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Volume 141
Issue 6
IEE Proceedings - Control Theory and Applications
Volume 141, Issue 6, November 1994
Volumes & issues:
Volume 141, Issue 6
November 1994
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- Author(s): R.A. Perez and K.-N. Lou
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 357 –366
- DOI: 10.1049/ip-cta:19941498
- Type: Article
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p.
357
–366
(10)
The problem of improving the performance and stability of a gas turbine aircraft engine operating throughout the whole flight envelope in the presence of predominantly destructive dynamical interactions is addressed. The controller structure aimed for in this work is decentralised, thus making the system tolerant to soft and/or hard failures while at the same time allowing the tuning of every loop separately. The control strategy consists of static compensators to minimise the destructive dynamical interaction between loops, diagonal lead/lag for performance and stability enhancement and a diagonal prefilter to meet steady-state requirements. - Author(s): D. Baksi ; K.B. Datta ; G.D. Roy
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 367 –372
- DOI: 10.1049/ip-cta:19941496
- Type: Article
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p.
367
–372
(6)
A general parallel algorithm for pole placement via linear state variable feedback based on Sylvester's equation is proposed. The prescribed eigenvalues may be the same as the open-loop eigenvalues or disjoint from them and can be of any order of multiplicity. The algorithm uses block Hessenberg forms for numerically reliable computation. Results of robustness of closed-loop pole assignment are given along with complexity analysis. - Author(s): M.R. Katebi ; T. Lee ; M.J. Grimble
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 373 –384
- DOI: 10.1049/ip-cta:19941499
- Type: Article
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p.
373
–384
(12)
The design of CMM has undergone a radical change with the aim of improving speed and measurement accuracy. This is achieved by substituting the analogue component with high speed digital processors and the mechanical components by high power electronic devices. The control system is, however, hardly changed. Requirements of speed and accuracy should be simultaneously satisfied. To ensure the total control, four interacting feedback loops, (current, velocity, position and vibration loops) for each arm, and one feedforward loop, (profile loop) need to be designed, implemented and tuned. This gives a total of 15 control loops for the three arms. Unlike the conventional control system where the controlled variable is available for feedback, the probe position is difficult and expensive to measure. The paper develops an optimal control such that the speed and the measurement accuracy are maximised while the tuning and commissioning time are minimised. The proposed control design scheme uses a hierarchical approach to decompose the system into smaller subsystems. The current and velocity loops are firstly optimised. It is then shown that the MIMO control problem can be decoupled into three SIMO control problems. A two DOF optimal controller is developed to control probe position and arm vibration. The feedforward controller is automatically generated by introducing the model of the profile. Simulation and experimental results are given. - Author(s): J.R. Raol
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 385 –388
- DOI: 10.1049/ip-cta:19941506
- Type: Article
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p.
385
–388
(4)
The application of neural network based schemes for parameter estimation of unstable/augmented aerospace dynamic systems is considered. The parameter estimation algorithms are programmed within the structure of recurrent neural networks (RRNs). Numerical simulation results are given. - Author(s): H. Yu ; L.D. Seneviratne ; S.W.E. Earles
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 389 –395
- DOI: 10.1049/ip-cta:19941507
- Type: Article
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p.
389
–395
(7)
Robust control has a chattering problem since the control laws are discontinuous functions. To improve this, a boundary layer can be introduced; however the system then loses asymptotical stability and is only globally stable. An exponentially stable robust nonlinear control law for robot manipulators, based on Lyapunov stability theory, is presented. The robust control law is designed using a special Lyapunov function which includes both tracking errors and an exponentially convergent additional term, making the stability proof easy, and guarantees that the tracking errors decrease exponentially to zero. For bounded input disturbances, the control laws, with little modification, maintain satisfactory system performance. The results of a computer simulation for a 2-link manipulator are presented, demonstrating the benefits and robustness of the proposed algorithm. - Author(s): M. Ishitobi
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 396 –402
- DOI: 10.1049/ip-cta:19941534
- Type: Article
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p.
