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63rd IEEE Conference on Decision and control, CDC 2024

作者： Azimi, Atabak Koch, Stefan Reichhartinger, Markus Institute of Automation and Control at Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model-based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper introduces a new strategy for robustly controlling linear discrete-time systems that experience both periodic disturbances modeled by an uncertain exosystem and bounded matched disturbances. The strategy, called internal model-based sliding mode control, combines the robustness of sliding mode control with the precise tracking capabilities of internal model-based control. This new approach, inspired by implicitly discretized first order sliding mode control, offers superior performance with reduced chattering compared to explicit methods while maintaining simplicity. By effectively suppressing chattering and leveraging the exosystem model incorporated in the internal model-based controller, the proposed method achieves superior disturbance rejection compared with feedback loops relying either on internal model-based control or sliding mode control only. The presented simulation example illustrates the application of the proposed controller and the obtained results show that significant disturbance rejection improvement is achieved. © 2024 IEEE.

关键词： Disturbance rejection

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State Estimation in Networked control systems with Time-Varying Delays: A Simple yet Powerful Observer Framework 63

State Estimation in Networked Control Systems with Time-Vary...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Stanojevic, Katarina Steinberger, Martin Horn, Martin Institute of Automation and Control Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

This paper presents a distinct framework for the design of an observer-based feedback control strategy for networked control systems (NCS) affected by unknown time-varying transmission delays larger than the sampling time Td. The pivotal element of the proposed strategy lies in the configuration of network nodes and a buffering mechanism which enable state estimation at the controller's side using observer strategies not initially designed for NCS. Consequently, the Luenberger-type observer can be designed independently from the utilized network, thus leading to a substantial reduction in the complexity typically associated with uncertain and time-varying NCS. Furthermore, the proposed framework allows the strategic incorporation of predicted state estimates in the controller design. This mitigates the effect of the network delay by reducing it by Td, which can significantly improve the system performance, as demonstrated in a simulation example. © 2024 IEEE.

关键词： Networked control systems

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Anti-Windup Schemes for Discrete-Time Super Twisting Algorithms 22

Anti-Windup Schemes for Discrete-Time Super Twisting Algorit...

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22nd IFAC World Congress

作者： Reichhartinger, Markus Vogl, Sebastian Koch, Stefan Institue of Automation and Control Graz University of Technology Graz Austria Sebastian Vogl Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (纸本)9781713872344

A discrete-time super twisting algorithm is extended such that the windup effect is avoided in the case of limitations in the amplitude of the actuating signal. This is achieved by proposing a so-called incremental version of the discrete-time super twisting algorithm. It is shown that this version of the algorithm coincides with the original formulation of the algorithm as long as the actuating signal is not limited. However, it is also shown in this paper that it can be easily extended for windup prevention if limitations in the actuating signal occur. The proposed incremental super twisting algorithm is further modified such that in case of actuator saturation not only boundedness of the state variable of the controller is ensured, also a consistency with regard to its input-output signals is achieved. This consideration results in the so-called error recalculation super twisting algorithm. Results obtained by applying the developed algorithms in simulations and an experimental case study are presented. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Anti-windup Constrained control Discrete-time control algorithms Robust control Sliding mode control

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Closed-Form Stability Conditions and Differentiation Error Bounds for Levant's Arbitrary Order Robust Exact Differentiator

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IFAC-PapersOnLine 2023年第2期56卷 785-790页

作者： Richard Seeber Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

This paper proposes, for the first time, closed-form stability conditions and differentiation error upper bounds for arbitrary orders of Levant's robust exact Differentiator. based on these conditions, a tuning rule is provided to select the Differentiator parameters. Numerical examples demonstrate the application of the proposed tuning rule and compare the conservativeness of the obtained conditions to existing results.

关键词： Levant's Differentiator stability condition measurement noise Lyapunov function

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Proper Implicit Discretization of Arbitrary-Order Robust Exact Differentiators

arXiv

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arXiv 2024年

作者： Seeber, Richard Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

This paper considers the implicit Euler discretization of Levant's arbitrary order robust exact differentiator in presence of sampled measurements. Existing implicit discretizations of that differentiator are shown to exhibit either unbounded bias errors or, surprisingly, discretization chattering despite the use of the implicit discretization. A new, proper implicit discretization that exhibits neither of these two detrimental effects is proposed by computing the differentiator's outputs as appropriately designed linear combinations of its state variables. A numerical differentiator implementation is discussed and closed-form stability conditions for arbitrary differentiation orders are given. The influence of bounded measurement noise and numerical approximation errors is formally analyzed. Numerical simulations confirm the obtained results. Copyright © 2024, The Authors. All rights reserved.

关键词： Velocity measurement

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Physically Motivated Heater model for Precise Gas Temperature control in Fuel Cell Stack test beds

Physically Motivated Heater Model for Precise Gas Temperatur...

