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IEEE Annual Conference on Decision and control

作者： Dominic Gross Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel (Germany)

ISBN: (纸本)9781467357159

This paper investigates the convergence of an iterative distributed model predictive control (DMPC) scheme for linear systems interconnected by dynamics and costs. The DMPC scheme is based on a Jacobi-type iteration and exchange of primal variables. Previous results show that, in the limit, the scheme converges to the Pareto optimal solution but no results on the convergence rate are given. We will first establish a bound on the convergence rate and show that weights used in the scheme and strength of coupling between subsystems have a strong influence on this bound. Subsequently, two approaches to determine the weights are compared. Random numerical examples are used to compare the theoretical bound on the convergence rate with the actual convergence of the scheme.

关键词： Convergence Couplings Vectors Jacobian matrices Cost function Predictive control

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Disturbance Tolerance and H∞control of Port-controlled Hamiltonian Systems in the Presence of Actuator Saturation

Disturbance Tolerance and H∞Control of Port-Controlled Hami...

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第三十二届中国控制会议

作者： Airong Wei Yuzhen Wang Xiaoming Hu School of Control Science and Engineering Shandong University Optimization and Systems Theory Royal Institute of Technology

ISBN: (纸本)9781479900305

This paper investigates the disturbance tolerance and Hcontrol of multi-input Port-controlled Hamiltonian（PCH） systems in the presence of actuator saturation which may be not open-loop stable.A simple condition is derived under which trajectories starting from the origin will remain inside an *** disturbance tolerance ability of the closed-loop system under a given feedback control law is measured by the size of this *** on the above mentioned condition,the problem of disturbance tolerance can be expressed in the form of the linear matrix inequalities（LMIs） optimization problem with *** addition,an Hcontrol approach is presented to attenuate the disturbances,and disturbance rejection ability in terms of L gain is also determined by the solution of an LMI optimization *** of an illustrative example with simulations shows the effectiveness of the methods proposed.

关键词： PCH system actuator saturation bounded ellipsoid disturbance tolerance H_∞control.

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Certifying Robustness of Separating Inputs and Outputs in Active Fault Diagnosis for Uncertain Nonlinear Systems

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IFAC Proceedings Volumes 2013年第32期46卷 837-842页

作者： Stefan Streif Daniel Hast Richard D Braatz Rolf Findeisen Institute for Automation Engineering Laboratory Systems Theory and Control Otto-von-Guericke University Magdeburg Germany Massachusetts Institute of Technology Cambridge MA USA

To ensure safe operation of technical processes, faults have to be reliably detected and isolated to provide information for process maintenance, shutdown, or reconfiguration. Fault detection and isolation can be achieved by invalidation of fault candidates, i.e. models of the system in fault-free and faulty condition. In order to enhance the performance of fault detection and isolation, so-called active approaches use input signals with the objective that the resulting system outputs are consistent with at most one fault candidate. Guaranteeing or analyzing robustness of active fault diagnosis with respect to input, output, and process uncertainties and nonlinearities is challenging. This paper provides certificates of robustness of input sequences with respect to the aforementioned uncertainties and nonlinearities. The certificates enable the determination of input and output uncertainties for which unique fault diagnosis results can still be guaranteed. In addition, a method is presented to select a minimal number of outputs that still guarantee robust fault diagnosis, thus reducing the measurement setup and cost. The approach employs nonlinear mixed-integer feasibility problems and a relaxation framework and does not require the explicit computation of reachable sets. The approach is applicable to polynomial discrete-time systems and is demonstrated for a numerical example.

关键词： Fault detection and isolation Nonlinear systems Process control applications

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Robust Design of Sparse Relative Sensing Networks

Robust Design of Sparse Relative Sensing Networks

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European control Conference

作者： Simone Schuler Daniel Zelazo Frank Allgower Institute for Systems Theory and Automatic Control University of Stuttgart Department of Aerospace Engineering Technion - Israel Institute of Technology

ISBN: (纸本)9781479901890

This paper considers the robust design of sparse relative sensing networks subject to a given H_∞-performance constraint. The topology design considers heterogenous agents over weighted graphs. We develop a robust counterpart to the uncertain optimization problem and formulate the sparsity constraint via a convex l_1-relaxation. We also demonstrate how this relaxation can be used to embed additional performance criteria, such as the maximization of the algebraic connectivity of the relative sensing network.

关键词： Relative sensing networks Robust H_∞- performance L_0-minimization Topology design

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Outlier Analysis in Set-based Estimation for Nonlinear Systems Using Convex Relaxations

Outlier Analysis in Set-based Estimation for Nonlinear Syste...

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European control Conference

作者： Stefan Streif Matthias Karl Rolf Findeisen Laboratory for Systems Theory and Automatic Control Institute for Automation Engineering Otto-von-Guericke-University Magdeburg

ISBN: (纸本)9781479901890

Set-based estimation for nonlinear systems is a useful tool to handle sparse and uncertain data. The tool provides outer bounds on feasible parameter sets and reachable states, as well as provable inconsistency certificates for entire parameter regions. In case of errors in the data such as outliers or incorrect a priori assumptions on variable uncertainties, set-based approaches can, however, lead to poor estimates or even rejection of a consistent model. We present a set-based approach to systematically identify outliers or incorrect variable uncertainty assumptions. The basic idea is to detect outliers by quantifying the influence they have on the inconsistency of an underlying feasibility problem. The results build on a set-based estimation framework that employs convex relaxations. Specifically we derive model consistency measures and sensitivity measures that combine the sensitivity information stored in the Lagrange dual variables. An algorithm is developed that iteratively detects outliers that contribute most to inconsistency. The algorithm terminates once the data and model are no longer proved inconsistent. The approach is illustrated by an example.

