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Efficient algorithms for discrete-time symmetric polynomial equations with complex coefficients

IFAC Proceedings Volumes 1999年第2期32卷 1732-1737页

作者： Didier Henrion Jan Ježek Michael Šebek LAAS-CNRS 7 Avenue du Colonel Roche 31 077 Toulouse Cedex 4 France Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou vĕži 4 182 08 Prague 8 Czech Republic Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech University of Technology Technická 2 166 27 Praaue 6 Czech Republic

Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The ... 详细信息

关键词： Matrix Polynomial Equations Polynomial Methods Numerical Methods Computer-aided control System Design Complex Variables Discrete-time Systems

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Proper solutions of polynomial equations

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IFAC Proceedings Volumes 1999年第2期32卷 1927-1932页

作者： V. Kučera P. Zagalak Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic Phone: (+420) 2 6605 2018. Fax: (+420) 2 688 4903. Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Phone: (+420) 2 6605 2367. Fax: (+420) 2 688 4554.

The linear equation AX + BY = C is studied, where A , B , and C are given polynomial matrices such that A −1 B is a strictly proper rational matrix. All polynomial matrix solution pairs X , Y such that YX −1 is a proper rational matrix are parametrized. The study is motivated by the polo placement techniques in the design of linear control systems.

关键词： Linear control systems pole assignment polynomial methods rational matrices transfer functions

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Proportional and derivative feedback realizations of precompensators

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IFAC Proceedings Volumes 1999年第2期32卷 1945-1948页

作者： M. Malabre V. Kučera Institut de Recherche en Cybernétique de Nantes UMR CNRS 6597 1 rut de la Noë B.P. 92101 44321 Nantes Cedex O3 France. Phone: (+33) 2 40 31 16 51. Fax: (+33) 2 40 37 25 22. Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod vodárenskou věží 4 182 08 Praha 8 Czech Republic Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic Phone: (+420) 2 6605 2018. Fax: (+420) 2 688 4903.

Proportional and Derivative (PD) feedback schemes are often used in the anaiysis of linear control problems, when for instance no solution exists with pure Proportional (even dynamic) feedback. The classes of compensators that are realizable by using regular PD either state or output feedback are characterized, both for strictly proper systems and, more generally, for descriptor systems.

关键词： Linear systems descriptor systems PD controllers feedforward compensation algebraic approach

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Hardware-in-the-Loop Simulation for the Design and Testing of Engine-control Systems

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IFAC Proceedings Volumes 1998年第4期31卷 1-10页

作者： R. Isermann J. Schaffnit S. Sinsel Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

For the design, implementation and testing of control systems increasingly hardware-in-the-loop (HIL) simulation is required, where parts of the control loop components are real hardware and parts are simulated. Usually, the process is simulated because it is not available (simultaneous engineering), or experiments with the real process are too costly or require too much time. The sensors and actuators may be simulated or real and the controller is real hardware and software. The real-time requirements for the simulation depends on the time scale of the process and the simulated components. The contribution gives first an overview of the various kinds of real-time and HIL simulation. Then, two cases are considered. First the HIL simulation for relatively slow processes, like in basic industries or heating systems. Here, the simulation-speed may be limited either by the complexity of the processes or by the real controller hardware. Then, the HIL simulation of combustion engines both with transputers and digital signal processors is shown in detail. The required models for 6- and 8-cylinder diesel engines are described, including fuel injection and burning, pressure development, torque generation at the crankshaft, exhaust turbocharger dynamics and the vehicle dynamics. The HIL-simulator test bench consísts of a real-time computer system, sensor-interface, actuator interface, real injection pumps and the real control unit. Comparisons of real-time simulation with measurements on real diesel engines and trucks are shown. The goal of the HIL system is to develop new control algorithms and to investigate the effect of faults in sensors and actuators and the engine itself.

关键词： real-time simulation hardware-in-the-loop simulation diesel engine turbocharger vehicle dynamics transputers digital signal processors simulator testbench

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Neuro-Fuzzy Modeling of Automotive SI-Engine Characteristics

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IFAC Proceedings Volumes 1998年第1期31卷 149-154页

作者： H. Holzmann Ch. Halfmann R. Isermann Darmstadt University of Technology Institute of Automatic Control Laboratory for Control Engineering and Process Automation Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany Telephone: +49-6151-167407 Telefax: +49-6151-293604

In automotive technology, the behaviour of SI-combustion engines is often characterised by the dependency of the engine torque on the engine speed and the throttle angle. Especially for control and simulation purposes it is important to provide an easy possibility to extract a formal description of an engine characteristic map from data measured on an engine test stand. This paper describes a way to replace the conventionally used look-up-tables by neural network or fuzzy logic representations and to adapt them on-line to measured signals. In addition to that, a neuro-fuzzy approach is discussed as well.

关键词： Si-combustion engine 3-D maps neural networks fuzzy logic neuro-fuzzy

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Algebraic approach to robust controller design: A geometric interpretation

Algebraic approach to robust controller design: A geometric ...

