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IEEE Conference on Decision and control

作者： J. Gramacki A. Gramacki K. Galkowski E. Rogers D.H. Owens Department of Electronics and Computer Science University of Zielona Góra Poland Department of Electronics and Computer Science University of Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield UK

ISBN: (纸本)0780370619

Differential linear repetitive processes are a distinct sub-class of 2D continuous-discrete linear systems which pose problems that cannot (except in a few very restrictive special cases) be solved by the direct application of standard (1D) systems theory and hence by the direct use of a large number of currently-available tools for computer-aided analysis/design. One such area is the construction of discrete approximations to their dynamics. In this paper, we investigate some problems which arise during the discretization of differential linear repetitive processes and develop solutions to them.

关键词： computer science Linear systems computer aided analysis Orbital robotics Robotics and automation Software engineering automatic control Systems engineering and theory Stability

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A 2D systems approach to iterative learning control based on nonlinear adaptive control techniques

A 2D systems approach to iterative learning control based on...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： M. French E. Rogers H. Wibowo D.H. Owens Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

ISBN: (纸本)0780366859

We consider the iterative learning control problem from a 2D systems/adaptive control viewpoint. In particular, it is shown how some fundamental results from nonlinear adaptive control can be successfully applied in the iterative learning control domain under very weak assumptions. Some areas for further research are also briefly discussed.

关键词： Iterative methods Nonlinear control systems control systems Adaptive control automatic control Iterative algorithms computer science Systems engineering and theory Robots Manipulators

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Fast SDP design of FIR compaction filters with combined constraints

Fast SDP design of FIR compaction filters with combined cons...

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International Symposium on Image and Signal Processing and Analysis

作者： B. Dumitrescu C. Popeea Tampere International Center for Signal Processing Tampere University of Technology Tampere Finland Department of Automatic Control and Computer Science Politehnica University of Bucharest Bucharest Romania

ISBN: (纸本)9539676940

We propose efficient semidefinite programming methods for designing signal-adapted compaction filters with: (i) spectral mask, and (ii) regularity constraints. In both cases, the initial problem, formulated with the Kalman-Yakubovich-Popov lemma, is transformed by simplifying its dual and the result is an SDP problem with Toeplitz matrices and small number of variables. All resulting methods, which may be gathered in a single unifying formulation, always give the optimal filter. We present experimental evidence showing convenient execution times and good numerical accuracy.

关键词： Finite impulse response filter Compaction Signal design Signal processing Symmetric matrices computer science Electronic mail automatic control Design methodology Pulse shaping methods

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Output steering using iterative learning control

Output steering using iterative learning control

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European control Conference (ECC)

作者： T.Y. Townley D.H. Owens School of Engineering and Computer Science University of Exeter Exeter U.K Automatic Control and Systems Engineering University of Sheffield Sheffield U.K

A causal iterative learning control algorithm based on optimal feedback and feedforward control is derived to provide perfect tracking of selected output values at specified times. Exponential convergence of the algorithm is proved and a realization based on Riccati feedback is described. The properties of the algorithm are illustrated by example.

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Jitter compensation for real-time control systems

Jitter compensation for real-time control systems

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Real-Time Systems Symposium (RTSS)

作者： P. Marti J.M. Fuertes G. Fohler K. Ramamritham Automatic Control Department Universitat Poliltècnica de Catalunya Barcelona Spain Department of Computer Engineering Mälardalen University Vasteras Sweden Computer Science and Engineering Department IIT Mumbai India

ISBN: (纸本)0769514200

In this paper, we first identify the potential violations of control assumptions inherent in standard real-time scheduling approaches (because of the presence of jitters) that causes, degradation in control performance and may even lead to instability. We then develop practical approaches founded on control theory to deal with these violations. Our approach is based on the notion of compensations wherein controller parameters are adjusted at runtime for the presence of jitters. Through time and memory overhead analysis, and by elaborating on the implementation details, we characterize when offline and on-line compensations are feasible. Our experimental results confirm that our approach does compensate for the degraded control performance when EDF and FPS algorithms are used for scheduling the control tasks. Our compensation approach provides us another advantage that leads to better schedulability of control tasks. This derives from the potential to derive more flexible timing constraints, beyond periods and deadlines necessary to apply EDF and FPS. Overall, our approach provides guarantees offline that the control system will be stable at runtime-if temporal requirements are met at runtime-even when actual execution patterns are not known beforehand. With our approach, we can address the problems due to (a) sampling jitters, (b) varying delays between sampling and actuation, or (c) both-not addressable using traditional EDF and FPS based scheduling, or by previous real-time and control integration approaches.

