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Stability analysis of large-scale networked control systems with local networks: A hybrid small-gain approach

Stability analysis of large-scale networked control systems ...

17th International Conference on Hybrid systems: Computation and control, HSCC 2014, Part of the 7th Cyber Physical systems, CPS Week 2014

作者： Borgers, Dominicus P. Heemels, W.P. Maurice H. Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9781450327329

In this paper we consider large-scale networked control systems (NCSs) with multiple communication networks connecting sensors, controllers and actuators. Using a recently developed small-gain theorem for general interconnections of hybrid systems, we are able to find to find a maximum allowable transmission interval (MATI) and a maximum allowable delay (MAD) for each individual network, such that input-to-state stability of the complete NCS is guaranteed. Copyright 2014 ACM.

关键词： Hybrid systems

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Image-Based Estimation and Nonparametric Modeling: Towards Enhanced Geometric Calibration of an X-ray System

Image-Based Estimation and Nonparametric Modeling: Towards E...

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Conference on control Applications

作者： Rolf Gaasbeek Rick van der Maas Mark den Hartog Bram de Jager Department of Mechanical Engineering Control Systems Technology group Eindhoven University of Technology 5600 MB Eindhoven The Netherlands Philips Healthcare iXR Innovation P.O. Box 10 000 5680 DA Best The Netherlands

ISBN: (纸本)9781479977970

Geometric calibrations of medical imaging systems are crucial to allow for advanced (X-ray) imaging techniques. Developments in medical procedures, lightweight system design and the growing costs of healthcare, leads to the desire for simpler and faster calibration approaches. The aim of this paper is to present a novel approach to enhance system calibrations for a wide range of imaging applications. The method is based on the introduction of small markers within the line of sight of the system, by virtue of a small mechanical adjustment to the system. By detecting markers in the Xray images, displacements between the systems X-ray source and detector are in-situ measured. Additionally, the approach can be used to obtain nonparametric models of the dynamics of the mechanical system, enabling advanced observer-based estimation approaches. The potential of the method is illustrated by experimental results.

关键词： Developments medical procedures illustrated

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Enhancing current density profile control in tokamak experiments using iterative learning control

Enhancing current density profile control in tokamak experim...

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IEEE Conference on Decision and control

作者： Federico Felici Tom Oomen Control Systems Technology group Faculty of Mechanical Engineering Eindhoven MB Netherlands École Poly technique Fédérale de Lausanne (EPFL) Center de Recherches en Physique des Plasmas Lausanne Switzerland

Tokamaks are toroidal devices to create and confine high-temperature plasmas, and are presently at the forefront of nuclear fusion research. Many parameters in a tokamak are feedback controlled, but some quantities that are either difficult to measure or difficult to control are still controlled by trial-and-error adjustments of feedforward signals. For example, the current density profile plays an essential role in the confinement and stability properties of a tokamak plasma but only few demonstrations exist of feedback control, partly due to the unavailability of the measured variables in real-time on many tokamaks. The aim of this paper it to enhance the control of the current density profile by using batch-to-batch control. An iterative learning controller (ILC) is designed for the current density profile control problem. A simulation study for the future ITER tokamak is shown in which ILC is used to obtain a desired current density profile at the end of the plasma ramp-up phase. Experimental application of ILC to plasma discharges in the TCV tokamak is presented, where the time trajectory of the plasma internal inductance, a scalar measure of the current density profile width, is controlled by varying the total plasma current. Both demonstrate the feasibility of the proposed approach and encourage more extensive use of ILC in tokamak experiments.

关键词： Tokamaks Current density Feedforward neural networks Feedback control Mathematical model Discharges (electric)

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On numerically reliable frequency-domain system identification: New connections and a comparison of methods 19

On numerically reliable frequency-domain system identificati...

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

作者： Voorhoeve, Robbert Oomen, Tom Van Herpen, Robbert Steinbuch, Maarten Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Group Eindhoven5600 MB Netherlands

ISBN: (纸本)9783902823625

Frequency domain identification of complex systems imposes important challenges with respect to numerically reliable algorithms. This is evidenced by the use of different rational and data-dependent basis functions in the literature. The aim of this paper is to compare these different methods and to establish new connections. This leads to two new identification algorithms. The conditioning and convergence properties of the considered methods are investigated on simulated and experimental data. The results reveal interesting convergence differences between (nonlinear) least squares and instrumental variable methods. In addition, the results shed light on the conditioning associated with so-called frequency localising basis functions, vector fitting algorithms, and (bi)-orthonormal basis functions. © IFAC.

关键词： Frequency domain analysis

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Modeling, observer design and robust control of the particle density profile in tokamak plasmas

Modeling, observer design and robust control of the particle...

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IEEE Annual Conference on Decision and control

作者： T.C. Blanken F. Felici M.R. de Baar W.P.M.H. Heemels FOM-institute DIFFER Association EURATOM-FOM PO Box 1207 3430 BE Nieuwegein The Netherlands Control Systems Technology group at the Department of Mechanical Engineering Eindhoven University of Technology PO box 513 5600 MB Eindhoven the Netherlands

ISBN: (纸本)9781479978878

A new approach to real-time estimation and feedback control of the particle density profile in tokamak plasmas is presented, based on ideas from Kalman filtering and H_∞ robust control synthesis. Traditionally, the density profile is reconstructed in real-time by solving an inversion problem using a measurement from a single time instant. Such an approach is sensitive to sensor errors and does not account for the dynamical evolution and spatial continuity of the density. The observer-based approach we presented here includes the system dynamics, which is realized by careful modeling of the particle density behaviour using a 1D PDE with a nonlinear source term and two ODEs, which are discretized in space and time to yield a finite-dimensional nonlinear model. The influence of other plasma quantities and operational modes on the transport dynamics are included in the control-oriented model as time-varying parameters. An extended Kalman filter estimates the density, additive random-walk state disturbances as well as fringe jumps (a specific type of sensor error) from measurements, for which special measures are needed. Offline reconstruction using tokamak measurements show accurate estimation of the density profile and show the quality of fringe jump detection. Moreover, a robust state feedback controller with anti-windup is designed based on the model to track a reference signal for the average density, with the estimate obtained from the observer. Closed-loop simulations show that the controller is able to track representative reference signals, with the performance mostly limited by the nonnegativity constraint of the control input.

