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A Study On Iterative Learning control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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MARKOV DECISION PROCESSES WITH UNCERTAIN TRANSITION RATES: SENSITIVITY AND MAX HYPHEN MIN control

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Asian Journal of control 2008年第2期6卷

作者： Suresh Kalyanasundaram Edwin K. P. Chong Ness B. Shroff Motorola India Electronics Limited No. 66/1 Plot 5 Bagmane Techpark C. V. Raman Nagar Post Bangalore 560 093 India. Department of Electrical and Computer Engineering Colorado State University Fort Collins CO 80523-1373 USA. Professor Edwin K. P. Chong received the B.E.(Hons.) degree with First Class Honors from the University of Adelaide South Australia in 1987 graduating top of his class and the M.A. and Ph.D. degrees in 1989 and 1991 respectively both from Princeton University where he held an IBM Fellowship. He joined the School of Electrical and Computer Engineering at Purdue University in 1991 where he was named a University Faculty Scholar in 1999 and promoted to Full Professor in 2001. Since August 2001 he has been a Professor of Electrical and Computer Engineering and Professor of Mathematics at Colorado State University. His current interests are in communication networks and optimization methods. He coauthored the best-selling book An Introduction to Optimization 2nd Edition Wiley-Interscience 2001. He received the NSF CAREER Award in 1995 and the ASEE Frederick Emmons Terman Award in 1998. He coauthored a paper that was awarded Best Paper in the journal Computer Networks 2003. Professor Chong is a Fellow of the IEEE. He was founding chairman of the IEEE Control Systems Society Technical Committee on Discrete Event Systems and until recently served as an IEEE Control Systems Society Distinguished Lecturer. He has been on the editorial board of the IEEE Transactions on Automatic Control. He is currently on the editorial board of the journal Computer Networks. He has also served on the organizing committees of several international conferences. He has been on the program committees for the IEEE Conference on Decision and Control the American Control Conference the IEEE International Symposium on Intelligent Control IEEE Symposium on Computers and Communications and the IEEE Global Telecommunications Conference. He has also served in the executive committees for the IEEE Co

Solution techniques for Markov decision problems rely on exact knowledge of the transition rates, which may be difficult or impossible to obtain. In this paper, we consider Markov decision problems with uncertain transition rates represented as compact sets. We first consider the problem of sensitivity analysis where the aim is to quantify the range of uncertainty of the average per-unit-time reward given the range of uncertainty of the transition rates. We then develop solution techniques for the problem of obtaining the max-min optimal policy, which maximizes the worst-case average per-unit-time reward. In each of these problems, we distinguish between systems that can have their transition rates chosen independently and those where the transition rates depend on each other. Our solution techniques are applicable to Markov decision processes with fixed but unknown transition rates and to those with time-varying transition rates.

关键词： Markov decision processes sensitivity max-min control call admission control policy iteration

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Nonlinear System Identification Based on B-Spline Neural Network and Modified Particle Swarm Optimization

Nonlinear System Identification Based on B-Spline Neural Net...

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International Joint Conference on Neural Networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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High Precision Density Measurement with Coriolis Mass Owmeters

High Precision Density Measurement with Coriolis Mass Owmete...

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IEEE Instrumentation and Measurement Technology Conference

作者： K. Kolahi T. Schroder H. Rock Chair for Automation and Control Engineering Christian-Albrechts University Kiel Germany

Today Coriolis meters offer the best performance in mass flow measurement. For those applications, where accuracy, low pressure drop and good cleanability is needed, the single straight tube is the best alternative. The tubes oscillate in resonance and the resonance frequency provides information about fluid's density, which is besides mass flow also an important parameter for quality and process control. A shortcoming of Coriolis mass flowmeters for density measurement is the lack of a sophisticated compensation method taking into account the dependency of the resonance frequency on temperature, flowrate, pressure, viscosity etc. In fact several heuristic methods are in use to achieve good solutions to correct the density readings. However, these methods are complex, device specific and expensive. In this paper, a method is presented to overcome these drawbacks. It is based on a dynamic model of the mass flowmeter and allows for parameter identification of the measuring tube during operation. To be more specific, the effective spring constant of the oscillating tube is detected online. Using this result, the vibrating mass and subsequently the density of the fluid are calculated taking into account the resonance frequency

关键词： Density measurement Resonance Resonant frequency Fluid flow measurement Process control Temperature dependence Viscosity Fluid dynamics Parameter estimation Springs

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INTERVAL ANALYSIS AND NONLINEAR control OF WASTEWATER PLANTS WITH PARAMETER UNCERTAINTY

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IFAC Proceedings Volumes 2005年第1期38卷 55-60页

作者： H. Aschemann A. Rauh M. Kletting E.P. Hofer M. Gennat B. Tibken Dept. of Measurement Control and Microtechnology University of Ulm D-89081 Ulm Germany Chair of Automation/Control Engineering University of Wuppertal D-42119 Wuppertal Germany

This paper presents the successful application of interval arithmetics to a simplified activated sludge model that describes the reduction of biodegradable substrate in biological wastewater treatment. Reliable analysis of the steady-state behaviour as well as plant control have to account for the dominant uncertain system parameter given by the maximum specific growth rate of biomass. The proposed control strategy consists of nonlinear control of oxygen concentration using desired trajectories derived from interval evaluations of the uncertain steady-state substrate concentration. By this, plant operating costs can be significantly reduced resulting in superior plant efficiency.

