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System Properties of Implicit Passive Electrical Networks Descriptions

IFAC-PapersOnLine 2017年第1期50卷 9242-9247页

作者： Karcanias N. Livada M. Leventides J. Systems and Control Research Centre School of Mathematics Computer Sciences & Engineering City University London Northampton Square London EC1V 0HB United Kingdom University of Athens Department of Economics Section of Mathematics and Informatics Pezmazoglou 8 Athens Greece

Redesigning systems by changing elements, topology, organization, augmenting the system by the addition of subsystems, or removing parts, is a major challenge for systems and control theory. A special case is the redesign of passive electric networks which aims to change the natural dynamics of the network (natural frequencies) by the above operations leading to a modification of the network. This requires changing the system to achieve the desirable natural frequencies and involves the selection of alternative values for dynamic elements and non-dynamic elements within a fixed interconnection topology and/or alteration of the interconnection topology and possible evolution of the network (increase of elements, branches). The use of state-space or transfer function models does not provide a suitable framework for the study of this problem, since every time such changes are introduced, a new state space or transfer function model has to be recalculated. The use of impedance and admittance modeling, provides a suitable framework for the study of network properties under the process of re-engineering transformations. This paper deals with the fundamental system properties of the impedance-admittance network description which provide the appropriate framework for network re-engineering. We identify the natural topologies expressing the structured transformations linked to the impedance-graph, admittance graph-topology of the network and examine issues such as network regularity, number of finite frequencies and provide characterization of them in terms of the basic network matrices. The implicit network representation introduced provides a natural framework for expressing the different types of re-engineering transformations which can be used for the study of the natural frequencies assignment. © 2017

关键词： linear networks Linear systems structured systems system models system theory

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Frequency estimation of a sinusoidal signal with time-varying amplitude*

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IFAC-PapersOnLine 2017年第1期50卷 12880-12885页

作者： Vedyakov, Alexey A. Vediakova, Anastasiia O. Bobtsov, Alexey A. Pyrkin, Anton A. Aranovskiy, Stanislav V. Department of Control Systems and Informatics ITMO University Kronverkskiy pr. 49 St. Petersburg197101 Russia Department of Computer Applications and Systems St.Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia CentraleSupélec IETR Avenue de la Boulaie Cesson-Sévigné35576 France

This paper is devoted to frequency estimation of a sinusoidal signal with a time-varying amplitude. The amplitude can take zero values, but should be known and bounded. The first order linear regression model is obtained. The estimation algorithm has been constructed basing on standard gradient approach. It is shown that the frequency estimation error converges to zero exponentially fast. The described algorithm does not require measuring or calculating derivatives of the input signal. The efficiency of the proposed approach is demonstrated through a set of numerical simulations. © 2017

关键词： Frequency estimation Continuous time systems Linear regression Continuous time estimations Estimation algorithm Frequency estimation errors Gradient approach Gray box models Linear regression models Sinusoidal signals Time domain identification

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Multivariate Linear and Nonlinear Central-Cardiorespiratory Coupling Pathways in Healthy Subjects

Multivariate Linear and Nonlinear Central-Cardiorespiratory ...

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Computers in Cardiology (CinC)

作者： Steffen Schulz Aniol Serra Juhé Beatriz Giraldo Jens Haueisen Karl-Jürgen Bär Andreas Voss Ernst-Abbe-Hochschule Institute of Innovative Health Technologies IGHT Jena Germany Department of Automatic Control (ESAII) Universitat Politècnica de Catalunya Barcelona Spain University of Technology Institute of Biomedical Engineering and Informatics Ilmenau Germany Department of Psychiatry and Psychotherapy University Hospital Jena Germany Ernst-Abbe-Hochschule Jena Institute of Innovative Health Technologies IGHT Jena Germany

