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6th European control Conference, ECC 2001

作者： Pedret, C. Vilanova, R. Serra, I. Moreno, R. System Engineering and Automatic Control Group. Computer Science Dept ETSE Universitat Autònoma de Barcelona Bellaterra08193 Spain

ISBN: (纸本)9783952417362

This paper proposes a design framework for robust control system design. The approach is based on improving the robustness of a previously existing controller instead of the design of a Robust controller: therefore the consideration of the controller Robustification problem. The method is based on the generation of a complement to the control signal of the initial controller by means of a Robustification Block. This robustification part, which is based on the Observer-controller configuration, will add an additional free parameter to the initial controller and will provide an IMC-like control scheme. Consequently, two important facts follows: The robustness properties of the initial controller are improved and it is not necessary to modify the initial controller. The approach is presented as a two-step design and we will concentrate on the second stage by designing for Robust Stability. To illustrate the proposed design, the temperature of an open-loop unstable bach chemical reactor is controlled. © 2001 EUCA.

关键词： Robust control

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Robust Event-Triggered MPC for Constrained Linear Discrete-Time systems with Guaranteed Average Sampling Rate

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IFAC-PapersOnLine 2015年第23期48卷 117-122页

作者： Brunner, Florian D. Heemels, W.P.M.H. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We propose a robust event-triggered model predictive control (MPC) scheme for linear time-invariant discrete-time systems subject to bounded additive stochastic disturbances and hard constraints on the input and state. For given probability distributions of the disturbances acting on the system, we design event conditions such that the average frequency of communication between the controller and the actuator in the closed-loop system attains a given value. We employ Tube MPC methods to guarantee robust constraint satisfaction and a robust asymptotic bound on the system state. Moreover, we show that based on a given periodically updated Tube MPC scheme, an appropriate event-triggered MPC scheme can be designed, with the same guarantees on constraints and region of attraction, but with a reduced number of average communications. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Discrete time control systems Closed loop systems Digital control systems Linear control systems Model predictive control Predictive control systems Probability distributions Robustness (control systems) Stochastic models Stochastic systems Constraint Satisfaction Discrete time systems Event triggered controls Linear discrete time systems Linear time invariant Predictive control Region of attraction Stochastic disturbances

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Numerical Evaluation of a Robust Self-Triggered MPC Algorithm

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IFAC-PapersOnLine 2016年第22期49卷 151-156页

We present numerical examples demonstrating the efficacy of a recently proposed self-triggered model predictive control scheme for disturbed linear discrete-time systems with hard constraints on the input and state. In order to reduce the amount of communication between the controller and the actuator, the control input is not re-computed at each point in time but only at certain sampling instances. These instances are determined in a self-triggered fashion in the sense that at every sampling instant the next sampling instant is computed as a function of the current system state. A compact set in the state space, whose size is a design parameter in the control scheme, is stabilized. © 2016

关键词： Discrete time control systems Digital control systems Model predictive control Predictive control systems Robustness (control systems) control inputs control schemes Design parameters Hard constraints Linear discrete time systems Predictive control Sampling instants Self triggered controls

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A New Architecture for Robust Model Reference control

A New Architecture for Robust Model Reference Control

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IEEE Conference on Decision and control

作者： C. Pedret R. Vilanova R. Moreno I. Serra System Engineering and Automatic Control Group ETSE Universitat Authnòma de Barcelona Bellaterra Spain

A new controller configuration for Robust Model Reference control is presented in this paper. The structure is based on a right coprime factorization of the plant and makes use of an observer-based feedback control scheme combined with a prefilter controller. It is designed first to guarantee stability robustness and some levels of performance in terms of disturbance rejection. This is done by solving a constrained H ∞ optimization problem using the right coprime factorization of the plant in an active way. Secondly, the prefilter controller is designed to guarantee robust open-loop processing of the reference commands. This is done by assuming a Reference Model and by solving a Model Matching Problem.

关键词： Robust control Open loop systems Robust stability Feedback control control systems Uncertainty Adaptive control control system synthesis automatic control Constraint optimization

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Analytical H design for a smith-type inverse-response compensator

Analytical H design for a smith-type inverse-response compen...

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2009 American control Conference, ACC 2009

作者： Alcántara, S. Pedret, C. Vilanova, R. Zhang, W.D. Systems Engineering and Automatic Control Group ETSE Universitat Autònoma de Barcelona 08193 Bellaterra Spain Department of Automation Shanghai Jiaotong University Shanghai 200240 China

ISBN: (纸本)9781424445240

In this paper a control configuration for inverseresponse processes is presented. It results in a Smith-type predictor scheme that aims to put the non-minimum phase dynamics out of the feedback loop. The design is carried out analytically by solving an H weighted optimization problem assuming a second order stable process with one positive zero. The performance of the proposed control configuration is compared by simulation with two different approaches to show its applicability. © 2009 AACC.

