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Volume 144
Issue 5
IEE Proceedings - Control Theory and Applications
Volume 144, Issue 5, September 1997
Volumes & issues:
Volume 144, Issue 5
September 1997
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- Author(s): P. Vas ; A.F. Stronach ; M. Neuroth
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 361 –368
- DOI: 10.1049/ip-cta:19971492
- Type: Article
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p.
361
–368
(8)
The DSP implementation of a fully digital high-dynamic performance induction motor drive, in which all four controllers are fuzzy controllers, is discussed. The input signals to the space vector PWM modulator are generated by a control system which incorporates four interacting fuzzy controllers. The design of these fuzzy controllers is also discussed, and both simulation and experimentally obtained results are given. These are in excellent agreement. It is a major advantage of the fuzzy-controlled system that the development time is significantly reduced and the need for explicit induction motor drive models is eliminated. - Author(s): C.-F. Cheng
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 369 –374
- DOI: 10.1049/ip-cta:19971434
- Type: Article
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p.
369
–374
(6)
The problem of robust observer synthesis for large scale systems subjected to nonlinear interaction functions and bounded uncertainties is considered. The scheme of the continuous observer that is the improvement of a known discontinuous variable-structure-type law, is based on certain functional properties of the uncertainty bound. The gain matrices of the observation scheme are in terms of the solutions of constrained Riccati equations. Solvable conditions of the constrained Riccati problem are investigated and, then, an efficient procedure for searching the desired solutions is established. Finally, the observation error is guaranteed to converge exponentially by the proposed nonlinear observer. An example is given to show the application of the proposed constrained Riccati approach. - Author(s): D. Sbárbaro and T.A. Johansen
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 375 –380
- DOI: 10.1049/ip-cta:19971460
- Type: Article
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p.
375
–380
(6)
A novel parametrisation to model and identify nonlinear systems of the Wiener class is suggested. This parametrisation is based on multiple local Laguerre models. It offers a useful and efficient alternative for modelling and identification of certain nonlinear systems. - Author(s): X. Hong and S.A. Billings
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 381 –384
- DOI: 10.1049/ip-cta:19971436
- Type: Article
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p.
381
–384
(4)
A fast backward elimination algorithm is introduced based on a QR decomposition and Givens transformations to prune radial-basis-function networks. Nodes are sequentially removed using an increment of error variance criterion. The procedure is terminated by using a prediction risk criterion so as to obtain a model structure with good generalisation properties. The algorithm can be used to postprocess radial basis centres selected using a k-means routine and, in this mode, it provides a hybrid supervised centre selection approach. - Author(s): L. Wang and W.R. Cluett
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 385 –392
- DOI: 10.1049/ip-cta:19971435
- Type: Article
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p.
385
–392
(8)
The paper extends the frequency domain PID controller design method, first proposed by the authors in an earlier paper, by presenting a comprehensive treatment of integrating processes. The general class of integrating processes is divided into two types, based on the sign of the second coefficient of the Taylor-series expansion applied to the stable part of the process transfer function. In both cases, the closed-loop performance is specified in terms of the desired control-signal trajectory scaled with respect to the magnitude of this coefficient. In addition, explicit PID tuning rules are given, for integrating plus delay processes along with their associated gain and phase margins and allowable time delay variations. - Author(s): F.J. Lin ; R.F. Fung ; Y.C. Wang
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 393 –402
- DOI: 10.1049/ip-cta:19971357
- Type: Article
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p.
393
–402
(10)
The dynamic response of a sliding mode controlled toggle mechanism, which is driven by a permanent magnet (PM) synchronous servomotor, is studied in this paper. The rod and crank of the toggle mechanism are assumed to be rigid. The Hamilton's principle and Lagrange multiplier methods are applied to formulate the equation of motion. Reducing the differential–algebraic equation and employing the Runge–Kutta numerical method, the state variable representation is obtained. Based on the principles of the sliding mode control, a robust controller is developed to control the position of a slider of the motor-mechanism coupled system. Moreover, a fuzzy logic controller (FLC), which is based on the concept of hitting condition without using the complex mathematical model of the motor-mechanism coupled system, is designed to control the motor-mechanism coupled system for comparison. Numerical and experimental results show that the dynamic behaviour of the proposed controller-motor-mechanism system is robust to parametric variations and external disturbances. - Author(s): C.M. Cheng and N.W. Rees
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 403 –412
- DOI: 10.1049/ip-cta:19971440
- Type: Article
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p.
403
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(10)
A design methodology for the stabilisation of a class of nonlinear systems which can be identified in the form of a fuzzy dynamic model is presented. The identified model is a fuzzy aggregation of a set of local linear models. The stability condition of the fuzzy model is devised by using the vector Lyapunov function approach and some important issues of stability analysis are discussed. A parameter optimisation algorithm is proposed to construct a set of local linear control laws for the fuzzy system. The performance of the fuzzy model based control technique is illustrated by a simulation example. - Author(s): P.E. Wellstead and N.B.O.L. Pettit
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 413 –426
- DOI: 10.1049/ip-cta:19971441
- Type: Article
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p.