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1998 American control Conference, ACC 1998

作者： Henrion, Didier Šebek, Michael Tarbouriech, Sophie LAAS-CNRS 7 Avenue du Colonel Roche 31 077 Toulouse Cedex 4 France Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech University of Technology Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague Czech Republic

ISBN: (纸本)0780345304

The problem of robust controller design is addressed for a single-input single-output plant with a single uncertain parameter. Given one controller that stabilizes the nominal plant, the Youla-Kucera parametrization of all stabilizing controllers and quadratic forms over Hermite-Fujiwara matrices are used to provide clear and simple geometric answers to the following questions: Can the plant be robustly stabilized by a nominally stabilizing controller? How can this robust controller be designed? Thanks to recent results on bilinear matrix inequalities, this geometric interpretation allows to state the equivalence between robust controller design and the concave minimization problem. © 1998 AACC.

关键词： controllers

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Polynomial Equations: A Tool for control Systems Synthesis

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IFAC Proceedings Volumes 1998年第18期31卷 263-268页

作者： V. Kučera Institute of Information Theory and Automation Academy of Sciences of the Czech Republic CZ-182 08 Praha Trnka Laboratory for Automatic Control Faculty of Electrical Engineering Czech Technical University CZ-166 27 Praha Czech Republic

Motivated by the pole placement design techniques, linear polynomial (or diophantine) equations have become a popular design tool of control engineers. The paper presents the theory, properties, and computational algorithms for the equation ax + by = c in a tutorial manner. Recent results are presented on the parametrization of limited degreee solutions, of relatively prime solutions, and of solutions x, y such that y/x is proper rational. Parametric and non-parametric computational algorithms are discussed in detail. Motivées par les méthodes de placement des pôles, les équations linéaires polynomiales (ou Diophantine) sont de venue un outil mathématique polulaire parmi les automaticiens. Cette communication a pour but de présenter, d'une manière synoptique, la théorie et le calcul numérique liés à l' équation ax + by = c. Plusieurs résultats récents sont présentés, sur la paramétrisation des solutions x, y de degré borné, sur les solutions x, y premières entre elles et sur les solutions telles que le rapport y/x est rationnel et propre. Plusieurs méthodes de résolution de cette équation, paramétriques ou non, sont discutées en détail.

关键词： Linear control systems pole assignment polynomial methods parametrization numerical solutions software tools

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Numerical Methods For Polynomial Matrix Rank Evaluation ⋆

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IFAC Proceedings Volumes 1998年第18期31卷 369-374页

作者： Didier Henrion Michael Šebek LAAS-CNRS 7 Avenue du Colonel Roche 31 077 Toulouse Cedex 4 France Trnka Laboratory of Automatic Control Faculty of Electrical Engineering Czech University of Technology Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic 182 08 Prague 8 Czech Republic

Two algorithms are proposed for evaluating the rank of an arbitrary polynomial matrix. They rely upon constant matrix rank evaluations and therefore are more reliable than already existing elementary polynomial operations techniques. Some applications are mentioned, such as polynomial null-space extraction or conditions of existence of solutions to matrix polynomial equations arising in control problems. Deux algorithmes sont proposés pour évaluer le rang d'une matrice polynomiale quelconque. Ils sont basés sur des évaluations de rangs de matrices constantes et sont donc plus fiables que les techniques déjà existantes d'opérations polynomiales élémentaires. Quelques applications sont mentionnées, comme l'extraction du noyau polynomial ou des conditions d'existence de solutions aux équations polynomiales matricielles provenant de problèmes de commande.

关键词： Numerical algorithms Matrix polynomial equations

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Long-Range Predictive control of the Parametric Hammerstein Model

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IFAC Proceedings Volumes 1998年第17期31卷 421-426页

作者： Robert Haber Ruth Bars Orsolya Lengyel Department of Process Engineering Laboratory of Process Control Cologne Institute of Technology D-50679 Koln Betzdorfer Str. 2 Germany fax: 49-221-8275-2836 phone:49-221-8275-2242 Department of Automation Technical University of Budapest H-1111 Budapest Goldmann Gy. tér 3 Hungary lax: 361-463-2871 phone:361-463-2885

Predictive control algorithms are promising also in the case of nonlinear systems. Long-range predictive control algorithms are derived here for the nonlinear Hammerstein model. A quadratic cost function is minimized, which considers the quadratic deviation of the reference signal and the output signal predicted in a future horizon and punishes also the squares of the control increments. The predictive incremental form of the Hammerstein model is used to predict the output signal. Suboptimal versions of the control algorithm are given with different assumptions for the control signal during the control horizon. Some properties of these algorithms are shown through simulation examples. Behaviour of long-range predictive control algorithms is compared with the performance of one-step-ahead predictive control algorithms.

关键词： Predictive control nonlinear control suboptimal control Hammerstein model

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Fault detection and diagnosis of components of the vehicle vertical dynamics

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MECCANICA 1997年第5期32卷 459-472页

作者： Weispfenning, T Darmstadt University of Technology Institute of Automatic Control Laboratory of Control Engineering and Process Automation D-64283 Darmstadt Germany

In this paper, model and signal-based methods for supervision of suspension elements of a car are presented. A model-based approach using parameter estimation is used to determine the current parameters of a vehicle suspension. Exploiting the analytical redundancy, different faults, like weak dampers or sensor faults, can be distinguished. For fault detection the use of parity equations is shown. In addition, a signal-based approach is presented which makes a detection of tire pressure loss possible. All presented results were drawn from a test rig or from a driving car.

关键词： vehicle dynamics diagnostics suspension signal analysis automotive applications

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