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IEEE Conference on Decision and control

作者： Atabak Azimi Stefan Koch Markus Reichhartinger Institute of Automation and Control at 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 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.

关键词： Discrete-time systems Feedback loop Uncertainty Accuracy Robustness Sliding mode control

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Proper Implicit Discretization of the Super-Twisting controller—without and with Actuator Saturation

arXiv

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arXiv 2024年

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

The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing implicit or semi-implicit discretization variants, a new proper implicit discretization for the super-twisting controller is proposed. This discretization is then extended to the conditioned super-twisting controller, which mitigates windup in presence of actuator constraints by means of the conditioning technique. It is proven that the proposed controllers achieve best possible worst-case performance subject to similarily simple stability conditions as their continuous-time counterparts. Numerical simulations and comparisons demonstrate and illustrate the results. © 2024, CC BY-NC-ND.

关键词： controllers

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

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IFAC-PapersOnLine 2023年第2期56卷 1609-1614页

作者： Markus Reichhartinger Sebastian Vogl Stefan Koch 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

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.

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

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Data-Driven modelling and Robust control of a Semiconductor Manufacturing Process

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IFAC-PapersOnLine 2023年第2期56卷 4234-4239页

作者： Paul Mayr Martin Kleindienst Stefan Koch Markus Reichhartinger 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 Lam Research AG Villach Austria Institute of Automation and Control Graz University of Technology Graz Austria

The paper presents a model-based controller design technique for a thermal process in silicon wafer manufacturing. The underlying model is obtained by dynamic mode decomposition which is a purely data-driven approach. The control scheme consists of a state feedback controller in combination with a disturbance observer, which allows robust tracking of feasible reference temperature profiles. The approach is validated using a laboratory setup.

关键词： Data-driven control Distributed parameter systems model order reduction

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Switched Lyapunov Function based controller Synthesis for Networked control systems: A Computationally Inexpensive Approach

arXiv

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arXiv 2023年

作者： Stanojevic, Katarina Steinberger, Martin Horn, Martin The Institute of Automation and Control Graz University of Technology Graz Austria The 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 presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering mechanism is defined first, such that it adds an additional delay up to one sampling period. The resulting buffered NCS can then be formulated as a switched system which leads to the significant simplification of the NCS model and subsequent controller synthesis. The novel approach does not only circumvent the need for any over-approximation technique, since the switched NCS model can be used for stability analysis directly, but also reduces the infinite set of allowable values of the dynamic matrix to a small finite set. The proposed strategy leads hereby to a strongly decreased number of optimization variables and linear matrix inequalities (LMIs) which allows greater flexibility with respect to additional degrees of freedom affecting the transient behavior. The performance and computational efficiency of the control strategy are demonstrated by means of simulation example. © 2023, CC BY-NC-ND.

关键词： Networked control systems

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Unknown Input Observer for Temperature Profile Estimation in systems with Unknown Heat Fluxes

Unknown Input Observer for Temperature Profile Estimation in...

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European control Conference (ECC)

作者： Helmut Niederwieser Stefan Koch Markus Reichhartinger Institute of Automation and Control Graz University of Technology and BEST-Bioenergy and Sustainable Technologies GmbH 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 Institute of Automation and Control Graz University of Technology Graz Austria

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This article demonstrates the application of a recently proposed sliding mode observer concept for linear time-invariant multivariable systems with unknown inputs. In contrast to other sliding mode approaches, this observer concept does neither unnecessarily increase the observer order beyond the plant order nor requires bounded state variables or some restrictive relative degree conditions. This work aims for estimating the temperature profile along an aluminium rod, which is excited with heat fluxes unknown to the observer. The plant model is transformed into a suitable form for observer design, facilitating a straightforward sliding mode observer design. Experimentally obtained estimation results confirm the effectiveness of the observer in a practical application.

