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A Frequency-Domain Approach for Enhanced Performance and Task Flexibility in Finite-Time ILC

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arXiv 2024年

作者： van Haren, Max Tsurumoto, Kentaro Mae, Masahiro Blanken, Lennart Ohnishi, Wataru Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Electrical Engineering and Information Systems The University of Tokyo Tokyo Japan Sioux Technologies Eindhoven Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Iterative learning control (ILC) is capable of improving the tracking performance of repetitive control systems by utilizing data from past iterations. The aim of this paper is to achieve both task flexibility, which is often achieved by ILC with basis functions, and the performance of frequency-domain ILC, with an intuitive design procedure. The cost function of norm-optimal ILC is determined that recovers frequency-domain ILC, and consequently, the feedforward signal is parameterized in terms of basis functions and frequency-domain ILC. The resulting method has the performance and design procedure of frequency-domain ILC and the task flexibility of basis functions ILC, and are complimentary to each other. Validation on a benchmark example confirms the capabilities of the framework. © 2024, CC BY-NC-ND.

关键词： Cost functions

Impact of diameter on D-shaped POF sensors for salt detection

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Impact of diameter on D-shaped POF sensors for salt detectio...

International Laser Technology and Optics Symposium 2024, iLATOS2024

作者： Khan, Abdul Ali Thirunavakkarasu, Punithavathi M. bte Saidin, Norazlina Noor, Ahmad Shukri Muhammad Waqas, Nawaf Communication Technology Section Universiti Kuala Lumpur British Malaysian Institute Kuala lumpur53100 Malaysia Faculty of I.C.T BUITEMS Quetta87100 Pakistan Department of Electrical and Computer Engineering International Islamic University Malaysia Kuala Lumpur53100 Malaysia Department of Computer and Communication Systems Engineering Faculty of Engineering Universiti Putra Malaysia Selangor Malaysia Department of Instrumentation and Control Engineering Universiti Kuala Lumpur British Malaysian Institute Bt. 8 Jalan Sungai Pusu Selangor Gombak53100 Malaysia

This study investigates the relationship between the diameter of a D-shaped plastic optical fiber (POF) sensor and its optical response as a function of varying salt concentrations. A simple and efficient dry etching polishing technique was employed to create D-shaped POF sensors with a range of diameters. All the fabricated sensors were carefully developed to maintain a consistent length of 20 cm with a sensing region of 1cm. To evaluate the optical intensity response, each sensor, with its respective diameter, was examined with the salt concentration ranging from (0 to 5%) examination utilizing a spectrometer. The sensor response was characterized by quantifying the variations observed in the intensity of the optical signal propagating through the sensing region. The sensors having a diameter of 500 μm, 700 μm, and 900 μm had a sensitivity of 149 A.U/%salt, 66 A.U/%salt, and 11.2 A.U/%salt respectively. The sensitivity of the 500 μm diameter sensor increased 13 times approximately as compared to the sensor having diameter of 900 μm. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Dry etching

Lifted Frequency-Domain Identification of Closed-Loop Multirate systems: Applied to Dual-Stage Actuator Hard Disk Drives

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arXiv 2025年

作者： van Haren, Max Mae, Masahiro Blanken, Lennart Oomen, Tom Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology Groene Loper 5 Eindhoven5612 AE Netherlands Department of Electrical Engineering and Information Systems The University of Tokyo Tokyo113-8656 Japan Sioux Technologies Esp 130 Eindhoven5633 AA Netherlands Delft Center for Systems and Control Delft University of Technology Mekelweg 2 Delft2628 CN Netherlands

Frequency-domain representations are crucial for the design and performance evaluation of controllers in multirate systems, specifically to address intersample performance. The aim of this paperis to develop an effective frequency-domain system identification technique for closed-loop multirate systems using solely slow-rate output measurements. By indirect identification of multivariable time-invariant representations through lifting, in combination with local modeling techniques, the multirate system is effectively identified. The developed method is capable of accurate identification of closed-loop multirate systems within a single identification experiment, using fast-rate excitation and inputs, and slow-rate outputs. Finally, the developed framework is validated using a benchmark problem consisting of a multivariable dual-stage actuator from a hard disk drive, demonstrating its applicability and accuracy. © 2025, CC BY-NC-ND.

关键词： Frequency estimation

Accelerating soft-constrained MPC for linear systems through online constraint removal

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arXiv 2024年

作者： Nouwens, S.A.N. Paulides, M.M. Heemels, W.P.M.H. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Radiotherapy Erasmus University Medical Center Cancer Institute Rotterdam Netherlands

Optimization-based controllers, such as Model Predictive control (MPC), have attracted significant research interest due to their intuitive concept, constraint handling capabilities, and natural application to multi-input multi-output systems. However, the computational complexity of solving a receding horizon problem at each time step remains a challenge for the deployment of MPC. This is particularly the case for systems constrained by many inequalities. Recently, we introduced the concept of constraint-adaptive MPC (ca-MPC) to address this challenge for linear systems with hard constraints. In ca-MPC, at each time step, a subset of the constraints is removed from the optimization problem, thereby accelerating the optimization procedure, while resulting in identical closed-loop behavior. The present paper extends this framework to soft-constrained MPC by detecting and removing constraints based on sub-optimal predicted input sequences, which is rather easy for soft-constrained MPC due to the receding horizon principle and the inclusion of slack variables. We will translate these new ideas explicitly to an offset-free output tracking problem. The effectiveness of these ideas is demonstrated on a two-dimensional thermal transport model, showing a three order of magnitude improvement in online computational time of the MPC scheme. © 2024, CC BY-NC-ND.

