PID controller design is considered where optimal controller parameters are found with constraint on maximum sensitivity and robustness with regard to cone bounded static nonlinearity acting on the plant.
PID controller design is considered where optimal controller parameters are found with constraint on maximum sensitivity and robustness with regard to cone bounded static nonlinearity acting on the plant.
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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The performance distributed control system (DCS) depends not only on the operation of the individual components, but also on their interaction and cooperation. Therefore, the rules that allow the exchange of messages,...
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The performance distributed control system (DCS) depends not only on the operation of the individual components, but also on their interaction and cooperation. Therefore, the rules that allow the exchange of messages, i.e. message scheduling policy, is a key issue in terms of system performance. For control applications where control loops are closed over communication networks, this is especially true. Traditional scheduling policies are based on models and techniques that do not take application demands into account. This precludes the dynamic adaptation of the use of the communication bandwidth according to the application needs. To overcome this problem and focusing on control applications, we present an early specification of a novel scheduling technique: large error first (LEF). This scheduling algorithm uses feedback information from the application in order to assign communication bandwidth to each individual component. We studied the performance of a distributed application when the messages are sent according to this novel scheduling policy and encouraging simulation results have been obtained.
A technique for real time path planning of under-actuated robots is developed. The real time path-planning problem is posed as a finite time nonlinear control problem, which is solved in parallel with an optimization ...
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A technique for real time path planning of under-actuated robots is developed. The real time path-planning problem is posed as a finite time nonlinear control problem, which is solved in parallel with an optimization technique in the real time. A new controller that is called the Fault Tolerant Motion controller (FTM) is developed. Also a new measure that we called the Reliability Index (RI) is proposed to monitor, instantly, the performance of the FTM. Simulation studies are presented.
A collection of one or more devices, each described by its Digital Device Manual and reachable over a network, is a ConnectedSpace. A set of safety policies may be enforced on a ConnectedSpace to ensure the safety of ...
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When the process uncertainty size increases, even linear minimum phase systems must sacrifice desirable aggressive feedback control benefits to avoid an excessive 'cost of feedback', while preserving the robus...
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Tracking feedback control trade-offs increase dangerously with arbitrarily large uncertainties in the process mode!. This is shown by the bounds in the QFT domain. In this context, the paper develops a theory on the c...
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computer-level faults leading to data errors in computations are predicted to occur increasingly frequent in future microprocessors. This work discusses the impact of such errors on closed-loop performance in implemen...
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computer-level faults leading to data errors in computations are predicted to occur increasingly frequent in future microprocessors. This work discusses the impact of such errors on closed-loop performance in implementations of digital control system. A method to render a control system more robust to data errors by introducing artificial signal limits and then combine them with an anti-windup scheme is presented and exemplified.
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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