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Volume 145
Issue 1
IEE Proceedings - Control Theory and Applications
Volume 145, Issue 1, January 1998
Volumes & issues:
Volume 145, Issue 1
January 1998
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- Author(s): L. Menini ; A. Tornambè ; L. Zaccarian
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 1 –8
- DOI: 10.1049/ip-cta:19981464
- Type: Article
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The aim of the paper is to control a closed kinematic chain, under the assumption that the chain is under-actuated and that only partial measurements of the state variables are available. A Lyapunov approach is used for the design of an asymptotically stabilising feedback control law; for such a law, an estimate of the region of attraction is computed. - Author(s): Y.P. Singh ; V.G. Rau ; B. Hemalatha
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 9 –18
- DOI: 10.1049/ip-cta:19981544
- Type: Article
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Linear isotropic dielectrics constitute an important class of linear systems. The paper proposes a novel approach for assigning a suitable structure to describe the dependence of the dynamic behaviour of linear dielectrics on an external parameter of influence. A signal flow graph approach is adopted to arrive at the most general system structure and its subcases. A complex plane representation is used to establish a relationship between the system structure and the pattern of the constant-frequency variable-parameter plots. The one-to-one correspondence between loci patterns and system structure provides a rational basis for the selection of a suitable system structure. - Author(s): P. Lucibello and S. Panzieri
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 19 –24
- DOI: 10.1049/ip-cta:19981543
- Type: Article
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A new type of servosystem called cyclic control is introduced. The control algorithm presented allows the execution of cycles defined by positions to be attained at given time instants. The cycle starts and ends at the same position and has to be repeated over and over in time. As distinct from repetitive control and learning control, where exact trajectory tracking is considered, the control problem formulated cares only for position. This allows the development of a finite-dimensional control scheme that does not need system reinitialisation at each trial since the new trial starts from the point reached at the end of the previous one. A control scheme design is explicitly addressed and an implementation on a flexible arm presented. - Author(s): W.-J. Wang and C.-C. Wang
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 25 –32
- DOI: 10.1049/ip-cta:19981583
- Type: Article
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A new adaptive control technique is proposed to control the position of the induction motor. First, the rotor flux is estimated with the simplified rotor flux observer on the rotor reference frame and the feedback linearisation theory is used to decouple the rotor position and the flux amplitude. Then, a new composite adaptive control algorithm based on an integral cost function is designed to control the position of the induction motor. The overall position control system is verified to be stable and robust to the parameter variations and external disturbances. Experimental results are provided to demonstrate the effectiveness of the presented approach. The good position tracking and load regulating responses can be obtained by the proposed controller. - Author(s): M.S. Ibbini and S.R. Alawneh
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 33 –40
- DOI: 10.1049/ip-cta:19981545
- Type: Article
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State feedback is one of the most popular and well known techniques for altering the transient response of a closed-loop system. This technique is usually used to assign the eigenvalues of a closed-loop system to desired locations under the assumption of complete controllability. In the case of multi-input systems, the feedback gain matrix permitting the assignment of a desired set of eigenvalues is non-unique and, hence, different gain matrices can be used. This non-uniqueness of the gain matrix offers extra degrees of freedom that permit the designers not only to place the closed-loop system eigenvalues but also to satisfy some performance indices beyond the eigenvalues assignment problem. One important performance measure is the closed-loop system robustness to parameter variations or to external disturbances. Closed-loop system robustness is often a major concern of control designers, since design is usually based on nominal values of system parameters which are rarely those of normal operations. This paper considers closed-loop system robustness to two types of system deviations from nominal or ideal design conditions. - Author(s): Q. Song
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 41 –46
- DOI: 10.1049/ip-cta:19981614
- Type: Article
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Motivated by adaptive control systems, a dead zone technique is used for the nonlinear gradient descent algorithm to train a multilayered feed-forward neural network to identify nonlinear dynamic systems. The dead zone scheme guarantees convergence of the neural network in the presence of noise. Simulation results are presented to demonstrate the robustness of the algorithm. A local convergence proof of the robust training algorithm is also provided. - Author(s): K. Karagianni ; T. Chronopoulos ; A. Tzes ; N. Koussoulas ; T. Stouraitis
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 47 –54
- DOI: 10.1049/ip-cta:19981637
- Type: Article
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Processor-array architectures for the efficient implementation of the generalised predictive-control (GPC) algorithm are introduced, each exhibiting different area/time performance, processor utilisation and degree of programmability. The special features that the partial algorithms of GPC exhibit have been exploited, to derive efficient architectures of low complexity. A remarkable reduction of the execution time required for a complete cycle of the algorithm is achieved, compared with the long delay of executing the algorithm on a single processor. - Author(s): T.-G. Park and K.-S. Lee
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 55 –62
- DOI: 10.1049/ip-cta:19981701
- Type: Article
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The authors present a sliding mode-based adaptive input–output linearising control for induction motors, which covers the more realistic situation in which the load torque and the rotor resistance are not exactly known. A nonlinear identification scheme based on the continuous Hopfield network is proposed which models the unknown parameter deviations between load torque and rotor resistance and their nominal values. Once these are identified, the motor flux amplitude and speed are separately controlled by sliding mode control with variable switching gains. Simulation results show the robust behaviour of the proposed controller in the presence of parameter uncertainties and disturbances. - Author(s): F.-J. Lin and S.-L. Chiu
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 63 –72
- DOI: 10.1049/ip-cta:19981683
- Type: Article