关键词： Predictive control systems

Design and Stability Analysis of control System in Multiport Autonomous Reconfigurable Solar Power Plants (MARS)

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Design and Stability Analysis of Control System in Multiport...

IEEE Workshop on Computers in Power Electronics

作者： Qianxue Xia Suman Debnath Phani R V Marthi Maryam Saeedifard Energy Systems Integration & Control Section Oak Ridge National Lab Knoxville United States School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta United States

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A Two-Layer Approach for Rebalancing Ride-Hailing Vehicles

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A Two-Layer Approach for Rebalancing Ride-Hailing Vehicles

International Conference on Intelligent Transportation

作者： Caio Vitor Beojone Pengbo Zhu Isik Ilber Sirmatel Nikolas Geroliminis Urban Transport Systems Laboratory (LUTS) École Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Department of Electrical and Electronics Engineering Control Section Faculty of Engineering Trakya University Edirne Turkiye

Ride-hailing services are emerging as a mode of transportation, necessitating modeling and control methods for efficient management. In this paper, we propose a hierarchical control framework for the optimal positioning of idle vehicles for maximizing service level. An economic model predictive controller at the upper layer repositions idle vehicles between urban regions towards balancing interregional responsiveness, while a coverage controller at the lower layer distributes idle vehicles over space towards balancing intraregional responsiveness. Studies on detailed simulations of an urban road network suggest the potential of the method for improving performance.

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Sensor Fusion for Glucose Monitoring systems

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IFAC-PapersOnLine 2023年第2期56卷 11527-11532页

作者： Mohamad Al Ahdab Karim Davari Benam Hasti Khoshamadi Anders Lyngvi Fougner Sebastien Gros Section of Automation and Control Department of Electronic Systems Aalborg University Aalborg Øst Denmark Department of Engineering Cybernetics Faculty of Information Technology and Electrical Engineering Norwegian University of Science and Technology (NTNU) O. S. Bragstads Plass 2D 7034 Trondheim Norway

A fully automated artificial pancreas (AP) requires accurate blood glucose (BG) readings. However, many factors can affect the accuracy of commercially available sensors. These factors include sensor artifacts due to the pressure on surrounding tissues, connection loss, and poor calibration. The AP may administer an incorrect insulin bolus due to inaccurate sensor data when the patient is not supervising the system. The situation can be even worse in animal experiments because animals are eager to play with the sensor and apply pressure. In this study, we propose and derive a Multi-Model Kalman Filter with Forgetting Factor (MMKFF) for the problem of fusing information from redundant subcutaneous glucose sensors. The performance of the developed MMKFF was assessed by comparing it against other Kalman Filter (KF) strategies on experimental data obtained in two different animals. The developed MMKFF was shown to provide a reliable fused glucose reading. Additionally, compared to the other KF approaches, the MMKFF was shown to be better able to adjust to changes in the accuracy of the glucose sensors.

关键词： Developments in measurement signal processing Diabetes

An Aperiodic Prescribed Performance control Scheme for Uncertain Nonlinear systems

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An Aperiodic Prescribed Performance Control Scheme for Uncer...

Mediterranean Conference on control and Automation (MED)

作者： Alexandros Nikou Christos K. Verginis Shahab Heshmati-Alamdari Ericsson Research Stockholm Sweden Department of Electrical Engineering Division of Signals and Systems Uppsala University Sweden Department of Electronic Systems Section of Automation &amp Control Aalborg University Denmark

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper proposes a low-complexity feedback control law that is updated aperiodically, in an event-triggered manner, and guarantees prescribed transient and steady state performance for uncertain nonlinear systems affine in the control. By prescribed performance, we mean that the closed-loop error trajectory converges to a predefined arbitrarily small residual set, with convergence rate no less than a certain prespecified value, having maximum overshoot less than a preassigned level. The proposed novel control design is performed in the transformed normalized error, and the triggering mechanism is extracted by guaranteed that these errors always lead to bounded closed loop signals. Moreover, the approach provides a scheme of designing and tuning the control parameters in order to achieve stabilization in a desire state in a pre-defined time T >0. The efficiency of the proposed approach is verified with numerical simulations in MATLAB.

关键词： control design Numerical simulation Trajectory Steady-state Feedback control Nonlinear systems Transient analysis

Resilient Set-based State Estimation for Linear Time-Invariant systems Using Zonotopes

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arXiv 2022年

作者： Niazi, Muhammad Umar B. Alanwar, Amr Chong, Michelle S. Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science and Electrical Engineering Jacobs University Bremen Germany Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Netherlands

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks. Provided that the LTI system is stable and observable via every single sensor and that at least one sensor is uncompromised, we guarantee that the true state is always contained in the estimated set. We use zonotopes to represent these sets for computational efficiency. However, we show that intelligently designed stealthy attacks may cause exponential growth in the algorithm’s worst-case complexity. We present several strategies to handle this complexity issue and illustrate our resilient zonotope-based state estimation algorithm on a rotating target system. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear time-invariant system