Feedback control design for discrete-time piecewise affine systems
Institute of Scientific and Technical Information of China (English)
XU Jun; XIE Li-hua
2007-01-01
This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine (PWA) systems. The main objective is to derive design methods that will incorporate the partition information of the PWA systems so as to reduce the design conservatism embedded in existing design methods. We first introduce a transformation that converts the feedback control design problem into a bilinear matrix inequality (BMI) problem. Then, two iterative algorithms are proposed to compute the feedback controllers characterized by the BMI. Several simulation examples are given to demonstrate the advantages of the proposed design.
Feedback Control Systems Loop Shaping Design with Practical Considerations
Kopsakis, George
2007-01-01
This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.
Design of output feedback controller for a unified chaotic system
Institute of Scientific and Technical Information of China (English)
Li Wen-Lin; Chen Xiu-Qin; Shen Zhi-Ping
2008-01-01
In this paper,the synchronization of a unified chaotic system is investigated by the use of output feedback controllers;a two-input single-output feedback controller and single-input single-output feedback controller are presented to synchronize the unified chaotic system when the states are not all measurable.Compared with the existing results,the controllers designed in this paper have some advantages such as small feedback gain,simple structure and less conservation.Finally,numerical simulations results are provided to demonstrate the validity and effectiveness of the proposed method.
Feedback Control Design for Counterflow Thrust Vectoring
2005-09-01
in Figures 3 thru 6, but enabled the experimentation to much more closely mimic flight conditions. PID controllers were designed using robust -f1...compensation of both delayed and non-delayed processes. 8 PID controllers often display robustness to incorrect process model order assumptions and...valve saturation is also a significant obstacle. PID controllers are the most commonly used controllers in industrial practice.’ PID control was used
Buck-boost converter feedback controller design via evolutionary search
Sundareswaran, K.; Devi, V.; Nadeem, S. K.; Sreedevi, V. T.; Palani, S.
2010-11-01
Buck-boost converters are switched power converters. The model of the converter system varies from the ON state to the OFF state and hence traditional methods of controller design based on approximate transfer function models do not yield good dynamic response at different operating points of the converter system. This article attempts to design a feedback controller for a buck-boost type dc-dc converter using a genetic algorithm. The feedback controller design is perceived as an optimisation problem and a robust controller is estimated through an evolutionary search. Extensive simulation and experimental results provided in the article show the effectiveness of the new approach.
Design and Simulation of PMSM Feedback Linearization Control System
Directory of Open Access Journals (Sweden)
SONG Xiao-jing
2013-01-01
Full Text Available With the theory of AC adjustable speed as well as a new control theory research is unceasingly thorough, the permanent magnet synchronous motor control system requires high precision of control and high reliability of the occasion, access to a wide range of applications, in the modern AC motor has play a decisive role position. Based on the deep research on the feedback linearization technique based on, by choosing appropriate state transformation and control transform, PMSM model input output linearization, and the design of the feedback linearization controller, realized PMSM decoupling control based on Matlab, and PMSM feedback linearization control system simulation. The simulation results show that, the system in a certain range of speed than the traditional PI controller has better control performance, but to the parameter variation has strong sensitivity. It also determines the direction for future research.
Output feedback controller design for uncertain piecewise linear systems
Institute of Scientific and Technical Information of China (English)
Jianxiong ZHANG; Wansheng TANG
2007-01-01
This paper proposes output feedback controller design methods for uncertain piecewise linear systems based on piecewise quadratic Lyapunov function. The α-stability of closed-loop systems is also considered. It is shown that the output feedback controller design procedure of uncertain piecewise linear systems with α-stability constraint can be cast as solving a set of bilinear matrix inequalities (BMIs). The BMIs problem in this paper can be solved iteratively as a set of two convex optimization problems involving linear matrix inequalities (LMIs) which can be solved numerically efficiently. A numerical example shows the effectiveness of the proposed methods.
Feedback Controller Design for the Synchronization of Boolean Control Networks.
Liu, Yang; Sun, Liangjie; Lu, Jianquan; Liang, Jinling
2016-09-01
This brief investigates the partial and complete synchronization of two Boolean control networks (BCNs). Necessary and sufficient conditions for partial and complete synchronization are established by the algebraic representations of logical dynamics. An algorithm is obtained to construct the feedback controller that guarantees the synchronization of master and slave BCNs. Two biological examples are provided to illustrate the effectiveness of the obtained results.
A Design Method for a State Feedback Microcomputer Controller of a Wide Bandwidth Analog Plant.
1983-12-01
METHOD . . . .... 16 1. State Feedback Control System . . . . . . 16 2. Microcomputer Controller Design with Time Delay . . . . . . . . . . . . . . . . 18...90 C. DESIGN OF STATE FEEDBACK CONTROL SYSTEM WITH MICROCOMPUTER . . . . . . . . . . . . . . . . 91 1. Control Algorithm...FIGURES 2.1 Signal Flow Diagram of State Feedback System . . 17 2.2 Feedback Control System with PD Control . . . . 18 2.3 Bode Diagram of Eqn. 2.7
Parameterized design of nonlinear feedback controllers for servo positioning systems
Institute of Scientific and Technical Information of China (English)
Cheng Guoyang; Jin Wenguang
2006-01-01
To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback (CNF) control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.
Design of Telerobotic Drilling Control System with Haptic Feedback
Directory of Open Access Journals (Sweden)
Faraz Shah
2013-01-01
system with haptic feedback that allows for the remote control of the vertical drilling operation. The human operator controls the vertical penetration velocity using a haptic device while simultaneously receiving the haptic feedback from the locally implemented virtual environment. The virtual environment is rendered as a virtual spring with stiffness updated based on the estimate of the stiffness of the rock currently being cut. Based on the existing mathematical models of drill string/drive systems and rock cutting/penetration process, a robust servo controller is designed which guarantees the tracking of the reference vertical penetration velocity of the drill bit. A scheme for on-line estimation of the rock intrinsic specific energy is implemented. Simulations of the proposed control and parameter estimation algorithms have been conducted; consequently, the overall telerobotic drilling system with a human operator controlling the process using PHANTOM Omni haptic device is tested experimentally, where the drilling process is simulated in real time in virtual environment.
COA based robust output feedback UPFC controller design
Energy Technology Data Exchange (ETDEWEB)
Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)
2010-12-15
In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.
Design of Magnetic Flux Feedback Controller in Hybrid Suspension System
Directory of Open Access Journals (Sweden)
Wenqing Zhang
2013-01-01
Full Text Available Hybrid suspension system with permanent magnet and electromagnet consumes little power consumption and can realize larger suspension gap. But realizing stable suspension of hybrid magnet is a tricky problem in the suspension control sphere. Considering from this point, we take magnetic flux signal as a state variable and put this signal back to suspension control system. So we can get the hybrid suspension mathematical model based on magnetic flux signal feedback. By application of MIMO feedback linearization theory, we can further realize linearization of the hybrid suspension system. And then proportion, integral, differentiation, magnetic flux density B (PIDB controller is designed. Some hybrid suspension experiments have been done on CMS04 magnetic suspension bogie of National University of Defense Technology (NUDT in China. The experiments denote that the new hybrid suspension control algorithm based on magnetic flux signal feedback designed in this paper has more advantages than traditional position-current double cascade control algorithm. Obviously, the robustness and stability of hybrid suspension system have been enhanced.
Controller Design for EMA in TVC Incorporating Force Feedback
Schinstock, Dale E.; Scott, Douglas A.
1998-01-01
The objective of this research was to develop control schemes and control design procedures for electromechanical actuators (EMA) in thrust vector control (TVC) applications. For a variety of reasons, there is a tendency within the aerospace community to use electromechanical actuators in applications where hydraulics have traditionally been employed. TVC of rocket engines is one such application. However, there is considerable research, development, and testing to be done before EMA will be accepted by the community at large for these types of applications. Besides the development of design procedures for the basic position controller, two major concerns are dealt with in this research by incorporating force feedback: 1) the effects of resonance on the performance of EMA-TVC-rocket-engine systems, and 2) the effects of engine start transients on EMA. This report only highlights the major contributions of this research.
Design of feedback controller for TCP/AQM networks
Directory of Open Access Journals (Sweden)
Sukant Kishoro Bisoy
2017-02-01
Full Text Available In this paper, we propose a novel proportional-differential-type feedback controller called Novel-PD as new active queue management (AQM to regulate the queue length with small oscillation. It measures the current queue length and uses the current queue length and differential error signals to adjust packet drop probability dynamically. We provide control theoretic analysis of system stability and develop guidelines to select control gain parameters of Novel-PD. The design of Novel-PD for TCP/AQM system is given in details. NS2 is used for conducting extensive simulation. The proposed controller is compared with random early detection (RED, random exponential marking (REM, proportional integrator (PI and proportional derivative (PD controller. Result shows that, Novel-PD is stable and achieves faster response in dynamic environments where number of TCP connections, bottleneck capacity, round trip time (RTT keeps changing. The proposed controller outperforms other AQM schemes.
Fractional Order Nonlinear Feedback Controller Design for PMSM Drives
Directory of Open Access Journals (Sweden)
Jian-Ping Wen
2013-01-01
Full Text Available Fractional order integral is introduced into active disturbance rejection controller (ADRC to establish the structure of fractional order proportional integral controller (FPI. Fractional order ADRC (FADRC is designed by replacing the nonlinear state error feedback control law using nonlinear function combination in ADRC with FPI, which can combine the high performance of ADRC estimating disturbances with the characteristics of fractional order calculus more really describing the physical object and spreading the stable region of the system parameters. The proposed FADRC is applied to permanent magnet synchronous motor (PMSM speed servo system in order to improve robustness of system against the disturbances. Compared with ADRC, simulation results verify that the proposed control method has given very good robust results and fast speed tracking performance.
Computational design of nucleic acid feedback control circuits.
Yordanov, Boyan; Kim, Jongmin; Petersen, Rasmus L; Shudy, Angelina; Kulkarni, Vishwesh V; Phillips, Andrew
2014-08-15
The design of synthetic circuits for controlling molecular-scale processes is an important goal of synthetic biology, with potential applications in future in vitro and in vivo biotechnology. In this paper, we present a computational approach for designing feedback control circuits constructed from nucleic acids. Our approach relies on an existing methodology for expressing signal processing and control circuits as biomolecular reactions. We first extend the methodology so that circuits can be expressed using just two classes of reactions: catalysis and annihilation. We then propose implementations of these reactions in three distinct classes of nucleic acid circuits, which rely on DNA strand displacement, DNA enzyme and RNA enzyme mechanisms, respectively. We use these implementations to design a Proportional Integral controller, capable of regulating the output of a system according to a given reference signal, and discuss the trade-offs between the different approaches. As a proof of principle, we implement our methodology as an extension to a DNA strand displacement software tool, thus allowing a broad range of nucleic acid circuits to be designed and analyzed within a common modeling framework.
Ultrasensitive Negative Feedback Control: A Natural Approach for the Design of Synthetic Controllers
Montefusco, Francesco; Akman, Ozgur E.; Soyer, Orkun S.; Bates, Declan G.
2016-01-01
Many of the most important potential applications of Synthetic Biology will require the ability to design and implement high performance feedback control systems that can accurately regulate the dynamics of multiple molecular species within the cell. Here, we argue that the use of design strategies based on combining ultrasensitive response dynamics with negative feedback represents a natural approach to this problem that fully exploits the strongly nonlinear nature of cellular information processing. We propose that such feedback mechanisms can explain the adaptive responses observed in one of the most widely studied biomolecular feedback systems—the yeast osmoregulatory response network. Based on our analysis of such system, we identify strong links with a well-known branch of mathematical systems theory from the field of Control Engineering, known as Sliding Mode Control. These insights allow us to develop design guidelines that can inform the construction of feedback controllers for synthetic biological systems. PMID:27537373
Fault Tolerant Feedback Control
DEFF Research Database (Denmark)
Stoustrup, Jakob; Niemann, H.
2001-01-01
An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out...... that there is a separation be-tween the feedback controller and the fault tolerant part. The closed loop feedback properties are handled by the nominal feedback controller and the fault tolerant part is handled by the design of the Youla parameter. The design of the fault tolerant part will not affect the design...... of the nominal feedback con-troller....
Feedback control design for the complete synchronisation of two coupled Boolean networks
Li, Fangfei
2016-09-01
In the literatures, to design state feedback controllers to make the response Boolean network synchronise with the drive Boolean network is rarely considered. Motivated by this, feedback control design for the complete synchronisation of two coupled Boolean networks is investigated in this paper. A necessary condition for the existence of a state feedback controller achieving the complete synchronisation is established first. Then, based on the necessary condition, the feedback control law is proposed. Finally, an example is worked out to illustrate the proposed design procedure.
Energy Technology Data Exchange (ETDEWEB)
Wang Jing [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)], E-mail: wjnotice@gmail.com; Gao Jinfeng [School of Electrical Engineering, Zhengzhou University, Zhengzhou 450002 (China); Ma Xikui [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)
2007-10-01
This Letter presents a novel cross active backstepping design method for synchronization control of cross-strict feedback hyperchaotic system, in which the ordinary backstepping design is unavailable. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. The proposed method is applied to achieve chaos synchronization of two identical cross-strict feedback hyperchaotic systems. Also it is used to implement synchronization between cross-strict feedback hyperchaotic system and Roessler hyperchaotic system. Numerical examples illustrate the validity of the control method.
TCSC controller design based on output feedback control with linear matrix inequality
Energy Technology Data Exchange (ETDEWEB)
Ishimaru, Masachika; Shirai, Goro [Hosei University, Tokyo (Japan). Dept. of Electrical Engineering; Niioka, Satoru; Yokoyama, Ryuichi [Tokyo Metropolitan University (Japan). Dept. of Electrical Engineering
2000-07-01
The authors aim at designing the fast responsible and robust stabilizing controller. Recently, many researches propose robust stabilizing compensators based on H{sub {infinity}} control theory. Especiady, the LMI (Linear Matrix Inequality) solving efficient convex problems is very effective. LMI is based on a linear function composed by matrices, and it is expansion of conventional H{sub {infinity}} control. In addition to the LMI approach, authors pay attention to the output-feedback control for stabilizing a system using observable output values. This paper presents a stabilizing control using measurable values by using the output-feedback method. In order to discuss the advantage of the proposed method, 3-machine 9-bus system is used. Moreover, this system is applied TCSC (Thyristor Controlled Series Capacitor) controllers, and H{sub {infinity}} control based on the LMI is proposed for the design method of TCSC controllers to attain the robust stability. (author)
Hennen, B.A.; Westerhof, E.; Nuij, Pwjm; M.R. de Baar,; Steinbuch, M.
2012-01-01
Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron cyclot
Algorithm Design and Application of Laminar Cooling Feedback Control in Hot Strip Mill
Institute of Scientific and Technical Information of China (English)
LIU En-yang; ZHANG Dian-hua; SUN Jie; PENG Liang-gui; GAO Bai-hong; SU Li-tao
2012-01-01
Feedback control is one of the most important ways to improve coiling temperature control precision during laminar cooling process.Laminar cooling equipments of a hot strip mill and structure of the control system were introduced.Feedback control algorithm based on PI controller and that based on Smith predictor were designed and tested in a hot strip mill respectively.Practical application shows that the feedback control system based on PI controller plays a limited role in improving coiling temperature control precision.The feedback control system based on Smith predictor runs stable and reliable.When the measured coiling temperature deviates from the target value,it can be adjusted to the required range quickly and steadily by Smith predictor feedback control,which improves the coiling temperature control precision greatly,and qualities of hot rolled strips are improved significantly
Cao, YY; Lam, J.
2001-01-01
This paper is concerned with simultaneous linear-quadratic (LQ) optimal control design for a set of LTI systems via piecewise constant output feedback. First, the discrete-time simultaneous LQ optimal control design problem is reduced to solving a set of coupled matrix inequalities and an iterative LMI algorithm is presented to compute the feedback gain. Then, simultaneous stabilization and simultaneous LQ optimal control design of a set of LTI continuous-time systems are considered via perio...
Design study of a feedback control system for the Multicyclic Flap System rotor (MFS)
Weisbrich, R.; Perley, R.; Howes, H.
1977-01-01
The feasibility of automatically providing higher harmonic control to a deflectable control flap at the tip of a helicopter rotor blade through feedback of selected independent parameter was investigated. Control parameters were selected for input to the feedback system. A preliminary circuit was designed to condition the selected parameters, weigh limiting factors, and provide a proper output signal to the multi-cyclic control actuators. Results indicate that feedback control for the higher harmonic is feasible; however, design for a flight system requires an extension of the present analysis which was done for one flight condition - 120 kts, 11,500 lbs gross weight and level flight.
Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law
Nurmaini, Siti; Dewi, Kemala; Tutuko, Bambang
2017-04-01
This paper deals with the problem of how to control differential driven mobile robot with simple control law. When mobile robot moves from one position to another to achieve a position destination, it always produce some errors. Therefore, a mobile robot requires a certain control law to drive the robot’s movement to the position destination with a smallest possible error. In this paper, in order to reduce position error, a linear feedback control is proposed with pole placement approach to regulate the polynoms desired. The presented work leads to an improved understanding of differential-drive mobile robot (DDMR)-based kinematics equation, which will assist to design of suitable controllers for DDMR movement. The result show by using the linier feedback control method with pole placement approach the position error is reduced and fast convergence is achieved.
Kuo, B. C.
1978-01-01
The analog controllers of the annular suspension pointing system are designed for control of the chi, phi sub 1, and phi sub 2 bandwidth dynamics through decoupling and pole placement. Since it is virtually impossible to find an equivalent bandwidth of the overall system and establish a general eigenvalue requirement for the system, the subsystem dynamics are decoupled through state feedback and the poles are placed simultaneously to realize the desired bandwidths for the three system components. Decoupling and pole placement are also used to design the closed-loop digital system through approximation.
Li, Yongming; Tong, Shaocheng; Li, Tieshan
2015-10-01
In this paper, a composite adaptive fuzzy output-feedback control approach is proposed for a class of single-input and single-output strict-feedback nonlinear systems with unmeasured states and input saturation. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, and a fuzzy state observer is designed to estimate the unmeasured states. By utilizing the designed fuzzy state observer, a serial-parallel estimation model is established. Based on adaptive backstepping dynamic surface control technique and utilizing the prediction error between the system states observer model and the serial-parallel estimation model, a new fuzzy controller with the composite parameters adaptive laws are developed. It is proved that all the signals of the closed-loop system are bounded and the system output can follow the given bounded reference signal. A numerical example and simulation comparisons with previous control methods are provided to show the effectiveness of the proposed approach.
Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control
Directory of Open Access Journals (Sweden)
Wenya Zhou
2014-01-01
Full Text Available Attitude dynamic model of unmanned aerial vehicles (UAVs is multi-input multioutput (MIMO, strong coupling, and nonlinear. Model uncertainties and external gust disturbances should be considered during designing the attitude control system for UAVs. In this paper, feedback linearization and model reference adaptive control (MRAC are integrated to design the attitude control system for a fixed wing UAV. First of all, the complicated attitude dynamic model is decoupled into three single-input single-output (SISO channels by input-output feedback linearization. Secondly, the reference models are determined, respectively, according to the performance indexes of each channel. Subsequently, the adaptive control law is obtained using MRAC theory. In order to demonstrate the performance of attitude control system, the adaptive control law and the proportional-integral-derivative (PID control law are, respectively, used in the coupling nonlinear simulation model. Simulation results indicate that the system performance indexes including maximum overshoot, settling time (2% error range, and rise time obtained by MRAC are better than those by PID. Moreover, MRAC system has stronger robustness with respect to the model uncertainties and gust disturbance.
The design and artificial realization of a controller of pulse coupling feedback
Institute of Scientific and Technical Information of China (English)
Lü Ling; Guo Zhi-An; Luan Ling; Zou Cheng-Ye; Zhao Hong-Yan
2006-01-01
In this paper a controller of pulse coupling feedback (PCF) is designed to control chaotic systems. Control principles and the technique to select the feedback coefficients are introduced. This controller is theoretically studied with a three dimensional (3D) chaotic system. The artificial simulation results show that the chaotic system can be stabilized to different periodic orbits by using the PCF method, and the number of the periodic orbits are 2n ×3mp (n and m are integers). Therefore, this control method is effective and practical.
Energy Technology Data Exchange (ETDEWEB)
Etchepareborda, Andres [Department of Nuclear Engineering, Argentine National Atomic Energy Commission, Centro Atomico Bariloche, Av. E. Bustillo 9500, Bariloche 8400 (Argentina)]. E-mail: etche@cab.cnea.gov.ar; Lolich, Jose [INVAP S.E., Moreno 1089, Bariloche 8400 (Argentina)
2007-02-15
A constrained, output feedback nonlinear receding horizon control (NRHC) method is applied to design a research reactor power controller. The method uses a nonlinear plant model subject to state, control and terminal set constraints; a nonlinear cost function; and a high gain observer. The controller regulates reactor power from 1% to 100% of full power; considers known disturbances, such as reactivity insertions and changes in core inlet flow and temperature; and includes upper limits constraints on neutron flux, neutron flux rate, core outlet temperature and core inlet-outlet temperature difference. Simulation results show an excellent performance for power regulation and known disturbances rejection: all process variables are kept within the admissible limits avoiding the actuation of the safety systems.
Directory of Open Access Journals (Sweden)
O. P. Bharti
2016-08-01
Full Text Available This paper describes the controller design for a DFIG based wind energy generation system using the static output feedback technique through the LMI Toolbox. The features of the DFIG, its converters and their controllers are discussed. The lower order nominal representation of DFIG is obtained using numerical differentiation of the SIMULINK model which is subsequently used for PID controller design. The obtained results are compared with existing methods for performance enhancement of the DFIG and wind energy conversion systems.
Design of an optimal output feedback control system with modal insensitivity
Raman, K. V.; Calise, A. J.
1984-01-01
This paper deals with the design of an output feedback controller which results in selected modal insensitivity, and at the same time optimizes a quadratic performance index representative of desired system performance for nominal plant parameter values. The approach taken here is to characterize the class of attainable eigenvectors for a given set of eigenvalues (distinct or non-distinct) which lie in a subspace called the 'Modal Insensitivity Subspace'. A constraint is established on the feedback matrix which results in modal insensitivity. Necessary conditions for optimality subject to the constraint on the feedback matrix are given. This forms the basis for a numerical algorithm to compute the optimal feedback gain which analyzed for convergence. To illustrate the procedure, a design is carried out using the lateral dynamics of an L-1011 aircraft.
Institute of Scientific and Technical Information of China (English)
LIU Yungang; ZHANG Jifeng
2004-01-01
A minimal-order observer and output-feedback stabilization control are given for single-input multi-output stochastic nonlinear systems with unobservable states, unmodelled dynamics and stochastic disturbances. Based on the observer designed, the estimates of all observable states of the system are given, and the convergence of the estimation errors are analyzed. In addition, by using the integrator backstepping approach,an output-feedback stabilization control is constructively designed, and sufficient conditions are obtained under which the closed-loop system is asymptotically stable in the large or bounded in probability, respectively.
Designing a feedback control algorithm for the tube hydroforming process
DEFF Research Database (Denmark)
Endelt, Benny Ørtoft; Cheng, Ming; Zhang, Shihong
2013-01-01
to the dynamic behavior of the system and the numerical tests show that it is possible to control the quality and plastic deformation of the tube. Numerical simulations show that the control system can eliminate both rupture and irreversible wrinkling - which are the two major failure modes in tube hydroforming....
Directory of Open Access Journals (Sweden)
Francisco Palacios-Quiñonero
2014-07-01
Full Text Available In this paper, we present a novel two-step strategy for static output-feedback controller design. In the first step, an optimal state-feedback controller is obtained by means of a linear matrix inequality (LMI formulation. In the second step, a transformation of the LMI variables is used to derive a suitable LMI formulation for the static output-feedback controller. This design strategy can be applied to a wide range of practical problems, including vibration control of large structures, control of offshore wind turbines, control of automotive suspensions, vehicle driving assistance and disturbance rejection. Moreover, it allows designing decentralized and semi-decentralized static output-feedback controllers by setting a suitable zero-nonzero structure on the LMI variables. To illustrate the application of the proposed methodology, two centralized static velocity-feedback H-Infinity controllers and two fully decentralized static velocity-feedback H-Infinity controllers are designed for the seismic protection of a five-story building.
Mizumoto, Ikuro; Tsunematsu, Junpei; Fujii, Seiya
2016-09-01
In this paper, a design method of an output feedback control system with a simple feedforward input for a combustion model of diesel engine will be proposed based on the almost strictly positive real-ness (ASPR-ness) of the controlled system for a combustion control of diesel engines. A parallel feedforward compensator (PFC) design scheme which renders the resulting augmented controlled system ASPR will also be proposed in order to design a stable output feedback control system for the considered combustion model. The effectiveness of our proposed method will be confirmed through numerical simulations.
Design of output feedback UPFC controller for damping of electromechanical oscillations using PSO
Energy Technology Data Exchange (ETDEWEB)
Shayeghi, H. [Technical Engineering Dept., Univ. of Mohaghegh Ardabili, Ardabil (Iran); Shayanfar, H.A. [Center of Excellence for Power Automation and Operation, Electrical Engineering Dept., Iran Univ. of Science and Technology, Tehran (Iran); Jalilzadeh, S.; Safari, A. [Technical Engineering Dept., Zanjan Univ., Zanjan (Iran)
2009-10-15
In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) is developed. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a particle swarm optimization technique (PSO) that has a strong ability to find the most optimistic results. Only local and available state variables are adopted as the input signals of each controller for the decentralized design. Thus, structure of the designed UPFC controller is simple and easy to implement. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through nonlinear time-domain simulation and some performance indices studies. The results analysis reveals that the designed PSO-based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions show that the {delta}{sub E} based controller is superior to both the m{sub B} based controller and conventional power system stablizer. (author)
Rotorcraft flight control design using quantitative feedback theory and dynamic crossfeeds
Cheng, Rendy P.
1995-01-01
A multi-input, multi-output controls design with robust crossfeeds is presented for a rotorcraft in near-hovering flight using quantitative feedback theory (QFT). Decoupling criteria are developed for dynamic crossfeed design and implementation. Frequency dependent performance metrics focusing on piloted flight are developed and tested on 23 flight configurations. The metrics show that the resulting design is superior to alternative control system designs using conventional fixed-gain crossfeeds and to feedback-only designs which rely on high gains to suppress undesired off-axis responses. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets current handling qualities specifications relative to the decoupling of off-axis responses. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensator successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective.
Dores, Delfim Zambujo Das
2005-11-01
Engineering research over the last few years has successfully demonstrated the potential of thrust vector control using counterflow at conditions up to Mach 2. Flow configurations that include the pitch vectoring of rectangular jets and multi-axis vector control in diamond and axisymmetric nozzle geometries have been studied. Although bistable (on-off) fluid-based control has been around for some time, the present counterflow thrust vector control is unique because proportional and continuous jet response can be achieved in the absence of moving parts, while avoiding jet attachment, which renders most fluidic approaches unacceptable for aircraft and missile control applications. However, before this study, research had been limited to open-loop studies of counterflow thrust vectoring. For practical implementation it was vital that the counterflow scheme be used in conjunction with feedback control. Hence, the focus of this research was to develop and experimentally demonstrate a feedback control design methodology for counterflow thrust vectoring. This research focused on 2-D (pitch) thrust vectoring and addresses four key modeling issues. The first issue is to determine the measured variable to be commanded since the thrust vector angle is not measurable in real time. The second related issue is to determine the static mapping from the thrust vector angle to this measured variable. The third issue is to determine the dynamic relationship between the measured variable and the thrust vector angle. The fourth issue is to develop dynamic models with uncertainty characterizations. The final and main goal was the design and implementation of robust controllers that yield closed-loop systems with fast response times, and avoid overshoot in order to aid in the avoidance of attachment. These controllers should be simple and easy to implement in real applications. Hence, PID design has been chosen. Robust control design is accomplished by using ℓ1 control theory in
Design and Simulation of a Feedback Control System for a Steel Plate Storage
Institute of Scientific and Technical Information of China (English)
Torben; Feld; Holmgaard; Kristensen; Hans; Holm; Jesper; Hansen
2002-01-01
A discrete event heuristic feedback control system fo r a steel plate storage at Odense Steel Shipyard Ltd is developed and implemente d in a computer-based simulation model. The plant is subject to stochastic dist urbances. The control system is able to handle this stochastic behaviour bec ause of the feedback design. The present simulation results indicate that a bene fit in the range of 30%～40% is reachable by modifying the plant. Plant description The steel plate storage is located at Odense Steel ...
Hua, Chang-Chun; Wang, Qing-Guo; Guan, Xin-Ping
2009-04-01
In this paper, the robust-control problem is investigated for a class of uncertain nonlinear time-delay systems via dynamic output-feedback approach. The considered system is in the strict-feedback form with unknown control direction. A full-order observer is constructed with the gains computed via linear matrix inequality at first. Then, with the bounds of uncertain functions known, we design the dynamic output-feedback controller such that the closed-loop system is asymptotically stable. Furthermore, when the bound functions of uncertainties are not available, the adaptive fuzzy-logic system is employed to approximate the uncertain function, and the corresponding output-feedback controller is designed. It is shown that the resulting closed-loop system is stable in the sense of semiglobal uniform ultimate boundedness. Finally, simulations are done to verify the feasibility and effectiveness of the obtained theoretical results.
Robust H∞ Controller Design for Uncertain Neutral Systems via Dynamic Observer Based Output Feedback
Institute of Scientific and Technical Information of China (English)
Fatima El Haoussi; El (H)oussaine Tissir
2009-01-01
In this paper, the dynamic observer-based controller design for a class of neutral systems with H∞ control is considered. An observer-based output feedback is derived for systems with polytopic parameter uncertainties. This controller assures delay-dependent stabilization and H∞ norm bound attenuation from the disturbance input to the controllcd output. Numerical examples are provided for illustration and comparison of the proposed conditions.
Nakagawa, Shinsuke; Yamaguchi, Takashi
In magnetic disk drives, mechanical resonance modes prevent a higher bandwidth servo being used for head positioning control. To overcome this limitation and realize more precise head positioning, a strain feedback controller which is added to a conventional head-position feedback loop was developed. The controller of a strain-feedback control system was designed so that the gain and the phase delay of the sensitivity function of the strain-feedback control system were both reduced below the frequency of a primary mechanical resonance. The controller achieves gain suppression by about 10dB at a primary mechanical resonance and phase delay of about zero degrees. It was found that the head-position control system (i.e., the strain feedback plus the conventional head-position feedback loop) increases the servo bandwidth by 17% and improves the positioning accuracy by 18%. It was also confirmed that unlike conventional servo system, the new servo design does not suffer degradation of servo characteristics at high temperature.
Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard
This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...... on dynamic feedback linearization is designed for this model. Since several parameters in the model, in particular the ground-wheel contact friction, are not well known a priori, a robustness analysis is carried out for bounded uncertainties. It is demonstrated that uncertainties can render the closed...
Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard
2002-01-01
This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...... on dynamic feedback linearization is designed for this model. Since several parameters in the model, in particular the ground-wheel contact friction, are not well known a priori, a robustness analysis is carried out for bounded uncertainties. It is demonstrated that uncertainties can render the closed...
Designing Linear Feedback Controller for Elastic Inverted Pendulum with Tip Mass
Directory of Open Access Journals (Sweden)
Minh Hoang Nguyen
2016-12-01
Full Text Available This paper introduced a kind of cart and pole system. The pole in this system is not a solid beam but an elastic beam. The paper analyzed the dynamic equation of this complex system. Then, a linear feedback controller was designed to stabilize this model in order to keep the elastic beam balanced in the up-side position. The control results were proved to work well through simulation.
Rotorcraft control system design for uncertain vehicle dynamics using quantitative feedback theory
Hess, R. A.
1994-01-01
Quantitative Feedback Theory describes a frequency-domain technique for the design of multi-input, multi-output control systems which must meet time or frequency domain performance criteria when specified uncertainty exists in the linear description of the vehicle dynamics. This theory is applied to the design of the longitudinal flight control system for a linear model of the BO-105C rotorcraft. Uncertainty in the vehicle model is due to the variation in the vehicle dynamics over a range of airspeeds from 0-100 kts. For purposes of exposition, the vehicle description contains no rotor or actuator dynamics. The design example indicates the manner in which significant uncertainty exists in the vehicle model. The advantage of using a sequential loop closure technique to reduce the cost of feedback is demonstrated by example.
Institute of Scientific and Technical Information of China (English)
Zongyao SUN; Yungang LIU
2007-01-01
In this paper, a new approach is successfully addressed to design the state-feedback adaptive stabilizing control law for a class of high-order nonlinear systems in triangular form and with unknown and nonidentical control coefficients, whose stabilizing control has been investigated recently under the knowledge that the lower bounds of the control coefficients are exactly known. In the present paper,without any knowledge of the lower bounds of the control coefficients, based on the adaptive technique and appropriately choosing design parameters, we give the recursive design procedure of the stabilizing control law by utilizing the approach of adding a power integrator together with tuning functions. The state-feedback adaptive control law designed not only preserves the equilibrium at the origin, but also guarantees the global asymptotic stability of the closed-loop states and the uniform boundedness of all the other closed-loop signals.
Analysis and design of output feedback control systems with actuator saturation
Institute of Scientific and Technical Information of China (English)
Wei GUAN; Guanghong YANG
2008-01-01
A dynamic output feedback controller design approach based on cone complementary linearisafion procedure is proposed for linear time-invariant(LTI)systems with actuator saturation.First.the estimation of the domain of attraction is given.Then.a design method to find a larger estimation of the domain of attraction is presented.In the process of design,nonconvex conditions are obtained, so a cone complementary linearisation procedure is exploited to solve the nonconvex feasibility problem.Two examples are given to illustrate the efficiency of the design method.
Model-Based State Feedback Controller Design for a Turbocharged Diesel Engine with an EGR System
Directory of Open Access Journals (Sweden)
Tianpu Dong
2015-05-01
Full Text Available This paper describes a method for the control of transient exhaust gas recirculation (EGR systems. Firstly, a state space model of the air system is developed by simplifying a mean value model. The state space model is linearized by using linearization theory and validated by the GT-Power data with an operating point of the diesel engine. Secondly, a state feedback controller based on the intake oxygen mass fraction is designed for EGR control. Since direct measurement of the intake oxygen mass fraction is unavailable on the engine, the estimation method for intake oxygen mass fraction has been proposed in this paper. The control strategy is analyzed by using co-simulation with the Matlab/Simulink and GT-Powers software. Finally, the whole control system is experimentally validated against experimental data of a turbocharged diesel engine. The control effect of the state feedback controller compared with PID controller proved to be further verify the feasibility and advantages of the proposed state feedback controller.
PSO Based State Feedback Controller Design for SVC to Enhance the Stability of Power System
Directory of Open Access Journals (Sweden)
Saeid Jalilzadeh
2012-08-01
Full Text Available SVC is one of the most significant devices in FACTS technology, which is used in parallel compensation, enhancing the transient stability, limiting the low frequency oscillations and, etc. designing a proper controller is effective in operation of SVC. In this paper, a simplified analysis of the effect of a SVC on the stability of a Single Machine Infinite Bus (SMIB system is presented. The SVC which is located at the terminal of the generator has the state feedback controller in which the coefficients of state feedback are optimized by the Particle Swarm Optimization (PSO algorithm in order to damp the Low Frequency Oscillations (LFO. The equations that describe the proposed system have been linearized, and then the optimum state feedback controller has been designed for SVC which its optimal coefficients have been earned by PSO algorithm. The system with proposed controller has been simulated for a special disturbance in nominal loading condition. Thereafter, for three states viz light loading condition, normal loading condition and heavy loading condition, to show the robustness of the proposed controller, the previous disturbance has been applied again. Then the dynamic responses of the generator have been presented. The simulation results showed that the system composed with proposed controller has a suitable operation in fast damping of oscillations of the power system. to ensure stability and tracking. Simulations is carried out to verify the theoretical results.
Robust state feedback controller design of STATCOM using chaotic optimization algorithm
Directory of Open Access Journals (Sweden)
Safari Amin
2010-01-01
Full Text Available In this paper, a new design technique for the design of robust state feedback controller for static synchronous compensator (STATCOM using Chaotic Optimization Algorithm (COA is presented. The design is formulated as an optimization problem which is solved by the COA. Since chaotic planning enjoys reliability, ergodicity and stochastic feature, the proposed technique presents chaos mapping using Lozi map chaotic sequences which increases its convergence rate. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results reveal that the proposed controller has an excellent capability in damping power system low frequency oscillations and enhances greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions shows that the phase based controller is superior compare to the magnitude based controller.
Output Feedback Controller Design with Symbolic Observers for Cyber-physical Systems
Directory of Open Access Journals (Sweden)
Masashi Mizoguchi
2016-12-01
Full Text Available In this paper, we design a symbolic output feedback controller of a cyber-physical system (CPS. The physical plant is modeled by an infinite transition system. We consider the situation that a finite abstracted system of the physical plant, called a c-abstracted system, is given. There exists an approximate alternating simulation relation from the c-abstracted system to the physical plant. A desired behavior of the c-abstracted system is also given, and we have a symbolic state feedback controller of the physical plant. We consider the case where some states of the plant are not measured. Then, to estimate the states with abstracted outputs measured by sensors, we introduce a finite abstracted system of the physical plant, called an o-abstracted system, such that there exists an approximate simulation relation. The relation guarantees that an observer designed based on the state of the o-abstracted system estimates the current state of the plant. We construct a symbolic output feedback controller by composing these systems. By a relation-based approach, we proved that the controlled system approximately exhibits the desired behavior.
Hybrid feedback feedforward: An efficient design of adaptive neural network control.
Pan, Yongping; Liu, Yiqi; Xu, Bin; Yu, Haoyong
2016-04-01
This paper presents an efficient hybrid feedback feedforward (HFF) adaptive approximation-based control (AAC) strategy for a class of uncertain Euler-Lagrange systems. The control structure includes a proportional-derivative (PD) control term in the feedback loop and a radial-basis-function (RBF) neural network (NN) in the feedforward loop, which mimics the human motor learning control mechanism. At the presence of discontinuous friction, a sigmoid-jump-function NN is incorporated to improve control performance. The major difference of the proposed HFF-AAC design from the traditional feedback AAC (FB-AAC) design is that only desired outputs, rather than both tracking errors and desired outputs, are applied as RBF-NN inputs. Yet, such a slight modification leads to several attractive properties of HFF-AAC, including the convenient choice of an approximation domain, the decrease of the number of RBF-NN inputs, and semiglobal practical asymptotic stability dominated by control gains. Compared with previous HFF-AAC approaches, the proposed approach possesses the following two distinctive features: (i) all above attractive properties are achieved by a much simpler control scheme; (ii) the bounds of plant uncertainties are not required to be known. Consequently, the proposed approach guarantees a minimum configuration of the control structure and a minimum requirement of plant knowledge for the AAC design, which leads to a sharp decrease of implementation cost in terms of hardware selection, algorithm realization and system debugging. Simulation results have demonstrated that the proposed HFF-AAC can perform as good as or even better than the traditional FB-AAC under much simpler control synthesis and much lower computational cost.
Designing dynamical output feedback controllers for store-operated Ca²+ entry.
Liu, Weijiu; Tang, Fusheng; Chen, Jingvoon
2010-11-01
Store-operated calcium entry (SOCE) has been proposed as the main process controlling Ca²+ entry in non-excitable cells. Although recent breakthroughs in experimental studies of SOCE have been made, its mathematical modeling has not been developed. In the present work, SOCE is viewed as a feedback control system subject to an extracellular agonist disturbance and an extracellular calcium input. We then design a dynamic output feedback controller to reject the disturbance and track Ca²+ resting levels in the cytosol and the endoplasmic reticulum (ER). The constructed feedback control system is validated by published experimental data and its global asymptotic stability is proved by using the LaSalle's invariance principle. We then simulate the dynamic responses of STIM1 and Orai1, two major components in the operation of the store-operated channels, to the depletion of Ca²+ in the ER with thapsigargin, which show that: (1) Upon the depletion of Ca²+ in the ER, the concentrations of activated STIM1 and STIM1-Orai1 cluster are elevated gradually, indicating that STIM1 is accumulating in the ER-PM junctions and that the cytosolic portion of the active STIM1 is binding to Orai1 and driving the opening of CRAC channels for Ca²+ entry; (2) after the extracellular Ca²+ addition, the concentrations of both STIM1 and STIM1-Orai1 cluster decrease but still much higher than the original levels. We also simulate the system responses to the agonist disturbance, which show that, when a sequence of periodic agonist pulses is applied, the system returns to its equilibrium after each pulse. This indicates that the designed feedback controller can reject the disturbance and track the equilibrium.
