Non-fragile observer-based output feedback control for polytopic uncertain system under distributed model predictive control approach

Science.gov (United States)

Zhu, Kaiqun; Song, Yan; Zhang, Sunjie; Zhong, Zhaozhun

2017-07-01

In this paper, a non-fragile observer-based output feedback control problem for the polytopic uncertain system under distributed model predictive control (MPC) approach is discussed. By decomposing the global system into some subsystems, the computation complexity is reduced, so it follows that the online designing time can be saved.Moreover, an observer-based output feedback control algorithm is proposed in the framework of distributed MPC to deal with the difficulties in obtaining the states measurements. In this way, the presented observer-based output-feedback MPC strategy is more flexible and applicable in practice than the traditional state-feedback one. What is more, the non-fragility of the controller has been taken into consideration in favour of increasing the robustness of the polytopic uncertain system. After that, a sufficient stability criterion is presented by using Lyapunov-like functional approach, meanwhile, the corresponding control law and the upper bound of the quadratic cost function are derived by solving an optimisation subject to convex constraints. Finally, some simulation examples are employed to show the effectiveness of the method.

Adjusting kinematics and kinetics in a feedback-controlled toe walking model

Directory of Open Access Journals (Sweden)

Olenšek Andrej

2012-08-01

Full Text Available Abstract Background In clinical gait assessment, the correct interpretation of gait kinematics and kinetics has a decisive impact on the success of the therapeutic programme. Due to the vast amount of information from which primary anomalies should be identified and separated from secondary compensatory changes, as well as the biomechanical complexity and redundancy of the human locomotion system, this task is considerably challenging and requires the attention of an experienced interdisciplinary team of experts. The ongoing research in the field of biomechanics suggests that mathematical modeling may facilitate this task. This paper explores the possibility of generating a family of toe walking gait patterns by systematically changing selected parameters of a feedback-controlled model. Methods From the selected clinical case of toe walking we identified typical toe walking characteristics and encoded them as a set of gait-oriented control objectives to be achieved in a feedback-controlled walking model. They were defined as fourth order polynomials and imposed via feedback control at the within-step control level. At the between-step control level, stance leg lengthening velocity at the end of the single support phase was adaptively adjusted after each step so as to facilitate gait velocity control. Each time the gait velocity settled at the desired value, selected intra-step gait characteristics were modified by adjusting the polynomials so as to mimic the effect of a typical therapeutical intervention - inhibitory casting. Results By systematically adjusting the set of control parameters we were able to generate a family of gait kinematic and kinetic patterns that exhibit similar principal toe walking characteristics, as they were recorded by means of an instrumented gait analysis system in the selected clinical case of toe walking. We further acknowledge that they to some extent follow similar improvement tendencies as those which one can

Modelling of Rotor-gas bearings for Feedback Controller Design

DEFF Research Database (Denmark)

Theisen, Lukas Roy Svane; Niemann, Hans Henrik

2014-01-01

Controllable rotor-gas bearings are popular oering adaptability, high speed operation, low friction and clean operation. Rotor-gas bearings are however highly sensitive to disturbances due to the low friction of the injected gas. These undesirable damping properties call for controllers, which ca...... and are shown to accurately describe the dynamical behaviour of the rotor-gas bearing. Design of a controller using the identied models is treated and experiments verify the improvement of the damping properties of the rotor-gas bearing.......Controllable rotor-gas bearings are popular oering adaptability, high speed operation, low friction and clean operation. Rotor-gas bearings are however highly sensitive to disturbances due to the low friction of the injected gas. These undesirable damping properties call for controllers, which can...... be designed from suitable models describing the relation from actuator input to measured shaft position. Current state of the art models of controllable gas bearings however do not provide such relation, which calls for alternative strategies. The present contribution discusses the challenges for feedback...

Feedback-linearization and feedback-feedforward decentralized control for multimachine power system

Energy Technology Data Exchange (ETDEWEB)

De Tuglie, Enrico [Dipartimento di Ingegneria dell' Ambiente, e per lo Sviluppo Sostenibile - DIASS, Politecnico di Bari, Viale del Turismo 8, 74100 Taranto (Italy); Iannone, Silvio Marcello; Torelli, Francesco [Dipartimento di Elettrotecnica, ed Elettronica - DEE, Politecnico di Bari, Via Re David 200, 70125 Bari (Italy)

2008-03-15

In this paper a decentralized nonlinear controller for large-scale power systems is investigated. The proposed controller design is based on the input-output feedback linearization methodology. In order to overcome computational difficulties in adopting such methodology, the overall interconnected nonlinear system, given as n-order, is analyzed as a cascade connection of an n{sub 1}-order nonlinear subsystem and an n{sub 2}-order linear subsystem. The controller design is obtained by applying input-output feedback linearization to the nonlinear subsystem and adopting a tracking control scheme, based on feedback-feedforward technique, for the linear subsystem. In the assumed system model, which is characterised by an interconnected structure between generating units, a decentralised adaptive controller is implemented by decentralizing these constraints. The use of a totally decentralised controller implies a system performance decay with respect to performance when the system is equipped with a centralised controller. Fortunately, the robustness of the proposed controller, based on input-output feedback procedure, guarantees good performance in terms of disturbance even when disturbances are caused by decentralization of interconnection constraints. Test results, provided on the IEEE 30 bus test system, demonstrate the effectiveness and practical applicability of proposed methodology. (author)

Stabilization of nonlinear systems using sampled-data output-feedback fuzzy controller based on polynomial-fuzzy-model-based control approach.

Science.gov (United States)

Lam, H K

2012-02-01

This paper investigates the stability of sampled-data output-feedback (SDOF) polynomial-fuzzy-model-based control systems. Representing the nonlinear plant using a polynomial fuzzy model, an SDOF fuzzy controller is proposed to perform the control process using the system output information. As only the system output is available for feedback compensation, it is more challenging for the controller design and system analysis compared to the full-state-feedback case. Furthermore, because of the sampling activity, the control signal is kept constant by the zero-order hold during the sampling period, which complicates the system dynamics and makes the stability analysis more difficult. In this paper, two cases of SDOF fuzzy controllers, which either share the same number of fuzzy rules or not, are considered. The system stability is investigated based on the Lyapunov stability theory using the sum-of-squares (SOS) approach. SOS-based stability conditions are obtained to guarantee the system stability and synthesize the SDOF fuzzy controller. Simulation examples are given to demonstrate the merits of the proposed SDOF fuzzy control approach.

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...... 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...... 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...

Theoretical model for ultracold molecule formation via adaptive feedback control

OpenAIRE

Poschinger, Ulrich; Salzmann, Wenzel; Wester, Roland; Weidemueller, Matthias; Koch, Christiane P.; Kosloff, Ronnie

2006-01-01

We investigate pump-dump photoassociation of ultracold molecules with amplitude- and phase-modulated femtosecond laser pulses. For this purpose a perturbative model for the light-matter interaction is developed and combined with a genetic algorithm for adaptive feedback control of the laser pulse shapes. The model is applied to the formation of 85Rb2 molecules in a magneto-optical trap. We find for optimized pulse shapes an improvement for the formation of ground state molecules by more than ...

Iterative learning control with sampled-data feedback for robot manipulators

Directory of Open Access Journals (Sweden)

Delchev Kamen

2014-09-01

Full Text Available This paper deals with the improvement of the stability of sampled-data (SD feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more, while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached

Empirical Reduced-Order Modeling for Boundary Feedback Flow Control

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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.

Effect of intermittent feedback control on robustness of human-like postural control system

Science.gov (United States)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Model-based Optimization and Feedback Control of the Current Density Profile Evolution in NSTX-U

Science.gov (United States)

Ilhan, Zeki Okan

Nuclear fusion research is a highly challenging, multidisciplinary field seeking contributions from both plasma physics and multiple engineering areas. As an application of plasma control engineering, this dissertation mainly explores methods to control the current density profile evolution within the National Spherical Torus eXperiment-Upgrade (NSTX-U), which is a substantial upgrade based on the NSTX device, which is located in Princeton Plasma Physics Laboratory (PPPL), Princeton, NJ. Active control of the toroidal current density profile is among those plasma control milestones that the NSTX-U program must achieve to realize its next-step operational goals, which are characterized by high-performance, long-pulse, MHD-stable plasma operation with neutral beam heating. Therefore, the aim of this work is to develop model-based, feedforward and feedback controllers that can enable time regulation of the current density profile in NSTX-U by actuating the total plasma current, electron density, and the powers of the individual neutral beam injectors. Motivated by the coupled, nonlinear, multivariable, distributed-parameter plasma dynamics, the first step towards control design is the development of a physics-based, control-oriented model for the current profile evolution in NSTX-U in response to non-inductive current drives and heating systems. Numerical simulations of the proposed control-oriented model show qualitative agreement with the high-fidelity physics code TRANSP. The next step is to utilize the proposed control-oriented model to design an open-loop actuator trajectory optimizer. Given a desired operating state, the optimizer produces the actuator trajectories that can steer the plasma to such state. The objective of the feedforward control design is to provide a more systematic approach to advanced scenario planning in NSTX-U since the development of such scenarios is conventionally carried out experimentally by modifying the tokamak's actuator

Nonlinear output feedback control of underwater vehicle propellers using feedback form estimated axial flow velocity

DEFF Research Database (Denmark)

Fossen, T. I.; Blanke, Mogens

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...

Real-time nonlinear feedback control of pattern formation in (bio)chemical reaction-diffusion processes: a model study.

Science.gov (United States)

Brandt-Pollmann, U; Lebiedz, D; Diehl, M; Sager, S; Schlöder, J

2005-09-01

Theoretical and experimental studies related to manipulation of pattern formation in self-organizing reaction-diffusion processes by appropriate control stimuli become increasingly important both in chemical engineering and cellular biochemistry. In a model study, we demonstrate here exemplarily the application of an efficient nonlinear model predictive control (NMPC) algorithm to real-time optimal feedback control of pattern formation in a bacterial chemotaxis system modeled by nonlinear partial differential equations. The corresponding drift-diffusion model type is representative for many (bio)chemical systems involving nonlinear reaction dynamics and nonlinear diffusion. We show how the computed optimal feedback control strategy exploits the system inherent physical property of wave propagation to achieve desired control aims. We discuss various applications of our approach to optimal control of spatiotemporal dynamics.

Feedforward/feedback control synthesis for performance and robustness

Science.gov (United States)

Wie, Bong; Liu, Qiang

1990-01-01

Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

Science.gov (United States)

Juang, Jer-Nan; Eure, Kenneth W.

1998-01-01

Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

Science.gov (United States)

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.

Feedback linearizing control of a MIMO power system

Science.gov (United States)

Ilyes, Laszlo

Prior research has demonstrated that either the mechanical or electrical subsystem of a synchronous electric generator may be controlled using single-input single-output (SISO) nonlinear feedback linearization. This research suggests a new approach which applies nonlinear feedback linearization to a multi-input multi-output (MIMO) model of the synchronous electric generator connected to an infinite bus load model. In this way, the electrical and mechanical subsystems may be linearized and simultaneously decoupled through the introduction of a pair of auxiliary inputs. This allows well known, linear, SISO control methods to be effectively applied to the resulting systems. The derivation of the feedback linearizing control law is presented in detail, including a discussion on the use of symbolic math processing as a development tool. The linearizing and decoupling properties of the control law are validated through simulation. And finally, the robustness of the control law is demonstrated.

A feedback control model for network flow with multiple pure time delays

Science.gov (United States)

Press, J.

1972-01-01

A control model describing a network flow hindered by multiple pure time (or transport) delays is formulated. Feedbacks connect each desired output with a single control sector situated at the origin. The dynamic formulation invokes the use of differential difference equations. This causes the characteristic equation of the model to consist of transcendental functions instead of a common algebraic polynomial. A general graphical criterion is developed to evaluate the stability of such a problem. A digital computer simulation confirms the validity of such criterion. An optimal decision making process with multiple delays is presented.

Stabilising falling liquid film flows using feedback control

Energy Technology Data Exchange (ETDEWEB)

Thompson, Alice B., E-mail: alice.thompson1@imperial.ac.uk; Gomes, Susana N.; Pavliotis, Grigorios A.; Papageorgiou, Demetrios T. [Department of Mathematics, Imperial College London, London SW7 2AZ (United Kingdom)

2016-01-15

Falling liquid films become unstable due to inertial effects when the fluid layer is sufficiently thick or the slope sufficiently steep. This free surface flow of a single fluid layer has industrial applications including coating and heat transfer, which benefit from smooth and wavy interfaces, respectively. Here, we discuss how the dynamics of the system are altered by feedback controls based on observations of the interface height, and supplied to the system via the perpendicular injection and suction of fluid through the wall. In this study, we model the system using both Benney and weighted-residual models that account for the fluid injection through the wall. We find that feedback using injection and suction is a remarkably effective control mechanism: the controls can be used to drive the system towards arbitrary steady states and travelling waves, and the qualitative effects are independent of the details of the flow modelling. Furthermore, we show that the system can still be successfully controlled when the feedback is applied via a set of localised actuators and only a small number of system observations are available, and that this is possible using both static (where the controls are based on only the most recent set of observations) and dynamic (where the controls are based on an approximation of the system which evolves over time) control schemes. This study thus provides a solid theoretical foundation for future experimental realisations of the active feedback control of falling liquid films.

Uncertainty Modeling and Robust Output Feedback Control of Nonlinear Discrete Systems: A Mathematical Programming 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.

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2018-01-01

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Perturbed cooperative-state feedback strategy for model predictive networked control of interconnected systems.

Science.gov (United States)

Tran, Tri; Ha, Q P

2018-01-01

A perturbed cooperative-state feedback (PSF) strategy is presented for the control of interconnected systems in this paper. The subsystems of an interconnected system can exchange data via the communication network that has multiple connection topologies. The PSF strategy can resolve both issues, the sensor data losses and the communication network breaks, thanks to the two components of the control including a cooperative-state feedback and a perturbation variable, e.g., u i =K ij x j +w i . The PSF is implemented in a decentralized model predictive control scheme with a stability constraint and a non-monotonic storage function (ΔV(x(k))≥0), derived from the dissipative systems theory. Numerical simulation for the automatic generation control problem in power systems is studied to illustrate the effectiveness of the presented PSF strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Control of conducting polymer actuators without physical feedback: simulated feedback control approach with particle swarm optimization

International Nuclear Information System (INIS)

Xiang, Xingcan; Mutlu, Rahim; Alici, Gursel; Li, Weihua

2014-01-01

Conducting polymer actuators have shown significant potential in articulating micro instruments, manipulation devices, and robotics. However, implementing a feedback control strategy to enhance their positioning ability and accuracy in any application requires a feedback sensor, which is extremely large in size compared to the size of the actuators. Therefore, this paper proposes a new sensorless control scheme without the use of a position feedback sensor. With the help of the system identification technique and particle swarm optimization, the control scheme, which we call the simulated feedback control system, showed a satisfactory command tracking performance for the conducting polymer actuator’s step and dynamic displacement responses, especially under a disturbance, without needing a physical feedback loop, but using a simulated feedback loop. The primary contribution of this study is to propose and experimentally evaluate the simulated feedback control scheme for a class of the conducting polymer actuators known as tri-layer polymer actuators, which can operate both in dry and wet media. This control approach can also be extended to other smart actuators or systems, for which the feedback control based on external sensing is impractical. (paper)

Bifurcation analysis of a delay reaction-diffusion malware propagation model with feedback control

Science.gov (United States)

Zhu, Linhe; Zhao, Hongyong; Wang, Xiaoming

2015-05-01

With the rapid development of network information technology, information networks security has become a very critical issue in our work and daily life. This paper attempts to develop a delay reaction-diffusion model with a state feedback controller to describe the process of malware propagation in mobile wireless sensor networks (MWSNs). By analyzing the stability and Hopf bifurcation, we show that the state feedback method can successfully be used to control unstable steady states or periodic oscillations. Moreover, formulas for determining the properties of the bifurcating periodic oscillations are derived by applying the normal form method and center manifold theorem. Finally, we conduct extensive simulations on large-scale MWSNs to evaluate the proposed model. Numerical evidences show that the linear term of the controller is enough to delay the onset of the Hopf bifurcation and the properties of the bifurcation can be regulated to achieve some desirable behaviors by choosing the appropriate higher terms of the controller. Furthermore, we obtain that the spatial-temporal dynamic characteristics of malware propagation are closely related to the rate constant for nodes leaving the infective class for recovered class and the mobile behavior of nodes.

LHC beam stability and feedback control

International Nuclear Information System (INIS)

Steinhagen, Ralph

2007-01-01

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 proportional

Delayed feedback control in quantum transport.

Science.gov (United States)

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.

Feedback Linearization Based Arc Length Control for Gas Metal Arc Welding

DEFF Research Database (Denmark)

Thomsen, Jesper Sandberg

2005-01-01

a linear system to be controlled by linear state feedback control. The advantage of using a nonlinear approach as feedback linearization is the ability of this method to cope with nonlinearities and different operating points. However, the model describing the GMAW process is not exact, and therefore......In this paper a feedback linearization based arc length controller for gas metal arc welding (GMAW) is described. A nonlinear model describing the dynamic arc length is transformed into a system where nonlinearities can be cancelled by a nonlinear state feedback control part, and thus, leaving only......, the cancellation of nonlinear terms might give rise to problems with respect to robustness. Robustness of the closed loop system is therefore nvestigated by simulation....

Direct Torque Control With Feedback Linearization for Induction Motor Drives

DEFF Research Database (Denmark)

Lascu, Cristian; 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...... in simulations. The sliding controller is compared with a linear DTC scheme with and without feedback linearization. Extensive experimental results for a sensorless IM drive validate the proposed solution....

Linear feedback control, adaptive feedback control and their combination for chaos (lag) synchronization of LC chaotic systems

International Nuclear Information System (INIS)

Yan Zhenya; Yu Pei

2007-01-01

In this paper, we study chaos (lag) synchronization of a new LC chaotic system, which can exhibit not only a two-scroll attractor but also two double-scroll attractors for different parameter values, via three types of state feedback controls: (i) linear feedback control; (ii) adaptive feedback control; and (iii) a combination of linear feedback and adaptive feedback controls. As a consequence, ten families of new feedback control laws are designed to obtain global chaos lag synchronization for τ < 0 and global chaos synchronization for τ = 0 of the LC system. Numerical simulations are used to illustrate these theoretical results. Each family of these obtained feedback control laws, including two linear (adaptive) functions or one linear function and one adaptive function, is added to two equations of the LC system. This is simpler than the known synchronization controllers, which apply controllers to all equations of the LC system. Moreover, based on the obtained results of the LC system, we also derive the control laws for chaos (lag) synchronization of another new type of chaotic system

Feedback control architecture and the bacterial chemotaxis network.

Directory of Open Access Journals (Sweden)

Abdullah Hamadeh

2011-05-01

Full Text Available Bacteria move towards favourable and away from toxic environments by changing their swimming pattern. This response is regulated by the chemotaxis signalling pathway, which has an important feature: it uses feedback to 'reset' (adapt the bacterial sensing ability, which allows the bacteria to sense a range of background environmental changes. The role of this feedback has been studied extensively in the simple chemotaxis pathway of Escherichia coli. However it has been recently found that the majority of bacteria have multiple chemotaxis homologues of the E. coli proteins, resulting in more complex pathways. In this paper we investigate the configuration and role of feedback in Rhodobacter sphaeroides, a bacterium containing multiple homologues of the chemotaxis proteins found in E. coli. Multiple proteins could produce different possible feedback configurations, each having different chemotactic performance qualities and levels of robustness to variations and uncertainties in biological parameters and to intracellular noise. We develop four models corresponding to different feedback configurations. Using a series of carefully designed experiments we discriminate between these models and invalidate three of them. When these models are examined in terms of robustness to noise and parametric uncertainties, we find that the non-invalidated model is superior to the others. Moreover, it has a 'cascade control' feedback architecture which is used extensively in engineering to improve system performance, including robustness. Given that the majority of bacteria are known to have multiple chemotaxis pathways, in this paper we show that some feedback architectures allow them to have better performance than others. In particular, cascade control may be an important feature in achieving robust functionality in more complex signalling pathways and in improving their performance.

Research of Active Power Filter Modeling with Grid Impedance in Feedback Linearization and Quasi-Sliding Mode Control

Directory of Open Access Journals (Sweden)

Zeyu Shi

2017-01-01

Full Text Available Active power filter (APF is the most popular device in regulating power quality issues. Currently, most literatures ignored the impact of grid impedance and assumed the load voltage is ideal, which had not described the system accurately. In addition, the controllers applied PI control; thus it is hard to improve the compensation quality. This paper establishes a precise model which consists of APF, load, and grid impedance. The Bode diagram of traditional simplified model is obviously different with complete model, which means the descriptions of the system based on the traditional simplified model are inaccurate and incomplete. And then design exact feedback linearization and quasi-sliding mode control (FBL-QSMC is based on precise model in inner current loop. The system performances in different parameters are analyzed and dynamic performance of proposed algorithm is compared with traditional PI control algorithm. At last, simulations are taken in three cases to verify the performance of proposed control algorithm. The results proved that the proposed feedback linearization and quasi-sliding mode control algorithm has fast response and robustness; the compensation performance is superior to PI control obviously, which also means the complete modeling and proposed control algorithm are correct.

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.

Design Of Combined Stochastic Feedforward/Feedback Control

Science.gov (United States)

Halyo, Nesim

1989-01-01

Methodology accommodates variety of control structures and design techniques. In methodology for combined stochastic feedforward/feedback control, main objectives of feedforward and feedback control laws seen clearly. Inclusion of error-integral feedback, dynamic compensation, rate-command control structure, and like integral element of methodology. Another advantage of methodology flexibility to develop variety of techniques for design of feedback control with arbitrary structures to obtain feedback controller: includes stochastic output feedback, multiconfiguration control, decentralized control, or frequency and classical control methods. Control modes of system include capture and tracking of localizer and glideslope, crab, decrab, and flare. By use of recommended incremental implementation, control laws simulated on digital computer and connected with nonlinear digital simulation of aircraft and its systems.

Task-space sensory feedback control of robot manipulators

CERN Document Server

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...

Hybrid Active/Passive Control of Sound Radiation from Panels with Constrained Layer Damping and Model Predictive Feedback Control

Science.gov (United States)

Cabell, Randolph H.; Gibbs, Gary P.

2000-01-01

There has been considerable interest over the past several years in applying feedback control methods to problems of structural acoustics. One problem of particular interest is the control of sound radiation from aircraft panels excited on one side by a turbulent boundary layer (TBL). TBL excitation appears as many uncorrelated sources acting on the panel, which makes it difficult to find a single reference signal that is coherent with the excitation. Feedback methods have no need for a reference signal, and are thus suited to this problem. Some important considerations for the structural acoustics problem include the fact that the required controller bandwidth can easily extend to several hundred Hertz, so a digital controller would have to operate at a few kilohertz. In addition, aircraft panel structures have a reasonably high modal density over this frequency range. A model based controller must therefore handle the modally dense system, or have some way to reduce the bandwidth of the problem. Further complicating the problem is the fact that the stiffness and dynamic properties of an aircraft panel can vary considerably during flight due to altitude changes resulting in significant resonant frequency shifts. These considerations make the tradeoff between robustness to changes in the system being controlled and controller performance especially important. Recent papers concerning the design and implementation of robust controllers for structural acoustic problems highlight the need to consider both performance and robustness when designing the controller. While robust control methods such as H1 can be used to balance performance and robustness, their implementation is not easy and requires assumptions about the types of uncertainties in the plant being controlled. Achieving a useful controller design may require many tradeoff studies of different types of parametric uncertainties in the system. Another approach to achieving robustness to plant changes is to

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

The fast correction coil feedback control system

International Nuclear Information System (INIS)

Coffield, F.; Caporaso, G.; Zentler, J.M.

1989-01-01

A model-based feedback control system has been developed to correct beam displacement errors in the Advanced Test Accelerator (ATA) electron beam accelerator. The feedback control system drives an X/Y dipole steering system that has a 40-MHz bandwidth and can produce ±300-Gauss-cm dipole fields. A simulator was used to develop the control algorithm and to quantify the expected performance in the presence of beam position measurement noise and accelerator timing jitter. The major problem to date has been protecting the amplifiers from the voltage that is inductively coupled to the steering bars by the beam. 3 refs., 8 figs

Multi-model MPC with output feedback

Directory of Open Access Journals (Sweden)

J. M. Perez

2014-03-01

Full Text Available In this work, a new formulation is presented for the model predictive control (MPC of a process system that is represented by a finite set of models, each one corresponding to a different operating point. The general case is considered of systems with stable and integrating outputs in closed-loop with output feedback. For this purpose, the controller is based on a non-minimal order model where the state is built with the measured outputs and the manipulated inputs of the control system. Therefore, the state can be considered as perfectly known and, consequently, there is no need to include a state observer in the control loop. This property of the proposed modeling approach is convenient to extend previous stability results of the closed loop system with robust MPC controllers based on state feedback. The controller proposed here is based on the solution of two optimization problems that are solved sequentially at the same time step. The method is illustrated with a simulated example of the process industry. The rigorous simulation of the control of an adiabatic flash of a multi-component hydrocarbon mixture illustrates the application of the robust controller. The dynamic simulation of this process is performed using EMSO - Environment Model Simulation and Optimization. Finally, a comparison with a linear MPC using a single model is presented.

An improved car-following model with consideration of the lateral effect and its feedback control research

International Nuclear Information System (INIS)

Zheng Ya-Zhou; Zheng Peng-Jun; Ge Hong-Xia

2014-01-01

A car-following model is presented, in which the effects of non-motor vehicles on adjacent lanes are taken into account. A control signal including the velocity differences between the following vehicle and the target vehicle is introduced according to the feedback control theory. The stability condition for the new model is derived. Numerical simulation is used to demonstrate the advantage of the new model including the control signal; the results are consistent with the analytical ones. (general)

Artificial proprioceptive feedback for myoelectric control.

Science.gov (United States)

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.

Feedback control strategies for the Liu chaotic system

International Nuclear Information System (INIS)

Zhu Congxu; Chen Zhigang

2008-01-01

This Letter proposed three strategies of the dislocated feedback control, enhancing feedback control and speed feedback control of the Liu chaotic system to its unstable equilibrium points. It is found that the coefficients of enhancing feedback control and speed feedback control are smaller than those of ordinary feedback control, so, the complexity and cost of the system control are reduced. Theoretical analysis and numerical simulation are given, revealing the effectiveness of these strategies

Modeling T cell antigen discrimination based on feedback control of digital ERK responses.

