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作者： Feller, Christian Johansen, Tor Arne Olaru, Sorin Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Department of Engineering Cybernetics NTNU O.S. Bragstads plass 2D 7491 Trondheim Norway -Automatic Control Department 3 rue Joliot-Curie 91192 Gif-Sur-Yvette France

The goal of multi-parametric quadratic programming (mpQP) is to compute analytic solutions to parameter-dependent constrained optimization problems, e.g., in the context of explicit linear MPC. We propose an improved combinatorial mpQP algorithm that is based on implicit enumeration of all possible optimal active sets and a simple saturation matrix pruning criterion which uses geometric properties of the constraint polyhedron for excluding infeasible candidate active sets. In addition, techniques are presented that allow to reduce the complexity of the discussed algorithm in the presence of symmetric problem constraints. Performance improvements are discussed for two example problems from the area of explicit linear MPC. © 2013 Elsevier Ltd. All rights reserved.

关键词： Quadratic programming

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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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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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Sequence data and association statistics from 12,940 type 2 diabetes cases and controls

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Scientific data 2017年第1期4卷 170179页

作者： Jason Flannick Christian Fuchsberger Anubha Mahajan Tanya M Teslovich Vineeta Agarwala Kyle J Gaulton Lizz Caulkins Ryan Koesterer Clement Ma Loukas Moutsianas Davis J McCarthy Manuel A Rivas John R B Perry Xueling Sim Thomas W Blackwell Neil R Robertson N William Rayner Pablo Cingolani Adam E Locke Juan Fernandez Tajes Heather M Highland Josee Dupuis Peter S Chines Cecilia M Lindgren Christopher Hartl Anne U Jackson Han Chen Jeroen R Huyghe Martijn van de Bunt Richard D Pearson Ashish Kumar Martina Müller-Nurasyid Niels Grarup Heather M Stringham Eric R Gamazon Jaehoon Lee Yuhui Chen Robert A Scott Jennifer E Below Peng Chen Jinyan Huang Min Jin Go Michael L Stitzel Dorota Pasko Stephen C J Parker Tibor V Varga Todd Green Nicola L Beer Aaron G Day-Williams Teresa Ferreira Tasha Fingerlin Momoko Horikoshi Cheng Hu Iksoo Huh Mohammad Kamran Ikram Bong-Jo Kim Yongkang Kim Young Jin Kim Min-Seok Kwon Juyoung Lee Selyeong Lee Keng-Han Lin Taylor J Maxwell Yoshihiko Nagai Xu Wang Ryan P Welch Joon Yoon Weihua Zhang Nir Barzilai Benjamin F Voight Bok-Ghee Han Christopher P Jenkinson Teemu Kuulasmaa Johanna Kuusisto Alisa Manning Maggie C Y Ng Nicholette D Palmer Beverley Balkau Alena Stančáková Hanna E Abboud Heiner Boeing Vilmantas Giedraitis Dorairaj Prabhakaran Omri Gottesman James Scott Jason Carey Phoenix Kwan George Grant Joshua D Smith Benjamin M Neale Shaun Purcell Adam S Butterworth Joanna M M Howson Heung Man Lee Yingchang Lu Soo-Heon Kwak Wei Zhao John Danesh Vincent K L Lam Kyong Soo Park Danish Saleheen Wing Yee So Claudia H T Tam Uzma Afzal David Aguilar Rector Arya Tin Aung Edmund Chan Carmen Navarro Ching-Yu Cheng Domenico Palli Adolfo Correa Joanne E Curran Dennis Rybin Vidya S Farook Sharon P Fowler Barry I Freedman Michael Griswold Daniel Esten Hale Pamela J Hicks Chiea-Chuen Khor Satish Kumar Benjamin Lehne Dorothée Thuillier Wei Yen Lim Jianjun Liu Marie Loh Solomon K Musani Sobha Puppala William R Scott Loïc Yengo Sian-Tsung Tan Herman A Taylor Farook Thameem Gregory Wilson Tien Yin Wong Pål Rasmu Department of Molecular Biology Massachusetts General Hospital Boston Massachusetts USA. Program in Medical and Population Genetics Broad Institute Cambridge Massachusetts USA. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor Michigan USA. Wellcome Trust Centre for Human Genetics Nuffield Department of Medicine University of Oxford Oxford UK. Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge Massachusetts USA. Department of Statistics University of Oxford Oxford UK. Genetics of Complex Traits University of Exeter Medical School University of Exeter Exeter UK. MRC Epidemiology Unit Institute of Metabolic Science University of Cambridge Cambridge UK. Department of Twin Research and Genetic Epidemiology King's College London London UK. Oxford Centre for Diabetes Endocrinology and Metabolism Radcliffe Department of Medicine University of Oxford Oxford UK. Department of Human Genetics Wellcome Trust Sanger Institute Hinxton Cambridgeshire UK. School of Computer Science McGill University Montreal Quebec Canada. McGill University and Génome Québec Innovation Centre Montreal Quebec Canada. Human Genetics Center The University of Texas Graduate School of Biomedical Sciences at Houston The University of Texas Health Science Center at Houston Houston Texas USA. Department of Biostatistics Boston University School of Public Health Boston Massachusetts USA. National Heart Lung and Blood Institute's Framingham Heart Study Framingham Massachusetts USA. Medical Genomics and Metabolic Genetics Branch National Human Genome Research Institute National Institutes of Health Bethesda Maryland USA. Department of Biostatistics Harvard School of Public Health Boston Massachusetts USA. Chronic Disease Epidemiology Swiss Tropical and Public Health Institute University of Basel Basel Switzerland. Institute of Genetic Epidemiology Helmholtz Zentrum München German R