Controls design with crossfeeds for hovering rotorcraft using quantitative feedback theory
Tischler, Mark B.; Biezad, Daniel J.; Cheng, Rendy
1996-01-01
A multi-input, multi-output controls design with dynamic crossfeed pre-compensation is presented for rotorcraft in near-hovering flight using Quantitative Feedback Theory (QFT). The resulting closed-loop control system bandwidth allows the rotorcraft to be considered for use as an inflight simulator. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets most handling qualities specifications relative to the decoupling of off-axis responses. Handling qualities are Level 1 for both low-gain tasks and high-gain tasks in the roll, pitch, and yaw axes except for the 10 deg/sec moderate-amplitude yaw command where the rotorcraft exhibits Level 2 handling qualities in the yaw axis caused by phase lag. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensators successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective. This is an area to be investigated in future research.
Modular design of adaptive robust controller for strict-feedback stochastic nonlinear systems
Institute of Scientific and Technical Information of China (English)
WANG Jun; XI Hong-sheng; JI Hai-bo; KANG Yu
2006-01-01
A modular approach of the estimation-based design in adaptive linear control systems has been extended to the adaptive robust control of strict-feedback stochastic nonlinear systems with additive standard Wiener noises and constant unknown parameters.By using It(o)'s differentiation rule, nonlinear damping and adaptive Backstepping procedure,the input-to-state stable controller of global stabilization in probability is developed,which guarantees that system states are bounded and the system has a robust stabilization.According to Swapping technique,we develop two filters and convert dynamic parametric models into static ones to which the gradient update law is designed.Transient performance of the system is estimated by the norm of error.Results of simulation show the effectiveness of the control algorithms.The modular design,which has a concise hierarchy,is more flexible and versatile than a Lyapunov-based algorithm.
A robust rotorcraft flight control system design methodology utilizing quantitative feedback theory
Gorder, Peter James
1993-01-01
Rotorcraft flight control systems present design challenges which often exceed those associated with fixed-wing aircraft. First, large variations in the response characteristics of the rotorcraft result from the wide range of airspeeds of typical operation (hover to over 100 kts). Second, the assumption of vehicle rigidity often employed in the design of fixed-wing flight control systems is rarely justified in rotorcraft where rotor degrees of freedom can have a significant impact on the system performance and stability. This research was intended to develop a methodology for the design of robust rotorcraft flight control systems. Quantitative Feedback Theory (QFT) was chosen as the basis for the investigation. Quantitative Feedback Theory is a technique which accounts for variability in the dynamic response of the controlled element in the design robust control systems. It was developed to address a Multiple-Input Single-Output (MISO) design problem, and utilizes two degrees of freedom to satisfy the design criteria. Two techniques were examined for extending the QFT MISO technique to the design of a Multiple-Input-Multiple-Output (MIMO) flight control system (FCS) for a UH-60 Black Hawk Helicopter. In the first, a set of MISO systems, mathematically equivalent to the MIMO system, was determined. QFT was applied to each member of the set simultaneously. In the second, the same set of equivalent MISO systems were analyzed sequentially, with closed loop response information from each loop utilized in subsequent MISO designs. The results of each technique were compared, and the advantages of the second, termed Sequential Loop Closure, were clearly evident.
Rafaely, Boaz
This thesis is concerned with the development an application of feedback control techniques for active sound control. Both fixed and adaptive controllers are considered. The controller design problem for active sound control is formulated as a constrained optimisation problem with an H2 performance objective, of minimising the variance of the control error, and H2 and H∞ design constraints involving control power output, disturbance enhancement, and robust stability. An Internal Model Controller with an FIR control filter is assumed. Conventional H2 design methods for feedback controllers are studied first. Although such controllers can satisfy the design constraints by employing effort terms in the quadratic cost function, they do not achieve the best possible performance, and when adapted using LMS-based algorithms, they suffer from instabilities if the plant response varies significantly. Improved H2/H∞ design methods for fixed and adaptive controllers are then developed, which achieve the best H2 performance under the design constraints, offer an improved stability when made adaptive, and in general outperform the conventional H2 controllers. The H2/H∞ design problems employ convex programming to ensure a unique solution. The Sequential Quadratic Programming methods is used for the off-line design of fixed controllers, and penalty and barrier function methods, together with frequency domain LMS-based algorithms are employed in the H2/H∞ adaptive controllers. The controllers studied and developed here were applied to three active sound control systems: a noise-reducing headset, an active headrest, and a sound radiating panel. The emphasis was put on developing control strategies that improve system performance. First, a high performance controller for the noise-reducing headset was implemented in real-time, which combines analogue and adaptive digital controllers, and can thus reject disturbances which has both broad-band and periodic components. Then
Rudra, Shubhobrata; Maitra, Madhubanti
2017-01-01
This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The math...
Ahrens, Markus; Kucera, Ladislav
1996-01-01
For flywheel rotors or other rotors with significant ratios of moments of inertia, the influence of gyroscopic effects has to be considered. While conservative or damped systems remain stable even under gyroscopic effects, magnetically suspended rotors can be destabilized with increasing rotational speed. The influence of gyroscopic effects on the stability and behavior of a magnetic bearing system is analyzed. The analysis is carried out with a rigid body model for the rotor and a nonlinear model for the magnetic bearing and its amplifier. Cross feedback control can compensate gyroscopic effects. This compensation leads to better system performance and can avoid instability. Furthermore, the implementation of this compensation is simple. The main structure of a decentralized controller can still be used. It has only to be expanded by the cross feedback path.
Seltzer, S. M.
1976-01-01
The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.
Design, control, and sensory feedback of externally powered hand prostheses: a literature review.
Cloutier, Aimee; Yang, James
2013-01-01
In recent years, there has been a steep rise in the quality of prostheses for patients with upper limb amputations. Researchers have begun to identify methods of making prosthetic hands both functional and cosmetically appealing, in contrast to past designs. Many improvements have occurred because of novel design strategies, such as the use of underactuated mechanisms, which allow for more degrees of freedom (DOF) or help reduce the weight of the prosthesis. The increase in functionality is also due in large part to advancements in control strategies for prosthetic hands. One common control method, using electromyographic (EMG) signals generated by muscle contractions, has allowed for an increase in the DOF of hand designs and a larger number of available grip patterns with little added complexity for the wearer. Another recent improvement in prosthetic hand design instead employs electroneurographic (ENG) signals, requiring an interface directly with the peripheral nervous system (PNS) or the central nervous system (CNS). Despite the recent progress in design and control strategies, however, prosthetic hands are still far more limited than the actual human hand. This review outlines the recent progress in the development of electrode-based prosthetic hands, detailing advancements in the areas of design, sensory feedback, and control through EMG and ENG signals (with a particular focus on interfaces with the PNS). The potential benefits and limitations of both control strategies, in terms of signal classification, invasiveness, and sensory feedback, are discussed. Finally, a brief overview of interfaces with the CNS is provided, and potential future developments for prosthetic hand design are discussed.
Design of PID controllers in double feedback loops for SISO systems with set-point filters.
Vijayan, V; Panda, Rames C
2012-07-01
A PID controller is widely used to control industrial processes that are mostly open loop stable or unstable. Selection of proper feedback structure and controller tuning helps to improve the performance of the loop. In this paper a double-feedback loop/method is used to achieve stability and better performance of the process. The internal feedback is used for stabilizing the process and the outer loop is used for good setpoint tracking. An internal model controller (IMC) based PID method is used for tuning the outer loop controller. Autotuning based on relay feedback or the Ziegler-Nichols method can be used for tuning an inner loop controller. A tuning parameter (λ) that is used to tune IMC-PID is used as a time constant of a setpoint filter that is used for reducing the peak overshoot. The method has been tested successfully on many low order processes.
A Comparison of Model Reduction Approaches for Feedback Control Design of Thermal Flows in Buildings
Borggaard, Jeff; Ahuja, Sunil; Burns, John; Cliff, Eugene; Surana, Amit
2010-11-01
The application of distributed parameter control to spatiotemporal thermo-fluid systems requires the use of model reduction methods. The form of the optimal feedback control can inform design decisions, such as sensor and actuator selection and placement. A number of model reduction approaches for fluid systems have been put forward that are based on the proper orthogonal decomposition (POD). In this talk, we examine three approaches, the traditional POD-Galerkin model, the POD-Sensitivity model, and the Balanced-POD models. Our work is motivated by the building indoor environment control problem. Energy performance in building cooling and heating systems can be substantially improved by exploiting spatial temperature stratification and buoyancy that are prevalent in passive systems. We consider the control of airflow in a room with a passively cooled radiant ceiling and displacement ventilation provided near the room floor. For this problem, we approximate the full-order solution to compute the control gains, develop reduced-order models and associated controllers, and simulate the full-order closed-loop system for comparison with the reduced-order model-based control design.
Linear feedback controls the essentials
Haidekker, Mark A
2013-01-01
The design of control systems is at the very core of engineering. Feedback controls are ubiquitous, ranging from simple room thermostats to airplane engine control. Helping to make sense of this wide-ranging field, this book provides a new approach by keeping a tight focus on the essentials with a limited, yet consistent set of examples. Analysis and design methods are explained in terms of theory and practice. The book covers classical, linear feedback controls, and linear approximations are used when needed. In parallel, the book covers time-discrete (digital) control systems and juxtapos
Shanechi, Maryam M; Williams, Ziv M; Wornell, Gregory W; Hu, Rollin C; Powers, Marissa; Brown, Emery N
2013-01-01
Real-time brain-machine interfaces (BMI) have focused on either estimating the continuous movement trajectory or target intent. However, natural movement often incorporates both. Additionally, BMIs can be modeled as a feedback control system in which the subject modulates the neural activity to move the prosthetic device towards a desired target while receiving real-time sensory feedback of the state of the movement. We develop a novel real-time BMI using an optimal feedback control design that jointly estimates the movement target and trajectory of monkeys in two stages. First, the target is decoded from neural spiking activity before movement initiation. Second, the trajectory is decoded by combining the decoded target with the peri-movement spiking activity using an optimal feedback control design. This design exploits a recursive Bayesian decoder that uses an optimal feedback control model of the sensorimotor system to take into account the intended target location and the sensory feedback in its trajectory estimation from spiking activity. The real-time BMI processes the spiking activity directly using point process modeling. We implement the BMI in experiments consisting of an instructed-delay center-out task in which monkeys are presented with a target location on the screen during a delay period and then have to move a cursor to it without touching the incorrect targets. We show that the two-stage BMI performs more accurately than either stage alone. Correct target prediction can compensate for inaccurate trajectory estimation and vice versa. The optimal feedback control design also results in trajectories that are smoother and have lower estimation error. The two-stage decoder also performs better than linear regression approaches in offline cross-validation analyses. Our results demonstrate the advantage of a BMI design that jointly estimates the target and trajectory of movement and more closely mimics the sensorimotor control system.
Directory of Open Access Journals (Sweden)
Maryam M Shanechi
Full Text Available Real-time brain-machine interfaces (BMI have focused on either estimating the continuous movement trajectory or target intent. However, natural movement often incorporates both. Additionally, BMIs can be modeled as a feedback control system in which the subject modulates the neural activity to move the prosthetic device towards a desired target while receiving real-time sensory feedback of the state of the movement. We develop a novel real-time BMI using an optimal feedback control design that jointly estimates the movement target and trajectory of monkeys in two stages. First, the target is decoded from neural spiking activity before movement initiation. Second, the trajectory is decoded by combining the decoded target with the peri-movement spiking activity using an optimal feedback control design. This design exploits a recursive Bayesian decoder that uses an optimal feedback control model of the sensorimotor system to take into account the intended target location and the sensory feedback in its trajectory estimation from spiking activity. The real-time BMI processes the spiking activity directly using point process modeling. We implement the BMI in experiments consisting of an instructed-delay center-out task in which monkeys are presented with a target location on the screen during a delay period and then have to move a cursor to it without touching the incorrect targets. We show that the two-stage BMI performs more accurately than either stage alone. Correct target prediction can compensate for inaccurate trajectory estimation and vice versa. The optimal feedback control design also results in trajectories that are smoother and have lower estimation error. The two-stage decoder also performs better than linear regression approaches in offline cross-validation analyses. Our results demonstrate the advantage of a BMI design that jointly estimates the target and trajectory of movement and more closely mimics the sensorimotor control system.
Rudra, Shubhobrata; Barai, Ranjit Kumar; Maitra, Madhubanti
2014-03-01
This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system. The proposed block backstepping technique has further been enriched by incorporating an integral action additionally for enhancing the steady state performance of the overall system. Asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Subsequently, the stability of the zero dynamics has also been analyzed to ensure the global asymptotic stability of the entire nonlinear system at its desired equilibrium point. The proposed control algorithm has been applied for the stabilization of a benchmarked underactuated mechanical system to verify the effectiveness of the proposed control law in real-time environment.
Control-theoretic Approach to Communication with Feedback: Fundamental Limits and Code Design
Ardestanizadeh, Ehsan
2010-01-01
Feedback communication is studied from a control-theoretic perspective, mapping the communication problem to a control problem in which the control signal is received through the same noisy channel as in the communication problem, and the (nonlinear and time-varying) dynamics of the system determine a subclass of encoders available at the transmitter. The MMSE capacity is defined to be the supremum exponential decay rate of the mean square decoding error. This is upper bounded by the information-theoretic feedback capacity, which is the supremum of the achievable rates. A sufficient condition is provided under which the upper bound holds with equality. For the special class of stationary Gaussian channels, a simple application of Bode's integral formula shows that the feedback capacity, recently characterized by Kim, is equal to the maximum instability that can be tolerated by the controller under a given power constraint. Finally, the control mapping is generalized to the N-sender AWGN multiple access channe...
Institute of Scientific and Technical Information of China (English)
刘允刚; 张纪峰; 潘子刚
2003-01-01
In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated.The index function adopted here is of quadratic form usually encountered in practice, rather than of quartic one used to beg the essential difficulty on controller design and performance analysis of the closed-loop systems. For any given risk-sensitive parameter and desired index value, by using the integrator backstepping method, an output feedback control is constructively designed so that the closed-loop system is bounded in probability and the risk-sensitive index is upper bounded by the desired value.
2014-04-01
11-13 May 2010. [21] Anon., Aeronautical design Standard, Handling Quality Requirements for Military Rotorcraft , ADS- 33E-PRF, U.S. Army Aviation...Dec 1989. [47] Cheng, R.P., Rotorcraft Flight Control Design Using Quantitative Feedback Theory and Dynamic Crossfeeds, Master’s Thesis, California...Cheung, K.K., Berger, T., Berrios, M., “Handling- Qualities Optimization and Trade-offs in Rotorcraft Flight Control Design ,” Proceedings of the RAeS
Design of bounded feedback controls for linear dynamical systems by using common Lyapunov functions
Institute of Scientific and Technical Information of China (English)
Igor; Ananievskii; Nickolai; Anokhin; Alexander; Ovseevich
2011-01-01
For a linear dynamical system,we address the problem of devising a bounded feedback control,which brings the system to the origin in finite time.The construction is based on the notion of a common Lyapunov function.It is shown that the constructed control remains effective in the presence of small perturbations.
Feedback control and output feedback control for the stabilisation of switched Boolean networks
Li, Fangfei; Yu, Zhaoxu
2016-02-01
This paper presents the feedback control and output feedback control for the stabilisation of switched Boolean network. A necessary condition for the existence of a state feedback controller for the stabilisation of switched Boolean networks under arbitrary switching signal is derived first, and constructive procedures for feedback control and output feedback control design are provided. An example is introduced to show the effectiveness of this paper.
Institute of Scientific and Technical Information of China (English)
无
2007-01-01
The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearched. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtained by using switched Lyapunov function.Then,based on the characterization,a linear matrix inequality (LMI)approach is developed to design a switched output feedback controller which guarantees the stability and H∞ performance of the closed-loop system.A numerical example is presented to demonstrate the application of the proposed method.
Gorzelic, P.; Schiff, S. J.; Sinha, A.
2013-04-01
Objective. To explore the use of classical feedback control methods to achieve an improved deep brain stimulation (DBS) algorithm for application to Parkinson's disease (PD). Approach. A computational model of PD dynamics was employed to develop model-based rational feedback controller design. The restoration of thalamocortical relay capabilities to patients suffering from PD is formulated as a feedback control problem with the DBS waveform serving as the control input. Two high-level control strategies are tested: one that is driven by an online estimate of thalamic reliability, and another that acts to eliminate substantial decreases in the inhibition from the globus pallidus interna (GPi) to the thalamus. Control laws inspired by traditional proportional-integral-derivative (PID) methodology are prescribed for each strategy and simulated on this computational model of the basal ganglia network. Main Results. For control based upon thalamic reliability, a strategy of frequency proportional control with proportional bias delivered the optimal control achieved for a given energy expenditure. In comparison, control based upon synaptic inhibitory output from the GPi performed very well in comparison with those of reliability-based control, with considerable further reduction in energy expenditure relative to that of open-loop DBS. The best controller performance was amplitude proportional with derivative control and integral bias, which is full PID control. We demonstrated how optimizing the three components of PID control is feasible in this setting, although the complexity of these optimization functions argues for adaptive methods in implementation. Significance. Our findings point to the potential value of model-based rational design of feedback controllers for Parkinson's disease.
Feedback control linear, nonlinear and robust techniques and design with industrial applications
Dodds, Stephen J
2015-01-01
This book develops the understanding and skills needed to be able to tackle original control problems. The general approach to a given control problem is to try the simplest tentative solution first and, when this is insufficient, to explain why and use a more sophisticated alternative to remedy the deficiency and achieve satisfactory performance. This pattern of working gives readers a full understanding of different controllers and teaches them to make an informed choice between traditional controllers and more advanced modern alternatives in meeting the needs of a particular plant. Attention is focused on the time domain, covering model-based linear and nonlinear forms of control together with robust control based on sliding modes and the use of state observers such as disturbance estimation. Feedback Control is self-contained, paying much attention to explanations of underlying concepts, with detailed mathematical derivations being employed where necessary. Ample use is made of diagrams to aid these conce...
A novel design of feedback control system for plasma horizontal position in IR-T1 tokamak
Energy Technology Data Exchange (ETDEWEB)
Naghidokht, A.; Khodabakhsh, R. [Department of physics, Urmia University, Urmia (Iran, Islamic Republic of); Salar Elahi, A., E-mail: Salari_phy@yahoo.com [Plasma Physics Research Center, Science and Research Branch, Islamic Azad University, Tehran (Iran, Islamic Republic of); Ghoranneviss, M. [Plasma Physics Research Center, Science and Research Branch, Islamic Azad University, Tehran (Iran, Islamic Republic of)
2016-06-15
Determination of accurate plasma horizontal position during plasma discharge is essential to transport it to a control system based on feedback. By using the plasma-circuits linearized model, Proportional Integral Derivative (PID) based controllers and a first order transfer function representing the power supply (PS) dynamics of vertical coil system for IR-T1 tokamak, we analyzed step feedback response of the overall system of IR-T1 tokamak and corresponding Bode diagrams for two cases with and without the plasma resistance and the eddy currents distribution. Also we did experiments for determination of plasma horizontal displacement in this tokamak. This work is done by four magnetic probes that are installed on the circular contour of the tokamak. This data used as input to the feedback controller to validate the performance of it. Results of feedback response analysis show that the controller has good performance. Due to approximations in the controller design, construction, installation and implementation of the controller is necessary and this is the purpose of our future works.
Feedback control of quantum system
Institute of Scientific and Technical Information of China (English)
DONG Dao-yi; CHEN Zong-hai; ZHANG Chen-bin; CHEN Chun-lin
2006-01-01
Feedback is a significant strategy for the control of quantum system.Information acquisition is the greatest difficulty in quantum feedback applications.After discussing several basic methods for information acquisition,we review three kinds of quantum feedback control strategies:quantum feedback control with measurement,coherent quantum feedback,and quantum feedback control based on cloning and recognition.The first feedback strategy can effectively acquire information,but it destroys the coherence in feedback loop.On the contrary,coherent quantum feedback does not destroy the coherence,but the capability of information acquisition is limited.However,the third feedback scheme gives a compromise between information acquisition and measurement disturbance.
The Design and Control of a Bipedal Robot with Sensory Feedback
Directory of Open Access Journals (Sweden)
Teck-Chew Wee
2013-06-01
Full Text Available A stable walking motion requires effective gait balancing and robust posture correction algorithms. However, to develop and implement such intelligent motion algorithms remains a challenging task for researchers. Effective sensory feedback for stable posture control is essential for bipedal locomotion. In order to minimize the modelling errors and disturbances, this paper presents an effective sensory system and an alternative approach in generating a stable Centre-of-Mass (CoM trajectory by using an observer-based augmented model predictive control technique with sensory feedback. The proposed approach is used to apply an Augmented Model Predictive Control (AMPC algorithm with an on-line time shift and to look ahead to process future data to optimize a control signal by minimizing the cost function so that the system is able to track the desired Zero Moment Point (ZMP as closely as possible, and at the same time to limit the motion jerk. The robot’s feet are fitted with force sensors to measure the contact force’s location. An observer is also implemented into the system.
Kapania, Nitin R.; Gerdes, J. Christian
2015-12-01
This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.
Information, disturbance and Hamiltonian quantum feedback control
Doherty, A C; Jungman, G; Doherty, Andrew C.; Jacobs, Kurt; Jungman, Gerard
2001-01-01
We consider separating the problem of designing Hamiltonian quantum feedback control algorithms into a measurement (estimation) strategy and a feedback (control) strategy, and consider optimizing desirable properties of each under the minimal constraint that the available strength of both is limited. This motivates concepts of information extraction and disturbance which are distinct from those usually considered in quantum information theory. Using these concepts we identify an information trade-off in quantum feedback control.
Multivariable Feedback Control of Nuclear Reactors
Directory of Open Access Journals (Sweden)
Rune Moen
1982-07-01
Full Text Available Multivariable feedback control has been adapted for optimal control of the spatial power distribution in nuclear reactor cores. Two design techniques, based on the theory of automatic control, were developed: the State Variable Feedback (SVF is an application of the linear optimal control theory, and the Multivariable Frequency Response (MFR is based on a generalization of the traditional frequency response approach to control system design.
Directory of Open Access Journals (Sweden)
masoud aliakbar golkar
2011-11-01
Full Text Available Nowadays since the speed of reaching to response is getting more important, the random searching algorithms are mostly used instead of the overall search of the problem space. This paper presents the application and the performance comparison of HBMO and PSO optimization techniques for designing an output feedback damping controller for STATCOM in order to enhance the damping of power system. The problem of the damping controller design is considered as an optimization problem with a multi-purpose criterion function and it is solved by HBMO and PSO algorithms. This controller is designed in order to transmit unstable electromechanical modes to the specific area of the complex plane. The proposed controller performance is confirmed by the analysis of the eigenvalue and nonlinear time-domain simulation under various disturbances with both control parameters of STATCOM (capacitor voltage control and terminal voltage control. Simulation results illustrate that the designed controller by HBMO performs better than PSO in finding the solution. Moreover, the design of the controller based on the capacitor voltage control in comparison with terminal voltage control has better low frequency oscillation damping and it increases the dynamical stability of the power system.
Ossmann, Daniel
2015-01-01
Flight control laws of modern aircraft are scheduled with respect to flight point parameters. The loss of the air data measurement system implies inevitably the loss of relevant scheduling information. A strategy to design a fault tolerant longitudinal flight control system is proposed which can accommodate the total loss of the angle of attack and the calibrated airspeed measurements. In this scenario the described robust longitudinal control law is employed ensuring a control performance ...
Li, Yongming; Tong, Shaocheng
2016-08-25
In this paper, an adaptive fuzzy output constrained control design approach is addressed for multi-input multioutput uncertain stochastic nonlinear systems in nonstrict-feedback form. The nonlinear systems addressed in this paper possess unstructured uncertainties, unknown gain functions and unknown stochastic disturbances. Fuzzy logic systems are utilized to tackle the problem of unknown nonlinear uncertainties. The barrier Lyapunov function technique is employed to solve the output constrained problem. In the framework of backstepping design, an adaptive fuzzy control design scheme is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.
Architectural study of the design and operation of advanced force feedback manual controllers
Tesar, Delbert; Kim, Whee-Kuk
1990-01-01
A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof
Design of Microcantilever-Based Biosensor with Digital Feedback Control Circuit
Directory of Open Access Journals (Sweden)
Jayu P. Kalambe
2012-01-01
Full Text Available This paper present the design of cantilever-based biosensors with new readout, which hold promises as fast and cheap “point of care” device as well as interesting research tools. The fabrication process and related issues of the cantilever based bio-sensor are discussed. Coventorware simulation is carried out to analyze the device behavior. A fully integrated control circuit has been designed to solve manufacturing challenge which will take care of positioning of the cantilever instead of creating nanometer gap between the electrodes. The control circuit will solve the manufacturing challenge faced by the readout methods where it is essential to maintain precise gap between the electrodes. The circuit can take care of variation obtained due to fabrication process and maintain the precise gap between the electrodes by electrostatic actuation. The control circuit consist of analog and digital modules. The reliability issues of the sensor are also discussed.
Feedback control of coupled-bunch instabilities
Energy Technology Data Exchange (ETDEWEB)
Fox, J.D.; Eisen, N.; Hindi, H.; Linscott, I.; Oxoby, G.; Sapozhnikov, L. [Stanford Linear Accelerator Center, Menlo Park, CA (United States); Serio, M. [Istituto Nazionale di Fisica Nucleare, Frascati (Italy). Lab. Nazionale di Frascati
1993-05-01
The next generation of synchrotron light sources and particle accelerators will require active feedback systems to control multi-bunch instabilities. Stabilizing hundreds or thousands of potentially unstable modes in these accelerator designs presents many technical challenges. Feedback systems to stabilize coupled-bunch instabilities may be understood in the frequency domain (mode-based feedback) or in the time domain (bunch-by-bunch feedback). In both approaches an external amplifier system is used to create damping fields that prevent coupled-bunch oscillations from growing without bound. The system requirements for transverse (betatron) and longitudinal (synchrotron) feedback are presented, and possible implementation options developed. Feedback system designs based on digital signal-processing techniques are described. Experimental results are shown from a synchrotron oscillation damper in the SSRL/SLAC storage ring SPEAR that uses digital signal-processing techniques.
Feedback control design for non-inductively sustained scenarios in NSTX-U using TRANSP
Boyer, M. D.; Andre, R. G.; Gates, D. A.; Gerhardt, S. P.; Menard, J. E.; Poli, F. M.
2017-06-01
This paper examines a method for real-time control of non-inductively sustained scenarios in NSTX-U by using TRANSP, a time-dependent integrated modeling code for prediction and interpretive analysis of tokamak experimental data, as a simulator. The actuators considered for control in this work are the six neutral beam sources and the plasma boundary shape. To understand the response of the plasma current, stored energy, and central safety factor to these actuators and to enable systematic design of control algorithms, simulations were run in which the actuators were modulated and a linearized dynamic response model was generated. A multi-variable model-based control scheme that accounts for the coupling and slow dynamics of the system while mitigating the effect of actuator limitations was designed and simulated. Simulations show that modest changes in the outer gap and heating power can improve the response time of the system, reject perturbations, and track target values of the controlled values.
Directory of Open Access Journals (Sweden)
Shangtai Jin
2014-01-01
Full Text Available ALINEA is a simple, efficient, and easily implemented ramp metering strategy. Virtual reference feedback tuning (VRFT is most suitable for many practical systems since it is a “one-shot” data-driven control design methodology. This paper presents an application of VRFT to a ramp metering problem of freeway traffic system. When there is not enough prior knowledge of the controlled system to select a proper parameter of ALINEA, the VRFT approach is used to optimize the ALINEA's parameter by only using a batch of input and output data collected from the freeway traffic system. The extensive simulations are built on both the macroscopic MATLAB platform and the microscopic PARAMICS platform to show the effectiveness and applicability of the proposed data-driven controller tuning approach.
Li, Zhifu; Hu, Yueming; Li, Di
2016-08-01
For a class of linear discrete-time uncertain systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which is comprised of an iterative learning controller and two current iteration feedback controllers. The iterative learning controller is used to improve the performance along the iteration direction and the feedback controllers are used to improve the performance along the time direction. First of all, the uncertain feedback feed-forward ILC system is presented by an uncertain two-dimensional Roesser model system. Then, two robust control schemes are proposed. One can ensure that the feedback feed-forward ILC system is bounded-input bounded-output stable along time direction, and the other can ensure that the feedback feed-forward ILC system is asymptotically stable along time direction. Both schemes can guarantee the system is robust monotonically convergent along the iteration direction. Third, the robust convergent sufficient conditions are given, which contains a linear matrix inequality (LMI). Moreover, the LMI can be used to determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed schemes.
Dellar, Oliver; Jones, Bryn; ACSE Collaboration
2016-11-01
The use of feedback control is looking increasingly attractive as a means of reducing the pressure drag which acts upon bluff body vehicles such as heavy goods vehicles, and thus reducing both fuel consumption and CO2 emissions. Motivated by the need to efficiently obtain low-order models of such flows in order to utilise model based control theory, we consider the effect on system dynamics of basing the plant model on different formulations of the linearised Navier-Stokes equations. The dynamics of a single computational node's subsystem which arises upon spatial discretisation of the governing equations in both primitive variables and pressure Poisson equation formulations are considered, revealing fundamental differences at the nodal level. The effects of these differences on system dynamics at the full fluid flow system level are exemplified by considering the corresponding formulations of a two-dimensional channel flow, subjected to a number different of boundary conditions. This ultimately reveals which formulations of the governing equations are suitable for feedback control design, and which should be avoided.
Directory of Open Access Journals (Sweden)
Lihua Liang
2017-01-01
Full Text Available An adaptive sliding mode controller based on fuzzy input design is presented, in order to reduce the roll motion of surface vessel fin stabilizers with shock and vibration of waves. The nonlinearities and uncertainties of the system including feedback errors and disturbance induced by waves are analyzed. And the lift-feedback system is proposed, which improves the shortage of conventional fin angle-feedback. Then the fuzzy input-based adaptive sliding mode control is designed for the system. In the controller design, the Lyapunov function is adopted to guarantee the system stability. Finally, experimental results demonstrate the superior performance of the controller designed using fuzzy input, when compared to the PID controller used in practical engineering.
Balanced bridge feedback control system
Lurie, Boris J. (Inventor)
1990-01-01
In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.
Backstepping feedback control of open channel flow
Huo, Mandy; Malek, Sami
2014-01-01
We derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis. Finally, the controller is verified with simulations.
Zhou, Hua-Cheng; Guo, Bao-Zhu
2017-08-01
In this paper, we consider boundary output feedback stabilization for a multi-dimensional wave equation with boundary control matched unknown nonlinear internal uncertainty and external disturbance. A new unknown input type extended state observer is proposed to recover both state and total disturbance which consists of internal uncertainty and external disturbance. A key feature of the proposed observer in this paper is that we do not use the high-gain to estimate the disturbance. By the active disturbance rejection control (ADRC) strategy, the total disturbance is compensated (canceled) in the feedback loop, which together with a collocated stabilizing controller without uncertainty, leads to an output feedback stabilizing feedback control. It is shown that the resulting closed-loop system is well-posed and asymptotically stable under weak assumption on internal uncertainty and external disturbance. The numerical experiments are carried out to show the effectiveness of the proposed scheme.
Hueschen, R. M.
1984-01-01
The Digital Integrated Automatic Landing System (DIALS) is discussed. The DIALS is a modern control theory design performing all the maneuver modes associated with current autoland systems: localizer capture and track, glideslope capture and track, decrab, and flare. The DIALS is an integrated full-state feedback system which was designed using direct-digital methods. The DIALS uses standard aircraft sensors and the digital Microwave Landing System (MLS) signals as measurements. It consists of separately designed longitudinal and lateral channels although some cross-coupling variables are fed between channels for improved state estimates and trajectory commands. The DIALS was implemented within the 16-bit fixed-point flight computers of the ATOPS research aircraft, a small twin jet commercial transport outfitted with a second research cockpit and a fly-by-wire system. The DIALS became the first modern control theory design to be successfully flight tested on a commercial-type aircraft. Flight tests were conducted in late 1981 using a wide coverage MLS on Runway 22 at Wallops Flight Center. All the modes were exercised including the capture and track of steep glidescopes up to 5 degrees.
Feedback Control of Rotor Overspeed
Churchill, G. B.
1984-01-01
Feedback system for automatically governing helicopter rotor speed promises to lessen pilot's workload, enhance maneuverability, and protect airframe. With suitable modifications, concept applied to control speed of electrical generators, automotive engines and other machinery.
Liu, Zhi; Wang, Fang; Zhang, Yun; Chen, Xin; Chen, C L Philip
2014-10-01
This paper focuses on an input-to-state practical stability (ISpS) problem of nonlinear systems which possess unmodeled dynamics in the presence of unstructured uncertainties and dynamic disturbances. The dynamic disturbances depend on the states and the measured output of the system, and its assumption conditions are relaxed compared with the common restrictions. Based on an input-driven filter, fuzzy logic systems are directly used to approximate the unknown and desired control signals instead of the unknown nonlinear functions, and an integrated backstepping technique is used to design an adaptive output-feedback controller that ensures robustness with respect to unknown parameters and uncertain nonlinearities. This paper, by applying the ISpS theory and the generalized small-gain approach, shows that the proposed adaptive fuzzy controller guarantees the closed-loop system being semi-globally uniformly ultimately bounded. A main advantage of the proposed controller is that it contains only three adaptive parameters that need to be updated online, no matter how many states there are in the systems. Finally, the effectiveness of the proposed approach is illustrated by two simulation examples.
Synchronization between two different chaotic systems with nonlinear feedback control
Institute of Scientific and Technical Information of China (English)
Lü Ling; Guo Zhi-An; Zhang Chao
2007-01-01
This paper presents chaos synchronization between two different chaotic systems by using a nonlinear controller, in which the nonlinear functions of the system are used as a nonlinear feedback term. The feedback controller is designed on the basis of stability theory, and the area of feedback gain is determined. The artificial simulation results show that this control method is commendably effective and feasible.
Control of Underactuated Mechanical Systems : Observer Design and Position Feedback Stabilization
Venkatraman, Aneesh; Ortega, Romeo; Sarras, Ioannis; Schaft, Arjan van der
2008-01-01
We identify a class of mechanical systems for which a globally exponentially stable reduced order observer can be designed. The class is characterized by (the solvability of) a set of partial differential equations and contains all systems that can be rendered linear in (the unmeasurable) momenta vi
Feedback system design with an uncertain plant
Milich, D.; Valavani, L.; Athans, M.
1986-01-01
A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-input single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.
The effect and design of time delay in feedback control for a nonlinear isolation system
Sun, Xiuting; Xu, Jian; Fu, Jiangsong
2017-03-01
The optimum value of time delay of active control used in a nonlinear isolation system for different types of external excitation is studied in this paper. Based on the mathematical model of the nonlinear isolator with time-delayed active control, the stability, response and displacement transmissibility of the system are analyzed to obtain the standards for appropriate values of time delay and control strengths. The effects of nonlinearity and time delay on the stability and vibration response are discussed in details. For impact excitation and random excitation, the optimal value of time delay is obtained based on the vibration dissipation time via eigenvalues analysis, while for harmonic excitation, the optimal values are determined based on multiple vibration properties including natural frequency, amplitude death region and effective isolation region by the Averaging Method. This paper establishes the relationship between the parameters and vibration properties of a nonlinear isolation system which provides the guidance for optimizing time-delayed active control for different types of excitation in engineering practices.
2010-07-01
Henson, M. 1998. "Nonlinear model predictive control: current status and future directions." Computers and Chemical Engineering , 23: 187-202. Ikhouane...Eichhorn2, Ralph Smith3 1Florida Center for Advanced Aero Propulsion (FCAAP), Department of Mechanical Engineering , Florida State University...collected using (AE Techron 7780 linear amplifier, DS1003 dSpace processor board, Matlab V5.2/ Simulink V2.2.1, Schaevitz 025MHR LVDT). The experimental
Mahmoodabadi, M J; Taherkhorsandi, M; Bagheri, A
2014-01-01
An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.
A laser feedback control design for passive ring laser gyros in a very high finesse cavity
Lorenz, M. A.
1985-12-01
The Frank J. Seiler Research Laboratory is currently developing a Passive Resonant Ring Laser Gyroscope (PRRLG) enclosing 58 sq m for proposed use in testing high precision rate sensors and for possibly validating the Theory of General Relativity. The sensitivities required for such experiments are in the 10 to the minus 7th power to 10 to the minus 10th power Earth Rate Unit (ERU) range. This high sensitivity necessitates the use of a large, high finesse cavity. In dealing with high finesse cavities new considerations arise. For example, the cavity linewidth is narrower than linewidths of commercially available stabilized He-Ne lasers. The stability of the laser then becomes the limiting factor in the performance of the PRRLG because of the increased signal-to-noise ratio that arises in this situation. In addition, high finesse cavities exhibit photon lifetimes on the order of 10 to the minus 3rd power to 10 to the minus 6th power seconds, which limits the bandwidth of practical controllers. In this research, a PRRLG was constructed in which a He-Ne laser was frequency locked to 25,000 finesse, 169 sq. cm. resonant cavity, as opposed to the more traditional technique of locking the resonant condition of the cavity to the laser frequency.
Directory of Open Access Journals (Sweden)
A.R Alfi
2012-06-01
Full Text Available This paper presents an intelligent optimal design control strategy for current and voltage of boost DC-DC convertors in fuel cell power systems by considering detailed model for different operating points. The proposed control strategy is designed based on a state feedback whereas the controllability and the stability region are analyzed. Moreover, in order to determine of the optimal coefficients of state feedback and zero steady state error in voltage signal, in the core of the proposed control method a heuristic algorithm namely Particle Swarm Optimization (PSO is utilized. The results are presented in the different load conditions. In order to show the feasibility of the proposed control strategy, the controller is implemented both average model and detailed model of convertor and the results are compared.
On interconnections, control, and feedback
Willems, JC
1997-01-01
The purpose of this paper is to study interconnections and control of dynamical systems in a behavioral context. We start with an extensive physical example which serves to illustrate that the familiar input-output feedback loop structure is not as universal as we have been taught to believe, This l
On interconnections, control, and feedback
Willems, JC
The purpose of this paper is to study interconnections and control of dynamical systems in a behavioral context. We start with an extensive physical example which serves to illustrate that the familiar input-output feedback loop structure is not as universal as we have been taught to believe, This
Minimal-Inversion Feedforward-And-Feedback Control System
Seraji, Homayoun
1990-01-01
Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.
PID control with robust disturbance feedback control
DEFF Research Database (Denmark)
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....
Designing feedback: multimodality and specificity
Ludden, Geke Dina Simone; Sugiyama, Kazuo
2013-01-01
Now that many of us carry around devices that are equipped with sensors (e.g., smartphones with accelerometers) we can use these sensors to measure behavior. The data thus captured can be used to give someone feedback about this behavior. These feedback mechanisms are often used in so called smart
Directory of Open Access Journals (Sweden)
Marzieh Yazdanzad
2014-07-01
Full Text Available This paper presents an application of recently proposed robust integral of the sign of the error (RISE feedback control scheme for a three degrees-of-freedom (DOF robot manipulator tracking problem. This method compensates for nonlinear disturbances and uncertainties in the dynamic model, and results in asymptotic trajectory tracking. To avoid selecting parameters of the RISE controller by time-consuming trial and error method, particle swarm optimization (PSO algorithm is employed. The objective of the PSO algorithm is to find a set of parameters that minimizes the mean of root squared error as the fitness function. The proposed method attains tracking goal, without any chattering in control input. Indeed, the existence of a unique integral sign term in the RISE controller avoids the occurrence of chattering phenomenon that usually happens in sliding mode controllers. Numerical simulations demonstrate the effectiveness of the proposed control scheme.