Directory of Open Access Journals (Sweden)

2005-11-01

Full Text Available T-lymphocyte activation displays a remarkable combination of speed, sensitivity, and discrimination in response to peptide-major histocompatibility complex (pMHC ligand engagement of clonally distributed antigen receptors (T cell receptors or TCRs. Even a few foreign pMHCs on the surface of an antigen-presenting cell trigger effective signaling within seconds, whereas 1 x 10(5-1 x 10(6 self-pMHC ligands that may differ from the foreign stimulus by only a single amino acid fail to elicit this response. No existing model accounts for this nearly absolute distinction between closely related TCR ligands while also preserving the other canonical features of T-cell responses. Here we document the unexpected highly amplified and digital nature of extracellular signal-regulated kinase (ERK activation in T cells. Based on this observation and evidence that competing positive- and negative-feedback loops contribute to TCR ligand discrimination, we constructed a new mathematical model of proximal TCR-dependent signaling. The model made clear that competition between a digital positive feedback based on ERK activity and an analog negative feedback involving SH2 domain-containing tyrosine phosphatase (SHP-1 was critical for defining a sharp ligand-discrimination threshold while preserving a rapid and sensitive response. Several nontrivial predictions of this model, including the notion that this threshold is highly sensitive to small changes in SHP-1 expression levels during cellular differentiation, were confirmed by experiment. These results combining computation and experiment reveal that ligand discrimination by T cells is controlled by the dynamics of competing feedback loops that regulate a high-gain digital amplifier, which is itself modulated during differentiation by alterations in the intracellular concentrations of key enzymes. The organization of the signaling network that we model here may be a prototypic solution to the problem of achieving

Virtual grasping: closed-loop force control using electrotactile feedback.

Science.gov (United States)

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.

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

Full Text Available 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.

Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks

International Nuclear Information System (INIS)

Sun, Z.; Sen, A.K.; Longman, R.W.

2006-01-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least-square method with exponential forgetting factor and covariance resetting is used to identify (experimentally determine) the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time-dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used

Time-delayed feedback control of coherence resonance chimeras

Science.gov (United States)

Zakharova, Anna; Semenova, Nadezhda; Anishchenko, Vadim; Schöll, Eckehard

2017-11-01

Using the model of a FitzHugh-Nagumo system in the excitable regime, we investigate the influence of time-delayed feedback on noise-induced chimera states in a network with nonlocal coupling, i.e., coherence resonance chimeras. It is shown that time-delayed feedback allows for the control of the range of parameter values where these chimera states occur. Moreover, for the feedback delay close to the intrinsic period of the system, we find a novel regime which we call period-two coherence resonance chimera.

Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

Directory of Open Access Journals (Sweden)

Miaolei Zhou

Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

Science.gov (United States)

Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

2014-01-01

As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

Effect of vibrotactile feedback on an EMG-based proportional cursor control system.

Science.gov (United States)

Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2013-01-01

Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.

Design and Validation of Optimized Feedforward with Robust Feedback Control of a Nuclear Reactor

International Nuclear Information System (INIS)

Shaffer, Roman; He Weidong; Edwards, Robert M.

2004-01-01

Design applications for robust feedback and optimized feedforward control, with confirming results from experiments conducted on the Pennsylvania State University TRIGA reactor, are presented. The combination of feedforward and feedback control techniques complement each other in that robust control offers guaranteed closed-loop stability in the presence of uncertainties, and optimized feedforward offers an approach to achieving performance that is sometimes limited by overly conservative robust feedback control. The design approach taken in this work combines these techniques by first designing robust feedback control. Alternative methods for specifying a low-order linear model and uncertainty specifications, while seeking as much performance as possible, are discussed and evaluated. To achieve desired performance characteristics, the optimized feedforward control is then computed by using the nominal nonlinear plant model that incorporates the robust feedback control

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....... 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 Variable Structure Control (VSC) with proportional control in the vicinity...... 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....

A stage structure pest management model with impulsive state feedback control

Science.gov (United States)

Pang, Guoping; Chen, Lansun; Xu, Weijian; Fu, Gang

2015-06-01

A stage structure pest management model with impulsive state feedback control is investigated. We get the sufficient condition for the existence of the order-1 periodic solution by differential equation geometry theory and successor function. Further, we obtain a new judgement method for the stability of the order-1 periodic solution of the semi-continuous systems by referencing the stability analysis for limit cycles of continuous systems, which is different from the previous method of analog of Poincarè criterion. Finally, we analyze numerically the theoretical results obtained.

A new lattice hydrodynamic model based on control method considering the flux change rate and delay feedback signal

Science.gov (United States)

Qin, Shunda; Ge, Hongxia; Cheng, Rongjun

2018-02-01

In this paper, a new lattice hydrodynamic model is proposed by taking delay feedback and flux change rate effect into account in a single lane. The linear stability condition of the new model is derived by control theory. By using the nonlinear analysis method, the mKDV equation near the critical point is deduced to describe the traffic congestion. Numerical simulations are carried out to demonstrate the advantage of the new model in suppressing traffic jam with the consideration of flux change rate effect in delay feedback model.

Optimal centralized and decentralized velocity feedback control on a beam

International Nuclear Information System (INIS)

Engels, W P; Elliott, S J

2008-01-01

This paper considers the optimization of a velocity feedback controller with a collocated force actuator, to minimize the kinetic energy of a simply supported beam. If the beam is excited at a single location, the optimum feedback gain varies with the position of the control system. It is shown that this variation depends partly on the location of the control force relative to the exciting force. If a distributed excitation is assumed, that is random in both time and space, a unique optimum value of the feedback gain can be found for a given control location. The effect of the control location on performance and the optimal feedback gain can then be examined and is found to be limited provided the control locations are not close to the ends of the beam. The optimization can also be performed for a multichannel velocity feedback system. Both a centralized and a decentralized controller are considered. It is shown that the difference in performance between a centralized and a decentralized controller is small, unless the control locations are closely spaced. In this case the centralized controller effectively feeds back a moment proportional to angular velocity as well as a force proportional to a velocity. It is also shown that the optimal feedback gain can be approximated on the basis of a limited model and that similar results can be achieved

A population-feedback control based algorithm for well trajectory optimization using proxy model

Directory of Open Access Journals (Sweden)

Javad Kasravi

2017-04-01

Full Text Available Wellbore instability is one of the concerns in the field of drilling engineering. This phenomenon is affected by several factors such as azimuth, inclination angle, in-situ stress, mud weight, and rock strength parameters. Among these factors, azimuth, inclination angle, and mud weight are controllable. The objective of this paper is to introduce a new procedure based on elastoplastic theory in wellbore stability solution to determine the optimum well trajectory and global minimum mud pressure required (GMMPR. Genetic algorithm (GA was applied as a main optimization engine that employs proportional feedback controller to obtain the minimum mud pressure required (MMPR. The feedback function repeatedly calculated and updated the error between the simulated and set point of normalized yielded zone area (NYZA. To reduce computation expenses, an artificial neural network (ANN was used as a proxy (surrogate model to approximate the behavior of the actual wellbore model. The methodology was applied to a directional well in southwestern Iranian oilfield. The results demonstrated that the error between the predicted GMMPR and practical safe mud pressure was 4% for elastoplastic method, and 22% for conventional elastic solution.

Nonclassical state generation for linear quantum systems via nonlinear feedback control

International Nuclear Information System (INIS)

Ohki, Kentaro; Tsumura, Koji; Takeuchi, Reiji

2017-01-01

In this paper, we propose a measurement nonlinear feedback control scheme to generate Wigner-function negativity in an optical cavity having dynamics described as a linear quantum system. In general, linear optical quantum systems can be easily constructed with reliable devices; therefore, the idea of constructing the entire system with such an optical system and nonlinear feedback is reasonable for generating Wigner-function negativity. However, existing studies have insufficiently examined the realizability or actual implementation of feedback control, which essentially requires fast responses from the sensors and actuators. In order to solve this problem, we consider the realizable feedback control of the optical phase of a pumping beam supplied to a cavity by using electro-optical modulation, which can be utilized as a fast control actuator. Then, we introduce mathematical models of the feedback-controlled system and evaluate its effect on the generation of the Wigner-function negativity by using numerical simulation. Through various numerical simulations, we show that the proposed feedback control can effectively generate the negativity of the Wigner function. (paper)

A lattice hydrodynamic model based on delayed feedback control considering the effect of flow rate difference

Science.gov (United States)

Wang, Yunong; Cheng, Rongjun; Ge, Hongxia

2017-08-01

In this paper, a lattice hydrodynamic model is derived considering not only the effect of flow rate difference but also the delayed feedback control signal which including more comprehensive information. The control method is used to analyze the stability of the model. Furthermore, the critical condition for the linear steady traffic flow is deduced and the numerical simulation is carried out to investigate the advantage of the proposed model with and without the effect of flow rate difference and the control signal. The results are consistent with the theoretical analysis correspondingly.

Theoretical model for ultracold molecule formation via adaptive feedback control

International Nuclear Information System (INIS)

Poschinger, Ulrich; Salzmann, Wenzel; Wester, Roland; Weidemueller, Matthias; Koch, Christiane P; Kosloff, Ronnie

2006-01-01

We theoretically investigate pump-dump photoassociation of ultracold molecules with amplitude- and phase-modulated femtosecond laser pulses. For this purpose, a perturbative model for light-matter interaction is developed and combined with a genetic algorithm for adaptive feedback control of the laser pulse shapes. The model is applied to the formation of 85 Rb 2 molecules in a magneto-optical trap. We find that optimized pulse shapes may maximize the formation of ground state molecules in a specific vibrational state at a pump-dump delay time for which unshaped pulses lead to a minimum of the formation rate. Compared to the maximum formation rate obtained for unshaped pulses at the optimum pump-dump delay, the optimized pulses lead to a significant improvement of about 40% for the target level population. Since our model yields the spectral amplitudes and phases of the optimized pulses, the results are directly applicable in pulse shaping experiments

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

Directory of Open Access Journals (Sweden)

Chongjun Yang

2018-02-01

Full Text Available Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature.

Science.gov (United States)

Yang, Chongjun; Xie, Yu; Liu, Shuang; Sun, Dong

2018-02-12

Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

Feedback control of thermal instability by compression and decompression

International Nuclear Information System (INIS)

Okamoto, M.; Hirano, K.; Amano, T.; Ohnishi, M.

1983-01-01

Active feedback control of the fusion output power by means of plasma compression-decompression is considered with the purpose of achieving steady-state plasma ignition in a tokamak. A simple but realistic feedback control system is modelled and zero-dimensional energy balance equations are solved numerically by taking into account the errors in the measurements, a procedure that is necessary for the feedback control. It is shown that the control can stabilize the thermal runaway completely and maintain steady-state operation without any significant change in major radius or thermal output power. Linear stability is analysed for a general type of scaling law, and the dependence of the stability conditions on the scaling law is studied. The possibility of load-following operation is considered. Finally, a one-dimensional analysis is applied to the large-aspect-ratio case. (author)

Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment

International Nuclear Information System (INIS)

Li, Chenguang; Liu, Wandong; Li, Hong

2014-01-01

The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425 (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes

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...

Dynamic simulation of knee-joint loading during gait using force-feedback control and surrogate contact modelling.

Science.gov (United States)

Walter, Jonathan P; Pandy, Marcus G

2017-10-01

The aim of this study was to perform multi-body, muscle-driven, forward-dynamics simulations of human gait using a 6-degree-of-freedom (6-DOF) model of the knee in tandem with a surrogate model of articular contact and force control. A forward-dynamics simulation incorporating position, velocity and contact force-feedback control (FFC) was used to track full-body motion capture data recorded for multiple trials of level walking and stair descent performed by two individuals with instrumented knee implants. Tibiofemoral contact force errors for FFC were compared against those obtained from a standard computed muscle control algorithm (CMC) with a 6-DOF knee contact model (CMC6); CMC with a 1-DOF translating hinge-knee model (CMC1); and static optimization with a 1-DOF translating hinge-knee model (SO). Tibiofemoral joint loads predicted by FFC and CMC6 were comparable for level walking, however FFC produced more accurate results for stair descent. SO yielded reasonable predictions of joint contact loading for level walking but significant differences between model and experiment were observed for stair descent. CMC1 produced the least accurate predictions of tibiofemoral contact loads for both tasks. Our findings suggest that reliable estimates of knee-joint loading may be obtained by incorporating position, velocity and force-feedback control with a multi-DOF model of joint contact in a forward-dynamics simulation of gait. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Offshore Wind Farms and HVDC Grids Modeling as a Feedback Control System for Stability Analysis

DEFF Research Database (Denmark)

Bidadfar, Ali; Saborío-Romano, Oscar; Altin, Müfit

The low impedance characteristics of DC transmission lines cause the voltage source converter (VSC) in HVDC networks to become electrically closer together and increase the risk of severe interactions between the converters. Such interactions, in turn, intensify the implementation of the grid...... control schemes and may lead the entire system to instability. Assessing the stability and adopting complex coordinated control schemes in an HVDC grid and wind farm turbines are challenging and require a precise model of the HVDC grid, wind farm, and the controllers. In this paper, a linear multivariable...... feedback control system (FCS) model is proposed to represent the dynamic characteristics of HVDC grids and their controllers. The FCS model can be used for different dynamic analyses in time and frequency domains. Moreover, using the FCS model the system stability is analyzed in both open- and closed...

Linear feedback controls the essentials

CERN Document Server

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

Full State Feedback Control for Virtual Power Plants

Energy Technology Data Exchange (ETDEWEB)

Johnson, Jay Tillay [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2017-09-01

This report presents an object-oriented implementation of full state feedback control for virtual power plants (VPP). The components of the VPP full state feedback control are (1) objectoriented high-fidelity modeling for all devices in the VPP; (2) Distribution System Distributed Quasi-Dynamic State Estimation (DS-DQSE) that enables full observability of the VPP by augmenting actual measurements with virtual, derived and pseudo measurements and performing the Quasi-Dynamic State Estimation (QSE) in a distributed manner, and (3) automated formulation of the Optimal Power Flow (OPF) in real time using the output of the DS-DQSE, and solving the distributed OPF to provide the optimal control commands to the DERs of the VPP.

Combustion Control System Design of Diesel Engine via ASPR based Output Feedback Control Strategy with a PFC

Science.gov (United States)

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.

A multipoint feedback control system for scanned focussed ultrasound hyperthermia

International Nuclear Information System (INIS)

Johnson, C.; Kress, R.; Roemer, R.; Hynynen, K.

1987-01-01

A multipoint feedback control system has been developed and tested for use with a scanned focussed ultrasound hyperthermia system. Extensive in-vivo tests (using a perfused organ model) have been made to evaluate the basic performance characteristics of the feedback control scheme for control of temperature in perfused media. The results of these tests are presented and compared with the predictions of a simulation routine. The control scheme was also tested in vivo using dogs' thighs and kidneys. Thigh experiments show the control scheme responds well to the affects of vasodilation and is able to maintain the targeted temperatures. In kidney experiments, where the rate of perfusion was controllable, the power adjusting algorithm successfully maintained uniform temperature distributions across regions of varying rates of perfusion. As a conclusion, the results show that this multipoint feedback controller scheme induces uniform temperature distributions when used with scanned focussed ultrasound systems

Theory of feedback controlled brain stimulations for Parkinson's disease

Science.gov (United States)

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.

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.

Time-delayed feedback control of diffusion in random walkers

Science.gov (United States)

Ando, Hiroyasu; Takehara, Kohta; Kobayashi, Miki U.

2017-07-01

Time delay in general leads to instability in some systems, while specific feedback with delay can control fluctuated motion in nonlinear deterministic systems to a stable state. In this paper, we consider a stochastic process, i.e., a random walk, and observe its diffusion phenomenon with time-delayed feedback. As a result, the diffusion coefficient decreases with increasing delay time. We analytically illustrate this suppression of diffusion by using stochastic delay differential equations and justify the feasibility of this suppression by applying time-delayed feedback to a molecular dynamics model.

Persistent disturbance rejection via state feedback for networked control systems

Energy Technology Data Exchange (ETDEWEB)

Yue Dong [Institute of Information and Control Engineering Technology, Nanjing Normal University, 78 Bancang Street, Nanjing, Jiangsu 210042 (China)], E-mail: medongy@njnu.edu.cn; Lam, James [Department of Mechanical Engineering, University of Hong Kong, Pokfulam Road (Hong Kong); Wang Zidong [Department of Information Systems and Computing, Brunel University, Uxbridge, Middlesex UB8 3PH (United Kingdom)], E-mail: Zidong.Wang@brunel.ac.uk

2009-04-15

The problem of persistent disturbance rejection via state feedback for networked control systems is concerned based on the Lyapunov function method. The effect of the network conditions, such as network-induced delay and data dropout, is considered in the modeling of the system. It is assumed that the state and the control signals are individually quantized by quantizers on the sensor side and the controller side. The feedback gain and the quantizer parameters that guarantee the internal stability and the disturbance rejection performance of the closed-loop system are obtained by solving some linear matrix inequalities. To illustrate the effectiveness of the proposed method, a numerical example is provided for the design of the feedback gain and the quantizer parameters.

Persistent disturbance rejection via state feedback for networked control systems

International Nuclear Information System (INIS)

Yue Dong; Lam, James; Wang Zidong

2009-01-01

The problem of persistent disturbance rejection via state feedback for networked control systems is concerned based on the Lyapunov function method. The effect of the network conditions, such as network-induced delay and data dropout, is considered in the modeling of the system. It is assumed that the state and the control signals are individually quantized by quantizers on the sensor side and the controller side. The feedback gain and the quantizer parameters that guarantee the internal stability and the disturbance rejection performance of the closed-loop system are obtained by solving some linear matrix inequalities. To illustrate the effectiveness of the proposed method, a numerical example is provided for the design of the feedback gain and the quantizer parameters.

Decentralized guaranteed cost static output feedback vibration control for piezoelectric smart structures

International Nuclear Information System (INIS)

Jiang, Jian-ping; Li, Dong-xu

2010-01-01

This paper is devoted to the study of the decentralized guaranteed cost static output feedback vibration control for piezoelectric smart structures. A smart panel with collocated piezoelectric actuators and velocity sensors is modeled using a finite element method, and then the size of the model is reduced in the state space using the modal Hankel singular value. The necessary and sufficient conditions of decentralized guaranteed cost static output feedback control for the reduced system have been presented. The decentralized and centralized static output feedback matrices can be obtained from solving two linear matrix inequalities. A comparison between centralized control and decentralized control is performed in order to investigate their effectiveness in suppressing vibration of a smart panel. Numerical results show that when the system is subjected to initial displacement or white noise disturbance, the decentralized and centralized controls are both very effective and the control results are very close

Output Feedback Control of Electro-Hydraulic Cylinder Drives using the Twisting Algorithm

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2014-01-01

contributions in literature. This paper considers the twisting algorithm when applied directly for output feedback control, and with the design based on a reduced order model representation of an arbitrary valve driven hydraulic cylinder drive. The consequence of implementing such a controller with the well......This paper discusses the utilization of the so-called twisting algorithm when applied in output feedback position control schemes for electro-hydraulic cylinder drives. The twisting controller was the first second order sliding controller ever introduced, and can structure-wise be considered...... feedback controller may be successfully applied to hydraulic valve driven cylinder drives, with performance being on the level with a conventional surface based first order sliding mode controller....

Feedforward-feedback control of dissolved oxygen concentration in a predenitrification system.

Science.gov (United States)

Yong, Ma; Yongzhen, Peng; Shuying, Wang

2005-07-01

As the largest single energy-consuming component in most biological wastewater treatment systems, aeration control is of great interest from the point of view of saving energy and improving wastewater treatment plant efficiency. In this paper, three different strategies, including conventional constant dissolved oxygen (DO) set-point control, cascade DO set-point control, and feedforward-feedback DO set-point control were evaluated using the denitrification layout of the IWA simulation benchmark. Simulation studies showed that the feedforward-feedback DO set-point control strategy was better than the other control strategies at meeting the effluent standards and reducing operational costs. The control strategy works primarily by feedforward control based on an ammonium sensor located at the head of the aerobic process. It has an important advantage over effluent measurements in that there is no (or only a very short) time delay for information; feedforward control was combined with slow feedback control to compensate for model approximations. The feedforward-feedback DO control was implemented in a lab-scale wastewater treatment plant for a period of 60 days. Compared to operation with constant DO concentration, the required airflow could be reduced by up to 8-15% by employing the feedforward-feedback DO-control strategy, and the effluent ammonia concentration could be reduced by up to 15-25%. This control strategy can be expected to be accepted by the operating personnel in wastewater treatment plants.

Control of an atom laser using feedback

International Nuclear Information System (INIS)

Haine, S.A.; Ferris, A.J.; Close, J.D.; Hope, J.J.

2004-01-01

A generalized method of using feedback to control multimode behavior in Bose-Einstein condensates is introduced. We show that for any available control, there is an associated moment of the atomic density and a feedback scheme that will remove energy from the system while there are oscillations in that moment. We demonstrate these schemes by considering a condensate trapped in a harmonic potential that can be modulated in strength and position. The formalism of our feedback scheme also allows the inclusion of certain types of nonlinear controls. If the nonlinear interaction between the atoms can be controlled via a Feshbach resonance, we show that the feedback process can operate with a much higher efficiency

Correlations in state space can cause sub-optimal adaptation of optimal feedback control models.

Science.gov (United States)

Aprasoff, Jonathan; Donchin, Opher

2012-04-01

Control of our movements is apparently facilitated by an adaptive internal model in the cerebellum. It was long thought that this internal model implemented an adaptive inverse model and generated motor commands, but recently many reject that idea in favor of a forward model hypothesis. In theory, the forward model predicts upcoming state during reaching movements so the motor cortex can generate appropriate motor commands. Recent computational models of this process rely on the optimal feedback control (OFC) framework of control theory. OFC is a powerful tool for describing motor control, it does not describe adaptation. Some assume that adaptation of the forward model alone could explain motor adaptation, but this is widely understood to be overly simplistic. However, an adaptive optimal controller is difficult to implement. A reasonable alternative is to allow forward model adaptation to 're-tune' the controller. Our simulations show that, as expected, forward model adaptation alone does not produce optimal trajectories during reaching movements perturbed by force fields. However, they also show that re-optimizing the controller from the forward model can be sub-optimal. This is because, in a system with state correlations or redundancies, accurate prediction requires different information than optimal control. We find that adding noise to the movements that matches noise found in human data is enough to overcome this problem. However, since the state space for control of real movements is far more complex than in our simple simulations, the effects of correlations on re-adaptation of the controller from the forward model cannot be overlooked.

Feedback Control Design for a Walking Athlete Robot

Directory of Open Access Journals (Sweden)

Xuan Vu Trien Nguyen

2017-06-01

Full Text Available In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.

Quantum feedback for rapid state preparation in the presence of control imperfections

International Nuclear Information System (INIS)

Combes, Joshua; Wiseman, Howard M

2011-01-01

Quantum feedback control protocols can improve the operation of quantum devices. Here we examine the performance of a purification protocol when there are imperfections in the controls. The ideal feedback protocol produces an x-eigenstate from a mixed state in the minimum time, and is known as rapid state preparation. The imperfections we examine include time delays in the feedback loop, finite strength feedback, calibration errors and inefficient detection. We analyse these imperfections using the Wiseman-Milburn feedback master equation and related formalism. We find that the protocol is most sensitive to time delays in the feedback loop. For systems with slow dynamics, however, our analysis suggests that inefficient detection would be the bigger problem. We also show how system imperfections, such as dephasing and damping, can be included in a model via the feedback master equation.

Modeling Single-Phase Inverter and Its Decentralized Coordinated Control by Using Feedback Linearization

Directory of Open Access Journals (Sweden)

Renke Han

2014-01-01

Full Text Available It is a very crucial problem to make a microgrid operated reasonably and stably. Considering the nonlinear mathematics model of inverter established in this paper, the input-output feedback linearization method is used to transform the nonlinear mathematics model of inverters to a linear tracking synchronization and consensus regulation control problem. Based on the linear mathematics model and multiagent consensus algorithm, a decentralized coordinated controller is proposed to make amplitudes and angles of voltages from inverters be consensus and active and reactive power shared in the desired ratio. The proposed control is totally distributed because each inverter only requires local and one neighbor’s information with sparse communication structure based on multiagent system. The hybrid consensus algorithm is used to keep the amplitude of the output voltages following the leader and the angles of output voltage as consensus. Then the microgrid can be operated more efficiently and the circulating current between DGs can be effectively suppressed. The effectiveness of the proposed method is proved through simulation results of a typical microgrid system.

Feedback control and adaptive control of the energy resource chaotic system

International Nuclear Information System (INIS)

Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun

2007-01-01

In this paper, the problem of control for the energy resource chaotic system is considered. Two different method of control, feedback control (include linear feedback control, non-autonomous feedback control) and adaptive control methods are used to suppress chaos to unstable equilibrium or unstable periodic orbits. The Routh-Hurwitz criteria and Lyapunov direct method are used to study the conditions of the asymptotic stability of the steady states of the controlled system. The designed adaptive controller is robust with respect to certain class of disturbances in the energy resource chaotic system. Numerical simulations are presented to show these results

Role of measurement in feedback-controlled quantum engines

Science.gov (United States)

Yi, Juyeon; Kim, Yong Woon

2018-01-01

In feedback controls, measurement is an essential step in designing protocols according to outcomes. For quantum mechanical systems, measurement has another effect; to supply energy to the measured system. We verify that in feedback-controlled quantum engines, measurement plays a dual role; not only as an auxiliary to perform feedback control but also as an energy supply to drive the engines. We consider a specific engine cycle exploiting feedback control followed by projective measurement and show that the maximum bound of the extractable work is set by both the efficacy of the feedback control and the energy change caused by projective measurement. We take a concrete example of an engine using an immobile spin-1/2 particle as a working substance and suggest two possible scenarios for work extraction.

Direct output feedback control of discrete-time systems

International Nuclear Information System (INIS)

Lin, C.C.; Chung, L.L.; Lu, K.H.

1993-01-01

An optimal direct output feedback control algorithm is developed for discrete-time systems with the consideration of time delay in control force action. Optimal constant output feedback gains are obtained through variational process such that certain prescribed quadratic performance index is minimized. Discrete-time control forces are then calculated from the multiplication of output measurements by these pre-calculated feedback gains. According to the proposed algorithm, structural system is assured to remain stable even in the presence of time delay. The number of sensors and controllers may be very small as compared with the dimension of states. Numerical results show that direct velocity feedback control is more sensitive to time delay than state feedback but, is still quite effective in reducing the dynamic responses under earthquake excitation. (author)

Accelerator and feedback control simulation using neural networks

International Nuclear Information System (INIS)

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

State-feedback control of fuzzy discrete-event systems.

