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Volume 152
Issue 2
IEE Proceedings - Control Theory and Applications
Volume 152, Issue 2, March 2005
Volumes & issues:
Volume 152, Issue 2
March 2005
Editorial Addendum
- Author(s): D.P. Atherton
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, page: 117 –117
- DOI: 10.1049/ip-cta:20059047
- Type: Article
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- Author(s): K.B. Lee
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 118 –124
- DOI: 10.1049/ip-cta:20041116
- Type: Article
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A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function network to estimate the motor inertia value is proposed. The effectiveness of this observer is confirmed by both simulations and experiments. - Author(s): W. Xie
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 125 –128
- DOI: 10.1049/ip-cta:20045044
- Type: Article
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A quadratic L2 gain performance LPV control system has been designed using a linear time invariant (LTI) output feedback controller with an iterative linear matrix inequality (ILMI) algorithm. A linear parameter varying (LPV) plant is assumed with immeasurable dependent parameter, which varies in a plant parameter space that is a polytope. Different from gain scheduled LPV control, this is a complex control problem with the non-convex constraint that the controller gain matrix is the same for each vertex plant of the LPV system. To solve this control problem, a heuristic iterative algorithm is presented in the form of a linear matrix inequality (LMI) formulation. An effective method of setting an initial value to the ILMI algorithm proposed here promotes convergence to an admissible solution. - Author(s): V. Singh
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 129 –132
- DOI: 10.1049/ip-cta:20041305
- Type: Article
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The Routh-Padé approximation problem relating to the construction of a stable reduced-order (rth-order) approximant Gr(s) for a given stable high-order (nth-order) transfer function G(s), so as to fully retain the first r time moments/Markov parameters of G(s) as well as to minimise the errors between a few subsequent time moments/Markov parameters of G(s) and those of Gr(s), is revisited. For the solution of this problem, a novel computer-aided method based on the well known Luus-Jaakola algorithm is proposed. - Author(s): J.-Y. Chen ; P.-S. Tsai ; C.-C. Wong
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 133 –137
- DOI: 10.1049/ip-cta:20041117
- Type: Article
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133
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Adaptation fuzzy cerebellar model arithmetic controller (CMAC) neural networks are considered. Adaptation mechanisms for a fuzzy CMAC neural network are proposed to enable the construction of indirect and direct control laws. These control laws are then used to enhance the robustness of a closed-loop control system. It is shown that the fuzzy CMAC's can cope with the system's uncertainties using adaptation with no preliminary off-line learning phase being required. The adaptation laws are derived using a Lyapunov stability analysis, so that both system tracking stability and error convergence can be guaranteed in the closed-loop system. Simulation results from the two systems show a satisfactory performance of the proposed control schemes even in the presence of modelling uncertainties. - Author(s): W. Chen and J. Jiang
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 138 –146
- DOI: 10.1049/ip-cta:20041231
- Type: Article
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A fault-tolerant control system (FTCS) design technique against stuck actuators is investigated using an iterative learning observer (ILO). The principle of the proposed fault-tolerant control (FTC) is to design a reconfigurable controller using estimated system states, relying on control input adjustments on the redundant actuators to compensate for the effects of stuck actuators. The amount of adjustment is updated based on the transient of fault compensation. The ILO provides both the estimates of the system states and the information on such transients. Multiple faults can also be dealt with. The fault compensation can be carried out swiftly due to the rapid convergence of the ILO. It is shown that the proposed FTCS ensures that the system follows the reference model under both normal conditions and with some stuck actuators. The closed-loop stability of the system is established, and the performance is evaluated using the lateral dynamics of an F-8 aircraft model. - Author(s): S. Xu ; J. Lam ; Y. Zou
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 147 –151
- DOI: 10.1049/ip-cta:20045023
- Type: Article
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Simplified delay-dependent asymptotic stability conditions are provided for time-delay systems in terms of linear matrix inequalities. The redundant variables in the previous results derived by the so-called ‘descriptor system approach’ together with recently proposed bounding techniques are removed. Thus, the newly proposed conditions are equivalent to these obtained by the descriptor system approach but with reduced complexity. It is shown that the bounding technique does not have to be used in the derivation of our results. By the proposed method, delay-dependent results on H∞ performance analysis for time delay systems are also presented. - Author(s): H.Z. Qiu ; H.Y. Zhang ; X.F. Sun
