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Experimental Evaluation of Internal Model control for 3ϕ Grid-tied Solar PV Inverter

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Experimental Evaluation of Internal Model Control for 3ϕ Gr...

Power Electronics & IoT Applications in Renewable Energy and its control (PARC), 2020 International Conference on

作者： Soumya Ranjan Mohapatra Palakurla Sekhar Vivek Agarwal Sachin C Patwardhan Department of electrical engineering IIT Bombay Mumbai India Department of Systems and Control engineering IIT Bombay Mumbai India Department of Chemical engineering IIT Bombay Mumbai India

ISBN: (数字)9781728165752

ISBN: (纸本)9781728165769

The control performance of the 3-phase grid inverter decides the quality and quantity of power transfer from solar panels to the utility grid. Therefore, performance enhancement of control techniques of grid-tied photovoltaic system has practical significance. The objective of this work is to enhance servo control of the grid-tied PV system using a multi-variable internal model control (IMC) technique. The design guidelines of IMC for the grid-tied photovoltaic system is clearly presented. The filter model of the voltage source inverter is employed to design the IMC. Experimental results are demonstrated for two conditions. In one of the conditions, cascaded control of DC-link capacitor voltage and grid current has been carried out. The current reference for the IMC is generated from the PI controller which controls the capacitor voltage. Maximum power of the PV is tracked by generating suitable reference voltage for the DC-link voltage control. In the other condition, only IMC performance is verified assuming constant DC source. The experimental setup is explained in detail and concluding remarks are presented.

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Robust discrete-time pontryagin maximum principle on matrix lie groups

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arXiv 2020年

作者： Joshi, Anant A. Chatterjee, Debasish Banavar, Ravi N. Department of Systems and Control Engineering IIT Bombay Powai Mumbai400076 India

This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal control wherein the disturbance is the adversary and tries to maximise a cost that the control tries to minimise. Assuming the existence of a saddle point in the problem, we present a version of the Pontryagin maximum principle (PMP) that encapsulates first-order necessary conditions that the optimal control and disturbance trajectories must satisfy. This PMP features a saddle point condition on the Hamiltonian and a set of backward difference equations for the adjoint dynamics. We also present a special case of our result on Euclidean spaces. We conclude with applying the PMP to robust version of single axis rotation of a rigid body. Copyright © 2020, The Authors. All rights reserved.

关键词： Maximum principle

Formation control using optimal time multiplexing

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Formation control using optimal time multiplexing

IEEE Conference on Decision and control

作者： Harsh Oza Ravi Banavar Sukumar Srikant I.C. Morărescu Systems Control Engineering IIT Bombay Powai Mumbai India CNRS CRAN Universite de Lorraine Nancy France

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Lack of availability of adequate bandwidth for simultaneous communication between a large number of agents and the central processing unit motivates us to study a multi-agent system employing time multiplexed control. Achieving a formation under such time-multiplexing constraints is posed as a discrete constrained optimal control problem. Employing the discrete Pontryagin Maximum Principle (DMP) we obtain first order necessary conditions to be satisfied by an optimal control law, which tackles both problems of formation control and time multiplexing simultaneously. The information structure of relative states is embedded into the problem using a graph theoretic framework. The necessary conditions appear in the form of a two-point boundary value problem and this is solved using a multiple shooting method. The results are then validated through numerical experiments for various cases.

关键词： Multiplexing Optimal control Trajectory Time factors Optimal scheduling Directed graphs Central Processing Unit

State-space Realization of Linear Time-invariant systems with Maximum Measure of Quality

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State-space Realization of Linear Time-invariant Systems wit...

Asian control Conference

作者： Mohammed Rayyan Sheriff Masaaki Nagahara Systems and Control Engineering IIT Bombay India

ISBN: (纸本)9781728102634

In this paper, we give a state-space realization that maximizes the measure of quality (MoQ). MoQ of a system is a performance index that determines how easily the system can be controlled, while the standard notion of reachability/controllability just gives a binary information, e.g. reachable or unreachable. In this paper, we formulate the realization problem as maximization of the MoQ by a coordinate transformation matrix. We show that the optimal coordinate transformation is given in a closed form. The proposed method is effective in particular for preconditioning of an ill-conditioned grammian, the inverse of which is used to solve the reachability problem. We show a numerical example to illustrate this merit of the proposed method.

关键词： Observability Symmetric matrices Linear systems Optimal control Optimization Aerospace electronics

Commercial-off-the-shelf (COTS) solution for Robot Sensing and control

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Commercial-off-the-shelf (COTS) solution for Robot Sensing a...

control Conference (ICC), 2019 Sixth Indian

作者： Vivek Yogi Leena Vachhani Systems and Control Engineering IIT Bombay India

ISBN: (数字)9781728138602

ISBN: (纸本)9781728138619

In this work we investigate the possibility of using an Android smartphone as the standalone sensor pack cum processor for a mobile robot. In addition to sensors and processing ability the smartphone has various communication infrastructure and a modern operating system. We also discuss the architecture of minimal hardware ground mobile robot using android smartphone and the approaches to robot software development using android smartphone as primary controller. A discussion of existing libraries and tools that can be leveraged to enable quick development is discussed. A trajectory tracking experiment is presented to demonstrate the working of the presented architecture.

