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CAE Tools for Nonlinear systems Analysis and Design Based on Sinusoidal-Input Describing Functions

IFAC Proceedings Volumes 1991年第4期24卷 89-94页

作者： J.R. O'Donnell J.H. Taylor Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA Control Systems Laboratory General Electric Corporate Research and Development P. O. Box 8 Schenectady NY 12301 USA

We report on recent progress in the development of a computer-aided engineering (CAE) environment for nonlinear control system analysis and design based on sinusoidal-input describing function (SIDF) methods. Several major additions have been made to our nonlinear controls CAE software: ACSL macros were developed to allow the generation of SIDF models of nonlinear plants in a manner analogous to that of the SIMNON-based software developed earlier, and MATLAB routines were developed for the analysis of these models and for the design of general nonlinear controllers based on them. This software provides an integrated tool set for treating very general nonlinear systems with no restrictions on system order, number of nonlinearities, configuration, or nonlinearity type. Based on the new software presented here, the use of SIDF-based nonlinear control system analysis and design methods is substantially easier to carry out and more powerful than before

关键词： Nonlinear control systems describing functions control system design computeraided design computer software

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Worst Case System Identification in l1: Optimal Algorithms and Error Bounds

Worst Case System Identification in l1: Optimal Algorithms a...

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American control Conference (ACC)

作者： C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering North Eastern University Boston MA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems (LICCHUS) School Institute of Technology Georgia Institute of Technology Atlanta GA USA

This paper analyzes worst case identification of linear shift invariant systems with an l 1 error criterion. A characterization of optimal algorithms and intrinsic errors of identification is given. The application of this characterization is made to identification in l 1 . The assumed apriori information on the plant are bounds on the system gain and decay rate of the impulse response of the unknown system and the experimental data is assumed to be a finite set of corrupted impulse or step response samples of the systems. Comparisons are made with the H ∞ system identification problem. Comments on the l 1 identification of small signal models of smooth nonlinear discrete time systems are made.

关键词： System identification Robust control Convolution Jacobian matrices Algorithm design and analysis Signal processing Discrete time systems control system synthesis Nonlinear control systems Design methodology

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Minimax Disturbance Attenuation in LTV Plants in Discrete Time

Minimax Disturbance Attenuation in LTV Plants in Discrete Ti...

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American control Conference (ACC)

作者： Tamer Basar Decision and Control Laboratory Coordinated Science Laboratory and the Department of Electrical and Computer Engineering University of Illinois Urbana IL USA

For the basic LTV (Linear Time Varying) disturbance attenuation problem with perfect or delayed state measurements, we obtain a complete characterization of the l 2 -bounded worst-case disturbance, which turns out to ... 详细信息

关键词： Minimax techniques Vectors Stochastic processes Performance analysis Delay effects Attenuation measurement Time measurement Probability distribution

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Minimax controllers for LTI Plants Under l 1 -Bounded Disturbances

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IFAC Proceedings Volumes 1990年第8期23卷 183-189页

作者： T. Başar Decision and Control Laboratory Coordinated Science Laboratory and the Department of Electrical and Computer Engineering University of Illinois 1101 W. Springfield Avenue Urbana IL 61801 USA

A currently popular controller design technique for linear time-invariant (LTI) systems is H ∞ -optimization, which involves the minimization of the H ∞ -norm of a certain transfer function matrix. When formulated in the time domain, using state space description, this optimum design problem can be shown to be equivalent to a linear-quadratic differential game, and this formulation provides a convenient set-up for also studying finite-horizon versions of the original infinite-horizon problem. In this differential game, the minimizer is the controller and the maximizer is the unknown disturbance which is subject to an L 2 energy constraint. The performance of interest is the upper value of the differential game, with the controller achieving that value called the minimax controller. In this paper, we formulate such a differential game problem which arises in the context of disturbance rejection, but in the discrete time and under l 1 -bounded disturbances. We study the derivation of the minimax controller associated with the game, as well as the characterization of the worst-case disturbance. We show, in the context of a two-stage design problem, that the saddle point of the game involves a random disturbance, unless the initial state exceeds a certain threshold. Another feature of the solution is that the minimax controller is generally not unique, with the linear feedback controller being outperformed by nonlinear and/or memory controllers, locally or regionally.