关键词： Tokamak plasmas Robust control Reference signals PARTICLE DENSITY density profiles SOURCE TERMS control input interference pattern System dynamics state feedback controller dynamical evolution Kalman filtering Time Estimation

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Exploiting additional actuators and sensors for nano-positioning robust motion control

Exploiting additional actuators and sensors for nano-positio...

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2014 American control Conference, ACC 2014

作者： Van Herpen, Robbert Oomen, Tom Kikken, Edward Van De Wal, Marc Aangenent, Wouter Steinbuch, Maarten Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Group Eindhoven Netherlands ASML Research Veldhoven Netherlands

ISBN: (纸本)9781479932726

The ongoing need for miniaturization and an increase of throughput in IC-manufacturing is obstructed by performance limitations in motion control of nano-positioning wafer stages. These limitations are imposed by flexible dynamical behavior, associated with structural deformations of the nano-positioning stages. The aim of this research is to investigate limits on achievable performance in a conventional control configuration and to mitigate these limits through the use of additional actuators and sensors. To this end, a systematic framework for control design using additional actuators and sensors in the generalized plant configuration is presented, which leads to a well-posed ℋ∞-control optimization problem that extends conventional design approaches in a natural way and exploits physical insight to address structural deformations in weighting filter design. Through an experimental confrontation of the design framework with a prototype next-generation nano-positioning motion system, successful performance enhancement beyond the conventional limits is demonstrated. © 2014 American Automatic control Council.

关键词： Motion control

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Constrained iterative feedback tuning for robust high-precision motion control 19

Constrained iterative feedback tuning for robust high-precis...

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

作者： Van Der Velden, Bart J.C.H. Oomen, Tom Heertjes, Marcel F. Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Mechatronics Technology Development ASML Veldhoven Netherlands

ISBN: (纸本)9783902823625

The aim of this paper is to extend iterative feedback tuning (IFT), which is a data-based approach for controller tuning, with robustness constraints. Hereto a constrained IFT problem is formulated that is solved by introducing a penalty function. Essentially, the gradient estimates decompose into (a) the well-known IFT gradients and (b) the gradients with respect to this penalty function. Experimental results obtained from the motion control systems of an industrial wafer scanner confirm enhanced performance with guaranteed robustness properties. © IFAC.

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Combining ILC and repetitive control to handle repeating, event-triggered disturbances in precision inkjet printing

Combining ILC and repetitive control to handle repeating, ev...

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American control Conference

作者： Ronald Winarto Sjirk Koekebakker Maarten Steinbuch Oce Technologies B.V. P.O. Box 101 5900 MA Venlo The Netherlands Eindhoven University of Technology Dept. of Mechanical Engineering Control Systems Technology Group Eindhoven P.O. Box 513 5600 MB Eindhoven The Netherlands

ISBN: (纸本)9781479917730

Learning and repetitive control are powerful instruments in handling recurring disturbances. Repetitive control properly handles constantly repeating variations, while iterative learning control is well-equipped when it comes to handling event triggered deviations. Neither controller is well equipped to adequately deal with repetitive disturbances, which are only present during limited, but varying, periods of time. These are often seen in precision handling systems such as production inkjet printers. This paper combines ILC and RC using a structure which originated in multi-period repetitive control. It is shown that this enables full suppression of the repeating event-triggered disturbances. The approach is successfully demonstrated in an illustrative simulation, as well as by using experimental data from a precision inkjet printing setup.

关键词： Repetitive Event trigger ink jet printing time periods Handles Precision WELLS

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Optimised sensor selection for control and fault tolerance of electromagnetic suspension systems: A robust loop shaping approach

Optimised sensor selection for control and fault tolerance o...

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作者： Michail, Konstantinos Zolotas, Argyrios C. Goodall, Roger M. Department of Mechanical Engineering and Materials Science and Engineering Cyprus University of Technology Limassol Cyprus School of Engineering and Informatics University of Sussex United Kingdom Control Systems Group School of Electronic Electrical and Systems Engineering Loughborough University United Kingdom

This paper presents a systematic design framework for selecting the sensors in an optimised manner, simultaneously satisfying a set of given complex system control requirements, i.e. optimum and robust performance as well as fault tolerant control for high integrity systems. It is worth noting that optimum sensor selection in control system design is often a non-trivial task. Among all candidate sensor sets, the algorithm explores and separately optimises system performance with all the feasible sensor sets in order to identify fallback options under single or multiple sensor faults. The proposed approach combines modern robust control design, fault tolerant control, multiobjective optimisation and Monte Carlo techniques. Without loss of generality, it's efficacy is tested on an electromagnetic suspension system via appropriate realistic simulations. © 2013 ISA.

关键词： Multiobjective optimization

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Indirect solution for optimal control problems with a pure state constraint

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IFAC Proceedings Volumes 2014年第3期47卷 2456-2461页

作者： Thijs van Keulen Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology group

This paper presents an algorithm that provides a regularization for the costate dynamics of state constrained optimal control problems with a scalar constraint under the assumption that the Hamiltonian is convex in the control and the state dynamics equation of the constrained state is monotonically increasing in the control variable. The algorithm is demonstrated with a classical optimal control problem.

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