Design of feedback control system for HL-2M tokamak%HL-2M装置反馈控制系统的设计
Institute of Scientific and Technical Information of China (English)
张国辉; 夏凡; 宋显明; 罗萃文; 宋啸; 赵丽; 廖敏
2011-01-01
The conceptual design of HL-2M control system is simply presented, and the feedback control system which is the most important part of the whole control system is mainly introduced, feedback control program is rewrited. In order to satisfy the further requirements from control system in HL-2M, the feedback control system program has been redesigned. Some improvement of methods on how to achieve partial functions has been done. The real-time communication network will be builded based on reflection memory cards, and the structure of feedback control system is constructed through the real-time network. In the Linux operating system, simulation tests have been made on new feedback control system with old experiment data, the result of tests shows well and meets the expected requirements.%简要描述HL-2M控制系统的概念设计,主要对其中反馈控制部分作了介绍,重新编写了反馈控制程序.为了满足HL-2M装置对控制系统的进一步要求,重新设计了反馈控制系统程序.对其中一些功能的实现方法进行了设计改进,引入了由反射内存卡构建的实时通讯网络,并以此通讯网络为基础进行了反馈控制系统的架构布局.在Linux操作系统中,利用以前放电的实验数据,模拟测试了新的反馈控制系统.测试结果良好,满足预期要求.
Stabilized Feedback Control of Unicycle Mobile Robots
Directory of Open Access Journals (Sweden)
Khoukhi Amar
2013-04-01
Full Text Available In this paper, a stabilized feedback control is designed for a class of unicycle non‐holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near‐ optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations. Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.
Basic Feedback Controls in Biomedicine
Lessard, Charles
2009-01-01
This textbook is intended for undergraduate students (juniors or seniors) in Biomedical Engineering, with the main goal of helping these students learn about classical control theory and its application in physiological systems. In addition, students should be able to apply the Laboratory Virtual Instrumentation Engineering Workbench (LabVIEW) Controls and Simulation Modules to mammalian physiology. The first four chapters review previous work on differential equations for electrical and mechanical systems. Chapters 5 through 8 present the general types and characteristics of feedback control
Liu, Dan; Liu, Yurong; Alsaadi, Fuad E.
2016-07-01
In this paper, we are concerned with the problem of analysis and synthesis for a class of output feedback control system. The system under consideration is a discrete-time stochastic system with time-varying delay. It is assumed that the measurement of system is quantized via a logarithmic quantizer before it is transmitted, and the measurement data would be missing from time to time which can be described by a Bernoulli distributed white sequence. In addition, the nonlinearities are assumed to satisfy the sector conditions. The problem addressed is to design an output feedback controller such that the resulting closed-loop system is exponentially stable in the mean square. By employing Lyapunov theory and some new techniques, a new framework is established to cope with the design of output feedback controller for nonlinear systems involving quantization and missing measurement. Sufficient conditions are derived to guarantee the existence of the desired controllers, and the controller parameters are given in an explicit expression as well. A numerical example is exploited to show the usefulness of the results obtained.
Directory of Open Access Journals (Sweden)
Ole A. Solheim
1980-10-01
Full Text Available This paper describes a method for designing optimal feedback controllers with stability requirements using low-order Riccati equations. For originally stable systems the Riccati equation will be of first or second order, depending upon whether the eigenvalues are real or complex. For originally unstable systems the order of the Riccati equation will be equal to the number of eigenvalues with positive real part.
State feedback design for singularly perturbed system using unified approach
Institute of Scientific and Technical Information of China (English)
Chenxiao CAI; Yun ZOU; Duanjin ZHANG
2004-01-01
The state feedback design for singularly perturbed systems described in Delta operator is considered.The composite state feedback controller for slow and fast subsystems is designed by using the direct method.The obtained results can bring previous conclusions of continuous and discrete time systems into the unified Delta framework.A simulation example is presented to demonstrate the validity and efficiency of the design.
Adaptive-feedback control algorithm.
Huang, Debin
2006-06-01
This paper is motivated by giving the detailed proofs and some interesting remarks on the results the author obtained in a series of papers [Phys. Rev. Lett. 93, 214101 (2004); Phys. Rev. E 71, 037203 (2005); 69, 067201 (2004)], where an adaptive-feedback algorithm was proposed to effectively stabilize and synchronize chaotic systems. This note proves in detail the strictness of this algorithm from the viewpoint of mathematics, and gives some interesting remarks for its potential applications to chaos control & synchronization. In addition, a significant comment on synchronization-based parameter estimation is given, which shows some techniques proposed in literature less strict and ineffective in some cases.
ON FEEDBACK CONTROL OF DELAYED CHAOTIC SYSTEM
Institute of Scientific and Technical Information of China (English)
李丽香; 彭海朋; 卢辉斌; 关新平
2001-01-01
In this paper two different types of feedback control technique are discussed: the standard feedback control and the time-delay feedback control which have been successfully used in many control systems. In order to understand to what extent the two different types of control technique are useful in delayed chaotic systems, some analytic stabilization conditions for chaos control from the two types of control technique are derived based on Lyapunov stabilization arguments. Similarly, we discuss the tracking problem by applying the time-delay feedback control. Finally, numerical examples are provided.
The output feedback control for uncertain nonholonomic systems
Institute of Scientific and Technical Information of China (English)
Qiangde WANG; Chunling WEI; Siying ZHANG
2006-01-01
This paper considers the problems of almost asymptotic stabilization and global asymptotic regulation (GAR) by output feedback for a class of uncertain nonholonomic systems. By combining the nonsmooth change of coordinates and output feedback domination design together, we construct a simple linear time-varying output feedback controller, which can universally stabilize a whole family of uncertain nonholonomic systems. The simulation demonstrates the effectiveness of the proposed controller.
Directory of Open Access Journals (Sweden)
Junsheng Ren
2013-09-01
Full Text Available Along with increasing marine transportation and logistics, the ship autopilot has become much important not only to lower the seaman's operating intensions, but also to reduce the seaman's deployment. It is still a challenge to design ship course-keeping controller because of ship's uncertain dynamics and time-varying environmental disturbance. This study focuses on backstepping adaptive course-keeping controller design for ship autopilot. Takagi-Sugeno (T-S fuzzy approximator can formulate ship motion's uncertainties. Therefore, the proposed controller has no need of a priori knowledge about ship's system dynamics. Command filter can bypass the iterative differential manipulations in conventional ship course adaptive backstepping controller. The design can guarantee the ultimate uniform boundedness of the signals in closed-loop system. Finally, simulation study verifies the efficiency of the ship course-keeping design.
Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems
Xia, Feng; Peng, Chen; Sun, Youxian; Dong, Jinxiang
2008-01-01
There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS) scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting cross-layer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An event-driven invocation mechanism for the feedback scheduler is also developed. Simulation results sh...
Feedback Control of Chaos in Delay Maps
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
In this paper, we discuss feedback control of a class of delay chaotic maps. Our aim is to drive the chaoticmaps to its initially unstable fixed points by using linear and nonlinear state feedback control. The control is achievedby using small, bounded perturbations. Some numerical simulations are given to demonstrate the effectiveness of theproposed control method.
FORCED OSCILLATIONS IN NONLINEAR FEEDBACK CONTROL SYSTEM
Since a nonlinear feedback control system may possess more than one type of forced oscillations, it is highly desirable to investigate the type of...method for finding the existence of forced oscillations and response curve characteristics of a nonlinear feedback control system by means of finding the...second order feedback control system are investigated; the fundamental frequency forced oscillation for a higher order system and the jump resonance
Directory of Open Access Journals (Sweden)
Fucheng Liao
2016-01-01
Full Text Available This paper presents a method for designing a type one servomechanism for a discrete-time linear system with input delay subject to a previewable desired output and a nonmeasurable constant disturbance. The tracking problem of a delay system is transformed into a regulation problem of a delay-free system via constructing an augmented error system and a variable substitution. A controller is obtained with delay compensation and preview compensation based on preview control theory and the predictor method. When the state vector is not directly measurable, a full-dimensional observer is offered. The effectiveness of the design method is demonstrated by numerical simulations.
DEFF Research Database (Denmark)
Fossen, T.I.; Blanke, M.
2000-01-01
Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...
Hansen, Steve; Pfeiffer, Jacob; Patterson, Jae Todd
2011-01-01
A traditional control group yoked to a group that self-controls their reception of feedback receives feedback in the same relative and absolute manner. This traditional control group typically does not learn the task as well as the self-control group. Although the groups are matched for the amount of feedback they receive, the information is provided on trials in which the individual may not request feedback if he or she were provided the opportunity. Similarly, individuals may not receive feedback on trials for which it would be a beneficial learning experience. Subsequently, the mismatch between the provision of feedback and the potential learning opportunity leads to a decrement in retention. The present study was designed to examine motor learning for a yoked group with the same absolute amount of feedback, but who could self-control when they received feedback. Increased mental processing of error detection and correction was expected for the participants in the yoked self-control group because of their choice to employ a limited resource in the form of a decreasing amount of feedback opportunities. Participants in the yoked with self-control group committed fewer errors than the self-control group in retention and the traditional yoked group in both the retention and time transfer blocks. The results suggest that the yoked with self-control group was able to produce efficient learning effects and can be a viable control group for further motor learning studies.
Finite element modeling and feedback control of piezoelectric smart structures
Institute of Scientific and Technical Information of China (English)
无
2000-01-01
Presents the general formula derived with a smart beam structure bonded with piezoelectric material using the piezoelectricity theory, elastic mechanism and Hamilton principle for eleetromechanically coupled piezoelectric fi nite element and dynamic equations, the second order dynamic model built, and the expression of state space, and the analysis of conventional speed and position feedback and the design of optimum feedback controller for output, the fi nite element models built for a piezoelectric cantilever beam, and the feedback controller designed eventually, and concludes with simulation results that the vibration suppression obtained is very satisfactory and the algorithms proposed are very useful.
Unpower aerocraft augmented state feedback tracking guaranteed cost control
Institute of Scientific and Technical Information of China (English)
无
2008-01-01
Aimed at designing the unpower aerocraft attitude control system in a simple and practical way,the guaranteed cost control is adopted.To eliminate the steady-error,a novel tracking control approach-augmented state feedback tracking guaranteed cost control is proposed.Firstly,the unpower aerocraft is modeled as a linear system with norm bounded parameter uncertain,then the linear matrix inequality based state feedback gnaranteed cost control law is combined with the augmented state feedback tracking control from a new point of view.The sufficient condition of the existence of the augmented state feedback tracking guaranteed cost control is derived and converted to the feasible problem of the linear matrix inequality.Finally,the proposed approach is applied to a specified unpower aerocraft.The six dimensions of freedom simulation results show that the proposed approach is effective and feasible.
Designing Self-Organized Contextualized Feedback Loops
Kalz, Marco
2013-01-01
Kalz, M. (2013). Designing Self-Organized Contextualized Feedback Loops. In D. Whitelock, W. Warburton, G. Wills, & L. Gilbert (Eds.), International Conference on Computer Assisted Assessment (CAA 2013). July, 9-10, 2013, University of Southampton, Southampton, UK. http://caaconference.com.
Smart building temperature control using occupant feedback
Gupta, Santosh K.
This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as
Nonlinear H-ininity state feedback controllers:
DEFF Research Database (Denmark)
Cromme, Marc; Møller-Pedersen, Jens; Pagh Petersen, Martin
1997-01-01
From a general point of view the state feedback H∞ suboptimal control problem is reasonably well understood. Important problems remain with regard to a priori information of the size of the neighbourhood where the local state feedback H∞ problem is solvable. This problem is solved regionally (sem...
Artificial proprioceptive feedback for myoelectric control.
Pistohl, Tobias; Joshi, Deepak; Ganesh, Gowrishankar; Jackson, Andrew; Nazarpour, Kianoush
2015-05-01
The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered noninvasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.
Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Advance Speed Feedback
DEFF Research Database (Denmark)
Fossen, T.I.; Blanke, M.
1999-01-01
More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback controller...... minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...
Nonlinear feedback control of Timoshenko beam
Institute of Scientific and Technical Information of China (English)
冯德兴; 张维弢
1995-01-01
This note is concerned with nonlinear boundary feedback control of a Timoshenko beam. Under some nonlinear boundary feedback control, first the nonlinear semigroup theory is used to show the existence and uniqueness of solution for the corresponding closed loop system. Then by using the Lyapunov method, it is proved that the vibration of the beam under the proposed control action decays in a negative power of time t as t→.
Feedback control and synchronization of Mandelbrot sets
Zhang, Yong-Ping
2013-01-01
The movement of a particle could be depicted by the Mandelbrot set from the fractal viewpoint. According to the requirement, the movement of the particle needs to show different behaviors. In this paper, the feedback control method is taken on the classical Mandelbrot set. By amending the feedback item in the controller, the control method is applied to the generalized Mandelbrot set and by taking the reference item to be the trajectory of another system, the synchronization of Mandelbrot sets is achieved.
Velocity Feedback Control of a Mechatronics System
Directory of Open Access Journals (Sweden)
Ayman A. Aly
2013-07-01
Full Text Available Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial process. The analysis and design of Mechatronics systems are often based on linear or linearized models which may not accurately represent the servo system characteristics when the system is subject to inputs of large amplitude. The impact of the nonlinearities of the dynamic system and its stability needs to be clarified.The objective of this paper is to present a nonlinear mathematical model which allows studying and analysis of the dynamic characteristic of an electro hydraulic position control servo. The angular displacement response of motor shaft due to large amplitude step input is obtained by applying velocity feedback control strategy. The simulation results are found to be in agreement with the experimental data that were generated under similar conditions.
Design considerations for a digital feedback system to control self-bunching in ion-storage rings
Directory of Open Access Journals (Sweden)
V. Ziemann
2001-04-01
Full Text Available We discuss the feasibility of a digital feedback system to cure self-bunching of the electron-cooled coasting ion beam in ion-storage rings such as CELSIUS [S. Holm, A. Johansson, S. Kullander, and D. Reistad, Phys. Scr. 34, 513–532 (1986]. Such a system is based on a fast digital filter that acts as a tunable artificial wake potential. It may also aid stable operation of accumulator rings for future spallation neutron sources or heavy ion rings used for inertial fusion energy production.
Tracking control of robot manipulators via output feedback linearization
Institute of Scientific and Technical Information of China (English)
FEI Yue-nong; Wu Qing-hua
2006-01-01
This paper presents a robot manipulator tracking controller based on output feedback linearization.A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities,disturbances and unmodelled dynamics.The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles.The controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach.The simulation results show that the proposed controller has more superior tracking control performance,with payload changing in a wide range,in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.
Adaptive Feedfoward Feedback Control Framework Project
National Aeronautics and Space Administration — An Adaptive Feedforward and Feedback Control (AFFC) Framework is proposed to suppress the aircraft's structural vibrations and to increase the resilience of the...
Inline feedback control for deep drawing applications
Fischer, P.; Harsch, D.; Heingärtner, J.; Renkci, Y.; Hora, P.
2016-11-01
In series production of deep drawing products the quality of the parts is significantly influenced by material scatter. To guarantee a robust manufacturing the processes are designed to have a large process window. As the different material properties can lead to a drift in the process, the press settings have to be adjusted to keep the quality. In the scope of the work a feedback control system is proposed to keep the operation point inside the process window. The blank draw-in measured in predefined points is used as the primary indicator of the expected part quality. A simulation based meta model is then used to design the control algorithm with the blank holder forces as control variable. As the draw-in measurements are carried out punctually, their positioning within the tool becomes of critical importance. A simulation based study is therefore presented for the identification of sensor positions with the highest significance in relation to the process outcome. The baseline calibration of the controller is also based on the meta model. The validation of the proposed control system is illustrated based on experiments in a production line.
Directory of Open Access Journals (Sweden)
Josep Rubió-Massegú
2013-01-01
Full Text Available In this paper, a new strategy to design static output-feedback controllers for a class of vehicle suspension systems is presented. A theoretical background on recent advances in output-feedback control is first provided, which makes possible an effective synthesis of static output-feedback controllers by solving a single linear matrix inequality optimization problem. Next, a simplified model of a quarter-car suspension system is proposed, taking the ride comfort, suspension stroke, road holding ability, and control effort as the main performance criteria in the vehicle suspension design. The new approach is then used to design a static output-feedback H∞ controller that only uses the suspension deflection and the sprung mass velocity as feedback information. Numerical simulations indicate that, despite the restricted feedback information, this static output-feedback H∞ controller exhibits an excellent behavior in terms of both frequency and time responses, when compared with the corresponding state-feedback H∞ controller.
Coherent feedback control of a single qubit in diamond
Hirose, Masashi; Cappellaro, Paola
2016-04-01
Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation
A lightweight feedback-controlled microdrive for chronic neural recordings
Jovalekic, A.; Cavé-Lopez, S.; Canopoli, A.; Ondracek, J. M.; Nager, A.; Vyssotski, A. L.; Hahnloser, R. H. R.
2017-04-01
Objective. Chronic neural recordings have provided many insights into the relationship between neural activity and behavior. We set out to develop a miniaturized motorized microdrive that allows precise electrode positioning despite possibly unreliable motors. Approach. We designed a feedback-based motor control mechanism. It contains an integrated position readout from an array of magnets and a Hall sensor. Main results. Our extremely lightweight (feedback-based microdrive control requires little extra size and weight, suggesting that such control can be incorporated into more complex multi-electrode designs.
A feedback I2-controlled constant temperature solar radiation meter
Oliveira, Amauri; Deep, Gurdip Singh; Lima, Antonio Marcus Nogueira; Freire,Raimundo Carlos Silvério
1998-01-01
Texto completo: acesso restrito. p.1163-1167 The conventional thermoresistive sensor-based feedback constant temperature circuits have shown some performance limitations due to the input offset voltage of the amplifier. The dc analysis of this circuit has been presented to graphically demonstrate these limitations. Alternative feedback measurement scheme without employing the Wheatstone bridge is proposed. PI and predictive controller designs are described. Simulation results for the...
Discrete-Time Controllability for Feedback Quantum Dynamics
Albertini, Francesca
2010-01-01
Controllability properties for discrete-time, Markovian quantum dynamics are investigated. We find that, while in general the controlled system is not finite-time controllable, feedback control allows for arbitrary asymptotic state-to-state transitions. Under further assumption on the form of the measurement, we show that finite-time controllability can be achieved in a time that scales linearly with the dimension of the system, and we provide an iterative procedure to design the unitary control actions.
Haptic Feedback Control of a Smart Wheelchair
Directory of Open Access Journals (Sweden)
Mohammed-Amine Hadj-Abdelkader
2012-01-01
Full Text Available The haptic feedback, which is natural in assistive devices intended for visually impaired persons, has been only recently explored for people with motor disability. The aim of this work is to study its potential, particularly for assistance in the driving of powered wheelchairs. After a review of the literature for the previous related work, we present the methodology and the implementation procedure of a haptic feedback control system on a prototype of a smart wheelchair. We will also describe the approaches utilized to determine the appropriate force feedback that will ensure a cooperative behaviour of the system, and we will detail the two haptic driving modes that were developed, namely the active and passive modes. Experiments on a real prototype were carried out to study the contribution of the method in powered wheelchair driving and to evaluate the interest of the force feedback on the control joystick of the wheelchair. They are discussed on the basis of performance measures.
A Direct Feedback Control Based on Fuzzy Recurrent Neural Network
Institute of Scientific and Technical Information of China (English)
李明; 马小平
2002-01-01
A direct feedback control system based on fuzzy-recurrent neural network is proposed, and a method of training weights of fuzzy-recurrent neural network was designed by applying modified contract mapping genetic algorithm. Computer simul ation results indicate that fuzzy-recurrent neural network controller has perfect dynamic and static performances .
Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems
Directory of Open Access Journals (Sweden)
Jinxiang Dong
2008-07-01
Full Text Available There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting crosslayer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An eventdriven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN.
Feedback control system for walking in man.
Petrofsky, J S; Phillips, C A; Heaton, H H
1984-01-01
A computer control stimulation system is described which has been successfully tested by allowing a paraplegic subject to stand and walk through closed loop control. This system is a Z80 microprocessor system with eight channels of analog to digital and 16 channels of digital to analog control. Programming is written in CPM and works quite successfully for maintaining lower body postural control in paraplegics. Further expansion of this system would enable a feedback control system for multidirectional walking in man.
Feedback and control for everyone
Albertos, Pedro
2010-01-01
This intriguing and motivating book presents the basic ideas and understanding of control, signals and systems for readers interested in engineering and science. Through a series of examples, the book explores both the theory and the practice of control.
Feedback linearization application for LLRF control system
Energy Technology Data Exchange (ETDEWEB)
Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.
1999-06-01
The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.
Feedback linearization application for LLRF control system
Energy Technology Data Exchange (ETDEWEB)
Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.
1998-12-31
The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.
Feedback control and synchronization of Mandelbrot sets
Institute of Scientific and Technical Information of China (English)
Zhang Yong-Ping
2013-01-01
The movement of a particle could be depicted by the Mandelbrot set from the fractal viewpoint.According to the requirement,the movement of the particle needs to show different behaviors.In this paper,the feedback control method is taken on the classical Mandelbrot set.By amending the feedback item in the controller,the control method is applied to the generalized Mandelbrot set and by taking the reference item to be the trajectory of another system,the synchronization of Mandelbrot sets is achieved.
Institute of Scientific and Technical Information of China (English)
苗建明; 孟军
2011-01-01
目前,海上地震石油勘探系统中实际使用的拖缆自动定深器大多采用PID控制算法,以及采用压力传感器实时采集压力来进行深度闭环控制.本文在建立自动定深器状态反馈方程的基础上,设计了带全维状态观测器的状态反馈控制系统,并且对该系统进行了仿真分析.结果表明,利用本文所设计的控制器,该系统的动态特性明显优于经典控制器,可以为后续拖缆深度控制系统控制算法的优化提供参考.%The depth controller of the marine seismic towed system mostly adopts the depth closed loop with PID control arithmetic currently, the state feedback control system based on the state feedback equations of the depth controller is designed in this paper,then the simulation is carried out. The result show that making use of the controller designed in this paper, the dynamic characteristic surpasses the classic controller obviously,the method of the towed cable depth control system provide a reference for the follow-up.
Robust Control Design for Flight Control
1989-07-01
to achieve desired performance over the full flight envelope when linear feedback is employed. Exact linearization methods [48] provide means for...designing nonlinear feedback laws which satisfy these requirements. However, exact linearization is not always compatible with control authority...specific situations. The most promising approaches appear to be those associated with methods of exact linearization . This procedure is based on some
Intelligent Feedback Scheduling of Control Tasks
Directory of Open Access Journals (Sweden)
Fatin I. Telchy
2014-12-01
Full Text Available an efficient feedback scheduling scheme based on the proposed Feed Forward Neural Network (FFNN scheme is employed to improve the overall control performance while minimizing the overhead of feedback scheduling which exposed using the optimal solutions obtained offline by mathematical optimization methods. The previously described FFNN is employed to adapt online the sampling periods of concurrent control tasks with respect to changes in computing resource availability. The proposed intelligent scheduler will be examined with different optimization algorithms. An inverted pendulum cost function is used in these experiments. Then, simulation of three inverted pendulums as intelligent Real Time System (RTS is described in details. Numerical simulation results demonstrates that the proposed scheme can reduce the computational overhead significantly while delivering almost the same overall control performance as compared to optimal feedback scheduling
Feedback Control of MEMS to Atoms
Shapiro, Benjamin
2012-01-01
Feedback Control of MEMS to Atoms illustrates the use of control and control systems as an essential part of functioning integrated miniaturized systems. The book is organized according to the dimensional scale of the problem, starting with microscale systems and ending with atomic-scale systems. Similar to macroscale machines and processes, control systems can play a major role in improving the performance of micro- and nanoscale systems and in enabling new capabilities that would otherwise not be possible. The majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control theory and engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry. This book: Shows how the utilization of feedback control in nanotechnology instrumentation can yield results far better than passive systems can Discusses the application of control systems to problems...
Wang, Lijian
2015-12-01
Facing many problems of the urban-rural resident pension insurance system in China, one should firstly make sure that this system can be optimized. This paper, based on the modern control theory, sets up differential equations as models to describe the urban-rural resident pension insurance system, and discusses the globally asymptotic stability in the sense of Liapunov for the urban-rural resident pension insurance system in the new equilibrium point. This research sets the stage for our further discussion, and it is theoretically important and convenient for optimizing the urban-rural resident pension insurance system.
Implementation of integral feedback control in biological systems.
Somvanshi, Pramod R; Patel, Anilkumar K; Bhartiya, Sharad; Venkatesh, K V
2015-01-01
Integral control design ensures that a key variable in a system is tightly maintained within acceptable levels. This approach has been widely used in engineering systems to ensure offset free operation in the presence of perturbations. Several biological systems employ such an integral control design to regulate cellular processes. An integral control design motif requires a negative feedback and an integrating process in the network loop. This review describes several biological systems, ranging from bacteria to higher organisms in which the presence of integral control principle has been hypothesized. The review highlights that in addition to the negative feedback, occurrence of zero-order kinetics in the process is a key element to realize the integral control strategy. Although the integral control motif is common to these systems, the mechanisms involved in achieving it are highly specific and can be incorporated at the level of signaling, metabolism, or at the phenotypic levels. © 2015 Wiley Periodicals, Inc.
Group Projects in Interior Design Studio Classes: Peer Feedback Benefits
Jurado, Juan A.
2011-01-01
Group projects have been shown to be effective for providing peer feedback in classrooms. While students in regular enrollment classes benefit from peer feedback, low-enrollment classes face many challenges. This study compares peer feedback effectiveness between two interior design studio classes with different design projects. In one class,…
Group Projects in Interior Design Studio Classes: Peer Feedback Benefits
Jurado, Juan A.
2011-01-01
Group projects have been shown to be effective for providing peer feedback in classrooms. While students in regular enrollment classes benefit from peer feedback, low-enrollment classes face many challenges. This study compares peer feedback effectiveness between two interior design studio classes with different design projects. In one class,…
Event-triggered output feedback control for distributed networked systems.
Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa
2016-01-01
This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature.
Entanglement-assisted quantum feedback control
Yamamoto, Naoki; Mikami, Tomoaki
2017-07-01
The main advantage of quantum metrology relies on the effective use of entanglement, which indeed allows us to achieve strictly better estimation performance over the standard quantum limit. In this paper, we propose an analogous method utilizing entanglement for the purpose of feedback control. The system considered is a general linear dynamical quantum system, where the control goal can be systematically formulated as a linear quadratic Gaussian control problem based on the quantum Kalman filtering method; in this setting, an entangled input probe field is effectively used to reduce the estimation error and accordingly the control cost function. In particular, we show that, in the problem of cooling an opto-mechanical oscillator, the entanglement-assisted feedback control can lower the stationary occupation number of the oscillator below the limit attainable by the controller with a coherent probe field and furthermore beats the controller with an optimized squeezed probe field.
Periodicity in Delta-modulated feedback control
Institute of Scientific and Technical Information of China (English)
Xiaohua XIA; Guanrong CHEN; Rudong GAI; Alan S. I. ZINOBER
2008-01-01
The Delta-modulated feedback control of a linear system introduces nonlinearity into the system through switchings between two input values. It has been found that Delta-modulation gives rise to periodic orbits. The existence of periodic points of all orders of Sigma-Delta modulation with "leaky" integration is completely characterized by some interesting groups of polynomials with "sign" coefficients. The results are naturally generalized to Sigma-Delta modulations with multiple delays, Delta-modulations in the "downlink", unbalanced Delta-modulations and systems with two-level quantized feedback. Further extensions relate to the existence of periodic points arising from Delta-modulated feedback control of a stable linear system in an arbitrary direction, for which some necessary and sufficient conditions are given.
Nanometer Vibration Control by Computer Feedback
McLeod, Kevin; Schramm, Steven; McKenna, Janis; Mattison, Thomas
2008-05-01
The International Linear Collider is a planned electron-positron accelerator at the 500 GeV scale. Colliding nanometer sized beams requires control of vibrations of the final focusing magnets at the nanometer level. We are investigating position measurement with laser interferometry and position control with piezoelectric actuators using state-vector feedback in a near-real-time Linux computing environment. A custom driver for a commercial ADC-DAC card has the interferometer reconstruction and feedback algorithms inside an interrupt handler running at 10 kHz. Linux user applications interact with the driver for interferometer alignment and calibration, measurement of excitation of internal modes by the piezo, and measurement of external vibration spectrum. Other applications analyze the internal and external vibration modes, and calculate state-vector feedback gains. Graphical interface is provided by tcl/tk. Code development is in C with standard GNU tools, using a recursive generic makefile.
Sensory-Feedback Exoskeletal Arm Controller
An, Bin; Massie, Thomas H.; Vayner, Vladimir
2004-01-01
An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment
Institute of Scientific and Technical Information of China (English)
Ruiquan LIN; Fuwen YANG; Renchong PENG
2009-01-01
Considering that the controller feedback gain and the observer gain are of additive norm-bounded variations, a design method of observer-based H-infinity output feedback controller for uncertain Delta operator systems is proposed in this paper. A sufficient condition of such controllers is presented in linear matrix inequality (LMI) forms. A numerical example is then given to illustrate the effectiveness of this method, that is, the obtained controller guarantees the closed-loop system asymptotically stable and the expected H-infinity performance even if the controller feedback gain and the observer gain are varied.
Lectures in feedback design for multivariable systems
Isidori, Alberto
2017-01-01
This book focuses on methods that relate, in one form or another, to the “small-gain theorem”. It is aimed at readers who are interested in learning methods for the design of feedback laws for linear and nonlinear multivariable systems in the presence of model uncertainties. With worked examples throughout, it includes both introductory material and more advanced topics. Divided into two parts, the first covers relevant aspects of linear-systems theory, the second, nonlinear theory. In order to deepen readers’ understanding, simpler single-input–single-output systems generally precede treatment of more complex multi-input–multi-output (MIMO) systems and linear systems precede nonlinear systems. This approach is used throughout, including in the final chapters, which explain the latest advanced ideas governing the stabilization, regulation, and tracking of nonlinear MIMO systems. Two major design problems are considered, both in the presence of model uncertainties: asymptotic stabilization with a “...
Global feedforward and glocal feedback control of large deformable mirrors
Ruppel, Thomas; Sawodny, Oliver
2011-09-01
With an increasing demand for high spatial resolution and fast temporal response of AO components for ELTs, the need for actively controlled, electronically damped deformable mirrors is evident. With typically more than 1000 actuators and collocated sensors, the evolving multi-input multi-output control task for shaping the deformable mirror requires sophisticated control concepts. Although global position control of the mirror would be the most promising solution, the computational complexity for high order spatial control of the deformable element typically exceeds available computing power. Due to this reason, existing deformable membrane mirrors for large telescopes incorporate local feedback instead of global feedback control and neglect some of the global dynamics of the deformable mirror. As a side effect, coupling of the separately controlled actuators through the deformable membrane can lead to instability of the individually stable loops and draws the need for carefully designing the control parameters of the local feedback loops. In this presentation, the computational demands for global position control of deformable mirrors are revisited and a less demanding model-based modal control concept for large deformable membrane mirrors with distributed force actuators and collocated position sensors is presented. Both global feedforward and glocal feedback control is employed in a two-degree-of-freedom control structure allowing for separately designing tracking performance and disturbance rejection. In order to implement state feedback control, non-measureable state information is reconstructed by using model-based distributed state observers. By taking into account the circular symmetry of the deformable mirror geometry, the computational complexity of the algorithms is discussed and model reduction techniques with quasi-static state approximation are presented. As an example, the geometric layout of required sensor / actuator wiring and computational
Implementing Nonlinear Feedback Controllers Using DNA Strand Displacement Reactions.
Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh V; Bates, Declan G
2016-07-01
We show how an important class of nonlinear feedback controllers can be designed using idealized abstract chemical reactions and implemented via DNA strand displacement (DSD) reactions. Exploiting chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks, we show how a set of unimolecular and bimolecular reactions can be used to realize input-output dynamics that produce a nonlinear quasi sliding mode (QSM) feedback controller. The kinetics of the required chemical reactions can then be implemented as enzyme-free, enthalpy/entropy driven DNA reactions using a toehold mediated strand displacement mechanism via Watson-Crick base pairing and branch migration. We demonstrate that the closed loop response of the nonlinear QSM controller outperforms a traditional linear controller by facilitating much faster tracking response dynamics without introducing overshoots in the transient response. The resulting controller is highly modular and is less affected by retroactivity effects than standard linear designs.
Rapid control and feedback rates enhance neuroprosthetic control
Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.
2017-01-01
Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms.
On the use of positive feedback for improved torque control
Institute of Scientific and Technical Information of China (English)
Houman DALLALI; Gustavo A MEDRANO-CERDA; Michele FOCCHI; Thiago BOAVENTURA; Marco FRIGERIO; Claudio SEMINI; Jonas BUCHLI; Darwin G CALDWELL
2015-01-01
This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited due to transmission zeros introduced by the load dynamics. This limitation is overcome by using positive feedback from the load motion in unison with PI torque controllers. The positive feedback is given in terms of load velocity, acceleration and jerk. Stability conditions for designing decentralized PI torque controllers are derived in terms of Routh-Hurwitz criteria. Disturbance rejection properties of the closed system are characterized and an analysis is carried out investigating the use of approximate positive feedback by omitting acceleration and/or jerk signals. The results of this paper are illustrated for a two DoF (degrees of freedom) system. Experimental results for a one DoF system are also included.
Tracking control of chaotic dynamical systems with feedback linearization
Institute of Scientific and Technical Information of China (English)
QI Dong-lian; MA Guo-jin
2005-01-01
A new method was proposed for tracking the desired output of chaotic dynamical system using the feedback linearization and nonlinear extended statement observer method. The feedback linearization was used to convert the nonlinear chaotic system into linear system. The extended Luenberger-like statements observer was designed to reconstructing and observing the unmeasured statements when the tracking controller was designed. By this way, the chaotic system could be forced to track variable desired output, which could be a time variant function or an equilibrium points.Taken the Lorenz chaotic system as example, the simulation results show the validity of the conclusion and effectiveness of the algorithm.
Feedback control of superconducting quantum circuits
Ristè, D.
2014-01-01
Superconducting circuits have recently risen to the forefront of the solid-state prototypes for quantum computing. Reaching the stage of robust quantum computing requires closing the loop between measurement and control of quantum bits (qubits). This thesis presents the realization of feedback contr
Chaos control using notch filter feedback.
Ahlborn, Alexander; Parlitz, Ulrich
2006-01-27
A method for stabilizing periodic orbits and steady states of chaotic systems is presented using specifically filtered feedback signals. The efficiency of this control technique is illustrated with simulations (Rössler system, laser model) and a successful experimental application for stabilizing intensity fluctuations of an intracavity frequency-doubled Nd:YAG laser.
Microcontroller-based Feedback Control Laboratory Experiments
Directory of Open Access Journals (Sweden)
Chiu Choi
2014-06-01
Full Text Available this paper is a result of the implementation of the recommendations on enhancing hands-on experience of control engineering education using single chip, small scale computers such as microcontrollers. A set of microcontroller-based feedback control experiments was developed for the Electrical Engineering curriculum at the University of North Florida. These experiments provided hands-on techniques that students can utilize in the development of complete solutions for a number of servo control problems. Significant effort was devoted to software development of feedback controllers and the associated signal conditioning circuits interfacing between the microcontroller and the physical plant. These experiments have stimulated the interest of our students in control engineering.
Coherent-feedback Quantum Control with Cold Atomic Spins
2012-08-27
Coherent Feedback Control," GRC on Physics Research and Education, Mt. Holyoke College, August 2011 H. Mabuchi, "Design and analysis of autonomous...technique for compensation of tensor coupling effects in polarization spectroscopy of dense Cesium clouds , based on dual-wavelength probing with
Disturbance Attenuation State-Feedback Control for Uncertain Interconnected Systems
Institute of Scientific and Technical Information of China (English)
无
2002-01-01
This paper studies the problem of robust H∞ control design for a class of uncertain interconnected systems viastate feedback. This class of systems are described by a state space model, which contains unknown nonlinear interactionand time-varying norm-bounded parametric uncertainties in state equation. Using the Riccati-equation-based approach wedesign state feedback control laws, which guarantee the decentralized stability with disturbance attenuation for the inter-connected uncertain systems. A simple example of an interconnected uncertain linear system is presented to illustrate theresults.
Delayed feedback control in quantum transport.
Emary, Clive
2013-09-28
Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.
Nonholonomic feedback control among moving obstacles
Armstrong, Stephen Gregory
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.
Design of active feedback for rehabilitation device
Directory of Open Access Journals (Sweden)
Liska Ondrej
2016-01-01
Full Text Available Sensor systems are an essential part of automated equipment. They are even more important in machines that come in contact with people, because they have a significant impact on safety. This paper describes the design of active feedback for rehabilitation device driven by pneumatic artificial muscles. Here are presented three methods for measuring the load of the robot. The first is a system composed of Force Sensitive Resistors (FSR placed in the handle of the device. Two other methods are intended to measure the load of the actuator composed of artificial muscles. The principle of one method is to measure the difference in filling pressures of the muscles, second is based on strain measurement in the drive cables. The paper describes advantages and disadvantages of using each of these methods in a rehabilitation device
Applied Control Systems Design
Mahmoud, Magdi S
2012-01-01
Applied Control System Design examines several methods for building up systems models based on real experimental data from typical industrial processes and incorporating system identification techniques. The text takes a comparative approach to the models derived in this way judging their suitability for use in different systems and under different operational circumstances. A broad spectrum of control methods including various forms of filtering, feedback and feedforward control is applied to the models and the guidelines derived from the closed-loop responses are then composed into a concrete self-tested recipe to serve as a check-list for industrial engineers or control designers. System identification and control design are given equal weight in model derivation and testing to reflect their equality of importance in the proper design and optimization of high-performance control systems. Readers’ assimilation of the material discussed is assisted by the provision of problems and examples. Most of these e...
On Output Feedback Multiobjective Control for Singularly Perturbed Systems
Directory of Open Access Journals (Sweden)
Mehdi Ghasem Moghadam
2011-01-01
Full Text Available A new design procedure for a robust 2 and ∞ control of continuous-time singularly perturbed systems via dynamic output feedback is presented. By formulating all objectives in terms of a common Lyapunov function, the controller will be designed through solving a set of inequalities. Therefore, a dynamic output feedback controller is developed such that ∞ and 2 performance of the resulting closed-loop system is less than or equal to some prescribed value. Also, ∞ and 2 performance for a given upperbound of singular perturbation parameter ∈(0,∗] are guaranteed. It is shown that the -dependent controller is well defined for any ∈(0,∗] and can be reduced to an -independent one so long as is sufficiently small. Finally, numerical simulations are provided to validate the proposed controller. Numerical simulations coincide with the theoretical analysis.
LHC beam stability and feedback control
Energy Technology Data Exchange (ETDEWEB)
Steinhagen, Ralph
2007-07-20
This report presents the stability and the control of the Large Hadron Collider's (LHC) two beam orbits and their particle momenta using beam-based feedback systems. The aim of this report is to contribute to a safe and reliable LHC commissioning and machine operation. The first part of the analysis gives an estimate of the expected sources of orbit and energy perturbations that can be grouped into environmental sources, machine-inherent sources and machine element failures: the slowest perturbation due to ground motion, tides, temperature fluctuations of the tunnel and other environmental influences are described in this report by a propagation model that is both qualitatively and quantitatively supported by geophone and beam motion measurements at LEP and other CERN accelerators. The second part of this analysis deals with the control of the two LHC beams' orbit and energy through automated feedback systems. Based on the reading of the more than 1056 beam position monitors (BPMs) that are distributed over the machine, a central global feedback controller calculates new deflection strengths for the more than 1060 orbit corrector magnets (CODs) that are suitable to correct the orbit and momentum around their references. this report provides an analysis of the BPMs and CODs involved in the orbit and energy feedback. The BPMs are based on a wide-band time normaliser circuit that converts the transverse beam position reading of each individual particle bunch into two laser pulses that are separated by a time delay and transmitted through optical fibres to an acquisition card that converts the delay signals into a digital position. A simple error model has been tested and compared to the measurement accuracy of LHC type BPMs, obtained through beam-based measurements in the SPS. The average beam position is controlled through 1060 superconducting and individually powered corrector dipole magnets. The proposed correction in 'time-domain' consists of a
Iterative Feedback Tuning in Fuzzy Control Systems. Theory and Applications
Directory of Open Access Journals (Sweden)
Stefan Preitl
2006-07-01
Full Text Available The paper deals with both theoretical and application aspects concerningIterative Feedback Tuning (IFT algorithms in the design of a class of fuzzy controlsystems employing Mamdani-type PI-fuzzy controllers. The presentation is focused on twodegree-of-freedom fuzzy control system structures resulting in one design method. Thestability analysis approach based on Popov’s hyperstability theory solves the convergenceproblems associated to IFT algorithms. The suggested design method is validated by realtimeexperimental results for a fuzzy controlled nonlinear DC drive-type laboratoryequipment.
Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor
Directory of Open Access Journals (Sweden)
Aamir Hashim Obeid Ahmed
2011-06-01
Full Text Available Induction Motor (IM speed control is an area of research that has been in prominence for some time now. In this paper, a nonlinear controller is presented for IM drives. The nonlinear controller is designed based on input-output feedback linearization control technique, combined with sliding mode control (SMC to obtain a robust, fast and precise control of IM speed. The input-output feedback linearization control decouples the flux control from the speed control and makes the synthesis of linear controllers possible. To validate the performances of the proposed control scheme, we provided a series of simulation results and a comparative study between the performances of the proposed control strategy and those of the feedback linearization control (FLC schemes. Simulation results show that the proposed control strategy scheme shows better performance than the FLC strategy in the face of system parameters variation
Low Order Empirical Galerkin Models for Feedback Flow Control
Tadmor, Gilead; Noack, Bernd
2005-11-01
Model-based feedback control restrictions on model order and complexity stem from several generic considerations: real time computation, the ability to either measure or reliably estimate the state in real time and avoiding sensitivity to noise, uncertainty and numerical ill-conditioning are high on that list. Empirical POD Galerkin models are attractive in the sense that they are simple and (optimally) efficient, but are notoriously fragile, and commonly fail to capture transients and control effects. In this talk we review recent efforts to enhance empirical Galerkin models and make them suitable for feedback design. Enablers include `subgrid' estimation of turbulence and pressure representations, tunable models using modes from multiple operating points, and actuation models. An invariant manifold defines the model's dynamic envelope. It must be respected and can be exploited in observer and control design. These ideas are benchmarked in the cylinder wake system and validated by a systematic DNS investigation of a 3-dimensional Galerkin model of the controlled wake.
Direct Torque Control With Feedback Linearization for Induction Motor Drives
DEFF Research Database (Denmark)
Lascu, Cristian Vaslie; Jafarzadeh, Saeed; Fadali, Sami M.
2017-01-01
This paper describes a direct-torque-controlled (DTC) induction motor (IM) drive that employs feedback linearization and sliding-mode control (SMC). A new feedback linearization approach is proposed, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude....... This intuitive linear model is used to implement a DTC-type controller that preserves all DTC advantages and eliminates its main drawback, the flux and torque ripple. Robust, fast, and ripple-free control is achieved by using SMC with proportional control in the vicinity of the sliding surface. SMC assures...... robustness as in DTC, while the proportional component eliminates the torque and flux ripple. The torque time response is similar to conventional DTC and the proposed solution is flexible and highly tunable due to the P component. The controller design is presented, and its robust stability is analyzed...
Instantaneous Current Feedback Control Strategy on Buck Mode Inverter
Institute of Scientific and Technical Information of China (English)
2011-01-01
Control strategies for Buck mode inverter have important effect on static and dynamic characteristics, reliability, load capacity, and short-circuit resistance. Instantaneous current feedback control strategies include instantaneous inductor current feedback control and instantaneous capacitor current feedback control, both of which have essential difference. When the Buck mode inverter respectively adopts instantaneous inductor current and capacitor current feedback control strategies, characteristics of stability, output voltage and power, short circuit, nonlinear load and dynamic are fully investigated in this paper.
Experimental study of delayed positive feedback control for a flexible beam
Institute of Scientific and Technical Information of China (English)
无
2011-01-01
Recently, some researches indicate that positive feedback can benefit the control if appropriate time delay is intentionally introduced into control system. However, most work is theoretical one but few are experimental. This paper presents theoretical and experimental studies of delayed positive feedback control technique using a flexible beam as research object. The positive feedback weighting coefficient is designed by using the optimal control method. The available time delay is determined by analyzing ...
Application of Feedback Linearization Method in Airplane Automatic Landing Control System
Institute of Scientific and Technical Information of China (English)
Wang Xiaoyan; Feng Jiang; Feng Xiujuan; Wu Junqin
2004-01-01
Summarizes the I/O feedback linearization about MIMO system, and applies it to nonlinear control equation of airplane. And also designs the tracing control laws for airplane longitudinal automatic landing control system.
Toward broadband electroacoustic resonators through optimized feedback control strategies
Boulandet, R.; Lissek, H.
2014-09-01
This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified through proportional feedback control, to match a target impedance. However, such impedance matching only occurs over a limited bandwidth around resonance, which can limit its use for the low-frequency equalization of rooms, requiring an effective control at least up to the Schroeder frequency. Previous experiments have shown that impedance matching can be achieved over a range of a few octaves using a simple proportional control law. But there is still a limit to the feedback gain, beyond which the feedback-controlled loudspeaker becomes non-dissipative. This paper evaluates the benefits of using PID control and phase compensation techniques to improve the overall performance of the electroacoustic resonator. More specifically, it is shown that some adverse effects due to high-order dynamics in the moving-coil transducer can be mitigated. The corresponding control settings are also identified with equivalent electroacoustic resonator parameters, allowing a straightforward design of the controller. Experimental results using PID control and phase compensation are finally compared in terms of sound absorption performances. As a conclusion the overall performances of electroacoustic resonators for damping the modal resonances inside a duct are presented, along with general discussions on practical implementation and the extension to actual room modes damping.
Directory of Open Access Journals (Sweden)
Ting Zhang
2014-01-01
Full Text Available This paper presents various experimental verifications for the theoretical analysis results of vibration suppression to a smart flexible beam bonded with a piezoelectric actuator by a velocity feedback controller and an extended state observer (ESO. During the state feedback control (SFC design process for the smart flexible beam with the pole placement theory, in the state feedback gain matrix, the velocity feedback gain is much more than the displacement feedback gain. For the difference between the velocity feedback gain and the displacement feedback gain, a modified velocity feedback controller is applied based on a dynamical model with the Hamilton principle to the smart beam. In addition, the feedback velocity is attained with the extended state observer and the displacement is acquired by the foil gauge on the root of the smart flexible beam. The control voltage is calculated by the designed velocity feedback gain multiplied by the feedback velocity. Through some experiment verifications for simulation results, it is indicated that the suppressed amplitude of free vibration is up to 62.13% while the attenuated magnitude of its velocity is up to 61.31%. Therefore, it is demonstrated that the modified velocity feedback control with the extended state observer is feasible to reduce free vibration.
Designing Crowdcritique Systems for Formative Feedback
Easterday, Matthew W.; Rees Lewis, Daniel; Gerber, Elizabeth M.
2017-01-01
Intelligent tutors based on expert systems often struggle to provide formative feedback on complex, ill-defined problems where answers are unknown. Hybrid crowdsourcing systems that combine the intelligence of multiple novices in face-to-face settings might provide an alternate approach for providing intelligent formative feedback. The purpose of…
Online User Feedback in Early Phases of the Design Process: Lessons Learnt from Four Design Cases
Directory of Open Access Journals (Sweden)
Asbjørn Følstad
2010-01-01
Full Text Available Online user feedback, collected by means of internet survey tools, is a promising approach to obtain early user feedback on concepts and early prototypes. In this study, the collection and utilization of online user feedback was investigated in four design cases: all master student projects for industry clients involving seven student designers. A total of 272 user participants provided quantitative feedback. Half of these also provided qualitative feedback. One third of the qualitative feedback was perceived as useful by the student designers. The main usefulness of the feedback was related to strategic concept decisions rather than the interaction design of the early prototype. Lessons learnt are provided.
Direct torque control with feedback linearization for induction motor drives
DEFF Research Database (Denmark)
Lascu, Cristian; Jafarzadeh, Saeed; Fadali, Sami M.
2015-01-01
This paper describes a Direct Torque Controlled (DTC) Induction Machine (IM) drive that employs feedback linearization and sliding-mode control. A feedback linearization approach is investigated, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude...... of the sliding surface. The VSC component assures robustness as in DTC, while the proportional component eliminates the torque and flux ripple. The torque time response is similar to DTC and the proposed solution is flexible and highly tunable due to the proportional controller. The controller design and its...... robust stability analysis are presented. The sliding controller is compared with a linear DTC scheme, and experimental results for a sensorless IM drive validate the proposed solution....
Robust Path Planning and Feedback Design Under Stochastic Uncertainty
Blackmore, Lars
2008-01-01
Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.
Robust Path Planning and Feedback Design Under Stochastic Uncertainty
Blackmore, Lars
2008-01-01
Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.
FEEDBACK CONTROL OPTIMIZATION FOR SEISMICALLY EXCITED BUILDINGS
Institute of Scientific and Technical Information of China (English)
Xueping Li; Zuguang Ying
2007-01-01
A feedback control optimization method of partially observable linear structures via stationary response is proposed and analyzed with linear building structures equipped with control devices and sensors. First, the partially observable control problem of the structure under horizontal ground acceleration excitation is converted into a completely observable control problem. Then the It(o) stochastic differential equations of the system are derived based on the stochastic averaging method for quasi-integrable Hamiltonian systems and the stationary solution to the Fokker-Plank-Kolmogorov (FPK) equation associated with the It(o) equations is obtained.The performance index in terms of the mean system energy and mean square control force is established and the optimal control force is obtained by minimizing the performance index. Finally, the numerical results for a three-story building structure model under El Centro, Hachinohe,Northridge and Kobe earthquake excitations are given to illustrate the application and the effectiveness of the proposed method.
An, Fang; Chen, Wei-dong; Shao, Min-qiang
2014-09-01
This paper addresses the design problem of the controller with time-delayed acceleration feedback. On the basis of the reduction method and output state-derivative feedback, a time-delayed acceleration feedback controller is proposed. Stability boundaries of the closed-loop system are determined by using Hurwitz stability criteria. Due to the introduction of time delay into the controller with acceleration feedback, the proposed controller has the feature of not only changing the mass property but also altering the damping property of the controlled system in the sense of equivalent structural modification. With this feature, the closed-loop system has a greater logarithmic decrement than the uncontrolled one, and in turn, the control behavior can be improved. In this connection, the time delay in the acceleration feedback control is a positive factor when satisfying some given conditions and it could be actively utilized. On the ground of the analysis, the developed controller is implemented on a cantilever beam for different controller gain-delay combinations, and the control performance is evaluated with the comparison to that of pure acceleration feedback controller. Simulation and experimental results verify the ability of the controller to attenuate the vibration resulting from the dominant mode.
Active member bridge feedback control for damping augmentation
Chen, Gun-Shing; Lurie, Boris J.
1992-01-01
An active damping augmentation approach using active members in a structural system is described. The problem of maximizing the vibration damping in a lightly damped structural system is considered using the analogy of impedance matching between the load and source impedances in an electrical network. The proposed active damping augmentation approach therefore consists of finding the desired active member impedances that maximize the vibration damping, and designing a feedback control in order to achieve desired active member impedances. This study uses a bridge feedback concept that feeds back a combination of signals from sensors of the axial force and relative velocity across the active member to realize the desired active member impedance. The proposed active damping augmentation approach and bridge feedback concept were demonstrated on a three-longeron softly suspended truss structure.
Nguyen, Huy; Xiong, Wenting; Litman, Diane
2017-01-01
A peer-review system that automatically evaluates and provides formative feedback on free-text feedback comments of students was iteratively designed and evaluated in college and high-school classrooms. Classroom assignments required students to write paper drafts and submit them to a peer-review system. When student peers later submitted feedback…
Chaos and Its Impulsive Control in Chua's Oscillator via Time-Delay Feedback
Institute of Scientific and Technical Information of China (English)
Yong-Bin Yu; Hong-Bin Zhang; Zhu-Sheng Kang; Xiao-Feng Liao; Jue-Bang Yu
2008-01-01
A novel framework for chaos and its impul sive control in Chua's oscillator via time-delay feedback is presented. The exponential stability of impulsive control Chua's oscillator via time-delay feedback is considered, and some novel conditions are obtained. Then a novel impulsive controller design procedure is proposed. Simulation experiments are provided to demonstrate the feasibility and effectiveness of our method finally.
On a new time-delayed feedback control of chaotic systems
Energy Technology Data Exchange (ETDEWEB)
Tian Lixin [Nonlinear Scientific Research Center, Faculty of Science, Jiangsu University, Zhenjiang, Jiangsu, 212013 (China)], E-mail: tianlx@ujs.edu.cn; Xu Jun; Sun Mei; Li Xiuming [Nonlinear Scientific Research Center, Faculty of Science, Jiangsu University, Zhenjiang, Jiangsu, 212013 (China)
2009-01-30
In this paper, using the idea of the successive dislocation feedback method, a new time-delayed feedback control method called the successive dislocation time-delayed feedback control (SDTDFC) is designed. Firstly, the idea of SDTDFC is introduced. Then some analytic sufficient conditions of the chaos control from the SDTDFC approach are derived for stabilization. Finally, some established results are further clarified via a case study of the Lorenz system with the numerical simulations.
Force Feedback Control of Robotic Forceps for Minimally Invasive Surgery
Ishii, Chiharu; Kamei, Yusuke
2008-06-01
Recently, the robotic surgical support systems are in clinical use for minimally invasive surgery. For improvement in operativity and safety of minimally invasive surgery, the development of haptic forceps manipulator is in demand to help surgeon's immersion and dexterity. We have developed a multi-DOF robotic forceps manipulator using a novel omni-directional bending mechanism, so far. In this paper, in order to control the developed robotic forceps as a slave manipulator, joy-stick type master manipulator with force feedback mechanism for remote control is designed and built, and force feedback bilateral control system was constructed for grasping and bending motions of the robotic forceps. Experimental works were carried out and experimental results showed the effectiveness of the proposed control system.
Rotational Stabilization of Cylinder Wakes Using Linear Feedback Control
Borggaard, Jeff; Gugercin, Serkan; Zietsman, Lizette
2015-11-01
We demonstrate the feasibility of linear feedback control to stabilize vortex shedding behind twin cylinders using the cylinder rotations. Our approach is to linearize the flow about a desired steady-state flow, use interpolation-based model reduction on the resulting linear model to generate a low-dimensional model of the input-output system with input-independent error bounds, then use this reduced model to design the feedback control law. We then consider the practical issue of limited state measurements by building a nonlinear compensator that is computed from the same linear reduced-order model an constructed through an extended Kalman filter with a proper orthogonal decomposition (POD) model. Closed-loop simulations of the Navier-Stokes equations coupled with controls generated through flow measurements demonstrate the effectiveness of this control strategy. Supported in part by the National Science Foundation.
Li, Yongming; Tong, Shaocheng
2016-03-16
This paper proposes an fuzzy adaptive output-feedback stabilization control method for nonstrict feedback uncertain switched nonlinear systems. The controlled system contains unmeasured states and unknown nonlinearities. First, a switched state observer is constructed in order to estimate the unmeasured states. Second, a variable separation approach is introduced to solve the problem of nonstrict feedback. Third, fuzzy logic systems are utilized to identify the unknown uncertainties, and an adaptive fuzzy output feedback stabilization controller is set up by exploiting the backstepping design principle. At last, by applying the average dwell time method and Lyapunov stability theory, it is proven that all the signals in the closed-loop switched system are bounded, and the system output converges to a small neighborhood of the origin. Two examples are given to further show the effectiveness of the proposed switched control approach.
Wang, Huanqing; Liu, Kefu; Liu, Xiaoping; Chen, Bing; Lin, Chong
2015-09-01
In this paper, we consider the problem of observer-based adaptive neural output-feedback control for a class of stochastic nonlinear systems with nonstrict-feedback structure. To overcome the design difficulty from the nonstrict-feedback structure, a variable separation approach is introduced by using the monotonically increasing property of system bounding functions. On the basis of the state observer, and by combining the adaptive backstepping technique with radial basis function neural networks' universal approximation capability, an adaptive neural output feedback control algorithm is presented. It is shown that the proposed controller can guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded in the sense of mean quartic value. Simulation results are provided to show the effectiveness of the proposed control scheme.
Automatic Thermal Control System with Temperature Difference or Derivation Feedback
Directory of Open Access Journals (Sweden)
Darina Matiskova
2016-02-01
Full Text Available Automatic thermal control systems seem to be non-linear systems with thermal inertias and time delay. A controller is also non-linear because its information and power signals are limited. The application of methods that are available to on-linear systems together with computer simulation and mathematical modelling creates a possibility to acquire important information about the researched system. This paper provides a new look at the heated system model and also designs the structure of the thermal system with temperature derivation feedback. The designed system was simulated by using a special software in Turbo Pascal. Time responses of this system are compared to responses of a conventional thermal system. The thermal system with temperature derivation feedback provides better transients, better quality of regulation and better dynamical properties.
Optimal feedback scheduling of model predictive controllers
Institute of Scientific and Technical Information of China (English)
Pingfang ZHOU; Jianying XIE; Xiaolong DENG
2006-01-01
Model predictive control (MPC) could not be reliably applied to real-time control systems because its computation time is not well defined. Implemented as anytime algorithm, MPC task allows computation time to be traded for control performance, thus obtaining the predictability in time. Optimal feedback scheduling (FS-CBS) of a set of MPC tasks is presented to maximize the global control performance subject to limited processor time. Each MPC task is assigned with a constant bandwidth server (CBS), whose reserved processor time is adjusted dynamically. The constraints in the FSCBS guarantee scheduler of the total task set and stability of each component. The FS-CBS is shown robust against the variation of execution time of MPC tasks at runtime. Simulation results illustrate its effectiveness.
Stabilizing equilibrium by linear feedback control for controlling chaos in Chen system
Energy Technology Data Exchange (ETDEWEB)
Costa, V A [Departamento de Ciencias Basicas, Facultad de IngenierIa (UNLP), La Plata (Argentina); Gonzalez, G A, E-mail: vacosta@ing.unlp.edu.ar, E-mail: ggonzal@fi.ub.ar [Departamento de Matematica, Facultad de Ingenieria (UBA), Buenos Aires (Argentina)
2011-03-01
Stabilization of a chaotic system in one of its unstable equilibrium points by applying small perturbations is studied. A two-stage control strategy based on linear feedback control is applied. Improvement of system performance is addressed by exploiting the ergodicity of the original dynamics and using Lyapunov stability results for control design. Extension to the not complete observability case is also analyzed.
Wang, Chongwen; Yu, Xiao; Lan, Weiyao
2014-10-01
To improve transient performance of output response, this paper applies composite nonlinear feedback (CNF) control technique to investigate semi-global output regulation problems for linear systems with input saturation. Based on a linear state feedback control law for a semi-global output regulation problem, a state feedback CNF control law is constructed by adding a nonlinear feedback part. The extra nonlinear feedback part can be applied to improve the transient performance of the closed-loop system. Moreover, an observer is designed to construct an output feedback CNF control law that also solves the semi-global output regulation problem. The sufficient solvability condition of the semi-global output regulation problem by CNF control is the same as that by linear control, but the CNF control technique can improve the transient performance. The effectiveness of the proposed method is illustrated by a disturbance rejection problem of a translational oscillator with rotational actuator system.
Output Feedback Control for a Class of Nonlinear Systems
Institute of Scientific and Technical Information of China (English)
Keylan Alimhan; Hiroshi Inaba
2006-01-01
This paper studies the global stabilization problem by an output controller for a family of uncertain nonlinear systems satisfying some relaxed triangular-type conditions and with dynamics which may not be exactly known. Using a feedback domination design method, we explicitly construct a dynamic output compensator which globally stabilizes such an uncertain nonlinear system. The usefulness of our result is illustrated with an example.
Toward broadband electroacoustic resonators through optimized feedback control strategies
Boulandet, R.; Lissek, H.
2014-01-01
This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified through proportional feedback control, to match a target impedance. However, such impedance matching only occurs over a limited bandwidth around resonance, which can limit its use for the low-frequency equalization of rooms, requiring an effe...
Toward broadband electroacoustic resonators through optimized feedback control strategies
Boulandet, R.; Lissek, H.
2014-01-01
This paper presents a methodology for the design of broadband electroacoustic resonators for low-frequency room equalization. An electroacoustic resonator denotes a loudspeaker used as a membrane resonator, the acoustic impedance of which can be modified through proportional feedback control, to match a target impedance. However, such impedance matching only occurs over a limited bandwidth around resonance, which can limit its use for the low-frequency equalization of rooms, requiring an effe...
Controlling Spatiotemporal Chaos with a Generalized Feedback Method
Institute of Scientific and Technical Information of China (English)
GAO Ji-Hua; ZHENG Zhi-Gang
2007-01-01
The usual linear variable feedback control method is extended to a generalized function feedback scheme. The scheme is applied to high-dimensional spatiotemporal systems. By a combination of local generalized feedback control and the spatial coupling effect among elements, turbulent motion can be successfully eliminated.
Reflectance feedback control of photocoagulation in vivo
Jerath, Maya R.; Chundru, Ravi K.; Barrett, Steven F.; Rylander, Henry G., III; Welch, Ashley J.
1993-06-01
Laser induced retinal lesions are used to treat a variety of eye diseases such as diabetic retinopathy and retinal detachment. In this treatment, an argon laser beam is directed into the eye through the pupil onto the fundus where the heat resulting from the absorbed laser light coagulates the retinal tissue. This thermally damaged region is highly scattering and appears as a white disk. The size of the retinal lesions is critical for effective treatment and minimal complications. A real time feedback control system is implemented that monitors lesion growth using two-dimensional reflectance images acquired by a CCD camera. The camera views the lesion formation on axis with the coagulating laser beam. The reflectance images are acquired and processed as the lesion forms. When parameters of the reflectance images that are correlated to lesion dimensions meet certain preset thresholds, the laser is shuttered. Results of feedback controlled lesions formed in vivo in pigmented rabbits are presented. An ability to produce uniform lesions despite variation in the tissue absorption or changes in laser power is demonstrated. This lesion control system forms part of a larger automated system for retinal photocoagulation.
Feedback controlled hybrid fast ferrite tuners
Energy Technology Data Exchange (ETDEWEB)
Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P. [General Atomics, San Diego, CA (United States); Arnold, W.; Martin, S.; Pivit, E. [ANT-Bosch, Backnang (Germany)
1993-09-01
A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.
Speech production as state feedback control.
Houde, John F; Nagarajan, Srikantan S
2011-01-01
Spoken language exists because of a remarkable neural process. Inside a speaker's brain, an intended message gives rise to neural signals activating the muscles of the vocal tract. The process is remarkable because these muscles are activated in just the right way that the vocal tract produces sounds a listener understands as the intended message. What is the best approach to understanding the neural substrate of this crucial motor control process? One of the key recent modeling developments in neuroscience has been the use of state feedback control (SFC) theory to explain the role of the CNS in motor control. SFC postulates that the CNS controls motor output by (1) estimating the current dynamic state of the thing (e.g., arm) being controlled, and (2) generating controls based on this estimated state. SFC has successfully predicted a great range of non-speech motor phenomena, but as yet has not received attention in the speech motor control community. Here, we review some of the key characteristics of speech motor control and what they say about the role of the CNS in the process. We then discuss prior efforts to model the role of CNS in speech motor control, and argue that these models have inherent limitations - limitations that are overcome by an SFC model of speech motor control which we describe. We conclude by discussing a plausible neural substrate of our model.
Speech production as state feedback control
Directory of Open Access Journals (Sweden)
John F Houde
2011-10-01
Full Text Available Spoken language exists because of a remarkable neural process. Inside a speaker’s brain, an intended message gives rise to neural signals activating the muscles of the vocal tract. The process is remarkable because these muscles are activated in just the right way that the vocal tract produces sounds a listener understands as the intended message. What is the best approach to understanding the neural substrate of this crucial motor control process? One of the key recent modeling developments in neuroscience has been the use of state feedback control (SFC theory to explain the role of the CNS in motor control. SFC postulates that the CNS controls motor output by (1 estimating the current dynamic state of the thing (e.g., arm being controlled, and (2 generating controls based on this estimated state. SFC has successfully predicted a great range of non-speech motor phenomena, but as yet has not received attention in the speech motor control community. Here, we review some of the key characteristics of speech motor control and what they say about the role of the CNS in the process. We then discuss prior efforts to model the role of CNS in speech motor control, and argue that these models have inherent limitations – limitations that are overcome by an SFC model of speech motor control which we describe. We conclude by discussing a plausible neural substrate of our model.
Electrostatic levitation under the single-axis feedback control condition
Institute of Scientific and Technical Information of China (English)
无
2010-01-01
An electrostatic levitator with a single-axis feedback control system was developed on the basis of electric field analysis and optimum design for levitation electrodes. In order to realize the stable levitation of various types of materials such as metals, inorganic materials and polymers, we made both experimental and theoretical investigations to solve the four key problems of electric field optimization, sample position detecting, sample charging control and levitation voltage minimization. Under the capacitive induction charging condition, a sample with the size of 2.6–4.5 mm usually bears positive charges amounting to 10-9 Coulomb. Because the single-axis feedback control system responds quickly, it takes the levitated sample only 0.1 s from leaving the bottom electrode until attaining a stable levitation in the upright direction. The levitated sample displays satisfactory levitation stability in both the upright and the horizontal directions owing to the constraining force produced by spherical electrodes.
Tracking controller for robot manipulators via composite nonlinear feedback law
Institute of Scientific and Technical Information of China (English)
Peng Wendong; Su Jianbo
2009-01-01
A composite nonlinear feedback tracking controller for motion control of robot manipulators is de-scribed. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
State feedback control of switched linear systems: An LMI approach
Montagner, V. F.; Leite, V. J. S.; Oliveira, R. C. L. F.; Peres, P. L. D.
2006-10-01
This paper addresses the problem of state feedback control of continuous-time switched linear systems with arbitrary switching rules. A quadratic Lyapunov function with a common matrix is used to derive a stabilizing switching control strategy that guarantees: (i) the assignment of all the eigenvalues of each linear subsystem inside a chosen circle in the left-hand half of the complex plane; (ii) a minimum disturbance attenuation level for the closed-loop switched system. The proposed design conditions are given in terms of linear matrix inequalities that encompass previous results based on quadratic stability conditions with fixed control gains. Although the quadratic stability based on a fixed Lyapunov matrix has been widely used in robust control design, the use of this condition to provide a convex design method for switching feedback gains has not been fully investigated. Numerical examples show that the switching control strategy can cope with more stringent design specifications than the fixed gain strategy, being useful to improve the performance of this class of systems.
Phase Model with Feedback Control for Power Grids
Matsuo, Tatsuma
2013-01-01
A phase model with feedback control is studied as a dynamical model of power grids. As an example, we study a model network corresponding to the power grid in the Kyushu region. The standard frequency is maintained by the mutual synchronization and the feedback control. Electric failures are induced by an overload. We propose a local feedback method in which the strength of feedback control is proportional to the magnitude of generators. We find that the electric failures do not occur until the utilization ratio is close to 1 under this feedback control. We also find that the temporal response for the time-varying input power is suppressed under this feedback control. We explain the mechanisms using the corresponding global feedback method.
Phase Model with Feedback Control for Power Grids
Matsuo, Tatsuma; Sakaguchi, Hidetsugu
2013-09-01
A phase model with feedback control is studied as a dynamical model of power grids. As an example, we study a model network corresponding to the power grid in the Kyushu region. The standard frequency is maintained by the mutual synchronization and the feedback control. Electric failures are induced by an overload. We propose a local feedback method in which the strength of feedback control is proportional to the magnitude of generators. We find that the electric failures do not occur until the utilization ratio is close to 1 under this feedback control. We also find that the temporal response for the time-varying input power is suppressed under this feedback control. We explain the mechanisms using the corresponding global feedback method.
A Feedback Optimal Control Algorithm with Optimal Measurement Time Points
Directory of Open Access Journals (Sweden)
Felix Jost
2017-02-01
Full Text Available Nonlinear model predictive control has been established as a powerful methodology to provide feedback for dynamic processes over the last decades. In practice it is usually combined with parameter and state estimation techniques, which allows to cope with uncertainty on many levels. To reduce the uncertainty it has also been suggested to include optimal experimental design into the sequential process of estimation and control calculation. Most of the focus so far was on dual control approaches, i.e., on using the controls to simultaneously excite the system dynamics (learning as well as minimizing a given objective (performing. We propose a new algorithm, which sequentially solves robust optimal control, optimal experimental design, state and parameter estimation problems. Thus, we decouple the control and the experimental design problems. This has the advantages that we can analyze the impact of measurement timing (sampling independently, and is practically relevant for applications with either an ethical limitation on system excitation (e.g., chemotherapy treatment or the need for fast feedback. The algorithm shows promising results with a 36% reduction of parameter uncertainties for the Lotka-Volterra fishing benchmark example.
Nonlinear feedback control of highly manoeuvrable aircraft
Garrard, William L.; Enns, Dale F.; Snell, S. A.
1992-01-01
This paper describes the application of nonlinear quadratic regulator (NLQR) theory to the design of control laws for a typical high-performance aircraft. The NLQR controller design is performed using truncated solutions of the Hamilton-Jacobi-Bellman equation of optimal control theory. The performance of the NLQR controller is compared with the performance of a conventional P + I gain scheduled controller designed by applying standard frequency response techniques to the equations of motion of the aircraft linearized at various angles of attack. Both techniques result in control laws which are very similar in structure to one another and which yield similar performance. The results of applying both control laws to a high-g vertical turn are illustrated by nonlinear simulation.
Sample-Clock Phase-Control Feedback
Quirk, Kevin J.; Gin, Jonathan W.; Nguyen, Danh H.; Nguyen, Huy
2012-01-01
To demodulate a communication signal, a receiver must recover and synchronize to the symbol timing of a received waveform. In a system that utilizes digital sampling, the fidelity of synchronization is limited by the time between the symbol boundary and closest sample time location. To reduce this error, one typically uses a sample clock in excess of the symbol rate in order to provide multiple samples per symbol, thereby lowering the error limit to a fraction of a symbol time. For systems with a large modulation bandwidth, the required sample clock rate is prohibitive due to current technological barriers and processing complexity. With precise control of the phase of the sample clock, one can sample the received signal at times arbitrarily close to the symbol boundary, thus obviating the need, from a synchronization perspective, for multiple samples per symbol. Sample-clock phase-control feedback was developed for use in the demodulation of an optical communication signal, where multi-GHz modulation bandwidths would require prohibitively large sample clock frequencies for rates in excess of the symbol rate. A custom mixedsignal (RF/digital) offset phase-locked loop circuit was developed to control the phase of the 6.4-GHz clock that samples the photon-counting detector output. The offset phase-locked loop is driven by a feedback mechanism that continuously corrects for variation in the symbol time due to motion between the transmitter and receiver as well as oscillator instability. This innovation will allow significant improvements in receiver throughput; for example, the throughput of a pulse-position modulation (PPM) with 16 slots can increase from 188 Mb/s to 1.5 Gb/s.
Feedback model to support designers of blended learning courses
Hummel, Hans
2006-01-01
Hummel, H. G. K. (2006, December). Feedback model to support designers of blended learning courses. International Review of Open and Distance Learning [Online], 7(3). Available: http://www.irrodl.org/index.php/irrodl/article/view/379/748
Feedback Control System Design of the Power LED Luminous Flux%功率型LED光通量的反馈控制系统设计
Institute of Scientific and Technical Information of China (English)
谢一菁
2016-01-01
为实现 LED光通量的反馈控制系统，采用以 STM32F103C8T6单片机为核心的最小系统、电源模块、LED驱动控制电路模块、光强度检测模块组成系统．该系统是以 PT4115作为驱动模块，输出电流恒定来驱动功率型 LED．并采用两个相同的驱动模块，同时用频率相同占空比不同可独立调节的 PWM来控制白光LED与黄光LED发光．采用BH1750FVI光强度测试模块检测LED发光量及在LCD12864液晶屏上显示，并反馈到单片机系统，从而控制并调整PWM占空比以实现人机交互．%To achieve LED luminous flux feedback control system,this proj ect adopts the STM32F103C8T6 single-chip microcomputer as the core of minimum system module,power module, LED the drive control circuit,light intensity detection module.As PT4115 drive module of the sys-tem,the output current constant power type LED to drive.Using two identical driver module,at the same time,different compared with the same frequency can be adj usted independently of PWM to con-trol the white LED with yellow LED.Using BH1750FVI light intensity test module testing LED quantity and in LCD12864 LCD screen display,and feedback to the single-chip microcomputer system, so as to control and adj ust the PWM duty cycle to achieve human-computer interaction.
Combustion diagnostic for active engine feedback control
Green, Jr., Johney Boyd; Daw, Charles Stuart; Wagner, Robert Milton
2007-10-02
This invention detects the crank angle location where combustion switches from premixed to diffusion, referred to as the transition index, and uses that location to define integration limits that measure the portions of heat released during the combustion process that occur during the premixed and diffusion phases. Those integrated premixed and diffusion values are used to develop a metric referred to as the combustion index. The combustion index is defined as the integrated diffusion contribution divided by the integrated premixed contribution. As the EGR rate is increased enough to enter the low temperature combustion regime, PM emissions decrease because more of the combustion process is occurring over the premixed portion of the heat release rate profile and the diffusion portion has been significantly reduced. This information is used to detect when the engine is or is not operating in a low temperature combustion mode and provides that feedback to an engine control algorithm.
Discretization chaos - Feedback control and transition to chaos
Grantham, Walter J.; Athalye, Amit M.
1990-01-01
Problems in the design of feedback controllers for chaotic dynamical systems are considered theoretically, focusing on two cases where chaos arises only when a nonchaotic continuous-time system is discretized into a simpler discrete-time systems (exponential discretization and pseudo-Euler integration applied to Lotka-Volterra competition and prey-predator systems). Numerical simulation results are presented in extensive graphs and discussed in detail. It is concluded that care must be taken in applying standard dynamical-systems methods to control systems that may be discontinuous or nondifferentiable.
Coherent feedback control of multipartite quantum entanglement for optical fields
Energy Technology Data Exchange (ETDEWEB)
Yan, Zhihui; Jia, Xiaojun; Xie, Changde; Peng, Kunchi [State Key Laboratory of Quantum Optics and Quantum Optics Devices, Institute of Opto-Electronics, Shanxi University, Taiyuan, 030006 (China)
2011-12-15
Coherent feedback control (CFC) of multipartite optical entangled states produced by a nondegenerate optical parametric amplifier is theoretically studied. The features of the quantum correlations of amplitude and phase quadratures among more than two entangled optical modes can be controlled by tuning the transmissivity of the optical beam splitter in the CFC loop. The physical conditions to enhance continuous variable multipartite entanglement of optical fields utilizing the CFC loop are obtained. The numeric calculations based on feasible physical parameters of realistic systems provide direct references for the design of experimental devices.
A new nonlinear output tracking controller via output-feedback
Institute of Scientific and Technical Information of China (English)
Yun ZHANG; Yungang LIU; Yuqin DING
2006-01-01
In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first introduced. Then, the observer-based output tracking controller is constructively designed by using the integral backstepping approach together with completing square. It is shown that, under relatively mild conditions, all the closed-loop signals are uniformly bounded.Meanwhile the system output asymptotically tracks the desired output. A simulation example is given to illustrate the effectiveness of the theoretical results.
Energy Technology Data Exchange (ETDEWEB)
Peyrouton, J.M.; Guillas, J.; Nougaret, Ch. [Electricite de France (EDF/DPN/CAPE), 93 - Saint-Denis (France)
2004-07-01
This article presents the design, specificities and innovating features of the control room of the N4-type PWR. A brief description of control rooms of previous 900 MW and 1300 MW -type PWR allows us to assess the change. The design of the first control room dates back to 1972, at that time 2 considerations were taken into account: first the design has to be similar to that of control rooms for thermal plants because plant operators were satisfied with it and secondly the normal operating situation has to be privileged to the prejudice of accidental situations just as it was in a thermal plant. The turning point was the TMI accident that showed the weight of human factor in accidental situations in terms of pilot team, training, procedures and the ergonomics of the work station. The impact of TMI can be seen in the design of 1300 MW-type PWR. In the beginning of the eighties EDF decided to launch a study for a complete overhaul of the control room concept, the aim was to continue reducing the human factor risk and to provide a better quality of piloting the plant in any situation. The result is the control room of the N4-type PWR. Today the cumulated feedback experience of N4 control rooms represents more than 20 years over a wide range of situations from normal to incidental, a survey shows that the N4 design has fulfilled its aims. (A.C.)
Semantically Enhanced Online Configuration of Feedback Control Schemes.
Milis, Georgios M; Panayiotou, Christos G; Polycarpou, Marios M
2017-03-31
Recent progress toward the realization of the ``Internet of Things'' has improved the ability of physical and soft/cyber entities to operate effectively within large-scale, heterogeneous systems. It is important that such capacity be accompanied by feedback control capabilities sufficient to ensure that the overall systems behave according to their specifications and meet their functional objectives. To achieve this, such systems require new architectures that facilitate the online deployment, composition, interoperability, and scalability of control system components. Most current control systems lack scalability and interoperability because their design is based on a fixed configuration of specific components, with knowledge of their individual characteristics only implicitly passed through the design. This paper addresses the need for flexibility when replacing components or installing new components, which might occur when an existing component is upgraded or when a new application requires a new component, without the need to readjust or redesign the overall system. A semantically enhanced feedback control architecture is introduced for a class of systems, aimed at accommodating new components into a closed-loop control framework by exploiting the semantic inference capabilities of an ontology-based knowledge model. This architecture supports continuous operation of the control system, a crucial property for large-scale systems for which interruptions have negative impact on key performance metrics that may include human comfort and welfare or economy costs. A case-study example from the smart buildings domain is used to illustrate the proposed architecture and semantic inference mechanisms.
Experimental demonstration of coherent feedback control on optical field squeezing
Iida, Sanae; Yonezawa, Hidehiro; Yamamoto, Naoki; Furusawa, Akira
2011-01-01
Coherent feedback is a non-measurement based, hence a back-action free, method of control for quantum systems. A typical application of this control scheme is squeezing enhancement, a purely non-classical effect in quantum optics. In this paper we report its first experimental demonstration that well agrees with the theory taking into account time delays and losses in the coherent feedback loop. The results clarify both the benefit and the limitation of coherent feedback control in a practical situation.
Myoelectric hand prosthesis force control through servo motor current feedback.
Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini
2009-10-01
This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.
Directory of Open Access Journals (Sweden)
Shuiqing Yu
2013-01-01
Full Text Available This paper investigates the dynamic output feedback control for nonlinear networked control systems with both random packet dropout and random delay. Random packet dropout and random delay are modeled as two independent random variables. An observer-based dynamic output feedback controller is designed based upon the Lyapunov theory. The quantitative relationship of the dropout rate, transition probability matrix, and nonlinear level is derived by solving a set of linear matrix inequalities. Finally, an example is presented to illustrate the effectiveness of the proposed method.
Chaos control for the family of Roessler systems using feedback controllers
Energy Technology Data Exchange (ETDEWEB)
Liao Xiaoxin [Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074 (China); Yu Pei [Department of Applied Mathematics, University of Western Ontario, London, Ont., N6A 5B7 (Canada)]. E-mail: pyu@pyu1.apmaths.uwo.ca
2006-07-15
This paper presents a new method for controlling chaos in several classical chaotic Roessler systems using feedback control strategy. In particular, for an arbitrarily given equilibrium point of a Roessler system, we design explicit and simple feedback control laws by which the equilibrium point is globally and exponentially stabilized. Six typical Roessler systems are studied, and explicit formulas are derived for estimating the convergence rate of these systems. Numerical examples are presented to illustrate the theoretical results. A mistake has been found in the existing literature, and a correct result is given.
Pinning Lur’e Complex Networks via Output Feedback Control
Directory of Open Access Journals (Sweden)
Fang Liu
2014-01-01
Full Text Available Without requiring the full-state information of network nodes, this paper studies the pinning synchronization in a network of Lur’e dynamical systems based on the output feedback control strategy. Some simple pinning conditions are established for both undirected and directed Lur’e networks by using M-matrix theory and S-procedure technique. With the derived stability criteria, the pinning synchronization problem of large-scale Lur’e networks can be transformed to the test of a low-dimensional linear matrix inequality. Some remarks are further given to address the selection of pinned nodes and the design of pinning feedback gains. Numerical results are provided to demonstrate the effectiveness of the theoretical analysis.