413
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(14)
Antilock braking (ABS) systems are a combination of hydromechanical braking components with switching solenoids and relays which operate the brakes in response to wheel and vehicle speed information. The control law which calculates the braking is a complex set of logical rules designed to allow for variations in road conditions and the nonlinear nature of tyre friction characteristics. The piecewise linear action of the actuator components (solenoids and relays) and the logical control rules make it difficult to analyse the dynamical behaviour of an ABS using conventional methods. The paper describes the analysis and subsequent redesign of an ABS using a new method for studying the dynamical behaviour of piecewise linear systems. The method is applied to a conventionally designed ABS controller. Undesirable performance features, not evident from conventional simulation and testing procedure, are found and the controller is redesigned to give a satisfactory dynamical performance. - Author(s): Z. Ding
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 427 –434
- DOI: 10.1049/ip-cta:19971491
- Type: Article
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p.
427
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(8)
The paper deals with model reference adaptive control of single-input/single-output nonlinear systems which are linearisable by dynamic output feedback. A class of systems discussed is specified by a set of coordinate-free geometric conditions. The systems are linear with respect to the input and unknown constant parameters. The nonlinear terms, in suitable coordinates, depend on the output only. When the parameters are known, the systems can be exactly linearised by dynamic output feedback. A key feature of the class of nonlinear systems considered in this paper is that no a priori information is assumed on the high frequency gain. A global adaptive control algorithm with a Nussbaum gain is proposed for the systems considered and is demonstrated by a physical example. - Author(s): S. Askarpour and T.J. Owens
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 435 –438
- DOI: 10.1049/ip-cta:19971437
- Type: Article
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p.
435
–438
(4)
A new algorithm for eigenstructure assignment by output feedback is developed that integrates subspace and parametric approaches to eigenstructure assignment. The algorithm is less restrictive than other comparable algorithms and is conceptually simple. An example of the application of the algorithm and of a gain index for moderating the gain of the resulting controller is provided. - Author(s): H.K. Tam and J. Lam
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 439 –446
- DOI: 10.1049/ip-cta:19971358
- Type: Article
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p.
439
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(8)
A computational procedure for a type of robust pole placement problem is provided. The availability of the analytical first and second derivatives of the proposed cost function enables the problem to be reduced to an optimisation task, to which standard unconstrained minimisation routines based on Newton's method can be applied. A numerical example is used to illustrate the technique and comparisons to other existing methods are also made. - Author(s): J. Lu and T. Yahagi
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 447 –454
- DOI: 10.1049/ip-cta:19971359
- Type: Article
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p.
447
–454
(8)
A new design method of discrete-time model reference adaptive control for nonminimum phase systems is presented, with disturbances using approximate inverse systems obtained from the long division method. It is assumed that the disturbances are described by a polynomial function of time with known degree and unknown coefficients. The proposed scheme uses only input and output data, and the existence of bounds for all signals is proved. This scheme also assures that plant output converges to the reference model output. The results of computer simulation are also presented to illustrate the effectiveness of the proposed method. - Author(s): Q. Zhang and Y.-W. Leung
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 455 –458
- DOI: 10.1049/ip-cta:19971123
- Type: Article
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p.
455
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(4)
In the paper, the authors propose a dynamic system for solving complex eigenvalue problems. We show that, under some mild conditions, the set of the unit eigenvectors corresponding to the eigenvalue with the largest real part is asymptotically stable and the sets of the unit eigenvectors corresponding to the other eigenvalues is unstable. The proposed dynamical system can be realised as analogue neural networks for real-time applications. - Author(s): S. Marsili-Libelli
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 459 –465
- DOI: 10.1049/ip-cta:19971356
- Type: Article
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p.
459
–465
(7)
The paper presents a simple transfer function model of a diffusive flow system represented by a narrow pipe with longitudinal mixing. This new model is composed of three coupled transfer functions describing the dynamics of flow, delay and diffusion, respectively. Unlike previous models, the contributions of delay and diffusion are kept separate and both depend on the hydraulic submodel. As a result, good delay approximation is achieved even with a very low-order model. The model development is justified by experimental evidence through a laboratory set-up, used to obtain experimental data and perform model testing. To determine the ‘best’ model order, the model structure is assessed from the parameter redundancy point of view and parameter calibration results are presented before model calibration. - Author(s): B. Cao ; G.I. Dodds ; G.W. Irwin
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 467 –475
- DOI: 10.1049/ip-cta:19971494
- Type: Article
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p.