To investigate the genetic basis of type 2 diabetes (T2D) to high resolution, the GoT2D and T2D-GENES consortia catalogued variation from whole-genome sequencing of 2,657 European individuals and exome sequencing of 12,940 individuals of multiple ancestries. Over 27M SNPs, indels, and structural variants were identified, including 99% of low-frequency (minor allele frequency [MAF] 0.1-5%) non-coding variants in the whole-genome sequenced individuals and 99.7% of low-frequency coding variants in the whole-exome sequenced individuals. Each variant was tested for association with T2D in the sequenced individuals, and, to increase power, most were tested in larger numbers of individuals (>80% of low-frequency coding variants in ~82 K Europeans via the exome chip, and ~90% of low-frequency non-coding variants in ~44 K Europeans via genotype imputation). The variants, genotypes, and association statistics from these analyses provide the largest reference to date of human genetic information relevant to T2D, for use in activities such as T2D-focused genotype imputation, functional characterization of variants or genes, and other novel analyses to detect associations between sequence variation and T2D.

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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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On the Steady-State Inverse-Optimality of Passivity-based Cooperative control

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IFAC Proceedings Volumes 2013年第27期46卷 138-143页

作者： Mathias Bürger Daniel Zelazo Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70550 Stuttgart Germany Faculty of Aerospace Engineering Technion - Israel Institute of Technology Haifa 32000 Israel

We consider a passivity based cooperative control problem, and show that the steady-state behavior of the networked system is intimately related to a family convex network optimization problems. This result provides a duality interpretation between the different signals in the cooperative control system. In particular, we show that the input and output signals as well as the dynamic controller state and controller output are pairs of dual variables. The presented results facilitate an optimal controller design in networked systems. We show how this novel interpretation leads the way to an optimal routing design in distribution networks.

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Objective evaluation of software architectures in driver assistance systems: Methods-quality model-metrics

Objective evaluation of software architectures in driver ass...

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作者： Ahrens, Dirk Frey, Andreas Pfeiffer, Andreas Bertram, Torsten BMW Group Driving Dynamics Driver Assistance and Active Safety 80788 Munich Germany Institute of Control Theory and Systems Engineering Technische Universität Dortmund 44221 Dortmund Germany Aerospace Informatics and Avionics Ingolstadt University of Applied Sciences 85019 Ingolstadt Germany

This paper describes methods and the obtained results for objective evaluation of software architectures in the automotive embedded domain. Software architecture is the key factor for influencing and fulfilling non-functional requirements that are addressed to a software system. Among others scalability, extensibility and portability are to be mentioned as major criteria. Until today however there is no approach that allows evaluating and measuring the quality of such software architectures objectively and quantitatively. The approach described here tries to close this gap and offers software architects methods and tools to be applied automatically to any existing architecture draft measuring an objective 'quality value'. Initially a quality model is developed which consists of several quality characteristics and quality attributes which are highly adapted and specialized to the specific needs of the automotive embedded software domain. After the identification of relevant quality attributes eight objective architecture metrics are developed and presented. The whole methodology is fully integrable into existing development processes. The suggested steps and artifacts can be added as optional upgrade. For a better understanding of the surrounding environment the current development process and necessary extensions are also explained. All metrics have been implemented in a fully functioning prototypical tool which can be operated via a graphical user interface (GUI) on any Java compliant system without further requirements. The user can freely configure which metrics shall be applied and how they are weighted to do an individual evaluation according to the software's specific needs or requirements. To prove its benefit for automotive applications and long-term establishment in the software development process the approach is evaluated. This is done in two consecutive steps. Firstly the general functioning and applicability is approved by using the metrics for several

关键词： Software architecture

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An Explicit Solution to Constrained Stabilization via Polytopic Tubes

An Explicit Solution to Constrained Stabilization via Polyto...

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IEEE Annual Conference on Decision and control

作者： Florian D. Brunner Mircea Lazar Frank Allgower Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

ISBN: (纸本)9781467357159

This paper proposes a method to obtain stabilizing controllers for constrained linear systems with assigned sets of initial conditions. The controller synthesis method is based on invariant tubes and works for linear time-invariant systems and for linear systems with multiplicative uncertainties. Given a compact initial condition set, a sequence of sets and an associated sequence of control laws is computed such that the initial condition set is contained in the first set of the sequence and every state in any set of the sequence is controlled to the next set in the sequence while satisfying state and input constraints. Assumptions on the parameterizations of the sets and the control laws are given that guarantee recursive feasibility of the tube synthesis problem and convergence of the closed-loop trajectories. For a particular type of parameterization it is shown that these assumptions are satisfied. Numerical simulations are presented that illustrate the developed synthesis method.

关键词： Electron tubes Lyapunov methods Cost function Trajectory Standards Robustness

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Stabilizing linear model predictive control: On the enlargement of the terminal set

Stabilizing linear model predictive control: On the enlargem...

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European control Conference (ECC)

作者： Florian D. Brunner Mircea Lazar Frank Allgöwer Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Germany Department of Electrical Engineering Eindhoven University of Technology The Netherlands

It is well known that a large terminal set leads to a large region where the MPC problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Contrary to existing approaches, the method uses the convex hull of a trajectory as the basis for the construction. This trajectory may be any feasible trajectory of the system terminating in an invariant set around the origin and is not restricted to consist only of equilibrium points. The method is applied in an MPC scheme where the terminal set is calculated at initialization.

关键词： Trajectory Xenon Cost function Interpolation Kernel Electron tubes Closed loop systems

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