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 152 –156
- DOI: 10.1049/ip-cta:20045014
- Type: Article
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Some extensions to the results of Hsieh's and Ignagni's work for the two-stage Kalman filter are given, in which the bias vector is expressed by a first-order auto-regressive model. Two new results are obtained. The first is the derivation of an equivalent expression for the covariance of process noise of the modified bias-free filter, where the state noise is correlated with that of the bias. This expression is in the form of a summation of symmetry matrices, which effectively avoids the asymmetry caused by computational errors. The second is a sufficient condition for the minimum mean square error (MMSE) solution of the two-stage Kalman filter, which is more general than that of Ignagni's work. The condition given by Ignagni that the state noise is uncorrelated with that of the bias is just a special case of our result. - Author(s): C.-S. Chiu
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 157 –164
- DOI: 10.1049/ip-cta:20045059
- Type: Article
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This paper proposes a robust adaptive controller using a feedforward Takagi–Sugeno (T–S) fuzzy approximator for a class of multi-input multi-output (MIMO) non-linear plants that is highly unknown. Different to typical fuzzy approximation approaches, the desired commands are taken as input variables of a T–S fuzzy system. Meanwhile, the unknown feedforward terms required during steady state are adaptively approximated and compensated. This allows a simpler architecture during implementation and drops the typical boundedness assumption on fuzzy universal approximation errors. Furthermore, according to H∞ control techniques, non-linear damping design, and sliding mode control, the controllers are synthesised to assure either only the disturbance attenuation, the attenuation of both disturbances and estimated fuzzy parameter errors, or globally asymptotic stable tracking. A linear matrix inequality (LMI) technique then provides a straightforward gain design. Finally, numerical simulations are carried out on a two-link robot to illustrate the expected performance. - Author(s): S.-J. Park and J.-T. Lim
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 165 –170
- DOI: 10.1049/ip-cta:20041244
- Type: Article
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A nonblocking supervisory control problem for uncertain discrete event systems (DESs) is considered, in which a Δ-transition describes the behaviour caused by internal and unobservable events. It is assumed that at a state with the assigned positive integer value p, a system experiences at most a p-step state transition by Δ. However, for some states, the internal and unobservable events may occur but the assigned positive integer values for the states are not known exactly. For the uncertain DESs, it is shown that they can be represented as a set of some non-deterministic models. Specifically, this paper presents necessary and sufficient conditions for the existence of a robust and non-blocking supervisor that achieves a given specification language for any model in the set. Moreover, when a given specification language does not satisfy the developed existence conditions, a supervisor synthesis problem is addressed to find the supremal sublanguage of the specification satisfying the conditions. - Author(s): E.N. Gonçalves ; R.M. Palhares ; R.H.C. Takahashi
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 171 –176
- DOI: 10.1049/ip-cta:20045041
- Type: Article
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A strategy for robust H2/H∞ state-feedback control synthesis, with regional pole placement, applied to continuous- or discrete-time linear time-invariant uncertain systems is presented. It is based on a multiobjective optimisation over the space of the controller parameters. In the case of systems with polytope-bounded uncertainty, the H2 and H∞ norms, calculated in all polytope vertices and in possible ‘worst case’ interior points are taken as the optimisation objectives. An a posteriori exact cost norm computation based on a branch-and-bound algorithm is applied for closed-loop performance assessment. The proposed strategy is applied to continuous- and discrete-time examples, including the design of a decentralised controller, and the results are compared with LMI-based formulations. - Author(s): M. Garcia-Sanz ; I. Egaña ; M. Barreras
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 177 –187
- DOI: 10.1049/ip-cta:20041186
- Type: Article
