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Volume 144
Issue 1
IEE Proceedings - Control Theory and Applications
Volume 144, Issue 1, January 1997
Volumes & issues:
Volume 144, Issue 1
January 1997
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- Author(s): K. Burnham
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, page: 1 –1
- DOI: 10.1049/ip-cta:19971007
- Type: Article
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- Author(s): D. Flynn ; B.W. Hogg ; E. Swidenbank
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 2 –7
- DOI: 10.1049/ip-cta:19970991
- Type: Article
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Deficiencies in the performance of conventional controllers has led to the development of self-tuning strategies for excitation control of turbogenerator systems. However, before such schemes can be implemented substantial monitoring or jacketing software is required. An expert system is proposed to perform these duties, allowing a distinction to be made between the control and identification algorithms and the accompanying supervisory functions. Test results on a laboratory microalternator are presented, illustrating the advantages of self-tuning control and how expert system intervention enhances controller performance and robustness. - Author(s): M. Mahfouf ; D.A. Linkens ; A.J. Asbury
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 8 –14
- DOI: 10.1049/ip-cta:19970992
- Type: Article
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The number of applications with the popular generalised predictive control (GPC) algorithm has risen considerably since the early years following its introduction. It is reaching a wider audience including clinicians, perhaps due to recent progress in the understanding of the design of model-based predictive control in general, followed by an awareness of the criteria governing the choice of the GPC ‘tuning parameters’ which can be tailored to a specific application. The development and evaluation of SISO GPC for on-line administration of muscle relaxant drugs in the operating theatre during surgery is considered first. Excellent regulation has been achieved with good robustness properties against surgical disturbances such as diathermy. The work has been extended to the multivariable case involving simultaneous control of muscle relaxation and unconsciousness using blood pressure monitoring. Results of preliminary trials are very encouraging. - Author(s): R.I. Stephens and A. Randall
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 15 –24
- DOI: 10.1049/ip-cta:19970990
- Type: Article
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Hot rolling is a competitive business in which quality and efficiency are of paramount importance. Methods for improving the accuracy and precision of the product can yield significant savings for the steel producer. Automatic control of the process is now widespread, and the inclusion of adaptive techniques to control systems has shown notable improvements in meeting tightening tolerances and reducing scrap. The paper describes some of the techniques used for on-line identification and control during the hot rolling of steel. A general adaptive control scheme is described which is applicable to the majority of rolling mills, and practical guidelines for success are outlined. Two case studies are included: the first is the application of extended Kalman filtering techniques to pass-by-pass adaptation within a section mill; the second is the application of similar techniques to feedforward adaptive control of a hot strip mill finishing train. - Author(s): A. Dunoyer ; K.J. Burnham ; T.S. McAlpine
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 25 –31
- DOI: 10.1049/ip-cta:19970998
- Type: Article
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The design of a bilinear self-tuning control strategy and its application to a pilot-scale reheating furnace are described. A comparison with standard PID control shows that the new approach offers significant potential benefits. - Author(s): M. Farsi ; K.J. Zachariah ; J.W. Finch
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 32 –39
- DOI: 10.1049/ip-cta:19970993
- Type: Article
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The paper describes the design and implementation of a self-tuning automatic voltage regulator (STAVR) based on the generalised predictive controller (GPC). When implementing self-tuning controllers on industrial systems such as turbogenerators it is pertinent to consider several potential problems before a reasonable design can evolve. For example, in actual industrial plants, the quality of the plant signals used for feedback purposes is far from perfect, which may be attributed to sensor noise, sensor lag, aliasing, quantisation error, etc. These issues, along with the robustness, unmodelled dynamics, disturbances, steady-state offsets and nonlinearities, are considered.
Editorial: Adaptive controllers in practice
Expert adaptive control applied to turbogenerator systems
Generalised predictive control (GPC): A powerful control tool in medicine
On-line adaptive control in the hot rolling of steel
Self-tuning control of an industrial pilot-scale reheating furnace: Design principles and application of a bilinear approach
Implementation of a self-tuning AVR
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- Author(s): Y. Zhang ; T.T. Lie ; C.B. Soh
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 40 –44
- DOI: 10.1049/ip-cta:19970948
- Type: Article
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The paper presents a new bias-compensating least-squares (BCLS) method which can eliminate the noise induced estimation bias even without modelling the noise. By employing a composited signal in the parameter estimation, two estimates for the same part of the system parameter are obtained so that the noise induced bias can be extracted from the difference between these two estimates. With the bias removed, the consistent parameter estimate is obtained. It is shown in the paper that the BCLS method is a member of the class of weighted-instrumental-variable methods. Therefore, the BCLS method also provides a particular way to construct instrumental variables for the identification of a general system. - Author(s): C. Son
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 45 –52
- DOI: 10.1049/ip-cta:19970439
- Type: Article
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A method of the optimal planning technique with a fuzzy co-ordinator for an intelligent robot's part assembly is introduced. A fuzzy intelligent organising control strategy, based on a fuzzy rulebase and derived from measured force/moment data, for a robotic device performing quasistatic assembly tasks is presented. Fuzzy set theory, which is well suited to manage the uncertainty problem, is introduced to deal with the uncertainty associated with a part assembly. Fuzzy entropy is employed to measure the uncertainty (= fuzziness) as it is related to specific control actions. The top organising level determines the most appropriate sequence of events of plan with minimum fuzziness by utilising the knowledge processing functions, such as machine memory, inferencing, planning, and decision-making, and downlinks it to the lower level of the system that carries out the specified task. Experimental results show the effectiveness of the proposed approach. - Author(s): C. Ishii ; T. Shen ; K. Tamura
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 53 –60