Science.gov (United States)

Lin, Feng; Ying, Hao

2010-06-01

In a 2002 paper, we combined fuzzy logic with discrete-event systems (DESs) and established an automaton model of fuzzy DESs (FDESs). The model can effectively represent deterministic uncertainties and vagueness, as well as human subjective observation and judgment inherent to many real-world problems, particularly those in biomedicine. We also investigated optimal control of FDESs and applied the results to optimize HIV/AIDS treatments for individual patients. Since then, other researchers have investigated supervisory control problems in FDESs, and several results have been obtained. These results are mostly derived by extending the traditional supervisory control of (crisp) DESs, which are string based. In this paper, we develop state-feedback control of FDESs that is different from the supervisory control extensions. We use state space to describe the system behaviors and use state feedback in control. Both disablement and enforcement are allowed. Furthermore, we study controllability based on the state space and prove that a controller exists if and only if the controlled system behavior is (state-based) controllable. We discuss various properties of the state-based controllability. Aside from novelty, the proposed new framework has the advantages of being able to address a wide range of practical problems that cannot be effectively dealt with by existing approaches. We use the diabetes treatment as an example to illustrate some key aspects of our theoretical results.

The Feedback Control Strategy of the Takagi-Sugeno Fuzzy Car-Following Model with Two Delays

Directory of Open Access Journals (Sweden)

Cong Zhai

2016-01-01

Full Text Available Considering the driver’s sensing the headway and velocity the different time-varying delays exist, respectively, and the sensitivity of drivers changes with headway and speed. Introducing the fuzzy control theory, a new fuzzy car-following model with two delays is presented, and the feedback control strategy of the new fuzzy car-following model is studied. Based on the Lyapunov function theory and linear matrix inequality (LMI approach, the sufficient condition that the existence of the fuzzy controller is given making the closed-loop system is asymptotic, stable; namely, traffic congestion phenomenon can effectively be suppressed, and the controller gain matrix can be obtained via solving linear matrix inequality. Finally, the simulation examples verify that the method which suppresses traffic congestion and reduces fuel consumption and exhaust emissions is effective.

Self-control over combined video feedback and modeling facilitates motor learning.

Science.gov (United States)

Post, Phillip G; Aiken, Christopher A; Laughlin, David D; Fairbrother, Jeffrey T

2016-06-01

Allowing learners to control the video presentation of knowledge of performance (KP) or an expert model during practice has been shown to facilitate motor learning (Aiken, Fairbrother, & Post, 2012; Wulf, Raupach, & Pfeiffer, 2005). Split-screen replay features now allow for the simultaneous presentation of these modes of instructional support. It is uncertain, however, if such a combination incorporated into a self-control protocol would yield similar benefits seen in earlier self-control studies. Therefore, the purpose of the present study was to examine the effects of self-controlled split-screen replay on the learning of a golf chip shot. Participants completed 60 practice trials, three administrations of the Intrinsic Motivation Inventory, and a questionnaire on day one. Retention and transfer tests and a final motivation inventory were completed on day two. Results revealed significantly higher form and accuracy scores for the self-control group during transfer. The self-control group also had significantly higher scores on the perceived competence subscale, reported requesting feedback mostly after perceived poor trials, and recalled a greater number of critical task features compared to the yoked group. The findings for the performance measures were consistent with previous self-control research. Copyright © 2016 Elsevier B.V. All rights reserved.

Comprehensive joint feedback control for standing by functional neuromuscular stimulation-a simulation study.

Science.gov (United States)

Nataraj, Raviraj; Audu, Musa L; Kirsch, Robert F; Triolo, Ronald J

2010-12-01

Previous investigations of feedback control of standing after spinal cord injury (SCI) using functional neuromuscular stimulation (FNS) have primarily targeted individual joints. This study assesses the potential efficacy of comprehensive (trunk, hips, knees, and ankles) joint feedback control against postural disturbances using a bipedal, 3-D computer model of SCI stance. Proportional-derivative feedback drove an artificial neural network trained to produce muscle excitation patterns consistent with maximal joint stiffness values achievable about neutral stance given typical SCI muscle properties. Feedback gains were optimized to minimize upper extremity (UE) loading required to stabilize against disturbances. Compared to the baseline case of maximum constant muscle excitations used clinically, the controller reduced UE loading by 55% in resisting external force perturbations and by 84% during simulated one-arm functional tasks. Performance was most sensitive to inaccurate measurements of ankle plantar/dorsiflexion position and hip ab/adduction velocity feedback. In conclusion, comprehensive joint feedback demonstrates potential to markedly improve FNS standing function. However, alternative control structures capable of effective performance with fewer sensor-based feedback parameters may better facilitate clinical usage.

Dynamics for a discrete competition and cooperation model of two enterprises with multiple delays and feedback controls

Directory of Open Access Journals (Sweden)

Lu Lin

2017-03-01

Full Text Available This paper is concerned with a competition and cooperation model of two enterprises with multiple delays and feedback controls. With the aid of the difference inequality theory, we have obtained some sufficient conditions which guarantee the permanence of the model. Under a suitable condition, we prove that the system has global stable periodic solution. The paper ends with brief conclusions.

Controlling chaotic systems via nonlinear feedback control

International Nuclear Information System (INIS)

Park, Ju H.

2005-01-01

In this article, a new method to control chaotic systems is proposed. Using Lyapunov method, we design a nonlinear feedback controller to make the controlled system be stabilized. A numerical example is given to illuminate the design procedure and advantage of the result derived

Time-optimal feedback control for linear systems

International Nuclear Information System (INIS)

Mirica, S.

1976-01-01

The paper deals with the results of qualitative investigations of the time-optimal feedback control for linear systems with constant coefficients. In the first section, after some definitions and notations, two examples are given and it is shown that even the time-optimal control problem for linear systems with constant coefficients which looked like ''completely solved'' requires a further qualitative investigation of the stability to ''permanent perturbations'' of optimal feedback control. In the second section some basic results of the linear time-optimal control problem are reviewed. The third section deals with the definition of Boltyanskii's ''regular synthesis'' and its connection to Filippov's theory of right-hand side discontinuous differential equations. In the fourth section a theorem is proved concerning the stability to perturbations of time-optimal feedback control for linear systems with scalar control. In the last two sections it is proved that, if the matrix which defines the system has only real eigenvalues or is three-dimensional, the time-optimal feedback control defines a regular synthesis and therefore is stable to perturbations. (author)

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...... (semiglobally) in this paper, and the obtained control laws are implemented in MAPLE...

On optimal feedforward and ILC : the role of feedback for optimal performance and inferential control

NARCIS (Netherlands)

van Zundert, J.C.D.; Oomen, T.A.E

2017-01-01

The combination of feedback control with inverse model feedforward control or iterative learning control is known to yield high performance. The aim of this paper is to clarify the role of feedback in the design of feedforward controllers, with specific attention to the inferential situation. Recent

A model for improving microbial biofuel production using a synthetic feedback loop

Energy Technology Data Exchange (ETDEWEB)

Dunlop, Mary; Keasling, Jay; Mukhopadhyay, Aindrila

2011-07-14

Cells use feedback to implement a diverse range of regulatory functions. Building synthetic feedback control systems may yield insight into the roles that feedback can play in regulation since it can be introduced independently of native regulation, and alternative control architectures can be compared. We propose a model for microbial biofuel production where a synthetic control system is used to increase cell viability and biofuel yields. Although microbes can be engineered to produce biofuels, the fuels are often toxic to cell growth, creating a negative feedback loop that limits biofuel production. These toxic effects may be mitigated by expressing efflux pumps that export biofuel from the cell. We developed a model for cell growth and biofuel production and used it to compare several genetic control strategies for their ability to improve biofuel yields. We show that controlling efflux pump expression directly with a biofuel-responsive promoter is a straight forward way of improving biofuel production. In addition, a feed forward loop controller is shown to be versatile at dealing with uncertainty in biofuel production rates.

Smart building temperature control using occupant feedback

Science.gov (United States)

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

Robust wide-range control of nuclear reactors by using the feedforward-feedback concept

International Nuclear Information System (INIS)

Weng, C.K.; Edwards, R.M.; Ray, A.

1994-01-01

A robust feedforward-feedback controller is proposed for wide-range operations of nuclear reactors. This control structure provides (a) optimized performance over a wide operating range resulting form the feedforward element and (b) guaranteed robust stability and performance resulting from the feedback element. The feedforward control law is synthesized via nonlinear programming, which generates an optimal control sequence over a finite-time horizon under specified constraints. The feedback control is synthesized via the structured singular value μ approach to guarantee robustness in the presence of disturbances and modeling uncertainties. The results of simulation experiments are presented to demonstrate efficacy of the proposed control structure for a large rapid power reduction to avoid unnecessary plant trips

Dynamic Output Feedback Control for Nonlinear Networked Control Systems with Random Packet Dropout and Random Delay

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.

Delayed feedback control of fractional-order chaotic systems

International Nuclear Information System (INIS)

Gjurchinovski, A; Urumov, V; Sandev, T

2010-01-01

We study the possibility to stabilize unstable steady states and unstable periodic orbits in chaotic fractional-order dynamical systems by the time-delayed feedback method. By performing a linear stability analysis, we establish the parameter ranges for successful stabilization of unstable equilibria in the plane parameterized by the feedback gain and the time delay. An insight into the control mechanism is gained by analyzing the characteristic equation of the controlled system, showing that the control scheme fails to control unstable equilibria having an odd number of positive real eigenvalues. We demonstrate that the method can also stabilize unstable periodic orbits for a suitable choice of the feedback gain, providing that the time delay is chosen to coincide with the period of the target orbit. In addition, it is shown numerically that delayed feedback control with a sinusoidally modulated time delay significantly enlarges the stability region of steady states in comparison to the classical time-delayed feedback scheme with a constant delay.

Systematic design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak

International Nuclear Information System (INIS)

Hennen, B.A.; Westerhof, E.; De Baar, M.R.; Nuij, P.W.J.M.; 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 cyclotron resonance heating and current drive (ECRH/ECCD) with a tearing mode and the stabilization of a mode at a specific width. In order to simulate these control tasks, the time evolution of a tearing mode subject to suppression by ECRH/ECCD and destabilization by a magnetic perturbation field is modelled using the generalized Rutherford equation. The model includes an equilibrium model and an ECRH/ECCD launcher model. The dynamics and static equilibria of this model are analysed. The model is linearized and based on the linearized model, linear feedback controllers are designed and simulated, demonstrating both alignment and width control of tearing modes in TEXTOR. (paper)

Entanglement-assisted quantum feedback control

Science.gov (United States)

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.

Controlling chaos in a nonlinear pendulum using an extended time-delayed feedback control method

International Nuclear Information System (INIS)

Souza de Paula, Aline; Savi, Marcelo Amorim

2009-01-01

Chaos control is employed for the stabilization of unstable periodic orbits (UPOs) embedded in chaotic attractors. The extended time-delayed feedback control uses a continuous feedback loop incorporating information from previous states of the system in order to stabilize unstable orbits. This article deals with the chaos control of a nonlinear pendulum employing the extended time-delayed feedback control method. The control law leads to delay-differential equations (DDEs) that contain derivatives that depend on the solution of previous time instants. A fourth-order Runge-Kutta method with linear interpolation on the delayed variables is employed for numerical simulations of the DDEs and its initial function is estimated by a Taylor series expansion. During the learning stage, the UPOs are identified by the close-return method and control parameters are chosen for each desired UPO by defining situations where the largest Lyapunov exponent becomes negative. Analyses of a nonlinear pendulum are carried out by considering signals that are generated by numerical integration of the mathematical model using experimentally identified parameters. Results show the capability of the control procedure to stabilize UPOs of the dynamical system, highlighting some difficulties to achieve the stabilization of the desired orbit.

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration.

Science.gov (United States)

Parrell, Benjamin; Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B

2017-09-20

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of

A model-based approach to predict muscle synergies using optimization: application to feedback control

Directory of Open Access Journals (Sweden)

Reza eSharif Razavian

2015-10-01

Full Text Available This paper presents a new model-based method to define muscle synergies. Unlike the conventional factorization approach, which extracts synergies from electromyographic data, the proposed method employs a biomechanical model and formally defines the synergies as the solution of an optimal control problem. As a result, the number of required synergies is directly related to the dimensions of the operational space. The estimated synergies are posture-dependent, which correlate well with the results of standard factorization methods. Two examples are used to showcase this method: a two-dimensional forearm model, and a three-dimensional driver arm model. It has been shown here that the synergies need to be task-specific (i.e. they are defined for the specific operational spaces: the elbow angle and the steering wheel angle in the two systems. This functional definition of synergies results in a low-dimensional control space, in which every force in the operational space is accurately created by a unique combination of synergies. As such, there is no need for extra criteria (e.g., minimizing effort in the process of motion control. This approach is motivated by the need for fast and bio-plausible feedback control of musculoskeletal systems, and can have important implications in engineering, motor control, and biomechanics.

A model-based approach to predict muscle synergies using optimization: application to feedback control.

Science.gov (United States)

Sharif Razavian, Reza; Mehrabi, Naser; McPhee, John

2015-01-01

This paper presents a new model-based method to define muscle synergies. Unlike the conventional factorization approach, which extracts synergies from electromyographic data, the proposed method employs a biomechanical model and formally defines the synergies as the solution of an optimal control problem. As a result, the number of required synergies is directly related to the dimensions of the operational space. The estimated synergies are posture-dependent, which correlate well with the results of standard factorization methods. Two examples are used to showcase this method: a two-dimensional forearm model, and a three-dimensional driver arm model. It has been shown here that the synergies need to be task-specific (i.e., they are defined for the specific operational spaces: the elbow angle and the steering wheel angle in the two systems). This functional definition of synergies results in a low-dimensional control space, in which every force in the operational space is accurately created by a unique combination of synergies. As such, there is no need for extra criteria (e.g., minimizing effort) in the process of motion control. This approach is motivated by the need for fast and bio-plausible feedback control of musculoskeletal systems, and can have important implications in engineering, motor control, and biomechanics.

Dynamics and control of a financial system with time-delayed feedbacks

International Nuclear Information System (INIS)

Chen, W.-C.

2008-01-01

Complex behaviors in a financial system with time-delayed feedbacks are discussed in this study via numerical modeling. The system shows complex dynamics such as periodic, quasi-periodic, and chaotic behaviors. Both period doubling and inverse period doubling routes were found in this system. This paper also shows that the attractor merging crisis is a fundamental feature of nonlinear financial systems with time-delayed feedbacks. Control of the deterministic chaos in the financial system can be realized using Pyragas feedbacks

MARTe at FTU: The new feedback control

Energy Technology Data Exchange (ETDEWEB)

Boncagni, Luca, E-mail: luca.boncagni@enea.it [EURATOM - ENEA Fusion Association, Frascati Research Centre, Division of Fusion Physics, Rome, Frascati (Italy); Sadeghi, Yahya; Carnevale, Daniele; Di Geronimo, Andrea; Varano, Gianluca; Vitelli, Riccardo [Department of Computer Science, Systems and Production, University of Rome Tor Vergata, Rome (Italy); Galperti, Critsian [Istituto di Fisica del Plasma, CNR, EURATOM-ENEA Association, Milan (Italy); Zarfati, Emanuele; Pucci, Daniele [Department Antonio Ruberti, University of Rome La Sapienza, Rome (Italy)

2012-12-15

Highlights: Black-Right-Pointing-Pointer We show that the MARTe is a candidate for ITER PSH. Black-Right-Pointing-Pointer We replace the old real-time feedback software using the MARTe framework. Black-Right-Pointing-Pointer We describe all the work done for the integration. - Abstract: Keeping in mind the necessities of a modern control system for fusion devices, such as modularity and a distributed architecture, an upgrade of the present FTU feedback control system was planned, envisaging also a possible reutilization in the proposed FAST experiment [1]. For standardization and efficiency purposes we decided to adopt a pre-existent ITER-relevant framework called MARTe [2], already used with success in other European Tokamak devices [3]. Following the developments shown in [4], in this paper we report on the structure of the new feedback system, and how it was integrated in the current control structure and pulse programming interface, and in the other MARTe systems already in FTU: RT-ODIN [5] and the ECRH and LH [6] satellite stations. The new feedback system has been installed in the FTU backup station (known as 'Feedback B'), which shares the input signals with the actual feedback system, in order to simplify the validation and debug of the new controller by testing it in parallel with the current one. Experimental results are then presented.

Feedback control of coupled-bunch instabilities

International Nuclear Information System (INIS)

Fox, J.D.; Eisen, N.; Hindi, H.; Linscott, I.; Oxoby, G.; Sapozhnikov, L.; Serio, M.

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 of resistive instabilities

International Nuclear Information System (INIS)

White, R.B.; Rutherford, P.H.; Furth, H.P.; Park, W.; Liu Chen

1986-01-01

Resistive instabilities are responsible for much of the global behavior and the determination of the possible domains of operation of Tokamaks. Their successful control could have definite advantages, even making available new regimes of operation. Elimination of sawtoothing might allow operation with higher currents and more peaked current profiles, with q on axis well below unity. In this work different feedback schemes are explored. Simple analytical derivations of the effects of local heating and current drive feedback are presented. Although control of modes with m ≥ 2 is fairly straighforward, the control of the m = 1 mode is more difficult because of its proximity to ideal instability. The most promising scheme utilizes high energy trapped particles

Stabilization of model-based networked control systems

Energy Technology Data Exchange (ETDEWEB)

Miranda, Francisco [CIDMA, Universidade de Aveiro, Aveiro (Portugal); Instituto Politécnico de Viana do Castelo, Viana do Castelo (Portugal); Abreu, Carlos [Instituto Politécnico de Viana do Castelo, Viana do Castelo (Portugal); CMEMS-UMINHO, Universidade do Minho, Braga (Portugal); Mendes, Paulo M. [CMEMS-UMINHO, Universidade do Minho, Braga (Portugal)

2016-06-08

A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtain an optimal feedback control is also presented.

Feedback control for a train-like vehicle

International Nuclear Information System (INIS)

Micaelli, A.

1994-01-01

This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (on-line) by the front cart. This controller was experimentally tested on the TLV-prototype. (authors). 4 figs., 4 refs

Using sampled-data feedback control and linear feedback synchronization in a new hyperchaotic system

International Nuclear Information System (INIS)

Zhao Junchan; Lu Junan

2008-01-01

This paper investigates control and synchronization of a new hyperchaotic system which was proposed by [Chen A, Lu J-A, Lue J, Yu S. Generating hyperchaotic Lue attractor via state feedback control. Physica A 2006;364:103-10]. Firstly, we give different sampled-data feedback control schemes with the variation of system parameter d. Specifically, we only use one controller to drive the system to the origin when d element of (-0.35, 0), and use two controllers if d element of [0, 1.3]. Next, we combine PC method with linear feedback approach to realize synchronization, and derive similar conclusions with varying d. Numerical simulations are also given to validate the proposed approaches

How Are Feedbacks Represented in Land Models?

Directory of Open Access Journals (Sweden)

Yang Chen

2016-09-01

Full Text Available Land systems are characterised by many feedbacks that can result in complex system behaviour. We defined feedbacks as the two-way influences between the land use system and a related system (e.g., climate, soils and markets, both of which are encompassed by the land system. Land models that include feedbacks thus probably more accurately mimic how land systems respond to, e.g., policy or climate change. However, representing feedbacks in land models is a challenge. We reviewed articles incorporating feedbacks into land models and analysed each with predefined indicators. We found that (1 most modelled feedbacks couple land use systems with transport, soil and market systems, while only a few include feedbacks between land use and social systems or climate systems; (2 equation-based land use models that follow a top-down approach prevail; and (3 feedbacks’ effects on system behaviour remain relatively unexplored. We recommend that land system modellers (1 consider feedbacks between land use systems and social systems; (2 adopt (bottom-up approaches suited to incorporating spatial heterogeneity and better representing land use decision-making; and (3 pay more attention to nonlinear system behaviour and its implications for land system management and policy.

Beam closed orbit feedback based on PID control

International Nuclear Information System (INIS)

Xuan Ke; Wang Lin; Liu Gongfa; Li Weimin; Li Chuan; Wang Jigang; Bao Xun; Xu Hongliang

2013-01-01

The algorithm in the feedback system has important influence on the performance of the beam orbit. Good feedback algorithm can greatly improve the beam orbit stability. In this paper, the theory of beam closed orbit correction, the principle of PID control and the beam closed orbit feedback correction using PID control were introduced. The simulation results were given. Compared with least-square method, the PID feedback algorithm makes the steady-state error smaller and more accurate, and enhances the beam orbit stability. (authors)

Dynamical control of chaos by slave-master feedback

International Nuclear Information System (INIS)

Behnia, S.; Akhshani, A.

2009-01-01

Techniques for stabilizing unstable state in nonlinear dynamical systems using small perturbations fall into three general categories: feedback, non-feedback schemes, and a combination of feedback and non-feedback. However, the general problem of finding conditions for creation or suppression of chaos still remains open. We describe a method for dynamical control of chaos. This method is based on a definition of the hierarchy of solvable chaotic maps with dynamical parameter as a control parameter. In order to study the new mechanism of control of chaotic process, Kolmogorov-Sinai entropy of the chaotic map with dynamical parameter based on discussion the properties of invariant measure have been calculated and confirmed by calculation of Lyapunov exponents. The introduced chaotic maps can be used as dynamical control.

Comprehensive Joint Feedback Control for Standing by Functional Neuromuscular Stimulation – a Simulation Study

Science.gov (United States)

Nataraj, Raviraj; Audu, Musa L.; Kirsch, Robert F.; Triolo, Ronald J.

2013-01-01

Previous investigations of feedback control of standing after spinal cord injury (SCI) using functional neuromuscular stimulation (FNS) have primarily targeted individual joints. This study assesses the potential efficacy of comprehensive (trunk, hips, knees, and ankles) joint-feedback control against postural disturbances using a bipedal, three-dimensional computer model of SCI stance. Proportional-derivative feedback drove an artificial neural network trained to produce muscle excitation patterns consistent with maximal joint stiffness values achievable about neutral stance given typical SCI muscle properties. Feedback gains were optimized to minimize upper extremity (UE) loading required to stabilize against disturbances. Compared to the baseline case of maximum constant muscle excitations used clinically, the controller reduced UE loading by 55% in resisting external force perturbations and by 84% during simulated one-arm functional tasks. Performance was most sensitive to inaccurate measurements of ankle plantar/dorsiflexion position and hip ab/adduction velocity feedback. In conclusion, comprehensive joint-feedback demonstrates potential to markedly improve FNS standing function. However, alternative control structures capable of effective performance with fewer sensor-based feedback parameters may better facilitate clinical usage. PMID:20923741

Voluntarily controlled but not merely observed visual feedback affects postural sway

Science.gov (United States)

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

Online stabilization of human standing posture utilizes multisensory afferences (e.g., vision). Whereas visual feedback of spontaneous postural sway can stabilize postural control especially when observers concentrate on their body and intend to minimize postural sway, the effect of intentional control of visual feedback on postural sway itself remains unclear. This study assessed quiet standing posture in healthy adults voluntarily controlling or merely observing visual feedback. The visual feedback (moving square) had either low or high gain and was either horizontally flipped or not. Participants in the voluntary-control group were instructed to minimize their postural sway while voluntarily controlling visual feedback, whereas those in the observation group were instructed to minimize their postural sway while merely observing visual feedback. As a result, magnified and flipped visual feedback increased postural sway only in the voluntary-control group. Furthermore, regardless of the instructions and feedback manipulations, the experienced sense of control over visual feedback positively correlated with the magnitude of postural sway. We suggest that voluntarily controlled, but not merely observed, visual feedback is incorporated into the feedback control system for posture and begins to affect postural sway. PMID:29682421

Output-feedback control of combined sewer networks through receding horizon control with moving horizon estimation

OpenAIRE

Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela

2015-01-01

An output-feedback control strategy for pollution mitigation in combined sewer networks is presented. The proposed strategy provides means to apply model-based predictive control to large-scale sewer networks, in-spite of the lack of measurements at most of the network sewers. In previous works, the authors presented a hybrid linear control-oriented model for sewer networks together with the formulation of Optimal Control Problems (OCP) and State Estimation Problems (SEP). By iteratively solv...

Feedback control using only quantum back-action

International Nuclear Information System (INIS)

Jacobs, Kurt

2010-01-01

The traditional approach to feedback control is to apply deterministic forces to a system by modifying the Hamiltonian. Here we show that finite-dimensional quantum systems can be controlled purely by exploiting the random quantum back-action of a continuous weak measurement. We demonstrate that, quite remarkably, the quantum back-action of such an adaptive measurement is just as effective at controlling quantum systems as traditional feedback.

Feedback control of acoustic musical instruments: collocated control using physical analogs.

Science.gov (United States)

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. © 2012 Acoustical Society of America.

Feedback control of plasma configuration in JT-60

International Nuclear Information System (INIS)

Ninomiya, Hiromasa; Kikuchi, Mitsuru; Yoshino, Ryuji; Hosogane, Nobuyuki; Kimura, Toyoaki; Kurihara, Kenichi; Takahashi, Minoru; Hayashi, Kazuo.

1986-08-01

Plasma current, plasma position (center of the outermost magnetic surface), decay index n index and width of the divertor throat are feedback controlled by using 5 kinds of poloidal field coils in JT-60. 5 control commands are calculated in a feedback control computer in each 1 msec. These feedback control functions are checked in ohmically heated plasma. The control characteristics of the plasma are well understood by the simplified control analysis and are consistent with the precise matrix transfer function analysis in the frequency domain and the simulation analysis which include the effects of eddy currents, delay time elements and mutual interactions between controllers. The usefulness of these analyses is experimentally confirmed. Each controlled variable is well feedback controlled to the command and the experimentally realized equilibrium configuration is checked by the well calibrated magnetic probes. Fast boundary identification code is used for the identification of the equilibrium and results are consistent with the precalculated plasma equilibria. By using this feedback control system of the plasma configuration and the equilibrium identification method, we have obtained the stable limiter and divertor configuration. The maximum parameters obtained during OH(I) experimental period are plasma current I p = 1.8 MA, the effective safety factor q eff e = 5.7 x 10 19 m -3 (Murakami parameter of 4.5) and the pulse length of 5 ∼ 10 sec. (author)

Feedback control of resistive instabilities

International Nuclear Information System (INIS)

White, R.B.; Rutherford, P.H.; Furth, H.P.; Park, W.; Chen, L.

1985-12-01

Resistive instabilities are responsible for much of the global behavior and the determination of the possible domains of operation of tokamaks. Their successful control could have definite advantages, even making available new regimes of operation. Elimination of sawtoothing might allow operation with higher currents and more peaked current profiles, with q on axis well below unity. In this work different feedback schemes are explored. Simple analytical derivations of the effects of local heating and current drive feedback are presented. Although control of modes with m greater than or equal to 2 is fairly straightforward, the control of the m = 1 mode is more difficult because of its proximity to ideal instability. The most promising scheme utilizes high energy trapped particles. 20 refs., 3 figs

Effects of two types of intra-team feedback on developing a shared mental model in Command & Control teams

NARCIS (Netherlands)

Rasker, P.C.; Post, W.M.; Schraagen, J.M.C.

