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American control Conference (ACC)

作者： B. Sulikowski K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK Department Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of 2D systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or 2D systems theory. Here we give new results on the relatively open problem of the design of physically based control laws. These results are for the sub-class of so-called discrete linear repetitive processes, which arise in applications areas such as iterative learning control.

关键词： Output feedback Linear feedback control systems Iterative algorithms Optimal control automatic control automatic generation control Stability analysis Vectors Linear systems control systems

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H/sub /spl infin// control of differential linear repetitive processes

H/sub /spl infin// control of differential linear repetitive...

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American control Conference (ACC)

作者： W. Paszke K. Galkowski E. Rogers D.H. Owens Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton UK Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Repetitive processes are a distinct class of two-dimensional systems (i.e., information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed 1D here) or two-dimensional (2D) systems theory. Here, we give new results on the relatively open problem of the design of physically based control laws using an H/sub /spl infin// setting. These results are for the sub-class of so-called differential linear repetitive processes, which arise in application areas such as iterative learning control.

关键词： Linear matrix inequalities Symmetric matrices State-space methods Vectors Stability Robust control Boundary conditions Sufficient conditions Differential equations control systems

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Weichted Least Squares Parameter Estimation for Model Predictive control of Integrated Wastewater Systems at Medium Time Scale

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IFAC Proceedings Volumes 2004年第11期37卷 273-279页

作者： Konarczak K Rutkowsld T Brdys M.A Gmiński T Department of Automatic Control Gdansk University of Technology ul.G. Nanttowicza 11 ¡2 80-952 Gdansk Poland School of Engineering Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

The paper presents formulation and implementation of Weighted Least Squares algorithm with moving measurement window for a grey box model parameters estimation purposes. The grey box of a biological reactor dynamics is used by Model Predictive controller to control integrated wastewater treatment system at medium time scale. The parameter estimation Weighted Least Squares algorithm is validated by simulation based on recently developed and calibrated model of integrated wastewater treatment system in Kartuzy, Poland.

关键词： Models waste treatment parameter estimation Least Squares Kaiman filtering biotechnology water pollution

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Experimental evaluation of a new repetitive control algorithm on a non-minimum phase spring-mass-damper system

Experimental evaluation of a new repetitive control algorith...

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control Systems, PSYCO 2004

作者： Freeman, C.T. Hätönen, J.J. Lewin, P.L. Owens, D.H. Rogers, E. School of Electronics and Computer Science University of Southampton University Road SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom Systems Engineering Laboratory University of Oulu University of Oulu P.O. BOX 4300 FIN-90014 Finland

Recently, a novel optimality based Repetitive control algorithm was proposed in (Hätönen et al., 2003). According to the convergence analysis carried out in that paper, the algorithm will result in asymptotic convergence for an arbitrary discrete-time LTI plant and a T -periodic reference. However, the performance of the algorithm was tested only using simulation studies. In order to rigorously test how the algorithm performs with real systems, in this paper the algorithm is implemented on a non-minimum phase spring-mass-damper system. The results are very satisfactory, because the algorithm results in near perfect tracking with this rather demanding plant type. Copyright © 2004 IFAC.

关键词： Non-Minimum Phase Systems Optimal control Polynomial Systems Theory Repetitive control

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Practical implementation of a model inverse iterative learning controller

Practical implementation of a model inverse iterative learni...

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2004 IFAC Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2004 and IFAC Workshop on Periodic control Systems, PSYCO 2004

作者： Ratcliffe, J.D. Harte, T.J. Hätönen, J.J. Lewin, P.L. Rogers, E. Owens, D.H. School of Electronics and Computer Science University of Southampton University Road SouthamptonSO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom Systems Engineering Laboratory University of Oulu University of Oulu P.O. BOX 4300 FIN-90014 Finland

In this paper, a new model inverse optimal iterative learning control algorithm is practically implemented on an industrial gantry robot. The algorithm has only one tuning parameter which can be adjusted to provide a balance between convergence speed and robustness. Results show that the algorithm is capable of learning the required trajectory in very few iterations. However at this convergence rate the lack of robustness is a major issue. Appropriate use of the tuning parameter is shown to greatly increase the algorithm robustness as demonstrated by tests which successfully reach 600 iterations. Copyright c 2004 IFAC. Copyright © 2004 IFAC

关键词： Iterative methods

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Supervisory control of Integrated Wastewater Treatment Systems

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IFAC Proceedings Volumes 2004年第11期37卷 257-264页

作者： M Grochowski M.A Brdys K Duzinkiewicz R Langowski Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11 12 80 9 52 Gdansk Poland School of Engineering Department of Electrical Electronic and Computer Engineering The university of Birmingham Birmingham B15 2TT UK

control of integrated wastewater treatment plant-sewer systems under full range of disturbance inputs enforces employing advanced optimising control algorithms. The control activities are hierarchically structured into a multilevel-multilayer form Model Predictive control is chosen as a core control technology. As it is impossible to handle sufficiently well all operating conditions of this system, the operating states of the system are distinguished and these are: normal, disturbed and emergency. Formulation of operational states requires introducing the concepts of the core and secondary objectives that divide the system objectives into obligatory and additionally ones. Different control trajectories are designed for corresponding operational states in order to best adopt control actions to current plant conditions. In order to effectively control such complex system the Supervisory Level (SuCL) is introduced. Its main functionality is: to coordinate activities of the control structure, to asses operational states of the system, to asses selection of the control strategies, to asses imposed control setpoints realisation and risk of not fulfilling the objectives. Paper describes units adjacent to SuCL that major function is to provide the information needed by the SuCL and decision making process.

