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IEEE International Conference on Industrial Technology (ICIT)

作者： P. Crnosija T. Bjazic R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

Traditional approaches to controller designs that guarantee fast compensation of load torque and reference variations result in design iterations and most of the time in poorer response for load torque variations. In this paper a reference model for desired drive behavior generation and optimization methods has been applied to achieve controller integral time constant lower than the maximum time constant of the PM brushless DC motor drive. Presented simulation results show that using reference model for desired drive behavior generation, it is possible to determine optimal controller parameters for faster (10 time) and better (2 time) load torque compensation than in the case of traditional design of speed controller parameters. Response due to reference input with constrained overshoot has been achieved using a filter in the servosystem input. Thereby, the proposed method demonstrates the design of a speed controller that is optimal for both load torque and reference variations and its verification with simulation are accomplished for a permanent magnet brushless dc motor drive.

关键词： Brushless DC motors Torque control Optimal control Time factors DC generators Optimization methods Magnetic separation Filters Servosystems Design methodology

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A study on integral equalities related to a Laplace transformable function and its applications

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International Journal of control, Automation and Systems 2003年第1期1卷 76-82页

作者： Kwon, Byung-Moon Ryu, Hee-Seob Kwon, Oh-Kyu Guidance and Control Department Korea Aero Space Research Institute Korea Republic of Ubiquitous Computing Lab. Samsung Adv. Institute of Technology Korea Republic of Sch. of Elec. and Comp. Engineering Inha University Korea Republic of

This paper establishes some integral equalities formulated by zeros located in the convergence region of a Laplace transformable function. Using the definition of the Laplace transform, it shows that Laplace transformable functions have to satisfy the integral equalities in the time-domain, which can be applied to the understanding of the fundamental limitations on the control system represented by the transfer function. In the unity-feedback control scheme, another integral equality is derived on the output response of the system with open-loop poles located in the convergence region of the output function. From these integral equalities, two sufficient conditions related to undershoot and overshoot phenomena in the step response, respectively, are investigated.

关键词： Laplace transforms

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Robust filtering by fictitious noises

Robust filtering by fictitious noises

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IEEE Conference on Decision and control

作者： Huanshui Zhang D. Zhang Wei Wang Lihua Xie Shenzhen Graduate School of Harbin Institute of Technoloy Shenzhen China The Center for Information and Control Dalian University of Technology Dalian China Department of Computing Hong Kong Polytechnic University Hong Kong China BLK S2 School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)0780379241

In this paper, a new approach is presented for robust filtering of a linear discrete-time signal by applying fictitious noise. Modeling errors, in both the numerator and denominator of the transfer functions, are parameterized by using random variables with zero mean and known covariance. The robust performance is obtained by minimizing the mean square estimation error over all of the random parameter and noise. To derive a robust estimator, the uncertainties in the model are incorporated into two mutually uncorrelated fictitious noises with zero means. The covariances of the fictitious noises are computed by using two formulas that are presented in this paper. An illustrative example shows the effectiveness of our approach.

关键词： Noise robustness Uncertainty Polynomials Transfer functions Stochastic resonance Technological innovation Mean square error methods Robust control Information filtering Information filters

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A reinforcement learning approach to obstacle avoidance of mobile robots

A reinforcement learning approach to obstacle avoidance of m...

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International Workshop on Advanced Motion control (AMC)

作者： K. Macek I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Croatia

One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward information. This credit assignment problem includes both temporal and structural aspects. While the temporal credit assignment problem is solved using core elements of the reinforcement learning agent, solution of the structural credit assignment problem requires an appropriate internal state space representation of the environment. In this paper, a discrete coding of the input space using a neural network structure is presented as opposed to the commonly used continuous internal representation. This enables a faster and more efficient convergence of the reinforcement learning process.

关键词： Learning Mobile robots control engineering computing Automatic control Neural networks Fuzzy logic Path planning Robotics and automation Navigation State-space methods

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ATM available bit rate congestion control with on-line network model identification

ATM available bit rate congestion control with on-line netwo...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： D. Brscic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In this paper, the design of available bit rate (ABR) congestion control in ATM (asynchronous transfer mode) networks is considered. The goals of congestion control are high link utilization, low cell loss, and low network delay. Various algorithms for congestion control can be found in the literature. Most of them are based on a network model, which is assumed to be known. In this paper a recursive least square (RLS) algorithm for on-line identification of the network model is implemented and combined with a generalized predictive controller (GPC) and with an I-controller based on the Smith predictor. Simulations were carried out to prove the effectiveness of the proposed algorithms.

关键词： Bit rate Asynchronous transfer mode Traffic control Automatic control Communication system traffic control control design Bandwidth Switches Process control control engineering computing

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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Toolkit for PID dominant pole design

Toolkit for PID dominant pole design

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： I. Branica I. Petrovic N. Peric Systemcorn Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

关键词： Three-term control control systems Design methodology MATLAB Equations Automatic control Least squares methods Process control Industrial control State feedback

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Milestone report coordinating committee on computer control 15th

Milestone report coordinating committee on computer control

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15th World Congress of the International Federation of Automatic control, 2002

作者： Verbruggen, Henk B. Park, Jaehyun Halang, Wolfgang Irwin, George Zalewski, Janusz Faculty of Information Technology and Systems Delft University of Technology Delft Netherlands Department of Automation Engineering Inha University Incheon Korea Republic of Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast United Kingdom Department of Electrical and Computing Engineering University of Central Florida Orlando United States

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Neurofuzzy model based l/sub /spl infin// predictive control of nonlinear CSTR system

Neurofuzzy model based l/sub /spl infin// predictive control...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Q. Wu Y.J. Wang Q.M. Zhu K. Warwick Department of Control Science and Engineering CNCS Huazhong University of Science and Technology Wuhan China Faculty of Engineering Computing and Mathematics University of Western England Bristol UK Department of Cybernetics University of Reading Reading UK

In this paper the nonlinear dynamics of a continuously stirred tank reactor (CSTR) are modelled with a neuro-fuzzy network, so that a predictive control strategy is developed based on the l/sub /spl infin// norm performance. Stability of the closed loop system is proved that the system is stable if each local linear control system is closed loop stable. The pH control in neutralisation process within the CSTR was simulated to indicate that the control performance is superior to that from quadratic predictive control.

关键词： Continuous-stirred tank reactor Predictive models Predictive control Nonlinear dynamical systems Inductors Fuzzy neural networks Stability Closed loop systems control systems Process control

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Complexity reduction in MPC for stochastic max-plus-linear systems by variability expansion

Complexity reduction in MPC for stochastic max-plus-linear s...

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IEEE Conference on Decision and control

作者： T.J.J. van den Boom B. De Schutter B. Heidergott Control Systems Engineering Faculty of Information Technology and Systems Delft University of Technnology Delft Netherlands Department of Mathematics and Computing Science Eindhovan University of Technology Eindhoven Netherlands

Model predictive control (MPC) is a popular controller design technique in the process industry. Conventional MPC uses linear or nonlinear discrete-time models. Previously, we have extended MPC to a class of discrete event systems that can be described by a model that is "linear" in the max-plus algebra. In our previous work we have considered MPC for the perturbations-free case and for the case with noise and/or modeling errors in a bounded or stochastic setting. In this paper we consider a method to reduce the computational complexity of the resulting optimization problem, based on variability expansion. We show that the computational load is reduced if we decrease the level of 'randomness' in the system.

关键词： Stochastic systems Predictive models Predictive control Electrical equipment industry Industrial control Discrete event systems Algebra Stochastic resonance Computational complexity Optimization methods

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