关键词： Intervals nonlinearity uncertain dynamic systems flatness-based control water pollution

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An interval arithmetic approach for discrete time non-smooth uncertain systems with application to an anti-locking system

An interval arithmetic approach for discrete time non-smooth...

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American control Conference (ACC)

作者： J. Heeks E.P. Hofer B. Tibken K. Thorwart Department of Measurement Control and Microtechnology University of Ulm (EBS) Ulm Germany Chair of Automation Control Engineering University of Wuppertal Wuppertal Germany R.O.S.E. Informatik Heidenheim Germany

In this paper, a global optimization technique using interval analysis applied to the simulation of an anti-locking control system with possible sensor tolerances is presented. The anti-locking system and the vehicle are described as an uncertain discrete time system with nonsmooth nonlinearities. Sensor tolerances can be modeled in a natural way by means of interval arithmetics which helps to achieve reliable results in the simulation. However, a simulation approach using merely natural interval extensions leads to overestimations rendering the result useless. Therefore, we employ a global optimization algorithm which allows the inclusion of the actual dynamic system behavior with a predefined and guaranteed overestimation limit. All algorithms are implemented in MATLAB.

关键词： Arithmetic Uncertain systems Wheels Mathematical model Force measurement Road vehicles Velocity measurement Analytical models Discrete time systems Vehicle dynamics

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Energy and passivity based control of the double inverted pendulum on a cart

Energy and passivity based control of the double inverted pe...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Wei Zhong H. Rock Chair for Automation and Control Engineering Christian-Albrechts University Kiel Germany

The paper considers the design of a nonlinear controller for the double inverted pendulum (DIP), a system consisting of two inverted pendulums mounted on a cart. The swingup controller bringing the pendulums from any initial position to the unstable up-up position is designed based on passivity properties and energy shaping. While the swingup controller drives the DIP into a region of attraction around the unstable up-up position, the balance controller designed on the basis of the linearized model stabilizes the DIP at the unstable equilibrium. The simulation results show the effectiveness of the proposed nonlinear design method for the DIP system.

关键词： Electronics packaging control systems Mechanical systems Nonlinear control systems Feedback Automatic control Shape control Design methodology Robots Design automation

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Model based correction of Coriolis mass flowmeters

Model based correction of Coriolis mass flowmeters

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IEEE Instrumentation and Measurement Technology Conference

作者： R. Storm K. Kolahi R. Rock Chair for Automation and Control Engineering Faculty of Engineering Christian-Albrechts University Kiel Germany

ISBN: (纸本)0780366468

Coriolis mass flowmeters (CMF) are direct mass flowmeters and form a real mean along the flow profile. They do not exploit secondary physical properties of the specific liquid such as fluid velocity and fluid density in the measuring process but directly exploit the primary property inertia to measure mass flow. However, there is some evidence from field applications that the devices, in particular those using a single straight pipe, suffer from parameter variation. Therefore, the flowmeter has to be carefully adjusted with respect to physical properties of the liquid, operating conditions and site installation. When modeling the CMF using two oscillatory systems referring to the first and second mode, the mass flow enforces the coupling of these oscillatory systems. In the ideal case the coupling is only affected by the mass flow. Detailed analysis however reveals, that asymmetries in installation, sensors, actuators as well as pipe-inhomogeneities heavily contribute to this coupling and thus lead to a parameter variation. In the paper a model-based-approach is presented to identify the parameters of the model using an auxiliary excitation of the system.

关键词： Fluid flow measurement Density measurement Velocity measurement Vibration measurement Instrumentation and measurement Storms automation control engineering Testing Digital control

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Asset management solution based on PROFIBUS-PA profiles

Asset management solution based on PROFIBUS-PA profiles

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： M. Wollschlaeger C. Diedrich J. Muller U. Epple Ifak Institut f. Automation U Kommunikation e. V. Magdeburg Barleben Germany Chair of Process Control Engineering PLT RWTH Aachen University of Technology Aachen Germany

ISBN: (纸本)0780372417

Effective solutions for asset management become increasingly important in modern automation and control systems. They are especially required in the area of process control. The control systems used here usually consist of PLC-based networks, which are optimised concerning the special temporal and topological requirements of the process. Asset management functions have to be introduced to those systems, without any influence on the existing equipment. The paper shows an object-oriented solution based on PROFIBUS-PA device. By automatically evaluating a system structure and mapping the profile-relevant parameters of devices to proxy objects, different application modules for asset management functions can be implemented acting on these objects.

关键词： Asset management Automatic control automation control systems Process control Data mining Data engineering Field buses Actuators Programmable control

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Flat-based controlled fed-batch fermentation of the bacterium Photorhabdus luminescens

Flat-based controlled fed-batch fermentation of the bacteriu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Seydel H. Rock Faculty of Engineering Chair for Automation and Control Engineering Christian-Albrechts University Kiel Germany

In this paper, a model based fed-batch strategy for the cultivation of the bacterium Photorhabdus luminescens is proposed. The development of an appropriate trajectory for bacterial growth and substrate feed rate can be obtained using the theory of flat systems introduced by Fliess et al. (1992). To avoid deviations from a desired trajectory caused by model uncertainties or disturbances, a nonlinear controller is presented allowing closed loop control of the fermentation process.

关键词： Microorganisms Mathematical model Symbiosis Automatic control Nonlinear systems Feeds Biological system modeling Chemicals Insects Nonlinear dynamical systems

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