This paper investigates the robustness of dual-rate MPC systems with a proposed inferential control strategy. It shows that for some scenarios where a high-frequency model plant mismatch is presented, such dual-rate i...
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This paper investigates the robustness of dual-rate MPC systems with a proposed inferential control strategy. It shows that for some scenarios where a high-frequency model plant mismatch is presented, such dual-rate inferential MPC systems may be more robust than fast single rate MPC systems.
This study is an effort to give a practical solution in the problem of optimizing the structure of the hierarchical mixture of experts model, which is a natural extension of the associative Gaussian mixture of experts...
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This study is an effort to give a practical solution in the problem of optimizing the structure of the hierarchical mixture of experts model, which is a natural extension of the associative Gaussian mixture of experts system. We present two novel methods for optimizing such structures using genetic algorithms. Special concern is taken for reducing the computational time so as to efficiently allow the structure to "grow" while it evolves with the genetic algorithm. The main contribution of the paper lies on the efficient, topologically oriented, representations of such architectures so as to be optimized through involving genetic algorithms.
Recently, a novel optimality based Repetitive control algorithm was proposed in (Hätönen et al. , 2003). According to the convergence analysis carried out in that paper, the algorithm will result in asymptot...
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Recently, a novel optimality based Repetitive control algorithm was proposed in (Hätönen et al. , 2003). According to the convergence analysis carried out in that paper, the algorithm will result in asymptotic convergence for an arbitrary discrete-time LTI plant and a T -periodic reference. However, the performance of the algorithm was tested only using simulation studies. In order to rigorously test how the algorithm performs with real systems, in this paper the algorithm is implemented on a non-minimum phase spring-mass-damper system. The results are very satisfactory, because the algorithm results in near perfect tracking with this rather demanding plant type.
In this paper, a new model inverse optimal iterative learning control algorithm is practically implemented on an industrial gantry robot. The algorithm has only one tuning parameter which can be adjusted to provide a ...
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In this paper, a new model inverse optimal iterative learning control algorithm is practically implemented on an industrial gantry robot. The algorithm has only one tuning parameter which can be adjusted to provide a balance between convergence speed and robustness. Results show that the algorithm is capable of learning the required trajectory in very few iterations. However at this convergence rate the lack of robustness is a major issue. Appropriate use of the tuning parameter is shown to greatly increase the algorithm robustness as demonstrated by tests which successfully reach 600 iterations.
New developments in computer networks and communications provide new possibilities for control purposes. controlsystems for highly complex plants are themselves very complex and heterogeneous. A new software infrastr...
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Repetitive processes are a distinct class of 2D systems of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard or 2D systems theo...
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This paper is concerned with an application study of model-based fault detection method to a ship propulsion system. When modeling the object system, Quasi-ARMAX model with multi-model form is used. In this model, the...
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In this paper, we explore the possibility of applying Monte Carlo methods (i.e., randomization) to semi-infinite programming problems. Equivalent stochastic optimization problems are derived for a general class of sem...
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Using dimensional analysis and numerical optimisation techniques, an optimal method for tuning PID controllers for first order plus time delay systems is presented. Considering integral square error (ISE), integral ab...
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