2000-01-01

In two studies, the effect of two types of intra-team feedback on developing a shared mental model in Command & Control teams was investigated. A distinction is made between performance monitoring and team self-correction. Performance monitoring is the ability of team members to monitor each other's

Simulation of Feedforward-Feedback Control of Dissolved Oxygen of Microbial Repeated Fed-batch Culture

Directory of Open Access Journals (Sweden)

Ling Gao

2016-09-01

Full Text Available Fed-batch culture is often used in industry, and dissolved oxygen (DO concentration control is important in fermentation process control. DO control is often applied by using feedback (FB control strategy. But, feedforward-feedback (FF-FB control has the advantage in dealing with the time-varying characteristics resulted from the cell growth during the fermentation process. Mathematical modeling and computer simulation is a useful tool in analysis of the control system.  In this research, the FF-FB DO control and FB substrate control of repeated fed-batch culture process is modeled and simulated. The results showed the feasibility of the control strategy. These results are useful for control system development and process analyses and optimization.

Coherent-feedback-induced controllable optical bistability and photon blockade

International Nuclear Information System (INIS)

Liu, Yu-Long; Liu, Zhong-Peng; Zhang, Jing

2015-01-01

It is well known that some nonlinear phenomena such as strong photon blockade are difficult to observe in optomechanical systems with current experimental technology. Here we present a coherent feedback control strategy in which a linear cavity is coherently controlled by an optomechanical controller in a feedback manner. The coherent feedback loop transfers quantum nonlinearity from the controller to the controlled cavity causing destructive quantum interference to occur, and making it possible to observe strong nonlinear effects. With the help of the coherent feedback loop, large and tunable bistability and strong photon blockade of the cavity modes can be achieved even in the optomechanical weak coupling regime. Additionally, the coherent feedback loop leads to two-photon and multiphoton tunnelings for the controlled linear cavity, which are also typical quantum nonlinear phenomena. We hope that our work can give new perspectives on engineering nonlinear interactions in quantum systems. (paper)

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.

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.

Nonlinear Feedback Control and Stability Analysis of a Proof-of-Work Blockchain

Directory of Open Access Journals (Sweden)

Geir Hovland

2017-10-01

Full Text Available In this paper a novel feedback controller and stability analysis of a blockchain implementation is developed by using a control engineering perspective. The controller output equals the difficulty adjustment in the mining process while the feedback variable is the average block time over a certain time period. The computational power (hash rate of the miners is considered a disturbance in the model. The developed controller is tested against a simulation model with constant disturbance, step and ramp responses as well as with a high-frequency sinusoidal disturbance. Stability and a fast response is demonstrated in all these cases with a controller which adjusts it's output at every new block. Finally the performance of the controller is implemented and demonstrated on a testnet with a constant hash rate as well as on the mainnet of a public open source blockchain project.

Requirements for active resistive wall mode (RWM) feedback control

International Nuclear Information System (INIS)

In, Y; Kim, J S; Chu, M S; Jackson, G L; La Haye, R J; Strait, E J; Liu, Y Q; Marrelli, L; Okabayashi, M; Reimerdes, H

2010-01-01

The requirements for active resistive wall mode (RWM) feedback control have been systematically investigated and established using highly reproducible current-driven RWMs in ohmic discharges in DIII-D. The unambiguous evaluation of active RWM feedback control was not possible in previous RWM studies primarily due to the variability of the onset of the pressure-driven RWMs; the stability of the pressure-driven RWM is thought to be sensitive to various passive stabilization mechanisms. Both feedback control specifications and physics requirements for RWM stabilization have been clarified using the current-driven RWMs in ohmic discharges, when little or no passive stabilization effects are present. The use of derivative gain on top of proportional gain is found to be advantageous. An effective feedback control system should be equipped with a power supply with bandwidth greater than the RWM growth rate. It is beneficial to apply a feedback field that is toroidally phase-shifted from the measured RWM phase in the same direction as the plasma current. The efficacy of the RWM feedback control will ultimately be determined by the plasma fluctuations on internal diagnostics, as well as on external magnetics. The proximity of the feedback coils to the plasma appears to be an important factor in determining the effectiveness of the RWM feedback coils. It is desirable that an RWM feedback control system simultaneously handles error field correction at a low frequency, along with direct RWM feedback at a high frequency. There is an indication of the influence of a second least stable RWM, which had been theoretically predicted but never identified in experiments. A preliminary investigation based on active MHD spectroscopic measurement showed a strong plasma response around 400 Hz where the typical plasma response associated with the first least stable RWM was expected to be negligible. Present active feedback control requirements are based on a single mode assumption, so the

Combined feedforward and feedback control of a redundant, nonlinear, dynamic musculoskeletal system.

Science.gov (United States)

Blana, Dimitra; Kirsch, Robert F; Chadwick, Edward K

2009-05-01

A functional electrical stimulation controller is presented that uses a combination of feedforward and feedback for arm control in high-level injury. The feedforward controller generates the muscle activations nominally required for desired movements, and the feedback controller corrects for errors caused by muscle fatigue and external disturbances. The feedforward controller is an artificial neural network (ANN) which approximates the inverse dynamics of the arm. The feedback loop includes a PID controller in series with a second ANN representing the nonlinear properties and biomechanical interactions of muscles and joints. The controller was designed and tested using a two-joint musculoskeletal model of the arm that includes four mono-articular and two bi-articular muscles. Its performance during goal-oriented movements of varying amplitudes and durations showed a tracking error of less than 4 degrees in ideal conditions, and less than 10 degrees even in the case of considerable fatigue and external disturbances.

Model-based dynamic resistive wall mode identification and feedback control in the DIII-D tokamak

International Nuclear Information System (INIS)

In, Y.; Kim, J.S.; Edgell, D.H.; Strait, E.J.; Humphreys, D.A.; Walker, M.L.; Jackson, G.L.; Chu, M.S.; Johnson, R.; La Haye, R.J.; Okabayashi, M.; Garofalo, A.M.; Reimerdes, H.

2006-01-01

A new model-based dynamic resistive wall mode (RWM) identification and feedback control algorithm has been developed. While the overall RWM structure can be detected by a model-based matched filter in a similar manner to a conventional sensor-based scheme, it is significantly influenced by edge-localized-modes (ELMs). A recent study suggested that such ELM noise might cause the RWM control system to respond in an undesirable way. Thus, an advanced algorithm to discriminate ELMs from RWM has been incorporated into this model-based control scheme, dynamic Kalman filter. Specifically, the DIII-D [J. L. Luxon, Nucl. Fusion 42, 614 (2002)] resistive vessel wall was modeled in two ways: picture frame model or eigenmode treatment. Based on the picture frame model, the first real-time, closed-loop test results of the Kalman filter algorithms during DIII-D experimental operation are presented. The Kalman filtering scheme was experimentally confirmed to be effective in discriminating ELMs from RWM. As a result, the actuator coils (I-coils) were rarely excited during ELMs, while retaining the sensitivity to RWM. However, finding an optimized set of operating parameters for the control algorithm requires further analysis and design. Meanwhile, a more advanced Kalman filter based on a more accurate eigenmode model has been developed. According to this eigenmode approach, significant improvement in terms of control performance has been predicted, while maintaining good ELM discrimination

Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

Science.gov (United States)

Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

2017-03-01

This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

Nonlinear force feedback control of piezoelectric-hydraulic pump actuator for automotive transmission shift control

Science.gov (United States)

Kim, Gi-Woo; Wang, K. W.

2008-03-01

In recent years, researchers have investigated the feasibility of utilizing piezoelectric-hydraulic pump based actuation systems for automotive transmission controls. This new concept could eventually reduce the complexity, weight, and fuel consumption of the current transmissions. In this research, we focus on how to utilize this new approach on the shift control of automatic transmissions (AT), which generally requires pressure profiling for friction elements during the operation. To illustrate the concept, we will consider the 1--> 2 up shift control using band brake friction elements. In order to perform the actuation force tracking for AT shift control, nonlinear force feedback control laws are designed based on the sliding mode theory for the given nonlinear system. This paper will describe the modeling of the band brake actuation system, the design of the nonlinear force feedback controller, and simulation and experimental results for demonstration of the new concept.

Combined feedforward and feedback control of end milling system

OpenAIRE

Čuš, Franc; Župerl, Uroš; Balič, Jože

2012-01-01

Purpose: Purpose of this paper. An intelligent control system is presented that uses a combination of feedforward and feedback for cutting force control in end milling.Design/methodology/approach: The network is trained by the feedback output that is minimized during training and most control action for disturbance rejection is finally performed by the rapid feedforward action of the network.Findings: The feedback controller corrects for errors caused by external disturbances. The feedforward...

Modeling of low frequency dynamics of a smart system and its state feedback based active control

Science.gov (United States)

Kant, Mohit; Parameswaran, Arun P.

2018-01-01

Major physical systems/structures suffer from unwanted vibrations. For efficient working of such systems, these vibrations have to be controlled. In this paper, mathematical modeling of an aluminum cantilever beam with bonded multiple piezoelectric patches which act as the disturbance generator, sensor as well as control actuator has been presented. This piezoelectric laminate cantilever beam is assumed to be vibrating in a single degree of freedom i.e. in the flexural mode only and the corresponding state space models have been derived analytically using the finite element technique. Dominant modes of flexural vibration are identified from the frequency response of the developed model of the system and finally a state feedback controller based on pole placement technique is designed to actively suppress the vibrations. Through numerous simulations as well as experimental validation, the effectiveness of the active controller in damping the vibrations at various excitation frequencies as well as frequency ranges along the flexural mode is established.

Nonlinear free vibration control of beams using acceleration delayed-feedback control

International Nuclear Information System (INIS)

Alhazza, Khaled A; Alajmi, Mohammed; Masoud, Ziyad N

2008-01-01

A single-mode delayed-feedback control strategy is developed to reduce the free vibrations of a flexible beam using a piezoelectric actuator. A nonlinear variational model of the beam based on the von Kàrmàn nonlinear type deformations is considered. Using Galerkin's method, the resulting governing partial differential equations of motion are reduced to a system of nonlinear ordinary differential equations. A linear model using the first mode is derived and is used to characterize the damping produced by the controller as a function of the controller's gain and delay. Three-dimensional figures showing the damping magnitude as a function of the controller gain and delay are presented. The characteristic damping of the controller as predicted by the linear model is compared to that calculated using direct long-time integration of a three-mode nonlinear model. Optimal values of the controller gain and delay using both methods are obtained, simulated and compared. To validate the single-mode approximation, numerical simulations are performed using a three-mode full nonlinear model. Results of the simulations demonstrate an excellent controller performance in mitigating the first-mode vibration

The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems.

Science.gov (United States)

Zhang, Xingye; Wang, Shaoqian; Hoagg, Jesse B; Seigler, T Michael

2018-02-01

We present results from an experiment in which human subjects interact with an unknown dynamic system 40 times during a two-week period. During each interaction, subjects are asked to perform a command-following (i.e., pursuit tracking) task. Each subject's performance at that task improves from the first trial to the last trial. For each trial, we use subsystem identification to estimate each subject's feedforward (or anticipatory) control, feedback (or reactive) control, and feedback time delay. Over the 40 trials, the magnitudes of the identified feedback controllers and the identified feedback time delays do not change significantly. In contrast, the identified feedforward controllers do change significantly. By the last trial, the average identified feedforward controller approximates the inverse of the dynamic system. This observation provides evidence that a fundamental component of human learning is updating the anticipatory control until it models the inverse dynamics.

Risk-sensitive optimal feedback control accounts for sensorimotor behavior under uncertainty.

Directory of Open Access Journals (Sweden)

Arne J Nagengast

2010-07-01

Full Text Available Many aspects of human motor behavior can be understood using optimality principles such as optimal feedback control. However, these proposed optimal control models are risk-neutral; that is, they are indifferent to the variability of the movement cost. Here, we propose the use of a risk-sensitive optimal controller that incorporates movement cost variance either as an added cost (risk-averse controller or as an added value (risk-seeking controller to model human motor behavior in the face of uncertainty. We use a sensorimotor task to test the hypothesis that subjects are risk-sensitive. Subjects controlled a virtual ball undergoing Brownian motion towards a target. Subjects were required to minimize an explicit cost, in points, that was a combination of the final positional error of the ball and the integrated control cost. By testing subjects on different levels of Brownian motion noise and relative weighting of the position and control cost, we could distinguish between risk-sensitive and risk-neutral control. We show that subjects change their movement strategy pessimistically in the face of increased uncertainty in accord with the predictions of a risk-averse optimal controller. Our results suggest that risk-sensitivity is a fundamental attribute that needs to be incorporated into optimal feedback control models.

Fuzzy combination of fuzzy and switching state-feedback controllers for nonlinear systems subject to parameter uncertainties.

Science.gov (United States)

Lam, H K; Leung, Frank H F

2005-04-01

This paper presents a fuzzy controller, which involves a fuzzy combination of local fuzzy and global switching state-feedback controllers, for nonlinear systems subject to parameter uncertainties with known bounds. The nonlinear system is represented by a fuzzy combined Takagi-Sugeno-Kang model, which is a fuzzy combination of the global and local fuzzy plant models. By combining the local fuzzy and global switching state-feedback controllers using fuzzy logic techniques, the advantages of both controllers can be retained and the undesirable chattering effect introduced by the global switching state-feedback controller can be eliminated. The steady-state error introduced by the global switching state-feedback controller when a saturation function is used can also be removed. Stability conditions, which are related to the system matrices of the local and global closed-loop systems, are derived to guarantee the closed-loop system stability. An application example will be given to demonstrate the merits of the proposed approach.

Low-level feedback control for the phase regulation of CLIC Drive Beam Klystrons

CERN Document Server

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.

Robust fuzzy output feedback controller for affine nonlinear systems via T-S fuzzy bilinear model: CSTR benchmark.

Science.gov (United States)

Hamdy, M; Hamdan, I

2015-07-01

In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

Directory of Open Access Journals (Sweden)

Wenqing Zhang

2013-01-01

Full Text Available The suspension module control system model has been established based on MIMO (multiple input and multiple output state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module’s antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling suspension controller based on magnetic flux feedback.

Science.gov (United States)

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Feedback control of chlorine inductively coupled plasma etch processing

International Nuclear Information System (INIS)

Lin Chaung; Leou, K.-C.; Shiao, K.-M.

2005-01-01

Feedback control has been applied to poly-Si etch processing using a chlorine inductively coupled plasma. Since the positive ion flux and ion energy incident upon the wafer surface are the key factors that influence the etch rate, the ion current and the root mean square (rms) rf voltage on the wafer stage, which are measured using an impedance meter connected to the wafer stage, are adopted as the controlled variables to enhance etch rate. The actuators are two 13.56 MHz rf power generators, which adjust ion density and ion energy, respectively. The results of closed-loop control show that the advantages of feedback control can be achieved. For example, with feedback control, etch rate variation under the transient chamber wall condition is reduced roughly by a factor of 2 as compared to the open-loop case. In addition, the capability of the disturbance rejection was also investigated. For a gas pressure variation of 20%, the largest etch rate variation is about 2.4% with closed-loop control as compared with as large as about 6% variation using open-loop control. Also the effect of ion current and rms rf voltage on etch rate was studied using 2 2 factorial design whose results were used to derive a model equation. The obtained formula was used to adjust the set point of ion current and rf voltage so that the desired etch rate was obtained

A double-panel active segmented partition module using decoupled analog feedback controllers: numerical model.

Science.gov (United States)

Sagers, Jason D; Leishman, Timothy W; Blotter, Jonathan D

2009-06-01

Low-frequency sound transmission has long plagued the sound isolation performance of lightweight partitions. Over the past 2 decades, researchers have investigated actively controlled structures to prevent sound transmission from a source space into a receiving space. An approach using active segmented partitions (ASPs) seeks to improve low-frequency sound isolation capabilities. An ASP is a partition which has been mechanically and acoustically segmented into a number of small individually controlled modules. This paper provides a theoretical and numerical development of a single ASP module configuration, wherein each panel of the double-panel structure is independently actuated and controlled by an analog feedback controller. A numerical model is developed to estimate frequency response functions for the purpose of controller design, to understand the effects of acoustic coupling between the panels, to predict the transmission loss of the module in both passive and active states, and to demonstrate that the proposed ASP module will produce bidirectional sound isolation.

Methane Feedback on Atmospheric Chemistry: Methods, Models, and Mechanisms

Science.gov (United States)

Holmes, Christopher D.

2018-04-01

The atmospheric methane (CH4) chemical feedback is a key process for understanding the behavior of atmospheric CH4 and its environmental impact. This work reviews how the feedback is defined and used, then examines the meteorological, chemical, and emission factors that control the feedback strength. Geographical and temporal variations in the feedback are described and explained by HOx (HOx = OH + HO2) production and partitioning. Different CH4 boundary conditions used by models, however, make no meaningful difference to the feedback calculation. The strength of the CH4 feedback depends on atmospheric composition, particularly the atmospheric CH4 burden, and is therefore not constant. Sensitivity tests show that the feedback depends very weakly on temperature, insolation, water vapor, and emissions of NO. While the feedback strength has likely remained within 10% of its present value over the industrial era and likely will over the twenty-first century, neglecting these changes biases our understanding of CH4 impacts. Most environmental consequences per kg of CH4 emissions, including its global warming potential (GWP), scale with the perturbation time, which may have grown as much as 40% over the industrial era and continues to rise.

The inhibitory microcircuit of the substantia nigra provides feedback gain control of the basal ganglia output.

Science.gov (United States)

Brown, Jennifer; Pan, Wei-Xing; Dudman, Joshua Tate

2014-05-21

Dysfunction of the basal ganglia produces severe deficits in the timing, initiation, and vigor of movement. These diverse impairments suggest a control system gone awry. In engineered systems, feedback is critical for control. By contrast, models of the basal ganglia highlight feedforward circuitry and ignore intrinsic feedback circuits. In this study, we show that feedback via axon collaterals of substantia nigra projection neurons control the gain of the basal ganglia output. Through a combination of physiology, optogenetics, anatomy, and circuit mapping, we elaborate a general circuit mechanism for gain control in a microcircuit lacking interneurons. Our data suggest that diverse tonic firing rates, weak unitary connections and a spatially diffuse collateral circuit with distinct topography and kinetics from feedforward input is sufficient to implement divisive feedback inhibition. The importance of feedback for engineered systems implies that the intranigral microcircuit, despite its absence from canonical models, could be essential to basal ganglia function. DOI: http://dx.doi.org/10.7554/eLife.02397.001. Copyright © 2014, Brown et al.

A feedback model of visual attention.

Science.gov (United States)

Spratling, M W; Johnson, M H

2004-03-01

Feedback connections are a prominent feature of cortical anatomy and are likely to have a significant functional role in neural information processing. We present a neural network model of cortical feedback that successfully simulates neurophysiological data associated with attention. In this domain, our model can be considered a more detailed, and biologically plausible, implementation of the biased competition model of attention. However, our model is more general as it can also explain a variety of other top-down processes in vision, such as figure/ground segmentation and contextual cueing. This model thus suggests that a common mechanism, involving cortical feedback pathways, is responsible for a range of phenomena and provides a unified account of currently disparate areas of research.

Nonlinear power flow feedback control for improved stability and performance of airfoil sections

Science.gov (United States)

Wilson, David G.; Robinett, III, Rush D.

2013-09-03

A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.

Design of output feedback controller for a unified chaotic system

International Nuclear Information System (INIS)

Li Wenlin; Chen Xiuqin; Shen Zhiping

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 modeling of plasma position and current during intense heating in ISX-B

International Nuclear Information System (INIS)

Charlton, L.A.; Swain, D.W.; Neilson, G.H.

1979-08-01

The ISX-B Tokamak at ORNL is designed to have 1.8 MW (and eventually 3 MW) of neutral beam power injected to heat the plasma. This power may raise the anti β of the plasma to over 5% in less than 50 msec if the plasma is MHD stable. The results of a numerical simulation of the feedback control system and poloidal coil power supplies necessary to control the resulting noncircular (D-shaped or elliptical) plasma are presented. The resulting feedback control system is shown to be straightforward, although nonlinear voltage-current dependence is assumed in the power supplies. The required power supplied to the poloidal coils in order to contain the plasma under the high heating rates is estimated

Investigation of a delayed feedback controller of MEMS resonators

KAUST Repository

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.

The Role of Locus of Control and Feedback on Performance of ...

African Journals Online (AJOL)

This study examined Students' Locus of Control and Teacher Feedback using a 2x3 factorial to measure the performance of thirty-six (36) primary school students utilizing the two locus of control types and three levels of teacher feedback: no feedback, attributional feedback, and progressive feedback. No significant ...

Feedback Control of MEMS to Atoms

CERN Document Server

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...

Investigation of control system of traction electric drive with feedbacks on load

Science.gov (United States)

Kuznetsov, N. K.; Iov, I. A.; Iov, A. A.

2018-03-01

In the article, by the example of a walking excavator, the results of a study of a control system of traction electric drive with a rigid and flexible feedback on the load are mentioned. Based on the analysis of known works, the calculation scheme has been chosen; the equations of motion of the electromechanical system have been obtained, taking into account the elasticity of the rope and feedbacks on the load in the elastic element. A simulation model of this system has been developed and mathematical modeling of the transient processes to evaluate the influence of feedback on the dynamic characteristics of the mechanism and its efficiency of work was carried out. It is shown that the use of rigid and flexible feedbacks makes it possible to reduce dynamic loads in the traction mechanism and to limit the elastic oscillation of the executive mechanism in transient operating modes in comparison with the standard control system; however, there is some decrease in productivity. It has been also established that the sign-variable of the loading of the electric drive, connected with the opening of the backlashes in the gearbox due to the action of feedbacks on the load in the elastic element, under certain conditions, can lead to undesirable phenomena in the operation of the drive and a decrease in the reliability of its operation.

Learning feedback and feedforward control in a mirror-reversed visual environment.

Science.gov (United States)

Kasuga, Shoko; Telgen, Sebastian; Ushiba, Junichi; Nozaki, Daichi; Diedrichsen, Jörn

2015-10-01

When we learn a novel task, the motor system needs to acquire both feedforward and feedback control. Currently, little is known about how the learning of these two mechanisms relate to each other. In the present study, we tested whether feedforward and feedback control need to be learned separately, or whether they are learned as common mechanism when a new control policy is acquired. Participants were trained to reach to two lateral and one central target in an environment with mirror (left-right)-reversed visual feedback. One group was allowed to make online movement corrections, whereas the other group only received visual information after the end of the movement. Learning of feedforward control was assessed by measuring the accuracy of the initial movement direction to lateral targets. Feedback control was measured in the responses to sudden visual perturbations of the cursor when reaching to the central target. Although feedforward control improved in both groups, it was significantly better when online corrections were not allowed. In contrast, feedback control only adaptively changed in participants who received online feedback and remained unchanged in the group without online corrections. Our findings suggest that when a new control policy is acquired, feedforward and feedback control are learned separately, and that there may be a trade-off in learning between feedback and feedforward controllers. Copyright © 2015 the American Physiological Society.

PID feedback controller used as a tactical asset allocation technique: The G.A.M. model

Science.gov (United States)

Gandolfi, G.; Sabatini, A.; Rossolini, M.

2007-09-01

The objective of this paper is to illustrate a tactical asset allocation technique utilizing the PID controller. The proportional-integral-derivative (PID) controller is widely applied in most industrial processes; it has been successfully used for over 50 years and it is used by more than 95% of the plants processes. It is a robust and easily understood algorithm that can provide excellent control performance in spite of the diverse dynamic characteristics of the process plant. In finance, the process plant, controlled by the PID controller, can be represented by financial market assets forming a portfolio. More specifically, in the present work, the plant is represented by a risk-adjusted return variable. Money and portfolio managers’ main target is to achieve a relevant risk-adjusted return in their managing activities. In literature and in the financial industry business, numerous kinds of return/risk ratios are commonly studied and used. The aim of this work is to perform a tactical asset allocation technique consisting in the optimization of risk adjusted return by means of asset allocation methodologies based on the PID model-free feedback control modeling procedure. The process plant does not need to be mathematically modeled: the PID control action lies in altering the portfolio asset weights, according to the PID algorithm and its parameters, Ziegler-and-Nichols-tuned, in order to approach the desired portfolio risk-adjusted return efficiently.

Cooling and squeezing the fluctuations of a nanomechanical beam by indirect quantum feedback control

International Nuclear Information System (INIS)

Zhang Jing; Liu Yuxi; Nori, Franco

2009-01-01

We study cooling and squeezing the fluctuations of a nanomechanical beam using quantum feedback control. In our model, the nanomechanical beam is coupled to a transmission line resonator via a superconducting quantum interference device. The leakage of the electromagnetic field from the transmission line resonator is measured using homodyne detection. This measured signal is then used to design a quantum feedback control signal to drive the electromagnetic field in the transmission line resonator. Although the control is imposed on the transmission line resonator, this quantum feedback control signal indirectly affects the thermal motion of the nanomechanical beam via the inductive beam-resonator coupling, making it possible to cool and squeeze the fluctuations of the beam, allowing it to approach the standard quantum limit.

Identification and robust water level control of horizontal steam generators using quantitative feedback theory

International Nuclear Information System (INIS)

Safarzadeh, O.; Khaki-Sedigh, A.; Shirani, A.S.

2011-01-01

Highlights: → A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. → To design the controller, fairly accurate linear models are identified for the SG. → The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. → Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. → 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.

Identification and robust water level control of horizontal steam generators using quantitative feedback theory

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.

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Science.gov (United States)

Xia, Feng; Ma, Longhua; 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 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. PMID:27879934

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.

Minimal-Inversion Feedforward-And-Feedback Control System

Science.gov (United States)

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.

Robust non-fragile finite-frequency H∞ static output-feedback control for active suspension systems

Science.gov (United States)

Wang, Gang; Chen, Changzheng; Yu, Shenbo

2017-07-01

This paper deals with the problem of non-fragile H∞ static output-feedback control of vehicle active suspension systems with finite-frequency constraint. The control objective is to improve ride comfort within the given frequency range and ensure the hard constraints in the time-domain. Moreover, in order to enhance the robustness of the controller, the control gain perturbation is also considered in controller synthesis. Firstly, a new non-fragile H∞ finite-frequency control condition is established by using generalized Kalman-Yakubovich-Popov (GKYP) lemma. Secondly, the static output-feedback control gain is directly derived by using a non-iteration algorithm. Different from the existing iteration LMI results, the static output-feedback design is simple and less conservative. Finally, the proposed control algorithm is applied to a quarter-car active suspension model with actuator dynamics, numerical results are made to show the effectiveness and merits of the proposed method.

