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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 Engineering Branch General Electric Corporate Research and Development Center Schenectady NY USA

This paper addresses some fundamental concerns pertaining to the subject of practical controller design for LTI plants with possibly distributed parameters. The well-posedness of a general LTI model is introduced in terms of the existence of bandlimited stabilizing compensation for the given model. The well posedness of a model is critical from an implementation standpoint for the application of any model-based controller design methodology. The problem addressed in this paper is to characterize LTI distributed parameter models that are well posed with respect to bandlimited stabilising control. The problem is posed on a framework consisting of a novel class of convolution kernels and a completely general control system configuration. These two aspects of the problem formulation place no a priori restriction on the class of LTI distributed paramater systems under consideration or the control design methodology used. Indeed, this framework allows the modelling of LTI distributed parameter systems including point sensing, boundary actuation and effects of initial conditions. Within this framework the result obtained are algebraic in nature. A characterization of well-posed models is given in the form of necessary conditions for the existence of a bandlimited stabilizing controller. Also a restriction of the class of all linear distributed parameter systems under consideration is derived which exhibits this condition.

关键词： control systems Bandwidth Design methodology Convolution Distributed parameter systems Kernel Algebra Design engineering Jacobian matrices State-space methods

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Singular perturbations and time scales (SPaTS) in discrete control systems-an overview

Singular perturbations and time scales (SPaTS) in discrete c...

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IEEE Conference on Decision and control

作者： D. S. Naidu D. B. Price J. L. Hibey Department of Electrical & Computer Engineering Old Dominion University Norfolk VA USA Spacecraft Control Branch NASA-Langley Research Center Hampton VA USA

This paper presents an overview of recent developments in the theory of singular perturbations and time scales (SPaTS) in discrete control systems. The focus is in three directions: modeling, analysis, and control. First, sources of discrete models and the effect of the discretizing interval on the modeling are reviewed. Then the analysis of two-time scale systems is presented to bring out typical characteristic features of SPaTS. Finally, in the control of the two-time scale systems, the important issue of multirate sampling is addressed. The bibliography containing over 100 titles is included.

关键词： control systems Difference equations Power system dynamics Sampling methods Biological system modeling Differential equations NASA Bibliographies Parasitic capacitance control system analysis

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Linear State-Space Systems in Infinite-Dimensional Space: The Role and Characterization of Joint Stabilizability/Detectability

Linear State-Space Systems in Infinite-Dimensional Space: Th...

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American control Conference (ACC)

作者： Clas A. Jacobson Carl N. Nett Department of Electrical and Computer Engineering Northeastern University Boston MA USA Control Technology Branch Geneal Electric Corporate Research and Development Center Schenectady NY USA

In this paper several fundamenal results from the theory of linear state-space systems in finite-dimensional space are extended to encompass a class of linear state-space systems in infinite-dimensional space; specifically, we generalize those results from the finite-dimensional theory pertaining to the relationship between input-output and internal stability, the problem of dynamic output feedback stabilization, and more generally, the concept of joint stabilizability/detectability. In the course of doing so a complete structural characterization of jointly stabilizable/detectable systems is obtained. These results are distinguished by their generality, as we consider a large class of linear state-space systems, assuming only that (i) the evolution of the state is governed by a strongly-continuous semigroup of bounded linear operators, (ii) the state-space is a Hilbert space, (iii) the input and output spaces are finite-dimensional, and (iv) the sensing and control operators are bounded. In turn, general conclusions regarding the fundamental structure of control-theoretic problems in infinite-dimensional space may be drawn from these results.

关键词： Stability Output feedback Hilbert space control systems Distributed parameter systems Research and development Jacobian matrices Linearity Physics Mathematics

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GRAFCET and SFC as Factory Automation Standards Advantages and Limitations

GRAFCET and SFC as Factory Automation Standards Advantages a...

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American control Conference (ACC)

作者： A.D. Baker T.L. Johnson D.I. Kerpelman H.A. Sutherland Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Control Technology Branch General Electric Corporate Research and Development Center Schenectady NY USA

Two proposed programming standards for industrial automation, GRAFCET and SFC, are presented. The idea of what makes a `good' programming language is discussed, and the concept of a graphic programming language is introduced. The advantages and limitations of GRAFCET and SFC are presented. This paper concludes with a discussion of the need for further research for more general graphic programming languages for industrial automation.