关键词： Supervisory control decision making neural networks hierarchical control optimal control risk waste treatment

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Set-Bounded Joined Parameter and State Estimation for Model Predictive control of Integrated Wastewater Treatment Plant Systems at Medium Time Scale

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IFAC Proceedings Volumes 2004年第11期37卷 755-760页

作者： T. Rutkowski M.A. Brdys K. Konarczak T. Gminski Department of Automatic Control Gdansk University of Technology ul. G. Narutowicza 11/12 80 952 Gdansk Poland School of Engineering Department of Electronic Electrical and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

The paper describes set-bounded parameters and state estimation component for Model Predictive control of integrated wastewater treatment plant at medium time scale purposes. This is one of the components within Intelligent Hierarchical control Structure designed in order to cope with problems of the controlled system such us: multiple time scale, highly non linear dynamics, small number of on-line measurements etc. The set-bounded joined parameter and state estimation algorithm generates robust estimates of these parameters and state for Model Predictive control purposes. Both, the estimation algorithm and the Model Predictive controller utilise a grey-box model of controlled plant dedicated for medium time scale. The set-bounded joined state and grey-box model parameters estimation algorithm is validated by simulation. The data were taken partly from real data records gathered at Kartuzy WWTP in Poland and partly from the Kartuzy plant simulation based on recently developed and calibrated plant model.

关键词： biotechnology hierarchical control systems model predictive control robust control estimation algorithms bounding method uncertainty

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Softly Switched Model Predictive control for control of Integrated Wastewater Treatment Systems at Medium Time Scale

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IFAC Proceedings Volumes 2004年第11期37卷 251-256页

作者： M Grochowski M.A Brdys T Gminski P Deinrych Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11 12. 80 9 52 Gdansk Poland School of Engineering Department of Electrical Electronic and Computer Engineering The University of Birmingham Birmingham B15 2TT UK

Difficulties occur when one universal control strategy attempts controlling a plant that is under wide range of operating conditions. In order to best adopt the control strategy to existing conditions three operational states: normal, disturbed and emergency are distinguished and the corresponding control strategies are designed. Appearance of different control strategies at hand enforces finding a mechanism to switch between them. It can be done in a hard or a soft manner. In case of wastewater systems the second solution is preferable. The paper describes two methods of soft switching between control strategies based on Model Predictive control (MPC) as a control technology Supervisory control Level (SuCL) mounted at the top of hierarchical multilevel-multilayer control structure is responsible for the conducting the switching process. The switching instants, switching time and way of switching are parameters to be selected by the SuCL. The soft switching concepts were examined based on wastewater system in Kartuzy, Poland.

关键词： switching predictive control waste treatment optimal control supervisory control

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Intelligent control Structure for control of Integrated Wastewater Systems

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IFAC Proceedings Volumes 2004年第11期37卷 245-250页

作者： M Grochowski M.A. Brdys T. Gminski Department of Automatic Control Gdansk University of Technology ul G. Narutowicza 11/12. 80 9 52 Gdansk Poland. School of Engineering Department of Electrical Electronic and Computer Engineering The University of Birmingham Birmingham B15 2TT UK.

The paper proposes an approach to design a structure for control of integrated wastewater treatment plant-sewer system under full range of disturbance inputs. The control activities are hierarchically structured into a multilevel-multilayer form. A newly developed robust Model Predictive control method for uncertain and output constrained dynamic systems is a key control technology employed at Optimising control Level. This level is further decomposed into control layers operating at different time scales: slow, medium and fast. Appropriate models for control purposes is described Needed data are delivered by measuring system and Extended Kaiman Filter. A Supervisory control Level is located at a top of the control hierarchy.

关键词： hierarchical control predictive control optimal control decision making waste treatment Kaiman Filters model reduction

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Using invisible watermarks to protect visibly watermarked images

Using invisible watermarks to protect visibly watermarked im...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Yongjian Hu S. Kwong Jiwu Huang School of Information Science and Technology Sun Yat-Sen University Guangzhou China Department of Computer Science City University of Hong Kong Kowloon Hong Kong China Department of Automatic Control Engineering South China University of Technology Guangzhou China

Physical visible watermarks have been widely used for centuries. Now digital visible watermarks such as electronic logos find their applications in digital library, video broadcasting, and other multimedia services. Several visible watermarking techniques have been proposed in the literature, and meanwhile, some problems with visible watermarks are also under investigation. Among these problems, watermark removal and unauthorized insertion are two major concerns. We propose using an invisible watermark in visibly watermarked images to overcome these problems. When a visibly watermarked image is in question, the invisible watermark can provide appropriate ownership information. We first investigate what kind of invisible watermark is needed, and then, focus on the details of the invisible watermarking technique. The experiments have shown that the proposed algorithm can provide a very effective protection for visibly watermarked images.

关键词： Watermarking Protection Discrete wavelet transforms Partial response channels automatic control computer science Cities and towns Application software Software libraries Multimedia communication

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