Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 6, Issue 8, 17 May 2012
Volumes & issues:
Volume 6, Issue 8
17 May 2012
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- Author(s): J.M. Maciejowski and K.V. Ling
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1001 –1002
- DOI: 10.1049/iet-cta.2012.0407
- Type: Article
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- Author(s): G. Valencia-Palomo and J.A. Rossiter
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1003 –1014
- DOI: 10.1049/iet-cta.2010.0430
- Type: Article
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This study presents a novel programmable logic controller (PLC) implementation of a constrained predictive control (MPC) algorithm based on Laguerre functions and multi-parametric quadratic programming (mp-QP). First, the study shows how Laguerre functions can be used in conjunction with mp-QP to achieve a large decrease in both the online computations and data storage requirements while increasing the feasible region of the optimisation problem for MPC; extensive simulation results are given to back this claim. Next, the study shows how the algorithm can be embedded on an industrial PLC using the IEC 61131-3 programming standard. A laboratory test was carried out to demonstrate the code on real hardware. - Author(s): B.A.G. Genuit ; L. Lu ; W.P.M.H. Heemels
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1015 –1028
- DOI: 10.1049/iet-cta.2010.0709
- Type: Article
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Piecewise affine (PWA) feedback control laws defined on general polytopic partitions, as for instance obtained by explicit model predictive control, will often be prohibitively complex for fast systems. In this work the authors study the problem of approximating these high-complexity controllers by low-complexity PWA control laws defined on more regular partitions, facilitating faster on-line evaluation. The approach is based on the concept of input-to-state stability (ISS). In particular, the existence of an ISS Lyapunov function (LF) is exploited to obtain a priori conditions that guarantee asymptotic stability and constraint satisfaction of the approximate low-complexity controller. These conditions can be expressed as local semidefinite programs or linear programs, in case of 2-norm or 1, ∞-norm-based ISS, respectively, and apply to PWA plants. In addition, as ISS is a prerequisite for our approximation method, the authors provide two tractable computational methods for deriving the necessary ISS inequalities from nominal stability. A numerical example is provided that illustrates the main results. - Author(s): J.L. Jerez ; K.-V. Ling ; G.A. Constantinides ; E.C. Kerrigan
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1029 –1041
- DOI: 10.1049/iet-cta.2010.0441
- Type: Article
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Model predictive control (MPC) is an optimisation-based scheme that imposes a real-time constraint on computing the solution of a quadratic programming (QP) problem. The implementation of MPC in fast embedded systems presents new technological challenges. In this paper we present a parameterised field-programmable gate array implementation of a customised QP solver for optimal control of linear processes with constraints, which can achieve substantial acceleration over a general purpose microprocessor, especially as the size of the optimisation problem grows. The focus is on exploiting the structure and accelerating the computational bottleneck in a primal-dual interior-point method. We then introduce a new MPC formulation that can take advantage of the novel computational opportunities, in the form of parallel computational channels, offered by the proposed pipelined architecture to improve performance even further. This highlights the importance of the interaction between the control theory and digital system design communities for the success of MPC in fast embedded systems. - Author(s): A. Mills ; A.G. Wills ; S.R. Weller ; B. Ninness
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1042 –1054
- DOI: 10.1049/iet-cta.2010.0739
- Type: Article
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This study investigates the design of a field-programmable gate array-based custom computer architecture solution for implementing model predictive control (MPC). The solution employs a primal logarithmic-barrier interior-point algorithm in order to handle actuator constraints. The solution also incorporates practical aspects of a control algorithm including state observation and data sampling. The resulting circuit is profiled by application to a disturbance rejection control problem of a 14th-order lightly damped flexible beam structure with actuator constraints. This is achieved at 2 kHz sampling frequency and with 16-sample prediction horizon. - Author(s): H. Chen ; F. Xu ; Y. Xi
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1055 –1063
- DOI: 10.1049/iet-cta.2010.0443
- Type: Article
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To improve the on-line computational performance of model predictive control (MPC) for fast systems and/or embedded systems, this study proposes a novel scheme for the MPC controller implementation based on field programmable gate array (FPGA) and system on a programmable chip (SOPC) technology. A Nios II processor clocked at 150 MHz is embedded into the FPGA chip. A C/C++ model of the MPC algorithm which is run in the Nios II processor is created. The dual method is adopted to solve the quadratic programming (QP) problem. Based on FPGA and dSPACE®, a rapid prototyping platform is introduced to test and verify the function and computational performance of the MPC controller. Real-time simulation results of controlling a throttle model show that a reasonable size of constrained MPC controller can be implemented on the used RCIII FPGA board. - Author(s): P.D. Vouzis ; S. Collange ; M.G. Arnold ; M.V. Kothare
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1064 –1070
- DOI: 10.1049/iet-cta.2010.0736
- Type: Article
