development of a computer-aided engineering (CAE) environment for nonlinear control system analysis and design based on sinusoidal-input describing function (SIDF) methods. Several major additions have been made to our nonlinear controls CAE software: ACSL macros were developed to allow the generation of SIDF models of nonlinear plants in a manner analogous to that of the SIMNON-based software developed earlier, and MATLAB routines were developed for the analysis of these models and for the design of general nonlinear controllers based on them. This software provides an integrated tool set for treating very general nonlinear systems with no restrictions on system order, number of nonlinearities, configuration, or nonlinearity type. Based on the new software presented here, the use of SIDF-based nonlinear control system analysis and design methods is substantially easier to carry out and more powerful than before

关键词： Nonlinear control systems describing functions control system design computeraided design computer software

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Worst Case System Identification in l1: Optimal Algorithms and Error Bounds

Worst Case System Identification in l1: Optimal Algorithms a...

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American control Conference (ACC)

作者： C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering North Eastern University Boston MA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems (LICCHUS) School Institute of Technology Georgia Institute of Technology Atlanta GA USA

This paper analyzes worst case identification of linear shift invariant systems with an l 1 error criterion. A characterization of optimal algorithms and intrinsic errors of identification is given. The application of this characterization is made to identification in l 1 . The assumed apriori information on the plant are bounds on the system gain and decay rate of the impulse response of the unknown system and the experimental data is assumed to be a finite set of corrupted impulse or step response samples of the systems. Comparisons are made with the H ∞ system identification problem. Comments on the l 1 identification of small signal models of smooth nonlinear discrete time systems are made.

关键词： System identification Robust control Convolution Jacobian matrices Algorithm design and analysis Signal processing Discrete time systems control system synthesis Nonlinear control systems Design methodology

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An explicit model-matching approach to lateral-axis autopilot design

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IEEE control systems Magazine 1990年第4期10卷 22-28页

作者： K.D. Minto J.H. Chow J.W. Beseler GECorporate Research and Development Center Schenectady Control Systems Laboratory NY USA Electrical Systems and Computer Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The application of a linear multivariable control law design methodology to an autopilot design for large transport aircraft is described. The design method is an explicit model-matching approach, whereby compensator parameters are tuned via a least-squares optimization approach to minimize the error between the desired and the actual closed-loop frequency responses. This method incorporates some recent theoretical advances, including controller parameterization and plant factorization, and has been implemented within the ISICLE software package, a MATLAB-based control design toolbox. A desirable feature of the ISICLE design software is the capability to constrain the compensator dynamic order and structure, issues motivated by the necessity for low complexity implementations in order to simplify gain scheduling and limit protection.< >

关键词： Mathematical model Design methodology Aircraft Aerospace control Design optimization Frequency Software packages computer languages control design Software design

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The Linear Constrained Regulation Problem for Discrete-Time systems

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IFAC Proceedings Volumes 1990年第8期23卷 321-326页

作者： G. Bitsoris M. Vassilaki Control Systems Laboratory Electrical Engineering Department. University of Patras 26500 Patras Greece AMBER S.A. Computer Systems P.D. Box 3500 Athens Greece

In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.

关键词： Constraint theory discrete time systems eigenvalue assignment, invariance linear systems stability

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories Research and development

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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TRANSPUTER control OF A FLEXIBLE ROBOT LINK

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MICROPROCESSORS AND MICROsystems 1989年第3期13卷 227-232页

作者： STAVENUITER, ACJ TERREEHORST, G BAKKERS, AWP Control Systems and Computer Engineering Laboratory Department of Electrical Engineering University of Twente PO Box 217 7500 AE Enschede The Netherlands

The applicability of transputers in control systems is investigated. This is done by implementing a controller for a flexible robot arm with one degree of freedom on a system consisting of an IBM-AT and four transputers. It is found that a control system with transputers offers a great improvement compared with conventional digital control systems. Transputers can solve the common problem in control practice, i.e. having very sophisticted controllers but not being able to implement them because they need too much computing time. However, transputers are not an optimal solution for more sophisticated control systems because of shortcomings in the scheduling mechanism.

关键词： control systems robots transputers

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Optimum Algebraic Design of Continuous-Time Regulators with Polyhedral Constraints

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IFAC Proceedings Volumes 1989年第6期22卷 291-294页

作者： M. Vassilaki G. Bitsoris AMBER S.A.Computer Systems POB3500 Athens.Greece Control Systems Laboratory.Electrical Engineering Department University of patras 26500 Patras Greere

In this paper, the Linear Constrained Regulation Problem for continuous-time systems will be studied and a design algorithm for a linear constrained feedback controller will be developed. Both state and control vectors are assumed to be subjected to linear constraints The approach presented, is based on the notion of positive invariance of polyhedral sets. Existence conditions for a control law that transfers asymptotically to the origin all initial states in a polyhedral subset of the state space is formulated. Then, a solution to the LCRP is derived solving a non-linear optimization problem

关键词： Linear systems stability positively invariant sets optimisation

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An Interactive Block-Oriented Package for In-line control with PC’S

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IFAC Proceedings Volumes 1989年第18期22卷 153-158页

作者： P.M. Bruijn H.B. Verbruggen J. Michal Department of Electrical Engineering Control Laboratory Delft University of Technology P. O. Box 5031 NL 2600 GA Delft The Netherlands Department of Automatic Control Systems Institute of Chemical Technology in Prague Suchbatarova 5 CS 16628 Praha Czechoslovakia

A program package, called MICRON, has been developed to offer a user-friendly implementation tool for multivariable controllers and control strategies on microcomputers. It can be used for the development and testing of control algorithms in simulated control systems and in real-time applications. The package can be used for low-cost automation projects as well as for educational purposes. The paper deals with the version of MICRON running on the IBM-PC with the Real Time Forth environment RTF. To implement control algorithms and control strategies in MICRON, it is necessary to describe the algorithm or strategy by means of a block structure which can be created at several levels. To start with, the user is provided with some elementary blocks. New blocks can be created connecting these elementary blocks, using the MICRON language. Once new blocks have been created they can be used as building blocks for new and more sophisticated blocks. So a block structure can be created with an increasing level of complexity in a structural and flexible way. There are various predefined blocks providing simple controllers, simple linear process models, signal generators, nonlinear functions, delays, vector and matrix operations. The number of elementary blocks is not fixed but can be expanded by programming in Forth, the implementation language of MICRON.

关键词： computer simulation real time control computer control digital control Forth language personal computer

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