467
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(9)
An approach to constrained time-efficient and smooth cubic spline trajectory generation is presented. A suitable objective function to combine the minimisation of travelling time with smoothness of the robot trajectories is proposed. Cubic splines are used to describe the joint trajectories which satisfy constraints on velocity, acceleration and jerk. The algorithm combining the penalty function and polytope method is developed and used to find the globally optimal solution to the optimisation problems. Minimisation of the energy, the vibrations and the mechanical wear of the robotic system is also explained intuitively. The effects of the weights in the objective function and of control knots on smoothness, time optimality and path deviation errors are shown mainly by simulation. The simulation results also show that path deviation errors can be reduced through suitably choosing the weights in the objective function and all the joint trajectories are optimised in terms of the objective function, whereas a solely time-efficient trajectory generation scheme only fully utilises the slowest joint capabilities. The feasibility of the method is further illustrated by experimental results with a SCARA type robot. - Author(s): S.B. Chen ; Y.H. Fan ; F.E. Zhang
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 476 –480
- DOI: 10.1049/ip-cta:19971141
- Type: Article
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p.
476
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(5)
The aim of the paper is to compare the respective advantages of time-domain robust linear quadratic and frequency-domain H∞ control laws in the presence of real parametric and frequency-dependent uncertainties. Design-application considerations for each method are also offered. For the time-domain design, the LQL method is used, which is a minimax robust state estimation – maximin state feedback closed-loop control scheme for linear systems with L2 bounded uncertainties. For comparison, the frequency-domain mixed-sensitivity H∞ approach is also examined. To improve its poor parametric robustness owing to the LHP pole-zero cancellation property of H∞ controllers, increasing system bandwidth and inner-loop feedback enhancing the damping are applied simultaneously. The context of this design comparison is the HIT-3T2 flight simulator. The simulation results, once again, reveal the close relationship of LQL and H∞ control synthesis on the basis of game theory. - Author(s): J.-W. Lee and J.-H. Oh
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 481 –487
- DOI: 10.1049/ip-cta:19971360
- Type: Article
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p.
481
–487
(7)
A method of controlling certain types of nonlinear dynamical systems whose dynamics can be modelled by a multilayer neural network is proposed. The control algorithm assumes that the plant equations are not known but the dimension of the system is known. The control input is derived by inversion of a forward neural network via the Newton Raphson method. During inversion of the multilayer neural network some optimal control senses are resolved. To suppress the control error due to the modelling error of the forward neural network, the inversion controller with a conventional feedback controller is proposed, which provides a better performance than a pure inversion controller. The proposed algorithm shows various advantages, and computer experiments on a bioreactor prove the effectiveness of this algorithm. - Author(s): M.H. Moazzam ; T. Hesketh ; D.J. Clements
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 489 –497
- DOI: 10.1049/ip-cta:19971383
- Type: Article
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p.
489
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(9)
In this paper the authors develop a recursive algorithm for identification of a possibly overparameterised state–space model for time-varying linear systems. Each parameter of the model is either known, lies in a bounded region, or is unknown. The cost to be minimised, subject to the parameter constraints, is formed from the output prediction error together with penalty terms. The algorithm is adaptive with respect to the penalty terms. Furthermore, the paper develops a state–space balancing method consistent with structure, if possible, and also considers the introduction of a time-varying forgetting factor. - Author(s): K.G. Eltohamy and C.Y. Kuo
- Source: IEE Proceedings - Control Theory and Applications, Volume 144, Issue 5, p. 498 –504
- DOI: 10.1049/ip-cta:19971281
- Type: Article
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p.
498
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(7)
The causes of failure of stabilising a triple link inverted pendulum using only one control input are investigated and mostly determined. In addition to using computer software in deriving and simulating the dynamics of a triple link inverted pendulum system, experimental observations and measurement improvements play major roles in the iterative control system design process. Stick friction, measurement noise and speed of third link are found to be the most decisive factors in stabilising this system. The experience, learned from earlier experimental success, of stabilising a double link inverted pendulum is used to modify the system's model; this becomes part of a single input state space control law which is capable of stabilising the triple link inverted pendulum system about its upright position. This control input is realised in experiments through the use of a DC motor driven by a microcomputer.
Full fuzzy control of a DSP-based high performance induction motor drive
Design of robust observation schemes for uncertain large scale systems
Multiple local Laguerre models for modelling nonlinear dynamic systems of the Wiener class
Givens rotation based fast backward elimination algorithm for RBF neural network pruning
Tuning PID controllers for integrating processes
Sliding mode and fuzzy control of toggle mechanism using PM synchronous servomotor drive
Stability analysis of fuzzy multivariable systems: Vector Lyapunov function approach
Analysis and redesign of an antilock brake system controller
Model reference adaptive control of dynamic output feedback linearisable systems with unknown high frequency gain
Integrated approach to eigenstructure assignment by output feedback control
Newton's approach to gain-controlled robust pole placement
Discrete-time model reference adaptive control for nonminimum phase systems with disturbances using approximate inverse systems
Dynamic system for solving complex eigenvalue problems
Simple model of a transport/diffusion system
Constrained time-efficient and smooth cubic spline trajectory generation for industrial robots
Case study comparison of robust linear quadratic design and mixed-sensitivity H∞ control
Inversion control of nonlinear systems with neural network modelling
Recursive identification of certain structured time-varying state–space models
Real time stabilisation of a triple link inverted pendulum using single control input
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