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Model predictive control (MPC) is an optimisation-based algorithm which usually requires a numerical method to calculate the solution of the problem. Inherently, numerical methods for optimisation problems are implemented on a finite-precision hardware platform and are subject to the appearance of numerical instabilities of catastrophic cancellation and ill-conditioned matrices. These anomalies are difficult to detect and overcome, and for safety-critical applications, it is essential to have a mechanism that can at least issue a warning when an arithmetic instability occurs. Towards this direction, Monte Carlo arithmetic (MCA) for the floating-point (FP) number system has been used for both detection and mitigation of catastrophic cancellation and ill-conditioned matrices. An alternative to FP is the Logarithmic Number System (LNS) that recently has been proposed for the real-time hardware implementation of embedded MPC. In this study the authors present the adaptation of MCA to LNS for detecting and mitigating catastrophic cancellation, forming the Monte Carlo Logarithmic Number System (MCLNS). An inherent drawback of MCA is the accuracy deterioration which is a direct consequence of the randomisation in the arithmetic operations. Additionally, multiple simulations of the system result in performance deterioration equal to the number of simulations. Using off-line simulations it is possible to determine the necessary hardware requirements to achieve desired accuracy under performance constraints. These trade-offs are studied and analysed for an MPC algorithm, and the hardware implementation cost of MCLNS is quantified by synthesis on a Xilinx Virtex-IV FPGA. - Author(s): D. Buchstaller ; E.C. Kerrigan ; G.A. Constantinides
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1071 –1079
- DOI: 10.1049/iet-cta.2010.0440
- Type: Article
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For a sampled-data control system, the authors propose to choose the time between samples to be shorter than the computational delay involved in computing the control signal, an approach called as intra-delay sampling. It is shown that, utilising a parallel computing architecture, this is indeed feasible and that intra-delay sampling schemes yield better performance than their slower sampling counterparts. - Author(s): J. Thomas
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1080 –1088
- DOI: 10.1049/iet-cta.2010.0675
- Type: Article
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Model predictive control (MPC) is known as an efficient technique for controlling different industrial processes. However, the computation load remains the main challenge facing the real-time application of the MPC technique especially for complex systems, like, for example, hybrid systems with discrete or binary variables. In this study the authors propose an analytical non-linear model predictive control (NMPC) technique for hybrid systems with discrete inputs only. The proposed controller has lower computation complexity compared to other techniques presented in the literature; as a result real-time implementation is turned to be possible for several systems. The proposed analytical NMPC controller can be applied efficiently for different classes of hybrid systems: switching systems, linear hybrid systems, non-linear hybrid systems and constrained systems. The proposed technique is validated through several examples representing different classes of hybrid systems with discrete inputs.
Editorial: Implementation of feedback controllers
Novel programmable logic controller implementation of a predictive controller based on Laguerre functions and multiparametric solutions
Approximation of explicit model predictive control using regular piecewise affine functions: an input-to-state stability approach
Model predictive control for deeply pipelined field-programmable gate array implementation: algorithms and circuitry
Implementation of linear model predictive control using a field-programmable gate array
Field programmable gate array/system on a programmable chip-based implementation of model predictive controller
Improving model predictive control arithmetic robustness by Monte Carlo simulations
Sampling and controlling faster than the computational delay
Analytical non-linear model predictive control for hybrid systems with discrete inputs only
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- Author(s): G. Wang and Q. Zhang
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1089 –1096
- DOI: 10.1049/iet-cta.2011.0549
- Type: Article
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This study focuses on the problem of robust control for a class of uncertain singular stochastic Markovian jump systems via proportional–derivative state feedback controllers (PDSFCs). The uncertainties are not only in system matrices, such as state, input and derivative matrices, but also in mode transition rate matrix. New sufficient conditions for the existence of mode-dependent PDSFC are derived as linear matrix inequalities (LMIs) such that the closed-loop singular stochastic system is quadratically normal and quadratically stochastically stable (QNQSS). Especially, another PDSFC referred to be partially mode dependent is also given by a mode-dependent Lyapunov function. Numerical examples are used to show the effectiveness of the proposed methods. - Author(s): B. Sari ; O. Bachelier ; D. Mehdi
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1097 –1108
- DOI: 10.1049/iet-cta.2010.0731
- Type: Article
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This study deals with strict linear matrix inequality (LMI)-based robust admissibility analysis and robust admissibilisation of a discrete linear descriptor system associated with pencil (E,A). Indeed, the LMI condition for nominal admissibility is linear with respect to A and also with respect to E. This linearity in E is an original issue in this study. As a consequence, parameter deflections in the entries of A but also of E can then be easily taken into account owing to polytopic description to derive strict LMI sufficient conditions for robust admissibility and robust state feedback admissibilisation. The possibility to deal with parameter uncertainty on E is one of the main contributions. It is also shown how the proposed condition can go beyond the scope of the descriptor systems and can be used to approach the very challenging problem of the static output feedback stabilisation of discrete non-descriptor models. - Author(s): D. Zhao ; T. Zou ; S. Li ; Q. Zhu
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1109 –1117
- DOI: 10.1049/iet-cta.2011.0001
- Type: Article
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Facing the critical challenge in coordination control and uncertainty encountered in leader–follower multi-agent systems, this study proposes a new adaptive backstepping sliding mode control approach in light of integration of the advantages of backstepping and sliding mode control principles. A systematic controller design procedure is proposed with step-by-step implement details. Correspondingly, the stability analysis is presented to lay a foundation for analytical understanding in generic theoretical aspects and safe operation in real systems. Two simulated examples are selected to bench test the effectiveness and efficiency of the proposed approach. - Author(s): J.H. Seo ; J. Back ; H. Kim ; H. Shim
