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An Improved Output Feedback MPC scheme for Constrained Linear systems

IFAC-PapersOnLine 2017年第1期50卷 15506-15511页

作者： Subramanian, Sankaranarayanan Lucia, Sergio Engell, Sebastian Process Dynamics and Operations Group DortmundTU United States Otto-von-Guericke-University Magdeburg Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Germany

We propose an output feedback model predictive control (MPC) scheme that is independent of the estimation method employed. The proposed approach is non-conservative by design as the feedback information subject to estimation errors is explicitly considered in the predictions. The proposed scheme is robust to both the plant-model mismatch and the estimation error and avoids the unnecessary conservatism introduced by other existing output feedback MPC approaches in the literature. We achieve this by making use of all the available information at every time-step and formulate a control policy with the assumption that bounds for the estimation error are available at all times. We show that the proposed scheme is recursively feasible and demonstrate its advantages using a double-integrator example. © 2017

关键词： Feedback Errors Estimation Linear systems Model predictive control Predictive control systems Robust control Constrained linear systems Constrained systems Estimation methods Feed back information Multi stage Output feedback Plant model mismatches Robust model predictive control

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Iterative learning control for variable pass length systems

Iterative learning control for variable pass length systems

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作者： Seel, Thomas Schauer, Thomas Raisch, Jörg Control Systems Group Technische Universität Berlin Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany

ISBN: (纸本)9783902661937

Monotonic convergence of linear iterative learning control (ILC) systems with changing pass length is considered. The maximum pass length (MPL) error is introduced as a useful concept for convergence analysis of this class of systems. Using the lifted-system framework, a both necessary and sufficient monotonic convergence criterion is found for the 1-norm of the MPL error. Further findings on 2-norm and ∞-norm convergence are added. Finally, an example system is given, i.e. the control of an electrical stimulation system for gait assistance, and simulation results are provided. © 2011 IFAC.

关键词： Linear systems

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3-D vector tomography and vector spherical harmonics 5

3-D vector tomography and vector spherical harmonics

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5th World Congress in Industrial Process Tomography

作者： Balandin, A.L. Institute of Systems Dynamics and Control Theory Lermontov str. 134 Irkutsk-33664033 Russia

ISBN: (纸本)9780853163213

A method of series expansion with the aid of vector spherical harmonics intended for inverting line integrated data is proposed to investigate 3-D vector fields in the spherical tokamak plasmas. A set of numerical computations demonstrating the 3-D reconstruction of the model vector fields has been performed to assess the inversion method proposed. © 2007, International Society for Industrial Process Tomography. All rights reserved.

关键词： Inverse problems

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Optimization of the composition of the structure of heat sources as applied to the problems of the development of heating systems 2

Optimization of the composition of the structure of heat sou...

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2nd International Scientific Conference on Sustainable and Efficient Use of Energy, Water and Natural Resources, SEWAN 2019

作者： Stennikov, V.A. Edeleva, O.A. Fereferov, E.S. Melentiev Energy Systems Institute of SB RAS Russia Matrosov Institute for System Dynamics and Control Theory of SB RAS Russia

The study outlines the concept of the structure of heat sources of developing heating systems and states the problem of searching through structures of heat sources of maximum redundancy for the optimal one. As one of the techniques of solving this problem, the authors propose to split the process of designing heating systems into multiple stages. Within the scope of the above-stated problem, the difficult part is the need to create an automated system to solve the entirety of problems arising at these stages and to reconcile them with each other. We provide a brief overview of the the available software package that we propose to integrate into the process of solving and we underline the complex nature of the interaction of individual software components between each other. The authors propose an approach in the form of the computational experiment setup that enables to consistently coordinate computational procedures with each other. The approach is based on the concept of the energy hub as its theoretical backbone, while in terms of the software implementation it is an instance of an automated information system. © 2020 IOP Publishing Ltd.

关键词： Heating equipment

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Model-based predictive control of blood-sugar level in intensive care

Model-based predictive control of blood-sugar level in inten...

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2007 Mediterranean Conference on control and Automation, MED

作者： Schauer, T. Raisch, J. Technische Universität Berlin Control Systems Group Berlin Germany Max Planck Institute for Dynamics of Complex Technical Systems Systems and Control Theory Group Magdeburg Germany

ISBN: (纸本)142441282X

Predictive control of blood glucose in critical ill patients has been investigated. Standard control algorithms for blood glucose only adjust the insulin infusion rate for lowering the blood sugar level. Hypoglycaemic situations are critical is this case since no automatic control action can be lunched. To avoid hypoglycaemia, controller performance is usually chosen low what results in large settling times. In the proposed predictive control scheme, glucose and insulin infusions are administrated. This allows to track a specified blood glucose profile exactly. The employed controller is model-based and tested in computer simulations. © 2007 IEEE.