关键词： Heating systems Linear systems Accuracy Design methodology Aluminum Estimation Europe

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

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

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IEEE Conference on Decision and control

作者： Lars Watermann Benedikt Andritsch Stefan Koch Markus Reichhartinger Martin Horn Johann Reger Control Engineering Group Technische Universität Ilmenau P.O. Box 100565 Ilmenau Germany 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

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.

关键词： Uncertainty Parameter estimation Backstepping Adaptive systems Robustness Tuning Sliding mode control Lyapunov methods Convergence

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Modified Implicit Discretization of the Super-Twisting controller

arXiv

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arXiv 2023年

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

In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to be globally asymptotically stable in the absence of a disturbance by means of Lyapunov theory. Furthermore, the steady-state error in the disturbed case is computed analytically and shown to be independent of the parameters. The steady-state error only depends on the sampling time and the unknown disturbance. The proposed discrete-time controller is compared to previously published discrete-time super-twisting controllers by means of the controller structure. In extensive simulation studies the proposed controller is evaluated comparative to known controllers. The continuous-time super-twisting controller is capable of rejecting any unknown Lipschitz-continuous perturbation. Furthermore, the convergence time decreases, if any of the gains is increased. The simulations demonstrate that the systems closed in the loop with each of the known controllers lose one of these properties, introduce discretization-chattering effects, or do not yield the same accuracy level as with the proposed controller. The proposed controller, in contrast, is beneficial in terms of the above described properties of the continuous-time super-twisting controller. © 2023, CC BY.

关键词： controllers

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Continuous Flow Synthesis of Mesalazine via Data-Driven Nonlinear model Predictive control

Continuous Flow Synthesis of Mesalazine via Data-Driven Nonl...

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European control Conference (ECC)

作者： Ismael Castillo Jakob Rehrl Martin Steinberger Martin Horn Institute of Automation and Control Graz University of Technology Graz Austria Research Center Pharmaceutical Engineering GmbH Inffeldgasse 13/2 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

The synthesis of Mesalazine via data-driven modelling and a control scheme for the underlying complex continuous flow chemistry process is presented. The challenges of modelling continuous flow synthesis of Mesalazine are overcome by the usage of Neuro-Fuzzy models together with the so-called Local Linear model Tree (NFM-LoLiMoT) training algorithm based on data from a highly detailed simulator for the reactor. A state-space representation of the NFM-LoLiMoT allows the implementation of a Non-linear model Predictive control (NMPC) strategy in order to perform output tracking and fulfil all input and output constraints. The NMPC scheme guarantees stability through the approximation of an Infinite Horizon cost function using a terminal cost and terminal state constraints. The proposed method provides a systematic approach that can be applied for different setup configurations and reduces the time-consuming process of first-principles modelling of the chemical processes. Simulations of a hydrogenation reactor for the synthesis of Mesalazine are presented to show the performance of the introduced method.

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Optimal robust exact first-order differentiators with Lipschitz-continuous output

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IEEE Transactions on Automatic control 2025年

作者： Aldana-Lopez, Rodrigo Seeber, Richard Haimovich, Hernan Gomez-Gutierrez, David Intelligent Systems Research Lab Intel Tecnología de México Intel Labs Jalisco Mexico Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Institute of Automation and Control Graz Austria CONICET-UNR Rosario2000 Argentina Instituto Tecnológico José Mario Molina Pasquel y Henríquez Tecnológico Nacional de México Jalisco Zapopan Mexico

The signal differentiation problem involves the development of algorithms that allow to recover a signal's derivatives from noisy measurements. This paper develops a first-order differentiator with robustness to measurement noise, exactness in the absence of noise, optimal worst-case differentiation error, and Lipschitz-continuous output where the output's Lipschitz constant is a tunable parameter. This combination of advantageous properties is not shared by any existing differentiator. A sample-based implementation by implicit discretization is obtained, which is quasi-exact, inherits the optimal worst-case error bound, and the Lipschitz constant translates to a discrete-time increment bound. Illustrative examples are provided to highlight the features of the developed differentiator. Open-source code for our differentiator can be found in https://***/RodrigoAldana/OREdiff. © 1963-2012 IEEE.

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