396
–402
(7)
Simplified forms of criteria are presented for ensuring that all zeros of a discrete system are stable when a continuous-time and strictly proper plant is discretised by the use of a sampler and a zero-order holder. The Nyquist algorithm proposed by Fu and Dumont (1989) has been improved in the sense that a point of the Nyquist curve is obtained analytically. When a lowpass system is sampled, analytical forms of criteria without drawing the Nyquist curves have been also shown. - Author(s): V. Parameswaran and J.R. Raol
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 403 –408
- DOI: 10.1049/ip-cta:19941500
- Type: Article
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p.
403
–408
(6)
Algorithms are presented for estimation of deterministic model error in the assumed models of nonlinear discrete and continuous time systems. The explicit model error time histories are parameterised using least squares method. The parameterised models relative to the true model explain the deterministic deficiency in the chosen models, in the sense of minimum model error. The algorithms have appealing features of extended Kalman filter. The numerical simulation results are obtained by implementing the algorithms in PC MATLAB. - Author(s): L. Moreno ; L. Acosta ; A. Hamilton ; J.A. Mendez ; .L. Sanchez ; J.D. Pineiro
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 409 –417
- DOI: 10.1049/ip-cta:19941503
- Type: Article
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p.
409
–417
(9)
The objective of this paper is to study by means of dynamic programming the optimal control of nonlinear continuous systems. We apply to these systems a development of block pulse for the state and a nonuniform discretisation of the state space. As a particular case of a nonlinear system, we analysed a continuous dual control problem, and we carried out an implementation of a stochastic control policy on a real process, a DC motor. - Author(s): X.-D. Sun and T. Clarke
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 418 –426
- DOI: 10.1049/ip-cta:19941580
- Type: Article
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p.
418
–426
(9)
A series of studies concerning the control of aircraft using nonlinear inverse dynamics based control techniques is presented. Following a summary of the inverse dynamics control theory, a design procedure for effective use of the method for flight control is generated. The novel features of the design have included the direct incorporation of handling qualities specification in the controller synthesis, the special considerations necessary for the inclusion of flap like direct force control devices (e.g. spoilers), and the introduction of 'principal controller' design for the efficient synthesis of multimode control systems using NID control. Detailed derivations of the symbolic inverse dynamics of the aircraft are given. The end result is a flight control system which satisfies handling qualities requirements and comprises mission-defined control modes for active control of the aircraft using nonlinear spoilers. Its success and effectiveness are demonstrated through simulation. - Author(s): G.F. Bryant and L.F. Yeung
- Source: IEE Proceedings - Control Theory and Applications, Volume 141, Issue 6, p. 427 –436
- DOI: 10.1049/ip-cta:19941226
- Type: Article
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p.
427
–436
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We exploit the use of Gauss-Jordan factorisation to simplify the design of a multivariable system. It shows that the effects of closing a multivariable feedback system in sequential order can also be obtained by performing successive Gauss-Jordan eliminations on its return difference matrix. This simple elimination procedure enables us to transform a multivariable design into a series of multi-input single-output designs and to develop new sequential design procedures with which the well known Nyquist and root loci techniques can be applied. The design of the precompensator K(s) can then be decomposed into n stages such that each column of K(s) can be designed sequentially.
Decentralised multivariable control and stability of a gas turbine engine
Parallel algorithm for pole assignment of multi-input systems
Total control of fast coordinate measuring machines
Neural network based parameter estimation of unstable aerospace dynamic systems
Exponentially stable robust control law for robot manipulators
Criteria for stability of zeros of sampled systems
Estimation of model error for nonlinear system identification
Dynamic programming approach for nonlinear systems
Advanced aircraft flight control using nonlinear inverse dynamics
New sequential design procedures for multivariable systems based on Gauss-Jordan factorisation
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