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Guaranteed Dominant Pole Placement with PID controllers

IFAC Proceedings Volumes 2008年第2期41卷 5842-5845页

作者： Qing-Guo Wang Zhiping Zhang Karl Johan Astrom Yu Zhang Yong Zhang Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Automatic Control Lund Institute of Technology Sweden Global Research Shanghai GE China Technology Center Pudong Shanghai 201203 China

Pole placement is a well-established design method for linear control systems. Note however that with an output feedback controller of low-order such as PID one cannot achieve arbitrary pole placement for a high-order or delay system, and then partially or hopefully, dominant pole placement becomes the only choice. To the best of the authors’ knowledge, no method is available in the literature to guarantee dominance of the assigned poles in the above case. This paper proposes two simple and easy methods which can guarantee the dominance of the assigned two poles for PID control systems. They are based on Root-Locus and Nyquist plot, respectively. If a solution exists, the parametrization of all the solutions is explicitly given. Examples are provided for illustration.

关键词： PID controllers Dominant Poles Pole Placement Root-Locus Nyquist Plot

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Stable IL- 1β-Activation in an Inflammasome Signalling Model Depends on Positive and Negative Feedbacks and Tight Regulation of Protein Production

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IEEE/ACM transactions on computational biology and bioinformatics 2019年第2期16卷 627-637页

作者： Fernando Lopez-Caamal Heinrich J Huber Chemical Engineering Department Universidad de Guanajuato Noria Alta s/n Guanajuato Guanajuato México Institute for Automation Engineering (IFAT) Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Magdeburg Germany

INTRODUCTION:NLRP3-dependent inflammasome signalling is a key pathway during inflammatory processes and its deregulation is implicated in several diseases. NLRP3-inflammasome pathway activation leads to the rapid, phosphorylation-driven NF$\kappa$κB-pathway signalling, subsequently proceeds via slower transcription/translation process for producing pro-enzymes, and finally leads to the medium-speed enzymatic activation of the central inflammatory mediator IL-$1\beta$1β[1] . We here were interested in how the timing of the rate-limiting step of transcription/translation and the presence of a positive and negative auto-regulation would pose conditions for meaningful and stable IL-$1\beta$1β-activation. METHODS:We extracted the essential topology of the inflammasome pathway network using a linear chain of first-order reaction and a second-order reaction for inhibitory feedback. We then performed an analytical treatment of the resulting ODE set to obtain closed-form formulae. We therefore looked for the steady states and characterized their stability by using a Jacobian-based, local analysis. We employed the Small Gain Theorem from control Theory as recently applied by us [2] and the Gershgorin Circle Theorem to obtain mathematically exact conditions for a positive ON state and stabilities for ON and OFF steady states. RESULTS:We identified an ON- and one OFF- steady state whose properties we characterized in terms of the kinetic parameters by closed-form formulae. We found that under the assumption of a first-order information flow through the network, the existence of a biologically reasonable ON steady state required the simultaneous presence of the positive and the negative feedback. Assuming non-competitivity between IL-$1\beta$1β entities binding to different receptors, we found that a minimum kinetics for protein production is required to sustain a steady state with IL-$1\beta$1β activation. Assuming competitivity between IL-$1\beta$1β entities introduced additio

关键词： Steady State Proteins Biological System Modeling Negative Feedback Production Mathematical Model NLRP 3 Inflammasome IL-1 Z_$\beta$_Z β Interleukin 1 Local Stability Analysis Steady States Stability Positive Feedback Negative Feedback Synthetic Biology

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Robotic Assisted Immersive Therapy System for Stroke Rehabilitation

Robotic Assisted Immersive Therapy System for Stroke Rehabil...