关键词： Manufacturing automation Automatic control Programmable control computer languages Relays electrical equipment industry Industrial control Graphics Costs Logic programming

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A projection method for simplifying robot manipulator models

A projection method for simplifying robot manipulator models

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Desrochers C. Seaman Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY Process Control and Computer Technology Division Alcoa Technical Center Alcoa Center PA

The equations of motion for a robotic manipulator are a very lengthy and complicated set of nonlinear, highly coupled differential equations. A simplified model that reveals the dominant dynamics would be valuable for purposes of utilizing modern control theory. In this work, a method is presented for obtaining a reduced model for a nonlinear system. The structure of the simplified model is assembled from a library of the nonlinear basis terms that were present in the original model. This p-term structure is selected from the library in p-stages using a recently developed optimization scheme based on projection matrices and conjugate direction ideas. The algorithm is used to identify the dominant dynamics of several robot manipulator models and the results are verified on the GCA P300V robot in RPI's Robotics and Automation Laboratory.

关键词： Robots Manipulator dynamics Robotics and automation Differential equations Libraries Nonlinear equations Couplings Nonlinear dynamical systems control theory Nonlinear systems

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MPCS - THE MANUFACTURING PROCESS-control SYSTEM

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AT&T TECHNICAL JOURNAL 1986年第4期65卷 35-45页

作者： DUNIETZ, IS HSU, JLC MCEACHERN, MT STOCKING, JH SWARTZ, MA TROMBLY, RM The authors Irwin S. Dunietz John L.C. Hsu Michael T. McEachern James H. Stocking Mark A. Swartz andRodney M. Tromblyare responsible for design and development of the Manufacturing Process Control System. Mr. Dunietz joined AT&T in 1980. He is a member of the technical staff in the Manufacturing Information Automation department at AT&T Engineering Research Center Princeton New Jersey. He received an A.B. in mathematics from Cornell University and an M.S.E. in computer science from Princeton University. Mr. Hsu who joined AT&T in 1970 is a department head in the Manufacturing Information Automation department at the Engineering Research Center. He received an M.S. in electrical engineering from the University of Missouri. Mr. McEachern joined AT&T in 1962 and is a supervisor in the 5ESS™ Line Unit Manufacturing department at AT&T Technologies in Oklahoma City Oklahoma. He is responsible for the manufacturing process control center in Oklahoma City which provides computerized support for all circuit pack manufacturing. Mr. Stocking who joined AT&T in 1975 is a supervisor in the Manufacturing Information Automation department at the Engineering Research Center. He received a B.S. in chemical engineering from Rensselaer Polytechnic Institute and a Ph.D. in chemical engineering from the University of California Berkeley. Mr. Swartz joined AT&T in 1980 and is a member of the technical staff in the Manufacturing Information Automation department at the Engineering Research Center. He received an A.B. in computer science from Cornell University and an M.S. in computer science from Rutgers—The State University. Mr. Trombly who joined AT&T in 19 78 is an assistant manager at the AT&T Merrimack Valley Works in Massachusetts. Previously he was a supervisor at the Engineering Research Center. He holds a B.S. in computers and systems engineering and an M.S.E.E. from Rensselaer Polytechnic Institute.

The central challenge of all manufacturing is making products to the right standards and delivering them at the right time. AT&T is upgrading its corporate and factory resource planning systems to improve control of day-to-day manufacturing. The Manufacturing Process control System (MPCS), developed at the AT&T engineering Research center (ERC), provides this support. MPCS connects the shop floor with production scheduling, accounting, product data archive, and engineering support systems.

关键词： PRODUCTION control

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Uncertainty in Sampled Systems

Uncertainty in Sampled Systems

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American control Conference (ACC)

作者： Charles E. Rohrs Gunter Stein Karl J. Astrom Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Systems and Research Center Honeywell Inc. Minneapolis MN USA Department of Automatic Control Lund Institute of Technology Lund Sweden

The recently obtained evidence of the need for a positive real element in an adaptive system leaves us with a disturbing gap in adaptive control theory. It is a fact that in some applications adaptive controllers are performing well in practice. How can these systems behave well in practical situations which must contain modeling error? This paper introduces a preliminary result which indicates that it may be possible to maintain the needed positive real system in the presence of modeling error. The result shows that if a continuous-time system with large high frequency uncertainty is treated appropriately with antialiasing filters and sampled slowly enough, the resulting discrete-time system may contain very little uncertainty. With small enough uncertainty in the plant, a positive real system in the adaptive loop is possible.