DESIGN AND PERFORMANCE OF INTRA-TRAIN FEEDBACK SYSTEMS AT ATF2
Resta-Lopez, J
2009-01-01
The major goals of the final focus test beam line facility ATF2 are to provide electron beams with a few tens of nanometer beam sizes and beam stability control at the nanometer level. In order to achieve such a level of stability beam-based feedback systems are necessary at different timescales to correct static and dynamic effects. In particular, we present the design of intra-train feedback systems to correct the impact of fast jitter sources. We study a bunchto- bunch feedback system installed in the extraction line to combat the ring extraction transverse jitters. In addition, we design a bunch-to-bunch feedback system at the interaction point for correction of position jitter due to the fast vibration of the magnets in the final focus. Optimum feedback software algorithms are discussed and simulation results are presented.
Self-Controlled Feedback in 10-Year-Old Children: Higher Feedback Frequencies Enhance Learning
Chiviacowsky, Suzete; Wulf, Gabriele; de Medeiros, Franklin Laroque; Kaefer, Angelica; Wally, Raquel
2008-01-01
The purpose of the present study was to examine whether learning in 10-year-old children--that is, the age group for which the Chiviacowsky et al. (2006) study found benefits of self-controlled knowledge of results (KR)--would differ depending on the frequency of feedback they chose. The authors surmised that a relatively high feedback frequency…
Peppen, R.P. van; Kortsmit, M.; Lindeman, E.; Kwakkel, G.
2006-01-01
OBJECTIVE: To establish whether bilateral standing with visual feedback therapy after stroke improves postural control compared with conventional therapy and to evaluate the generalization of the effects of visual feedback therapy on gait and gait-related activities. DESIGN: A systematic review. MET
Control Rod Driveline Reactivity Feedback Model for Liquid Metal Reactors
Energy Technology Data Exchange (ETDEWEB)
Kwon, Young-Min; Jeong, Hae-Yong; Chang, Won-Pyo; Cho, Chung-Ho; Lee, Yong-Bum
2008-01-15
The thermal expansion of the control rod drivelines (CRDL) is one important passive mitigator under all unprotected accident conditions in the metal and oxide cores. When the CRDL are washed by hot sodium in the coolant outlet plenum, the CRDL thermally expands and causes the control rods to be inserted further down into the active core region, providing a negative reactivity feedback. Since the control rods are attached to the top of the vessel head and the core attaches to the bottom of the reactor vessel (RV), the expansion of the vessel wall as it heats will either lower the core or raise the control rods supports. This contrary thermal expansion of the reactor vessel wall pulls the control rods out of the core somewhat, providing a positive reactivity feedback. However this is not a safety factor early in a transient because its time constant is relatively large. The total elongated length is calculated by subtracting the vessel expansion from the CRDL expansion to determine the net control rod expansion into the core. The system-wide safety analysis code SSC-K includes the CRDL/RV reactivity feedback model in which control rod and vessel expansions are calculated using single-nod temperatures for the vessel and CRDL masses. The KALIMER design has the upper internal structures (UIS) in which the CRDLs are positioned outside the structure where they are exposed to the mixed sodium temperature exiting the core. A new method to determine the CRDL expansion is suggested. Two dimensional hot pool thermal hydraulic model (HP2D) originally developed for the analysis of the stratification phenomena in the hot pool is utilized for a detailed heat transfer between the CRDL mass and the hot pool coolant. However, the reactor vessel wall temperature is still calculated by a simple lumped model.
Multichannel electrotactile feedback for simultaneous and proportional myoelectric control
Patel, Gauravkumar K.; Dosen, Strahinja; Castellini, Claudio; Farina, Dario
2016-10-01
Objective. Closing the loop in myoelectric prostheses by providing artificial somatosensory feedback to the user is an important need for prosthetic users. Previous studies investigated feedback strategies in combination with the control of one degree of freedom of simple grippers. Modern hands, however, are sophisticated multifunction systems. In this study, we assessed multichannel electrotactile feedback integrated with an advanced method for the simultaneous and proportional control of individual fingers of a dexterous hand. Approach. The feedback used spatial and frequency coding to provide information on the finger positions (normalized flexion angles). A comprehensive set of conditions have been investigated in 28 able-bodied subjects, including feedback modalities (visual, electrotactile and no feedback), control tasks (fingers and grasps), systems (virtual and real hand), control methods (ideal and realistic) and range of motion (low and high). The task for the subjects was to operate the hand using closed-loop myoelectric control and generate the desired movement (e.g., selected finger or grasp at a specific level of closure). Main results. The subjects could perceive the multichannel and multivariable electrotactile feedback and effectively exploit it to improve the control performance with respect to open-loop grasping. The improvement however depended on the reliability of the feedforward control, with less consistent control exhibiting performance trends that were more complex across the conditions. Significance. The results are promising for the potential application of advanced feedback to close the control loop in sophisticated prosthetic systems.
On the Optimal Controller for LTV Measurement Feedback Control Problem
Institute of Scientific and Technical Information of China (English)
Ting GONG; Yu Feng LU
2011-01-01
In this paper, we consider the measurement feedback control problem for discrete linear time-varying systems within the framework of nest algebra consisting of causal and bounded linear operators. Based on the inner-outer factorization of operators, we reduce the control problem to a distance from a certain operator to a special subspace of a nest algebra and show the existence of the optimal LTV controller in two different ways: one via the characteristic of the subspace in question directly, the other via the duality theory. The latter also gives a new formula for computing the optimal cost.
Role of feedback in voluntary control of heart rate.
Manuck, S B; Levenson, R W; Hinrichsen, J J; Gryll, S L
1975-06-01
The relative effectiveness of biofeedback techniques on the voluntary control of heart rate was examined by randomly assigning 32 Ss to one of four feedback conditions in a bi-directional heart-rate control task: (1) no feedback, (2) binary feedback--S was signaled when an interbeat interval had changed in the correct direction, (3) "real-time," proportional feedback--S was provided information about the relative duration of successive interbeat intervals, and (4) numerical, proportional feedback--each interbeat interval was represented as a numeral indicating its relationship to pre-trial mean by direction and magnitude. Significant over-all heart-rate changes were evidenced for both increase and decrease directions, but no differences were found between the feedback conditions. While these data suggest that feedback may be a relatively insignificant factor in voluntary heart-rate control, it was recommended that further investigation examine the role of feedback within the context of other training, mediating and motivational variables.
Learning design and feedback processes at scale
DEFF Research Database (Denmark)
Ringtved, Ulla L.; Miligan, Sandra; Corrin, Linda
2016-01-01
design and would benefit from learning analytics support? What is the character of analytics that can be deployed to help deliver good design of online learning platforms? What are the theoretical and pedagogical bases inherent in different analytics designs? These and other questions will be examined......Design for teaching in scaled courses is shifting away from replication of the traditional on-campus or online teaching-learning relationship towards exploiting the distinctive characteristic and potentials of that environment to transform both teaching and learning. This involves consideration...
Multi-objective optimal design of active vibration absorber with delayed feedback
Huan, Rong-Hua; Chen, Long-Xiang; Sun, Jian-Qiao
2015-03-01
In this paper, a multi-objective optimal design of delayed feedback control of an actively tuned vibration absorber for a stochastically excited linear structure is investigated. The simple cell mapping (SCM) method is used to obtain solutions of the multi-objective optimization problem (MOP). The continuous time approximation (CTA) method is applied to analyze the delayed system. Stability is imposed as a constraint for MOP. Three conflicting objective functions including the peak frequency response, vibration energy of primary structure and control effort are considered. The Pareto set and Pareto front for the optimal feedback control design are presented for two examples. Numerical results have found that the Pareto optimal solutions provide effective delayed feedback control design.
Feedback control of acoustic musical instruments: collocated control using physical analogs.
Berdahl, Edgar; Smith, Julius O; Niemeyer, Günter
2012-01-01
Traditionally, the average professional musician has owned numerous acoustic musical instruments, many of them having distinctive acoustic qualities. However, a modern musician could prefer to have a single musical instrument whose acoustics are programmable by feedback control, where acoustic variables are estimated from sensor measurements in real time and then fed back in order to influence the controlled variables. In this paper, theory is presented that describes stable feedback control of an acoustic musical instrument. The presentation should be accessible to members of the musical acoustics community who may have limited or no experience with feedback control. First, the only control strategy guaranteed to be stable subject to any musical instrument mobility is described: the sensors and actuators must be collocated, and the controller must emulate a physical analog system. Next, the most fundamental feedback controllers and the corresponding physical analog systems are presented. The effects that these controllers have on acoustic musical instruments are described. Finally, practical design challenges are discussed. A proof explains why changing the resonance frequency of a musical resonance requires much more control power than changing the decay time of the resonance.
Control of a Unified Chaotic System via Single Variable Feedback
Guo, Rong-Wei; Vincent E., U.
2009-09-01
Based on the LaSalle invariance principle, we propose a simple adaptive-feedback for controlling the unified chaotic system. We show explicitly with numerical proofs that our method can easily achieve the control of chaos in the unified chaotic system using only a single variable feedback. The present controller, to our knowledge, is the simplest control scheme for controlling a unified chaotic system.
Fuzzy-PID controlled lift feedback fin stabilizer
Institute of Scientific and Technical Information of China (English)
LIANG Yan-hua; JIN Hong-zhang; LIANG Li-hua
2008-01-01
Conventional PID controllers are widely used in fin stabilizer control systems,but they have time-variations,nonlinearity,and uncertainty influencing their control effects.A lift feedback fuzzy-PID control method was developed to better deal with these problems,and this lift feedback fin stabilizer system was simulated under different sea condition.Test results showed the system has better anti-rolling performance than traditional fin-angle PID control systems.
A Design Framework for Scalar Feedback in MIMO Broadcast Channels
Directory of Open Access Journals (Sweden)
Dirk T. M. Slock
2007-12-01
Full Text Available Joint linear beamforming and scheduling are performed in a system where limited feedback is present at the transmitter side. The feedback conveyed by each user to the base station consists of channel direction information (CDI based on a predetermined codebook and a scalar metric with channel quality information (CQI used to perform user scheduling. In this paper, we present a design framework for scalar feedback in MIMO broadcast channels with limited feedback. An approximation on the sum rate is provided for the proposed family of metrics, which is validated through simulations. For a given number of active users and average SNR conditions, the base station is able to update certain transmission parameters in order to maximize the sum-rate function. On the other hand, the proposed sum-rate function provides a means of simple comparison between transmission schemes and scalar feedback techniques. Particularly, the sum rate of SDMA and time division multiple access (TDMA is compared in the following extreme regimes: large number of users, high SNR, and low SNR. Simulations are provided to illustrate the performance of various scalar feedback techniques based on the proposed design framework.
Kim, Nakwan
Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.
Design of Feedback in Interactive Multimedia Language Learning Environments
Directory of Open Access Journals (Sweden)
Vehbi Türel
2012-01-01
Full Text Available In interactive multimedia environments, different digital elements (i. e. video, audio, visuals, text, animations, graphics and glossary can be combined and delivered on the same digital computer screen (TDM 1997: 151, CCED 1987, Brett 1998: 81, Stenton 1998: 11, Mangiafico 1996: 46. This also enables effectively provision and presentation of feedback in pedagogically more efficient ways, which meets not only the requirement of different teaching and learning theories, but also the needs of language learners who vary in their learning-style preferences (Robinson 1991: 156, Peter 1994: 157f.. This study aims to bring out the pedagogical and design principles that might help us to more effectively design and customise feedback in interactive multimedia language learning environments. While so doing, some examples of thought out and customized computerised feedback from an interactive multimedia language learning environment, which were designed and created by the author of this study and were also used for language learning purposes, will be shown.
量化反馈控制与估计的综述%Introduction to quantized feedback control and estimation
Institute of Scientific and Technical Information of China (English)
付敏跃
2009-01-01
This paper serves as a tutorial paper for a new area of research in control systems, namely, quantized feedback control and estimation. This area is motivated by the increasing need of incorporating communication networks in a control system. In such a framework, feedback information needs to be transmitted over a digital network, which results in a mumber of new challenges for estimation and control design. The focus of this paper is to introduce a mumber d recent results on the design of quantisets for the purposes of control design and state estimation.uantized feedback control, networked control, quantized estimation, robust control.
H{sup {infinity}} State Feedback Control for Generalized Continuous/Discrete Time Delay System
Energy Technology Data Exchange (ETDEWEB)
Kim, J.H.; Lee, S.K.; Park, H.B. [Kyungpook National University, Taegu (Korea, Republic of); Jeung, E.T. [Changwon National University, Changwon (Korea, Republic of)
1998-04-01
In this paper, we consider the problem of designing H{sup {infinity}} state feedback controller for the generalized time delay systems with delayed states and control inputs in continuous and discrete time cases, respectively. The generalized time delay system problems are solved on the basis of LMI(linear matrix inequality) technique considering time delays. The sufficient condition for the existence of controller and H{sup {infinity}} state feedback controller design methods are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be rewritten as a LMI form in terms of transformed variables. The proposed controller design method can be extended into the problem of robust H{sup {infinity}} state feedback controller design method easily. (author). 15 refs.
Design of Cognitive Interfaces for Personal Informatics Feedback
DEFF Research Database (Denmark)
Jensen, Camilla Birgitte Falk
to personal informatics systems, and propose an approach to design cognitive interfaces, which considers both users’ motivations, needs, and goals. In this thesis I propose a new personal informatics framework, the feedback loop, which incorporates lean agile design principles. Including hierarchical modeling....... For instance, examining emotional responses to pleasant and unpleasant media content from brain activity, reveals the large amount of data and extensive analysis required to apply this to future personal informatics systems. In addition we analyse challenges related to temporal aspects of the feedback loop...
A Pulsed Spectrometer Designed for Feedback NQR
Schiano, J. L.; Ginsberg, M. D.
2000-02-01
A pulsed NQR spectrometer specifically designed to facilitate real-time tuning of pulse sequence parameters is described. A modular approach based on the interconnection of several rack-mounted blocks provides easy access to all spectrometer signals and simplifies the task of modifying the spectrometer design. We also present experimental data that demonstrates the ability of the spectrometer to increase the signal to noise ratio of NQR measurements by automatically adjusting the pulse width in the strong off-resonant comb pulse sequence.
Narciss, Susanne
2013-01-01
This paper describes the interactive tutoring feedback model (ITF-model; Narciss, 2006; 2008), and how it can be applied to the design and evaluation of feedback strategies for digital learning environments. The ITF-model conceptualizes formative tutoring feedback as a multidimensional instructional activity that aims at contributing to the…
Active Noise Feedback Control Using a Neural Network
Zhang Qizhi; Jia Yongle
2001-01-01
The active noise control (ANC) is discussed. Many digital ANC systems often based on the filter-x algorithm for finite impulse response (FIR) filter use adaptive filtering techniques. But if the primary noise path is nonlinear, the control system based on adaptive filter technology will be invalid. In this paper, an adaptive active nonlinear noise feedback control approach using a neural network is derived. The feedback control system drives a secondary signal to destructively interfere with ...
Lyapunov optimal feedback control of a nonlinear inverted pendulum
Grantham, W. J.; Anderson, M. J.
1989-01-01
Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.
Remote Robot Control With High Force-Feedback Gain
Kim, Won S.
1993-01-01
Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.
Lyapunov optimal feedback control of a nonlinear inverted pendulum
Grantham, W. J.; Anderson, M. J.
1989-01-01
Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.
ORBIT FEEDBACK CONTROL FOR THE LHC Prototyping at the SPS
Steinhagen, Ralph J
2004-01-01
The Large Hadron Collider (LHC) is the next generation proton collider that is presently built at CERN. The LHC will be installed in the former LEP (Large Electron Positron Collider) tunnel. The presence of a high intensity beam in an environment of cryogenic magnets requires an excellent control of particle losses from the beam. Eventually the performance of the LHC may be limited by the ability to control the beam losses. The performance of the LHC cleaning system depends critically on the beam position stability. Ground motion, field and alignment imperfections and beam manipulations may cause orbit movements. The role of the future LHC Orbit Feedback System is the minimisation of closed orbit perturbations by periodically measuring and steering the transverse beam position back to its reference position. This diploma thesis focuses on the design and prototyping of an orbit feedback system at the SPS. The design is based on a separation of the steering problem into space and time. While the correction in s...
Robust adaptive output feedback control of nonlinearly parameterized systems
Institute of Scientific and Technical Information of China (English)
LIU Yusheng; LI Xingyuan
2007-01-01
The ideas of adaptive nonlinear damping and changing supply functions were used to counteract the effects of parameter and nonlinear uncertainties,unmodeled dynamics and unknown bounded disturbances.The high-gain observer was used to estimate the state of the system.A robust adaptive output feedback control scheme was proposed for nonlinearly parameterized systems represented by inputoutput models.The scheme does not need to estimate the unknown parameters nor add a dynamical signal to dominate the effects of unmodeled dynamics.It is proven that the proposed control scheme guarantees that all the variables in the closed-loop system are bounded and the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately.Simulation results have illustrated the effectiveness of the proposed robust adaptive control scheme.
Stability and optimal parameters for continuous feedback chaos control.
Kouomou, Y Chembo; Woafo, P
2002-09-01
We investigate the conditions under which an optimal continuous feedback control can be achieved. Chaotic oscillations in the single-well Duffing model, with either a positive or a negative nonlinear stiffness term, are tuned to their related Ritz approximation. The Floquet theory enables the stability analysis of the control. Critical values of the feedback control coefficient fulfilling the optimization criteria are derived. The influence of the chosen target orbit, of the feedback coefficient, and of the onset time of control on its duration is discussed. The analytic approach is confirmed by numerical simulations.
H∞ State Feedback Delay-dependent Control for Discrete Systems with Multi-time-delay
Institute of Scientific and Technical Information of China (English)
Bai-Da Qu
2005-01-01
In this paper,H∞ state feedback control with delay information for discrete systems with multi-time-delay is discussed. Making use of linear matrix inequality (LMI) approach, a time-delay-dependent criterion for a discrete system with multi-time-delay to satisfy H∞ performance indices is induced, and then a strategy for H∞ state feedback control with delay values for plant with multi-time-delay is obtained. By solving corresponding LMI, a delay-dependent state feedback controller satisfying H∞ performance indices is designed. Finally, a simulation example demonstrates the validity of the proposed approach.
Thermodynamics of quantum-jump-conditioned feedback control.
Strasberg, Philipp; Schaller, Gernot; Brandes, Tobias; Esposito, Massimiliano
2013-12-01
We consider open quantum systems weakly coupled to thermal reservoirs and subjected to quantum feedback operations triggered with or without delay by monitored quantum jumps. We establish a thermodynamic description of such systems and analyze how the first and second law of thermodynamics are modified by the feedback. We apply our formalism to study the efficiency of a qubit subjected to a quantum feedback control and operating as a heat pump between two reservoirs. We also demonstrate that quantum feedbacks can be used to stabilize coherences in nonequilibrium stationary states which in some cases may even become pure quantum states.
Nonlinear feedback control of spatiotemporal chaos in coupled map lattices
Directory of Open Access Journals (Sweden)
Jin-Qing Fang
1998-01-01
Full Text Available We describe a nonlinear feedback functional method for study both of control and synchronization of spatiotemporal chaos. The method is illustrated by the coupled map lattices with five different connection forms. A key issue addressed is to find nonlinear feedback functions. Two large types of nonlinear feedback functions are introduced. The efficient and robustness of the method based on the flexibility of choices of nonlinear feedback functions are discussed. Various numerical results of nonlinear control are given. We have not found any difficulty for study both of control and synchronization using nonlinear feedback functional method. The method can also be extended to time continuous dynamical systems as well as to society problems.
TRACKING CONTROL OF AN UNDERACTUATED GANTRY CRANE USING AN OPTIMAL FEEDBACK CONTROLLER
Directory of Open Access Journals (Sweden)
Firooz Bakhtiari-Nejad
2013-06-01
Full Text Available Gantry cranes have attracted a great deal of interest in transportation and industrial applications. To increase the effectiveness of gantry cranes, the control of such systems is considered vital. This paper is concerned with tracking the control of an underactuated gantry crane using an optimal feedback controller. The optimal control strategy takes into account a performance index, including integrated time and absolute error criterion. To do this, nonlinear dynamic equations of the system are derived using Lagrange’s Principle. The minimum tracking error of the trolley and the minimum oscillation of the hoisting line are assumed as design parameters, and the best gains of the feedback controller are achieved. Finally, some tracking simulations are performed which demonstrate the capability of the simple proposed method in the optimal tracking control of a gantry crane.
An Industrial Model Based Disturbance Feedback Control Scheme
DEFF Research Database (Denmark)
Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper
2014-01-01
This paper presents a model based disturbance feedback control scheme. Industrial process systems have been traditionally controlled by using relay and PID controller. However these controllers are affected by disturbances and model errors and these effects degrade control performance. The authors...... propose a new control method that can decrease the negative impact of disturbance and model errors. The control method is motivated by industrial practice by Fuji Electric. Simulation tests are examined with a conventional PID controller and the disturbance feedback control. The simulation results...
Direct laser additive fabrication system with image feedback control
Energy Technology Data Exchange (ETDEWEB)
Griffith, Michelle L. (Albuquerque, NM); Hofmeister, William H. (Nashville, TN); Knorovsky, Gerald A. (Albuquerque, NM); MacCallum, Danny O. (Edgewood, NM); Schlienger, M. Eric (Albuquerque, NM); Smugeresky, John E. (Pleasanton, CA)
2002-01-01
A closed-loop, feedback-controlled direct laser fabrication system is disclosed. The feedback refers to the actual growth conditions obtained by real-time analysis of thermal radiation images. The resulting system can fabricate components with severalfold improvement in dimensional tolerances and surface finish.
Nonlinear signal-based control with an error feedback action for nonlinear substructuring control
Enokida, Ryuta; Kajiwara, Koichi
2017-01-01
A nonlinear signal-based control (NSBC) method utilises the 'nonlinear signal' that is obtained from the outputs of a controlled system and its linear model under the same input signal. Although this method has been examined in numerical simulations of nonlinear systems, its application in physical experiments has not been studied. In this paper, we study an application of NSBC in physical experiments and incorporate an error feedback action into the method to minimise the error and enhance the feasibility in practice. Focusing on NSBC in substructure testing methods, we propose nonlinear substructuring control (NLSC), that is a more general form of linear substructuring control (LSC) developed for dynamical substructured systems. In this study, we experimentally and numerically verified the proposed NLSC via substructuring tests on a rubber bearing used in base-isolated structures. In the examinations, NLSC succeeded in gaining accurate results despite significant nonlinear hysteresis and unknown parameters in the substructures. The nonlinear signal feedback action in NLSC was found to be notably effective in minimising the error caused by nonlinearity or unknown properties in the controlled system. In addition, the error feedback action in NLSC was found to be essential for maintaining stability. A stability analysis based on the Nyquist criterion, which is used particularly for linear systems, was also found to be efficient for predicting the instability conditions of substructuring tests with NLSC and useful for the error feedback controller design.
Semiglobal H-infinity State Feedback Control
DEFF Research Database (Denmark)
Cromme, Marc; Stoustrup, Jakob
1996-01-01
Semi-global set-stabilizing H-infinity controlis a local within some given compact set such that all statetrajectories are bounded inside the set, and are approaching an openloop invariant subset as time approaches infinity. Sufficientconditions for the existence of a continuous state feedback law...
Suppression of beam halo-chaos using nonlinear feedback discrete control method
Fang Jin Qing; Chen Guan Rong; Luo Xiao Shu; Weng Jia Qiang
2002-01-01
Based on nonlinear feedback control method, wavelet-based feedback controller as a especial nonlinear feedback function is designed for controlling beam halo-chaos in high-current accelerators of driven clean nuclear power system. PIC simulations show that suppression of beam halo-chaos are realized effectively after discrete control of wavelet-based feed-back is applied to five kinds of the initial proton beam distributions, respectively. The beam halo strength factor is quickly reduced to zero, and other statistical physical quantities of beam halo-chaos are more than doubly reduced. These performed PIC simulation results demonstrate that the developed methods are very effective for control of beam halo-chaos. Potential application of the beam halo-chaos control methods is discussed finally
Wang, Gang; Chen, Changzheng; Yu, Shenbo
2016-09-01
In this paper, the static output-feedback control problem of active suspension systems with information structure constraints is investigated. In order to simultaneously improve the ride comfort and stability, a half car model is used. Other constraints such as suspension deflection, actuator saturation, and controller constrained information are also considered. A novel static output-feedback design method based on the variable substitution is employed in the controller design. A single-step linear matrix inequality (LMI) optimization problem is solved to derive the initial feasible solution with a sparsity constraint. The initial infeasibility issue of the static output-feedback is resolved by using state-feedback information. Specifically, an optimization algorithm is proposed to search for less conservative results based on the feasible controller gain matrix. Finally, the validity of the designed controller for different road profiles is illustrated through numerical examples. The simulation results indicate that the optimized static output-feedback controller can achieve better suspension performances when compared with the feasible static output-feedback controller.
Dynamic Feedback Controlling Chaos in Current-Mode Boost Converter
Institute of Scientific and Technical Information of China (English)
LU Wei-Guo; ZHOU Luo-Wei; LUO Quan-Ming
2007-01-01
A method for the control of chaos in the current-mode boost converter is presented by using the first-order dynamic feedback control. The feedback part consists of a resistance and a capacitance in series. The system to be controlled is treated as a third-order model, and then the discrete mapping model is obtained by using the data-sampling method. By analysing the position of the maximum norm eigenvalue, the stable range of feedback gain is ascertained out and its optimization is also carried out. Finally, the results of simulation and experiment confirm the correctness of the theoretical analysis and the validity of the proposed means.
Monitoring Conceptual Development: Design Considerations of a Formative Feedback tool
Berlanga, Adriana; Smithies, Alisdair; Braidman, Isobel; Wild, Fridolin
2010-01-01
Berlanga, A. J., Smithies, A., Braidman, I., & Wild, F. (2010, 15 September). Monitoring Conceptual Development: Design Considerations of a Formative Feedback Tool. Presentation at the Interactive Computer Aided Learning Conference (ICL 2010), Track on Computer-based Knowledge & Skill Assessment and
Three Principles for the Design of Energy Feedback Visualizations
DEFF Research Database (Denmark)
Brewer, Robert S.; Xu, Yongwen; Lee, George E.
2013-01-01
To achieve the full benefits of the Smart Grid, end users must become active participants in the energy ecosystem. This paper presents the Kukui Cup challenge, a multifaceted serious game designed around the topic of energy conservation that incorporates a variety of energy feedback visualization...
Design of Optimal Sparse Feedback Gains via the Alternating Direction Method of Multipliers
Lin, Fu; Jovanović, Mihailo R
2011-01-01
We design sparse and block sparse feedback gains that minimize the $H_2$ norm of distributed systems. Our approach consists of two steps. First, we identify sparsity patterns of the feedback gains by incorporating sparsity-promoting penalty functions into the $H_2$ problem, where the added terms penalize the number of communication links in the distributed controller. Second, we optimize the state feedback gains subject to the structural constraints determined by the identified sparsity patterns. This polishing step improves the $H_2$ performance of the distributed controllers. In the first step, we identify sparsity structure of the feedback gains using the alternating direction method of multipliers, which is a powerful algorithm well-suited to large optimization problems. This method alternates between optimizing the sparsity and optimizing the closed-loop $H_2$ norm, which allows us to exploit the structure of the corresponding objective functions. In particular, we take advantage of the separability of t...
Neural mechanisms underlying auditory feedback control of speech.
Tourville, Jason A; Reilly, Kevin J; Guenther, Frank H
2008-02-01
The neural substrates underlying auditory feedback control of speech were investigated using a combination of functional magnetic resonance imaging (fMRI) and computational modeling. Neural responses were measured while subjects spoke monosyllabic words under two conditions: (i) normal auditory feedback of their speech and (ii) auditory feedback in which the first formant frequency of their speech was unexpectedly shifted in real time. Acoustic measurements showed compensation to the shift within approximately 136 ms of onset. Neuroimaging revealed increased activity in bilateral superior temporal cortex during shifted feedback, indicative of neurons coding mismatches between expected and actual auditory signals, as well as right prefrontal and Rolandic cortical activity. Structural equation modeling revealed increased influence of bilateral auditory cortical areas on right frontal areas during shifted speech, indicating that projections from auditory error cells in posterior superior temporal cortex to motor correction cells in right frontal cortex mediate auditory feedback control of speech.
Task-space sensory feedback control of robot manipulators
Cheah, Chien Chern
2015-01-01
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...
Multiobjective controller synthesis via eigenstructure assignment with state feedback
Li, Zhao; Lam, James
2016-10-01
A general parameter scheme for multiobjective controller synthesis via eigenstructure assignment with state feedback is proposed. The scheme provides total pole configurability, that is, pole assignment constraints, partial pole assignment constraints, generalised regional pole assignment constraints can be dealt with simultaneously without introducing essential conservatism. The scheme is derived from the pole assignment approach using Sylvester equations, and the parameter space is the Cartesian product of some subspaces characterising the free parameters. Under the scheme, the controller design problems are formulated as nonlinear optimisation problems with both objectives and constraints being differentiable and can be solved by derivative-based nonlinear programming technique. Numerical examples are given to illustrate the efficiency of the proposed method.
Observer-based output feedback control of discrete-time linear systems with input and output delays
Zhou, Bin
2014-11-01
In this paper, we study observer-based output feedback control of discrete-time linear systems with both multiple input and output delays. By generalising our recently developed truncated predictor feedback approach for state feedback stabilisation of discrete-time time-delay systems to the design of observer-based output feedback, two types of observer-based output feedback controllers, one being memory and the other memoryless, are constructed. Both full-order and reduced-order observer-based controllers are established in both the memory and memoryless schemes. It is shown that the separation principle holds for the memory observer-based output feedback controllers, but does not hold for the memoryless ones. We further show that the proposed observer-based output feedback controllers solve both the l2 and l∞ semi-global stabilisation problems. A numerical example is given to illustrate the effectiveness of the proposed approaches.
Chen, Weisheng; Jiao, Licheng; Li, Jing; Li, Ruihong
2010-06-01
For the first time, this paper addresses the problem of adaptive output-feedback control for a class of uncertain stochastic nonlinear strict-feedback systems with time-varying delays using neural networks (NNs). The circle criterion is applied to designing a nonlinear observer, and no linear growth condition is imposed on nonlinear functions depending on system states. Under the assumption that time-varying delays exist in the system output, only an NN is employed to compensate for all unknown nonlinear terms depending on the delayed output, and thus, the proposed control algorithm is more simple even than the existing NN backstepping control schemes for uncertain systems described by ordinary differential equations. Three examples are given to demonstrate the effectiveness of the control scheme proposed in this paper.
System and method of designing models in a feedback loop
Energy Technology Data Exchange (ETDEWEB)
Gosink, Luke C.; Pulsipher, Trenton C.; Sego, Landon H.
2017-02-14
A method and system for designing models is disclosed. The method includes selecting a plurality of models for modeling a common event of interest. The method further includes aggregating the results of the models and analyzing each model compared to the aggregate result to obtain comparative information. The method also includes providing the information back to the plurality of models to design more accurate models through a feedback loop.
Institute of Scientific and Technical Information of China (English)
邓大磊; 王奔; 尹维恒
2013-01-01
提出一种基于状态反馈精确线性化变结构控制的静止同步串联补偿器(SSSC)控制器设计方法.考虑到SSSC交流侧电压幅值和相角以及直流侧电容电压的动态调节过程,建立了SSSC在同步旋转dq坐标系下的非线性数学模型,在此模型的基础上,采用状态反馈精确线性化方法将原非线性系统转化为线性系统.然后,应用变结构控制原理设计SSSC控制器,同时通过PI控制稳定直流侧电容电压.最后,利用MATLAB仿真软件搭建了装设有SSSC的110kV输电系统的仿真模型,仿真结果表明了所设计的控制器能够很好地根据需求来改善电网输电能力,具有良好的暂态控制性能.%To improve the power grid transmission capacity with the static synchronous serier compensator (SSSC),a design method of SSSC controller based on exact linearization via feedback and variable structure control is proposed.By considering of the dynamic regulating process of the voltage magnitude and angle in the ac side of SSSC and the dynamic variable characteristics of the capacitance voltage in the dc side of SSSC,a nonlinear mathematical model of SSSC in synchronously rotating dq frame of coordinate system is built,based on which state feedback based exact linearization method is presented to convert the nonlinear mathematical model into the linear one.Then,the controller of SSSC is designed by using variable structure control theory,and DC capacity voltage is stabilized by PI control.In the end,the model of 110kV transmission system with SSSC is built by MATLAB for simulation and analysis.The simulation results show that the designed controllers can improve the power grid transmission capacity according to demand,which has good transient control performance.
Feedback Control of Plasma Current and Horizontal Position in HT-7
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
There is a strong magnetic coupling between poloidal field coils of superconducting tokamak HT-7, especially between ohinic heating and vertical field coils. These coils are connected to individual power supply. The control system for the plasma current and horizontal position control has been designed and showed satisfactory results with the feedback control of multivariable feedforward-decoupling and var-parameter PID controller to simultaneously modulate power supplies. The design and analysis of the control system is presented.
Chaos control in delayed chaotic systems via sliding mode based delayed feedback
Energy Technology Data Exchange (ETDEWEB)
Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)
2009-04-15
This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.
Designing of vague logic based multilevel feedback queue scheduler
Directory of Open Access Journals (Sweden)
Supriya Raheja
2016-03-01
Full Text Available Multilevel feedback queue scheduler suffers from major issues of scheduling such as starvation for long tasks, fixed number of queues, and static length of time quantum in each queue. These factors directly affect the performance of the scheduler. At many times impreciseness exists in attributes of tasks which make the performance even worse. In this paper, our intent is to improve the performance by providing a solution to these issues. We design a multilevel feedback queue scheduler using a vague set which we call as VMLFQ scheduler. VMLFQ scheduler intelligently handles the impreciseness and defines the optimum number of queues as well as the optimal size of time quantum for each queue. It also resolves the problem of starvation. This paper simulates and analyzes the performance of VMLFQ scheduler with the other multilevel feedback queue techniques using MatLab.
A force feedback joystick and control algorithm for wheelchair obstacle avoidance.
Brienza, D M; Angelo, J
1996-03-01
Many powered wheelchair users have difficulty manoeuvring in confined spaces. Common tasks such as traversing through doorways, turning around in halls or travelling on a straight path are complicated by an inability to accurately and reliably control the wheelchair with a joystick or other common input device, or by a sensory impairment that prevents the user from receiving feedback from the environment. An active joystick with force feedback to indicate obstacles in the environment has been developed. Two force feedback schemes designed to assist a powered wheelchair user have been developed and implemented using the active joystick. The development of the joystick and associated control algorithms are described.
Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin
2014-10-01
The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.
Modification of piezoelectric vibratory gyroscope resonator parameters by feedback control
CSIR Research Space (South Africa)
Loveday, PW
1998-09-01
Full Text Available A method for analyzing the effect of feedback control on the dynamics of piezoelectric resonators used in vibratory gyroscopes has been developed. This method can be used to determine the feasibility of replacing the traditional mechanical balancing...
Feedback Scheduling of Priority-Driven Control Networks
Xia, Feng; Tian, Yu-Chu
2008-01-01
With traditional open-loop scheduling of network resources, the quality-of-control (QoC) of networked control systems (NCSs) may degrade significantly in the presence of limited bandwidth and variable workload. The goal of this work is to maximize the overall QoC of NCSs through dynamically allocating available network bandwidth. Based on codesign of control and scheduling, an integrated feedback scheduler is developed to enable flexible QoC management in dynamic environments. It encompasses a cascaded feedback scheduling module for sampling period adjustment and a direct feedback scheduling module for priority modification. The inherent characteristics of priority-driven control networks make it feasible to implement the proposed feedback scheduler in real-world systems. Extensive simulations show that the proposed approach leads to significant QoC improvement over the traditional open-loop scheduling scheme under both underloaded and overloaded network conditions.
The ironies of vehicle feedback in car design.
Walker, Guy H; Stanton, Neville A; Young, Mark S
2006-02-10
Car drivers show an acute sensitivity towards vehicle feedback, with most normal drivers able to detect 'the difference in vehicle feel of a medium-size saloon car with and without a fairly heavy passenger in the rear seat' (Joy and Hartley 1953-54). The irony is that this level of sensitivity stands in contrast to the significant changes in vehicle 'feel' accompanying modern trends in automotive design, such as drive-by-wire and increased automation. The aim of this paper is to move the debate from the anecdotal to the scientific level. This is achieved by using the Brunel University driving simulator to replicate some of these trends and changes by presenting (or removing) different forms of non-visual vehicle feedback, and measuring resultant driver situational awareness (SA) using a probe-recall method. The findings confirm that vehicle feedback plays a key role in coupling the driver to the dynamics of their environment (Moray 2004), with the role of auditory feedback particularly prominent. As a contrast, drivers in the study also rated their self-perceived levels of SA and a concerning dissociation occurred between the two sets of results. Despite the large changes in vehicle feedback presented in the simulator, and the measured changes in SA, drivers appeared to have little self-awareness of these changes. Most worryingly, drivers demonstrated little awareness of diminished SA. The issues surrounding vehicle feedback are therefore similar to the classic problems and ironies studied in aviation and automation, and highlight the role that ergonomics can also play within the domain of contemporary vehicle design.
Thermal stabilization of a microring modulator using feedback control.
Padmaraju, Kishore; Chan, Johnnie; Chen, Long; Lipson, Michal; Bergman, Keren
2012-12-17
We describe and demonstrate the use of a feedback control system to thermally stabilize a silicon microring modulator subjected to a thermally volatile environment. Furthermore, we establish power monitoring as an effective and appropriate mechanism to infer the temperature drift of a microring modulator. Our demonstration shows that a high-performance silicon microring-based device, normally inoperable in thermally volatile environments, can maintain error-free performance when a feedback control system is implemented.
Optimal nonlinear feedback control of quasi-Hamiltonian systems
Institute of Scientific and Technical Information of China (English)
朱位秋; 应祖光
1999-01-01
An innovative strategy for optimal nonlinear feedback control of linear or nonlinear stochastic dynamic systems is proposed based on the stochastic averaging method for quasi-Hamiltonian systems and stochastic dynamic programming principle. Feedback control forces of a system are divided into conservative parts and dissipative parts. The conservative parts are so selected that the energy distribution in the controlled system is as requested as possible. Then the response of the system with known conservative control forces is reduced to a controlled diffusion process by using the stochastic averaging method. The dissipative parts of control forces are obtained from solving the stochastic dynamic programming equation.
Pulsed klystrons with feedback controlled mod-anode modulators
Energy Technology Data Exchange (ETDEWEB)
Reass, William A [Los Alamos National Laboratory; Baca, David M [Los Alamos National Laboratory; Jerry, Davis L [Los Alamos National Laboratory; Rees, Daniel E [Los Alamos National Laboratory
2009-01-01
This paper describes a fast rise and fall, totem-pole mod-anode modulators for klystron application. Details of these systems as recently installed utilizing a beam switch tube ''on-deck'' and a planar triode ''off-deck'' in a grid-catch feedback regulated configuration will be provided. The grid-catch configuration regulates the klystron mod-anode voltage at a specified set-point during switching as well as providing a control mechanism that flat-top regulates the klystron beam current during the pulse. This flat-topped klystron beam current is maintained while the capacitor bank droops. In addition, we will review more modern on-deck designs using a high gain, high voltage planar triode as a regulating and switching element. These designs are being developed, tested, and implemented for the Los Alamos Neutron Science Center (LANSCE) accelerator refurbishment project, ''LANSCE-R''. An advantage of the planar triode is that the tube can be directly operated with solid state linear components and provides for a very compact design. The tubes are inexpensive compared to stacked semiconductor switching assemblies and also provide a linear control capability. Details of these designs are provided as well as operational and developmental results.