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E-Health and Bioengineering Conference (EHB)

作者： Robert Gabriel Lupu Adrian Burlacu Ovidiu Catarama Ionut Sopot Department of Computer Engineering Gheorghe Asachi Technical University of Iasi Iasi Romania Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

The number of stroke cases has increased dramatically in the last 30 years, and more and more people are left disabled because of stroke. It is vital to continue researching new ways to recover and improve their condition. Rehabilitation therapies are based on intensive and repeated training starting as soon as possible. However, the number of therapists is too few to treat the growing number of stroke survivors. Advanced technologies such as virtual reality (VR) and robot-assisted therapies have been introduced to improve stroke rehabilitation. VR-based rehabilitation immerses patients in simulated environments, providing visual feedback miming real-world activities. This approach motivates patients through interactive tasks while engaging their cognitive processes, which is crucial for neuroplasticity and motor recovery. Robot-assisted therapy complements VR by providing precise, repetitive movements and proprioceptive feedback. This paper presents a virtual reality- based and robotic-assisted upper limb neuromotor recovery system. The system combines VR immersion with robotic assistance, allowing patients to receive real-time guidance and support during exercise. The system adapts to the patient's condition, providing personalized visual and physical feedback to help relearn motor skills.

关键词： Training Somatosensory Visualization Robot kinematics Medical treatment Propioception Virtual reality Stroke (medical condition) Motors Real-time systems

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A SIMPLE ALGORITHM FOR ROBUST MPC

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IFAC Proceedings Volumes 2005年第1期38卷 257-262页

作者： B. Pluymers J.A. Rossiter J.A.K. Suykens B. De Moor Research Group SCD-SISTA Department Of Electrotechnical Engineering (ESAT) Katholieke Universiteit Leuven Kasteelpark Arenberg 10 3001 Leuven Belgium Department of Automatic Control and Systems Engineering Mappin Street University of Sheffield S1 3JD UK

The majority of recent works on robust MPC either require very burdensome online computations or are restricted to relatively small feasible regions. This paper builds on a recent work which demonstrated that one could compute the maximal admissible set for a linear parameter varying system and shows how this set can be used as the terminal region and hence allows the definition of an MPC algorithm requiring only quadratic programming, but with a maximal region of attraction and guaranteed convergence for the robust case.

关键词： Robust MPC maximal admissible sets LPV systems

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A Model-Based Feedforward Hysteresis Compensator for Micropositioning control

A Model-Based Feedforward Hysteresis Compensator for Micropo...

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American control Conference

作者： Omar Aljanaideh Micky Rakotondrabe Isam Al-Darabsah Khaled F. Aljanaideh Mohammad Al Janaideh Department of Electrical Engineering University of Washington Department of Automatic Control and Micro-Mechatronic Systems FEMTO-ST AS2M Univ. Bourgogne Franche-Comte Department of Mathematics and Statistics Memorial University of Newfoundland Aeronautical Engineering Department Jordan University of Science and Technology Irbid Department of Electrical and Computer Engineering University of Toronto

ISBN: (纸本)9781509045839

Further results on hysteresis compensation using the inverse multiplicative structure of the rate-dependent Prandtl-Ishlinskii (RDPI) model are presented. The proposed model-based feedforward controller is used to compensate for the hysteresis nonlinearities at different operating conditions without formulating the inverse model. The study investigates the compensation error and parameters uncertainties when the proposed compensator is applied for compensation of the rate-dependent hysteresis nonlinearities. The compensation results show that better performance can be achieved with low sampling time. The proposed compensator is further examined in a closed-loop control system to improve the tracking performance of a piezoelectric cantilevered actuator.

关键词： hysteresis nonlinearity compensation effect Error compensation FEEDFORWARD delay compensation micropositioning Hysteresis Closed loop control systems visual tracking nonlinearity Operating conditions compensated parameter uncertainty

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LPV sequential loop closing for high-precision motion systems

arXiv

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arXiv 2022年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Hungary

Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The presence of position dependent dynamics in such motion systems severely limits achievable position tracking performance using conventional sequential loop closing (SLC) control design strategies. This paper presents a novel extension of the conventional SLC design framework towards linear-parameter-varying systems, which allows to circumvent limitations that are introduced by position dependent effects in high-precision motion systems. Advantages of the proposed control design approach are demonstrated in simulation using a high-fidelity model of a moving-magnet planar actuator system, which exhibits position dependency in both actuation and *** Codes 93-06 © 2022, CC BY.