- DOI: 10.1049/ip-cta:19970890
- Type: Article
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A robust model-following control scheme for a rigid-body robot manipulator. is proposed. Given a nominal model of the manipulator, the manipulator dynamics are approximately linearised by nonlinear compensation based on the nominal model. Then the dynamics of tracking error between the state vectors of the linearised manipulator and a reference model are described as a descriptor-form equation. A state feedback controller is designed for the descriptor-form equation so as to guarantee robust stability and robust performance of the closed-loop system in the presence of uncertain nonlinear perturbations. The proposed control scheme is applied to a two-link direct-drive manipulator. Results of experiments carried out to evaluate tracking performance of the manipulator show the effectiveness and robustness of the proposed controller. - Author(s): D. Kavranoğlu ; S. Al-Amer ; M. Bettayeb
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 61 –66
- DOI: 10.1049/ip-cta:19970628
- Type: Article
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In this paper a new weighted H∞ norm approximation scheme is proposed and applied to the controller reduction problem. This new system identification based scheme is illustrated using several well known examples from the literature. - Author(s): M. Babu and C. Eswaran
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 67 –72
- DOI: 10.1049/ip-cta:19970559
- Type: Article
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The paper describes the problem of identification of a linear discrete-time system in l1, from noisy impulse response data of the system. Many tuned algorithms using window functions are proposed in the literature for the problem of H∞ identification. The study concerns the use of suitable window functions and tuned and untuned algorithms for the problem of identification in l1. The properties of window functions suitable for l1 identification are analysed and it is shown that the use of a parameterised exponential window function leads to a convergent worst-case error. The optimal value of the window parameter which results in the least worst-case model error is given in terms of the a priori assumptions on the system and the noise. The tuned algorithm using the optimal parameter is proved to be robustly convergent. - Author(s): J. Wang ; S.J. Dodds ; W.N. Bailey
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 73 –86
- DOI: 10.1049/ip-cta:19970869
- Type: Article
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A general framework for the analysis and design of the control system with multiple robots handling a common object is presented, based on the decomposition of the combined system dynamics into motion-control and internal force-control subsystems. It is found that, under the infinite-rigidity assumption, the motion-control subsystem is independent of the internal force control, and has the same form and possesses the same properties as those of a single manipulator. This allows for any advanced motion-control law, developed for the control of a single manipulator, to be applied directly to the motion control of the multiple manipulators. In particular, a decentralised adaptive-control law is incorporated to form the motion-control law for the co-operative system. With the definition of the internal force and introduction of a load-sharing criterion, an internal-force-control strategy is analysed and formulated together with an internal-force-estimation algorithm so that the internal-force-control strategy may be implemented without using direct force feedback. The effectiveness of this approach to the multiple-arm co-operation is validated through a set of experimental tests. - Author(s): C.F. Chen and C.H. Hsiao
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 87 –94
- DOI: 10.1049/ip-cta:19970702
- Type: Article
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An operational matrix of integration based on Haar wavelets is established, and a procedure for applying the matrix to analyse lumped and distributed-parameters dynamic systems is formulated. The technique can be interpreted from the incremental and multiresolution viewpoint. Crude as well as accurate solutions can be obtained by changing the parameter m; in the mean time, the main features of the solution are preserved. Several nontrivial examples are included for demonstrating the fast, flexible and convenient capabilities of the new method. - Author(s): A. Tzes ; K. Le ; P.-Y. Peng
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 95 –102
- DOI: 10.1049/ip-cta:19970806
- Type: Article
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The adaptive robust control design problem for discrete systems is addressed in this article. A measure of the system uncertainty is quantified through the application of the set membership (SM) identification scheme. The SM estimator identifies a feasible convex set (parallepiped) of parameters which is consistent with the data and the model structure. Based on these parameters, a robust stabilising controller computes the feasible set of stabilising controller gains. The adaptation mechanism attempts to place the closed loop poles at a certain region inside the unit disc. Simulation studies are offered to validate the efficiency of the proposed method. - Author(s): O. Wolkenhauer and J. Edmunds
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 1, p. 103 –108
- DOI: 10.1049/ip-cta:19970786
- Type: Article
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The authors suggest the use of fuzzy measures and fuzzy integrals in evaluating the reliability of control systems by approximating an experts view on a complex system when assessing the performance. The class of systems considered have structural complexity exhibiting a closed-form model of the underlying process. The approach may be described in three parts where in the first stage a rule-based classifier (‘spy’) extracts ‘states of performance’ from the process. It is shown that the rule-premise resembles a possibility based control chart and that the possibilistic version, embedded in a rule-based system, offers a comprehensive man–process interface while having a similar or slightly improved speed of detection. The reliability can be quantified based on a finite set of abstract states over which a certainty measure is defined. A prediction for a specified reliability interval of time is done by using a qualitative model akin to Markov stochastic processes and consequently decisions are made to alter the system structure. This framework allows distinct classes of uncertainty to be considered.
Consistent parameter estimation of systems disturbed by correlated noise
Optimal planning technique with a fuzzy co-ordinator for an intelligent robot's part assembly
Robust model-following control for a robot manipulator
New identification based weighted H∞ norm approximation scheme and its applications to controller reduction
Robust system identification from weighted impulse response data and worst-case error bounds
Co-ordinated control of multiple robotic manipulators handling a common object — theory and experiments
Haar wavelet method for solving lumped and distributed-parameter systems
Adaptive performance/robust control design for discrete systems
Dynamic systems reliability evaluation using uncertainty techniques for performance monitoring
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