CONTROL CHAOS IN TRANSITION SYSTEM USING SAMPLED-DATA FEEDBACK
Institute of Scientific and Technical Information of China (English)
陆君安; 谢进; 吕金虎; 陈士华
2003-01-01
The method for controlling chaotic transition system was investigated using sampled-data. The output of chaotic transition system was sampled at a given sampling rate,then the sampled output was used by a feedbacks subsystem to construct a control signal for controlling chaotic transition system to the origin. Numerical simulations are presented to show the effectiveness and feasibility of the developed controller.
Asymptotically optimal feedback control for a system of linear oscillators
Ovseevich, Alexander; Fedorov, Aleksey
2013-12-01
We consider problem of damping of an arbitrary number of linear oscillators under common bounded control. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the ratio of motion time to zero with this control to the minimum one is close to 1, if the initial energy of the system is large.
Tong, Shaocheng; Xu, Yinyin; Li, Yongming
2015-06-01
This paper is concerned with the problem of adaptive fuzzy decentralised output-feedback control for a class of uncertain stochastic nonlinear pure-feedback large-scale systems with completely unknown functions, the mismatched interconnections and without requiring the states being available for controller design. With the help of fuzzy logic systems approximating the unknown nonlinear functions, a fuzzy state observer is designed estimating the unmeasured states. Therefore, the nonlinear filtered signals are incorporated into the backstepping recursive design, and an adaptive fuzzy decentralised output-feedback control scheme is developed. It is proved that the filter system converges to a small neighbourhood of the origin based on appropriate choice of the design parameters. Simulation studies are included illustrating the effectiveness of the proposed approach.
Adaptive Neural Control of MIMO Nonstrict-Feedback Nonlinear Systems With Time Delay.
Zhao, Xudong; Yang, Haijiao; Karimi, Hamid Reza; Zhu, Yanzheng
2016-06-01
In this paper, an adaptive neural output-feedback tracking controller is designed for a class of multiple-input and multiple-output nonstrict-feedback nonlinear systems with time delay. The system coefficient and uncertain functions of our considered systems are both unknown. By employing neural networks to approximate the unknown function entries, and constructing a new input-driven filter, a backstepping design method of tracking controller is developed for the systems under consideration. The proposed controller can guarantee that all the signals in the closed-loop systems are ultimately bounded, and the time-varying target signal can be tracked within a small error as well. The main contributions of this paper lie in that the systems under consideration are more general, and an effective design procedure of output-feedback controller is developed for the considered systems, which is more applicable in practice. Simulation results demonstrate the efficiency of the proposed algorithm.
Global feedback control for pattern-forming systems.
Stanton, L G; Golovin, A A
2007-09-01
Global feedback control of pattern formation in a wide class of systems described by the Swift-Hohenberg (SH) equation is investigated theoretically, by means of stability analysis and numerical simulations. Two cases are considered: (i) feedback control of the competition between hexagon and roll patterns described by a supercritical SH equation, and (ii) the use of feedback control to suppress the blowup in a system described by a subcritical SH equation. In case (i), it is shown that feedback control can change the hexagon and roll stability regions in the parameter space as well as cause a transition from up to down hexagons and stabilize a skewed (mixed-mode) hexagonal pattern. In case (ii), it is demonstrated that feedback control can suppress blowup and lead to the formation of spatially localized patterns in the weakly nonlinear regime. The effects of a delayed feedback are also investigated for both cases, and it is shown that delay can induce temporal oscillations as well as blowup.
Virtual grasping: closed-loop force control using electrotactile feedback.
Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario
2014-01-01
Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.
Feedback control of biomimetic exotendon device for hand rehabilitation in stroke.
Kim, Dong Hyun; Lee, Sang Wook; Park, Hyung-Soon
2014-01-01
Many hand exoskeleton devices have recently been developed for hand rehabilitation of stroke survivors, but most hand exoskeletons focused on implementing joint movement driven by individual actuator located at the finger joints rather than considering function of hand muscle-tendons and their coordination. In order to achieve hand rehabilitation targeted on restoration of specific muscle-tendon functions, a biomimetic hand exotendon device (BiomHED) was introduced recently. This paper introduces a ring-type design of exotendon device for easier donning and the design of a feedback control system for controlling posture of the finger. Technical details of the feedback sensor and controller with preliminary experimental results are presented.
Active Noise Feedback Control Using a Neural Network
Directory of Open Access Journals (Sweden)
Zhang Qizhi
2001-01-01
Full Text Available The active noise control (ANC is discussed. Many digital ANC systems often based on the filter-x algorithm for finite impulse response (FIR filter use adaptive filtering techniques. But if the primary noise path is nonlinear, the control system based on adaptive filter technology will be invalid. In this paper, an adaptive active nonlinear noise feedback control approach using a neural network is derived. The feedback control system drives a secondary signal to destructively interfere with the original noise to cut down the noise power. An on-line learning algorithm based on the error gradient descent method was proposed, and the local stability of closed loop system is proved using the discrete Lyapunov function. A nonlinear simulation example shows that the adaptive active noise feedback control method based on a neural network is very effective to the nonlinear noise control.
Sampled-Data State Feedback Stabilization of Boolean Control Networks.
Liu, Yang; Cao, Jinde; Sun, Liangjie; Lu, Jianquan
2016-04-01
In this letter, we investigate the sampled-data state feedback control (SDSFC) problem of Boolean control networks (BCNs). Some necessary and sufficient conditions are obtained for the global stabilization of BCNs by SDSFC. Different from conventional state feedback controls, new phenomena observed the study of SDSFC. Based on the controllability matrix, we derive some necessary and sufficient conditions under which the trajectories of BCNs can be stabilized to a fixed point by piecewise constant control (PCC). It is proved that the global stabilization of BCNs under SDSFC is equivalent to that by PCC. Moreover, algorithms are given to construct the sampled-data state feedback controllers. Numerical examples are given to illustrate the efficiency of the obtained results.
Institute of Scientific and Technical Information of China (English)
宋亚男; 徐荣华; 王钦若
2011-01-01
Based on the analysis of noise source and noise characteristics in rapier loom's tension-control system, the design method of the control structure and controller is proposed. On the base of the concept of the degree of control difficulty, a suitable analog low-pass filter is chosen for filtering the high-frequency signal and random noise. While in the periodical low-frequency noise processing, the frequency spectrum analysis is used to determine the period of the noise and the coherent mean method is used to obtain the signal. Then, the periodical vibration noise behind the analog low-pass filter can be estimated. Based on the estimation of the noise, a digital filter and feedback compensation are designed and employed to improve the control system's performance. On the other hand, this method is also used to estimate the periodical vibration noise in front of the analog low-pass filter, and the digital filter and the feedforward compensation are designed to improve the control system' s performance. The effectiveness of the analysis and design methods is verified through matlab programming and simulink simulation. The analysis, methods and results proposed in this work provide some data for actual rapier loom's tension control filter and controller design.%在分析剑杆织机张力控制中噪声源及噪声特性的基础上,提出控制结构和控制器的设计方法,选择合适的模拟低通滤波器,对检测通道的高频振动信号和随机噪声进行滤波.针对周期性低频振动噪声,一方面,采用频谱分析定周期+相干平均法定信号的方法估计模拟低通滤波器后的周期性振动噪声,并在反馈通道进行补偿,提高控制性能；另一方面,采用频谱分析定周期+相干平均法定信号的方法估计模拟低通滤波器前的周期性振动噪声,进行前馈补偿,提高控制性能.运用Matlab及仿真,验证分析和设计有效性,并为实际系统滤波器及控制器分析和设计提供依据.
Controlling Flow Turbulence Using Local Pinning Feedback
Institute of Scientific and Technical Information of China (English)
TANG Guo-Ning; HU Gang
2006-01-01
Flow turbulence control in two-dimensional Navier-Stokes equation is considered．By applying local pinning control only to a sjngle component of flow velocity field,the flow turbulence can be controlled to desirable targets．It is found that with certain number of controllers there exist an optimal control strength at which control error takes minimum value,and larger and smaller control strengths give worse control efficiency．The phvsical mechanism underlying these strange control results is analysed based on the interactions between different types of modes.
Adaptive Multi-Objective Optimization Based on Feedback Design
Institute of Scientific and Technical Information of China (English)
窦立谦; 宗群; 吉月辉; 曾凡琳
2010-01-01
The problem of adaptive multi-objective optimization(AMOO) has received extensive attention due to its practical significance.An important issue in optimizing a multi-objective system is adjusting the weighting coefficients of multiple objectives so as to keep track of various conditions.In this paper,a feedback structure for AMOO is designed.Moreover,the reinforcement learning combined with hidden biasing information is applied to online tuning weighting coefficients of objective functions.Finally,the prop...
Optimal and robust feedback controller estimation for a vibrating plate
Fraanje, P.R.; Verhaegen, M.; Doelman, N.J.; Berkhoff, A.
2004-01-01
This paper presents a method to estimate the H2 optimal and a robust feedback controller by means of Subspace Model Identification using the internal model control (IMC) approach. Using IMC an equivalent feed forward control problem is obtained, which is solved by the Causal Wiener filter for the H2
Feedback control in a coupled Brownian ratchet
Institute of Scientific and Technical Information of China (English)
Gao Tian-Fu; Liu Feng-Shan; Chen Jin-Can
2012-01-01
On the basis of the double-well ratchet potential which can be calculated theoretically and implemented experimentally,the influences of the time delay,the coupling constant,and the asymmetric parameter of the potential on the performance of a delayed feedback ratchet consisting of two Brownian particles coupled mutually with a linear elastic force are investigated.The centre-of-mass velocity of two coupled Brownian particles.the average effective diffusion coefficient,and the Pe number are calculated.It is found that the parameters are affected by not only the time delay and coupling constant but also the asymmetric parameter of the double-well ratchet potential.It is also found that the enhancement of the current may be obtained by varying the coupling constant of the system for the weak coupling case.It is expected that the results obtained here may be observed in some physical and biological systems.
Stabilizing unstable steady states using multiple delay feedback control.
Ahlborn, Alexander; Parlitz, Ulrich
2004-12-31
Feedback control with different and independent delay times is introduced and shown to be an efficient method for stabilizing fixed points (equilibria) of dynamical systems. In comparison to other delay based chaos control methods multiple delay feedback control is superior for controlling steady states and works also for relatively large delay times (sometimes unavoidable in experiments due to system dead times). To demonstrate this approach for stabilizing unstable fixed points we present numerical simulations of Chua's circuit and a successful experimental application for stabilizing a chaotic frequency doubled Nd-doped yttrium aluminum garnet laser.
Control of breathing by interacting pontine and pulmonary feedback loops
Directory of Open Access Journals (Sweden)
Yaroslav I Molkov
2013-02-01
Full Text Available The medullary respiratory network generates respiratory rhythm via sequential phase switching, which in turn is controlled by multiple feedbacks including those from the pons and nucleus tractus solitarii; the latter mediates pulmonary afferent feedback to the medullary circuits. It is hypothesized that both pontine and pulmonary feedback pathways operate via activation of medullary respiratory neurons that are critically involved in phase switching. Moreover, the pontine and pulmonary control loops interact, so that pulmonary afferents control the gain of pontine influence of the respiratory pattern. We used an established computational model of the respiratory network (Smith et al. J. Neurophysiol. 2007 and extended it by incorporating pontine circuits and pulmonary feedback. In the extended model, the pontine neurons receive phasic excitatory activation from, and provide feedback to, medullary respiratory neurons responsible for the onset and termination of inspiration. The model was used to study the effects of: (1 vagotomy (removal of pulmonary feedback, (2 suppression of pontine activity attenuating pontine feedback, and (3 these perturbations applied together on the respiratory pattern and durations of inspiration (TI and expiration (TE. In our model: (a the simulated vagotomy resulted in increases of both TI and TE, (b the suppression of pontine-medullary interactions led to the prolongation of TI at relatively constant, but variable TE, and (c these perturbations applied together resulted in apneusis, characterized by a significantly prolonged TI. The results of modeling were compared with, and provided a reasonable explanation for, multiple experimental data. The characteristic changes in TI and TE demonstrated with the model may represent characteristic changes in the balance between the pontine and pulmonary feedback control mechanisms that may reflect specific cardio-respiratory disorders and diseases.
Raul, P R; Dwivedula, R V; Pagilla, P R
2016-07-01
The problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed.
Energy Technology Data Exchange (ETDEWEB)
Mjalli, F.S.; Al-Asheh, S. [Chemical Engineering Department, Qatar University, Doha (Qatar)
2005-10-01
In this work advanced nonlinear neural networks based control system design algorithms are adopted to control a mechanistic model for an ethanol fermentation process. The process model equations for such systems are highly nonlinear. A neural network strategy has been implemented in this work for capturing the dynamics of the mechanistic model for the fermentation process. The neural network achieved has been validated against the mechanistic model. Two neural network based nonlinear control strategies have also been adopted using the model identified. The performance of the feedback linearization technique was compared to neural network model predictive control in terms of stability and set point tracking capabilities. Under servo conditions, the feedback linearization algorithm gave comparable tracking and stability. The feedback linearization controller achieved the control target faster than the model predictive one but with vigorous and sudden controller moves. (Abstract Copyright [2005], Wiley Periodicals, Inc.)
Institute of Scientific and Technical Information of China (English)
张云; 刘允刚; 李艳芳
2006-01-01
The output-feedback stabilization control problem is investigated for a class of nonlinear uncertain systems. Based on the multivariable analog of circle criterion, an observer is designed to estimate the system states and hence the dynamical equations that the estimation error satisfies are derived first. Then, by using integral backstepping approach together with completing square technique, the output-feedback stabilization control is constructively designed such that the closedloop system is asymptotically stable. Finally, an example is given to illustrate the main results of this paper.
Self-Controlled Feedback for a Complex Motor Task
Directory of Open Access Journals (Sweden)
Wolf Peter
2011-12-01
Full Text Available Self-controlled augmented feedback enhances learning of simple motor tasks. Thereby, learners tend to request feedback after trials that were rated as good by themselves. Feedback after good trials promotes positive reinforcement, which enhances motor learning. The goal of this study was to investigate when naïve learners request terminal visual feedback in a complex motor task, as conclusions drawn on simple tasks can hardly be transferred to complex tasks. Indeed, seven of nine learners stated to have intended to request feedback predominantly after good trials, but in contrast to their intention, kinematic analysis showed that feedback was rather requested randomly (23% after good, 44% after intermediate, 33% after bad trials. Moreover, requesting feedback after good trials did not correlate with learning success. It seems that self-estimation of performance in complex tasks is challenging. As a consequence, learners might have focused on certain movement aspects rather than on the overall movement. Further studies should assess the current focus of the learner in detail to gain more insight in self-estimation capabilities during complex motor task learning.
Directory of Open Access Journals (Sweden)
Han Yang
2012-12-01
Full Text Available The analog electronics is a challenging subject for undergraduate students in electrical engineering, due to the complex combination of many previous subjects, such as linear circuit analysis, signal and system, linear control theory and some sort of mathematics. This paper presents the modeling, analysis and design of the operational amplifier, which is used as benchmark system for analog electronics, for undergraduate studies in electrical engineering. Followed by the introduction of the operation amplifier circuit, the design of feedback network for the operational amplifier using MATLAB is presented. The bandwidth and sensitivity analysis for the feedback control loop are also discussed. In order to enhance the stability margin and dynamic characteristics of the operational amplifier, the lead compensator is designed for the feedback loop by adding capacitive component to the feedback resistive network. The presented analysis and design method of the operational amplifier by using MATLAB/SIMULINK can be highly effective to compliment the classroom teaching for circuit design courses for undergraduate studies in electrical engineering.
Gettman, Chang-Ching L.; Adams, Neil; Bedrossian, Nazareth; Valavani, Lena
1993-01-01
This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.
Directory of Open Access Journals (Sweden)
Antfolk Christian
2010-09-01
Full Text Available Abstract Background The users of today's commercial prosthetic hands are not given any conscious sensory feedback. To overcome this deficiency in prosthetic hands we have recently proposed a sensory feedback system utilising a "tactile display" on the remaining amputation residual limb acting as man-machine interface. Our system uses the recorded pressure in a hand prosthesis and feeds back this pressure onto the forearm skin. Here we describe the design and technical solution of the sensory feedback system aimed at hand prostheses for trans-radial/humeral amputees. Critical parameters for the sensory feedback system were investigated. Methods A sensory feedback system consisting of five actuators, control electronics and a test application running on a computer has been designed and built. Firstly, we investigate which force levels were applied to the forearm skin of the user while operating the sensory feedback system. Secondly, we study if the proposed system could be used together with a myoelectric control system. The displacement of the skin caused by the sensory feedback system would generate artefacts in the recorded myoelectric signals. Accordingly, EMG recordings were performed and an analysis of the these are included. The sensory feedback system was also preliminarily evaluated in a laboratory setting on two healthy non-amputated test subjects with a computer generating the stimuli, with regards to spatial resolution and force discrimination. Results We showed that the sensory feedback system generated approximately proportional force to the angle of control. The system can be used together with a myoelectric system as the artefacts, generated by the actuators, were easily removed using a simple filter. Furthermore, the application of the system on two test subjects showed that they were able to discriminate tactile sensation with regards to spatial resolution and level of force. Conclusions The results of these initial experiments
PID feedback for mixed H2/H∞ tracking control of robotic manipulators
Institute of Scientific and Technical Information of China (English)
黄春庆; 施颂椒
2004-01-01
The design objective of a mixed H2/H∞ control is to find the H2 optimal control law under aprescribed disturbance attenuation level. This paper addresses a optimal PID control law on the basis of the newsolution to mixed H2/H∞optimal control problem that provide much more flexible design compared to the existing works. Then a closed-form PID controller to mixed H2/H∞ robotic tracking problem is simply constructed and hence the design procedure is presented.Finally, numerical simulations illustrate the effectiveness of the optimal PID feedback design proposed in this paper via a two-link robotic manipulator.
Wang, Ronghao; Xing, Jianchun; Li, Juelong; Xiang, Zhengrong
2016-10-01
This paper studies the problem of stabilising a sampled-data switched linear system by quantised feedback asynchronously switched controllers. The idea of a quantised feedback asynchronously switched control strategy originates in earlier work reflecting actual system characteristic of switching and quantising, respectively. A quantised scheme is designed depending on switching time using dynamic quantiser. When sampling time, system switching time and controller switching time are all not uniform, the proposed switching controllers guarantee the system to be finite-time stable by a piecewise Lyapunov function and the average dwell-time method. Simulation examples are provided to show the effectiveness of the developed results.
Global adaptive output feedback control for a class of nonlinear time-delay systems.
Zhai, Jun-yong; Zha, Wen-ting
2014-01-01
This paper addresses the problem of global output feedback control for a class of nonlinear time-delay systems. The nonlinearities are dominated by a triangular form satisfying linear growth condition in the unmeasurable states with an unknown growth rate. With a change of coordinates, a linear-like controller is constructed, which avoids the repeated derivatives of the nonlinearities depending on the observer states and the dynamic gain in backstepping approach and therefore, simplifies the design procedure. Using the idea of universal control, we explicitly construct a universal-type adaptive output feedback controller which globally regulates all the states of the nonlinear time-delay systems.
Robust output feedback H-infinity control and filtering for uncertain linear systems
Chang, Xiao-Heng
2014-01-01
"Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.
Proximal Blade Twist Feedback Control for Heliogyro Solar Sails
Smith, Sarah Mitchell
mode is on the order of 0.005%, meaning there is almost no inherent damping in the blade. Next, the proximal blade twist feedback control design was successful in overcoming friction in the root actuator and added damping to the blade. The damping ratio for the lowest frequency torsional mode was increased from 0.001% to 0.09%, which is a significant amount for a heliogyro spacecraft. Finally, the camera sensor used for the proximal differential twist measurement proved to be feasible and quantization from these measurements only decreased the damping ratio to 0.075%. This research provides the first indication that a physically realizable blade root controller can deal with friction in an effective way, thus taking a step towards advancing the technology readiness level of the heliogyro spacecraft.
On spatial spillover in feedforward and feedback noise control
Xie, Antai; Bernstein, Dennis
2017-03-01
Active feedback noise control for rejecting broadband disturbances must contend with the Bode integral constraint, which implies that suppression over some frequency range gives rise to amplification over another range at the performance microphone. This is called spectral spillover. The present paper deals with spatial spillover, which refers to the amplification of noise at locations where no microphone is located. A spatial spillover function is defined, which is valid for both feedforward and feedback control with scalar and vector control inputs. This function is numerically analyzed and measured experimentally. Obstructions are introduced in the acoustic space to investigate their effect on spatial spillover.
Transfer Function Model of Multirate Feedback Control Systems
Institute of Scientific and Technical Information of China (English)
无
2001-01-01
Based on the suitably defined multivariable version of Krancoperators and the extended input and output vectors, the multirate sampling plant is transformed to a equivalent time invariant single rate one, then the transfer function model of the multivariable multirate sampling plant is obtained. By combining this plant model with the time invariant description of the multirate controller in terms of extended vectors, the closed-loop transfer function model of the multirate feedback control system can be determinated. This transfer function model has a very simple structure, and can be used as a basis for the analysis and synthesis of the multirate sampling feedback control systems in the frequency domain.
Feedback from Usability Evaluation to User Interface Design
DEFF Research Database (Denmark)
Nielsen, C. M.; Overgaard, M.; Pedersen, M. B.
2005-01-01
This paper reports from an exploratory study of means for providing feedback from a usability evaluation to the user interface designers. In this study, we conducted a usability evaluation of a mobile system that is used by craftsmen to register use of time and materials. The results...... of this evaluation were presented to the designers in different forms. First, the designers were presented with a traditional usability report. Second, we facilitated a dialogue where the results of the evaluation were discussed. During this process, we collected opinions from the designers on the main strengths...... and weaknesses of the system. The findings indicate that detailed descriptions of problems and log descriptions of the user's interaction with the system and of system interaction are useful for the designers when trying to understand the usability problems that the users have encountered....
Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors
Bean, Jacob; Fuller, Chris; Schiller, Noah
2016-01-01
Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.
Wind energy systems control engineering design
Garcia-Sanz, Mario
2012-01-01
IntroductionBroad Context and MotivationConcurrent Engineering: A Road Map for EnergyQuantitative Robust ControlNovel CAD Toolbox for QFT Controller DesignOutline Part I: Advanced Robust Control Techniques: QFT and Nonlinear SwitchingIntroduction to QFTQuantitative Feedback TheoryWhy Feedback? QFT OverviewInsight into the QFT TechniqueBenefits of QFTMISO Analog QFT Control SystemIntroductionQFT Method (Single-Loop MISO System)Design Procedure OutlineMinimum-Phase System Performance SpecificationsJ LTI Plant ModelsPlant Templates of P?(s), P( j_i )Nominal PlantU-Contour (Stability Bound)Trackin
Neural network-based optimal adaptive output feedback control of a helicopter UAV.
Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani
2013-07-01
Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.
Institute of Scientific and Technical Information of China (English)
Peng CUI; Chenghui ZHANG
2008-01-01
The design of a functional observer and reduced-order observer with internal delay for linear singular timedelay systems with unknown inputs is discussed.The sufficient conditions of the existence of observers,which are normal linear time-delay systems,and the corresponding design steps are presented via linear matrix inequality(LMI).Moreover,the observer-based feedback stabilizing controller is obtained.Three examples are given to show the effectiveness of the proposed methods.
Feedback control of water supply in an NFT growing system
Gieling, Th.H.; Janssen, H.J.J.; Vries, de H.C.; Loef, P.
2001-01-01
The paper explores a concept of irrigation control, where the supply of nutrient solution is controlled without the use of predictive uptake models but rather by the use of a direct feedback of a drain flow measurement. This concept proves to be a viable approach. Results are presented, showing the
High Accuracy Attitude Control of a Spacecraft Using Feedback Linearization
1992-05-01
and Spacecraft Body from Gyro Measurements ......... .................................. 119 D.2 An Approximation to Exact Linearization using IPSRU...31 2-4 Attitude Determination and Control System Architecture ................. 33 3-1 Exact Linearization Using Nonlinear Feedback...though basic techniques were adapted from recent references on the use of exact linearization (such as [8] and [27]), the specific control approach
A Result on Output Feedback Linear Quadratic Control
Engwerda, J.C.; Weeren, A.J.T.M.
2006-01-01
In this note we consider the static output feedback linear quadratic control problem.We present both necessary and sufficient conditions under which this problem has a solution in case the involved cost depend only on the output and control variables.This result is used to present both necessary and
Controlling Beam Halo-Chaos via Time-Delayed Feedback
Institute of Scientific and Technical Information of China (English)
FANG Jin-Qing; WENG Jia-Qiang; ZHU Lun-Wu; LUO Xiao-Shu
2004-01-01
The study of controlling high-current proton beam halo-chaos has become a key concerned issue for many important applications. In this paper, time-delayed feedback control method is proposed for beam halo-chaos. Particle in cell simulation results show that the method is very effective and has some advantages for high-current beam experiments and engineering.
Robust control of robots via linear estimated state feedback
Berghuis, Harry; Nijmeijer, Henk
1994-01-01
In this note we propose a robust tracking controller for robots that requires only position measurements. The controller consists of two parts: a linear observer part that generates an estimated error state from the error on the joint position and a linear feedback part that utilizes this estimated
Quaternion Feedback Control for Rigid-body Spacecraft
DEFF Research Database (Denmark)
Jensen, Hans-Christian Becker; Wisniewski, Rafal
2001-01-01
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental d...
Force control in the absence of visual and tactile feedback
Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.
2013-01-01
Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that
DEFF Research Database (Denmark)
Jantzen, Jan
1998-01-01
Design of a fuzzy controller requires more design decisions than usual, for example regarding rule base, inference engine, defuzzification, and data pre- and post processing. This tutorial paper identifies and describes the design choices related to single-loop fuzzy control, based...... on an international standard which is underway. The paper contains also a design approach, which uses a PID controller as a starting point. A design engineer can view the paper as an introduction to fuzzy controller design....
Chaos synchronization of two stochastic Duffing oscillators by feedback control
Energy Technology Data Exchange (ETDEWEB)
Wu Cunli [Department of Engineering Mechanics, Northwestern Polytechnical University, Xi' an 710072 (China); Aircraft Strength Research Institute of China, 3 No. 2 Electron Road, Xi' an 710065 (China)]. E-mail: wucunli@yahoo.com; Fang Tong [Department of Engineering Mechanics, Northwestern Polytechnical University, Xi' an 710072 (China)]. E-mail: tfang@nwpu.edu.cn; Rong Haiwu [Department of Mathematics, Foshan University, Foshan, Guang Dong 528000 (China)
2007-05-15
This paper addresses chaos synchronization of two identical stochastic Duffing oscillators with bounded random parameters subject to harmonic excitations. In the analysis the stochastic Duffing oscillator is first transformed into an equivalent deterministic nonlinear system by Gegenbauer polynomial approximation, so that the chaos synchronization problem of stochastic Duffing oscillators can be reduced into that of the equivalent deterministic systems. Then a feedback control strategy is adopted to synchronize chaotic responses of two identical equivalent deterministic systems under different initial conditions. The feedback parameters are determined through analysis of the top Lyapunov exponent of the variational equation of the controlled responding system. Numerical analysis shows that the feedback control strategy is an effective way to synchronize two identical stochastic Duffing systems.
Second law of thermodynamics with discrete quantum feedback control.
Sagawa, Takahiro; Ueda, Masahito
2008-02-29
A new thermodynamic inequality is derived which leads to the maximum work that can be extracted from multi-heat-baths with the assistance of discrete quantum feedback control. The maximum work is determined by the free-energy difference and a generalized mutual information content between the thermodynamic system and the feedback controller. This maximum work can exceed that in conventional thermodynamics and, in the case of a heat cycle with two heat baths, the heat efficiency can be greater than that of the Carnot cycle. The consistency of our results with the second law of thermodynamics is ensured by the fact that work is needed for information processing of the feedback controller.
Optimal feedback control of a bioreactor with a remote sensor
Niranjan, S. C.; San, K. Y.
1988-01-01
Sensors used to monitor bioreactor conditions directly often perform poorly in the face of adverse nonphysiological conditions. One way to circumvent this is to use a remote sensor block. However, such a configuration usually causes a significant time lag between measurements and the actual state values. Here, the problem of implementing feedback control strategies for such systems, described by nonlinear equations, is addressed. The problem is posed as an optimal control problem with a linear quadratic performance index. The linear control law so obtained is used to implement feedback. A global linearization technique as well as an expansion using Taylor series is used to linearize the nonlinear system, and the feedback is subsequently implemented.
Empirical Reduced-Order Modeling for Boundary Feedback Flow Control
Directory of Open Access Journals (Sweden)
Seddik M. Djouadi
2008-01-01
Full Text Available This paper deals with the practical and theoretical implications of model reduction for aerodynamic flow-based control problems. Various aspects of model reduction are discussed that apply to partial differential equation- (PDE- based models in general. Specifically, the proper orthogonal decomposition (POD of a high dimension system as well as frequency domain identification methods are discussed for initial model construction. Projections on the POD basis give a nonlinear Galerkin model. Then, a model reduction method based on empirical balanced truncation is developed and applied to the Galerkin model. The rationale for doing so is that linear subspace approximations to exact submanifolds associated with nonlinear controllability and observability require only standard matrix manipulations utilizing simulation/experimental data. The proposed method uses a chirp signal as input to produce the output in the eigensystem realization algorithm (ERA. This method estimates the system's Markov parameters that accurately reproduce the output. Balanced truncation is used to show that model reduction is still effective on ERA produced approximated systems. The method is applied to a prototype convective flow on obstacle geometry. An H∞ feedback flow controller is designed based on the reduced model to achieve tracking and then applied to the full-order model with excellent performance.
Semiglobal H-infty state feedback control
DEFF Research Database (Denmark)
Cromme, Marc
1997-01-01
semi-global set-stabilizing H-infty control is local H-infty control within some given compact set O such that all state trajectories are bounded inside O, and are approaching an open loop invariant set S subset O as t -> infinity. Sufficient conditions for the existance of a continuous statefeed...
Reducing feedback requirements of workload control
Henrich, Peter; Land, Martin; van der Zee, Durk; Gaalman, Gerard
2004-01-01
The workload control concept is known as a robust shop floor control concept. It is especially suited for the dynamic environment of small- and medium-sized enterprises (SMEs) within the make-to-order sector. Before orders are released to the shop floor, they are collected in an ‘order pool’. To mak
Institute of Scientific and Technical Information of China (English)
管峰
2012-01-01
In view of on-line monitoring system of the oil pollution sources which is at low degree of automation,it puts forward a kind of on-line monitoring system based on feedback control and discusses application value of on-line monitoring of the oilfield pollution sources.And it gives the control diagram and possible difficulties of design.At last,it points out that this method,in a certain extent,will improve automation of on-line monitoring system of oilfield pollution sources.%针对油田污染源在线监测系统自动化程度不高,提出了一种基于反馈控制的在线监测系统,讨论了其在油田污染源在线监测中的应用价值,并给出控制简图和设计中可能遇到的难点。最后指出,该方法将在一定程度上提高油田污染源在线监测系统的自动化程度。
DEFF Research Database (Denmark)
Federico, de Bosio; de Sousa Ribeiro, Luiz Antonio; Freijedo Fernandez, Francisco Daniel
2016-01-01
In stand-alone microgrids based on voltage source inverters state feedback coupling between the capacitor voltage and inductor current degrades significantly the dynamics performance of voltage and current regulators. The decoupling of the controlled states is proposed, considering the limitations...... introduced by system delays. Moreover, a proportional resonant voltage controller is designed according to Nyquist criterion taking into account application requirements. Experimental tests performed in compliance with the UPS standards verify the theoretical analysis....
Adaptive output feedback control of aircraft flexible modes
Ponnusamy, Sangeeth Saagar; Bordeneuve-Guibé, Joël
2012-01-01
The application of adaptive output feedback augmentative control to the flexible aircraft problem is presented. Experimental validation of control scheme was carried out using a three disk torsional pendulum. In the reference model adaptive control scheme, the rigid aircraft reference model and neural network adaptation is used to control structural flexible modes and compensate for the effects unmodeled dynamics and parametric variations of a classical high order large passenger aircraft. Th...
Robust control of a class of non-affine nonlinear systems by state and output feedback
Institute of Scientific and Technical Information of China (English)
陈贞丰; 章云
2014-01-01
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers:the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded (UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
Novel fuzzy feedback linearization strategy for control via differential geometry approach.
Li, Tzuu-Hseng S; Huang, Chiou-Jye; Chen, Chung-Cheng
2010-07-01
The study investigates a novel fuzzy feedback linearization strategy for control. The main contributions of this study are to construct a control strategy such that the resulting closed-loop system is valid for any initial condition with almost disturbance decoupling performance, and develop the feedback linearization design for some class of nonlinear control systems. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via a human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by the proposed approach.
Chen, Jinli; Li, Donghai; Sun, Xianfang
2006-11-01
A dynamic feedback linearization control approach is designed in this paper for the pitch angle trajectory control and vibration suppression of a flexible spacecraft. Using the extended state observer, the pitch rate and entire unknown dynamics can be estimated, so only pitch angle is needed to measure in the feedback linearization control. The expression of the control law is simple, and few observer parameters need to be tuned. These all reduce the engineering difficulty greatly. The design of this control law does not depend on elastic modes included in the spacecraft model. Simulation results are presented to show that, the control law designed can ensure that pitch angle maneuver to its target precisely and smoothly, and elastic vibration is suppressed effectively.
Energy Technology Data Exchange (ETDEWEB)
Chen, H.-H. [Department of Mechanical Engineering, HsiuPing Institute of Technology, Taichung 412, Taiwan (China)], E-mail: richard@mail.hit.edu.tw
2009-04-15
Liu chaotic systems exhibit two- or four-scroll attractors and are observed in a variety of engineering phenomena, including rigid body motion, brushless DC motor system and so forth. This study applies the Lyapunov stability theorem to identify the sufficient conditions for the asymptotic stability of the equilibrium points of Liu chaotic systems. A linear balanced feedback gain control method is then employed to design a controller to achieve the global synchronization of two identical four-scroll Liu chaotic systems. The feasibility and effectiveness of the proposed chaos stability and synchronization schemes are verified via numerical simulations.
A Biopsychosocial Model Based on Negative Feedback and Control
Directory of Open Access Journals (Sweden)
Timothy Andrew Carey
2014-02-01
Full Text Available Although the biopsychosocial model has been a popular topic of discussion for over four decades it has not had the traction in fields of research that might be expected of such an intuitively appealing idea. One reason for this might be the absence of an identified mechanism or a functional architecture that is authentically biopsychosocial. What is needed is a robust mechanism that is equally important to biochemical processes as it is to psychological and social processes. Negative feedback may be the mechanism that is required. Negative feedback has been implicated in the regulation of neurotransmitters as well as important psychological and social processes such as emotional regulation and the relationship between a psychotherapist and a client. Moreover, negative feedback is purported to also govern the activity of all other organisms as well as humans. Perceptual Control Theory (PCT describes the way in which negative feedback establishes control at increasing levels of perceptual complexity. Thus, PCT may be the first biopsychosocial model to be articulated in functional terms. In this paper we outline the working model of PCT and explain how PCT provides an embodied hierarchical neural architecture that utilises negative feedback to control physiological, psychological, and social variables. PCT has major implications for both research and practice and, importantly, provides a guide by which fields of research that are currently separated may be integrated to bring about substantial progress in understanding the way in which the brain alters, and is altered by, its behavioural and environmental context.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Feedback control of wave segments in an excitable medium
Institute of Scientific and Technical Information of China (English)
Wu Ning-Jie; Gao Hong-Jun; Ying He-Ping
2013-01-01
Depending on the excitability of the medium,a propagating wave segment will either contract or expand to fill the medium with spiral waves.This paper aims to introduce a simple mechanism of feedback control to stabilize such an expansion or contraction.To do this,we lay out a feedback control system in a block diagram and reduce it into a bare,universal formula.Analytical and experimental findings are compared through a series of numerical simulations of the Barkley model.
Decoherence control: A feedback mechanism based on hamiltonian tracking
Katz, G; Kosloff, R; Katz, Gil; Ratner, Mark; Kosloff, Ronnie
2006-01-01
Enviroment - caused dissipation disrupts the hamiltonian evolution of all quantum systems not fully isolated from any bath. We propose and examine a feedback-control scheme to eliminate such dissipation, by tracking the free hamiltonian evolution. We determine a driving-field that maximizes the projection of the actual molecular system onto the freely propagated one. The evolution of a model two level system in a dephasing bath is followed, and the driving field that overcomes the decoherence is calculated. An implementation of the scheme in the laboratory using feedback control is suggested.
Directory of Open Access Journals (Sweden)
Heli Hu
2014-01-01
Full Text Available The design of the dynamic output feedback H∞ control for uncertain interconnected systems of neutral type is investigated. In the framework of Lyapunov stability theory, a mathematical technique dealing with the nonlinearity on certain matrix variables is developed to obtain the solvability conditions for the anticipated controller. Based on the corresponding LMIs, the anticipated gains for dynamic output feedback can be achieved by solving some algebraic equations. Also, the norm of the transfer function from the disturbance input to the controlled output is less than the given index. A numerical example and the simulation results are given to show the effectiveness of the proposed method.
1994-06-01
controlled 2501 Authorized licensed use limited to: Naval Postgraduate School. Downloaded on March 11,2010 at 16:12:55 EST from IEEE Xplore . Restrictions...11,2010 at 16:12:55 EST from IEEE Xplore . Restrictions apply. Ii rfor cific ti s ta- tional convention uppercase letters to denote total values of...01 0.1 10 10 1 5 5 SI. Authorized licensed use limited to: Naval Postgraduate School. Downloaded on March 11,2010 at 16:12:55 EST from IEEE Xplore . Restrictions
Adaptive Feedfoward Feedback Control Framework Project
National Aeronautics and Space Administration — A novel approach is proposed for the suppression of the aircraft's structural vibration to increase the resilience of the flight control law in the presence of the...
Integrated Control with Structural Feedback to Enable Lightweight Aircraft
Taylor, Brian R.
2011-01-01
This presentation for the Fundamental Aeronautics Program Technical Conference covers the benefits of active structural control, related research areas, and focuses on the use of optimal control allocation for the prevention of critical loads. Active control of lightweight structures has the potential to reduce aircraft weight and fuel burn. Sensor, control law, materials, control effector, and system level research will be necessary to enable active control of lightweight structures. Optimal control allocation with structural feedback has been shown in simulation to be feasible in preventing critical loads and is one example of a control law to enable future lightweight aircraft.
Feedback Gating Control for Network Based on Macroscopic Fundamental Diagram
Directory of Open Access Journals (Sweden)
YangBeibei Ji
2016-01-01
Full Text Available Empirical data from Yokohama, Japan, showed that a macroscopic fundamental diagram (MFD of urban traffic provides for different network regions a unimodal low-scatter relationship between network vehicle density and network space-mean flow. This provides new tools for network congestion control. Based on MFD, this paper proposed a feedback gating control policy which can be used to mitigate network congestion by adjusting signal timings of gating intersections. The objective of the feedback gating control model is to maximize the outflow and distribute the allowed inflows properly according to external demand and capacity of each gating intersection. An example network is used to test the performance of proposed feedback gating control model. Two types of background signalization types for the intersections within the test network, fixed-time and actuated control, are considered. The results of extensive simulation validate that the proposed feedback gating control model can get a Pareto improvement since the performance of both gating intersections and the whole network can be improved significantly especially under heavy demand situations. The inflows and outflows can be improved to a higher level, and the delay and queue length at all gating intersections are decreased dramatically.
Robust Structured Control Design via LMI Optimization
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Stoustrup, Jakob
2011-01-01
This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L2-norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller...... structures including decentralized of any order, ﬁxed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can...
Design of casks: incorporating operational feedback from maintenance
Energy Technology Data Exchange (ETDEWEB)
Bimet, F.; Hartenstein, M. [COGEMA Logistics, Saint Quentin (France)
2004-07-01
Casks are designed to conform to regulations and to client specifications. Essential areas such as easy operation, low costs of maintenance, low operation and maintenance doses, limited waste, are not explicitly covered. Notwithstanding, COGEMA LOGISTICS uses all feedback available, so that casks are designed to be easy, safe and economical to operate and maintain. Maintenance is an activity where you do spot items that old-time designers could have made better, and things that users should not have done. Thanks to quality assurance, there are a number of data available, waiting to be collected and exploited; they have to be identified, located, retrieved, and analysed. Using information such as wear, damage, use of spare parts, access problems helps to make casks ever better. It leads to more efficient concepts, and to upgrades on existing designs; it also allows to integrate environmental considerations, inter alia in the choice of materials and in maintenance methods. It is necessary for the designer to interact with the users, the cask owners, the maintenance providers, in order to gather all relevant information and events. This is made easier when all these actors are ''under one roof'', or have very close ties. This paper presents COGEMA LOGISTICS methods for collecting and analysing all these experiences waiting to be used. It explains our process for analysing data, preparing yearly reports that are made available to our designers. It describes how each new design is subject to a maintainability study, using this feedback, so that the cask safety is always assured, that radiological doses are kept to a minimum, and that operating and maintenance costs will remain as low as possible.