Stability and Bifurcation in Magnetic Flux Feedback Maglev Control System

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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.

Temperature feedback control for long-term carrier-envelope phase locking

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Chang, Zenghu [Manhattan, KS; Yun, Chenxia [Manhattan, KS; Chen, Shouyuan [Manhattan, KS; Wang, He [Manhattan, KS; Chini, Michael [Manhattan, KS

2012-07-24

A feedback control module for stabilizing a carrier-envelope phase of an output of a laser oscillator system comprises a first photodetector, a second photodetector, a phase stabilizer, an optical modulator, and a thermal control element. The first photodetector may generate a first feedback signal corresponding to a first portion of a laser beam from an oscillator. The second photodetector may generate a second feedback signal corresponding to a second portion of the laser beam filtered by a low-pass filter. The phase stabilizer may divide the frequency of the first feedback signal by a factor and generate an error signal corresponding to the difference between the frequency-divided first feedback signal and the second feedback signal. The optical modulator may modulate the laser beam within the oscillator corresponding to the error signal. The thermal control unit may change the temperature of the oscillator corresponding to a signal operable to control the optical modulator.

Robust output-feedback control to eliminate stick-slip oscillations in drill-string systems

NARCIS (Netherlands)

Vromen, T.G.M.; Dai, C.H.; van de Wouw, N.; Oomen, T.A.E.; Astrid, P.; Nijmeijer, H.

2015-01-01

The aim of this paper is to design a robust output-feedback controller to eliminate torsional stick-slip vibrations. A multi-modal model of the torsional dynamics with a nonlinear bit-rock interaction model is used. The controller design is based on skewed-μ DK-iteration and the stability of the

GPUbased, Microsecond Latency, HectoChannel MIMO Feedback Control of Magnetically Confined Plasmas

Science.gov (United States)

Rath, Nikolaus

Feedback control has become a crucial tool in the research on magnetic confinement of plasmas for achieving controlled nuclear fusion. This thesis presents a novel plasma feedback control system that, for the first time, employs a Graphics Processing Unit (GPU) for microsecond-latency, real-time control computations. This novel application area for GPU computing is opened up by a new system architecture that is optimized for low-latency computations on less than kilobyte sized data samples as they occur in typical plasma control algorithms. In contrast to traditional GPU computing approaches that target complex, high-throughput computations with massive amounts of data, the architecture presented in this thesis uses the GPU as the primary processing unit rather than as an auxiliary of the CPU, and data is transferred from A-D/D-A converters directly into GPU memory using peer-to-peer PCI Express transfers. The described design has been implemented in a new, GPU-based control system for the High-Beta Tokamak - Extended Pulse (HBT-EP) device. The system is built from commodity hardware and uses an NVIDIA GeForce GPU and D-TACQ A-D/D-A converters providing a total of 96 input and 64 output channels. The system is able to run with sampling periods down to 4 μs and latencies down to 8 μs. The GPU provides a total processing power of 1.5 x 1012 floating point operations per second. To illustrate the performance and versatility of both the general architecture and concrete implementation, a new control algorithm has been developed. The algorithm is designed for the control of multiple rotating magnetic perturbations in situations where the plasma equilibrium is not known exactly and features an adaptive system model: instead of requiring the rotation frequencies and growth rates embedded in the system model to be set a priori, the adaptive algorithm derives these parameters from the evolution of the perturbation amplitudes themselves. This results in non-linear control

To Stabilize Power Systems from Various Kind of Oscillations using a State Feedback Controller

International Nuclear Information System (INIS)

Afridi, M. A.

2012-01-01

Damping of electromechanical oscillations in power systems is one of the major concerns in the operation of power system since many years. These oscillations cause improper of the power system incorporating losses. This thesis work presents the coordinated AVR+PSS structure, called the Desensitized four loops Regulator, designed to damp these oscillations in the power system. It is shown here that it is possible to transform the structure of this controller into any standard IEEE AVR+PSS structure. The AVR+PSS structure obtained through this structure is efficient to damp out many types of oscillations present in the Power system. These models are to be incorporated with the generator models to get a power system model with state feedback control. On simulating the system in Simulink with the controllers we have obtained the power system model with state feedback control and observed that how these controllers are helpful in damping the oscillations. (author)

FEEDBACK AND LOGISTICS CONTROLLING

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Mehesne Berek Szilvia

2015-07-01

Full Text Available The following things led to that the feedback, the supervision and improvement of the processes have become more pronounced: continuous rise in the importance of logistics; increase in complexity of its content; its activity becoming more complex. These activities are necessary for the optimum information supply. The intensification of market competition requires the corporations to possess exact and up-to-date information about their activities. Complexity of the logistics system presumes a parallel application of an effective feedback, supervision and management system simultaneously with the given logistics system. The indispensability of logistics is also proved by the fact that it can be found sporadically (in the form of logistics departments or in a complex way in case of each organization. The logistical approach means a huge support in the management since it contains the complexity, the handling as a unit in order to ensure a harmony of the different corporate departments and part activities. In addition to the professional application of a logistics system, there is an opportunity to coordinate the relations inside an organization as well as between the organizations and to handle them as a unit. The sine qua non of the success of logistical processes is a harmony of the devices applied. The controlling system is a device for feeding back the processes of a corporate system. By means of the checkpoints intercalated into the processes, the logistics controlling provides information for the leadership which contributes even more to the complex approach of logistics system. By dint of the logistics controlling, the monitoring and coordination of every logistical part activity become possible with the help of information supply ensured by the logistics controlling. The logistics controlling reviews, assesses and coordinates; these activities have an effect on the cost and income management. Its reason is to be searched in the built

Interaction between beam control and rf feedback loops for high Q cavities an heavy beam loading. Revision A

International Nuclear Information System (INIS)

Mestha, L.K.; Kwan, C.M.; Yeung, K.S.

1994-04-01

An open-loop state space model of all the major low-level rf feedback control loops is derived. The model has control and state variables for fast-cycling machines to apply modern multivariable feedback techniques. A condition is derived to know when exactly we can cross the boundaries between time-varying and time-invariant approaches for a fast-cycling machine like the Low Energy Booster (LEB). The conditions are dependent on the Q of the cavity and the rate at which the frequency changes with time. Apart from capturing the time-variant characteristics, the errors in the magnetic field are accounted in the model to study the effects on synchronization with the Medium Energy Booster (MEB). The control model is useful to study the effects on beam control due to heavy beam loading at high intensities, voltage transients just after injection especially due to time-varying voltages, instability thresholds created by the cavity tuning feedback system, cross coupling between feedback loops with and without direct rf feedback etc. As a special case we have shown that the model agrees with the well known Pedersen model derived for the CERN PS booster. As an application of the model we undertook a detailed study of the cross coupling between the loops by considering all of them at once for varying time, Q and beam intensities. A discussion of the method to identify the coupling is shown. At the end a summary of the identified loop interactions is presented

Robust H∞ output-feedback control for path following of autonomous ground vehicles

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Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

Science.gov (United States)

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

On a new time-delayed feedback control of chaotic systems

International Nuclear Information System (INIS)

Tian Lixin; Xu Jun; Sun Mei; Li Xiuming

2009-01-01

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.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

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Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

Chaos control for the family of Roessler systems using feedback controllers

International Nuclear Information System (INIS)

Liao Xiaoxin; Yu Pei

2006-01-01

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

Event-Triggered Output-Feedback Control for Disturbed Linear Systems

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Hao Jiang

2018-01-01

Full Text Available In the last few decades, event-triggered control received considerable attention, because of advantages in reducing the resource utilization, such as communication load and processor. In this paper, we propose an event-triggered output-feedback controller for disturbed linear systems, in order to achieve both better resource utilization and disturbance attenuation properties at the same time. Based on our prior work on state-feedback H∞ control for disturbed systems, we propose an approach to design an output-feedback H∞ controller for the system whose states are not completely observable, and a sufficient condition guaranteeing the asymptotic stability and robustness of the system is given in the form of LMIs (Linear Matrix Inequalities.

Real-Time Gesture-Controlled Physical Modelling Music Synthesis with Tactile Feedback

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David M. Howard

2004-06-01

Full Text Available Electronic sound synthesis continues to offer huge potential possibilities for the creation of new musical instruments. The traditional approach is, however, seriously limited in that it incorporates only auditory feedback and it will typically make use of a sound synthesis model (e.g., additive, subtractive, wavetable, and sampling that is inherently limited and very often nonintuitive to the musician. In a direct attempt to challenge these issues, this paper describes a system that provides tactile as well as acoustic feedback, with real-time synthesis that invokes a more intuitive response from players since it is based upon mass-spring physical modelling. Virtual instruments are set up via a graphical user interface in terms of the physical properties of basic well-understood sounding objects such as strings, membranes, and solids. These can be interconnected to form complex integrated structures. Acoustic excitation can be applied at any point mass via virtual bowing, plucking, striking, specified waveform, or from any external sound source. Virtual microphones can be placed at any point masses to deliver the acoustic output. These aspects of the instrument are described along with the nature of the resulting acoustic output.

Feedback linearization based control of a variable air volume air conditioning system for cooling applications.

Science.gov (United States)

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.

Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions.

Science.gov (United States)

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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback control of edge turbulence in a tokamak

International Nuclear Information System (INIS)

Kan, Zhai; Yi-zhi, Wen; Chang-xuan, Yu; Wan-dong, Liu; Chao, Wang; Ge, Zhuang; Kan, Zhai; Zhi-Zhan, Yu

1997-01-01

An experiment on feedback control of edge turbulence has been undertaken on the KT-5C tokamak. The results indicate that the edge turbulence could be suppressed or enhanced depending on the phase shift of the feedback network. In a typical case of 90 degree phase shift feedback, the turbulence amplitudes of both T e and n e were reduced by about 25% when the gain of the feedback network was 15. Correspondingly the radial particle flux decreased to about 75% level of the background. Through bispectral analysis it is found that there exists a substantial nonlinear coupling between various modes comprised in edge turbulence, especially in the frequency range from about 10 kHz to 100 kHz, which contains the large part of the edge turbulence energy in KT-5C tokamak. In particular, by actively controlling the turbulence amplitude using feedback, a direct experimental evidence of the link between the nonlinear wave-wave coupling over the whole spectrum in turbulence, the saturated turbulence amplitude, and the radial particle flux was provided. copyright 1997 The American Physical Society

Control of uncertain systems by feedback linearization with neural networks augmentation. Part II. Controller validation by numerical simulation

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Adrian TOADER

2010-09-01

Full Text Available The paper was conceived in two parts. Part I, previously published in this journal, highlighted the main steps of adaptive output feedback control for non-affine uncertain systems, having a known relative degree. The main paradigm of this approach was the feedback linearization (dynamic inversion with neural network augmentation. Meanwhile, based on new contributions of the authors, a new paradigm, that of robust servomechanism problem solution, has been added to the controller architecture. The current Part II of the paper presents the validation of the controller hereby obtained by using the longitudinal channel of a hovering VTOL-type aircraft as mathematical model.

Feedback Linearization Controller for a Wind Energy Power System

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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.

Myoelectric hand prosthesis force control through servo motor current feedback.

Science.gov (United States)

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.

The Effect of Concurrent Visual Feedback on Controlling Swimming Speed

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Szczepan Stefan

2016-03-01

Full Text Available Introduction. Developing the ability to control the speed of swimming is an important part of swimming training. Maintaining a defined constant speed makes it possible for the athlete to swim economically at a low physiological cost. The aim of this study was to determine the effect of concurrent visual feedback transmitted by the Leader device on the control of swimming speed in a single exercise test. Material and methods. The study involved a group of expert swimmers (n = 20. Prior to the experiment, the race time for the 100 m distance was determined for each of the participants. In the experiment, the participants swam the distance of 100 m without feedback and with visual feedback. In both variants, the task of the participants was to swim the test distance in a time as close as possible to the time designated prior to the experiment. In the first version of the experiment (without feedback, the participants swam the test distance without receiving real-time feedback on their swimming speed. In the second version (with visual feedback, the participants followed a beam of light moving across the bottom of the swimming pool, generated by the Leader device. Results. During swimming with visual feedback, the 100 m race time was significantly closer to the time designated. The difference between the pre-determined time and the time obtained was significantly statistically lower during swimming with visual feedback (p = 0.00002. Conclusions. Concurrently transmitting visual feedback to athletes improves their control of swimming speed. The Leader device has proven useful in controlling swimming speed.

Theoretical and experimental study of Chen chaotic system with notch filter feedback control

International Nuclear Information System (INIS)

Ming, Zhang Xiao; Jian-Hua, Peng; Ju-Fang, Chen

2010-01-01

Since the past two decades, the time delay feedback control method has attracted more and more attention in chaos control studies because of its simplicity and efficiency compared with other chaos control schemes. Recently, it has been proposed to suppress low-dimensional chaos with the notch filter feedback control method, which can be implemented in a laser system. In this work, we have analytically determined the controllable conditions for notch filter feedback controlling of Chen chaotic system in terms of the Hopf bifurcation theory. The conditions for notch filter feedback controlled Chen chaoitc system having a stable limit cycle solution are given. Meanwhile, we also analysed the Hopf bifurcation direction, which is very important for parameter settings in notch filter feedback control applications. Finally, we apply the notch filter feedback control methods to the electronic circuit experiments and numerical simulations based on the theoretical analysis. The controlling results of notch filter feedback control method well prove the feasibility and reliability of the theoretical analysis. (general)

Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation

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Ziqiang Chi

2014-01-01

Full Text Available Piezoelectric actuator is widely used in the field of micro/nanopositioning. However, piezoelectric hysteresis introduces nonlinearity to the system, which is the major obstacle to achieve a precise positioning. In this paper, the Preisach model is employed to describe the hysteresis characteristic of piezoelectric actuator and an inverse Preisach model is developed to construct a feedforward controller. Considering that the analytical expression of inverse Preisach model is difficult to derive and not suitable for practical application, a digital inverse model is established based on the input and output data of a piezoelectric actuator. Moreover, to mitigate the compensation error of the feedforward control, a feedback control scheme is implemented using different types of control algorithms in terms of PID control, fuzzy control, and fuzzy PID control. Extensive simulation studies are carried out using the three kinds of control systems. Comparative investigation reveals that the fuzzy PID control system with feedforward compensation is capable of providing quicker response and better control accuracy than the other two ones. It provides a promising way of precision control for piezoelectric actuator.

Decoherence control in open quantum systems via classical feedback

International Nuclear Information System (INIS)

Ganesan, Narayan; Tarn, Tzyh-Jong

2007-01-01

In this work we propose a strategy using techniques from systems theory to completely eliminate decoherence and also provide conditions under which it can be done. A construction employing an auxiliary system, the bait, which is instrumental to decoupling the system from the environment is presented. Our approach to decoherence control in contrast to other approaches in the literature involves the bilinear input affine model of quantum control system which lends itself to various techniques from classical control theory, but with nontrivial modifications to the quantum regime. The elegance of this approach yields interesting results on open loop decouplability and decoherence free subspaces. Additionally, the feedback control of decoherence may be related to disturbance decoupling for classical input affine systems, which entails careful application of the methods by avoiding all the quantum mechanical pitfalls. In the process of calculating a suitable feedback the system must be restructured due to its tensorial nature of interaction with the environment, which is unique to quantum systems. In the subsequent section we discuss a general information extraction scheme to gain knowledge of the state and the amount of decoherence based on indirect continuous measurement. The analysis of continuous measurement on a decohering quantum system has not been extensively studied before. Finally, a methodology to synthesize feedback parameters itself is given, that technology permitting, could be implemented for practical 2-qubit systems to perform decoherence free quantum computing. The results obtained are qualitatively different and superior to the ones obtained via master equations

Feedback control policies employed by people using intracortical brain-computer interfaces

Science.gov (United States)

Willett, Francis R.; Pandarinath, Chethan; Jarosiewicz, Beata; Murphy, Brian A.; Memberg, William D.; Blabe, Christine H.; Saab, Jad; Walter, Benjamin L.; Sweet, Jennifer A.; Miller, Jonathan P.; Henderson, Jaimie M.; Shenoy, Krishna V.; Simeral, John D.; Hochberg, Leigh R.; Kirsch, Robert F.; Bolu Ajiboye, A.

2017-02-01

Objective. When using an intracortical BCI (iBCI), users modulate their neural population activity to move an effector towards a target, stop accurately, and correct for movement errors. We call the rules that govern this modulation a ‘feedback control policy’. A better understanding of these policies may inform the design of higher-performing neural decoders. Approach. We studied how three participants in the BrainGate2 pilot clinical trial used an iBCI to control a cursor in a 2D target acquisition task. Participants used a velocity decoder with exponential smoothing dynamics. Through offline analyses, we characterized the users’ feedback control policies by modeling their neural activity as a function of cursor state and target position. We also tested whether users could adapt their policy to different decoder dynamics by varying the gain (speed scaling) and temporal smoothing parameters of the iBCI. Main results. We demonstrate that control policy assumptions made in previous studies do not fully describe the policies of our participants. To account for these discrepancies, we propose a new model that captures (1) how the user’s neural population activity gradually declines as the cursor approaches the target from afar, then decreases more sharply as the cursor comes into contact with the target, (2) how the user makes constant feedback corrections even when the cursor is on top of the target, and (3) how the user actively accounts for the cursor’s current velocity to avoid overshooting the target. Further, we show that users can adapt their control policy to decoder dynamics by attenuating neural modulation when the cursor gain is high and by damping the cursor velocity more strongly when the smoothing dynamics are high. Significance. Our control policy model may help to build better decoders, understand how neural activity varies during active iBCI control, and produce better simulations of closed-loop iBCI movements.

Semantically Enhanced Online Configuration of Feedback Control Schemes.

Science.gov (United States)

Milis, Georgios M; Panayiotou, Christos G; Polycarpou, Marios M

2018-03-01

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.

Interaction in Spoken Word Recognition Models: Feedback Helps

Science.gov (United States)

Magnuson, James S.; Mirman, Daniel; Luthra, Sahil; Strauss, Ted; Harris, Harlan D.

2018-01-01

Human perception, cognition, and action requires fast integration of bottom-up signals with top-down knowledge and context. A key theoretical perspective in cognitive science is the interactive activation hypothesis: forward and backward flow in bidirectionally connected neural networks allows humans and other biological systems to approximate optimal integration of bottom-up and top-down information under real-world constraints. An alternative view is that online feedback is neither necessary nor helpful; purely feed forward alternatives can be constructed for any feedback system, and online feedback could not improve processing and would preclude veridical perception. In the domain of spoken word recognition, the latter view was apparently supported by simulations using the interactive activation model, TRACE, with and without feedback: as many words were recognized more quickly without feedback as were recognized faster with feedback, However, these simulations used only a small set of words and did not address a primary motivation for interaction: making a model robust in noise. We conducted simulations using hundreds of words, and found that the majority were recognized more quickly with feedback than without. More importantly, as we added noise to inputs, accuracy and recognition times were better with feedback than without. We follow these simulations with a critical review of recent arguments that online feedback in interactive activation models like TRACE is distinct from other potentially helpful forms of feedback. We conclude that in addition to providing the benefits demonstrated in our simulations, online feedback provides a plausible means of implementing putatively distinct forms of feedback, supporting the interactive activation hypothesis. PMID:29666593

Interaction in Spoken Word Recognition Models: Feedback Helps.

Science.gov (United States)

Magnuson, James S; Mirman, Daniel; Luthra, Sahil; Strauss, Ted; Harris, Harlan D

2018-01-01

Human perception, cognition, and action requires fast integration of bottom-up signals with top-down knowledge and context. A key theoretical perspective in cognitive science is the interactive activation hypothesis: forward and backward flow in bidirectionally connected neural networks allows humans and other biological systems to approximate optimal integration of bottom-up and top-down information under real-world constraints. An alternative view is that online feedback is neither necessary nor helpful; purely feed forward alternatives can be constructed for any feedback system, and online feedback could not improve processing and would preclude veridical perception. In the domain of spoken word recognition, the latter view was apparently supported by simulations using the interactive activation model, TRACE, with and without feedback: as many words were recognized more quickly without feedback as were recognized faster with feedback, However, these simulations used only a small set of words and did not address a primary motivation for interaction: making a model robust in noise. We conducted simulations using hundreds of words, and found that the majority were recognized more quickly with feedback than without. More importantly, as we added noise to inputs, accuracy and recognition times were better with feedback than without. We follow these simulations with a critical review of recent arguments that online feedback in interactive activation models like TRACE is distinct from other potentially helpful forms of feedback. We conclude that in addition to providing the benefits demonstrated in our simulations, online feedback provides a plausible means of implementing putatively distinct forms of feedback, supporting the interactive activation hypothesis.

Interaction in Spoken Word Recognition Models: Feedback Helps

Directory of Open Access Journals (Sweden)

James S. Magnuson

2018-04-01

Full Text Available Human perception, cognition, and action requires fast integration of bottom-up signals with top-down knowledge and context. A key theoretical perspective in cognitive science is the interactive activation hypothesis: forward and backward flow in bidirectionally connected neural networks allows humans and other biological systems to approximate optimal integration of bottom-up and top-down information under real-world constraints. An alternative view is that online feedback is neither necessary nor helpful; purely feed forward alternatives can be constructed for any feedback system, and online feedback could not improve processing and would preclude veridical perception. In the domain of spoken word recognition, the latter view was apparently supported by simulations using the interactive activation model, TRACE, with and without feedback: as many words were recognized more quickly without feedback as were recognized faster with feedback, However, these simulations used only a small set of words and did not address a primary motivation for interaction: making a model robust in noise. We conducted simulations using hundreds of words, and found that the majority were recognized more quickly with feedback than without. More importantly, as we added noise to inputs, accuracy and recognition times were better with feedback than without. We follow these simulations with a critical review of recent arguments that online feedback in interactive activation models like TRACE is distinct from other potentially helpful forms of feedback. We conclude that in addition to providing the benefits demonstrated in our simulations, online feedback provides a plausible means of implementing putatively distinct forms of feedback, supporting the interactive activation hypothesis.

Non interacting control by measurement feedback

NARCIS (Netherlands)

Woude, van der J.W.

1987-01-01

In this paper we shall solve the problem of non interacting control by measurement feedback for systems that in addition to a control input and a measurement output have two exogenous inputs and two exogenous outputs. That is, we shall derive necessary and sufficient conditions that can actually be

Controlling the unstable emission of a semiconductor laser subject to conventional optical feedback with a filtered feedback branch.

Science.gov (United States)

Ermakov, I V; Tronciu, V Z; Colet, Pere; Mirasso, Claudio R

2009-05-25

We show the advantages of controlling the unstable dynamics of a semiconductor laser subject to conventional optical feedback by means of a second filtered feedback branch. We give an overview of the analytical solutions of the double cavity feedback and show numerically that the region of stabilization is much larger when using a second branch with filtered feedback than when using a conventional feedback one.

Controlling the unstable emission of a semiconductor laser subject to conventional optical feedback with a filtered feedback branch

OpenAIRE

Ermakov, Ilya; Tronciu, Vasile; Colet, Pere; Mirasso, Claudio R.

2009-01-01

We show the advantages of controlling the unstable dynamics of a semiconductor laser subject to conventional optical feedback by means of a second filtered feedback branch. We give an overview of the analytical solutions of the double cavity feedback and show numerically that the region of stabilization is much larger when using a second branch with filtered feedback than when using a conventional feedback one.

Genetic test feedback with weight control advice: study protocol for a randomized controlled trial

Directory of Open Access Journals (Sweden)

Meisel Susanne F

2012-12-01

Full Text Available Abstract Background Genetic testing for risk of weight gain is already available over the internet despite uncertain benefits and concerns about adverse emotional or behavioral effects. Few studies have assessed the effect of adding genetic test feedback to weight control advice, even though one of the proposed applications of genetic testing is to stimulate preventive action. This study will investigate the motivational effect of adding genetic test feedback to simple weight control advice in a situation where weight gain is relatively common. Methods/design First-year university students (n = 800 will be randomized to receive either 1 their personal genetic test result for a gene (FTO related to weight gain susceptibility in addition to a leaflet with simple weight control advice (‘Feedback + Advice’ group, FA, or 2 only the leaflet containing simple weight control advice (‘Advice Only’ group, AO. Motivation to avoid weight gain and active use of weight control strategies will be assessed one month after receipt of the leaflet with or without genetic test feedback. Weight and body fat will be measured at baseline and eight months follow-up. We will also assess short-term psychological reactions to the genetic test result. In addition, we will explore interactions between feedback condition and gene test status. Discussion We hope to provide a first indication of the clinical utility of weight-related genetic test feedback in the prevention context. Trial registration Current controlled trials ISRCTN91178663

A real-time brain-machine interface combining motor target and trajectory intent using an optimal feedback control design.

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.

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.

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...

Movement goals and feedback and feedforward control mechanisms in speech production.

Science.gov (United States)

Perkell, Joseph S

2012-09-01

Studies of speech motor control are described that support a theoretical framework in which fundamental control variables for phonemic movements are multi-dimensional regions in auditory and somatosensory spaces. Auditory feedback is used to acquire and maintain auditory goals and in the development and function of feedback and feedforward control mechanisms. Several lines of evidence support the idea that speakers with more acute sensory discrimination acquire more distinct goal regions and therefore produce speech sounds with greater contrast. Feedback modification findings indicate that fluently produced sound sequences are encoded as feedforward commands, and feedback control serves to correct mismatches between expected and produced sensory consequences.

An Optimization of Manufacturing Systems using a Feedback Control Scheduling Model

Science.gov (United States)

Ikome, John M.; Kanakana, Grace M.

2018-03-01

In complex production system that involves multiple process, unplanned disruption often turn to make the entire production system vulnerable to a number of problems which leads to customer’s dissatisfaction. However, this problem has been an ongoing problem that requires a research and methods to streamline the entire process or develop a model that will address it, in contrast to this, we have developed a feedback scheduling model that can minimize some of this problem and after a number of experiment, it shows that some of this problems can be eliminated if the correct remedial actions are implemented on time.

Coexisting synchronous and asynchronous states in locally coupled array of oscillators by partial self-feedback control

Science.gov (United States)

Bera, Bidesh K.; Ghosh, Dibakar; Parmananda, Punit; Osipov, G. V.; Dana, Syamal K.

