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Optimal Fault Detection for Closed-Loop Linear Uncertain systems

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Optimal Fault Detection for Closed-Loop Linear Uncertain Sys...

IEEE Conference on Decision and control

作者： Koen Classens Tjeerd Ickenroth Jeroen Van De Wijdeven W.P.M.H. Maurice Heemels Tom Oomen Dept. Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology The Netherlands ASML The Netherlands Dept. 3mE Delft Center for Systems and Control Delft University of Technology The Netherlands

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Robust fault detection is crucial for ensuring the reliability and safety of complex engineering systems. However, distinguishing faults from disturbances and model uncertainty which are inherently present in any practical system remains remains a challenging task. This paper addresses the robust fault detection filter design problem for continuous-time linear time-invariant uncertain systems operating in open or closed-loop configurations. The proposed framework offers a unified approach to handle both parametric and dynamic uncertainties by solving a single Riccati equation, based on a worst-case disturbance and uncertainty scenario. The efficacy of the proposed approach is demonstrated on a numerical multivariable double mass-spring-damper system. The results illustrate that an optimal compromise is achieved between fault sensitivity and rejection of modelling uncertainties and disturbances. This capability enables the clear differentiation between faults and undesired effects in the residuals, thereby enhancing fault detection reliability, ultimately contributing to improved safety and performance.

关键词： Uncertain systems Maximum likelihood detection Uncertainty Sensitivity Fault detection Riccati equations Nonlinear filters Reliability engineering Mathematical models Safety

Identification of Additive Continuous-time systems in Open and Closed Loop

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arXiv 2024年

作者： González, Rodrigo A. Classens, Koen Rojas, Cristian R. Welsh, James S. Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden School of Engineering University of Newcastle Callaghan2308 NSW Australia Delft Center for Systems and Control Delft University of Technology Delft Netherlands

When identifying electrical, mechanical, or biological systems, parametric continuous-time identification methods can lead to interpretable and parsimonious models when the model structure aligns with the physical properties of the system. Traditional linear system identification may not consider the most parsimonious model when relying solely on unfactored transfer functions, which typically result from standard direct approaches. This paper presents a novel identification method that delivers additive models for both open and closed-loop setups. The estimators that are derived are shown to be generically consistent, and can admit the identification of marginally stable additive systems. Numerical simulations show the efficacy of the proposed approach, and its performance in identifying a modal representation of a flexible beam is verified using experimental data. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

From a Frequency-Domain Willems’ Lemma to Data-Driven Predictive control

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arXiv 2025年

作者： Meijer, Tomas J. Scheres, Koen J.A. Nouwens, Sven A.N. Dolk, Victor S. Heemels, W.P.M.H. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

Willems’ fundamental lemma has recently received an impressive amount of attention from the (data-driven) control community. In this paper, we formulate a version of this celebrated result based on frequency-domain data. In doing so, we bridge the gap between recent developments in data-driven analysis and control, and the readily-available techniques and extensive expertise for non-parametric frequency-domain identification in academia and industry. In addition, we generalize our results to allow multiple frequency-domain data sets to be carefully combined to form a sufficiently rich data set. Building on these results, we propose a data-driven predictive control scheme based on measured frequency-domain data of the plant. This novel scheme provides a frequency-domain counterpart of the well-known data-enabled predictive control scheme DeePC based on time-domain data. We prove that, under appropriate conditions, the new frequency-domain data-driven predictive control (FreePC) scheme is equivalent to the corresponding DeePC scheme, and we demonstrate the benefits of FreePC and the use of frequency-domain data in a numerical case study. These benefits include the ability to collect data in closed loop with a pre-stabilizing controller, dealing with noisy data, without increasing computational complexity, and intuitively visualizing the uncertainty in the frequency-domain data. In addition, we further showcase the potential of our frequency-domain Willems’ fundamental lemma in applications to data-driven simulation, and the linear-quadratic regulator (LQR) problem. Finally, we show that our results can be used to evaluate the transfer function of the system at a desired frequency based on a finite amount of frequency-domain data. © 2025, CC BY-NC-ND.

关键词： Predictive control systems

Cost-optimal Fleet Management Strategies for Solar-electric Autonomous Mobility-on-Demand systems

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arXiv 2023年

作者： Paparella, Fabio Hofman, Theo Salazar, Mauro The Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands

This paper studies mobility systems that incorporate a substantial solar energy component, generated not only on the ground, but also through solar roofs installed on vehicles, directly covering a portion of their energy consumption. In particular, we focus on Solar-electric Autonomous Mobility-on-Demand systems, whereby solar-electric autonomous vehicles provide on-demand mobility, and optimize their operation in terms of serving passenger requests, charging and vehicle-to-grid (V2G) operations. We model this fleet management problem via directed acyclic graphs and parse it as a mixed-integer linear program that can be solved using off-the-shelf solvers. We showcase our framework in a case study of Gold Coast, Australia, analyzing the fleet’s optimal operation while accounting for electricity price fluctuations resulting from a significant integration of solar power in the total energy mix. We demonstrate that using a solar-electric fleet can reduce the total cost of operation of the fleet by 10-15% compared to an electric-only counterpart. Finally, we show that for V2G operations using vehicles with a larger battery size can significantly lower the operational costs of the fleet, overcompensating its higher energy consumption by trading larger volumes of energy and even accruing profits. Copyright © 2023, The Authors. All rights reserved.