关键词： Inverse problems

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Modelling and control of a semi-active suspension system

Modelling and control of a semi-active suspension system

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作者： Colina, A. Lerma, G. Cabanes, I. Iglesias, I. Department of Automatic Control and System Engineering University of the Basque Country Spain Industry and Transport Division Vehicle Dynamics Group Tecnalia Research and Innovation Spain

ISBN: (纸本)9789400774841

The suspension system is composed of several deformable elements such as springs and dampers, which connect the car body to wheels and absorb vibrations generated by road irregularities. The main purpose of suspension system is to isolate the vehicle body from disturbances in order to keep wheels in contact with the road surface to contribute to road holding, and in order to maximize passenger ride comfort. This paper describes a semi-active suspension system of 2 degrees of freedom (2DOF), typically referred to as a quarter car model. To design a suspension control system that improve ride comfort, dynamic modelling of semi-active suspension was developed. control strategies were implemented for these semi-active suspension systems using MATLAB® and Simulink® software. The results show that the semi-active suspension system controlled by a logical strategy minimizes vertical acceleration experienced by passengers, compared to passive suspension system. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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Communication scheduling in robust self-triggered MPC for linear discrete-time systems 5

Communication scheduling in robust self-triggered MPC for li...

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5th IFAC Workshop on Distributed Estimation and control in Networked systems, NecSys 2015

作者： Brunner, Florian D. Gommans, T.M.P. Heemels, W.P.M.H. Allgöwer, Prank Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 Stuttgart70569 Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We consider a networked control system consisting of a physical plant, an actuator, a sensor, and a controller that is connected to the actuator and sensor via a communication network. The plant is described by a linear discrete-time system subject to additive disturbances. In order to reduce the required number of communications in the system, we propose a robust self-triggered model predictive controller based on rollout techniques that robustly asymptotically stabilizes a certain periodic sequence of sets in the state space while guaranteeing robust satisfaction of hard state and input constraints. At periodically occurring scheduling times, the self-triggered model predictive control algorithm determines the times at which the control input and plant measurement are updated in the time span until the next scheduling time. We establish a certain upper bound on the average sampling rate in the closed-loop system. Moreover, we show how increasing the asymptotic bound on the system state, which is a design parameter in the control scheme, can be used to further reduce the average number of communications in the system. © 2015, IF AC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Closed loop systems

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control configuration for inverse response processes

Control configuration for inverse response processes

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Mediterranean Conference on control and Automation (MED)

作者： S. Alcantara C. Pedret R. Vilanova P. Balaguer A. Ibeas Systems Engineering and Automatic Control Group ETSE Universitat Autònoma Barcelona Bellaterra Spain

In this paper we present a control configuration for inverse response processes inspired in the Smith Predictor scheme. It is based on an inner-outer factorization and it is aimed to remove the non-minimum phase dynamics of the feedback loop. Then, the design of the feedback controller is done considering just the minimum phase part of the plant. To show the applicability of the proposed control configuration it is compared by simulation with two common approaches.

关键词： Automation Conferences

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Quadriceps muscle models using fuzzy logic and ANFIS

Quadriceps muscle models using fuzzy logic and ANFIS

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2013 IEEE 3rd International Conference on system engineering and Technology, ICSET 2013

作者： Salleh, S.M. Jailani, R. Tokhi, M.O. Neuromuscular Rehabilitation Research Group Faculty of Electrical Engineering Universiti Teknologi MARA 40450 Shah Alam Selangor Malaysia Department of Automatic Control and System Engineering University of Sheffied United Kingdom

ISBN: (纸本)9781479910304

This paper presents a development of quadriceps muscle models using ANFIS and Fuzzy Logic based on Functional Electrical Stimulation (FES). The models inputs parameter consists of stimulation frequency, pulse width, and sampling time are used to predict quadriceps output torque. The muscle models developed are then validate with the clinical data to evaluate the accuracy of the torque output predicted with the identified parameters. In this study, Fuzzy Logic muscle model gives better performance representing quadriceps muscle model. © 2013 IEEE.

关键词： Computer circuits

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Reduced-order modeling based on generalized holds: Application to digital pid control

Reduced-order modeling based on generalized holds: Applicati...

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作者： Pedret, Carles Ibeas, Asier Vilanova, Ramon De La Sen, Manuel Systems Engineering and Automatic Control Group ETSE. Universitat Autnoma de Barcelona 8193 Bellaterra Spain Department of Electricity and Electronics University of Basque Country Campus of Leioa Bizkaia 644 Aptdo Bilbao 48080 Spain

This paper explores the use of a discretization procedure based on multi-rate sampling called Generalized Sample-data Hold Function (GSHF) for modeling and control purposes. Within this framework, the designer is allowed to use the degrees of freedom, provided by the GSHF to deliberately cause stable pole-zero cancellations and, thus, obtaining reduced-order discrete-time systems from linear continuous-time ones. This methodology is used for controller design purposes, concretely, Proportional-Integral-Derwatwe (PID) control. In this way, a continuous-time process that is not suitable for PID control is discretized by means of a GSHF allowing a double benefit: complex dynamics of the continuous-time plant are removed in order to make PID control adequate and, for the reason that the order of the model is reduced, more simple tuning procedures can be. used. Simulation examples have shown the applicability of the proposed, approach and, its usefulness providing good asymptotic tracking and smooth inter-sample behavior both in the perfectly known system and under parametric uncertainty. ICIC International © 2010 ISSN 1349-4198.

关键词： Digital control systems

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