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arXiv 2023年

作者： Engelaar, Maico Hendrikus Wilhelmus Romao, Licio Gao, Yulong Lazar, Mircea Abate, Alessandro Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Department of Computer Science University of Oxford United Kingdom

In this paper, we propose a new model reduction technique for linear stochastic systems that builds upon knowledge filtering and utilizes optimal Kalman filtering techniques. This new technique will reduce the dimension of the noise disturbance and will allow any controller designed for the reduced model to be refined into a controller for the original stochastic system, while preserving any specification on the output. Although initially the reduced model will be time-varying, a method will be provided with which the reduced model can become time-invariant if it satisfies some minor technical conditions. We present our theoretical findings with an example that supports the proposed framework and illustrates how model reduction and controller refinement of stochastic systems can be achieved. We finish the paper by considering specific examples to analyze both completeness with respect to controller synthesis and model order reduction with respect to the state. © 2023, CC BY-NC-ND.

关键词： Stochastic systems

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LQ robust controllers for polynomially uncertain systems

LQ robust controllers for polynomially uncertain systems

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IEEE Conference on Decision and control

作者： Javad Lavaei Amir G. Aghdam Department of Control and Dynamical Systems California Institute of Technology Pasadena USA Department of Electrical and Computer Engineering Concordia University Montreal Canada

ISBN: (纸本)9781424431236

This paper is concerned with the LQ optimal robust control of discrete-time LTI systems with uncertainties belonging to a semi-algebraic set. Given a prescribed cost function, the problem of designing a gain-scheduled static controller, whose gain depends polynomially on the uncertain parameters is formulated as a SOS problem. This indeed requires solving two hierarchies of SDP problems, which may in turn introduce high computational burden, and hence complicate the optimal robust controller design. To bypass this barrier, an alternative approach is developed which is much less involved, at the cost of obtaining a near-optimal controller (as opposed to an optimal one). The efficacy of this work is elucidated in two numerical examples.

关键词： Robust control control systems Polynomials Uncertain systems Robust stability Lyapunov method Uncertainty Optimal control Cost function Java

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Nonparametric technique of impulsive noise removal

Nonparametric technique of impulsive noise removal

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European Signal Processing Conference (EUSIPCO)

作者： B. Smolka S. Budzan A.N. Venetsanopoulos R. Lukac Department of Automatic Control Silesian University of Technology Gliwice Poland The Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto ON Canada

In this paper a novel class of filters designed for the removal of impulsive noise in color images is presented. The proposed filter class is based on the nonparametric estimation of the density probability function in a sliding filter window. The obtained results show good noise removal capabilities and excellent structure preserving properties of the new impulsive noise removal technique.

关键词： Vectors Estimation

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Decentralized Pole Assignment for Interconnected systems

Decentralized Pole Assignment for Interconnected Systems

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2008 American control Conference (ACC), vol.9

Given a general proper interconnected system, this paper aims to design a LTI decentralized controller to place the modes of the closed-loop system at pre-determined locations. To this end, it is first assumed that the structural graph of the system is strongly connected. Then, it is shown applying generic static local controllers to any number of subsystems will not introduce new decentralized fixed modes (DFM) in the resultant system, although it has fewer input-output stations compared to the original system. This means that if there are some subsystems whose control costs are highly dependent on the complexity of the control law, then generic static controllers can be applied to such subsystems, without changing the characteristics of the system in terms of the fixed modes. As a direct application of this result, in the case when the system has no DFMs, one can apply generic static controllers to all but one subsystem, and the resultant system will be controllable and observable through that subsystem. Now, a simple observer-based local controller corresponding to this subsystem can be designed to displace the modes of the entire system arbitrarily. Similar results can also be attained for a system whose structural graph is not strongly connected. It is worth mentioning that similar concepts are deployed in the literature for the special case of strictly proper systems, but as noted in the relevant papers, extension of the results to general proper systems is not trivial. This demonstrates the significance of the present work.