关键词： Jitter Real time systems control systems Degradation Sampling methods control theory Runtime Scheduling algorithm Timing Delay

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Fast recursive basis function algorithms for identification of time-varying processes

Fast recursive basis function algorithms for identification ...

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IEEE Conference on Decision and control

作者： M. Niedzwiecki T. Klaput Faculty of Electronics Telecommunications and Computer Science Department of Automatic Control Technical University of Gdańsk Gdansk Poland Politechnika Gdanska Gdansk WojewÃ³dztwo pomorskie PL

When system parameters vary rapidly with time the weighted least squares filters are not capable of following the changes satisfactorily - some more elaborate estimation schemes, based on the method of basis functions, have to be used instead. The basis function estimators have increased tracking capabilities but are computationally very demanding. The paper introduces a new class of adaptive filters, based on the concept of post filtering, which have improved parameter tracking capabilities, typical of the basis function algorithms, but at the same time, have rather low computational requirements, typical of the weighted least squares algorithms.

关键词： Least squares approximation Finite impulse response filter computer science Adaptive filters Noise measurement White noise Recursive estimation Yield estimation Random access memory Linear approximation

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A Comparison of Optimal Iterative Learning control Schemes

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IFAC Proceedings Volumes 2001年第14期34卷 77-82页

作者： M. Rzewuski E. Rogers D.H. Owens Dept. of Electronics and Computer Science University of Southampton Southampton SO17 IBJ UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK

Recent years has seen much progress in the theory and application of iterative learning control schemes for both linear and (classes of) nonlinear dynamics. In the case of the former, many algorithms based on minimizing a suitable cost function have been reported. Here the interest is in the so-called norm optimal approach where the basic philosophy is to compute the control input on the current trial such that the tracking error is reduced in an optimal way without too much deviation from the control input used on the previous trial. This paper compares the performance of a range of controllers arising from use of the norm optimal approach - both stand alone and against alternatives.

关键词： iterative learning control optimal algorithms

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A volterra operator approach to the stability analysis of a class of 2D linear systems

A volterra operator approach to the stability analysis of a ...

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European control Conference (ECC)

作者： M. Dymkov I. Gaishun K. Galkowski E. Rogers D. H. Owens Institute of Mathematics National Academy of Sciences of Belarus Institute of Control and Computation Engineering Technical University of Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield UK

Repetitive processes are a distinct class of 2D systems of both practical and theoretical interest. Their essential characteristic is repeated sweeps, termed passes, through a set of dynamics defined over a finite duration with explicit interaction between the outputs, or pass profiles, produced as the process evolves. Experience has shown that these processes cannot be studied/controlled by direct application of existing theory (in all but a few very restrictive special cases). This fact, and the growing list of applications areas, has prompted an on-going research programme into the development of a `mature' systems theory for these processes for onward translation into reliable generally applicable controller design algorithms. It has long been considered that Volterra operator techniques should have a key role to play in this general area. In this paper, we first present the necessary properties of a Volterra operator representation for the very important sub-class of so-called discrete linear repetitive processes and then use them to develop a characterization of stability in this setting.

关键词： Stability analysis Process control Equations Europe Vectors control theory

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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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On the Structure of Singular Discrete Linear Repetitive Processes

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IFAC Proceedings Volumes 2001年第13期34卷 555-559页

作者： K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Enginrering Technical University of Zielona Gora Poland Dept. of Electronics and Computer Science University of Southampton Southampton S017 1BJ U.K. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD U.K.

Repetitive processes are a distinct class of 2D systems of both theoretical and applications interest. They are characterized by a series of sweeps through a set of dynamics with explicit interaction between the outputs, or pass profiles, produced on successive passes. Their essential unique features are that (i) information propagation is over a finite duration in one of the two separate directions of information propagation; and (ii) the explicit interaction between successive pass profiles can lead to oscillations in the sequence of pass profiles that increase in amplitude in the pass to pass direction. In the case of processes with linear dynamics (either differential or discrete) a reasonably rich systems theory is available for models which are standard (or nonsingular). In this paper, we provide the first substantial results on discrete linear repetitive processes described by a singular state space model.

关键词： Repetitive dynamics discrete dynamics singularity 2D linear systems

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