关键词： control system design robust control minimax techniques differential games

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Approximation Schemes for Stochastic Teams with Weakly Coupled Agents

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IFAC Proceedings Volumes 1990年第8期23卷 1-6页

作者： T. Başar R. Srikant Decision and Control Laboratory Coordinated Science and Laboratory and the Department of Electrical and Computer Engineering University of Illinois 1101 W. Springfied Avenue Urbana IL 61801 USA

The main objective of this Papers is to develop a new iterative approach towards the Solution of dynamic stochastic teams when the coupling among a subset of agents is weak. either throughth the state dynamics or through the performance index. In each case. the weak coupling is characterized in terms of number of small (pertuhrltion) parameters. When these parameter values are set equal to Zero . the original fairly complex dynamic team. with a quasiclassical or a non classica information pattern is decomposed into relatively simpler storhastic control and team *** solution of which make up t he zerorh order approximation (in a function space) to the team-optimal solution of the original problem. Using this asastarling point for an ite ra tion. We show that approximations of all orders can be obtained by solving a sequence of stochastic control and/or simplper team problems. The paper studies. particlliarly two agents LQG *** quasiciassicai or non classical information patterns. but the approach is applicable to other models (with more than two agents and non-Gaussian sta tislics) as well.

关键词： Team theory stochastic control perturbation techniques iterative methods decision theory

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An explicit model-matching approach to lateral-axis autopilot design

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IEEE control systems Magazine 1990年第4期10卷 22-28页

作者： K.D. Minto J.H. Chow J.W. Beseler GECorporate Research and Development Center Schenectady Control Systems Laboratory NY USA Electrical Systems and Computer Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The application of a linear multivariable control law design methodology to an autopilot design for large transport aircraft is described. The design method is an explicit model-matching approach, whereby compensator parameters are tuned via a least-squares optimization approach to minimize the error between the desired and the actual closed-loop frequency responses. This method incorporates some recent theoretical advances, including controller parameterization and plant factorization, and has been implemented within the ISICLE software package, a MATLAB-based control design toolbox. A desirable feature of the ISICLE design software is the capability to constrain the compensator dynamic order and structure, issues motivated by the necessity for low complexity implementations in order to simplify gain scheduling and limit protection.< >

关键词： Mathematical model Design methodology Aircraft Aerospace control Design optimization Frequency Software packages computer languages control design Software design

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Communication complexity of algebraic computation

Communication complexity of algebraic computation

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Annual IEEE Symposium on Foundations of computer Science

作者： Z.-Q. Luo J.N. Tsitsiklis Department of Electrical & Computer Engineering McMaster University Hamilton ONT Canada Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA

The authors consider a situation in which two processors P/sub 1/ and P/sub 2/ are to evaluate one or more functions f/sub 1/, . . ., f/sub s/ of two vector variables x and y, under the assumption that processor P/sub 1/ (respectively, P/sub 2/) has access only to the value of x (respectively, y) and the functional form of f/sub 1/, . . ., f/sub s/. They consider a continuous model of communication whereby real-valued messages are transmitted, and they study the minimum number of messages required for the desired computation. Tight lower bounds are established for the following three problems: (1) each f/sub i/ is a rational function and only one-way communication is allowed. (2) The variables x and y are matrices and the processors wish to solve the linear system (x+y)z=b for the unknown z. (3) The processors wish to evaluate a particular root of the polynomial equation Sigma (x/sub i/+y/sub i/)z/sup i/=0, where the sum is from i=0 to n-1.< >

关键词： Complexity theory Algorithm design and analysis Contracts Protocols Computational modeling Linear systems Polynomials Equations Distributed algorithms Operations research

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The Linear Constrained Regulation Problem for Discrete-Time systems

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IFAC Proceedings Volumes 1990年第8期23卷 321-326页

作者： G. Bitsoris M. Vassilaki Control Systems Laboratory Electrical Engineering Department. University of Patras 26500 Patras Greece AMBER S.A. Computer Systems P.D. Box 3500 Athens Greece

In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.

关键词： Constraint theory discrete time systems eigenvalue assignment, invariance linear systems stability

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories Research and development

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's Automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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