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This paper addresses a state-space approach to dynamically substructured systems and associated controller design. Dynamic substructuring enables full-size, critical components to be physically tested, whilst the remaining parts are simulated in real-time. The feedback of dynamic constraints and synchronization of variables must be done at the substructuring interface. High quality control is required...
Dealing with a multivariable non-minimum phase model of a boiler system, a LQG/LTR controller is designed which is well-known for its optimality and robustness. Firstly, the loop transfer function is shaped using LQG method; then, an observer is proposed with the aim of loop transfer recovery. Consequently, the designed controller is reduced to the lowest possible order for the sake of implementation...
In this paper, an Hfrinfin/LPV observer to be used in an automotive suspension control application is proposed. The system considered is a road disturbance affected quarter car equipped with an industrial SOBEN damper. This observer is designed in the Hfrinfin framework in order to minimize the effect of the unknown road disturbance on the estimated states. The damper studied in this paper is highly...
In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local...
This paper proposes a solution to the problem of the state observation and position control by output feedback for a nonlinear three degrees-of-freedom (3-DOF) parallel kinematic machine (PKM) system, based on the limited signal availability (moving platform displacement measurements only). The unknown velocity signals are estimated via a nonlinear robust observer which is designed for the nonlinear...
In this note we derive an exact expression for the expected probability V of constraint violation in a sampled convex program (see [1], [2] for definitions and an introduction to this topic): V = expected number of support constraints/1 + number of constraints. This result (Theorem 1) is obtained using a simple technique based on cardinality count. In the note, we also use a Chernoff bounding technique...
A two voltage level electronic device is interesting because the clock frequency and the supply voltage level could be reduced in order to decrease the energy consumption. However, these two quantities have to be controlled respecting certain rules, and decreasing them leads to a reduced computational speed. In this paper a control architecture is proposed to deal with this power performance tradeoff...
Load frequency control (LFC) issue has been one of the major subjects in electric power system operation and design. Nowadays, it is becoming much more significant in accordance to increasing size, changing structure and complexity of interconnected power systems. In this paper, a new decentralized self-tuning pole placement control technique is proposed as an appropriate strategy for load frequency...
Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we propose an architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric...
This paper considers the design of robust LMI-based controllers for a wind turbine along its entire nominal operating trajectory. The proposed robust controller design takes into account parametric uncertainties in the model using a structured uncertainty description, which makes the controllers less conservative than controllers designed using unstructured uncertainty descriptions. The LMI-based...
Adaptive observer design procedure is proposed for nonlinear locally Lipschitz systems. Possible presence of disturbances is taken into account. The solution is based on logic-based control approach applicable to nonlinear systems with bounded solutions. Efficacy of the proposed observer is demonstrated by computer simulation for a mechanical oscillating system.
Control of systems with time-varying dynamical characteristics impose either a conservative time-invariant control strategy that should hold for all time instants or to adopt some adaptive scheme. One of such, called simple adaptive control, is particularly appropriate for control applications such as flexible aircrafts or other fast varying processes. Indeed, it does not need any real-time estimation...
A set of controllers' fragility plots based on the delta epsilon fragility index, is proposed as a tool to analyze the influence of the proportional integral derivative (PID) controller parameters' variations over the control loop robustness. Examples are used to illustrate the use of the plots.
This paper addresses a robust reference tracking control problem for nonlinear distributed parameter systems with external disturbances and measurement noises. An infinite-dimensional fuzzy state-space model is introduced to represent the nonlinear distributed parameter system. This fuzzy state-space model was separated into a finite-dimensional fuzzy state-space controlled subsystem with an infinite-dimensional...
An integrated design that combines sliding mode control with adaptive control to provide a robust fault tolerant flight controller that works for a wide range of faults is proposed in this paper. The scheme combines the insensitivity and robustness properties of sliding mode control to certain types of disturbances and uncertainties with the accommodation properties of adaptive control to parametric...
The paper deals with simple and robust discrete controller design using new approach using the reflection vectors techniques. We assume that the controller structure consists of feed-forward and feedback parts. Developed robust algorithms were tested on the case study examples for different dynamical processes stable, unstable and oscillating type. Simulations were realized in MATLAB-Simulink. Obtained...
In previous works the authors proposed to use hit-and-run versions of Markov-chain Monte-Carlo algorithms for various problems of control and optimization. In this paper we focus on robust stabilization applications of the method. The crucial notion for this algorithm is a boundary oracle (BO), and we start with constructing BO for robustness problems, including robust stability of polynomials and...
Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling...
This paper addresses parameter and state estimation problem in the presence of perturbation on observer gain for the Lipschitz systems that are linear in unknown parameters and nonlinear in states. A nonlinear adaptive resilient observer is designed, and its stability conditions based on Lyapunov technique are derived. The gain for this observer is derived systematically using linear matrix inequality...
The Smith predictor is a well-known method for designing controllers for plants with I/O delays. Assuming the time delay known, this control configuration compensates the delay within the loop making it possible to design the controller just considering the (rational) delay-free part of the plant. Since the original Smith predictor does not allow to deal with unstable plants, intensive research has...
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