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1118 –1124
- DOI: 10.1049/iet-cta.2011.0197
- Type: Article
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This study addresses a challenging problem on the consensus of multi-agent systems, that is, simultaneously deals with the high-order linear multi-agent systems (including single and double integrators, and harmonic oscillators) and time-varying interaction topology. The interaction topology is assumed to switch among a finite number of connected undirected graphs having a non-vanishing dwell time. It is also constrained that each agent can use only the system outputs of its neighbouring agents for the purpose of feedback. Under these conditions, the authors propose two high-gain dynamic consensus protocols, one with multiple time-scale based and the other single time-scale, for the uniform rank systems without finite zeros. An example is provided to validate the proposed protocols. - Author(s): Q. Zong ; Y.H. Ji ; F. Wang
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1125 –1129
- DOI: 10.1049/iet-cta.2011.0255
- Type: Article
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Controlling non-linear strict-feedback systems is a focused research in control theory. In this study, the authors consider a novel command filtered back-stepping control that obviates the need to compute analytic derivatives in the traditional back-stepping design. An input-to-state stability (ISS)-modular approach is presented by combining the command filtered back-stepping method with the sliding-mode-based integral filters, ISS analysis and the small-gain theorem. The ISS-modular approach provides a simple and effective way for controlling non-linear systems by the command filtered back-stepping approach, simultaneously solving the problem of ‘explosion of complexity’. Numerical simulations are included to demonstrate the effectiveness of the proposed approach.
Robust control of uncertain singular stochastic systems with Markovian switching via proportional–derivative state feedback
Robust state feedback admissibilisation of discrete linear polytopic descriptor systems: a strict linear matrix inequality approach
Adaptive backstepping sliding mode control for leader–follower multi-agent systems
Output feedback consensus for high-order linear systems having uniform ranks under switching topology
Input-to-state stability-modular command filtered back-stepping control of strict-feedback systems
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- Author(s): X. Dong and J. Zhao
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1130 –1136
- DOI: 10.1049/iet-cta.2011.0075
- Type: Article
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The output regulation problem for a class of switched non-linear systems is addressed in this study. First of all, the authors adopt the multiple Lyapunov function method to design a switching law, which solves the problem without the problem solvability of any subsystem. Then, in the sense of an average dwell time, another solvability condition for the problem is presented with respect to a family of switching signals which satisfies the average dwell time. Moreover, an explicit expression about the average dwell time is given. The results extend those of the output regulation problem for non-switched non-linear systems to switched non-linear systems. Simulation examples also show the validity of the results. - Author(s): M. Song and Y. Lin
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1137 –1144
- DOI: 10.1049/iet-cta.2011.0252
- Type: Article
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In this study, a modified adaptive backstepping control is proposed for linear time-invariant (LTI) single-input single-output (SISO) plants. By introducing arbitrary-order finite-time convergence exact differentiators, the explosion of complexity problem in backstepping control is eliminated and the tracking error converges to zero asymptotically. Furthermore, the adaptive laws are necessary only at the first design step, which significantly reduce the design procedure. It is proved that, with the proposed scheme, all the closed-loop signals are semi-globally uniformly ultimately bounded. Simulation results are presented to demonstrate the effectiveness of the proposed scheme. - Author(s): A. Ghosh ; T.R. Krishnan ; B. Subudhi
- Source: IET Control Theory & Applications, Volume 6, Issue 8, p. 1145 –1152
- DOI: 10.1049/iet-cta.2011.0251
- Type: Article
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This study designs a two-loop proportional–integral–derivative (PID) controller for an inverted cart–pendulum system via pole placement technique, where the (dominant) closed-loop poles to be placed at the desired locations are obtained from an Linear quadratic regulator (LQR) design. It is seen that in addition to yielding better responses (because of additional integral action) than this LQR (equivalent to two-loop PD controller) design, the proposed PID controller is robust enough. The performance and robustness of the PID compensation are verified through simulations as well as experiments.
Solvability of the output regulation problem for switched non-linear systems
Modified adaptive backstepping design method for linear systems
Robust proportional–integral–derivative compensation of an inverted cart–pendulum system: an experimental study
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- Author(s): K.-B. Park
- Source: IET Control Theory & Applications, Volume 6, Issue 8, page: 1153 –1153
- DOI: 10.1049/iet-cta.2009.0345
- Type: Article
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Comment: Design of a stable sliding-mode controller for a class of second-order underactuated systems
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- Author(s): R. Sipahi and W. Qiao
- Source: IET Control Theory & Applications, Volume 6, Issue 8, page: 1154 –1154
- DOI: 10.1049/iet-cta.2011.0510
- Type: Article
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Erratum: Author Correction: Responsible eigenvalue concept for the stability of a class of single-delay consensus dynamics with fixed topology
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