关键词： Linear systems

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Contrast enhancement of optical videoscope images

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Iran Journal of computer Science 2023年第3期6卷 261-275页

作者： Ammar, Reda Aboshosha, Sahar El-Hag, Noha A. Saifeldeen, Reda El-Shafai, Walid El-Banby, Ghada M. Ashiba, Huda I. Khalaf, Ashraf A. M. Elazm, Atef Abou El-Rabaie, El-Sayed M. Abd El-Samie, Fathi E. El-Safrawey, Amir Department of Electronics and Electrical Communications Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Comm. Faculty of Engineering Minia University Minya Egypt Department of Management of Information Systems Higher Institute of Commercial Science El-Mahala El-Kobra Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf 32952 Egypt Department of Electronics and Electrical Communications Engineering Bilbis Higher Institute of Engineering Sharqia Bilbis Egypt Security Engineering Laboratory Computer Science Department Prince Sultan University Riyadh 11586 Saudi Arabia Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia

The videoscope (VS) images have poor quality and low contrast. Hence, in this paper, three proposed frameworks to improve the quality of VS images are presented. The first framework depends on contrast-limited adaptive histogram equalization (CLAHE) with adaptive gamma correction. The second framework depends on homomorphic processing. The third framework is based on the homomorphic enhancement with histogram equalization. The first one is superior from the entropy perspective, while the third one is superior from the contrast perspective. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2023.

关键词： Fuzzy enhancement Histogram equalization Homomorphic enhancement Spectral entropy

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Towards integral human-machine system conception: From automation design to usability concerns

Towards integral human-machine system conception: From autom...

引用

Conference on Human System Interactions, HSI

作者： Pere Ponsa Ramon Vilanova Beatriz Amante Department of Automatic Control Technical University of Catalonia Barcelona Spain Department of Telecomunications and Systems Engineering Universitat Authnòma de Barcelona Barcelona Spain Department of Engineering Projects Technical University of Catalonia Terrassa Spain

The purpose of this communication is to show an additional advantage of the well known guide for start and stop modes, GEMMA, that should motivate its use as well as to introduce the consideration of the human operator as an integral part of the automation procedure. The inclusion of the human operator as well as his interplay with the automation device needs some guidelines that can be drawn from joining the GEMMA structured approach and some concepts borrowed from cognitive ergonomic theory and human-computer interaction. Finally, this paper shows some examples of human-machine interfaces (industrial panel, interface display screen).

关键词： Man machine systems Design automation Usability automatic control Humans Programmable control computer displays Ergonomics Industrial control control systems

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Exploring the use of deep learning in task-flexible ILC*

Exploring the use of deep learning in task-flexible ILC*

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American control Conference (ACC)

作者： Anantha Sai Hariharan Vinjarapu Yorick Broens Hans Butler Roland Tóth Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands ASML Veldhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Hungary

Growing demands in today’s industry results in increasingly stringent performance and throughput specifications. For accurate positioning of high-precision motion systems, feedforward control plays a crucial role. Nonetheless, conventional model-based feedforward approaches are no longer sufficient to satisfy the challenging performance requirements. An attractive method for systems with repetitive motion tasks is iterative learning control (ILC) due to its superior performance. However, for systems with non-repetitive motion tasks, ILC is generally not applicable, despite of some recent promising advances. In this paper, we aim to explore the use of deep learning to address the task flexibility constraint of ILC. For this purpose, a novel Task Analogy based Imitation Learning (TAIL)-ILC approach is developed. To benchmark the performance of the proposed approach, a simulation study is presented which compares the TAIL-ILC to classical model-based feedforward strategies and existing learning-based approaches, such as neural network based feedforward learning.

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An asymptotically optimal indirect approach to continuous-time system identification

arXiv

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arXiv 2018年

作者： González, Rodrigo A. Rojas, Cristian R. Welsh, James S. Department of Automatic Control Access Linnaeus Centre Kth Royal Institute of Technology Stockholm10044 Sweden School of Electrical Engineering and Computer Science University of Newcastle

The indirect approach to continuous-time system identification consists in estimating continuous-time models by first determining an appropriate discrete-time model. For a zero-order hold sampling mechanism, this approach usually leads to a transfer function estimate with relative degree 1, independent of the relative degree of the strictly proper real system. In this paper, a refinement of these methods is developed. Inspired by indirect PEM, we propose a method that enforces a fixed relative degree in the continuous-time transfer function estimate, and show that the resulting estimator is consistent and asymptotically efficient. Extensive numerical simulations are put forward to show the performance of this estimator when contrasted with other indirect and direct methods for continuous-time system identification. Copyright © 2018, The Authors. All rights reserved.

关键词： Continuous time systems

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