关键词： Uncertainty Adaptive control Adaptive systems Programmable control Filters Stability Sampling methods Frequency response Adaptive algorithm Sampled data systems

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Algebraic aspects of linear control system stability

Algebraic aspects of linear control system stability

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IEEE Conference on Decision and control

作者： Carl N. Nett Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA Corporate Research & Development Center Control Technology Branch General Electric Company Limited Schenectady NY USA

In this paper the problem of linear control system stability is formulated in very general terms and then resolved by (i) establishing a necessary and sufficient condition for stability, (ii) exploring in some detail the nature of this condition, and (iii) developing a parametric characterization of all controllers which stabilize a given plant. The problem formulation developed herein is based on a ring theoretic setting for linear systems, and is distinguished by the use of a novel control system configuration. Any interconnection of two distinct systems can be represented in terms of this configuration while preserving the distinction between the two systems. Moreover, no other configuration has this property. Benefits and extensions accrued as a result of this property are thoroughly discussed, as are some promising directions for future research.

关键词： control systems Stability

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A Practical Robustness Theorem for Adaptive control

A Practical Robustness Theorem for Adaptive Control

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American control Conference (ACC)

作者： Charles E. Rohrs Gunter Stein Karl J. Astrom TelLaboratories Research Laboratory South Bend IN and Department of Electrical Engineering University of Notre Dame Notre Dame IN USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA Systems and Research Center Honeywell Inc. Minneapolis MN USA Department of Automatic Control Lund Institute of Technology Lund Sweden

In this paper, two theorems are quoted which, when applied together, provide much information about the robustness of adaptive control schemes. From these two theorems, another theorem is developed which can explain why adaptive controllers can perform robustly in certain practical situations, while possibly failing in other situations. In particular, if the bandwidth constraints on a control systems are lenient enough to allow the use of a sampling frequency which is smaller than the frequency at which unstructured uncertainty becomes significant, an adaptive controller can behave robustly. Many, if not all, of the applications of adaptive control which have been successful employ relatively slow sampling of the process. Thus, the results of this paper provide a theoretical explanation of how certain adaptive controllers are performing robustly in practice. In addition, the final theorem is of a form which provides insight into what a priori knowledge is required to achieve robust adaptive control and how this knowledge say be used.

关键词： Robust control Adaptive control Uncertainty Frequency Sampling methods Programmable control control systems Transfer functions Automatic control Bandwidth

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AN ADVANCED METHODOLOGY FOR PRELIMINARY HULL FORM DEVELOPMENT

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NAVAL ENGINEERS JOURNAL 1984年第4期96卷 147-161页

作者： LIN, WC DAY, WG HOUGH, JJ KEANE, RG WALDEN, DA KOH, IY Wen-Chin Lin:heads the Ship Powering Division at the David Taylor Naval Ship R&D Center (DTNSRDC). Dr. Lin received his B.S. degree in mechanical engineering from the National Taiwan University in 1957. He was awarded his M.S. degree in naval architecture and Ph.D. in engineering science from the University of California at Berkeley in 1963 and 1966 respectively. From 1966 to 1969 he was employed by ESSO Research and Engineering Company to conduct marine hydrodynamic research for oil tankers and offshore structures. Since joining DTNSRDC in 1969 he has actively conducted and directed hydrodynamic research to advance naval ship design technology and improve ship performance. Active in national and international symposia on ship hydrodynamic research he is recognized for contributions to the ship research community. For the past six years he has been a member of the Performance Committee of the ITTC and currently serves as secretary of the committee. He is a member of SNAME and the Society of Naval Architects of Japan. William G. Day Jr:. has been employed as a naval architect at the David Taylor Naval Ship R&D Center since receiving a B.E.S. degree from the Johns Hopkins University in 1966. He obtained an M.S. E. degree from George Washington University in 1971. As Head Design Evaluation Branch of the Ship Performance Department he is responsible for model experiments to evaluate the hydrodynamic performance of ships and propulsors. He is a member of ASNE and SNAME. In-Young Koh:received his B.S. and M.S. degrees in electrical engineering from Lowell University in 1969 and 1971 respectively and his Ph.D. in applied mechanics from Rensselaer Polytechnic Institute in 1976. Dr. Koh joined DTNSRDC as an electronic engineer specializing in the application of advanced instrumentation and computer techniques to ship research and design. He is currently engaged in research and development of active control systems for naval ship applications. Dr. Koh is a member of ASNE SNAME and IEEE. David Andrew Walden:is

A ship design methodology is presented for developing hull forms that attain improved performance in both seakeeping and resistance. Contrary to traditional practice, the methodology starts with developing a seakeeping-optimized hull form without making concessions to other performance considerations, such as resistance. The seakeeping-optimized hull is then modified to improve other performance characteristics without degrading the seakeeping. Presented is a point-design example produced by this methodology. Merits of the methodology and the point design are assessed on the basis of theoretical calculations and model experiments. This methodology is an integral part of the Hull Form Design System (HFDS) being developed for computer-supported naval ship design. The modularized character of HFDS and its application to hull form development are discussed.

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