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American control Conference (ACC)

作者： Thomas Zeiringer Richard Seeber Martin Horn Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

A physically motivated heater model for precise gas temperature control for use in fuel cell stack test beds is proposed. Additionally, a parameter identification method based on modulating functions is provided. The applicability of the identification method and the model is validated through simulations and real-world experiments. Lastly, a time-optimal controller based on the identified model is evaluated on a fuel cell stack test bed.

关键词： Temperature measurement Parameter estimation control design Biological system modeling Noise Fuel cells Extraterrestrial measurements

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Indirect adaptive higher order sliding mode control for third order systems in parametric strict-feedback form 63

Indirect adaptive higher order sliding mode control for thir...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Watermann, Lars Andritsch, Benedikt Koch, Stefan Reichhartinger, Markus Horn, Martin Reger, Johann Technische Universität Ilmenau P.O. Box 100565 Control Engineering Group P.O.Box 100565 Ilmenau98684 Germany Institute of Automation and Control Graz University of Technology Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Graz Austria

ISBN: (纸本)9798350316339

In this contribution the design of an indirect adaptive third order sliding mode controller based on a backstepping-like procedure is presented. A recursively defined homogeneous control Lyapunov function is combined with the adaptive backstepping method via tuning functions to compensate for unmatched parametric uncertainties. A matched bounded disturbance is eliminated by discontinuous control. It is shown that the states of the regarded system in parametric strict-feedback form converge asymptotically to the equilibrium while the parameter estimation error is bounded. Further, it is guaranteed that all control and adaptation signals are bounded. The proposed design is demonstrated in a simulation of a system with unmatched parametric uncertainty and matched disturbance. © 2024 IEEE.

关键词： Sliding mode control

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Worst-Case Error Bounds for the Super-Twisting Differentiator in Presence of Measurement Noise

arXiv

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arXiv 2023年

作者： Seeber, Richard Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

The super-twisting differentiator, also known as the first-order robust exact differentiator, is a well known sliding mode differentiator. In the absence of measurement noise, it achieves exact reconstruction of the time derivative of a function with bounded second derivative. This note proposes an upper bound for its worst-case differentiation error in the presence of bounded measurement noise, based on a novel Lipschitz continuous Lyapunov function. It is shown that the bound can be made arbitrarily tight and never exceeds the true worst-case differentiation error by more than a factor of two. A numerical simulation illustrates the results and also demonstrates the non-conservativeness of the proposed bound. © 2023, CC BY-NC-ND.

关键词： Lyapunov functions

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Robust Boundary controller Design with Proportional Integral Observer for a Linear 1D Heat Equation*

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IFAC-PapersOnLine 2023年第2期56卷 9918-9923页

作者： S. Koch A. Schaum M. Horn Christian Doppler Laboratory for Model-Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria Chair of Automation and Control Kiel University Kiel Germany

The problem of state estimation with boundary disturbance reconstruction and output regulation for linear 1D parabolic systems with a boundary measurement and unknown constant disturbance input on the opposite boundary is addressed. As the disturbance is unmatched it cannot be directly compensated by the measurement. The problem is addressed with an approach that consists of a backstepping observer for the nominal part with an asymptotic compensation term for the disturbance reconstruction and control offset compensation. The main difference to similar studies relies in the fact that the state space does not need to be extended, leading to a reduced-order observer setup. The effectiveness of the approach is illustrated using numerical simulations.

关键词： Backstepping control of distributed parameter systems Disturbance rejection Output feedback control Observers for linear systems Constrained control Anti-windup

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State Estimation in Networked control systems with Time-Varying Delays: A Simple yet Powerful Observer Framework

State Estimation in Networked Control Systems with Time-Vary...

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IEEE Conference on Decision and control

作者： Katarina Stanojevic Martin Steinberger Martin Horn Institute of Automation and Control Graz University of Technology Graz Austria Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper presents a distinct framework for the design of an observer-based feedback control strategy for networked control systems (NCS) affected by unknown time-varying transmission delays larger than the sampling time $\boldsymbol{T}_{d}$. The pivotal element of the proposed strategy lies in the configuration of network nodes and a buffering mechanism which enable state estimation at the controller’s side using observer strategies not initially designed for NCS. Consequently, the Luenberger-type observer can be designed independently from the utilized network, thus leading to a substantial reduction in the complexity typically associated with uncertain and time-varying NCS. Furthermore, the proposed framework allows the strategic incorporation of predicted state estimates in the controller design. This mitigates the effect of the network delay by reducing it by $T_{d}$, which can significantly improve the system performance, as demonstrated in a simulation example.

关键词： Networked control systems System performance Observers Delays Feedback control complexity theory Time-varying systems

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