Theory of feedback controlled brain stimulations for Parkinson's disease
Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.
2016-01-01
Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.
An Improved Force Feedback Control Algorithm for Active Tendons
Directory of Open Access Journals (Sweden)
Ligang Cai
2012-08-01
Full Text Available An active tendon, consisting of a displacement actuator and a co-located force sensor, has been adopted by many studies to suppress the vibration of large space flexible structures. The damping, provided by the force feedback control algorithm in these studies, is small and can increase, especially for tendons with low axial stiffness. This study introduces an improved force feedback algorithm, which is based on the idea of velocity feedback. The algorithm provides a large damping ratio for space flexible structures and does not require a structure model. The effectiveness of the algorithm is demonstrated on a structure similar to JPL-MPI. The results show that large damping can be achieved for the vibration control of large space structures.
User Driven Feedback Control System driven using CAN Protocol
Directory of Open Access Journals (Sweden)
Ankita Goyal
2013-09-01
Full Text Available -Industrial automation is a sector having vast possibilities for major improvements. The system described in this paper consists of a console master computer (CMC which will monitor various physical nodes usually found in a large industry. The proposed work analyzes the capability of CAN networking which includes data traffic management. The CMC is designed using MATLAB 7.12; the CAN networking is supported using the Vehicular Network Toolbox. The proposed system using CAN has the advantages of being simple in its design which contributes to the overall low cost. The novelty of the work lies in the low cost approach, and fails safe methodology of CAN communication. The proposed system is capable of sending and receiving signals with the additional benefit of feedback mechanism .The proposed work is implementable in any industry with the cost advantage of CAN interface. The proposed work can be used as a cheaper and robust alternative to native technologies like PLC (Programmable Logic Controller. Moreover, the CAN network system is immune from the electrical interferences.
Richardson, Barbara K
2004-12-01
The emergency department provides a rich environment for diverse patient encounters, rapid clinical decision making, and opportunities to hone procedural skills. Well-prepared faculty can utilize this environment to teach residents and medical students and gain institutional recognition for their incomparable role and teamwork. Giving effective feedback is an essential skill for all teaching faculty. Feedback is ongoing appraisal of performance based on direct observation aimed at changing or sustaining a behavior. Tips from the literature and the author's experience are reviewed to provide formats for feedback, review of objectives, and elements of professionalism and how to deal with poorly performing students. Although the following examples pertain to medical student education, these techniques are applicable to the education of all adult learners, including residents and colleagues. Specific examples of redirection and reflection are offered, and pitfalls are reviewed. Suggestions for streamlining verbal and written feedback and obtaining feedback from others in a fast-paced environment are given. Ideas for further individual and group faculty development are presented.
Optimal control of nonlinear continuous-time systems in strict-feedback form.
Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani
2015-10-01
This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.
Optimization of Feedback Control of Flow over a Circular Cylinder
Son, Donggun; Kim, Euiyoung; Choi, Haecheon
2012-11-01
We perform a feedback gain optimization of the proportional-integral-differential (PID) control for flow over a circular cylinder at Re = 60 and 100. We measure the transverse velocity at a centerline location in the wake as a sensing variable and provide blowing and suction at the upper and lower slots on the cylinder surface as an actuation. The cost function to minimize is defined as the mean square of the sensing variable, and the PID control gains are optimized by iterative feedback tuning method which is a typical model free gain optimization method. In this method, the control gains are iteratively updated by the gradient of cost function until the control system satisfies a certain stopping criteria. The PID control with optimal control gains successfully reduces the velocity fluctuations at the sensing location and attenuates (or annihilates) vortex shedding in the wake, resulting in the reduction in the mean drag and lift fluctuations. Supported by the NRF Program (2011-0028032).
Control of intrabunch dynamics at CERN SPS ring using 3.2 GS/s digital feedback channel
Rivetta, C; Cesaratto, J M; Dusatko, J; Pivi, M; Pollock, K; Turgut, O; Bartosik, H; Hofle, W; Kotzian, G; Li, K
2013-01-01
The feedback control of intra-bunch instabilities driven by electron-cloud or strong head-tail interaction requires bandwidth sufficient to sense the vertical position and apply correction fields to multiple sections of a nanosecondscale bunch. These requirements impose challenges and limits in the design of the feedback channel. We present experimental measurements taken from the CERN SPS machine development studies with an intrabunch feedback channel prototype. The performance of a 3.2 GS/s digital processing system is evaluated, quantifying the effect of noise and limits of the feedback channel in the bunch stability as well as transient and steady state motion of the bunch. The controllers implemented are general purpose 16 tap FIR filters and the impact on the bunch stability of controller parameters are analyzed and quantified. These studies, based on the limited feedback prototype, are crucial to validate reduced models of the system and macroparticle simulation codes, including the feedback channel. T...
Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario
2014-09-01
In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.
On the combination of nonlinear contracting observers and UGES controllers for output feedback
DEFF Research Database (Denmark)
Jouffroy, Jerome; Fossen, Thor I.
The paper presents a systematic method for design of observer-controllers in cascade. Uniform global exponential stability (UGES) of the resulting system is proven by assuming that the feedback control system is UGES and that the nonlinear observer can be designed using contracting analysis....... The relationship between a globally contracting and UGES observer is derived using Lyapunov analysis and a line integral which follows from Taylor's theorem....
Feedback control of optical beam spatial profiles using thermal lensing
Liu, Zhanwei; Arain, Muzammil A; Williams, Luke; Mueller, Guido; Tanner, David B; Reitze, David H
2013-01-01
A method for active control of the spatial profile of a laser beam using adaptive thermal lensing is described. A segmented electrical heater was used to generate thermal gradients across a transmissive optical element, resulting in a controllable thermal lens. The segmented heater also allows the generation of cylindrical lenses, and provides the capability to steer the beam in both horizontal and vertical planes. Using this device as an actuator, a feedback control loop was developed to stabilize the beam size and position.
Quaternion Feedback Control for Rigid-body Spacecraft
DEFF Research Database (Denmark)
Jensen, Hans-Christian Becker; Wisniewski, Rafal
2001-01-01
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental d...... disturbances correspond to those expected for the Roemer mission. The pros and cons of the algorithm are discussed. The results of the study show that the controller is a > successful candidate for on-board implementation...
Hartzler, A L; Patel, R A; Czerwinski, M; Pratt, W; Roseway, A; Chandrasekaran, N; Back, A
2014-01-01
This article is part of the focus theme of Methods of Information in Medicine on "Pervasive Intelligent Technologies for Health". Effective nonverbal communication between patients and clinicians fosters both the delivery of empathic patient-centered care and positive patient outcomes. Although nonverbal skill training is a recognized need, few efforts to enhance patient-clinician communication provide visual feedback on nonverbal aspects of the clinical encounter. We describe a novel approach that uses social signal processing technology (SSP) to capture nonverbal cues in real time and to display ambient visual feedback on control and affiliation--two primary, yet distinct dimensions of interpersonal nonverbal communication. To examine the design and clinician acceptance of ambient visual feedback on nonverbal communication, we 1) formulated a model of relational communication to ground SSP and 2) conducted a formative user study using mixed methods to explore the design of visual feedback. Based on a model of relational communication, we reviewed interpersonal communication research to map nonverbal cues to signals of affiliation and control evidenced in patient-clinician interaction. Corresponding with our formulation of this theoretical framework, we designed ambient real-time visualizations that reflect variations of affiliation and control. To explore clinicians' acceptance of this visual feedback, we conducted a lab study using the Wizard-of-Oz technique to simulate system use with 16 healthcare professionals. We followed up with seven of those participants through interviews to iterate on the design with a revised visualization that addressed emergent design considerations. Ambient visual feedback on non- verbal communication provides a theoretically grounded and acceptable way to provide clinicians with awareness of their nonverbal communication style. We provide implications for the design of such visual feedback that encourages empathic patient
Design of saturated controllers for linear singular systems
Institute of Scientific and Technical Information of China (English)
Wang Ruliang; Liu Yongqing
2005-01-01
A designing method is presented to find stabilizing saturated linear controllers for linear continuous time and discrete time singular systems with control constraints. The idea is as follows: The system is first stabilized by a low-gain linear state feedback control. A general Lyapunov function is found, on the basis of which another linear state feedback control is computed.The second step is very similar to a relay control design. The two controls are added and saturated.
Directory of Open Access Journals (Sweden)
Li Qiu
2013-01-01
Full Text Available This paper is concerned with the problem of modeling and output feedback controller design for a class of discrete-time networked control systems (NCSs with time delays and packet dropouts. A Markovian jumping method is proposed to deal with random time delays and packet dropouts. Different from the previous studies on the issue, the characteristics of networked communication delays and packet dropouts can be truly reflected by the unified model; namely, both sensor-to-controller (S-C and controller-to-actuator (C-A time delays, and packet dropouts are modeled and their history behavior is described by multiple Markov chains. The resulting closed-loop system is described by a new Markovian jump linear system (MJLS with Markov delays model. Based on Lyapunov stability theory and linear matrix inequality (LMI method, sufficient conditions of the stochastic stability and output feedback controller design method for NCSs with random time delays and packet dropouts are presented. A numerical example is given to illustrate the effectiveness of the proposed method.
Schrand, Tom; Eliason, John
2012-01-01
To examine the differences between feedback practices in liberal arts courses and in design courses, we surveyed 373 students with experiences of both. Our study found that students perceived the feedback they received in design courses as more effective in advancing their learning, and that the emotional effects of feedback presented verbally and…
USING OPTIMAL FEEDBACK CONTROL FOR CHAOS TARGETING
Institute of Scientific and Technical Information of China (English)
PENG ZHAO-WANG; ZHONG TING-XIU
2000-01-01
Since the conventional open-loop optimal targeting of chaos is very sensitive to noise, a close-loop optimal targeting method is proposed to improve the targeting performance under noise. The present optimal targeting model takes into consideration both precision and speed of the targeting procedure. The parameters, rather than the output, of the targeting controller, are directly optimized to obtain optimal chaos targeting. Analysis regarding the mechanism is given from physics aspect and numerical experiment on the Hénon map is carried out to compare the targeting performance under noise between the close-loop and the open-loop methods.
Directory of Open Access Journals (Sweden)
Susanne Narciss
2013-06-01
Full Text Available This paper describes the interactive tutoring feedback model (ITF-model; Narciss, 2006; 2008, and how it can be applied to the design and evaluation of feedback strategies for digital learning environments. The ITF-model conceptualizes formative tutoring feedback as a multidimensional instructional activity that aims at contributing to the regulation of a learning process in order to help learners acquire or improve the competencies needed to master learning tasks. It integrates findings from systems theory with recommendations of prior research on interactive instruction and elaborated feedback, on task analyses, on error analyses, and on tutoring techniques. Based on this multi-dimensional view of formative tutoring feedback methodological implications for designing and investigating multiple effects of feedback under multiple individual and situational conditions are described. Furthermore, the paper outlines how the implications of the ITF-model have been applied in several studies to the design and evaluation of tutoring feedback strategies for digital learning environments (e.g., Narciss, 2004; Narciss & Huth, 2006; Narciss, Schnaubert, Andres, Eichelmann, Goguadze, & Sosnovsky, 2013.
Fundamental Principles of Coherent-Feedback Quantum Control
2014-12-08
AFRL-OSR-VA-TR-2015-0009 FUNDAMENTAL PRINCIPLES OF COHERENT-FEEDBACK QUANTUM CONTROL Hideo Mabuchi LELAND STANFORD JUNIOR UNIV CA Final Report 12/08...robustness in autonomous quantum memories" we have continued our group’s long-term research program in the architectural principles of autonomous
Feedback Control for Plasma Position on HL-2A Tokamak
Institute of Scientific and Technical Information of China (English)
LIBo; SONGXianming; LILi; LIULi; WANGMinghong; FANMingjie; CHENLiaoyuan; YAOLieying; YANGQingwei
2003-01-01
HL-2A is a tokamak with closed divertor. It had been built at the end of 2002 and began to discharge from then on. To further study plasma discharges in HL-2A, a feedback control system (FBCS) for plasma position bad been developed in 2003.
State-feedback control of LPV sampled-data systems
Directory of Open Access Journals (Sweden)
K. Tan
2000-01-01
norm of such sampled-data LPV systems using parameter-dependent Lyapunov functions. Based on these analysis results, the sampled-data state-feedback control synthesis problems are examined. Both analysis and synthesis conditions are formulated in terms of linear matrix inequalities that can be solved via efficient interior-point algorithms.
Multiple nonlinear parameter estimation using PI feedback control
Lith, van P. F.; Witteveen, H.; Betlem, B.H.L.; Roffel, B.
2001-01-01
Nonlinear parameters often need to be estimated during the building of chemical process models. To accomplish this, many techniques are available. This paper discusses an alternative view to parameter estimation, where the concept of PI feedback control is used to estimate model parameters. The appr
Ultrashort pulse laser microsurgery system with plasma luminescence feedback control
Energy Technology Data Exchange (ETDEWEB)
Kim, B.M.; Feit, M.D.; Rubenchik, A.M.; Gold, D.M.; Darrow, C.B.; Da Silva, L.B.
1997-11-10
Plasma luminescence spectroscopy was used for precise ablation of bone tissue during ultrashort pulse laser (USPL) micro-spinal surgery. Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so that only bone tissue can be selectively ablated while preserving the spinal cord.
Autonomous underwater vehicles modeling, control design and simulation
Wadoo, Sabiha
2010-01-01
Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simula
Che, Jiaxing; Cao, Chengyu; Gregory, Irene M.
2012-01-01
This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.
Stabilizing State-Feedback Design via the Moving Horizon Method.
1982-01-01
aide if necessary and identify by block number) Stabilizing control design; linear time varying systems; fixed depth horizon; index optimization methods...dual system. 20. ABSTRACT (Continue an reverse side If necessary and Identify by block number) Li _ A stabilizing control design for general linear...Apprvyed for pb~ ~~* 14 ~dl Stri but ion uni imit Oe, ABSTRACT A stabilizing control design for general linear time vary- invariant systems through
Feedback Linearization Controller Of The Delta WingRock Phenomena
Directory of Open Access Journals (Sweden)
Mohammed Alkandari
2015-05-01
Full Text Available This project deals with the control of the wing rock phenomena of a delta wing aircraft. a control schemeis proposed to stabilize the system. The controlleris a feedback linearization controller. It is shown that the proposed control scheme guarantee the asymptotic convergence to zero of all the states of the system. To illustrate the performance of the proposed controller, simulation results are presented and discussed. It is found that the proposed control scheme work well for the wing rock phenomena of a delta wing aircraft.
Cutumisu, Maria; Blair, Kristen P.; Chin, Doris B.; Schwartz, Daniel L.
2017-01-01
We introduce a choice-based assessment strategy that measures students' choices to seek constructive feedback and to revise their work. We present the feedback system of a game we designed to assess whether students choose positive or negative feedback and choose to revise their posters in the context of a poster design task, where they learn…
Non-Markovian quantum feedback networks II: Controlled flows
Gough, John E.
2017-06-01
The concept of a controlled flow of a dynamical system, especially when the controlling process feeds information back about the system, is of central importance in control engineering. In this paper, we build on the ideas presented by Bouten and van Handel [Quantum Stochastics and Information: Statistics, Filtering and Control (World Scientific, 2008)] and develop a general theory of quantum feedback. We elucidate the relationship between the controlling processes, Z, and the measured processes, Y, and to this end we make a distinction between what we call the input picture and the output picture. We should note that the input-output relations for the noise fields have additional terms not present in the standard theory but that the relationship between the control processes and measured processes themselves is internally consistent—we do this for the two main cases of quadrature measurement and photon-counting measurement. The theory is general enough to include a modulating filter which post-processes the measurement readout Y before returning to the system. This opens up the prospect of applying very general engineering feedback control techniques to open quantum systems in a systematic manner, and we consider a number of specific modulating filter problems. Finally, we give a brief argument as to why most of the rules for making instantaneous feedback connections [J. Gough and M. R. James, Commun. Math. Phys. 287, 1109 (2009)] ought to apply for controlled dynamical networks as well.
All-optical noninvasive delayed feedback control of semiconductor lasers
Schikora, Sylvia
2013-01-01
The stabilization of unstable states hidden in the dynamics of a system, in particular the control of chaos, has received much attention in the last years. Sylvia Schikora for the first time applies a well-known control method called delayed feedback control entirely in the all-optical domain. A multisection semiconductor laser receives optical feedback from an external Fabry-Perot interferometer. The control signal is a phase-tunable superposition of the laser signal and provokes the laser to operate in an otherwise unstable periodic state with a period equal to the time delay. The control is noninvasive, because the reflected signal tends to zero when the target state is reached. The work has been awarded the Carl-Ramsauer-Prize 2012. Contents · All-Optical Control Setup · Stable States with Resonant Fabry-Perot Feedback · Control of an Unstable Stationary State and of Unstable Selfpulsations · Controlling Chaos · Con...
Pedestrian Dynamics Feedback Control of Crowd Evacuation
Kachroo, Pushkin P.E; Al-nasur, Sadeq J; Shende, Apoorva
2008-01-01
Effective evacuation of people from closed spaces is an extremely important topic, since it can save real lives in emergency situations that can be brought about by natural and human made disasters. Usually there are static maps posted at various places at buildings that illustrate routes that should be taken during emergencies. However, when disasters happen, some of these routes might not be valid because of structural problems due to the disaster itself and more importantly because of the distribution of congestion of people spread over the area. The average flow of traffic depends on the traffic density. Therefore, if all the people follow the same route, or follow a route without knowing the congestion situation, they can end up being part of the congestion which results in very low flow rate or worse a traffic jam. Hence it becomes extremely important to design evacuations that inform people how fast and in which direction to move based on real-time information obtained about the people distribution usi...
Determination of Optimal Control Strength of Delayed Feedback Control Using Time Series
Institute of Scientific and Technical Information of China (English)
YIN Hua-Wei; LU Wei-Ping; WANG Peng-Ye
2004-01-01
@@ We study controlling chaos using time-delayed feedback control based on chaotic time series without prior knowl edge of dynamical systems, and determine the optimal control parameters for stabilizing unstable periodic orbits with maximal stability.
Feedback Control of a Class of Nonholonomic Hamiltonian Systems
DEFF Research Database (Denmark)
Sørensen, Mathias Jesper
Feedback control of nonholonomic systems has always been problematic due to the nonholonomic constraints that limit the space of possible system velocities. This property is very basic, and Brockett proved that a nonholonomic system cannot be asymptotically stabilized by a time-invariant smooth...... turns out to be useful when stabilizing the nonholonomic system. If the system is properly actuated it is possible to asymptotically stabilize the primary part of the configuration coordinates via a passive energy shaping and damping injecting feedback. The feedback is smooth and time...... of the closed loop system some extensions are provided: integral action for asymptotic stabilization under the influence of disturbances, and an adaptive damping scheme ensuring that the robot travels at a predefined speed when tracking a path. Both of these extensions are defined in the framework...
Feedback Control of Two-Component Regulatory Systems.
Groisman, Eduardo A
2016-09-08
Two-component systems are a dominant form of bacterial signal transduction. The prototypical two-component system consists of a sensor that responds to a specific input(s) by modifying the output of a cognate regulator. Because the output of a two-component system is the amount of phosphorylated regulator, feedback mechanisms may alter the amount of regulator, and/or modify the ability of a sensor or other proteins to alter the phosphorylation state of the regulator. Two-component systems may display intrinsic feedback whereby the amount of phosphorylated regulator changes under constant inducing conditions and without the participation of additional proteins. Feedback control allows a two-component system to achieve particular steady-state levels, to reach a given steady state with distinct dynamics, to express coregulated genes in a given order, and to activate a regulator to different extents, depending on the signal acting on the sensor.
Chaotifying a stable linear controllable system by single input state feedback
Institute of Scientific and Technical Information of China (English)
Wu Zheng-Mao; Lu Jun-Guo; Xie Jian-Ying
2007-01-01
In this paper, an approach for chaotifying a stable controllable linear system via single input state-feedback is presented. The overflow function of the system states is designed as the feedback controller, which can make the fixed point of the closed-loop system to be a snap-back repeller, thereby yields chaotic dynamics. Based on the Marotto theorem, it proves theoretically that the closed-loop system is chaotic in the sense of Li and Yorke. Finally, the simulation results are used to illustrate the effectiveness of the proposed method.
Institute of Scientific and Technical Information of China (English)
Baocang Ding; Hongguang Pan
2016-01-01
The output feedback model predictive control (MPC), for a linear parameter varying (LPV) process system including unmeasurable model parameters and disturbance (all lying in known polytopes), is considered. Some previously developed tools, including the norm-bounding technique for relaxing the disturbance-related constraint handling, the dynamic output feedback law, the notion of quadratic boundedness for specifying the closed-loop stability, and the el ipsoidal state estimation error bound for guaranteeing the recursive feasibility, are merged in the control design. Some previous approaches are shown to be the special cases. An example of continuous stirred tank reactor (CSTR) is given to show the effectiveness of the proposed approaches.
Energy Technology Data Exchange (ETDEWEB)
Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann
2003-05-01
The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.
Directory of Open Access Journals (Sweden)
Gao Dexin
2012-10-01
Full Text Available This paper concentrates on the solution of state feedback exact linearization zero steady-state error optimal control problem for nonlinear systems affected by external disturbances. Firstly, the nonlinear system model with external disturbances is converted to quasi-linear system model by differential homeomorphism. Using Internal Model Optional Control (IMOC, the disturbances compensator is designed, which exactly offset the impact of external disturbances on the system. Taking the system and the disturbances compensator in series, a new augmented system is obtained. Then the zero steady-state error optimal control problem is transformed into the optimal regulator design problem of an augmented system, and the optimal static error feedback control law is designed according to the different quadratic performance index. At last, the simulation results show the effectiveness of the method.
Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.
Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping
2017-01-31
In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.
Lotfi, Babak; Wang, Qiuwang
2013-07-01
The performance of thermal control systems has, in recent years, improved in numerous ways due to developments in control theory and information technology. The shell-and-tube heat exchanger (STHX) is a medium where heat transfer process occurred. The accuracy of the heat exchanger depends on the performance of both elements. Therefore, both components need to be controlled in order to achieve a substantial result in the process. For this purpose, the actual dynamics of both shell and tube of the heat exchanger is crucial. In this paper, optimal reliability-based multi-objective Pareto design of robust state feedback controllers for a STHX having parameters with probabilistic uncertainties. Accordingly, the probabilities of failure of those objective functions are also considered in the reliability-based design optimization (RBDO) approach. A new multi-objective uniform-diversity genetic algorithm (MUGA) is presented and used for Pareto optimum design of linear state feedback controllers for STHX problem. In this way, Pareto front of optimum controllers is first obtained for the nominal deterministic STHX using the conflicting objective functions in time domain. Such Pareto front is then obtained for STHX having probabilistic uncertainties in its parameters using the statistical moments of those objective functions through a Hammersley Sequence Sampling (HSS) approach. It is shown that multi-objective reliability-based Pareto optimization of the robust state feedback controllers using MUGA includes those that may be obtained by various crisp threshold values of probability of failures and, thus, remove the difficulty of selecting suitable crisp values. Besides, the multi-objective Pareto optimization of such robust feedback controllers using MUGA unveils some very important and informative trade-offs among those objective functions. Consequently, some optimum robust state feedback controllers can be compromisingly chosen from the Pareto frontiers.
Output feedback control of a quadrotor UAV using neural networks.
Dierks, Travis; Jagannathan, Sarangapani
2010-01-01
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.
Feedback control of Layerwise Laser Melting using optical sensors
Craeghs, Tom; Bechmann, Florian; Berumen, Sebastian; Kruth, Jean-Pierre
Layerwise Laser Melting (LLM) is a layerwise production technique enabling the production of complex metallic parts. Thin powder layers are molten according to a predefined scan pattern by means of a laser source. Nowadays constant process parameters are used throughout the build, leading for some geometries to an overly thick feature size or overheating at downfacing surfaces. In this paper a monitoring and control system is presented which enables monitoring the melt pool continously at high speed throughout the building process. The signals from the sensors can be incorporated in a real-time control loop, in this way enabling feedback control of the process parameters. In this paper the experimental set-up will be first shown. Next the dynamic relation between the melt pool and the process parameters is identified. Finally the proof of concept for feedback control is demonstrated with experimental results.
Widayaka, Elfady Satya; Ohmori, Hiromitsu
2016-09-01
This paper shows how to design Multivariable Model Reference Adaptive Control System (MRACS) for “Tokyo University discrete-time engine model” proposed by Yasuda et al (2014). This controller configuration has the structure of “Feedback error learning (FEL)” and adaptive law is based on kernel method. Simulation results indicate that “kernelized” adaptive controllers can improve the tracking performance, the speed of convergence and the robustness to disturbances.
Thosar, Archana; Patra, Amit; Bhattacharyya, Souvik
2008-07-01
Design of a nonlinear control system for a Variable Air Volume Air Conditioning (VAVAC) plant through feedback linearization is presented in this article. VAVAC systems attempt to reduce building energy consumption while maintaining the primary role of air conditioning. The temperature of the space is maintained at a constant level by establishing a balance between the cooling load generated in the space and the air supply delivered to meet the load. The dynamic model of a VAVAC plant is derived and formulated as a MIMO bilinear system. Feedback linearization is applied for decoupling and linearization of the nonlinear model. Simulation results for a laboratory scale plant are presented to demonstrate the potential of keeping comfort and maintaining energy optimal performance by this methodology. Results obtained with a conventional PI controller and a feedback linearizing controller are compared and the superiority of the proposed approach is clearly established.
A wideband slotted kicker design for SPS transverse intra-bunch feedback
Cesaratto, J M; Rivetta, C H; Alesini, D; Gallo, A; Zobov, M; De Santis, S; Hofle, W
2014-01-01
In order for the SPS to meet the beam intensity demands for the HL-LHC upgrade, control and mitigation of trans- verse beam instabilities caused by electron cloud and TMCI will be essential. For this purpose a wideband intra-bunch feedback method has been proposed, based on a 4 GS/s front end data acquisition and processing, and on a back end frequency response extending to at least 1 GHz. A slotted type kicker, similar to those used for stochastic cooling, as well as an array of stripline kickers have been considered as the terminal elements of the feedback system. A slotted TEM type kicker has been designed fulﬁlling the bandwidth and kick strength requirements for the SPS application. In this paper we present an updated version of the design and electromagnetic characteristics, leading into the mechanical design and construction of the kicker occurring later this year.
End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots
Directory of Open Access Journals (Sweden)
Shuhuan Wen
2012-12-01
Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end‐point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end‐effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system’s inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one‐link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.
End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots
Directory of Open Access Journals (Sweden)
Shuhuan Wen
2012-12-01
Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.
Directory of Open Access Journals (Sweden)
C. Oktay Azeloglu
2015-01-01
Full Text Available This paper studies the design of a linear matrix inequality (LMI based mixed H2/H∞ state-feedback controller for vibration attenuation problem of seismic-excited container cranes. In order to show effectiveness of the designed controller, a six-degree-of-freedom container crane structural system is modeled using a spring-mass-damper subsystem. The system is then simulated against the real ground motion of El Centro and Northridge earthquakes. Finally, the time history of the crane parts displacements, accelerations, control forces, and frequency responses of both uncontrolled and controlled cases are presented. Additionally, the performance of the designed controller is also compared with a nominal state-feedback H∞ controller performance. Simulations of the designed controller show better seismic performance than a nominal state-feedback H∞ controller. Simulation results show that the designed controller is all effective in reducing vibration amplitudes of crane parts.
A survey on delayed feedback control of chaos
Institute of Scientific and Technical Information of China (English)
Yuping TIAN; Jiandong ZHU; Guanrong CHEN
2005-01-01
This paper introduces the basic idea and provides the mathematical formulation of the delayed feedback control (DFC) methodology, which has been widely used in chaos control. Stability analysis including the well-known odd number limitation of the DFC is reviewed. Some new developments in characterizing the limitation of the DFC are presented. Various modified DFC methods, which are developed in order to overcome the odd number limitation, are also described. Finally, some open problems in this research field are discussed.
Electrotactile EMG feedback improves the control of prosthesis grasping force
Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario
2016-10-01
Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for
Long, Lijun; Zhao, Jun
2015-07-01
This paper investigates the problem of adaptive neural tracking control via output-feedback for a class of switched uncertain nonlinear systems without the measurements of the system states. The unknown control signals are approximated directly by neural networks. A novel adaptive neural control technique for the problem studied is set up by exploiting the average dwell time method and backstepping. A switched filter and different update laws are designed to reduce the conservativeness caused by adoption of a common observer and a common update law for all subsystems. The proposed controllers of subsystems guarantee that all closed-loop signals remain bounded under a class of switching signals with average dwell time, while the output tracking error converges to a small neighborhood of the origin. As an application of the proposed design method, adaptive output feedback neural tracking controllers for a mass-spring-damper system are constructed.
DEFF Research Database (Denmark)
Endelt, Benny Ørtoft; Tommerup, Søren; Danckert, Joachim
2013-01-01
The performance of a feedback control system is often limited by the quality of the model on which it is based, and often the controller design is based on trial and error due to insufficient modeling capabilities. A framework is proposed where the controller design is based on classical state...... on a deep drawing operation where the objective was to control material flow throughout the part using only spatial information regarding flange draw-in. The control system controls both the magnitude and distribution of the blank-holder force. The methodology proved stable and flexible with respect...
Active Feedback Control of Unstable Wells at the Brage Field
Directory of Open Access Journals (Sweden)
Morten Dalsmo
2005-04-01
Full Text Available In this paper we will present new results on stabilization of horizontal wells with gas lift. The stabilization is achieved by a novel dynamic feedback control solution using the production choke at the wellhead. The primary input to the dynamic feedback controller is a measurement of the downhole pressure. The field results to be presented are from the Brage field operated by Norsk Hydro in the North sea. Production at Brage began in 1993 and the field went off plateau in 1998. As the production has decreased, the problems related to unstable production from some of the wells have escalated steadily. The results from the extensive field tests on the Brage wells arc very promising. The tests have confirmed the stabilization feature of the control solution. The pressure and flow variations have been dramatically reduced, and it is possible to produce the wells at a lower downhole pressure leading to increased production.
Directory of Open Access Journals (Sweden)
Saswati Swapna Dash
2014-07-01
Full Text Available This paper presents an overall study of Feedback Control of Z-Source Converter Fed Separately excited DC motor with centrifugal Pump Set. Z-source converter can be used for both voltage buck and boost mode using LC impedance network. In this paper the dynamic modeling of Z-source with motor load and centrifugal pump set is carried out with new findings. The compensators for speed feedback loop are designed by taking average state space analysis and small signal model of the system. The feedback loop is designed by classical control methods. The experiment is done in MATLAB work environment and the result is verified by Simulation.
Direct torque control via feedback linearization for permanent magnet synchronous motor drives
DEFF Research Database (Denmark)
Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede
2012-01-01
The paper describes a direct torque controlled (DTC) permanent magnet synchronous motor (PMSM) drive that employs feedback linearization and uses sliding-mode and linear controllers. We introduce a new feedback linearization approach that yields a decoupled linear PMSM model with two state...... variables, the torque and the square of stator flux magnitude. This linear model is intuitive and allows the implementation of DTC-type controllers that preserve all DTC advantages and eliminate its main drawback, the flux and torque ripple. Next, we investigate two controllers for toque and flux....... A variable structure controller (VSC) which is robust, fast, and produces low-ripple control is compared with a linear-DTC scheme which is ripple free. The torque time response is similar to a conventional DTC drive and the proposed solutions are flexible and highly tunable. We present the controller design...
Energy Technology Data Exchange (ETDEWEB)
Safarzadeh, O., E-mail: O_Safarzadeh@sbu.ac.ir [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of); Khaki-Sedigh, A. [K. N. Toosi University of Technology, Tehran (Iran, Islamic Republic of); Shirani, A.S. [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of)
2011-09-15
Highlights: {yields} A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. {yields} To design the controller, fairly accurate linear models are identified for the SG. {yields} The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. {yields} Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. {yields} The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.
Controller design approach based on linear programming.
Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa
2013-11-01
This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor.
Rivetta, C H; Mastoridis, T; Pivi, M T F; Turgut, O; Höfle, W; Secondo, R; Vay, J L
2011-01-01
The feedback control of intrabunch instabilities driven by E-Clouds or strong head-tail coupling (TMCI) requires sufficient bandwidth to sense the vertical position and drive multiple sections of a nanosecond scale bunch. These requirements impose challenges and limits in the design and implementation of the feedback system. This paper presents models for the feedback subsystems: receiver, processing channel, amplifier and kicker, that take into account their frequency response and limits. These models are included in multiparticle simulation codes (WARP/CMAD/Head-Tail) and reduced mathematical models of the bunch dynamics to evaluate the impact of subsystem limitations in the bunch stabilization and emittance improvement. With this realistic model of the hardware, it is possible to analyze and design the feedback system. This research is crucial to evaluate the performance boundary of the feedback control system due to cost and technological limitations. These models define the impact of spurious perturbatio...
Transceiver design for dispersive MIMO channels with decision feedback
Huang, Wan-Jen; Yu, Xiaoli; Kuo, C.-C. J.
2005-06-01
A finite impulse response (FIR) precoder for the multi-input multi-output (MIMO) channel is proposed to eliminate the intersymbol interference (ISI) effect in this research. Two precoders are designed to maximize the signal to noise ratio (SNR) and the signal to interference plus noise ratio (SINR), respectively. At the receiver end, a finite-length MIMO decision feedback equalizer is adopted to minimize the mean squared error (MSE) of the overall system. It is observed that the SINR-maximizing precoder performs the best among all precoders under our examination. For the 2x2 MIMO channel, the simple one-tap SNR-maximizing precoder can perform almost as well. For a heavily dispersive channel, the SINR-maximizing precoder still performs well even its length is much smaller than the channel length.
Velocity feedback control with a flywheel proof mass actuator
Kras, Aleksander; Gardonio, Paolo
2017-08-01
This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.
Stability and Bifurcation in Magnetic Flux Feedback Maglev Control System
Directory of Open Access Journals (Sweden)
Wen-Qing Zhang
2013-01-01
Full Text Available Nonlinear properties of magnetic flux feedback control system have been investigated mainly in this paper. We analyzed the influence of magnetic flux feedback control system on control property by time delay and interfering signal of acceleration. First of all, we have established maglev nonlinear model based on magnetic flux feedback and then discussed hopf bifurcation’s condition caused by the acceleration’s time delay. The critical value of delayed time is obtained. It is proved that the period solution exists in maglev control system and the stable condition has been got. We obtained the characteristic values by employing center manifold reduction theory and normal form method, which represent separately the direction of hopf bifurcation, the stability of the period solution, and the period of the period motion. Subsequently, we discussed the influence maglev system on stability of by acceleration’s interfering signal and obtained the stable domain of interfering signal. Some experiments have been done on CMS04 maglev vehicle of National University of Defense Technology (NUDT in Tangshan city. The results of experiments demonstrate that viewpoints of this paper are correct and scientific. When time lag reaches the critical value, maglev system will produce a supercritical hopf bifurcation which may cause unstable period motion.
Lyapunov-based boundary feedback control in multi-reach canals
Institute of Scientific and Technical Information of China (English)
CEN LiHui; XI YuGeng
2009-01-01
This paper presents a Lyapunov-based approach to design the boundary feedback control for an open-channel network composed of a cascade of multi-reach canals, each described by a pair of Saint-Venant equations. The weighted sum of entropies of the multi-reaches is adopted to construct the Lyapunov function. The time derivative of the Lyapunov function is expressed by the water depth variations at the gate boundaries, based on which a class of boundary feedback controllers is presented to guarantee the local asymptotic closed-loop stability. The advantage of this approach is that only the water level depths at the gate boundaries are measured as the feedback.
Robust dynamic output feedback control for switched polytopic systems under asynchronous switching
Directory of Open Access Journals (Sweden)
Yang Tingting
2015-08-01
Full Text Available The robust controller design problem for switched polytopic systems under asynchronous switching is addressed. These systems exist in many aviation applications, such as dynamical systems involving rapid variations. A switched polytopic system is established to describe the highly maneuverable technology vehicle within the full flight envelope and a robust dynamic output feedback control method is designed for the switched polytopic system. Combining the Lyapunov-like function method and the average dwell time method, a sufficient condition is derived for the switched polytopic system with asynchronous switching and data dropout to be globally, uniformly and asymptotically stable in terms of linear matrix inequality. The robust dynamic output feedback controller is then applied to the highly maneuverable technology vehicle to illustrate the effectiveness of the proposed approach. The simulation results show that the angle of attack tracking performance is acceptable over the time history and the control surface responses are all satisfying along the full flight trajectory.
Improved State Feedback H∞ Control for Flexible Air-Breathing Hypersonic Vehicles on LMI Approach
Directory of Open Access Journals (Sweden)
Zhang Xue
2017-01-01
Full Text Available Focusing on a nonlinear longitudinal dynamical model for Air-breathing Hypersonic Flight Vehicles (AHFV, a linearized model on a nominal trim condition is proposed. To stabilize the flight of an AHFV in the presence of external disturbances and actuator uncertainties, a state feedback H∞ control is designed. With bounds on the uncertainties, a feedback stabilization problem is converted to an optimal control problem and the cost function is minimized by solving a set of linear matrix inequalities. Since uncertainties in the design of AHFV are inevitable, to make a comparison, a general H∞ robust controller is constructed by only considering the disturbances firstly. Then the results are extended by incorporating the actual existing uncertainties as well as the external disturbances in the AHFV system. Numerical simulation shows that the controller, which takes both disturbances and uncertainties into account, can effectively stabilize the AHFV system.
Improved Position Sensor for Feedback Control of Levitation
Hyers, Robert; Savage, Larry; Rogers, Jan
2004-01-01
An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.
Feedback control of subcritical Turing instability with zero mode.
Golovin, A A; Kanevsky, Y; Nepomnyashchy, A A
2009-04-01
A global feedback control of a system that exhibits a subcritical monotonic instability at a nonzero wave number (short-wave or Turing instability) in the presence of a zero mode is investigated using a Ginzburg-Landau equation coupled to an equation for the zero mode. This system is studied analytically and numerically. It is shown that feedback control, based on measuring the maximum of the pattern amplitude over the domain, can stabilize the system and lead to the formation of localized unipulse stationary states or traveling solitary waves. It is found that the unipulse traveling structures result from an instability of the stationary unipulse structures when one of the parameters characterizing the coupling between the periodic pattern and the zero mode exceeds a critical value that is determined by the zero mode damping coefficient.
State-feedback control of LPV sampled-data systems
Directory of Open Access Journals (Sweden)
Tan K.
2000-01-01
Full Text Available In this paper, we address the analysis and the state-feedback synthesis problems for linear parameter-varying (LPV sampled-data control systems. We assume that the state-space data of the plant and the sampling interval depend on parameters that are measurable in real-time and vary in a compact set with bounded variation rates. We explore criteria such as the stability, the energy-to-energy gain (induced L 2 norm and the energy-to-peak gain (induced L 2 -to- L ∞ norm of such sampled-data LPV systems using parameter-dependent Lyapunov functions. Based on these analysis results, the sampled-data state-feedback control synthesis problems are examined. Both analysis and synthesis conditions are formulated in terms of linear matrix inequalities that can be solved via efficient interior-point algorithms.
Conformal grasping using feedback controlled bubble actuator array
Carrigan, Wei; Stein, Richard; Mittal, Manoj; Wijesundara, Muthu B. J.
2014-06-01
This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.