关键词： Mathematical model Uncertainty Sensitivity Measurement uncertainty Estimation Data models Analytical models

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On the hyperbolic observer canonical form

On the hyperbolic observer canonical form

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nDS '13;Proceedings of the 8th International Workshop on Multidimensional Systems

作者： Frank Woittennek Institute of Control Theory Faculty of Electrical and Computer Engineering Technische Universitat Dresden 01062 Dresden Germany

Observer design for a class of distributed parameter systems based on the so called hyperbolic observer canonical form (o.c.f.) is considered. The method relies on the tight relation between hyperbolic d.p.s. and functional differential equations (f.d.e.). Based on an input-output description given in form of a f.d.e. and a parametrization of the original "physical" coordinates by the system's input and output trajectories, the transformation to the o.c.f. is calculated using another set of coordinates. These coordinates are associated with the hyperbolic observability form and correspond to the restriction of the output trajectory to a certain interval. The proposed method is illustrated on the basis of the one-dimensional wave equation with dynamic boundary conditions.

关键词： Hyperbolic Canonical form Coordinates Distributed parameter systems INPUT-OUTPUT Wave equation parameterization trajectory

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Numerical Solution of Large Scale Sparse Matrix Equations in Python

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PAMM 2014年第1期14卷

作者： Björn Baran Martin Köhler Nitin Prasad Jens Saak Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstr. 1 39106 Magdeburg Department of Electrical Engineering Indian Institute of Technology Madras Chennai - 600036.

The M.E.S.S. software suite for solving large scale matrix equations and related problems is the successor of the obsolete LyaPack MATLAB® toolbox. The software suite consists of a new MATLAB toolbox and a separate C library C-M.E.S.S. which works independent from MATLAB. Due to the fact that many scientists use Python with NumPy and SciPy for their computations, we want to provide the key algorithms of M.E.S.S. there as well. In this paper, we describe and compare two possible approaches for the implementation, with special focus on their multicore performance. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Guaranteed Diagnosability of Parametric Faults in Nonlinear Systems

Guaranteed Diagnosability of Parametric Faults in Nonlinear ...

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IEEE Annual Conference on Decision and control

作者： Daniel Hast Stefan Streif Rolf Findeisen Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Otto-von-Guericke-University Magdeburg Germany

ISBN: (纸本)9781467357159

In this work we focus on unique diagnosability of parametric faults in the presence of measurement uncertainty and model mismatches. Specifically, we formulate a condition for diagnosability of parametric faults in a set-based framework that allows for direct consideration of uncertainty. Based on this condition we present an approach for the analysis and certification of diagnosability. Furthermore, we propose an approach for the redesign of initially given fault classifications in the parameter space. Specifically we compute diagnosable subsets of initially given parameter sets in polynomial discrete-time fault candidates by comparing pairs of fault candidates. Furthermore, we demonstrate the presented approach for a numerical example.

关键词： Parametric fault Parametric measurement uncertainty Redesign parameter space methods numerical example certification Fault class

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Explicit MPC of higher-order linear processes via combinatorial multi-parametric quadratic programming

Explicit MPC of higher-order linear processes via combinator...

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European control Conference (ECC)

作者： Christian Feller Tor Arne Johansen Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Department of Engineering Cybernetics NTNU Trondheim Norway

Parameter-dependent constrained optimization problems like they occur in the context of model predictive control (MPC) can be solved explicitly by means of multi-parametric quadratic programming (mpQP) techniques. We present a complexity analysis for a recently proposed combinatorial mpQP algorithm and discuss its advantages over existing geometric approaches concerning off-line explicit MPC computations for higher-order linear systems. The results are accompanied by numerical benchmark results for two suitable example problems from the area of process control.

关键词： Mathematical model Prediction algorithms Complexity theory Optimization Partitioning algorithms Vectors Fuel cells

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Design of Active Inputs for Set-Based Fault Diagnosis

Design of Active Inputs for Set-Based Fault Diagnosis

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American control Conference

作者： Joseph K. Scott Rolf Findeisen Richard D. Braatz Davide M. Raimondo Massachusetts Institute of Technology Institute for Automation Engineering Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Identification and Control of Dynamic Systems Laboratory University of Pavia

ISBN: (纸本)9781479901777

Effective fault diagnosis depends on the detectability of the faults in the measurements, which can be improved by a suitable input signal. This article presents a deterministic method for computing the set of inputs that guarantee fault diagnosis, referred to as separating inputs. The process of interest is described, under nominal and various faulty conditions, by linear discrete-time models subject to bounded process and measurement noise. It is shown that the set of separating inputs can be efficiently computed in terms of the complement of one or several zonotopes, depending on the number of fault models. In practice, it is essential to choose elements from this set that are minimally harmful with respect to other control objectives. It is shown that this can be done efficiently through the solution of a mixed-integer quadratic program. The method is demonstrated for a numerical example.

关键词： Set-Based Fault Diagnosis measurements guarantee fault diagnosis

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