关键词： Solar energy

Leveraging Non-Steady-State Frequency-Domain Data in Willems’ Fundamental Lemma

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arXiv 2025年

作者： Meijer, T.J. Wind, M. Dolk, V.S. Heemels, W.P.M.H. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

Willems’ fundamental lemma enables data-driven analysis and control by characterizing an unknown system’s behavior directly in terms of measured data. In this work, we extend a recent frequency-domain variant of this result–previously limited to steady-state data–to incorporate non-steady-state data including transient phenomena. This approach eliminates the need to wait for transients to decay during data collection, significantly reducing the experiment duration. Unlike existing frequency-domain system identification methods, our approach integrates transient data without preprocessing, making it well-suited for direct data-driven analysis and control. We demonstrate its effectiveness by isolating transients in the collected data and performing FRF evaluation at arbitrary frequencies in a numerical case study including noise. © 2025, CC BY-NC-ND.

关键词： Frequency domain analysis

Feedback-Based Quantum Algorithm for Excited States Calculation

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arXiv 2024年

作者： Rahman, Salahuddin Abdul Karabacak, Özkan Wisniewski, Rafal Automation and Control section Department of electronic systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

Recently, feedback-based quantum algorithms have been introduced to calculate the ground states of Hamiltonians, inspired by quantum Lyapunov control theory. This paper aims to generalize these algorithms to the problem of calculating an eigenstate of a given Hamiltonian, assuming that the lower energy eigenstates are known. To this aim, we propose a new design methodology that combines the layer-wise construction of the quantum circuit in feedback-based quantum algorithms with a new feedback law based on a new Lyapunov function to assign the quantum circuit parameters. We present two approaches for evaluating the circuit parameters: one based on the expectation and overlap estimation of the terms in the feedback law and another based on the gradient of the Lyapunov function. We demonstrate the algorithm through an illustrative example and through an application in quantum chemistry. To assess its performance, we conduct numerical simulations and execution on IBM’s superconducting quantum computer. © 2024, CC BY.

关键词： Lyapunov functions

Weighted Feedback-Based Quantum Algorithm for Excited States Calculation

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Weighted Feedback-Based Quantum Algorithm for Excited States...

Quantum Computing and engineering (QCE), IEEE International Conference on

作者： Salahuddin Abdul Rahman Özkan Karabacak Rafal Wisniewski Department of Electronic Systems Section of Automation and Control Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

ISBN: (数字)9798331541378

ISBN: (纸本)9798331541385

Drawing inspiration from the Lyapunov control technique for quantum systems, feedback-based quantum al-gorithms have been proposed for calculating the ground states of Hamiltonians. In this work, we consider extending these algorithms to tackle calculating excited states. Inspired by the weighted subspace-search variational quantum eigensolver al-gorithm, we propose a novel weighted feedback-based quantum algorithm for excited state calculation. We show that depending on how we design the weights and the feedback law, we can prepare the pth excited state or lowest energy states up to the pth excited state. Through an application in quantum chemistry, we show the effectiveness of the proposed algorithm, evaluating its efficacy via numerical simulations.

关键词： Quantum system Quantum algorithm Quantum chemistry Stationary state Numerical simulation Energy states

Time-optimal Design and control of Electric Race Cars Equipped with Multi-speed Transmissions

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Time-optimal Design and Control of Electric Race Cars Equipp...

IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Camiel Cartignij Mauro Salazar Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology (TU/e) Eindhoven The Netherlands

This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission (MGT), specifically accounting for discrete gearshift dynamics. We formulate the problem as a mixed-integer optimal control problem (MIOCP), and deal with its complexity by combining convex optimization and Pontryagin's Minimum Principle (PMP) in a computationally efficient iterative algorithm satisfying necessary conditions for optimality upon convergence. Finally, we leverage our framework to compute the achievable lap time of a race car equipped with a fixed-gear transmission (FGT), a continuously variable transmission (CVT) and an MGT with 2 to 4 speeds, revealing that an MGT can strike the best trade-off in terms of electric motor control, and transmission weight and efficiency, ultimately yielding the overall best lap time.

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Feedback-Based Quantum Algorithm for Constrained Optimization Problems

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arXiv 2024年

The feedback-based algorithm for quantum optimization (FALQON) has recently been proposed to find ground states of Hamiltonians and solve quadratic unconstrained binary optimization problems. This paper efficiently generalizes FALQON to tackle quadratic constrained binary optimization (QCBO) problems. For this purpose, we introduce a new operator that encodes the problem's solution as its ground state. Using control theory, we design a quantum control system such that the state converges to the ground state of this operator. When applied to the QCBO problem, we show that our proposed algorithm saves computational resources by reducing the depth of the quantum circuit and can perform better than FALQON. The effectiveness of our proposed algorithm is further illustrated through numerical simulations. © 2024, CC BY.

关键词： Constrained optimization