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Robust Design of PID and IMC-Based controllers in the Time Domain

IFAC Proceedings Volumes 1997年第16期30卷 365-370页

作者： Robert Haber Ruth Bars Department. of Plant and Process Engineering Laboratory for Process Control Cologne Institute of Technology (Fachhochschule Köln) D-50679 Köln Betzdorfer Str. 2 Germany Department of Automation Technical University of Budapest H-1111 Budapest Goldmann Gy. ter 3 Hungary

A third-order proportional process model with parameter uncertainty is controlled by different simple controllers. First the robustness of four different PID-control designs is investigated. Then internal model control (IMC) is designed in the time domain for the exact process model and for its approximating model with a first-order lag and a delay time. Finally, the PID-control of the nominal model is extended by an IMC-like feedback, which makes the control especially robust.

关键词： Robust control PID control internal model control controller design

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Stability constrained model predictive control for nonlinear systems

Stability constrained model predictive control for nonlinear...

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IEEE Conference on Decision and control

作者： Xu Cheng B.H. Krogh Process Control Division Westinghouse Electric Corporation Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)0780341872

A new method for nonlinear model predictive control with guaranteed stability is proposed as an extension to the stability constrained model predictive control (SCMPC) for linear time-invariant systems. The method applies to a class of nonlinear systems that can be transformed to a controllable companion form and depends on the existence of a nonlinear deadbeat control (although this is not necessarily the control that is used). Asymptotic stability is proved for the case when all state variables are measurable.

关键词： Predictive models Predictive control Nonlinear systems control systems Asymptotic stability Nonlinear control systems process control Chemical industry electrical equipment industry Industrial control

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Stability-constrained model predictive control with state estimation

Stability-constrained model predictive control with state es...

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American control Conference (ACC)

作者： Xu Cheng B.H. Krogh Process Control Division-Strategic Engr. Westinghouse Electric Corporation Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

This article presents an extension to stability-constrained model predictive control (SCMPC) incorporating state estimation. It is proved that asymptotic stability of the closed loop system is guaranteed for SCMPC when a stable state estimator is used rather than direct measurement of the full state variables. The results are illustrated with experimental results from a real-time implementation of SCMPC with state estimation for control of a plasma enhanced chemical vapor deposition (PECVD) system.

关键词： Predictive models Predictive control State estimation Plasma measurements Asymptotic stability Closed loop systems Real time systems control systems Plasma chemistry Plasma stability

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Synthesized passive feedback control of sensor-rich structures

Synthesized passive feedback control of sensor-rich structur...

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American control Conference (ACC)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The passivity property of dissipative mechanical structures has long been exploited in designing passive controllers that provide robust stability even in the presence of unmodeled dynamics of the system. For an input/output map of a flexible structure to be passive, collocation of the actuators and sensors is required and also the sensors should measure the velocity of the system. The so-called smart structures frequently have more sensors than actuators. Therefore, the passive controller can at best utilize only a subset of the sensors. In this paper we consider the design of a squaring down matrix which would render a system passive subject to some additional performance considerations. The problem of obtaining the synthesized passive output is cast as a set of linear matrix inequalities (LMIs) which can be efficiently solved by the LMI Toolbox in Matlab. We apply this procedure with the assumption that the sensors provide both displacement and velocity information which is generally not true. We show that the passive controllers can be implemented without the use of velocity information. By using synthesized passive outputs in addition to naturally occurring passive outputs, we obtain better system performance. We present experimental results involving a single flexible beam with torque input and hub angular position and strain gage outputs.

关键词： Feedback control Intelligent sensors control system synthesis Mechanical sensors Sensor systems Linear matrix inequalities Mechanical factors control systems Robust stability Flexible structures

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Analysis of deadlocks and circular waits using a matrix model for discrete event systems

Analysis of deadlocks and circular waits using a matrix mode...

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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching Robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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Time-varying loads in electric power systems: Power input, equivalent circuit elements, and disturbances

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EUROPEAN TRANSACTIONS ON electrical POWER 1997年第1期7卷 5-11页

作者： Knoop, M Kohle, S Michael K. F. Knoop(1965)received a Dipl.-Ing. degree in electrical engineering from Universität Knrlsmhe. Germany. and a Dr.-hg. degree from Universität der Bundeswehr Hamburg Germany. He now works with the automation department of Betriebs for schungsinstitut (BFI) mainly in the tield of modelling and control of electric xc furnaces. His interests also include dynamic systems and control theory. (Betriebsforschungsinstitut. VDEh-lnstitut fur angewandte Forschung GmbH. Postfach I05 145. D-40042 Dusseldorf Tel+491 I1/6707-385 Fax +49211/6707-3 10) Siegfried Köhle (1942) received the Dipl.-Ing. degree in electrical engineering from Universität Hannover. Germany the Dr.-Ing. degree from Universität Kxlsruhe. Geminy and the “venia legendi” from Bergische UnivenitYt-Ge-samthochschule Wuppertal. Gemany. He joined Betriebsfonchungsinstitut' (BFI) in 1973 and workx in the field of modelling and control of steel-making processes. A main topic of his interests concerns AC electric arc furnaces with their non-linear and time-varying behaviour wd related questions like reactive power and tlicker. (Betriebsforschungsinstitut VDEh-lnstiiut fur angewandte Forschung GmbH Postfach I05 145. D-J(XW2Diissrldorf Tel +49211/6707-3-59. Fax +***-3 10)