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Measure of quality of finite-dimensional linear systems: A frame-theoretic view

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arXiv 2019年

作者： Pk, Mishal Assif Sheriff, Mohammed Rayyan Chatterjee, Debasish Department of Mechanical Engineering IIT Bombay Powai Mumbai400076 India Systems and Control Engineering IIT Bombay Powai Mumbai400076 India

A measure of quality of a control system is a quantitative extension of the classical binary notion of controllability. In this article we study the quality of linear control systems from a frame-theoretic perspective. We demonstrate that all LTI systems naturally generate a frame on their state space, and that three standard measures of quality involving the trace, minimum eigenvalue, and the determinant of the controllability Gramian achieve their optimum values when this generated frame is tight. Motivated by this, and in view of some recent developments in frame-theoretic signal processing, we propose a natural measure of quality for continuous time LTI systems based on a measure of tightness of the frame generated by it and then discuss some properties of this frame-theoretic measure of quality. Copyright © 2019, The Authors. All rights reserved.

关键词： Linear control systems

DESIGN OF A DISCRETE TIME OBSERVER FOR THE CONTINUOUS TIME ROTATION KINEMATICS ON SO(3)

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arXiv 2019年

作者： Shanbhag, Soham Banavar, Ravi Department of Mechanical Engineering IIT Bombay Powai Mumbai400076 India Systems & Control Engineering IIT Bombay Powai Mumbai400076 India

This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group SO(3). The work draws on two research schools - one by Chang [CJP16] based on feedback integrators for systems evolving on manifolds, and the other by Mahony [MHP08], who proposed an observer for attitude dynamics. The discrete time observer is based on the modified dynamics of the Mahony observer for attitude dynamics, where the modification of the vector field enables numerical integration based on Euclidean schemes. Copyright © 2019, The Authors. All rights reserved.

关键词： Continuous time systems

Stabilization under round robin scheduling of control inputs in nonlinear systems

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arXiv 2019年

作者： Maheshwari, Chinmay Srikant, Sukumar Chatterjee, Debasish Department of Mechanical Engineering Iit Bombay Powai Mumbai400076 India Systems and Control Engineering Iit Bombay Powai Mumbai400076 India

We study the qualitative behavior of multivariable control-affine nonlinear systems under sparsification of feedback controllers. Sparsification in our context refers to the scheduling of the individual control inputs one at a time in rapid periodic sweeps over the set of control inputs, which we call the round robin scheduling. We prove that if a locally asymptotically stabilizing feedback controller is sparsified via the round robin scheme and each control action is scaled appropriately, then the corresponding equilibrium of the resulting system is stabilized when the scheduling is sufficiently fast;under mild additional conditions, local asymptotic stabilization of the corresponding equilibrium can also be guaranteed. Our technical tools are derived from optimal control theory, and our results also contribute to the literature on the stability of switched systems in the fast switching regime. Illustrative numerical examples depicting several subtle features of our results are *** Codes 93C10, 93D05, 93D20 Copyright © 2019, The Authors. All rights reserved.

关键词： Scheduling

Scenario approach for minmax optimization with emphasis on the nonconvex case: positive results and caveats

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arXiv 2019年

作者： Mishal Assif, P.K. Chatterjee, Debasish Banavar, Ravi Department of Mechanical Engineering IIT Bombay Powai Mumbai400076 India Systems & Control Engineering IIT Bombay Powai Mumbai400076 India

We treat the so-called scenario approach, a popular probabilistic approximation method for robust minmax optimization problems via independent and indentically distributed (i.i.d) sampling from the uncertainty set, from various perspectives. The scenario approach is well-studied in the important case of convex robust optimization problems, and here we examine how the phenomenon of concentration of measures affects the i.i.d sampling aspect of the scenario approach in high dimensions and its relation with the optimal values. Moreover, we perform a detailed study of both the asymptotic behaviour (consistency) and finite time behaviour of the scenario approach in the more general setting of nonconvex minmax optimization problems. In the direction of the asymptotic behaviour of the scenario approach, we present an obstruction to consistency that arises when the decision set is noncompact. In the direction of finite sample guarantees, we establish a general methodology for extracting "probably approximately correct" type estimates for the finite sample behaviour of the scenario approach for a large class of nonconvex *** Codes 90C47, 90C26, Copyright © 2019, The Authors. All rights reserved.

关键词： Convex optimization