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A fully populated matrix controller allows a designer considerably more design flexibility to govern multiple-input multiple-output (MIMO) processes than the classic diagonal controller structure. A methodology is presented to extend the classic diagonal quantitative feedback theory (QFT) controller design for MIMO plants with model uncertainty to a fully populated matrix controller design. Three cases are considered: (i) reference tracking; (ii) external disturbance rejection at the plant input; and (iii) external disturbance rejection at the plant output. The role played by the non-diagonal controller elements is analysed in order to state a fully populated matrix controller design methodology for QFT. Three coupling matrices and a quality function of the non-diagonal elements are defined and then used to quantify the amount of loop interaction and to design the non-diagonal controllers respectively. This yields a criterion that allows the proposal of a sequential design methodology for the fully populated matrix controller, in the QFT robust control frame. As a consequence the diagonal elements of the proposed non-diagonal method need less bandwidth than the diagonal elements of currently existing diagonal methods. The technique is verified by using the designed controller to control a SCARA robot manipulator. - Author(s): K.-J. Zhang and C.-B. Feng
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 188 –194
- DOI: 10.1049/ip-cta:20041126
- Type: Article
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188
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A robust output feedback tracking strategy for uncertain nonlinear systems with output measurement noise is presented by using a passivity approach. The control algorithm guarantees boundedness of all the signals in the whole closed-loop system. Tracking accuracy can be reduced to a desirable bound. A simulation example is included to demonstrate effectiveness of the proposed algorithm. - Author(s): V.F. Montagner ; R.C.L.F. Oliveira ; V.J.S. Leite ; P.L.D. Peres
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 195 –201
- DOI: 10.1049/ip-cta:20045117
- Type: Article
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Linear matrix inequality conditions are given for the existence of a stabilising linear parameter dependent state feedback gain for continuous time-varying systems in convex polytopic domains. Although there exist several results dealing with this problem in the literature, up to now all approaches assume that some matrices describing the system must be constant and/or must satisfy structural constraints. Here, all the system matrices are assumed to be affected by time-varying uncertainties and there are no structural constraints. The strategy proposed is much simpler than standard gain scheduling techniques, being specially adequate for systems with parameters that have unbounded or a priori unknown rates of variation, for instance, switched systems. Moreover, the conditions can also assure a guaranteed ℋ∞ attenuation level for the closed-loop system under arbitrarily fast parameter variations significantly improving the results based on a fixed gain obtained through quadratic stabilisability conditions. Numerical examples illustrate the use of the proposed control design with applications to two physical systems: a linear model of a helicopter subject to actuator failures and an electrical circuit used as a lowpass filter in the output stage of power converters. - Author(s): S. Mei ; T. Shen ; W. Hu ; Q. Lu ; L. Sun
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 202 –210
- DOI: 10.1049/ip-cta:20041121
- Type: Article
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The robust H∞ problem for a class of generalised forced Hamiltonian systems with uncertainty is investigated. A design approach for the robust H∞ controller is presented and the L2-gain from the disturbance input to the regulation output signal is shown to be able to be reduced to any given level provided that a derived algebraic inequality has a solution. The proposed method is used to create a Hamiltonian-like model with uncertainty which is able to describe power system dynamics on a full scale. Consequently a decentralised nonlinear robust H∞ control law can be produced for a multi-machine power system using the Hamiltonian function. Simulations performed on a six-machine system verify that the proposed excitation control can cope with large disturbances and can enhance the transient stability of the power system more effectively than other types of controllers. - Author(s): E.I. Silva and M.E. Salgado
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 211 –219
- DOI: 10.1049/ip-cta:20045056
- Type: Article
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The paper derives 2-norm performance bounds for the feedback control of discrete-time MIMO non-minimum phase (NMP) systems with arbitrary delay structure. Also, the associated optimal controller, in Youla-parameterised form, is explicitly obtained. The derivation of these results uses a special interactor matrix to extract the delays. It is shown that this interactor is unique, and a building algorithm is also proposed. - Author(s): J.P.F. Garcia ; J.M.S. Ribeiro ; J.J.F. Silva ; E.S. Martins
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 220 –228
- DOI: 10.1049/ip-cta:20041129
- Type: Article