Time-varying electric loads, fluctuating around their nominal point, cause fluctuations also of current and power. The mean phasors of current and complex power differ from their nominal values, which results in a deflection of mean power input. A transformation to a time-invariant equivalent circuit is introduced representing the mean values of voltage, current and power. The variances on the other hand contribute equations for a second phenomenon of fluctuating lends: the generation of disturbances in the power supply system. Results for both phenomena are derived for single-phase lends, validated by Monte-Carlo simulations, and generalized to three important kinds of three-phase bonds. Measured data from an electric arc furnace illustrate the application of ideas.

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Predictive gain scheduling autopilot for ships

Predictive gain scheduling autopilot for ships

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Vukic L. Kuljaca D. Milinovic Department of Control Engineering and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autopilot parameters are changed with the speed of the ship using the gain scheduling technique. Results obtained during the research show that the proposed autopilot structure is to be recommended if improved performance is of prime interest, when the velocity of the ship is changing. The analysis is based on the simulation of a mariner class ship as a nonlinear system, with the steering servo system taken as a nonlinear model. Results of the simulation are included.

关键词： Marine vehicles Limit-cycles Gears Servomechanisms System testing Spirals Mathematical model Performance gain Regulators

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Application and comparison of alternative position sensors in high-accuracy control of an X-Y table

Application and comparison of alternative position sensors i...

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International Workshop on Advanced Motion control (AMC)

作者： M. Fischer M. Tomizuka Institute of Automatic Control Laboratory of Control Systems and Process Automation Technical University of Darmstadt Darmstadt Germany Department of Mechanical Engineering University of California Berkeley Berkeley CA USA

High-accuracy positioning is applied in a variety of modern computer-controlled machines. The achievable precision is not only determined by the mechanical properties of the systems but strongly depends on the utilized control algorithms and the quality of the sensor signals. The objective of this paper is to demonstrate how alternative position sensors influence the performance of a robust digital tracking controller consisting of a disturbance observer in the velocity loop, a feedback controller in the position loop, and a zero phase error tracking controller as feedforward controller. Two different sensor systems for an x-y positioning table are considered. While a digital encoder is attached to the actuating motor, a laser interferometer with a significantly higher resolution directly measures the position of the compliantly coupled table. The latter case represents a noncollocated system. After introducing the hardware setup, both the system identification and the controller design are briefly reviewed. The impact of the measurement device on the control performance and the optimal choice of the controller parameters are investigated in extensive experiments.

关键词： Mechanical sensors Velocity control control systems Sensor systems Tracking loops Optimal control Application software Mechanical factors Robust control Digital control

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CONDITIONS ON SOURCE SIGNALS FOR BLIND SEPARATION

CONDITIONS ON SOURCE SIGNALS FOR BLIND SEPARATION

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1996 3rd International Conference on Signal processing(ICSP’96)

作者： Jie Zhu Xi-Ren Cao Institute of Radio & Automation Control The South China University of Technology Department of Electrical & Electronic Engineering The Hong Kong University of Science and Technology

ISBN: (纸本)0780329120

In blind source separation problem it is usually assumed that the source signals are mutually *** has been realized that this assumption is not *** this paper,we provide some general conditions under which the source signals can be recovered from their linear mixtures. We first define two concepts,the mutually M-th order independence and the pairwise M-th order independence,on a set of random *** we prove that if the source signals are mutually M-th order independent,then those source signals,each of which has at least one nonzero m-th order cumulant for 3≤m≤M,can be *** conclusion is in spirit similar to but more general than that proposed by Tong et al[10].The constructive proof suggests an algorithm for the blind separation of sources which are mutually Af-th order *** examples arc presented to illustrate the results.

关键词： CONDITIONS ON SOURCE SIGNALS FOR BLIND SEPARATION

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Extended Horizon Predictive control of Non-Linear Systems - Multi-Dimensional Optimisation and Suboptimal Solution

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IFAC Proceedings Volumes 1996年第8期29卷 57-62页

作者： Robert Haber Ruth Bars Department of Process Engineering Laboratory of Process Control Cologne Institute of Technology (Fachhochschule Köln) D-50679 Köln Betzdorfer Str. 2 Germany Department of Automation Technical University of Budapest H-1111 Budapest Goldmann Gy. tér 3 Hungary

Predictive control strategies have been proved effective and robust in practice. These algorithms were developed mainly for linear processes. The main idea is to determine the control signal minimising the deviation between a reference signal and the predicted process output in a given prediction horizon. A simplified version is one-step-ahead predictive control, where prediction horizon is restricted to one future point. Extended horizon control proposed by Ydstie (1984) is enlengthened one-step-ahead control which lets more time for the settling process than the dead time. Extended horizon predictive control strategy is derived here for a class of nonlinear systems. Some simulation results show the effect of the tuning parameters for the reference signal tracking performance of the nonlinear system.

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