2017-07-01

We report the emergence of coexisting synchronous and asynchronous subpopulations of oscillators in one dimensional arrays of identical oscillators by applying a self-feedback control. When a self-feedback is applied to a subpopulation of the array, similar to chimera states, it splits into two/more sub-subpopulations coexisting in coherent and incoherent states for a range of self-feedback strength. By tuning the coupling between the nearest neighbors and the amount of self-feedback in the perturbed subpopulation, the size of the coherent and the incoherent sub-subpopulations in the array can be controlled, although the exact size of them is unpredictable. We present numerical evidence using the Landau-Stuart system and the Kuramoto-Sakaguchi phase model.

The importance of proper feedback modeling in HWR

Energy Technology Data Exchange (ETDEWEB)

Saphier, D; Gorelik, Z; Shapira, M [Israel Atomic Energy Commission, Yavne (Israel). Soreq Nuclear Research Center

1996-12-01

The DSNP simulation language was applied to study the effect of different modeling approximations of feedback phenomena in nuclear power plants. The different methods to model the feedback effects are presented and discussed. It is shown that HWR`s are most sensitive to the correct modeling since the usually have at least three feedback effects acting at different time scales, and to achieve correct kinetics a one dimensional representation is needed with correct modeling of the in core time delays. The simulation methodology of lumped parameters and one dimensional models using the DSNP simulation language is presented (authors).

The importance of proper feedback modeling in HWR

International Nuclear Information System (INIS)

Saphier, D.; Gorelik, Z.; Shapira, M.

1996-01-01

The DSNP simulation language was applied to study the effect of different modeling approximations of feedback phenomena in nuclear power plants. The different methods to model the feedback effects are presented and discussed. It is shown that HWR's are most sensitive to the correct modeling since the usually have at least three feedback effects acting at different time scales, and to achieve correct kinetics a one dimensional representation is needed with correct modeling of the in core time delays. The simulation methodology of lumped parameters and one dimensional models using the DSNP simulation language is presented (authors)

Structural learning in feedforward and feedback control.

Science.gov (United States)

Yousif, Nada; Diedrichsen, Jörn

2012-11-01

For smooth and efficient motor control, the brain needs to make fast corrections during the movement to resist possible perturbations. It also needs to adapt subsequent movements to improve future performance. It is important that both feedback corrections and feedforward adaptation need to be made based on noisy and often ambiguous sensory data. Therefore, the initial response of the motor system, both for online corrections and adaptive responses, is guided by prior assumptions about the likely structure of perturbations. In the context of correcting and adapting movements perturbed by a force field, we asked whether these priors are hard wired or whether they can be modified through repeated exposure to differently shaped force fields. We found that both feedback corrections to unexpected perturbations and feedforward adaptation to a new force field changed, such that they were appropriate to counteract the type of force field that participants had experienced previously. We then investigated whether these changes were driven by a common mechanism or by two separate mechanisms. Participants experienced force fields that were either temporally consistent, causing sustained adaptation, or temporally inconsistent, causing little overall adaptation. We found that the consistent force fields modified both feedback and feedforward responses. In contrast, the inconsistent force field modified the temporal shape of feedback corrections but not of the feedforward adaptive response. These results indicate that responses to force perturbations can be modified in a structural manner and that these modifications are at least partly dissociable for feedback and feedforward control.

Computationally efficient design of optimal output feedback strategies for controllable passive damping devices

International Nuclear Information System (INIS)

Kamalzare, Mahmoud; Johnson, Erik A; Wojtkiewicz, Steven F

2014-01-01

Designing control strategies for smart structures, such as those with semiactive devices, is complicated by the nonlinear nature of the feedback control, secondary clipping control and other additional requirements such as device saturation. The usual design approach resorts to large-scale simulation parameter studies that are computationally expensive. The authors have previously developed an approach for state-feedback semiactive clipped-optimal control design, based on a nonlinear Volterra integral equation that provides for the computationally efficient simulation of such systems. This paper expands the applicability of the approach by demonstrating that it can also be adapted to accommodate more realistic cases when, instead of full state feedback, only a limited set of noisy response measurements is available to the controller. This extension requires incorporating a Kalman filter (KF) estimator, which is linear, into the nominal model of the uncontrolled system. The efficacy of the approach is demonstrated by a numerical study of a 100-degree-of-freedom frame model, excited by a filtered Gaussian random excitation, with noisy acceleration sensor measurements to determine the semiactive control commands. The results show that the proposed method can improve computational efficiency by more than two orders of magnitude relative to a conventional solver, while retaining a comparable level of accuracy. Further, the proposed approach is shown to be similarly efficient for an extensive Monte Carlo simulation to evaluate the effects of sensor noise levels and KF tuning on the accuracy of the response. (paper)

Feedback-controlled diffusion: From self-trapping to true self-avoiding walks

International Nuclear Information System (INIS)

Schulz, B.M.; Trimper, S.; Schulz, M.

2005-01-01

We study the asymptotic behavior of a Brownian particle under the influence of a dynamical feedback by numerical simulations and analytical considerations. The feedback is controlled by a memory coupling of strength λ. Whereas a negative memory strength yields a true self avoiding walk, a positive memory leads to a self-trapping of the particle. The localization is manifested by a constant mean square displacement in the long time limit which appears after an initial diffusive regime. The probability distribution function of the trapping distance shows an exponential decay. The numerical simulations are compared with an analytical modeling

Force Feedback Control Method of Active Tuned Mass Damper

Directory of Open Access Journals (Sweden)

Xiuli Wang

2017-01-01

Full Text Available Active tuned mass dampers as vibration-control devices are widely used in many fields for their good stability and effectiveness. To improve the performance of such dampers, a control method based on force feedback is proposed. The method offers several advantages such as high-precision control and low-performance requirements for the actuator, as well as not needing additional compensators. The force feedback control strategy was designed based on direct-velocity feedback. The effectiveness of the method was verified in a single-degree-of-freedom system, and factors such as damping effect, required active force, actuator stroke, and power consumption of the damper were analyzed. Finally, a simulation study was performed by configuring a main complex elastic-vibration-damping system. The results show that the method provides effective control over modal resonances of multiple orders of the system and improves its dynamics performance.

Feedback control of resistive wall modes in toroidal devices

International Nuclear Information System (INIS)

Liu Yueqiang; Bondeson, A.; Gregoratto, D.; Fransson, C.M.; Gribov, Y.; Paccagnella, R.

2003-01-01

Feedback of nonaxisymmetric resistive wall modes (RWM) is studied analytically for cylindrical plasmas and computationally for high beta tokamaks. Internal poloidal sensors give superior performance to radial sensors, and this is explained by the distribution of poles and residues for the transfer functions. A single poloidal array of feedback coils allows robust control with respect to variations in plasma pressure, current and rotation velocity. The control analysis is applied to advanced scenarios for ITER. Studies are also shown of configurations with multiple poloidal coils and of feedback systems for nonresonant MHD instabilities in reversed field pinches. (author)

Conditions for Model Matching of Switched Asynchronous Sequential Machines with Output Feedback

OpenAIRE

Jung–Min Yang

2016-01-01

Solvability of the model matching problem for input/output switched asynchronous sequential machines is discussed in this paper. The control objective is to determine the existence condition and design algorithm for a corrective controller that can match the stable-state behavior of the closed-loop system to that of a reference model. Switching operations and correction procedures are incorporated using output feedback so that the controlled switched machine can show the ...

Mental models of audit and feedback in primary care settings.

Science.gov (United States)

Hysong, Sylvia J; Smitham, Kristen; SoRelle, Richard; Amspoker, Amber; Hughes, Ashley M; Haidet, Paul

2018-05-30

Audit and feedback has been shown to be instrumental in improving quality of care, particularly in outpatient settings. The mental model individuals and organizations hold regarding audit and feedback can moderate its effectiveness, yet this has received limited study in the quality improvement literature. In this study we sought to uncover patterns in mental models of current feedback practices within high- and low-performing healthcare facilities. We purposively sampled 16 geographically dispersed VA hospitals based on high and low performance on a set of chronic and preventive care measures. We interviewed up to 4 personnel from each location (n = 48) to determine the facility's receptivity to audit and feedback practices. Interview transcripts were analyzed via content and framework analysis to identify emergent themes. We found high variability in the mental models of audit and feedback, which we organized into positive and negative themes. We were unable to associate mental models of audit and feedback with clinical performance due to high variance in facility performance over time. Positive mental models exhibit perceived utility of audit and feedback practices in improving performance; whereas, negative mental models did not. Results speak to the variability of mental models of feedback, highlighting how facilities perceive current audit and feedback practices. Findings are consistent with prior research  in that variability in feedback mental models is associated with lower performance.; Future research should seek to empirically link mental models revealed in this paper to high and low levels of clinical performance.

Evaluating Internal Model Strength and Performance of Myoelectric Prosthesis Control Strategies.

Science.gov (United States)

Shehata, Ahmed W; Scheme, Erik J; Sensinger, Jonathon W

2018-05-01

On-going developments in myoelectric prosthesis control have provided prosthesis users with an assortment of control strategies that vary in reliability and performance. Many studies have focused on improving performance by providing feedback to the user but have overlooked the effect of this feedback on internal model development, which is key to improve long-term performance. In this paper, the strength of internal models developed for two commonly used myoelectric control strategies: raw control with raw feedback (using a regression-based approach) and filtered control with filtered feedback (using a classifier-based approach), were evaluated using two psychometric measures: trial-by-trial adaptation and just-noticeable difference. The performance of both strategies was also evaluated using Schmidt's style target acquisition task. Results obtained from 24 able-bodied subjects showed that although filtered control with filtered feedback had better short-term performance in path efficiency ( ), raw control with raw feedback resulted in stronger internal model development ( ), which may lead to better long-term performance. Despite inherent noise in the control signals of the regression controller, these findings suggest that rich feedback associated with regression control may be used to improve human understanding of the myoelectric control system.

Optimal integral force feedback for active vibration control

Science.gov (United States)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

Verifying detailed fluctuation relations for discrete feedback-controlled quantum dynamics

Science.gov (United States)

Camati, Patrice A.; Serra, Roberto M.

2018-04-01

Discrete quantum feedback control consists of a managed dynamics according to the information acquired by a previous measurement. Energy fluctuations along such dynamics satisfy generalized fluctuation relations, which are useful tools to study the thermodynamics of systems far away from equilibrium. Due to the practical challenge to assess energy fluctuations in the quantum scenario, the experimental verification of detailed fluctuation relations in the presence of feedback control remains elusive. We present a feasible method to experimentally verify detailed fluctuation relations for discrete feedback control quantum dynamics. Two detailed fluctuation relations are developed and employed. The method is based on a quantum interferometric strategy that allows the verification of fluctuation relations in the presence of feedback control. An analytical example to illustrate the applicability of the method is discussed. The comprehensive technique introduced here can be experimentally implemented at a microscale with the current technology in a variety of experimental platforms.

MRI feedback temperature control for focused ultrasound surgery

International Nuclear Information System (INIS)

Vanne, A; Hynynen, K

2003-01-01

A temperature feedback controller routine using a physical model for temperature evolution was developed for use with focused ultrasound surgery. The algorithm for the controller was a multi-input, single-output linear quadratic regulator (LQR) derived from Pennes' bioheat transfer equation. The controller was tested with simulated temperature data that had the same characteristics as those obtained with magnetic resonance imaging (MRI). The output of the controller was the appropriate power level to be used by the transducer. Tissue parameters estimated prior to the simulated treatments were used to determine the controller parameters. The controller performance was simulated in three dimensions with varying system parameters, and sufficient temperature tracking was achieved. The worst-case overshoot was 7 deg. C and the steady-state error was 5 deg. C. The simulated behaviour of the controller suggests satisfactory performance and that the controller may be useful in controlling the power output during MRI-monitored ultrasound surgery

Feedback optimal control of dynamic stochastic two-machine flowshop with a finite buffer

Directory of Open Access Journals (Sweden)

Thang Diep

2010-06-01

Full Text Available This paper examines the optimization of production involving a tandem two-machine system producing a single part type, with each machine being subject to random breakdowns and repairs. An analytical model is formulated with a view to solving an optimal stochastic production problem of the system with machines having up-downtime non-exponential distributions. The model developed is obtained by using a dynamic programming approach and a semi-Markov process. The control problem aims to find the production rates needed by the machines to meet the demand rate, through a minimization of the inventory/shortage cost. Using the Bellman principle, the optimality conditions obtained satisfy the Hamilton-Jacobi-Bellman equation, which depends on time and system states, and ultimately, leads to a feedback control. Consequently, the new model enables us to improve the coefficient of variation (CVup/down to be less than one while it is equal to one in Markov model. Heuristics methods are used to involve the problem because of the difficulty of the analytical model using several states, and to show what control law should be used in each system state (i.e., including Kanban, feedback and CONWIP control. Numerical methods are used to solve the optimality conditions and to show how a machine should produce.

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.

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.

Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control

OpenAIRE

Watanabe, Takashi; Sugi, Yoshihiro

2010-01-01

Feedforward controller would be useful for hybrid Functional Electrical Stimulation (FES) system using powered orthotic devices. In this paper, Feedback Error Learning (FEL) controller for FES (FEL-FES controller) was examined using an inverse statics model (ISM) with an inverse dynamics model (IDM) to realize a feedforward FES controller. For FES application, the ISM was tested in learning off line using training data obtained by PID control of very slow movements. Computer simulation tests ...

Optimal control of nonlinear continuous-time systems in strict-feedback form.

Science.gov (United States)

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.

Observer-based output feedback control of networked control systems with non-uniform sampling and time-varying delay

Science.gov (United States)

Meng, Su; Chen, Jie; Sun, Jian

2017-10-01

This paper investigates the problem of observer-based output feedback control for networked control systems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary within a given interval. The transmission delay belongs to a known interval. A discrete-time model is first established, which contains time-varying delay and norm-bounded uncertainties coming from non-uniform sampling intervals. It is then converted to an interconnection of two subsystems in which the forward channel is delay-free. The scaled small gain theorem is used to derive the stability condition for the closed-loop system. Moreover, the observer-based output feedback controller design method is proposed by utilising a modified cone complementary linearisation algorithm. Finally, numerical examples illustrate the validity and superiority of the proposed method.

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...

Modeling of active control of external magnetohydrodynamic instabilities

International Nuclear Information System (INIS)

Bialek, James; Boozer, Allen H.; Mauel, M.E.; Navratil, G.A.

2001-01-01

A general circuit formulation of resistive wall mode (RWM) feedback stabilization developed by Boozer [Phys. Plasmas 5, 3350 (1998)] has been used as the basis for the VALEN computer code that calculates the performance of an active control system in arbitrary geometry. The code uses a finite element representation of a thin shell structure in an integral formulation to model arbitrary conducting walls. This is combined with a circuit representation of stable and unstable plasma modes. Benchmark comparisons of VALEN results with large aspect ratio analytic model of the current driven kink mode are in very good agreement. VALEN also models arbitrary sensors, control coils, and the feedback logic connecting these sensors and control coils to provide a complete simulation capability for feedback control of plasma instabilities. VALEN modeling is in good agreement with experimental results on DIII-D [Garofalo et al., Nucl. Fusion 40, 1491 (2000)] and HBT-EP [Cates et al., Phys. Plasmas 7, 3133 (2000)]. VALEN feedback simulations have also been used to evaluate and optimize the sensor/coil configurations for present and planned RWM experiments on DIII-D. These studies have shown a clear advantage for the use of local poloidal field sensors driving a 'mode control' feedback logic control loop and configurations which minimize the control coil coupling to the stabilizing resistive wall

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.

Efficient estimation of feedback effects with application to climate models

International Nuclear Information System (INIS)

Cacugi, D.G.; Hall, M.C.G.

1984-01-01

This work presents an efficient method for calculating the sensitivity of a mathematical model's result to feedback. Feedback is defined in terms of an operator acting on the model's dependent variables. The sensitivity to feedback is defined as a functional derivative, and a method is presented to evaluate this derivative using adjoint functions. Typically, this method allows the individual effect of many different feedbacks to be estimated with a total additional computing time comparable to only one recalculation. The effects on a CO 2 -doubling experiment of actually incorporating surface albedo and water vapor feedbacks in radiative-convective model are compared with sensivities calculated using adjoint functions. These sensitivities predict the actual effects of feedback with at least the correct sign and order of magnitude. It is anticipated that this method of estimation the effect of feedback will be useful for more complex models where extensive recalculations for each of a variety of different feedbacks is impractical

Application of H∞ control theory to power control of a nonlinear reactor model

International Nuclear Information System (INIS)

Suzuki, Katsuo; Shimazaki, Junya; Shinohara, Yoshikuni

1993-01-01

The H∞ control theory is applied to the compensator design of a nonlinear nuclear reactor model, and the results are compared with standard linear quadratic Gaussian (LQG) control. The reactor model is assumed to be provided with a control rod drive system having the compensation of rod position feedback. The nonlinearity of the reactor model exerts a great influence on the stability of the control system, and hence, it is desirable for a power control system of a nuclear reactor to achieve robust stability and to improve the sensitivity of the feedback control system. A computer simulation based on a power control system synthesized by LQG control was performed revealing that the control system has some stationary offset and less stability. Therefore, here, attention is given to the development of a methodology for robust control that can withstand exogenous disturbances and nonlinearity in view of system parameter changes. The developed methodology adopts H∞ control theory in the feedback system and shows interesting features of robustness. The results of the computer simulation indicate that the feedback control system constructed by the developed H∞ compensator possesses sufficient robustness of control on the stability and disturbance attenuation, which are essential for the safe operation of a nuclear reactor

Feedback control systems for non-linear simulation of operational transients in LMFBRs

International Nuclear Information System (INIS)

Khatib-Rahbar, M.; Agrawal, A.K.; Srinivasan, E.S.

1979-01-01

Feedback control systems for non-linear simulation of operational transients in LMFBRs are developed. The models include (1) the reactor power control and rod drive mechanism, (2) sodium flow control and pump drive system, (3) steam generator flow control and valve actuator dynamics, and (4) the supervisory control. These models have been incorporated into the SSC code using a flexible approach, in order to accommodate some design dependent variations. The impact of system nonlinearity on the control dynamics is shown to be significant for severe perturbations. Representative result for a 10 cent and 25 cent step insertion of reactivity and a 10% ramp change in load in 40 seconds demonstrate the suitability of this model for study of operational transients without scram in LMFBRs

Modelling Feedback in Virtual Patients: An Iterative Approach.

Science.gov (United States)

Stathakarou, Natalia; Kononowicz, Andrzej A; Henningsohn, Lars; McGrath, Cormac

2018-01-01

Virtual Patients (VPs) offer learners the opportunity to practice clinical reasoning skills and have recently been integrated in Massive Open Online Courses (MOOCs). Feedback is a central part of a branched VP, allowing the learner to reflect on the consequences of their decisions and actions. However, there is insufficient guidance on how to design feedback models within VPs and especially in the context of their application in MOOCs. In this paper, we share our experiences from building a feedback model for a bladder cancer VP in a Urology MOOC, following an iterative process in three steps. Our results demonstrate how we can systematize the process of improving the quality of VP components by the application of known literature frameworks and extend them with a feedback module. We illustrate the design and re-design process and exemplify with content from our VP. Our results can act as starting point for discussions on modelling feedback in VPs and invite future research on the topic.

A novel feedback control system – Controlling the material flow in deep drawing using distributed blank-holder force

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...

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.

Chaos control in delayed chaotic systems via sliding mode based delayed feedback

International Nuclear Information System (INIS)

Vasegh, Nastaran; Sedigh, Ali Khaki

2009-01-01

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.

The predictability of frequency-altered auditory feedback changes the weighting of feedback and feedforward input for speech motor control.

Science.gov (United States)

Scheerer, Nichole E; Jones, Jeffery A

2014-12-01

Speech production requires the combined effort of a feedback control system driven by sensory feedback, and a feedforward control system driven by internal models. However, the factors that dictate the relative weighting of these feedback and feedforward control systems are unclear. In this event-related potential (ERP) study, participants produced vocalisations while being exposed to blocks of frequency-altered feedback (FAF) perturbations that were either predictable in magnitude (consistently either 50 or 100 cents) or unpredictable in magnitude (50- and 100-cent perturbations varying randomly within each vocalisation). Vocal and P1-N1-P2 ERP responses revealed decreases in the magnitude and trial-to-trial variability of vocal responses, smaller N1 amplitudes, and shorter vocal, P1 and N1 response latencies following predictable FAF perturbation magnitudes. In addition, vocal response magnitudes correlated with N1 amplitudes, vocal response latencies, and P2 latencies. This pattern of results suggests that after repeated exposure to predictable FAF perturbations, the contribution of the feedforward control system increases. Examination of the presentation order of the FAF perturbations revealed smaller compensatory responses, smaller P1 and P2 amplitudes, and shorter N1 latencies when the block of predictable 100-cent perturbations occurred prior to the block of predictable 50-cent perturbations. These results suggest that exposure to large perturbations modulates responses to subsequent perturbations of equal or smaller size. Similarly, exposure to a 100-cent perturbation prior to a 50-cent perturbation within a vocalisation decreased the magnitude of vocal and N1 responses, but increased P1 and P2 latencies. Thus, exposure to a single perturbation can affect responses to subsequent perturbations. © 2014 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Hierarchical Brokering with Feedback Control Framework in Mobile Device-Centric Clouds

Directory of Open Access Journals (Sweden)

Chao-Lieh Chen

2016-01-01

Full Text Available We propose a hierarchical brokering architecture (HiBA and Mobile Multicloud Networking (MMCN feedback control framework for mobile device-centric cloud (MDC2 computing. Exploiting the MMCN framework and RESTful web-based interconnection, each tier broker probes resource state of its federation for control and management. Real-time and seamless services were developed. Case studies including intrafederation energy-aware balancing based on fuzzy feedback control and higher tier load balancing are further demonstrated to show how HiBA with MMCN relieves the embedding of algorithms when developing services. Theoretical performance model and real-world experiments both show that an MDC2 based on HiBA features better quality in terms of resource availability and network latency if it federates devices with enough resources distributed in lower tier hierarchy. The proposed HiBA realizes a development platform for MDC2 computing which is a feasible solution to User-Centric Networks (UCNs.

Research of a New 6-Dof Force Feedback Hand Controller System

Directory of Open Access Journals (Sweden)

Xin Gao

2014-01-01

Full Text Available The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.

Suboptimal RED Feedback Control for Buffered TCP Flow Dynamics in Computer Network

Directory of Open Access Journals (Sweden)

N. U. Ahmed

2007-01-01

Full Text Available We present an improved dynamic system that simulates the behavior of TCP flows and active queue management (AQM system. This system can be modeled by a set of stochastic differential equations driven by a doubly stochastic point process with intensities being the controls. The feedback laws proposed monitor the status of buffers and multiplexor of the router, detect incipient congestion by sending warning signals to the sources. The simulation results show that the optimal feedback control law from the class of linear as well as quadratic polynomials can improve the system performance significantly in terms of maximizing the link utilization, minimizing congestion, packet losses, as well as global synchronization. The optimization process used is based on random recursive search technique known as RRS.

Bayesian feedback versus Markovian feedback in a two-level atom

International Nuclear Information System (INIS)

Wiseman, H.M.; Mancini, Stefano; Wang Jin

2002-01-01

We compare two different approaches to the control of the dynamics of a continuously monitored open quantum system. The first is Markovian feedback, as introduced in quantum optics by Wiseman and Milburn [Phys. Rev. Lett. 70, 548 (1993)]. The second is feedback based on an estimate of the system state, developed recently by Doherty and Jacobs [Phys. Rev. A 60, 2700 (1999)]. Here we choose to call it, for brevity, Bayesian feedback. For systems with nonlinear dynamics, we expect these two methods of feedback control to give markedly different results. The simplest possible nonlinear system is a driven and damped two-level atom, so we choose this as our model system. The monitoring is taken to be homodyne detection of the atomic fluorescence, and the control is by modulating the driving. The aim of the feedback in both cases is to stabilize the internal state of the atom as close as possible to an arbitrarily chosen pure state, in the presence of inefficient detection and other forms of decoherence. Our results (obtained without recourse to stochastic simulations) prove that Bayesian feedback is never inferior, and is usually superior, to Markovian feedback. However, it would be far more difficult to implement than Markovian feedback and it loses its superiority when obvious simplifying approximations are made. It is thus not clear which form of feedback would be better in the face of inevitable experimental imperfections

Optimal feedback control of the forced van der Pol system

International Nuclear Information System (INIS)

Chagas, T.P.; Toledo, B.A.; Rempel, E.L.; Chian, A.C.-L.; Valdivia, J.A.

2012-01-01

A simple feedback control strategy for chaotic systems is investigated using the forced van der Pol system as an example. The strategy regards chaos control as an optimization problem, where the maximum magnitude Floquet multiplier of a target unstable periodic orbit (UPO) is used as a cost function that needs to be minimized. Thus, the method obtains the optimal control gain in terms of the stability of the target UPO. This strategy was recently proposed for the proportional feedback control (PFC) method. Here, it is extended to the highly popular delayed feedback control (DFC) method. Since the DFC method treats the system as a delay-differential equation whose phase space is infinite-dimensional, the characteristic multipliers are found through a truncation in the number of delayed states. Control of a target UPO is achieved for several values of the forcing amplitude. We compare the DFC and PFC methods in terms of stability of the controlled orbit, steady state error and control effort.

Walking Flexibility after Hemispherectomy: Split-Belt Treadmill Adaptation and Feedback Control

Science.gov (United States)

Choi, Julia T.; Vining, Eileen P. G.; Reisman, Darcy S.; Bastian, Amy J.

2009-01-01

Walking flexibility depends on use of feedback or reactive control to respond to unexpected changes in the environment, and the ability to adapt feedforward or predictive control for sustained alterations. Recent work has demonstrated that cerebellar damage impairs feedforward adaptation, but not feedback control, during human split-belt treadmill…

Learning and Control Model of the Arm for Loading

Science.gov (United States)

Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

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.

Output-feedback control of combined sewer networks through receding horizon control with moving horizon estimation

Science.gov (United States)

Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela

2015-10-01

An output-feedback control strategy for pollution mitigation in combined sewer networks is presented. The proposed strategy provides means to apply model-based predictive control to large-scale sewer networks, in-spite of the lack of measurements at most of the network sewers. In previous works, the authors presented a hybrid linear control-oriented model for sewer networks together with the formulation of Optimal Control Problems (OCP) and State Estimation Problems (SEP). By iteratively solving these problems, preliminary Receding Horizon Control with Moving Horizon Estimation (RHC/MHE) results, based on flow measurements, were also obtained. In this work, the RHC/MHE algorithm has been extended to take into account both flow and water level measurements and the resulting control loop has been extensively simulated to assess the system performance according different measurement availability scenarios and rain events. All simulations have been carried out using a detailed physically based model of a real case-study network as virtual reality.

Feedback control of superconducting quantum circuits

NARCIS (Netherlands)

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

Nonholonomic feedback control among moving obstacles

Science.gov (United States)

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.

