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Input-Restricted Stability of Continuous and Discrete Time Nonlinear Feedback systems

IEEE Transactions on Automatic control 2025年第5期70卷 3149-3164页

作者： Hilborne, Peter Lanzon, Alexander Khong, Sei Zhen University of Manchester Control Systems Centre Department of Electrical and Electronic Engineering School of Engineering ManchesterM13 9PL United Kingdom National Sun Yat-sen University Department of Electrical Engineering Kaohsiung80424 Taiwan

In this article, we develop the concept of input-restricted stability, which determines whether a feedback interconnection remains stable only for inputs in a given subset of all possible inputs in a specified signal space. Graph separation concepts and continuity are employed to derive an input-restricted feedback stability theorem, which guarantees input-restricted stability of a feedback interconnection if both systems in the interconnection fulfil some given criteria related to their input–output relationships. Significantly, this result is applicable to both continuous and discrete time systems, unlike many existing local stability results. This theorem is then specialized into simpler-to-compute corollaries and expanded to additional theorems which provide useful additional insights. This article ends with two salient specializations of key results developed herein: one is a type of input-restricted small-gain stability theorem with one system bounded by a linear gain and the other by a quadratic gain;and the other is a type of input-restricted passivity theorem. For both of these specializations, which are not stable for all energy bounded inputs, an example is provided where the feedback interconnection is shown to be stable when the energy of exogenous inputs is below a given threshold. © 1963-2012 IEEE.

关键词： Continuous time systems

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Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Bayes and Biased Estimators Without Hyper-Parameter Estimation: Comparable Performance to the Empirical-Bayes-Based Regularized Estimator

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IEEE control systems Letters 2025年 9卷 294-299页

作者： Yue Ju Bo Wahlberg Håkan Hjalmarsson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Division of Decision and Control Systems and the Competence Centre for Advanced BioProduction by Continuous Processing AdBIOPRO School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Regularized system identification has become a significant complement to more classical system identification. It has been numerically shown that kernel-based regularized estimators often perform better than the maximum likelihood estimator in terms of minimizing mean squared error (MSE). However, regularized estimators often require hyper-parameter estimation. This letter focuses on ridge regression and the regularized estimator by employing the empirical Bayes hyper-parameter estimator. We utilize the excess MSE to quantify the MSE difference between the empirical-Bayes-based regularized estimator and the maximum likelihood estimator for large sample sizes. We then exploit the excess MSE expressions to develop both a family of generalized Bayes estimators and a family of closed-form biased estimators. They have the same excess MSE as the empirical-Bayes-based regularized estimator but eliminate the need for hyper-parameter estimation. Moreover, we conduct numerical simulations to show that the performance of these new estimators is comparable to the empirical-Bayes-based regularized estimator, while computationally, they are more efficient.

关键词： Bayes methods Maximum likelihood estimation Covariance matrices Vectors System identification Noise measurement Linear regression Probability density function Contracts Computational efficiency

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An improved dandelion algorithm-based mathematical model generation method for maximizing thrust of ship wind sails

An improved dandelion algorithm-based mathematical model gen...

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3rd International Conference on Smart Energy and Electrical engineering, SEEE 2024

作者： Song, Jian Zhang, Lanyong Liu, Sheng Tan, Yinchao College of Intelligent Systems Science and Engineering Harbin Engineering University Heilongjiang Harbin150001 China Research Centre of Ship Control Engineering and Intelligent Systems Engineering Technology Weihai Ocean Vocational College Shandong Weihai264300 China

Wind-assisted ships provide thrust for navigation through the ship's sails. Under different winds, the ship's sails get the maximum thrust along the course by turning to a specific azimuth. To provide the decision basis for azimuth control of ship sails and exert the effect of energy saving, this paper establishes a mathematical model of the maximum thrust of ship sails comprehensively. According to the aerodynamics of ship sails, a variety of modes are established to calculate sail thrust. An improved dandelion optimization algorithm is designed to meet the maximum thrust search requirement of ship sails. A quasi-adversarial model based on quantum computing is designed to improve initial population diversity, and an adaptive t-distribution function is introduced to improve balanced exploration and exploitation. Simulation results demonstrate the accuracy and speed of the proposed method for searching the maximum thrust. The increase in modeling accuracy has improved the energy-saving effect of sails. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Energy efficiency

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Closed-loop model-predictive wind farm flow control under time-varying inflow using FLORIDyn

arXiv

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arXiv 2025年

作者： Becker, Marcus van den Broek, Maarten J. Allaerts, Dries van Wingerden, Jan-Willem Delft Centre for Systems and Control TU Delft Delft Netherlands sowento GmbH Stuttgart Germany Faculty of Aerospace Engineering TU Delft Delft Netherlands