Linear Riccati Dynamics, Constant Feedback, and Controllability in Linear Quadratic Control Problems
Ronald J. Balvers; Douglas W. Mitchell
2005-01-01
Conditions are derived for linear-quadratic control (LQC) problems to exhibit linear evolution of the Riccati matrix and constancy of the control feedback matrix. One of these conditions involves a matrix upon whose rank a necessary condition and a sufficient condition for controllability are based. Linearity of Riccati evolution allows for rapid iterative calculation, and constancy of the control feedback matrix allows for time-invariant comparative static analysis of policy reactions.
Robot impedance control and passivity analysis with inner torque and velocity feedback loops
Institute of Scientific and Technical Information of China (English)
Michele FOCCHI; Gustavo A MEDRANO-CERDA; Thiago BOAVENTURA; Marco FRIGERIO; Claudio SEMINI; Jonas BUCHLI; Darwin G CALDWELL
2016-01-01
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. In particular, the viable range of stable stiffness and damping values can be strongly affected by the bandwidth of the inner control loops (e.g., a torque loop) as well as by the filtering and sampling frequency. This paper provides an extensive analysis on how these aspects influence the stability region of impedance parameters as well as the passivity of the system. This will be supported by both simulations and experimental data. Moreover, a methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented. The goal of the velocity feedback is to increase (given the constraints to preserve stability) the bandwidth of the torque loop without the need of a complex controller.
Energy Technology Data Exchange (ETDEWEB)
Teytelman, Dmitry
2000-03-30
A bunch-by-bunch longitudinal feedback system has been designed and built to control coupled-bunch instabilities in the PEP-II machine. A prototype system has been installed at the Advanced Light Source at LBNL. Programmable DSPs allow longitudinal feedback processing in conjunction with data acquisition or instrumentation algorithms. Here the authors describe techniques developed for different beam and system diagnostics, such as measurements of the modal growth and damping rates and measurements of the bunch-by-bunch currents. Results from the Advanced Light Source are presented to illustrate these techniques.
Bifurcation Analysis of a Discrete Logistic System with Feedback Control
Institute of Scientific and Technical Information of China (English)
WU Dai-yong
2015-01-01
The paper studies the dynamical behaviors of a discrete Logistic system with feedback control. The system undergoes Flip bifurcation and Hopf bifurcation by using the center manifold theorem and the bifurcation theory. Numerical simulations not only illustrate our results, but also exhibit the complex dynamical behaviors of the system, such as the period-doubling bifurcation in periods 2, 4, 8 and 16, and quasi-periodic orbits and chaotic sets.
Control of spatially patterned synchrony with multisite delayed feedback
Hauptmann, C.; Omelchenko, O.; Popovych, O. V.; Maistrenko, Y.; Tass, P.A.
2007-01-01
We present an analytical study describing a method for the control of spatiotemporal patterns of synchrony in networks of coupled oscillators. Delayed feedback applied through a small number of electrodes effectively induces spatiotemporal dynamics at minimal stimulation intensities. Different arrangements of the delays cause different spatial patterns of synchrony, comparable to central pattern generators (CPGs), i.e., interacting clusters of oscillatory neurons producing patterned output, e...
Tracking control of a flexible beam by nonlinear boundary feedback
Directory of Open Access Journals (Sweden)
Bao-Zhu Guo
1995-01-01
Full Text Available This paper is concerned with tracking control of a dynamic model consisting of a flexible beam rotated by a motor in a horizontal plane at the one end and a tip body rigidly attached at the free end. The well-posedness of the closed loop systems considering the dissipative nonlinear boundary feedback is discussed and the asymptotic stability about difference energy of the hybrid system is also investigated.
Peresada, Sergei; Kovbasa, Serhii; Dymko, Serhii; BOZHKO, Serhiy
2016-01-01
The paper presents a novel maximum torque per Ampere (MTA) controller for induction motor (IM) drives. The proposed controller exploits the concept of direct (observer based) field orientation and guarantees asymptotic torque tracking of smooth reference trajectories and maximizes the torque per Ampere ratio when the developed torque is constant or slowly varying. A dynamic output-feedback linearizing technique is employed for the torque subsystem design. In order to improve torque tracking a...
The Effect of the Feedback Controller on Superconducting Tokamak AC Losses + AC-CRPP user manual
Energy Technology Data Exchange (ETDEWEB)
Schaerz, B.; Bruzzone, P.; Favez, J.Y.; Lister, J.B.; Zapretilina, E
2001-11-01
Superconducting coils in a Tokamak are subject to AC losses when the field transverse to the coil current varies. A simple model to evaluate the AC losses has been derived and benchmarked against a complete model used in the ITER design procedure. The influence of the feedback control strategy on the AC losses is examined using this model. An improved controller is proposed, based on this study. (author)
State-Feedback Control for Fractional-Order Nonlinear Systems Subject to Input Saturation
Directory of Open Access Journals (Sweden)
Junhai Luo
2014-01-01
Full Text Available We give a state-feedback control method for fractional-order nonlinear systems subject to input saturation. First, a sufficient condition is derived for the asymptotical stability of a class of fractional-order nonlinear systems. Then based on Gronwall-Bellman lemma and a sector bounded condition of the saturation function, a linear state-feed back controller is designed. Finally, two simulation examples are presented to show the validity of the proposed method.
Accelerator and feedback control simulation using neural networks
Energy Technology Data Exchange (ETDEWEB)
Nguyen, D.; Lee, M.; Sass, R.; Shoaee, H.
1991-05-01
Unlike present constant model feedback system, neural networks can adapt as the dynamics of the process changes with time. Using a process model, the Accelerator'' network is first trained to simulate the dynamics of the beam for a given beam line. This Accelerator'' network is then used to train a second Controller'' network which performs the control function. In simulation, the networks are used to adjust corrector magnetics to control the launch angle and position of the beam to keep it on the desired trajectory when the incoming beam is perturbed. 4 refs., 3 figs.
On the minimax feedback control of uncertain dynamic systems.
Bertsekas, D. P.; Rhodes, I. B.
1971-01-01
In this paper the problem of optimal feedback control of uncertain discrete-time dynamic systems is considered where the uncertain quantities do not have a stochastic description but instead are known to belong to given sets. The problem is converted to a sequential minimax problem and dynamic programming is suggested as a general method for its solution. The notion of a sufficiently informative function, which parallels the notion of a sufficient statistic of stochastic optimal control, is introduced, and conditions under which the optimal controller decomposes into an estimator and an actuator are identified.
Blumthaler, Ingrid; Oberst, Ulrich
2012-03-01
Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ℱ over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior
Feedback control of inertial microfluidics using axial control forces
Prohm, Christopher
2014-01-01
Inertial microfluidics is a promising tool for many lab-on-a-chip applications. Particles in channel flows with Reynolds numbers above one undergo cross-streamline migration to a discrete set of equilibrium positions in square and rectangular channel cross sections. This effect has been used extensively for particle sorting and the analysis of particle properties. Using the lattice Boltzmann method, we determine equilibrium positions in square and rectangular cross sections and classify their types of stability for different Reynolds numbers, particle sizes, and channel aspect ratios. Our findings thereby help to design microfluidic channels for particle sorting. Furthermore, we demonstrate how an axial control force, which slows down the particles, shifts the stable equilibrium position towards the channel center. Ultimately, the particles then stay on the centerline for forces exceeding a threshold value. This effect is sensitive to particle size and channel Reynolds number and therefore suggests an efficie...
DEFF Research Database (Denmark)
Salazar, Jorge Andrés González; Santos, Ilmar
2015-01-01
The feedback-controlled lubrication regime, based on a model-free designed proportional–derivative controller, is experimentally investigated in a flexible rotor mounted on an actively-lubricated tilting-pad journal bearing. With such a lubrication regime, both the resulting pressure distribution......-controlled lubrication regime featured via proportional–derivative controllers....
Designs Can Talk: A Case of Feedback for Design Evolution in Assistive Technology
Robinson, William N.; Fickas, Stephen
Requirements engineers gain insights and make improvements on their requirements specifications, as they are applied in natural contexts. Software artifacts are particularly useful requirements instantiations because feedback can be obtained directly from software. Software talks to its designers about its requirements.
On the Permanence of a Nonautonomous Nicholson's Blowflies Model with Feedback Control and Delay
Institute of Scientific and Technical Information of China (English)
LAI Wei-ying
2011-01-01
A nonautonomous Nicholson's Blowflies model with feedback control and delay is investigated in this paper.We show that for this system,feedback control variable has no influence on the persistent property of the system.
Feedback Equivalence of 1-dimensional Control Systems of the 1-st Order
2008-01-01
The problem of local feedback equivalence for 1-dimensional control systems of the 1-st order is considered. The algebra of differential invariants and criteria for the feedback equivalence for regular control systems are found.
The Permanence in a Single Species Nonautonomous System with Delays and Feedback Control
2010-01-01
We consider a single species nonautonomous system with delays and feedback control. A general criterion on the permanence for all positive solutions is established. The results show that the feedback control does not influence the permanence of species.
Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics
Belavkin, V. P.
2009-02-01
A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.
Design, modeling and control of nanopositioning systems
Fleming, Andrew J
2014-01-01
Covering the complete design cycle of nanopositioning systems, this is the first comprehensive text on the topic. The book first introduces concepts associated with nanopositioning stages and outlines their application in such tasks as scanning probe microscopy, nanofabrication, data storage, cell surgery and precision optics. Piezoelectric transducers, employed ubiquitously in nanopositioning applications are then discussed in detail including practical considerations and constraints on transducer response. The reader is then given an overview of the types of nanopositioner before the text turns to the in-depth coverage of mechanical design including flexures, materials, manufacturing techniques, and electronics. This process is illustrated by the example of a high-speed serial-kinematic nanopositioner. Position sensors are then catalogued and described and the text then focuses on control. Several forms of control are treated: shunt control, feedback control, force feedback control and feedforward control (...
Stabilization of generalized fractional order chaotic systems using state feedback control
Energy Technology Data Exchange (ETDEWEB)
Ahmad, Wajdi M. E-mail: wajdi@sharjah.ac.ae; El-Khazali, Reyad E-mail: khazali@ece.ac.ae; Al-Assaf, Yousef E-mail: yassaf@aus.ac.ae
2004-10-01
In this paper, we address the problem of chaos control of three types of fractional order systems using simple state feedback gains. Electronic chaotic oscillators, mechanical 'jerk' systems, and the Chen system are investigated when they assume generalized fractional orders. We design the static gains to place the eigenvalues of the system Jacobian matrices in a stable region whose boundaries are determined by the orders of the fractional derivatives. We numerically demonstrate the effectiveness of the controller in eliminating the chaotic behavior from the state trajectories, and driving the states to the nearest equilibrium point in the basin of attraction. For the recently introduced Chen system, in particular, we demonstrate that with a proper choice of model parameters, chaotic behavior is preserved when the system order becomes fractional. Both state and output feedback controllers are then designed to stabilize a generalized fractional order Chen system.
Adaptive Fuzzy Output Feedback Control for Switched Nonlinear Systems With Unmodeled Dynamics.
Tong, Shaocheng; Li, Yongming
2017-02-01
This paper investigates a robust adaptive fuzzy control stabilization problem for a class of uncertain nonlinear systems with arbitrary switching signals that use an observer-based output feedback scheme. The considered switched nonlinear systems possess the unstructured uncertainties, unmodeled dynamics, and without requiring the states being available for measurement. A state observer which is independent of switching signals is designed to solve the problem of unmeasured states. Fuzzy logic systems are used to identify unknown lumped nonlinear functions so that the problem of unstructured uncertainties can be solved. By combining adaptive backstepping design principle and small-gain approach, a novel robust adaptive fuzzy output feedback stabilization control approach is developed. The stability of the closed-loop system is proved via the common Lyapunov function theory and small-gain theorem. Finally, the simulation results are given to demonstrate the validity and performance of the proposed control strategy.
Operating wind turbines in strong wind conditions by using feedforward-feedback control
Feng, Ju; Sheng, Wen Zhong
2014-12-01
Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades.
Learning from adaptive neural network output feedback control of a unicycle-type mobile robot.
Zeng, Wei; Wang, Qinghui; Liu, Fenglin; Wang, Ying
2016-03-01
This paper studies learning from adaptive neural network (NN) output feedback control of nonholonomic unicycle-type mobile robots. The major difficulties are caused by the unknown robot system dynamics and the unmeasurable states. To overcome these difficulties, a new adaptive control scheme is proposed including designing a new adaptive NN output feedback controller and two high-gain observers. It is shown that the stability of the closed-loop robot system and the convergence of tracking errors are guaranteed. The unknown robot system dynamics can be approximated by radial basis function NNs. When repeating same or similar control tasks, the learned knowledge can be recalled and reused to achieve guaranteed stability and better control performance, thereby avoiding the tremendous repeated training process of NNs. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Operating wind turbines in strong wind conditions by using feedforward-feedback control
DEFF Research Database (Denmark)
Feng, Ju; Shen, Wen Zhong
2014-01-01
the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening......Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines...... in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using...
Feedback Control of Vibrations in a Micromachined Cantilever Beam with Electrostatic Actuators
Wang, P. K. C.
1998-06-01
The problem of feedback control of vibrations in a micromachined cantilever beam with nonlinear electrostatic actuators is considered. Various forms of nonlinear feedback controls depending on localized spatial averages of the beam velocity and displacement near the beam tip are derived by considering the time rate-of-change of the total energy of the beam. The physical implementation of the derived feedback controls is discussed briefly. The dynamic behaviour of the beam with the derived feedback controls is determined by computer simulation.
Processes controlling Southern Ocean cloud-climate feedbacks (Invited)
Kay, J. E.; Medeiros, B.; Hwang, Y.; Gettelman, A.
2013-12-01
We use a fully coupled climate model (CESM) to identify processes controlling intriguingly diverse Southern Ocean cloud feedbacks in response to increased greenhouse gas forcing. Modeled Southern Ocean cloud-climate feedbacks range from the most positive (enhancing greenhouse warming at ~40 degrees South) to the most negative (damping greenhouse warming at ~60 degrees South) on the planet. As greenhouse gas concentrations increase, Antarctic sea ice loss, warming, and a poleward stormtrack shift/sub-tropical expansion all modify Southern Ocean clouds. Our analysis shows that Southern Ocean clouds are controlled both by thermodynamics (cloud changes for a given subsidence rate) and by dynamics (changes in subsidence rates). Hinting at the importance of thermodynamics, absorbed shortwave radiation over the Southern Ocean is substantially more affected by increased greenhouse gas forcing than by a poleward stormtrack shift in the absence of greenhouse forcing. While we find CESM a useful tool, CESM has substantial Southern Ocean biases (e.g., excessive Antarctic sea ice, excessive absorbed shortwave radiation). Thus, we also assess the impact that these biases have on the realism of CESM Southern Ocean cloud-climate greenhouse feedbacks.
Optimal Control Design with Limited Model Information
Farokhi, F; Johansson, K H
2011-01-01
We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the achievable closed-loop performance of discrete-time linear time-invariant plants under a separable quadratic cost performance measure with structured static state-feedback controllers. We find the optimal control design strategy (in terms of the competitive ratio and domination metrics) when the control designer has access to the local model information and the global interconnection structure of the plant-to-be-controlled. At last, we study the trade-off between the amount of model information exploited by a control design method and the best closed-loop performance (in terms of the competitive ratio) of controllers it can produce.
Feedback Control Of Dynamical Instabilities In Classical Lasers And Fels
Bielawski, S; Szwaj, C
2005-01-01
Dynamical instabilities lead to unwanted full-scale power oscillations in many classical lasers and FEL oscillators. For a long time, applications requiring stable operation were typically performed by working outside the problematic parameter regions. A breakthrough occurred in the nineties [1], when emphasis was made on the practical importance of unstable states (stationary or periodic) that coexist with unwanted oscillatory states. Indeed, although not observable in usual experiments, unstable states can be stabilized, using a feedback control involving arbitrarily small perturbations of a parameter. This observation stimulated a set of works leading to successful suppression of dynamical instabilities (initially chaos) in lasers, sometimes with surprisingly simple feedback devices [2]. We will review a set of key results, including in particular the recent works on the stabilization of mode-locked lasers, and of the super-ACO, ELETTRA and UVSOR FELs [3].
East African weathering dynamics controlled by vegetation-climate feedbacks
Ivory, Sarah J.; McGlue, Michael M.; Ellis, Geoffrey S.; Boehlke, Adam; Lézine, Anne-Marie; Vincens, Annie; Cohen, Andrew S.
2017-01-01
Tropical weathering has important linkages to global biogeochemistry and landscape evolution in the East African rift. We disentangle the influences of climate and terrestrial vegetation on chemical weathering intensity and erosion at Lake Malawi using a long sediment record. Fossil pollen, microcharcoal, particle size, and mineralogy data affirm that the detrital clays accumulating in deep water within the lake are controlled by feedbacks between climate and hinterland forest composition. Particle-size patterns are also best explained by vegetation, through feedbacks with lake levels, wildfires, and erosion. We develop a new source-to-sink framework that links lacustrine sedimentation to hinterland vegetation in tropical rifts. Our analysis suggests that climate-vegetation interactions and their coupling to weathering/erosion could threaten future food security and has implications for accurately predicting petroleum play elements in continental rift basins.
Feedback Control of Turbulent Shear Flows by Genetic Programming
Duriez, Thomas; von Krbek, Kai; Bonnet, Jean-Paul; Cordier, Laurent; Noack, Bernd R; Segond, Marc; Abel, Markus; Gautier, Nicolas; Aider, Jean-Luc; Raibaudo, Cedric; Cuvier, Christophe; Stanislas, Michel; Debien, Antoine; Mazellier, Nicolas; Kourta, Azeddine; Brunton, Steven L
2015-01-01
Turbulent shear flows have triggered fundamental research in nonlinear dynamics, like transition scenarios, pattern formation and dynamical modeling. In particular, the control of nonlinear dynamics is subject of research since decades. In this publication, actuated turbulent shear flows serve as test-bed for a nonlinear feedback control strategy which can optimize an arbitrary cost function in an automatic self-learning manner. This is facilitated by genetic programming providing an analytically treatable control law. Unlike control based on PID laws or neural networks, no structure of the control law needs to be specified in advance. The strategy is first applied to low-dimensional dynamical systems featuring aspects of turbulence and for which linear control methods fail. This includes stabilizing an unstable fixed point of a nonlinearly coupled oscillator model and maximizing mixing, i.e.\\ the Lyapunov exponent, for forced Lorenz equations. For the first time, we demonstrate the applicability of genetic p...
Control of birhythmicity: A self-feedback approach
Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen
2017-06-01
Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.
Adapting Predictive Feedback Chaos Control for Optimal Convergence Speed
Bick, Christian; Kolodziejski, Christoph
2012-01-01
Stabilizing unstable periodic orbits in a chaotic invariant set not only reveals information about its structure but also leads to various interesting applications. For the successful application of a chaos control scheme, convergence speed is of crucial importance. Here we present a predictive feedback chaos control method that adapts a control parameter online to yield optimal asymptotic convergence speed. We study the adaptive control map both analytically and numerically and prove that it converges at least linearly to a value determined by the spectral radius of the control map at the periodic orbit to be stabilized. The method is easy to implement algorithmically and may find applications for adaptive online control of biological and engineering systems.
Saxena, Pratik; Charpin-El Hamri, Ghislaine; Folcher, Marc; Zulewski, Henryk; Fussenegger, Martin
2016-02-02
Graves' disease is an autoimmune disorder that causes hyperthyroidism because of autoantibodies that bind to the thyroid-stimulating hormone receptor (TSHR) on the thyroid gland, triggering thyroid hormone release. The physiological control of thyroid hormone homeostasis by the feedback loops involving the hypothalamus-pituitary-thyroid axis is disrupted by these stimulating autoantibodies. To reset the endogenous thyrotrophic feedback control, we designed a synthetic mammalian gene circuit that maintains thyroid hormone homeostasis by monitoring thyroid hormone levels and coordinating the expression of a thyroid-stimulating hormone receptor antagonist (TSHAntag), which competitively inhibits the binding of thyroid-stimulating hormone or the human autoantibody to TSHR. This synthetic control device consists of a synthetic thyroid-sensing receptor (TSR), a yeast Gal4 protein/human thyroid receptor-α fusion, which reversibly triggers expression of the TSHAntag gene from TSR-dependent promoters. In hyperthyroid mice, this synthetic circuit sensed pathological thyroid hormone levels and restored the thyrotrophic feedback control of the hypothalamus-pituitary-thyroid axis to euthyroid hormone levels. Therapeutic plug and play gene circuits that restore physiological feedback control in metabolic disorders foster advanced gene- and cell-based therapies.
Institute of Scientific and Technical Information of China (English)
2001-01-01
It should be pointed out that there are two ways of applying nonlinear control using the wavelet-based feedback control: the single periodical (ΔP =1) control and multiple-periodical sporadic (interval)(ΔP≥2) control for controlling beam halo-chaos.Table 1 shows a comparison of results obtained before and after wavelet-based feedback controller at the 1 800th period. It is seen from table 1 that multiple-periodical sporadic (interval) control can also reach the same good results as the single periodical control, but it has much higher economic impact on practical application.
Feedback-Topology Designs for Interference Alignment in MIMO Interference Channels
Cho, Sungyoon; Huang, Kaibin; Kim, Dongku; Lau, Vincent K N; Seo, Hanbyul; Kim, Byounghoon
2011-01-01
Interference alignment (IA) is a joint-transmission technique that achieves the capacity of the interference channel for high signal-to-noise ratios (SNRs). Most prior work on IA is based on the impractical assumption that perfect and global channel-state information(CSI) is available at all transmitters. To implement IA, each receiver has to feed back CSI to all interferers, resulting in overwhelming feedback overhead. In particular, the sum feedback rate of each receiver scales quadratically with the number of users even if the quantized CSI is fed back. To substantially suppress feedback overhead, this paper focuses on designing efficient arrangements of feedback links, called feedback topologies, under the IA constraint. For the multiple-input-multiple-output (MIMO) K-user interference channel, we propose the feedback topology that supports sequential CSI exchange (feedback and feedforward) between transmitters and receivers so as to achieve IA progressively. This feedback topology is shown to reduce the ...
Robust adaptive fuzzy control for a class of perturbed pure-feedback nonlinear systems
Institute of Scientific and Technical Information of China (English)
Jianjiang YU; Tianping ZHANG; Haijun GU
2004-01-01
A new design scheme of direct adaptive fuzzy controller for a class of perturbed pure-feedback nonlinear systems is proposed. The design is based on backstepping and the approximation capability of the first type fuzzy systems. A continuous robust term is adopted to minif-y the influence of modeling errors or disturbances. By introducing the modified integral-type Lyapunov function, the approach is able to avoid the requirement of the upper bound of the first time derivation of the high frequency control gain. Through theoretical analysis, the closed-loop control system is proven to be semi-globally uniformly ultimately bounded, with tracking error converging to a residual set.
Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.
Pan, Yongping; Yu, Haoyong
2017-06-01
This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.
Directory of Open Access Journals (Sweden)
Olav Slupphaug
2001-01-01
Full Text Available We present a mathematical programming approach to robust control of nonlinear systems with uncertain, possibly time-varying, parameters. The uncertain system is given by different local affine parameter dependent models in different parts of the state space. It is shown how this representation can be obtained from a nonlinear uncertain system by solving a set of continuous linear semi-infinite programming problems, and how each of these problems can be solved as a (finite series of ordinary linear programs. Additionally, the system representation includes control- and state constraints. The controller design method is derived from Lyapunov stability arguments and utilizes an affine parameter dependent quadratic Lyapunov function. The controller has a piecewise affine output feedback structure, and the design amounts to finding a feasible solution to a set of linear matrix inequalities combined with one spectral radius constraint on the product of two positive definite matrices. A local solution approach to this nonconvex feasibility problem is proposed. Complexity of the design method and some special cases such as state- feedback are discussed. Finally, an application of the results is given by proposing an on-line computationally feasible algorithm for constrained nonlinear state- feedback model predictive control with robust stability.
The Design of Ship Autopilot by Applying Observer - Based Feedback Linearization
Directory of Open Access Journals (Sweden)
Zwierzewicz Zenon
2015-01-01
Full Text Available The paper considers the problem of ship autopilot design based on Bech’s model of the vessel. Since the model is highly nonlinear and some of the state vector coordinates are unavailable, the control system synthesis is performed by means of an output feedback linearization method combined with a nonlinear observer. The asymptotic stability of the overall system has been proven, including the asymptotic stability of the system internal dynamics. The performed simulations of the ship course-changing process have confirmed a high performance of the proposed controller. It has been emphasized that for its practical usability the system robustification is necessary.
Parametric control systems design with applications in missile control
Institute of Scientific and Technical Information of China (English)
DUAN GuangRen; YU HaiHua; TAN Feng
2009-01-01
This paper considers parametric control of high-order descriptor linear systems via proportional plus derivative feedback.By employing general parametric solutions to a type of so-called high-order Sylvester matrix equations,complete parametric control approaches for high-order linear systems are presented.The proposed approaches give simple complete parametric expressions for the feedback gains and the closed-loop eigenvector matrices,and produce all the design degrees of freedom.Furthermore,Important special cases are particularly treated.Based on the proposed parametric design approaches,a parametric method for the gain-scheduling controller design of a linear time-varying system is proposed and the design of a BTT missile autopilot is carried out.The simulation results show that the method is superior to the traditional one in sense of either global stability or system performance.
DEFF Research Database (Denmark)
Endelt, Benny Ørtoft; Tommerup, Søren; Danckert, Joachim
2013-01-01
on a deep drawing operation where the objective was to control material flow throughout the part using only spatial information regarding flange draw-in. The control system controls both the magnitude and distribution of the blank-holder force. The methodology proved stable and flexible with respect......The performance of a feedback control system is often limited by the quality of the model on which it is based, and often the controller design is based on trial and error due to insufficient modeling capabilities. A framework is proposed where the controller design is based on classical state...... space control theory and time series. The system plant has been modeled using non-linear finite element and the gain factors for the control loop were identified by solving the optimal control problem using a non-linear least square optimization algorithm. The proposed design method has been applied...
Design and Analysis of Multi-User SDMA Systems with Noisy Limited CSIT Feedback
Wu, Tianyu
2010-01-01
In this paper, we consider spatial-division multiple-access (SDMA) systems with one base station with multiple antennae and a number of single antenna mobiles under noisy limited CSIT feedback. We propose a robust noisy limited feedback design for SDMA systems. The solution consists of a real-time robust SDMA precoding, user selection and rate adaptation as well as an offline feedback index assignment algorithm. The index assignment problem is cast into a Traveling Sales Man problem (TSP). Based on the specific structure of the feedback constellation and the precoder, we derive a low complex but asymptotically optimal solution. Simulation results show that the proposed framework has significant goodput gain compared to the traditional naive designs under noisy limited feedback channel. Furthermore, we show that despite the noisy feedback channel, the average SDMA system goodput grows with the number of feedback bits in the interference limited regime while in noise limited regime increases linearly with the n...
Investigation of a delayed feedback controller of MEMS resonators
Masri, Karim M.
2013-08-04
Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller on stabilizing MEMS resonators. A delayed feedback velocity controller is implemented through modifying the parallel plate electrostatic force used to excite the resonator into motion. A nonlinear single degree of freedom model is used to simulate the resonator response. Long time integration is used first. Then, a finite deference technique to capture periodic motion combined with the Floquet theory is used to capture the stable and unstable periodic responses. We show that applying a suitable positive gain can stabilize the MEMS resonator near or inside the instability dynamic pull in band. We also study the stability of the resonator by tracking its basins of attraction while sweeping the controller gain and the frequency of excitations. For positive delayed gains, we notice significant enhancement in the safe area of the basins of attraction. Copyright © 2013 by ASME.
Laser Soldering of Rat Skin Using a Controlled Feedback System
Directory of Open Access Journals (Sweden)
Mohammad Sadegh Nourbakhsh
2009-03-01
Full Text Available Introduction: Laser tissue soldering using albumin and indocyanine green dye (ICG is an effective technique utilized in various surgical procedures. The purpose of this study was to perform laser soldering of rat skin under a feedback control system and compare the results with those obtained using standard sutures. Material and Methods: Skin incisions were made over eight rats’ dorsa, which were subsequently closed using different wound closure interventions in two groups: (a using a temperature controlled infrared detector or (b by suture. Tensile strengths were measured at 2, 5, 7 and 10 days post-incision. Histological examination was performed at the time of sacrifice. Results: Tensile strength results showed that during the initial days following the incisions, the tensile strengths of the sutured samples were greater than the laser samples. However, 10 days after the incisions, the tensile strengths of the laser soldered incisions were higher than the sutured cuts. Histopathological examination showed a preferred wound healing response in the soldered skin compared with the control samples. The healing indices of the laser soldered repairs (426 were significantly better than the control samples (340.5. Conclusion: Tissue feedback control of temperature and optical changes in laser soldering of skin leads to a higher tensile strength and better histological results and hence this method may be considered as an alternative to standard suturing.
Feedback Linearization Controller for a Wind Energy Power System
Directory of Open Access Journals (Sweden)
Muthana Alrifai
2016-09-01
Full Text Available This paper deals with the control of a doubly-fed induction generator (DFIG-based variable speed wind turbine power system. A system of eight ordinary differential equations is used to model the wind energy conversion system. The generator has a wound rotor type with back-to-back three-phase power converter bridges between its rotor and the grid; it is modeled using the direct-quadrature rotating reference frame with aligned stator flux. An input-state feedback linearization controller is proposed for the wind energy power system. The controller guarantees that the states of the system track the desired states. Simulation results are presented to validate the proposed control scheme. Moreover, further simulation results are shown to investigate the robustness of the proposed control scheme to changes in some of the parameters of the system.
Lin, Jih-Hsuan
2015-06-01
In Asia, dance games are among the most popular types of exergames. Whereas traditional dance-based games emphasize step movements on a dance pad, more recent dance games emphasize intuitive dance movements using simple controllers or players' own bodies to "just dance." However, because of limited space and access, young adults in Taiwan often do not use these games. Popular dance videos on YouTube are more readily available to students because these videos can be accessed on a computer. Therefore, the current study examines the effects of interactivity (the role of feedback) and controller use on participants' physiological and psychological outcomes during exergames. The dance game "Just Dance 3" (Ubisoft, Montreuil, France) was chosen as the stimulus for this study. Participants danced through one song for rehearsal and warm-up, followed by three songs for the experiment, which lasted approximately 12 minutes. One hundred twenty-nine college students participated in a 2×2×2 (interactivity, feedback versus no feedback; controller, with versus without; sex, male versus female) between-subject factorial design. A series of 2×2×2 (interactivity, controller, and sex) analyses of variance showed no significant differences in interaction effects on participants' heart rates, blood pressures, body movements, step counts, or perceived psychological outcomes. Dance game videos without feedback are also effective tools for achieving moderate-level exercise intensity. These videos can supplement the limited access to games in Asian countries, such as Taiwan.
A Feedback Control Mechanism of QoS Management for IP Telecommunication Network
Institute of Scientific and Technical Information of China (English)
CUI Yi-dong; JIAO Li; LIN Yu; WANG Wen-dong
2005-01-01
In this paper a feedback control mechanism of Quality of Service (QoS) management is proposed. By measuring and monitoring the operational information of the IP telecommunication network, the feedback control-loops tune the network according to the trends of the traffic characteristics in order to gain a favorable network status. With theoretical analysis, it is concluded that the QoS of an arbitrary k-class flow can be guaranteed when the capacity of the k-class traffic is not fully filled. Thus by distributing the bandwidth of the egress bottleneck link among the ingress links, the congestion can be relieved. Moreover, the capacity of each traffic class that shares the same link affects one another. Therefore, the feedback control also aims at adjusting the capacity proportion among the traffic classes. In order to realize the goals, three feedback control-loops are designed in the QoS management system. A CORBA-based implementation is deployed on the testbed.
SAFCM: A Security-Aware Feedback Control Mechanism for Distributed Real-Time Embedded Systems
DEFF Research Database (Denmark)
Ma, Yue; Jiang, Wei; Sang, Nan
2012-01-01
-time systems, a multi-input multi-output feedback loop is designed and a model predictive controller is deployed based on an equation model that describes the dynamic behavior of the DRE systems. This control loop uses security level scaling to globally control the CPU utilization and security performance......Distributed Real-time Embedded (DRE) systems are facing great challenges in networked, unpredictable and especially unsecured environments. In such systems, there is a strong need to enforce security on distributed computing nodes in order to guard against potential threats, while satisfying...... the real-time requirements. This paper proposes a Security-Aware Feedback Control Mechanism (SAFCM) which has the ability to dynamically change the security level to guarantee soft real-time requirements and make the security protection as strong as possible. In order to widely support distributed real...
Theodorakopoulos, Achilles; Rovithakis, George A
2015-03-01
In this paper, the problem of deriving a continuous, state-feedback controller for a class of multiinput multioutput feedback linearizable systems is considered with special emphasis on controller simplification and reduction of the overall design complexity with respect to the current state of the art. The proposed scheme achieves prescribed bounds on the transient and steady-state performance of the output tracking errors despite the uncertainty in system nonlinearities. Contrary to the current state of the art, however, only a single neural network is utilized to approximate a scalar function that partly incorporates the system nonlinearities. Furthermore, the loss of model controllability problem, typically introduced owing to approximation model singularities, is avoided without attaching additional complexity to the control or adaptive law. Simulations are performed to verify and clarify the theoretical findings.
The Stability Region for Feedback Control of the Wake Behind Twin Oscillating Cylinders
Borggaard, Jeff; Gugercin, Serkan; Zietsman, Lizette
2016-11-01
Linear feedback control has the ability to stabilize vortex shedding behind twin cylinders where cylinder rotation is the actuation mechanism. Complete elimination of the wake is only possible for certain Reynolds numbers and cylinder spacing. This is related to the presence of asymmetric unstable modes in the linearized system. We investigate this region of parameter space using a number of closed-loop simulations that bound this region. We then consider the practical issue of designing feedback controls based on limited state measurements by building a nonlinear compensator using linear robust control theory with and incorporating the nonlinear terms in the compensator (e.g., using the extended Kalman filter). Interpolatory model reduction methods are applied to the large discretized, linearized Navier-Stokes system and used for computing the control laws and compensators. Preliminary closed-loop simulations of a three-dimensional version of this problem will also be presented. Supported in part by the National Science Foundation.
Low-level feedback control for the phase regulation of CLIC Drive Beam Klystrons
AUTHOR|(SzGeCERN)752526
2015-01-01
The requirement of luminosity loss below 1% raises tight tolerances for the phase and power stability of the CLIC drive beam (DB) klystrons and consequently for the high voltage pulse ripple of the modulators. A low-level RF (LLRF) feedback system needs to be developed and combined with the modulator in order to guarantee the phase and amplitude tolerances. To this aim, three feedback control strategies were investigated, i) Proportional Integral (PI) controller, ii) Linear Quadratic Integral Regulator (LQI) and iii) Model Predictive Controller (MPC). The klystron, as well as the incident phase noise were modelled and used for the design and evaluation of the controllers. First simulation results are presented along with future steps and directions.
LQG Control Approach to Gaussian Broadcast Channels with Feedback
Ardestanizadeh, Ehsan; Franceschetti, Massimo
2011-01-01
A code for communication over the k-receiver additive white Gaussian noise broadcast channel with feedback is presented and analyzed using tools from the theory of linear quadratic Gaussian optimal control. It is shown that the performance of this code depends on the noise correlation at the receivers and it is related to the solution of a discrete algebraic Riccati equation. For the case of independent noises, the sum rate achieved by the proposed code, satisfying average power constraint P, is characterized as 1/2 log (1+P*phi), where the coefficient "phi" in the interval [1,k] quantifies the power gain due to the presence of feedback. When specialized to the case of two receivers, this includes a previous result by Elia and strictly improves upon the code of Ozarow and Leung. When the noises are correlated, the pre-log of the sum-capacity of the broadcast channel with feedback can be strictly greater than one. It is established that for all noise covariance matrices of rank r the pre-log of the sum capacit...
Serafini, Alessio
2012-01-01
We present a broad summary of research involving the application of quantum feedback control techniques to optical set-ups, from the early enhancement of optical amplitude squeezing to the recent stabilisation of photon number states in a microwave cavity, dwelling mostly on the latest experimental advances. Feedback control of quantum optical continuous variables, quantum non-demolition memories, feedback cooling, quantum state control, adaptive quantum measurements and coherent feedback strategies will all be touched upon in our discussion.
Alessio Serafini
2012-01-01
We present a broad summary of research involving the application of quantum feedback control techniques to optical set-ups, from the early enhancement of optical amplitude squeezing to the recent stabilisation of photon number states in a microwave cavity, dwelling mostly on the latest experimental advances. Feedback control of quantum optical continuous variables, quantum non-demolition memories, feedback cooling, quantum state control, adaptive quantum measurements and coherent feedback str...
Induction motor control design
Marino, Riccardo; Verrelli, Cristiano M
2010-01-01
""Nonlinear and Adaptive Control Design for Induction Motors"" is a unified exposition of the most important steps and concerns in the design of estimation and control algorithms for induction motors. A single notation and modern nonlinear control terminology is used to make the book accessible to readers who are not experts in electric motors at the same time as giving a more theoretical control viewpoint to those who are. In order to increase readability, the book concentrates on the induction motor, eschewing the much more complex and less-well-understood control of asynchronous motors. The
A Wideband Slotted Kicker Design for SPS Transverse Intra-Bunch Feedback
Cesaratto, John M; DeSantis, S; Drago, A; Fox, J D; Gallo, A; Hofle, W; Marcellini, F; Rivetta, C H; Zobov, M
2013-01-01
Control and mitigation of transverse beam instabilities caused by electron cloud and TMCI will be essential for the SPS to meet the beam intensity demands for the HL-LHC upgrade. A wideband intra-bunch feedback method is in development, based on a 4 GS/s data acquisition and processing, and with a back end frequency structure extending to 1 GHz. A slotted type kicker, similar to those used for stochastic cooling, has been considered as the terminal element of the feedback chain. It offers the most promising deflecting structure characteristics to meet the system requirements in terms of bandwidth, shunt impedance, and beam coupling impedance. Different types of slotted structures have been explored and simulated, including a ridged waveguide and coaxial type waveguide. In this paper we present our findings and the conceptual design of a vertical SPS wideband kicker consistent with the stay clear, vacuum, frequency band coverage, and peak shunt impedance requirements.
Backstepping-Based Synchronization Control of Cross-Strict Feedback Hyper-Chaotic Systems
Institute of Scientific and Technical Information of China (English)
李海燕; 胡云安
2011-01-01
A certain backstepping control is proposed for synchronization of a class of hyper-chaotic systems.Only two control inputs are used to realize synchronization between hyper-chaotic systems,and the control avoids the possible singularity in the virtual control design.In addition,the adaptive backstepping control is proposed for the synchronization when the system parameters are unknown.The proposed methods can be applied to a variety of chaos systems which can be described by the so-called cross-strict feedback form.Numerical simulations are given to demonstrate the effciency of the proposed control schemes.%A certain backstepping control is proposed for synchronization of a class of hyper-chaotic systems. Only two control inputs are used to realize synchronization between hyper-chaotic systems, and the control avoids the possible singularity in the virtual control design. In addition, the adaptive backstepping control is proposed for the synchronization when the system parameters are unknown. The proposed methods can be applied to a variety of chaos systems which can be described by the so-called cross-strict feedback form. Numerical simulations are given to demonstrate the efficiency of the proposed control schemes.
Feedback control of flow alignment in sheared liquid crystals.
Strehober, David A; Schöll, Eckehard; Klapp, Sabine H L
2013-12-01
Based on a continuum theory, we investigate the manipulation of the nonequilibrium behavior of a sheared liquid crystal via closed-loop feedback control. Our goal is to stabilize a specific dynamical state, that is, the stationary "flow alignment," under conditions where the uncontrolled system displays oscillatory director dynamics with in-plane symmetry. To this end we employ time-delayed feedback control (TDFC), where the equation of motion for the ith component q(i)(t) of the order parameter tensor is supplemented by a control term involving the difference q(i)(t)-q(i)(t-τ). In this diagonal scheme, τ is the delay time. We demonstrate that the TDFC method successfully stabilizes flow alignment for suitable values of the control strength K and τ; these values are determined by solving an exact eigenvalue equation. Moreover, our results show that only small values of K are needed when the system is sheared from an isotropic equilibrium state, contrary to the case where the equilibrium state is nematic.