Feedback power control strategies in wireless sensor networks with joint channel decoding.

Science.gov (United States)

Abrardo, Andrea; Ferrari, Gianluigi; Martalò, Marco; Perna, Fabio

2009-01-01

In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD). In particular, upon the derivation of the feasible signal-to-noise ratio (SNR) region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i) a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP), and (ii) an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as "balanced SNR" and "unbalanced SNR," respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO) scenario, where the sensors observe noisy versions of a common binary information sequence and the AP's goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm.

Feedback Power Control Strategies inWireless Sensor Networks with Joint Channel Decoding

Directory of Open Access Journals (Sweden)

Fabio Perna

2009-11-01

Full Text Available In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD. In particular, upon the derivation of the feasible signal-to-noise ratio (SNR region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP, and (ii an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as “balanced SNR” and “unbalanced SNR,” respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO scenario, where the sensors observe noisy versions of a common binary information sequence and the AP’s goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm.

Design of robust adaptive controller and feedback error learning for rehabilitation in Parkinson's disease: a simulation study.

Science.gov (United States)

Rouhollahi, Korosh; Emadi Andani, Mehran; Karbassi, Seyed Mahdi; Izadi, Iman

2017-02-01

Deep brain stimulation (DBS) is an efficient therapy to control movement disorders of Parkinson's tremor. Stimulation of one area of basal ganglia (BG) by DBS with no feedback is the prevalent opinion. Reduction of additional stimulatory signal delivered to the brain is the advantage of using feedback. This results in reduction of side effects caused by the excessive stimulation intensity. In fact, the stimulatory intensity of controllers is decreased proportional to reduction of hand tremor. The objective of this study is to design a new controller structure to decrease three indicators: (i) the hand tremor; (ii) the level of delivered stimulation in disease condition; and (iii) the ratio of the level of delivered stimulation in health condition to disease condition. For this purpose, the authors offer a new closed-loop control structure to stimulate two areas of BG simultaneously. One area (STN: subthalamic nucleus) is stimulated by an adaptive controller with feedback error learning. The other area (GPi: globus pallidus internal) is stimulated by a partial state feedback (PSF) controller. Considering the three indicators, the results show that, stimulating two areas simultaneously leads to better performance compared with stimulating one area only. It is shown that both PSF and adaptive controllers are robust regarding system parameter uncertainties. In addition, a method is proposed to update the parameters of the BG model in real time. As a result, the parameters of the controllers can be updated based on the new parameters of the BG model.

Designing and Evaluating Tutoring Feedback Strategies for Digital Learning Environments on the Basis of the Interactive Tutoring Feedback Model

Science.gov (United States)

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…

Feedback control of plasma equilibrium with control system aided by personal computer on the JIPP T-IIU tokamak

International Nuclear Information System (INIS)

Tsuzuki, T.; Toi, K.; Matsuura, K.

1991-04-01

A feedback control system aided by a personal computer is developed to maintain plasma position on the required position in the JIPP T-IIU tokamak. The personal computer enables to adjust various control parameters easily. In this control system, a control demand for driving the power supply of feedback controlled vertical field coils is composed to be proportional to a total plasma current. This system has been successfully employed throughout the discharge where the plasma current substantially changes from zero to hundreds of kiloamperes, because the feedback control can be done, being independent of the plasma current. The analysis of this feedback control system taken into account of digital sampling agrees well with the experimental results. (author)

Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation

Directory of Open Access Journals (Sweden)

H.M. Omar

2005-01-01

Full Text Available We designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is designed based on two techniques: a time-delayed feedback of the load swing angle and an anti-swing fuzzy logic controller (FLC. The rules of the FLC are generated by mapping the performance of the time-delayed feedback controller. The same mapping method used for generating the rules can be applied to mimic the performance of an expert operator. The control algorithms were designed for gantry cranes and then extended to tower cranes by considering the coupling between the translational and rotational motions. Experimental results show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction and then applied a control action to cancel it. The friction force was estimated by assuming a mathematical model and then estimating the model coefficients using an off-line identification technique, the method of least squares (LS.

A stochastic optimal feedforward and feedback control methodology for superagility

Science.gov (United States)

Halyo, Nesim; Direskeneli, Haldun; Taylor, Deborah B.

1992-01-01

A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

Dynamic analysis of the ethanol fermentation with the impulsive state feedback control

International Nuclear Information System (INIS)

Zhao, Zhong; Kong, Yinchang; Chen, Ying

2016-01-01

Highlights: • Ethanol fermentation model with the impulsive state feedback control is proposed. • Existence and stability of the order-1 or order-2 periodic solution are investigated. • The complete expression of the order-1 periodic solution is obtained. • Fermentation process can be effectively controlled by monitoring the impulsive period. - Abstract: To keep a sustainable and steady output of ethanol, ethanol fermentation in a bio-reactor with impulsive state feedback control is formulated. The sufficient conditions for existences of order-1 periodic solution and order-2 periodic solution are obtained by using the properties of the periodic solution. The results imply that ethanol fermentation tends to an order-1 periodic solution or order-2 periodic solution. At the same time, we also give the complete expression of the period of the positive period-1 solution. Finally, discussions and numerical simulations are given.

Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

National Research Council Canada - National Science Library

Lee, DongBin; Burg, Timothy; Xian, Bin; Dawson, Darren

2006-01-01

...) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable...

Design and Implementation of Output Feedback Control for Piezo Actuated Structure Using Embedded System

Directory of Open Access Journals (Sweden)

R.Maheswari

2008-06-01

Full Text Available This paper presents the design of periodic output feedback control using state feedback gain to control the vibration of piezo actuated cantilever beam. The effectiveness of the controller is evaluated through simulation and experimentally by exciting the structure at resonance. Real time implementation of the controller is done using microcontroller. The closed loop eigen values of the system with periodic output feedback and state feedback are identical.

Design and implementation of remote robotic control system for nuclear power plant application achieved through kinesthetic force feedback model

International Nuclear Information System (INIS)

Roy, D.

1995-01-01

The technology of telerobotic control through a universal and transparent Man-Machine Interface is a growing field of robotics research in today's industrial scenario because of its promising application in hazardous and unstructured environments. The joystick, a sophisticated information receiver-translator-transmitter device, serves as a Man-Machine Interface for telerobots. The present paper describes the development paradigms of a remote control system for a planar four degrees-of-freedom joystick following position feed-forward force/torque feedback strategy in a bi-lateral mode. This joystick based control technology is designed to actuate an industrial robot working in nuclear power plant. The remote control system has been illustrated with model, algorithm, electronic hardware and software routines along with experimental results in order to have effective telemanipulation

Dynamic Output Feedback Robust Model Predictive Control via Zonotopic Set-Membership Estimation for Constrained Quasi-LPV Systems

Directory of Open Access Journals (Sweden)

Xubin Ping

2015-01-01

Full Text Available For the quasi-linear parameter varying (quasi-LPV system with bounded disturbance, a synthesis approach of dynamic output feedback robust model predictive control (OFRMPC is investigated. The estimation error set is represented by a zonotope and refreshed by the zonotopic set-membership estimation method. By properly refreshing the estimation error set online, the bounds of true state at the next sampling time can be obtained. Furthermore, the feasibility of the main optimization problem at the next sampling time can be determined at the current time. A numerical example is given to illustrate the effectiveness of the approach.

Automatic Flight Controller With Model Inversion

Science.gov (United States)

Meyer, George; Smith, G. Allan

1992-01-01

Automatic digital electronic control system based on inverse-model-follower concept being developed for proposed vertical-attitude-takeoff-and-landing airplane. Inverse-model-follower control places inverse mathematical model of dynamics of controlled plant in series with control actuators of controlled plant so response of combination of model and plant to command is unity. System includes feedback to compensate for uncertainties in mathematical model and disturbances imposed from without.

Optimal feedback control successfully explains changes in neural modulations during experiments with brain-machine interfaces

Directory of Open Access Journals (Sweden)

Miriam eZacksenhouse

2015-05-01

Full Text Available Recent experiments with brain-machine-interfaces (BMIs indicate that the extent of neural modulations increased abruptly upon starting to operate the interface, and especially after the monkey stopped moving its hand. In contrast, neural modulations that are correlated with the kinematics of the movement remained relatively unchanged. Here we demonstrate that similar changes are produced by simulated neurons that encode the relevant signals generated by an optimal feedback controller during simulated BMI experiments. The optimal feedback controller relies on state estimation that integrates both visual and proprioceptive feedback with prior estimations from an internal model. The processing required for optimal state estimation and control were conducted in the state-space, and neural recording was simulated by modeling two populations of neurons that encode either only the estimated state or also the control signal. Spike counts were generated as realizations of doubly stochastic Poisson processes with linear tuning curves. The model successfully reconstructs the main features of the kinematics and neural activity during regular reaching movements. Most importantly, the activity of the simulated neurons successfully reproduces the observed changes in neural modulations upon switching to brain control. Further theoretical analysis and simulations indicate that increasing the process noise during normal reaching movement results in similar changes in neural modulations. Thus we conclude that the observed changes in neural modulations during BMI experiments can be attributed to increasing process noise associated with the imperfect BMI filter, and, more directly, to the resulting increase in the variance of the encoded signals associated with state estimation and the required control signal.

Optimal feedback control successfully explains changes in neural modulations during experiments with brain-machine interfaces.

Science.gov (United States)

Benyamini, Miri; Zacksenhouse, Miriam

2015-01-01

Recent experiments with brain-machine-interfaces (BMIs) indicate that the extent of neural modulations increased abruptly upon starting to operate the interface, and especially after the monkey stopped moving its hand. In contrast, neural modulations that are correlated with the kinematics of the movement remained relatively unchanged. Here we demonstrate that similar changes are produced by simulated neurons that encode the relevant signals generated by an optimal feedback controller during simulated BMI experiments. The optimal feedback controller relies on state estimation that integrates both visual and proprioceptive feedback with prior estimations from an internal model. The processing required for optimal state estimation and control were conducted in the state-space, and neural recording was simulated by modeling two populations of neurons that encode either only the estimated state or also the control signal. Spike counts were generated as realizations of doubly stochastic Poisson processes with linear tuning curves. The model successfully reconstructs the main features of the kinematics and neural activity during regular reaching movements. Most importantly, the activity of the simulated neurons successfully reproduces the observed changes in neural modulations upon switching to brain control. Further theoretical analysis and simulations indicate that increasing the process noise during normal reaching movement results in similar changes in neural modulations. Thus, we conclude that the observed changes in neural modulations during BMI experiments can be attributed to increasing process noise associated with the imperfect BMI filter, and, more directly, to the resulting increase in the variance of the encoded signals associated with state estimation and the required control signal.

Constrained quadratic stabilization of discrete-time uncertain nonlinear multi-model systems using piecewise affine state-feedback

Directory of Open Access Journals (Sweden)

Olav Slupphaug

1999-07-01

Full Text Available In this paper a method for nonlinear robust stabilization based on solving a bilinear matrix inequality (BMI feasibility problem is developed. Robustness against model uncertainty is handled. In different non-overlapping regions of the state-space called clusters the plant is assumed to be an element in a polytope which vertices (local models are affine systems. In the clusters containing the origin in their closure, the local models are restricted to be linear systems. The clusters cover the region of interest in the state-space. An affine state-feedback is associated with each cluster. By utilizing the affinity of the local models and the state-feedback, a set of linear matrix inequalities (LMIs combined with a single nonconvex BMI are obtained which, if feasible, guarantee quadratic stability of the origin of the closed-loop. The feasibility problem is attacked by a branch-and-bound based global approach. If the feasibility check is successful, the Liapunov matrix and the piecewise affine state-feedback are given directly by the feasible solution. Control constraints are shown to be representable by LMIs or BMIs, and an application of the control design method to robustify constrained nonlinear model predictive control is presented. Also, the control design method is applied to a simple example.

Active sound transmission control of an experimental double-panel partition using decoupled, dual-channel, analog feedback control

OpenAIRE

Sagers, Jason; Blotter, Jonathan

2008-01-01

This paper addresses the construction, measurement, and analysis of a double panel active partition (DPAP) and its accompanying analog feedback controllers. The DPAP was constructed by attaching an aluminum cone loudspeaker at each end of a short segment of a circular duct. Two analog feedback controllers were designed and built using the measured frequency response function of each panel. Two independent (decoupled) feedback controllers were then used to minimize the vibration amplitude of e...

Designing a stable feedback control system for blind image deconvolution.

Science.gov (United States)

Cheng, Shichao; Liu, Risheng; Fan, Xin; Luo, Zhongxuan

2018-05-01

Blind image deconvolution is one of the main low-level vision problems with wide applications. Many previous works manually design regularization to simultaneously estimate the latent sharp image and the blur kernel under maximum a posterior framework. However, it has been demonstrated that such joint estimation strategies may lead to the undesired trivial solution. In this paper, we present a novel perspective, using a stable feedback control system, to simulate the latent sharp image propagation. The controller of our system consists of regularization and guidance, which decide the sparsity and sharp features of latent image, respectively. Furthermore, the formational model of blind image is introduced into the feedback process to avoid the image restoration deviating from the stable point. The stability analysis of the system indicates the latent image propagation in blind deconvolution task can be efficiently estimated and controlled by cues and priors. Thus the kernel estimation used for image restoration becomes more precision. Experimental results show that our system is effective on image propagation, and can perform favorably against the state-of-the-art blind image deconvolution methods on different benchmark image sets and special blurred images. Copyright © 2018 Elsevier Ltd. All rights reserved.

Practical Loop-Shaping Design of Feedback Control Systems

Science.gov (United States)

Kopasakis, George

2010-01-01

An improved methodology for designing feedback control systems has been developed based on systematically shaping the loop gain of the system to meet performance requirements such as stability margins, disturbance attenuation, and transient response, while taking into account the actuation system limitations such as actuation rates and range. Loop-shaping for controls design is not new, but past techniques do not directly address how to systematically design the controller to maximize its performance. As a result, classical feedback control systems are designed predominantly using ad hoc control design approaches such as proportional integral derivative (PID), normally satisfied when a workable solution is achieved, without a good understanding of how to maximize the effectiveness of the control design in terms of competing performance requirements, in relation to the limitations of the plant design. The conception of this improved methodology was motivated by challenges in designing control systems of the types needed for supersonic propulsion. But the methodology is generally applicable to any classical control-system design where the transfer function of the plant is known or can be evaluated. In the case of a supersonic aerospace vehicle, a major challenge is to design the system to attenuate anticipated external and internal disturbances, using such actuators as fuel injectors and valves, bypass doors, and ramps, all of which are subject to limitations in actuator response, rates, and ranges. Also, for supersonic vehicles, with long slim type of structures, coupling between the engine and the structural dynamics can produce undesirable effects that could adversely affect vehicle stability and ride quality. In order to design distributed controls that can suppress these potential adverse effects, within the full capabilities of the actuation system, it is important to employ a systematic control design methodology such as this that can maximize the

On spatial spillover in feedforward and feedback noise control

Science.gov (United States)

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.

The Effect of the Feedback Controller on Superconducting Tokamak AC Losses + AC-CRPP user manual

International Nuclear Information System (INIS)

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)

Laser cooling in a feedback-controlled optical shaker

International Nuclear Information System (INIS)

Vilensky, Mark Y.; Averbukh, Ilya Sh.; Prior, Yehiam

2006-01-01

We explore the prospects of optical shaking, a recently suggested generic approach to laser cooling of neutral atoms and molecules. Optical shaking combines elements of Sisyphus cooling and of stochastic cooling techniques and is based on feedback-controlled interaction of particles with strong nonresonant laser fields. The feedback loop guarantees a monotonous energy decrease without a loss of particles. We discuss two types of feedback algorithms and provide an analytical estimation of their cooling rate. We study the robustness of optical shaking against noise and establish minimal stability requirements for the lasers. The analytical predictions are in a good agreement with the results of detailed numerical simulations

Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

Directory of Open Access Journals (Sweden)

Amir Reza Zare Bidaki

2014-01-01

Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

Velocity feedback control with a flywheel proof mass actuator

Science.gov (United States)

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.

Chaotification of vibration isolation floating raft system via nonlinear time-delay feedback control

International Nuclear Information System (INIS)

Zhang Jing; Xu Daolin; Zhou Jiaxi; Li Yingli

2012-01-01

Highlights: ► A chaotification method based on nonlinear time-delay feedback control is present. ► An analytical function of nonlinear time-delay feedback control is derived. ► A large range of parametric domain for chaotification is obtained. ► The approach allows using small control gain. ► Design of chaotification becomes a standard process without uncertainty. - Abstract: This paper presents a chaotification method based on nonlinear time-delay feedback control for a two-dimensional vibration isolation floating raft system (VIFRS). An analytical function of nonlinear time-delay feedback control is derived. This approach can theoretically provide a systematic design of chaotification for nonlinear VIFRS and completely avoid blind and inefficient numerical search on the basis of trials and errors. Numerical simulations show that with a proper setting of control parameters the method holds the favorable aspects including the capability of chaotifying across a large range of parametric domain, the advantage of using small control and the flexibility of designing control feedback forms. The effects on chaotification performance are discussed in association with the configuration of the control parameters.

Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion.

Science.gov (United States)

Selk Ghafari, A; Meghdari, A; Vossoughi, G

2009-08-01

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.

Designing and Evaluating Tutoring Feedback Strategies for digital learning environments on the basis of the Interactive Tutoring Feedback Model

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.

Investigation of a delayed feedback controller of MEMS resonators

KAUST Repository

Masri, Karim M.; Younis, Mohammad I.; Shao, Shuai

2013-01-01

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

Feedback control in deep drawing based on experimental datasets

Science.gov (United States)

Fischer, P.; Heingärtner, J.; Aichholzer, W.; Hortig, D.; Hora, P.

2017-09-01

In large-scale production of deep drawing parts, like in automotive industry, the effects of scattering material properties as well as warming of the tools have a significant impact on the drawing result. In the scope of the work, an approach is presented to minimize the influence of these effects on part quality by optically measuring the draw-in of each part and adjusting the settings of the press to keep the strain distribution, which is represented by the draw-in, inside a certain limit. For the design of the control algorithm, a design of experiments for in-line tests is used to quantify the influence of the blank holder force as well as the force distribution on the draw-in. The results of this experimental dataset are used to model the process behavior. Based on this model, a feedback control loop is designed. Finally, the performance of the control algorithm is validated in the production line.

Feedback control of one's own action: Self-other sensory attribution in motor control.

Science.gov (United States)

Asai, Tomohisa

2015-12-15

The sense of agency, the subjective experience of controlling one's own action, has an important function in motor control. When we move our own body or even external tools, we attribute that movement to ourselves and utilize that sensory information in order to correct "our own" movement in theory. The dynamic relationship between conscious self-other attribution and feedback control, however, is still unclear. Participants were required to make a sinusoidal reaching movement and received its visual feedback (i.e., cursor). When participants received a fake movement that was spatio-temporally close to their actual movement, illusory self-attribution of the fake movement was observed. In this situation, since participants tried to control the cursor but it was impossible to do so, the movement error was increased (Experiment 1). However, when the visual feedback was reduced to make self-other attribution difficult, there was no further increase in the movement error (Experiment 2). These results indicate that conscious self-other sensory attribution might coordinate sensory input and motor output. Copyright © 2015 Elsevier Inc. All rights reserved.

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

Science.gov (United States)

Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

2011-01-01

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Study of tropical clouds feedback to a climate warming as simulated by climate models

International Nuclear Information System (INIS)

Brient, Florent

2012-01-01

The last IPCC report affirms the predominant role of low cloud-radiative feedbacks in the inter-model spread of climate sensitivity. Understanding the mechanisms that control the behavior of low-level clouds is thus crucial. However, the complexity of coupled ocean-atmosphere models and the large number of processes potentially involved make the analysis of this response difficult. To simplify the analysis and to identify the most critical controls of cloud feedbacks, we analyze the cloud response to climate change simulated by the IPSL-CM5A model in a hierarchy of configurations. A comparison between three model configurations (coupled, atmospheric and aqua-planet) using the same physical parametrizations shows that the cloud response to global warming is dominated by a decrease of low clouds in regimes of moderate subsidence. Using a Single Column Model, forced by weak subsidence large-scale forcing, allows us to reproduce the vertical cloud profile predicted in the 3D model, as well as its response to climate change (if a stochastic forcing is added on vertical velocity). We analyze the sensitivity of this low-cloud response to external forcing and also to uncertain parameters of physical parameterizations involved on the atmospheric model. Through a moist static energy (MSE) budget, we highlight several mechanisms: (1) Robust: Over weak subsidence regimes, the Clausius-Clapeyron relationship predicts that a warmer atmosphere leads to a increase of the vertical MSE gradient, resulting on a strengthening of the import of low-MSE from the free atmosphere into the cloudy boundary layer. The MSE budget links changes of vertical advection and cloud radiative effects. (2) Physics Model Dependent: The coupling between shallow convection, turbulence and cloud schemes allows the intensification of low-MSE transport so that cloud radiative cooling becomes 'less necessary' to balance the energy budget (Robust positive low cloud-radiative feedback for the model). The

Synchronizing strict-feedback and general strict-feedback chaotic systems via a single controller

International Nuclear Information System (INIS)

Chen Shihua; Wang Feng; Wang Changping

2004-01-01

We present a systematic design procedure to synchronize a class of chaotic systems in a so-called strict-feedback form based on back-stepping procedure. This approach needs only a single controller to realize synchronization no matter how many dimensions the chaotic system contains. Furthermore, we point out that the method does not work for general strict-feedback chaotic systems, for instance, Lorenz system. Therefore, we propose three kinds of synchronization schemes for Lorenz system using the Lyapunov function method. All the three schemes avoid including divergence factor as in Ref. [Chaos, Solitons and Fractals 16 (2003) 37]. Especially in the last two schemes, we need only one state variable in controller, which has important significance in chaos synchronization used for communication purposes. Finally numerical simulations are provided to show the effectiveness and feasibility of the developed methods

A Blueprint for a Synthetic Genetic Feedback Controller to Reprogram Cell Fate.

Science.gov (United States)

Del Vecchio, Domitilla; Abdallah, Hussein; Qian, Yili; Collins, James J

2017-01-25

To artificially reprogram cell fate, experimentalists manipulate the gene regulatory networks (GRNs) that maintain a cell's phenotype. In practice, reprogramming is often performed by constant overexpression of specific transcription factors (TFs). This process can be unreliable and inefficient. Here, we address this problem by introducing a new approach to reprogramming based on mathematical analysis. We demonstrate that reprogramming GRNs using constant overexpression may not succeed in general. Instead, we propose an alternative reprogramming strategy: a synthetic genetic feedback controller that dynamically steers the concentration of a GRN's key TFs to any desired value. The controller works by adjusting TF expression based on the discrepancy between desired and actual TF concentrations. Theory predicts that this reprogramming strategy is guaranteed to succeed, and its performance is independent of the GRN's structure and parameters, provided that feedback gain is sufficiently high. As a case study, we apply the controller to a model of induced pluripotency in stem cells. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Delay-feedback control strategy for reducing CO2 emission of traffic flow system

Science.gov (United States)

Zhang, Li-Dong; Zhu, Wen-Xing

2015-06-01

To study the signal control strategy for reducing traffic emission theoretically, we first presented a kind of discrete traffic flow model with relative speed term based on traditional coupled map car-following model. In the model, the relative speed difference between two successive running cars is incorporated into following vehicle's acceleration running equation. Then we analyzed its stability condition with discrete control system stability theory. Third, we designed a delay-feedback controller to suppress traffic jam and decrease traffic emission based on modern controller theory. Last, numerical simulations are made to support our theoretical results, including the comparison of models' stability analysis, the influence of model type and signal control on CO2 emissions. The results show that the temporal behavior of our model is superior to other models, and the traffic signal controller has good effect on traffic jam suppression and traffic CO2 emission, which fully supports the theoretical conclusions.

Design of EAST LHCD high power supply feedback control system based on PLC

International Nuclear Information System (INIS)

Hu Huaichuan; Shan Jiafang

2009-01-01

Design of EAST LHCD -35kV/5.6MW high power supply feedback control system based on PLC is described. Industrial computer and PLC are used to control high power supply in the system. PID arithmetic is adopted to achieve the feedback control of voltage of high power supply. Operating system is base on real-time operating system of QNX. Good controlling properties and reliable protective properties of the feedback control system are proved by the experiment results. (authors)

A randomized controlled trial of a personalized feedback intervention for problem gamblers.

Directory of Open Access Journals (Sweden)

John A Cunningham

Full Text Available Personalized feedback is a promising self-help for problem gamblers. Such interventions have shown consistently positive results with other addictive behaviours, and our own pilot test of personalized normative feedback materials for gamblers yielded positive findings. The current randomized controlled trial evaluated the effectiveness, and the sustained efficacy, of the personalized feedback intervention materials for problem gamblers.Respondents recruited by a general population telephone screener of Ontario adults included gamblers with moderate and severe gambling problems. Those who agreed to participate were randomly assigned to receive: 1 the full personalized normative feedback intervention; 2 a partial feedback that contained all the feedback information provided to those in condition 1 but without the normative feedback content (i.e., no comparisons provided to general population gambling norms; or 3 a waiting list control condition. The primary hypothesis was that problem gamblers who received the personalized normative feedback intervention would reduce their gambling more than problem gamblers who did not receive any intervention (waiting list control condition by the six-month follow-up.The study found no evidence for the impact of normative personalized feedback. However, participants who received, the partial feedback (without norms reduced the number of days they gambled compared to participants who did not receive the intervention. We concluded that personalized feedback interventions were well received and the materials may be helpful at reducing gambling. Realistically, it can be expected that the personalized feedback intervention may have a limited, short term impact on the severity of participants' problem gambling because the intervention is just a brief screener. An Internet-based version of the personalized feedback intervention tool, however, may offer an easy to access and non-threatening portal that can be used to

Estimating feedforward vs. feedback control of speech production through kinematic analyses of unperturbed articulatory movements.

Science.gov (United States)

Kim, Kwang S; Max, Ludo

2014-01-01

To estimate the contributions of feedforward vs. feedback control systems in speech articulation, we analyzed the correspondence between initial and final kinematics in unperturbed tongue and jaw movements for consonant-vowel (CV) and vowel-consonant (VC) syllables. If movement extents and endpoints are highly predictable from early kinematic information, then the movements were most likely completed without substantial online corrections (feedforward control); if the correspondence between early kinematics and final amplitude or position is low, online adjustments may have altered the planned trajectory (feedback control) (Messier and Kalaska, 1999). Five adult speakers produced CV and VC syllables with high, mid, or low vowels while movements of the tongue and jaw were tracked electromagnetically. The correspondence between the kinematic parameters peak acceleration or peak velocity and movement extent as well as between the articulators' spatial coordinates at those kinematic landmarks and movement endpoint was examined both for movements across different target distances (i.e., across vowel height) and within target distances (i.e., within vowel height). Taken together, results suggest that jaw and tongue movements for these CV and VC syllables are mostly under feedforward control but with feedback-based contributions. One type of feedback-driven compensatory adjustment appears to regulate movement duration based on variation in peak acceleration. Results from a statistical model based on multiple regression are presented to illustrate how the relative strength of these feedback contributions can be estimated.