ISBN: (纸本)9781728109244

Advances in nonlinear dynamics and information theory facilitate a multivariate study of information transfer between physiological systems and sub-systems aiming to characterize healthy and diseased physiological network states. In this study, we investigated the central-cardiorespiratory network (CCRN) applying linear and nonlinear causal coupling approaches (normalized short time partial directed coherence, multivariate transfer entropy) in 21 healthy subjects. From all participants, continuous heart rate (successive beat-to-beat intervals, BBI), synchronized calibrated respiratory inductive plethysmography signal (respiratory frequency, RESP), and the mean power P EEG from a 64-channel EEG were recorded for 15 minutes under resting conditions. We found that the central-cardiorespiratory coupling is a bidirectional one, with central driving mechanisms towards BBI (PEEG→BBI), and respiratory driving towards P EEG (RESP→PEEG). The central-cardiac (P EEG -BBI) and central-respiratory coupling (P EEG -RESP) seem to be stronger generated by linear process than nonlinear ones. We obtained a different CCRN behavior in healthy subjects providing a further step towards a more comprehensive understanding of the interplay of neuronal and autonomic regulatory processes.

关键词： Couplings Physiology Time series analysis Entropy Electroencephalography Noise measurement Diseases

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Adaptive Tracking of a Multi-Sinusoidal Signal with DREM-Based Parameters Estimation

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IFAC-PapersOnLine 2017年第1期50卷 4282-4287页

作者： Borisov O.I. Gromov V.S. Vedyakov A.A. Pyrkin A.A. Bobtsov A.A. Aranovskiy S.V. Department of Control Systems and Informatics ITMO University Kronverkskiy pr. 49 St. Petersburg 197101 Russian Federation Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russian Federation CentraleSupélec - IETR Avenue de la Boulaie Cesson-Sévigné 35576 France

In this paper tracking of an unknown multi-sinusoidal signal with fast online frequency estimation is addressed. The latter has been achieved by the so-called dynamic regressor extension and mixing (DREM) approach, which allows to increase performance of multiple frequency estimation. Designed predictive compensation algorithm is capable to operate under presence of computational or transmission delays. The resultant controller has been implemented to a robotic arm with a computer vision system. An extensive experimental study shows undoubted advantages of the DREM-based frequency estimator in comparison to the classical gradient approach. A detailed analysis of the transient response properties is provided in the paper. © 2017

关键词： Adaptive control frequency estimation robotic manipulators target tracking time delay

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The model-based disturbance rejection with MOMI tuning method for PID controllers 12th

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12th Portuguese Conference on Automatic control, controlO 2016

作者： Vrančić, Damir Oliveira, Paulo Moura Cvejn, Jan Department of Systems and Control J. Stefan Institute LjubljanaSI-1000 Slovenia Department of Engineering School of Sciences and Technology Universidade de Trás-os-Montes e Alto Douro UTAD Vila Real5001–801 Portugal Faculty of Electrical Engineering and Informatics University of Pardubice Studentska 95 Pardubice532 10 Czech Republic

ISBN: (纸本)9783319436708

The paper presents a tuning method for PID controllers which substantially improves closed-loop disturbance rejection performance while keeping the tracking performance. The tuning method is based on the internal disturbance compensator which parameters are calculated according to the Magnitude Optimum criterion. The results of experiments show that the proposed model-based approach gives superior disturbance-rejection response and lower controller activity when compared to Disturbance Rejection Magnitude Optimum tuning method. © Springer International Publishing Switzerland 2017.

关键词： Disturbance rejection

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WaaS architecture-driven depressive mood status quantitative analysis based on forehead EEG and self-rating tool

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Brain informatics 2018年第2期5卷 1页

作者： Wan, Zhijiang Zhang, Hao Chen, Jianhui Zhou, Haiyan Yang, Jie Zhong, Ning Department of Life Science and Informatics Maebashi Institute of Technology Maebashi3710864 Japan College of Economics and Management Nanjing Forestry University Nanjing210037 China College of Electronic Information and Control Engineering Beijing University of Technology Beijing100124 China International WIC Institute Beijing University of Technology Beijing100088 China Beijing Anding Hospital of Capital Medical University Beijing100088 China