关键词： Interconnected systems control systems Design for manufacture Communication system control Java Centralized control control design Nonlinear control systems Sampling methods Costs

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Optimal Decentralized Protocol for Electric Vehicle Charging

Optimal Decentralized Protocol for Electric Vehicle Charging

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IEEE Conference on Decision and control

作者： Lingwen Gan Ufuk Topcu Steven Low Department of Electrical Engineering California Institute of Technology Control and Dynamical Systems California Institute of Technology Department of Computer Science and the Department of Electrical Engineering California Institute of Technology

ISBN: (纸本)9781612848006

Motivated by the power-grid-side challenges in the integration of electric vehicles, we propose a decentralized protocol for negotiating day-ahead charging schedules for electric vehicles. The overall goal is to shift the load due to electric vehicles to fill the overnight electricity demand valley. In each iteration of the proposed protocol, electric vehicles choose their own charging profiles for the following day according to the price profile broadcast by the utility, and the utility updates the price profile to guide their behavior. This protocol is guaranteed to converge, irrespective of the specifications (e.g., maximum charging rate and deadline) of electric vehicles. At convergence, the l_(2) norm of the aggregated demand is minimized, and the aggregated demand profile is as "flat" as it can possibly be. The proposed protocol needs no coordination among the electric vehicles, hence requires low communication and computation capability. Simulation results demonstrate convergence to optimal collections of charging profiles within few iterations.

关键词： Electric vehicles charging rate Converge iterative methods Decentralized

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On modal observers for beyond rigid body H∞ control in high-precision mechatronics

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

The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured H∞ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar *** Codes 37M15 © 2022, CC BY.

关键词： Closed loop systems

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Lower bounds for the stability margin of linear discrete systems based on the weighted performance criteria

Lower bounds for the stability margin of linear discrete sys...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： P. Agathoklis M. Mansour Department of Electrical & Computer Engineering University of Victoria Victoria BC Canada Institute of Automatic Control & Industrial Electronics Swiss Federal Institute of Technology Zurich Switzerland

Lower bounds for the stability margin of linear discrete systems computed from impulse response measurements are presented. These bounds are based on the connection between the weighted performance criteria and the Lyapunov equation. It is shown that positive definite matrices satisfying the Lyapunov equation for a stable system with unknown parameters can be computed from impulse response measurements. The lower bounds for the stability margin can be obtained from the eigenvalues of these matrices. The properties of the method presented are discussed and it is shown that the lower bounds can be improved by increasing the order of the weighting factor.< >

关键词： Stability criteria Equations Continuous time systems Polynomials Noise measurement automatic control Industrial electronics Eigenvalues and eigenfunctions Transfer functions Character generation

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Multi-Level Knowledge Reduction in Fuzzy Objective Information systems

Multi-Level Knowledge Reduction in Fuzzy Objective Informati...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xianzhong Zhou Bing Huang Jiabao Zhao Department of Systems & Control Engineering Nanjing University Nanjing China Department of Computer Science & Technology Nanjing Audit University Nanjing China

Knowledge reduction is one of the most important tasks in rough set theory. Aiming at fuzzy objective information systems (FOIS), several knowledge reductions, distribution reduction, maximum distribution reduction, assignment reduction and ordered assignment reduction, are defined under the condition of multi-level. The judgment theorem and discernibility matrix with respect to consistent set are obtained by means of the definitions. One method to extract the defined knowledge reductions is presented. This may aid to knowledge acquisition from fuzzy objective information systems

关键词： Fuzzy systems Information systems Fuzzy control Fuzzy set theory control engineering computer science Set theory Data mining Knowledge acquisition Fuzzy sets

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Exploring the use of deep learning in task-flexible ILC

arXiv

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arXiv 2023年

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

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 *** Codes 37M15 © 2023, CC BY.

关键词： Feedforward control

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On the new filtering technique of noise attenuation in color images

On the new filtering technique of noise attenuation in color...

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International Symposium on Image and Signal Processing and Analysis

作者： M. Szczepanski B. Smolka K. Wojciechowski A. Plataniotis A.N. Venetsanopoulos Department of Automatic Control Silesian University of Technology Gliwice Poland Edward S. Rogers Sr. Department of Electrical and Computer Engineering University of Toronto Toronto Canada

ISBN: (纸本)9539676940

A new filter class for multichannel image processing is introduced and analyzed. The new technique of image enhancement is capable of reducing impulsive and Gaussian noise and it significantly outperforms the standard methods of noise reduction. In the paper, a smoothing operator, based on a random walk model and on a fuzzy similarity measure between pixels connected by a digital geodesic path, is introduced. The efficiency of the proposed method was tested on standard color images using objective image quality measures. Obtained results show that the new method not only outperforms standard noise reduction algorithms, but has some interesting features useful for segmentation of noisy color images.

关键词： Filtering Colored noise Attenuation Color Noise reduction Level measurement Filters Image processing Image analysis Image enhancement

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