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A computer-based sliding mode control (SMC) is analysed. The control law is accomplished using a computer and A/D and D/A converters. Two SMC designs are presented. The first one is a continuous-time conventional SMC design, with a variable structure law, which does not take into consideration the sampling period. The second one is a discrete-time SMC design, with a smooth sliding law, which does not have a structure variable and takes into consideration the sampling period. Both techniques are applied to control an inverted pendulum system. The performance of both the continuous-time and discrete-time controllers are compared. Simulations and experimental results are shown and the effectiveness of the proposed techniques is analysed. - Author(s): S. Afkhami ; P. Jabehdar Maralani ; M.J. Yazdanpanah
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 229 –237
- DOI: 10.1049/ip-cta:20041128
- Type: Article
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Krstic–Sontag's formula proves constructively that the existence of a control Lyapunov function implies asymptotic stabilisability. A similar result can be obtained for systems subject to unknown disturbances by input-to-state stabilising control Lyapunov functions (ISS-CLFs) and the input-to-state analogue of Krstic–Sontag's formula. A generalisation of the ISS version of Krstic–Sontag's formula is provided by completely parameterising all continuous ISS control laws that can be generated from a known ISS-CLF. Given an ISS-CLF, the synthesis problem reduces to that of finding indexes b(x) and υ(x) that lead to desirable performance, i.e. convergence rate and performance index. A large family of ISS controls is shown that solve the inverse optimal gain assignment problem. - Author(s): T. Liu ; Y.Z. Cai ; D.Y. Gu ; W.D. Zhang
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 238 –246
- DOI: 10.1049/ip-cta:20041232
- Type: Article
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The paper extends a recently published Smith predictor scheme for controlling integrating and unstable processes with time delay, which results in a simpler control structure and improved tuning capacities for reference inputs and load disturbances. In the proposed scheme, a proportional controller is subtly employed to stabilise the setpoint response, and then an H2 optimal controller is analytically designed for setpoint tracking. To obtain the integral-squared-error (ISE) performance objective, a practically desired disturbance rejection transfer function is proposed to design the disturbance estimator in the inner closed loop of the proposed control structure. Essentially, the proposed control structure gives two-degrees-of-freedom (2DOF) control and correspondingly the setpoint and load disturbance responses can each be tuned conveniently by a single control parameter. Hence the setpoint response is decoupled from the load disturbance response, and both can be quantitatively estimated in terms of the proposed analytical tuning procedures. Simulation examples are included to show the superiority of the proposed method. - Author(s): A. Leva
- Source: IEE Proceedings - Control Theory and Applications, Volume 152, Issue 2, p. 247 –256
- DOI: 10.1049/ip-cta:20040926
- Type: Article
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Relay-based identification is employed to obtain, using one point of the Nyquist curve of an unknown process, reliable information on the time scale of its dynamics. Using this information to parameterise a process model improves the results of model-based proportional-integral-derivative tuning.
Disturbance observer that uses radial basis function networks for the low speed control of a servo motor
Quadratic L2 gain performance LPV system design by a LTI controller with ILMI algorithm
Obtaining Routh-Padé approximants using the Luus-Jaakola algorithm
Adaptive design of a fuzzy cerebellar model arithmetic controller neural network
Fault-tolerant control against stuck actuator faults
Simplified descriptor system approach to delay-dependent stability and performance analyses for time-delay systems
Solution of two-stage Kalman filter
Robust adaptive control of uncertain MIMO non-linear systems — feedforward Takagi–Sugeno fuzzy approximation based approach
Non-blocking supervision for uncertain discrete event systems with internal unobservable transitions
Improved optimisation approach to the robust H2/H∞ control problem for linear systems
Design of quantitative feedback theory non-diagonal controllers for use in uncertain multiple-input multiple-output systems
Output feedback control for nonlinearly perturbed systems via cascade compensation with logic switching
LMI approach for ℋ∞ linear parameter-varying state feedback control
Robust H∞ control of a Hamiltonian system with uncertainty and its application to a multi-machine power system
Performance bounds for feedback control of non-minimum phase MIMO systems with arbitrary delay structure
Continuous-time and discrete-time sliding mode control accomplished using a computer
Stabilisation and improvement of performance by extension of universal formula in the presence of disturbance
New modified Smith predictor scheme for integrating and unstable processes with time delay
Model-based proportional-integral-derivative autotuning improved with relay feedback identification
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