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An adaptive fuzzy sliding-mode control system, which combines the merits of sliding-mode control, the fuzzy inference mechanism and the adaptive algorithm, is proposed. First a sliding-mode controller with an integral-operation switching surface is designed. Then a fuzzy sliding-mode controller is investigated in which a simple fuzzy inference mechanism is used to estimate the upper bound of uncertainties. The fuzzy inference mechanism with centre adaptation of membership functions is investigated to estimate the optimal bound of uncertainties. Position control of a permanent magnet synchronous servo motor drive using the proposed control strategies is illustrated. - Author(s): J.J. Chen and C. Hwang
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 73 –82
- DOI: 10.1049/ip-cta:19981718
- Type: Article
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The problem of constructing the value set of an m-dimensional box Q under a nonlinear differentiable mapping f : Rm → C is considered, where R and C denote the sets of real and complex numbers respectively. More precisely, the notions of principal points and generalised principal points are exploited to characterise the boundary of the value set f(Q) and to present an effective and noniterative procedure for obtaining the set of principal points P whose image covers the boundary of the value set f(Q). The value-set construction procedure involves using a simplicial algorithm to trace out the set of generalised principal points G, which is the superset of P. A theorem for explicitly identifying the set of principal points P from the set of generalised principal points G is presented. As an application, the proposed value-set construction procedure is applied to robust D-stability analysis of a family of polynomials whose coefficients depend nonlinearly on a set of perturbed parameters. - Author(s): X.Z. Zhi and H.S. Gao
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 83 –86
- DOI: 10.1049/ip-cta:19981717
- Type: Article
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A new method for constructing the Lyapunov function and determining the stability of discrete time systems with a computer on the basis of the similarity transformation theory is presented. The system matrix of the system under discussion is applied directly instead of solving the discrete Lyapunov matrix equation. - Author(s): S. Phoojaruenchanachai ; K. Uahchinkul ; Y. Prempraneerach
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 87 –91
- DOI: 10.1049/ip-cta:19981584
- Type: Article
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p.
87
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In the paper, the authors present a method for stabilising uncertain time-delay systems. The systems under consideration are described by linear state delayed equations whose coefficient matrices contain norm-bounded time-varying elements. Using some matching conditions, they can take time-varying elements and re-form the equation into a linear state delayed equation with disturbances. They then apply a linear transformation technique to reduce the uncertain systems to those where nominal systems are delay-free. Consequently, they can derive a suitable controller for the perturbed systems, and will prove that the controller can robustly stabilise the closed-loop systems against perturbation. Finally, a control system design for the two-tank chemical reactor with a delayed repeat cycle will be illustrated to show the applicability of the proposed methed. - Author(s): K. Ohtsuka
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 92 –96
- DOI: 10.1049/ip-cta:19981581
- Type: Article
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p.
92
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The paper discusses a better form of the M sequence input used for the parameter identification based on the EKF. The degree of observability is measured by maximising the expected determinant of the observability Gramian and is employed to get a better M sequence input. The effectiveness of the design is illustrated in a DC servomotor parameter estimation problem. The better M sequence inputs are different from each other, depending on unknown parameters. - Author(s): C.Y. Kuo ; C.L. Yang ; C. Margolin
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 97 –105
- DOI: 10.1049/ip-cta:19981647
- Type: Article
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The commonly used LQR method can be effective for systems with linear characteristics and for performance criteria that well match the minimisation of a quadratic functional form of a cost function. It may not produce a control that demonstrates optimal characteristics for systems which include hard nonlinearities such as nonlinear friction, asymmetric properties and limits imposed on the system states and control actuation. A controller design method is presented termed abbreviated dynamic programming control (ADPC) which condenses the large amount of data generated from the dynamic programming method into a time-invariant nonlinear feedback controller. An empirical system modelling technique is proposed in this research and applied to a single-link robot system to obtain both a linear and nonlinear system model. Using these system models an LQR and ADPC controller are established for this system. The abilities of these two controllers in minimising a predefined quadratic cost function are evaluated through both computer simulations and experimental test runs of this robot system. The ADPC controller is proved to be more effective at minimising the cost function and therefore providing optimal control. - Author(s): R.N. Banavar and J.L. Speyer
- Source: IEE Proceedings - Control Theory and Applications, Volume 145, Issue 1, p. 106 –112
- DOI: 10.1049/ip-cta:19981615
- Type: Article
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p.
106
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Algorithms for risk-sensitive filters have been developed in literature and connections to H∞ filtering also established. The risk-sensitive filter differs from a conditional mean estimator (Kalman filter) and is either risk-prone or risk-averse depending on the sign of a scalar thetas that appears in the cost function. The RS filter exhibits many interesting properties. Statistical properties, parameter estimation and explicit bounds of estimation for these filters are presented in the paper.
Modelling and control of an under-actuated closed kinematic chain
Dynamic modelling of dielectric response in the presence of a varying external parameter
Cyclic control of linear systems with application to a flexible arm
Composite adaptive position controller for induction motor using feedback linearisation
Closed-loop control system robustness improvement by a parameterised state feedback
Robust training algorithm of multilayered neural networks for identification of nonlinear dynamic systems
Efficient processor arrays for the implementation of the generalised predictive-control algorithm
SMC-based adaptive input–output linearising control of induction motors
Adaptive fuzzy sliding-mode control for PM synchronous servo motor drives
Value sets of polynomial families with coefficients depending nonlinearly on perturbed parameters
Method of constructing Lyapunov functions for linear discrete time systems
Robust stabilisation of a state delayed system
Better M sequence design for parameter identification based on EKF
Optimal controller design for nonlinear systems
Properties of risk-sensitive filters/estimators
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