Background: Although the objective depression evaluation is a hot topic in recent years, less is known concerning developing a pervasive and objective approach for quantitatively evaluating depression. Driven by the Wisdom as a Service architecture, a quantitative analysis method for rating depressive mood status based on forehead electroencephalograph (EEG) and an electronic diary log application named quantitative log for mental state (Q-Log) is proposed. A regression method based on random forest algorithm is adopted to train the quantitative model, where independent variables are forehead EEG features and the dependent variables are the first principal component (FPC) values of the Q-Log. Results: The Leave-One-Participant-Out Cross-Validation is adopted to estimate the performance of the quantitative model, and the result shows that the model outcomes have a moderate uphill relationship (the average coefficient equals 0.6556 and the P value less than 0.01) with the FPC values of the Q-Log. Furthermore, an exemplary application of knowledge sharing, which is developed by using ontology technology and Jena inference subsystem, is given to illustrate the preliminary work for annotating data and facilitating clinical users to understand the meaning of the quantitative analysis results. Conclusions: This method combining physiological sensor data with psychological self-rating data could provide new insights into the pervasive and objective depression evaluation processes in daily life. © 2018, The Author(s).

关键词： Regression analysis

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Teaching and Practicing Model Predictive control

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IFAC-PapersOnLine 2016年第6期49卷 34-39页

作者： Honc, Daniel Sharma K., Rahul Abraham, Anuj Duek, Frantiek Pappa, Natarajan Department of Process Control Faculty of Electrical Engineering and Informatics University of Pardubice Czech Republic Department of Instrumentation Engineering Madras Institute of Technology Campus Anna University Chennai India

How to explain Model Predictive control (MPC) to students? How to practise it? The paper deals with chain of actions involving teaching, practicing and laboratory application of MPC at University of Pardubice in Czech Republic and at Anna University in India. Individual steps are presented and discussed with examples from educational experience - e.g. modelling and identification, derivation of MPC controller, simulations and laboratory applications. Every phase has a key and weak point as well. Desired results is that students understand better the theoretical concepts and they are able to apply predictive controllers at least for laboratory processes. Derivations and MATLAB scripts are available online. © 2016

关键词： Model predictive control controllers Experiments Identification (control systems) MATLAB Models Optimization Predictive control systems Teaching Czech Republic Educational experiences Laboratory process Matlab scripts Modelling and identifications Predictive controller Weak points

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Input shaping solutions for drones with suspended load: First results

Input shaping solutions for drones with suspended load: Firs...

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International Conference on Process control (PC)

作者： Petr Homolka Martin Hromčík Tomáš Vyhlídal Department of Instrumentation and Control Engineering Czech Technical University in Prague Czech Republic Department of Control Engineering University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.

关键词： Delays Payloads control systems Mathematical model Load modeling Simulation Propellers

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A novel modified DTC-SVM method with better overload-capability for permanent magnet synchronous motor servo drives

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2017年第3期61卷 253-263页

作者： Vajsz, Tibor Számel, László Rácz, György Department of Electric Power Engineering Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1521 Hungary Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics P.O.B. 91 BudapestH-1117 Hungary

Direct torque control with space vector modulation (DTCSVM) is one of the most promising alternatives of field-oriented control in the case of permanent magnet synchronous motor drives. This method controls the electromagnetic torque of the motor with excellent dynamics which makes it an attractive choice in the case of servo drives. In this article DTC-SVM is investigated with Matlab-Simulink simulation and it is proven that DTC-SVM has severe instability-issues during overloading and its overload-capabilities are heavily dependent on the speed. Therefore, a novel modified DTC-SVM method is proposed which is stable during overloading and its overload-capabilities are practically independent of the speed. Also, the overload-capability of the new method is superior to that of classical DTC-SVM, while the two methods are practically identical from the point of view of the torque-control dynamics and the torque-ripple generated.

关键词： Vector control (Electric machinery)

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