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Volume 143
Issue 3
IEE Proceedings - Control Theory and Applications
Volume 143, Issue 3, May 1996
Volumes & issues:
Volume 143, Issue 3
May 1996
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- Author(s): Y.X. Yao ; Y.M. Zhang ; R. Kovacevic
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 225 –232
- DOI: 10.1049/ip-cta:19960306
- Type: Article
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p.
225
–232
(8)
The paper addresses the design of observers for systems with time delay. A factorisation approach is used to parameterise all observers for such systems. The necessary and sufficient condition of existence for observers is obtained. Based on the results in the parameterisation of observers, the estimation error dynamics is also parametrised. A design example is given to illustrate the proposed parameterisation procedure. - Author(s): J.-T. Tsay ; P.-L. Liu ; T.-J. Su
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 233 –236
- DOI: 10.1049/ip-cta:19960304
- Type: Article
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p.
233
–236
(4)
A robust stability criterion for perturbed large-scale time-delay systems with delay dependence is presented. The properties of a matrix measure and a comparison theorem are used in the formulation. The robust stability criterion obtained eliminates the need to solve the complex Lyapunov equation and can be used to estimate the size of the delay time for which stability is guaranteed. An example is given to illustrate the proposed method. - Author(s): C.P. Bottura ; S.A. Augusto Filho ; J.L. Silvino
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 237 –243
- DOI: 10.1049/ip-cta:19960122
- Type: Article
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p.
237
–243
(7)
Using a discrete time-variant state-space model for the induction machine, the authors consider the plant variations as being uncertainties represented by polytopes. In addition, an alternative scheme of vector control is proposed for digital control of the induction machine. This scheme involves treatment of the machine equations in state space and the acquisition of a robust state-feedback gain by an H2 convex optimisation method. - Author(s): J.S. Luo ; P.P.J. van den Bosch ; S. Weiland
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 244 –246
- DOI: 10.1049/ip-cta:19960298
- Type: Article
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p.
244
–246
(3)
A new sufficient condition is proposed for robust root clustering in an arbitrary subregion of the complex plane for both linear continuous time and linear discrete time uncertain systems. The systems are described by state space models with structured parameter uncertainty. Explicit bounds on uncertain parameters are derived to guarantee root clustering inside any specified region which may be demanded by stability and performance robustness. Illustrative examples show that the results of the proposed method can be much less conservative compared with the results of existing methods. - Author(s): Z.-J. Yang ; T. Hachino ; T. Tsuji
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 247 –254
- DOI: 10.1049/ip-cta:19960361
- Type: Article
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p.
247
–254
(8)
The paper proposes a novel method of model reduction with time delay for single-input, single-output systems combining the linear least-squares (LS) method with the genetic algorithm (GA). The denominator parameters and time delay of the reduced-order model are coded into binary bit strings and searched by the GA, while the numerator parameters are calculated by the LS method for each of candidates of the denominator parameters and time delay. Thus, all the best parameters and time delay of the reduced-order model can be obtained by repeating genetic operations of strings. The performance of the proposed method is shown by two numerical examples. - Author(s): H. Al-Duwaish ; M.N. Karim ; V. Chandrasekar
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 255 –258
- DOI: 10.1049/ip-cta:19960376
- Type: Article
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p.
255
–258
(4)
The problem of identification and control of a Wiener model is studied. The proposed identification model uses a hybrid model consisting of a linear autoregressive moving average model in cascade with a multilayer feedforward neural network. A two-step procedure is proposed to estimate the linear and nonlinear parts separately. Control of the Wiener model can be achieved by inserting the inverse of the static nonlinearity in the appropriate loop locations. Simulation results illustrate the performance of the proposed method. - Author(s): E. Ikonen and K. Najim
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 259 –269
- DOI: 10.1049/ip-cta:19960258
- Type: Article
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p.
259
–269
(11)
Implementation of fuzzy systems using multilayer perceptron artificial neural networks is considered, and detailed equations for training the network are derived. Models for the fluidised bed nitrogen emissions are created using linear regression, multilayer perceptron neural networks, and fuzzy neural networks to illustrate and compare the behaviour of the algorithms. - Author(s): L. Behera ; S. Chaudhury ; M. Gopal
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 270 –275
- DOI: 10.1049/ip-cta:19960121
- Type: Article
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p.