Wind farm flow control has been a key research focus in recent years, driven by the idea that a collectively operating wind farm can outperform individually controlled turbines. control strategies are predominantly applied in an open-loop manner, where the current flow conditions are used to look up precomputed steady-state set points. Closed-loop control approaches, on the other hand, take measurements from the farm into account and optimize their set points online, which makes them more flexible and resilient. This paper introduces a closed-loop model-predictive wind farm controller using the dynamic engineering model FLORIDyn to maximize the energy generated by a ten-turbine wind farm. The framework consists of an Ensemble Kalman Filter to continuously correct the flow field estimate, as well as a novel optimization strategy. To this end the paper discusses two dynamic ways to maximize the farm energy and compares this to the current look-up table industry standard. The framework relies solely on turbine measurements without using a flow field preview. In a 3-hour case study with time-varying conditions, the derived controllers achieve an overall energy gain of 3 to 4.4 % with noise-free wind direction measurements. If disturbed and biased measurements are used, this performance decreases to 1.9 to 3 % over the greedy control baseline with the same measurements. The comparison to look-up table controllers shows that the closed-loop framework performance is more robust to disturbed measurements but can only match the performance in noise-free conditions. © 2025, CC BY-NC-ND.

关键词： Kalman filters

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A Two-Stage Solution to Quantum Process Tomography: Error Analysis and Optimal Design

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IEEE Transactions on Information Theory 2025年第3期71卷 1803-1823页

作者： Xiao, Shuixin Wang, Yuanlong Zhang, Jun Dong, Daoyi Mooney, Gary J. Petersen, Ian R. Yonezawa, Hidehiro University of New South Wales School of Engineering and Technology CanberraACT2600 Australia University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China The Australian National University School of Engineering CanberraACT2601 Australia Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China The Australian National University CIICADA Laboratory School of Engineering CanberraACT2601 Australia The University of Melbourne School of Physics ParkvilleVIC3010 Australia RIKEN Center for Quantum Computing Saitama351-0198 Japan Centre for Quantum Computation and Communication Technology Australian Research Council CanberraACT2600 Australia

Quantum process tomography is a critical task for characterizing the dynamics of quantum systems and achieving precise quantum control. In this paper, we propose a two-stage solution for both trace-preserving and non-trace-preserving quantum process tomography. Utilizing a tensor structure, our algorithm exhibits a computational complexity of O(MLd2) where d is the dimension of the quantum system and M, L(M≥ d2, L≥ d2) represent the numbers of different input states and measurement operators, respectively. We establish an analytical error upper bound and then design the optimal input states and the optimal measurement operators, which are both based on minimizing the error upper bound and maximizing the robustness characterized by the condition number. Numerical examples and testing on IBM quantum devices are presented to demonstrate the performance and efficiency of our algorithm. © 1963-2012 IEEE.

关键词： Error analysis

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Excess Mean Squared Error of Empirical Bayes Estimators

arXiv

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arXiv 2025年

作者： Ju, Yue Wahlberg, Bo Hjalmarsson, Håkan Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden Competence Centre for Advanced BioProduction by Continuous Processing AdBIOPRO Sweden

Empirical Bayes estimators are based on minimizing the average risk with the hyper-parameters in the weighting function being estimated from observed data. The performance of an empirical Bayes estimator is typically evaluated by its mean squared error (MSE). However, the explicit expression for its MSE is generally unavailable for finite sample sizes. To address this issue, we define a high-order analytical criterion: the excess MSE. It quantifies the performance difference between the maximum likelihood and empirical Bayes estimators. An explicit expression for the excess MSE of an empirical Bayes estimator employing a general data-dependent hyper-parameter estimator is derived. As specific instances, we provide excess MSE expressions for kernel-based regularized estimators using the scaled empirical Bayes, Stein’s unbiased risk estimation, and generalized cross-validation hyper-parameter estimators. Moreover, we propose a modification to the excess MSE expressions for regularized estimators for moderate sample sizes and show its improvement on accuracy in numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Mean square error

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Incorporating the Com-B Model for Behavior Change into an Agent-Based Model of Smoking Behaviors: An Object-Oriented Design 24

Incorporating the Com-B Model for Behavior Change into an Ag...