关键词： Glucose

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Iterative learning control of drop foot stimulation with array electrodes for selective muscle activation 19

Iterative learning control of drop foot stimulation with arr...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Valtin, M. Seel, T. Raisch, J. Schauer, T. Control Systems Group Technische Universität Berlin Berlin Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany

ISBN: (纸本)9783902823625

Disorders of the central nervous system like stroke often lead to a paresis of the muscles responsible for dorsiflexion and eversion of the foot during swing phase. Functional electrical stimulation (FES) is commonly used to improve the foot movement. A precise placement of two single surface electrodes on the shank as well as a manual tuning of heel-switch triggered stimulation is required when using standard drop-foot stimulators. In this work, the use of automatically tuned array electrodes for selective nerve/muscle stimulation and the application of iterative learning control for adjusting stimulation intensities are investigated with the aim to obtain an optimal foot movement. The stimulation effect is observed by means of two inertial measurement units mounted on the foot and shank, respectively. Two array electrodes are placed over the areas covering the peroneal nerve and the muscle tibialis anterior. A fast identification procedure finds three suitable sets of array elements, forming so-called virtual electrodes, in both arrays. Two stimulation channels are established over the three virtual electrodes. Both channels produce dorsiflexion, but one promotes eversion and the other inversion. A decoupling matrix is applied to the stimulation intensities of both channels in order to obtain independent control over dorsiflexion and eversion. Finally, two independent iterative learning controllers are employed to achieve desired angle profiles. The proposed stimulation and control scheme is initially tested on a healthy person sitting on a table with the shank and foot free to swing. A tracking RMS error of less than one degree is achieved within six walking steps. © IFAC.

关键词： Electrodes

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Position Observation for Proportional Solenoid Valves by Signal Injection

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IFAC-PapersOnLine 2016年第21期49卷 74-79页

作者： Braun, Tristan Reuter, Johannes Rudolph, Joachim Institute of System Dynamics Konstanz University of Applied Sciences Konstanz78462 Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 Saarbrücken66123 Germany

The method of signal injection is investigated for position estimation of proportional solenoid valves. A simple observer is proposed to estimate a position-dependent parameter, i.e. the eddy current resistance, from which the position is calculated analytically. Therefore, the relationship of position and impedance in the case of sinusoidal excitation is accurately described by consideration of classical electrodynamics. The observer approach is compared with a standard identification method, and evaluated by practical experiments on an off-the-shelf proportional solenoid valve. © 2016

关键词： Solenoid valves Electromagnets Hydraulic actuators Magnetic actuators Magnetic fields Parameter estimation Solenoids Classical electrodynamics Electromagnetic devices Identification method Observers Position dependents Position estimation Proportional solenoid valves Sinusoidal excitations

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Orlando tools: Energy research application development through convergence of grid and cloud computing 4th

Orlando tools: Energy research application development throu...

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4th Russian Supercomputing Days Conference, RuSCDays 2018

作者： Feoktistov, Alexander Gorsky, Sergei Sidorov, Ivan Kostromin, Roman Edelev, Alexei Massel, Lyudmila Matrosov Institute for System Dynamics and Control Theory of SB RAS Irkutsk Russia Melentiev Energy Systems Institute of SB RAS Irkutsk Russia

ISBN: (纸本)9783030058067

The paper addresses the relevant problem related to the development of scientific applications (applied software packages) to solve large-scale problems in heterogeneous distributed computing environments that can include various infrastructures (clusters, Grid systems, clouds) and provide their integrated use. We propose a new approach to the development of applications for such environments. It is based on the integration of conceptual and modular programming. The application development is implemented with a special framework named Orlando Tools. In comparison to the known tools, used for the development and execution of distributed applications in the current practice, Orlando Tools provides executing application jobs in the integrated environment of virtual machines that include both the dedicated and non-dedicated resources. The distributed computing efficiency is improved through the multi-agent management. Experiments of solving the large-scale practical problems of energy security research show the effectiveness of the developed application for solving the aforementioned problem in the environment that supports the hybrid computational model including Grid and cloud computing. © 2019, Springer Nature Switzerland AG.

关键词： Energy security

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Consensus analysis of systems with time-varying interactions : An event-triggered approach

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IFAC-PapersOnLine 2017年第1期50卷 9349-9354页

作者： Arun Kumar S. Chowdhury N.R. Srikant S. Raisch J. Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India Fachgebiet Regelungssysteme Technische Universität Berlin Berlin 10587 Germany Systems and Control Theory Group Max Planck Institute for Dynamics of Complex Technical Systems Germany

We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control effort expended. Initially, we consider a multi-agent system with persistently exciting interactions and study the behaviour under the application of event-triggered control with two types of trigger functions- static and dynamic trigger. We show that while in the case of static trigger, the edge-states converge to a ball around the origin, the dynamic trigger function forces the states to reach consensus exponentially. Finally, we extend these results to a more general setting where we consider switching topologies. We show that similar results can be obtained for agents interacting via switching topologies and validate our results by means of simulations. © 2017

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On use of reduction in qualitative analysis of lagrange systems

On use of reduction in qualitative analysis of lagrange syst...

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2005 International Conference on Physics and control, PhysCon 2005

作者： Irtegov, Valentin D. Institute of Systems Dynamics and Control Theory Siberian Branch Russian Academy of Sciences 134 Lermontov Str. Irkutsk 664033 Russia

The paper considers one of the aspects in the problem of qualitative analysis Lagrange systems with the use of reduction procedure. Attention is paid to the classes of lagrangians for which the reduction not only allows one to reduce the order of the system under scrutiny, but also to simplify the forms of equations themselves. Herein, we intend to restrict the area of consideration with only the Routh reduction [1] and speak of only nonlinear systems which convert into linear ones as a result of such a reduction. © 2005 IEEE.

关键词： Lagrange multipliers

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