270
–275
(6)
The paper is concerned with the design of a hybrid controller structure, consisting of the adaptive control law and a neural-network-based learning scheme for adaptation of time-varying controller parameters. The target error vector for weight adaptation of the neural networks is derived using the Lyapunov-function approach. The global stability of the closed-loop feedback system is guaranteed, provided the structure of the robot-manipulator dynamics model is exact. Generalisation of the controller over the desired trajectory space has been established using an on-line weight-learning scheme. Model learning, using a priori knowledge of a robot arm model, has been shown to improve tracking accuracy. The proposed control scheme has been implemented using both MLN and RBF networks. Faster convergence, better generalisation and superior tracking accuracy have been achieved in the case of the RBF network. - Author(s): H. Elmali and N. Olgac
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 276 –282
- DOI: 10.1049/ip-cta:19960302
- Type: Article
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p.
276
–282
(7)
The conventional sliding-mode control (SMC) technique requires that the perturbation upperbounds are known a priori to achieve a robust control process. This requirement creates some difficulties, at the least causing the controller to be over-conservative. A recently introduced sliding mode control with perturbation estimation (SMCPE) philosophy removes this condition and replaces it with a continuous perturbation estimation process. It is shown that, for precise state measurements and high-speed control-loop closures, SMCPE manifests much smaller tracking errors than those of SMC. So far nonlinear systems in canonical form have been studied, and in the present paper the domain of application of SMCPE is extended to a more general class. For this extension, an I/O linearisation technique is utilised first, and then the SMCPE steps are followed for an output tracking control. Simulation results prove the strength of the technique for a satellite attitude control problem. - Author(s): K.-K. Shyu ; P.-H. Chu ; L.-J. Shang
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 283 –288
- DOI: 10.1049/ip-cta:19960378
- Type: Article
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p.
283
–288
(6)
A new output tracking control method for rigid robot manipulators is developed via the combination of adaptive sliding mode control and the compensated inverse dynamics approach. The innovative compensated inverse dynamics approach is applied to rigid robot systems and no estimation of the inertia matrix, which avoids the inverse problem of the time-varying inertia matrix, is involved. The adaptive sliding mode control scheme is used to take into account the unknown but bounded parameter uncertainties and external disturbances. The performance of the proposed control method is demonstrated by simulation. - Author(s): V. Sreeram ; W.-Q. Liu ; M. Diab
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 289 –295
- DOI: 10.1049/ip-cta:19960242
- Type: Article
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p.
289
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(7)
An alternative method for state covariance assignment for a general class of linear single-input systems is proposed. New formulas for both discrete and continuous systems are presented based on the inverse solutions of Lyapunov equations. These formulas are similar to the equations for pole placement. The set of all assignable covariance matrices to a single-input system is also characterised. Techniques for constructing these matrices are also described. - Author(s): M. Ishitobi
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 296 –300
- DOI: 10.1049/ip-cta:19960394
- Type: Article
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p.
296
–300
(5)
The paper deals with the stability of zeros of sampled-systems that are composed of a fractional-order hold, a continuous-time plant and a sampler in cascade. The stability conditions of the limiting zeros for sufficiently small or large sampling periods are derived. It is also shown that one can determine the range of the sampling period for stable zeros of the sampled system by calculating an analytical form of a criterion under a lowpass assumption on a continuous plant. - Author(s): A.T. Alexandridis
- Source: IEE Proceedings - Control Theory and Applications, Volume 143, Issue 3, p. 301 –304
- DOI: 10.1049/ip-cta:19960299
- Type: Article
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p.
301
–304
(4)
An improved method which assigns the closed-loop eigenvalues of a discrete-time linear system in desired preselected stable locations and which simultaneously selects those eigenvectors which satisfy a quadratic cost criterion with suitable weighting matrices is presented. The optimal feedback gain-matrix is determined without solving the algebraic matrix Riccati equation. The proposed explicit solution of the Riccati equation is feasible for both real and complex closed-loop stable eigenvalues.
Parameterisation of observers for time delay systems and its application in observer design
Robust stability for perturbed large-scale time-delay systems
H2 robust digital vector control for the induction machine
New sufficient condition for robust root clustering of linear state space models with structured uncertainty
Model reduction with time delay combining the least-squares method with the genetic algorithm
Use of multilayer feedforward neural networks in identification and control of Wiener model
Fuzzy neural networks and application to the FBC process
Neuro-adaptive hybrid controller for robot-manipulator tracking control
Satellite attitude control via sliding mode with perturbation estimation
Control of rigid robot manipulators via combination of adaptive sliding mode control and compensated inverse dynamics approach
Theory of state covariance assignment for linear single-input systems
Stability of zeros of sampled system with fractional order hold
Optimal entire eigenstructure assignment of discrete-time linear systems
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