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Proceedings of the Winter Simulation Conference

作者： David Tian Hazel Y. Squires Charlotte Buckley Duncan Gillespie Harry Tattan-Birch Lion Shahab Robert West Alan Brennan Jamie Brown Robin C. Purshouse Dept. of Automatic Control and Systems Engineering University of Sheffield UK Sheffield Centre for Health and Related Research School of Medicine and Population Health University of Sheffield UK Institute of Epidemiology and Health University College London UK

ISBN: (纸本)9798331534202

Modeling trajectories in cigarette smoking prevalence, initiation and quitting for populations and subgroups of populations is important for policy planning and evaluation. This paper proposes an agent-based model (ABM) design for simulating the smoking behaviors of a population using the Capability, Opportunity, Motivation - Behavior (COM-B) model. Capability, Opportunity and Motivation are modeled as latent composite attributes which are composed of observable factors associated with smoking behaviors. Three forms of the COM-B model are proposed to explain the transitions between smoking behaviors: initiating regular smoking uptake, making a quit attempt and quitting successfully. The ABM design follows object-oriented principles and extends an existing generic software architecture for mechanism-based modeling. The potential of the model to assess the impact of smoking policies is illustrated and discussed.

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Frequency stabilization of a sophisticated multi-area interconnected hybrid power system considering non-inertia sources

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International Journal of Electrical Power and Energy systems 2025年 169卷

作者： Gawad, Diaa M. Magdy, Gaber Ebrahim, M.A. Petlenkov, Eduard Electrical Engineering Department Faculty of Engineering at Shoubra Benha University Cairo Egypt National Energy Control Center Ministry of Electricity and Renewable Energy Cairo Egypt Department of Electrical Engineering Faculty of Energy Engineering Aswan University Aswan81528 Egypt Faculty of Engineering King Salman International University El-Tor46511 Egypt Centre for Intelligent Systems Department of Computer Systems Tallinn University of Technology Tallinn19086 Estonia

This study introduces a novel interconnected power system model, which combines four real areas, integrating conventional power plants with renewable energy sources (RESs). This comprehensive system model aims to address the load frequency control (LFC) challenges that such systems face. Where the integration of RESs into power systems poses significant challenges, particularly in maintaining frequency stability. The LFC approach utilizes a proportional-integral-derivative (PID) controller, meticulously optimized through the Runge-Kutta (RUN) optimizer based on its mathematical principles. Dealing with the uncertainties of RESs and system nonlinearities poses a significant challenge for this controller. The efficacy of the proposed PID controller based on the RUN algorithm is examined by analyzing the frequency stability of the Egyptian power system (EPS), which stays interconnected with neighboring grids in Jordan, Libya, and Sudan. This study accounts for various loading scenarios and system nonlinearities to validate the algorithm's effectiveness. Furthermore, the superior performance of the RUN optimizer is verified by contrasting its results with other widely recognized optimization techniques, such as the Ant Lion optimizer (ALO) and Chernobyl disaster optimizer (CDO). Additionally, the PID controller based on the RUN optimizer is also evaluated against literature that employed a moth swarm algorithm (MSA) to design the PID controller-based LFC in the EPS. Simulation results in the MATLAB environment demonstrate the effectiveness and robustness of the proposed PID controller based on the RUN algorithm. The RUN-based PID controller outperforms other PID controllers optimized using algorithms from the literature (e.g., ALO, CDO, and MSA), achieving superior performance across various contingencies, including load variations, RES uncertainties, and system nonlinearities. The results highlight the effectiveness of the proposed controller compared to those in the l

关键词： Electric power system interconnection

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Federated Services: A Smart Service Ecology with Federated Security for Aligned Data Supply and Scenario-Oriented Demands

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IEEE/CAA Journal of Automatica Sinica 2025年第5期12卷 925-936页

作者： Jia, Xiaofeng Li, Juanjuan Wang, Shouwen Qi, Hongwei Wang, Fei-Yue Qin, Rui Zhang, Min Liang, Xiaolong Beijing Big Data Centre Beijing100101 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China Technology Company Ltd. Beijing100190 China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering Macao999078 China

This paper introduces federated services as a smart service ecology with federated security to align distributed data supply with diversified service demands spanning digital and societal contexts. It presents the comprehensive researches on the theoretical foundation and technical system of federated services, aiming at advancing our understanding and implementation of this novel service paradigm. First, a thorough examination of the characteristics of federated security within federated services is conducted. Then, a five-layer technical framework is formulated under a decentralized intelligent architecture, ensuring secure, agile, and adaptable service provision. On this basis, the operational mechanisms underlying data federation and service confederation is analyzed, with emphasis on the smart supply-demand matching model. Furthermore, a scenario-oriented taxonomy of federated services accompanied by illustrative examples is proposed. Our work offers actionable insights and roadmap for realizing and advancing federated services, contributing to the refinement and wider adoption of this transformative service paradigm in the digital era. © 2014 Chinese Association of Automation.

关键词： Decentralized autonomous organizations and operations decentralized physical infrastructure networks federated security federated services multimodal large language models smart contracts

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