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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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H∞ identification of stable LSI systems: a scheme with direct application to controller design

H∞ identification of stable LSI systems: a scheme with dire...

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American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

In this paper several techniques are given for the identification of stable LSI discrete time systems from input-output data. Explicit H ∞ norm error bounds are given and convergence in the noise free and the uniformly bounded deterministic noise case are established. The assumptions made on the unknown system are minimal and are limited throughout the paper to a lower bound on the decay rate of the unknown system and an upper bound on the gain of the unknown system. Given this information an experiment and a construction are specified: the experiment involves obtaining a specified number of frequency measurements of the unknown systems at a set of specified frequencies; the construction uses this experimental data to generate an identified model with prescribed H ∞ norm error tolerance to the unknown system. The resulting model identification process is highly efficient from a computational point of view.

关键词： Large scale integration control systems control system synthesis Robust control Research and development Jacobian matrices Error correction Convergence Frequency Taylor series

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Practical Considerations in the Use of Distributed Parameter systems in Modeling: A control Point of View

Practical Considerations in the Use of Distributed Parameter...

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American control Conference (ACC)

作者： A. J. Helmicki C. A. Jacobson C. N. Nett Department of Electrical Computer and Systems Engineering Raneselaer Poytechiic Institute Troy NY USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

This paper is a condensed version of recent work [17] wherein several fundamental practical concerns pertaining to the use of linear, time-invariant, distributed parameter systems as models of physical processes are investigated. In particular, it is argued here that certain common distributed parameter systems exhibit properties which make them unsuitable for use as plant models in the design of feedback compensation. Classes of distributed parameter systems exhibiting these properties are defined and are said to be ill-posed for use in feedback compensator design. The structure of these classes is investigated within an extremely general mathematical framework which imposes no a priori restrictions on the class of distributed parameter systems under consideration. Within this framework necessary and sufficient conditions are given which completely characterise the classes of ill-posed models and establish their equivalence. These conditions are concretely illustrated by way of applications to several well-known flexible structure models. Surprisingly, several of these models are determined to be ill-posed for use in feedback compensator design.

关键词： Distributed parameter systems Feedback control systems Integral equations Distributed computing control system synthesis Jacobian matrices Flexible structures Frequency Linearity

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An arm-powered racing bicycle

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Assistive Technology 1989年第3期1卷 71-74页

作者： Cooper, Rory A. Institute of Environmental Stress Laboratory and the Control Systems Laboratory Department of Electrical and Computer Engineering University of California Santa Barbara CA United States

A new arm-powered racing bicycle is described. The features and performance of this bicycle are delineated, and the relative advantages over tricycles are outlined. © Taylor & Francis Group, LLC.

关键词： Racing bicycle Recreational equipment Sports

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ON THE ROBUSTNESS OF LOW-ORDER SCHUR POLYNOMIALS

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IEEE TRANSACTIONS ON CIRCUITS AND systems 1988年第5期35卷 570-577页

作者： KRAUS, FJ ANDERSON, BDO JURY, EI MANSOUR, M Institute of Automatic Control ETH Zurich Zurich Switzerland Department of Systems Engineering Australian National University Canberra ACT Australia Department of Electrical and Computer Engineering University of Miami Coral Gables FL USA

Robust Schur stability conditions are obtained for polynomials of orders two to five. For n=2 and 3, the conditions obtained are related to stability of the corner points, while for n=4 and 5, the conditions are related to stability of corner and possible supplementary points. The number of points increases substantially as the polynomial order increases. The obtained results are of importance in the robust design of control systems. The difficulty in extending the approach to higher-order polynomials is discussed. Special cases for such extensions are mentioned. Further applications of the results obtained may be of use in the stability study of two-dimensional systems. Some examples for the application of the stability conditions are given and, in particular, the two counterexamples presented in the literature are discussed.

关键词： low-order Multidimensional systems control systems higher-order Polynomial Steady state stability study corners Point of inflexion Robustness

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Frequency Domain Conditions for the Robust Stability of Linear and Nonlinear Dynamical systems

Frequency Domain Conditions for the Robust Stability of Line...

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American control Conference (ACC)

作者： S. Dasgupta P.J. Parker B.D.O. Anderson F.J. Kraus M. Mansour Department of Electrical and Computer Engineering University of Iowa Iowa IA USA Department of Systems Engineering Australian National University ACT Australia Department of Automatic Control and Industrial Engineering Swiss Federal Institute of Technology Zurich Switzerland

This paper presents general frequency domain criteria for the robust stability of systems with parametric uncertainities. The criteria are applied to the robust stability verification of LTI systems with or without ti... 详细信息

关键词： Frequency domain analysis Robust stability Nonlinear dynamical systems Polynomials Differential equations Feedback Delay effects Adaptive control Cities and towns systems engineering and theory

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On-line Fault Detection in Adaptive control systems by Using Kullback Discrimination Index

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IFAC Proceedings Volumes 1988年第9期21卷 1135-1140页

作者： K. Kumamaru T. Söerström S. Sagara K. Morita Department of Computer Science and Communication Engineering Faculty of Engineering Kyushu University Fukuoka 812 Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O. Box 534. Uppsala Sweden Department of Electrical Engineering Faculty of Engineering Kyushu University Fukuoka 812 Japan

An on-line scheme to fault detection in adaptive control systems is proposed by introducing Kullbaek Discrimination Information (KDI) as a detection index. When a physical parameter change due to a failure has occurred in a system under adaptive control, the failure effect will hardly be visible in the output performance because of the adaptation mechanism. Such a parameter change is also difficult to detect by monitoring the regulator parameters, which are determined by a recursive identification based on the direct approach. Since the failure effect is reflected as a change in the predictor model used for the adaptive control design, the fault detection leads to a model discrimination problem. It has been shown that the KDI can be used as an effective distortion measure for the model discrimination and the index can be applied in a modified form to detect a fault on-line. Simulation studies on a second order damped oscillatory system have been carried out to demonstrate the efficiency of the method.

关键词： Adaptive control fault detection Kullback discrimination information model discrimination parameter estimation

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