Feedback Control in Quantum Optics: An Overview of Experimental Breakthroughs and Areas of Application

OpenAIRE

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...

The Total Synthesis Problem of linear multivariable control. II - Unity feedback and the design morphism

Science.gov (United States)

Sain, M. K.; Antsaklis, P. J.; Gejji, R. R.; Wyman, B. F.; Peczkowski, J. L.

1981-01-01

Zames (1981) has observed that there is, in general, no 'separation principle' to guarantee optimality of a division between control law design and filtering of plant uncertainty. Peczkowski and Sain (1978) have solved a model matching problem using transfer functions. Taking into consideration this investigation, Peczkowski et al. (1979) proposed the Total Synthesis Problem (TSP), wherein both the command/output-response and command/control-response are to be synthesized, subject to the plant constraint. The TSP concept can be subdivided into a Nominal Design Problem (NDP), which is not dependent upon specific controller structures, and a Feedback Synthesis Problem (FSP), which is. Gejji (1980) found that NDP was characterized in terms of the plant structural matrices and a single, 'good' transfer function matrix. Sain et al. (1981) have extended this NDP work. The present investigation is concerned with a study of FSP for the unity feedback case. NDP, together with feedback synthesis, is understood as a Total Synthesis Problem.

Feedback-Controlled Lubrication for Reducing the Lateral Vibration of Flexible Rotors supported by Tilting-Pad Journal Bearings

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Santos, Ilmar

2014-01-01

In this work, the feedback-controlled lubrication regime, based on a model-free designed proportional-derivative (PD) controller, is studied and experimentally tested in a flexible rotor mounted on an actively-lubricated tilting-pad journal bearing (active TPJB). With such a lubrication regime...... to experimentally characterized multi-input multi-output systems is used to determine the stabilizing PD gain domain. The main contribution of this work is to demonstrate the enhancement of the dynamic response of a flexible rotor-bearing system supported by an active TPJB by means of the feedback...... are used as actuators and the flexible rotor lateral movements as feedback control signals. To synthesise the PD controller gains an objective function is optimized in the stabilizing gain domain and then chosen from a subdomain imposed by the servovalves restrictions. The D-decomposition approach expanded...

Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

Science.gov (United States)

Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

2018-03-01

Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

Event-triggered output feedback control for distributed networked systems.

Science.gov (United States)

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. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback-Controlled LED Photobioreactor for Photophysiological Studies of Cyanobacteria

Energy Technology Data Exchange (ETDEWEB)

Melnicki, Matthew R.; Pinchuk, Grigoriy E.; Hill, Eric A.; Kucek, Leo A.; Stolyar, Sergey; Fredrickson, Jim K.; Konopka, Allan; Beliaev, Alex S.

2013-04-09

A custom photobioreactor (PBR) was designed to enable automatic light adjustments using computerized feedback control. A black anodized aluminum enclosure, constructed to surround the borosilicate reactor vessel, prevents the transmission of ambient light and serves as a mount for arrays of light-emitting diodes (LEDs). The high-output LEDs provide narrow-band light of either 630 or 680 nm for preferential excitation of the cyanobacterial light-harvesting pigments, phycobilin or chlorophyll a, respectively. Custom developed software BioLume provides automatic control of optical properties and a computer feedback loop can automatically adjust the incident irradiance as necessary to maintain a fixed transmitted light through the culture, based on user-determined set points. This feedback control serves to compensate for culture dynamics which have optical effects, (e.g., changing cell density, pigment adaptations) and thus can determine the appropriate light conditions for physiological comparisons or to cultivate light-sensitive strains, without prior analyses. The LED PBR may also be controlled as a turbidostat, using a feedback loop to continuously adjust the rate of media-dilution based on the transmitted light measurements, with a fast and precise response. This cultivation system gains further merit as a high-performance analytical device, using non-invasive tools (e.g., dissolved gas sensors, online mass spectrometry) to automate real-time measurements, thus permitting unsupervised experiments to search for optimal growth conditions, to monitor physiological responses to perturbations, as well as to quantitate photophysiological parameters using an in situ light-saturation response routine.

Kinematic feedback control laws for generating natural arm movements

International Nuclear Information System (INIS)

Kim, Donghyun; Jang, Cheongjae; Park, Frank C

2014-01-01

We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)

Comparison of Power Generating Systems Using Feedback Effect Modeling

International Nuclear Information System (INIS)

Kim, Seong Ho; Kim, Kil Yoo; Kim, Tae Woon

2005-01-01

Comparative assessment of various power systems can be treated as a multicriteria decision-making (MCDM) problem. In reality, there is interdependence among decision elements (e.g., decision goal, decision criteria, and decision alternatives). In our previous work, using an analytic hierarchy process (AHP) technique, a comprehensive assessment framework for national power systems has been developed. It was assumed in the AHP modeling that there is no interdependence among decision elements. In the present work, one of interdependence phenomena, feedback effect, is investigated in the context of network structures instead of one-way directional tree structures. Moreover, attitudes of decision-makers can be incorporated into the feedback effect modeling. The main objectives of this work are to develop a feedback effect modeling using an analytic network process (ANP) technique and to demonstrate the feedback effect using a numerical example in comparison to the hierarchy model

Output feedback dissipation control for the power-level of modular high-temperature gas-cooled reactors

International Nuclear Information System (INIS)

Dong, Z.

2011-01-01

Because of its strong inherent safety features and the high outlet temperature, the modular high temperature gas-cooled nuclear reactor (MHTGR) is the chosen technology for a new generation of nuclear power plants. Such power plants are being considered for industrial applications with a wide range of power levels, thus power-level regulation is very important for their efficient and stable operation. Exploiting the large scale asymptotic closed-loop stability provided by nonlinear controllers, a nonlinear power-level regulator is presented in this paper that is based upon both the techniques of feedback dissipation and well-established backstepping. The virtue of this control strategy, i.e., the ability of globally asymptotic stabilization, is that it takes advantage of the inherent zero-state detectability property of the MHTGR dynamics. Moreover, this newly built power-level regulator is also robust towards modeling uncertainty in the control rod dynamics. If modeling uncertainty of the control rod dynamics is small enough to be omitted, then this control law can be simplified to a classical proportional feedback controller. The comparison of the control performance between the newly-built power controller and the simplified controller is also given through numerical study and theoretical analysis. (author)

Control system pre-feedbacked for the super heated steam temperature in heat recovering units; Sistema de control pre-retroalimentado para la temperatura de vapor sobrecalentado en recuperadores de calor

Energy Technology Data Exchange (ETDEWEB)

Lopez Alvarez, Hilario; Madrigal Espinosa, Guadalupe [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)

1996-12-31

The study that is presented corresponds to the analysis, design and development of a pre-feedbacked control system for the superheated steam temperature regulation in the heat recovery units of a combined cycle thermoelectric power plant. The designs of the feedback controller and the pre-feedback control system were implemented based in a linear model of the tempering zone. This linear model was obtained through the application of parametric identification techniques to the non-linear mathematical model of a combined cycle power plant. [Espanol] El estudio que se presenta corresponde al analisis, diseno y desarrollo de un sistema de control pre-retroalimentado para regular la temperatura de vapor sobrecalentado en los recuperadores de calor de una central termoelectrica de ciclo combinado. Los disenos del controlador retroalimentado y del sistema de control prealimentado se realizaron con base en un modelo lineal de la zona de atemperacion. Este modelo lineal se obtuvo aplicando tecnicas de identificacion parametrica al modelo matematico no-lineal de una central de ciclo combinado.

Control system pre-feedbacked for the super heated steam temperature in heat recovering units; Sistema de control pre-retroalimentado para la temperatura de vapor sobrecalentado en recuperadores de calor

Energy Technology Data Exchange (ETDEWEB)

Lopez Alvarez, Hilario; Madrigal Espinosa, Guadalupe [Instituto de Investigaciones Electricas, Cuernavaca (Mexico)

1997-12-31

The study that is presented corresponds to the analysis, design and development of a pre-feedbacked control system for the superheated steam temperature regulation in the heat recovery units of a combined cycle thermoelectric power plant. The designs of the feedback controller and the pre-feedback control system were implemented based in a linear model of the tempering zone. This linear model was obtained through the application of parametric identification techniques to the non-linear mathematical model of a combined cycle power plant. [Espanol] El estudio que se presenta corresponde al analisis, diseno y desarrollo de un sistema de control pre-retroalimentado para regular la temperatura de vapor sobrecalentado en los recuperadores de calor de una central termoelectrica de ciclo combinado. Los disenos del controlador retroalimentado y del sistema de control prealimentado se realizaron con base en un modelo lineal de la zona de atemperacion. Este modelo lineal se obtuvo aplicando tecnicas de identificacion parametrica al modelo matematico no-lineal de una central de ciclo combinado.

Composite control for raymond mill based on model predictive control and disturbance observer

Directory of Open Access Journals (Sweden)

Dan Niu

2016-03-01

Full Text Available In the raymond mill grinding process, precise control of operating load is vital for the high product quality. However, strong external disturbances, such as variations of ore size and ore hardness, usually cause great performance degradation. It is not easy to control the current of raymond mill constant. Several control strategies have been proposed. However, most of them (such as proportional–integral–derivative and model predictive control reject disturbances just through feedback regulation, which may lead to poor control performance in the presence of strong disturbances. For improving disturbance rejection, a control method based on model predictive control and disturbance observer is put forward in this article. The scheme employs disturbance observer as feedforward compensation and model predictive control controller as feedback regulation. The test results illustrate that compared with model predictive control method, the proposed disturbance observer–model predictive control method can obtain significant superiority in disturbance rejection, such as shorter settling time and smaller peak overshoot under strong disturbances.

Targeted Feedback in the Milestones Era: Utilization of the Ask-Tell-Ask Feedback Model to Promote Reflection and Self-Assessment.

Science.gov (United States)

French, Judith C; Colbert, Colleen Y; Pien, Lily C; Dannefer, Elaine F; Taylor, Christine A

2015-01-01

The Accreditation Council for Graduate Medical Education's Milestones Project focuses trainee education on the formation of valued behaviors and skills believed to be necessary for trainees to become independent practitioners. The development and refinement of behaviors and skills outlined within the milestones will require learners to monitor, reflect, and assess their own performance over time. External feedback provides an opportunity for learners to recalibrate their self-assessments, thereby enabling them to develop better self-monitoring and self-assessment skills. Yet, feedback to trainees is frequently generic, such as "great job," "nice work," or "you need to read more." In this article, we describe a feedback model that faculty can use to provide specific feedback, while increasing accountability for learners. We offer practical examples of its use in a variety of settings in the milestone era. The Ask-Tell-Ask (ATA) patient communication skills strategy, which was adapted for use as a trainee feedback model 10 years ago at our institution, is a learner-centered approach for reinforcing and modifying behaviors. The model is efficient, promotes learner accountability, and helps trainees develop reflection and self-assessment skills. A feedback agreement further enhances ATA by establishing a shared understanding of goals for the educational encounter. The ATA feedback model, combined with a feedback agreement, encourages learners to self-identify strengths and areas for improvement, before receiving feedback. Personal monitoring, reflection, self-assessment, and increased accountability make ATA an ideal learner-centered feedback model for the milestones era, which focuses on performance improvement over time. We believe the introduction of the ATA feedback model in surgical training programs is a step in the right direction towards meaningful programmatic culture change. Copyright © 2015 Association of Program Directors in Surgery. Published by Elsevier

Self-controlled feedback facilitates motor learning in both high and low activity individuals.

Science.gov (United States)

Fairbrother, Jeffrey T; Laughlin, David D; Nguyen, Timothy V

2012-01-01

The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA) and low activity (LA) participants were assigned to self-control (SC) and yoked (YK) feedback conditions, creating four groups: Self-Control-High Activity; Self-Control-Low Activity; Yoked-High Activity; and Yoked-Low Activity. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be "good" trials; those in the YK condition indicated that they would have preferred to receive feedback after "good" trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity.

A Robust Multivariable Feedforward/Feedback Controller Design for Integrated Power Control of Boiling Water Reactor Power Plants

International Nuclear Information System (INIS)

Shyu, S.-S.; Edwards, Robert M.

2002-01-01

In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change

Simulation of feedback control system for NTM stabilisation in ASDEX Upgrade

Energy Technology Data Exchange (ETDEWEB)

Rapson, Christopher, E-mail: chris.rapson@ipp.mpg.de [Max Planck Institute for Plasma Physics, EURATOM Association, Boltzmannstrasse 2, 85748 Garching (Germany); Monaco, Francesco; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang [Max Planck Institute for Plasma Physics, EURATOM Association, Boltzmannstrasse 2, 85748 Garching (Germany)

2013-10-15

Highlights: ► Feedback loop to control the ECRH deposition location is modelled in Simulink. Controller optimised using simulation results. ► Apart from optimising the PID gain values, alternative architectures were trialed without risk to hardware. ► Off-normal events could be simulated, and the controller response improved. ► Optimised controller applied in experiment. Even for the low power used, partial stabilisation of NTM was observed. ► The simulation is useful outside its intended application, and for future developments of the NTM feedback control system. -- Abstract: Neoclassical Tearing Modes (NTMs) are a class of MHD instability in high beta tokamak plasmas which significantly increase radial transport, thus capping the performance of fusion plasmas. More importantly, NTMs can lead to disruptions which compromise the lifetime of structural components. Several tokamaks have demonstrated that Electron Cyclotron Resonant Heating (ECRH) can stabilise NTMs if the power deposition is aligned with the mode location. The deposition location depends on the toroidal magnetic field, flux and density profiles, and can be controlled by tilting the mirror in the ECRH launcher. Until recently, the mirror angle was set by feedforward control at ASDEX Upgrade. In order to adapt automatically to different discharge scenarios, the system at ASDEX Upgrade has been extended to steer the mirror using feedback control. The mirror must react on the current diffusion time scale, on the order of 100 ms. This is within the capabilities of the mechanical subsystem and real-time plasma diagnostics, but requires careful interfacing between these components. For example, asynchronous data transfer and non-linearities make it difficult to design an analytically optimal controller. Therefore a simulation has been used to test and tune different controller architectures. This simulation is the subject of the current contribution. Performing the optimisation process offline

A model for educational feedback based on clinical communication skills strategies: beyond the "feedback sandwich".

Science.gov (United States)

Milan, Felise B; Parish, Sharon J; Reichgott, Michael J

2006-01-01

Feedback is an essential tool in medical education, and the process is often difficult for both faculty and learner. There are strong analogies between the provision of educational feedback and doctor-patient communication during the clinical encounter. Relationship-building skills used in the clinical setting-Partnership, Empathy, Apology, Respect, Legitimation, Support (PEARLS)-can establish trust with the learner to better manage difficult feedback situations involving personal issues, unprofessional behavior, or a defensive learner. Using the stage of readiness to change (transtheoretical) model, the educator can "diagnose" the learner's stage of readiness and employ focused interventions to encourage desired changes. This approach has been positively received by medical educators in faculty development workshops. A model for provision of educational feedback based on communication skills used in the clinical encounter can be useful in the medical education setting. More robust evaluation of the construct validity is required in actual training program situations.

An intercomparison between the surface heat flux feedback in five coupled models, COADS and the NCEP reanalysis

Energy Technology Data Exchange (ETDEWEB)

Frankignoul, C.; Kestenare, E. [Universite Pierre et Marie Curie, Institute Pierre-Simon Laplace, Laboratoire d' Oceanographie Dynamique et de Climatologie, 4 place Jussieu, 75252 Paris Cedex 05 (France); Botzet, M. [Max-Planck-Institut fuer Meteorologie, Hamburg (Germany); Carril, A.F. [Istituto Nazionale di Geofisica e Vulcanologia, Bologna (Italy); Drange, H. [Nansen Environmental and Remote Sensing Center, Bergen (Norway); Pardaens, A. [Hadley Centre for Climate Prediction and Research, Met Office (United Kingdom); Terray, L.; Sutton, R. [Department of Meteorology, University of Reading (United Kingdom)

2004-04-01

The surface heat flux feedback is estimated in the Atlantic and the extra-tropical Indo-Pacific, using monthly heat flux and sea surface temperature anomaly data from control simulations with five global climate models, and it is compared to estimates derived from COADS and the NCEP reanalysis. In all data sets, the heat flux feedback is negative nearly everywhere and damps the sea surface temperature anomalies. At extra-tropical latitudes, it is strongly dominated by the turbulent fluxes. The radiative feedback can be positive or negative, depending on location and season, but it remains small, except in some models in the tropical Atlantic. The negative heat flux feedback is strong in the mid-latitude storm tracks, exceeding 40 W m{sup -2} K{sup -1} at place, but in the Northern Hemisphere it is substantially underestimated in several models. The negative feedback weakens at high latitudes, although the models do not reproduce the weak positive feedback found in NCEP in the northern North Atlantic. The main differences are found in the tropical Atlantic where the heat flux feedback is weakly negative in some models, as in the observations, and strongly negative in others where it can exceed 30 W m{sup -2} K{sup -1} at large scales, in part because of a strong contribution of the radiative fluxes, in particular during spring. A comparison between models with similar atmospheric or oceanic components suggests that the atmospheric model is primarily responsible for the heat flux feedback differences at extra-tropical latitudes. In the tropical Atlantic, the ocean behavior plays an equal role. The differences in heat flux feedback in the tropical Atlantic are reflected in the sea surface temperature anomaly persistence, which is too small in models where the heat flux damping is large. A good representation of the heat flux feedback is thus required to simulate climate variability realistically. (orig.)

Comparison between hybrid feedforward-feedback, feedforward, and feedback structures for active noise control of fMRI noise.

Science.gov (United States)

Reddy, Rajiv M; Panahi, Issa M S

2008-01-01

The performance of FIR feedforward, IIR feedforward, FIR feedback, hybrid FIR feedforward--FIR feedback, and hybrid IIR feedforward - FIR feedback structures for active noise control (ANC) are compared for an fMRI noise application. The filtered-input normalized least squares (FxNLMS) algorithm is used to update the coefficients of the adaptive filters in all these structures. Realistic primary and secondary paths of an fMRI bore are used by estimating them on a half cylindrical acrylic bore of 0.76 m (D)x1.52 m (L). Detailed results of the performance of the ANC system are presented in the paper for each of these structures. We find that the IIR feedforward structure produces most of the performance improvement in the hybrid IIR feedforward - FIR feedback structure and adding the feedback structure becomes almost redundant in the case of fMRI noise.

Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

Science.gov (United States)

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.

When Optimal Feedback Control Is Not Enough: Feedforward Strategies Are Required for Optimal Control with Active Sensing.

Directory of Open Access Journals (Sweden)

Sang-Hoon Yeo

2016-12-01

Full Text Available Movement planning is thought to be primarily determined by motor costs such as inaccuracy and effort. Solving for the optimal plan that minimizes these costs typically leads to specifying a time-varying feedback controller which both generates the movement and can optimally correct for errors that arise within a movement. However, the quality of the sensory feedback during a movement can depend substantially on the generated movement. We show that by incorporating such state-dependent sensory feedback, the optimal solution incorporates active sensing and is no longer a pure feedback process but includes a significant feedforward component. To examine whether people take into account such state-dependency in sensory feedback we asked people to make movements in which we controlled the reliability of sensory feedback. We made the visibility of the hand state-dependent, such that the visibility was proportional to the component of hand velocity in a particular direction. Subjects gradually adapted to such a sensory perturbation by making curved hand movements. In particular, they appeared to control the late visibility of the movement matching predictions of the optimal controller with state-dependent sensory noise. Our results show that trajectory planning is not only sensitive to motor costs but takes sensory costs into account and argues for optimal control of movement in which feedforward commands can play a significant role.

When Optimal Feedback Control Is Not Enough: Feedforward Strategies Are Required for Optimal Control with Active Sensing.

Science.gov (United States)

Yeo, Sang-Hoon; Franklin, David W; Wolpert, Daniel M

2016-12-01

Movement planning is thought to be primarily determined by motor costs such as inaccuracy and effort. Solving for the optimal plan that minimizes these costs typically leads to specifying a time-varying feedback controller which both generates the movement and can optimally correct for errors that arise within a movement. However, the quality of the sensory feedback during a movement can depend substantially on the generated movement. We show that by incorporating such state-dependent sensory feedback, the optimal solution incorporates active sensing and is no longer a pure feedback process but includes a significant feedforward component. To examine whether people take into account such state-dependency in sensory feedback we asked people to make movements in which we controlled the reliability of sensory feedback. We made the visibility of the hand state-dependent, such that the visibility was proportional to the component of hand velocity in a particular direction. Subjects gradually adapted to such a sensory perturbation by making curved hand movements. In particular, they appeared to control the late visibility of the movement matching predictions of the optimal controller with state-dependent sensory noise. Our results show that trajectory planning is not only sensitive to motor costs but takes sensory costs into account and argues for optimal control of movement in which feedforward commands can play a significant role.

Nonlinear H-infinity State Feedback Controllers: Computation of Valid Region

DEFF Research Database (Denmark)

Pedersen, Michael; Møller-Pedersen, J.; Pagh Petersen, M.

1996-01-01

"From a general point of view the state feedback QTR H-infinitysuboptimal control probelm is reasonable well-understood. Inportantproblems remain with regard to a priori information of the size of theneighbourhood where the local state feedback QTR H-infinityproblem is solvable, and with regard t...

Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures

Directory of Open Access Journals (Sweden)

Yuanchun Li

2015-01-01

Full Text Available The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI technique, the decentralized proportional-integral observer (DPIO is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence of H∞ fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.

Output feedback control of heat transport mechanisms in parabolic distributed solar collectors

KAUST Repository

Elmetennani, Shahrazed

2016-08-05

This paper presents an output feedback control for distributed parabolic solar collectors. The controller aims at forcing the outlet temperature to track a desired reference in order to manage the produced heat despite the external disturbances. The proposed control strategy is derived using the distributed physical model of the system to avoid the loss of information due to model approximation schemes. The system dynamics are driven to follow reference dynamics defined by a transport equation with a constant velocity, which allows to control the transient behavior and the response time of the closed loop. The designed controller depends only on the accessible measured variables which makes it easy for real time implementation and useful for industrial plants. Simulation results show the efficiency of the reference tracking closed loop under different working conditions.

Advanced feedback control methods in EXTRAP T2R reversed field pinch

International Nuclear Information System (INIS)

Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

2006-01-01

Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of t d ≅10τ w is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system

Advanced feedback control methods in EXTRAP T2R reversed field pinch

Science.gov (United States)

Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

2006-07-01

Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.

Sensory feedback in artificial control of human mobility

NARCIS (Netherlands)

Veltink, Petrus H.

1999-01-01

Artificial motor control systems may reduce the handicap of motor impaired individuals. Sensors are essential components in feedback control of these systems and in the information exchange with the user. The objective of this paper is to give an overview of the applications of sensors in the

Feedback Control for a Smart Wheelchair Trainer Based on the Kinect Sensor

Science.gov (United States)

Darling, Aurelia McLaughlin

This thesis describes a Microsoft Kinect-based feedback controller for a robot-assisted powered wheelchair trainer for children with a severe motor and/or cognitive disability. In one training mode, "computer gaming" mode, the wheelchair is allowed to rotate left and right while the children use a joystick to play video games shown on a screen in front of them. This enables them to learn the use of the joystick in a motivating environment, while experiencing the sensation and dynamics of turning in a safe setting. During initial pilot testing of the device, it was found that the wheelchair would creep forward while children were playing the games. This thesis presents a mathematical model of the wheelchair dynamics that explains the origin of the creep as a center of gravity offset from the wheel axis or a mismatch of the torques applied to the chair. Given these possible random perturbations, a feedback controller was developed to cancel these effects, correcting the system creep. The controller uses a Microsoft Kinect sensor to detect the distance to the screen displaying the computer game, as well as the left-right position (parallel parking concept) with respect to the screen, and then adjusts the wheel torque commands based on this measurement. We show through experimental testing that this controller effectively stops the creep. An added benefit of the feedback controller is that it approximates a washout filter, such as those used in aircraft simulators, to convey a more realistic sense of forward/backward motion during game play.

Quantized Passive Dynamic Output Feedback Control with Actuator Failure

Directory of Open Access Journals (Sweden)

Zu-Xin Li

2016-01-01

Full Text Available This paper investigates the problem of passive dynamic output feedback control for fuzzy discrete nonlinear systems with quantization and actuator failures, where the measurement output of the system is quantized by a logarithmic quantizer before being transferred to the fuzzy controller. By employing the fuzzy-basis-dependent Lyapunov function, sufficient condition is established to guarantee the closed-loop system to be mean-square stable and the prescribed passive performance. Based on the sufficient condition, the fuzzy dynamic output feedback controller is proposed for maintaining acceptable performance levels in the case of actuator failures and quantization effects. Finally, a numerical example is given to show the usefulness of the proposed method.

Robust output feedback cruise control for high-speed train movement with uncertain parameters

International Nuclear Information System (INIS)

Li Shu-Kai; Yang Li-Xing; Li Ke-Ping

2015-01-01

In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov’s stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities (LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H ∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods. (paper)

Neural Feedback Scheduling of Real-Time Control Tasks

OpenAIRE

Xia, Feng; Tian, Yu-Chu; Sun, Youxian; Dong, Jinxiang

2008-01-01

Many embedded real-time control systems suffer from resource constraints and dynamic workload variations. Although optimal feedback scheduling schemes are in principle capable of maximizing the overall control performance of multitasking control systems, most of them induce excessively large computational overheads associated with the mathematical optimization routines involved and hence are not directly applicable to practical systems. To optimize the overall control performance while minimi...

Self-controlled feedback facilitates motor learning in both high and low activity individuals

Directory of Open Access Journals (Sweden)

Jeffrey T. Fairbrother

2012-08-01

Full Text Available The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA and low activity (LA participants were assigned to self-control (SC and yoked (YK feedback conditions, creating four groups: Self-Control High Activity (SC-HA; Self-Control Low Activity (SC-LA; Yoked High Activity (YK-HA; and Yoked Low Activity (YK-LA. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be good trials; those in the YK condition indicated that they would have preferred to receive feedback after good trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity.

Orbit stability and feedback control in synchrotron radiation rings

International Nuclear Information System (INIS)

Yu, L.H.

1989-01-01

Stability of the electron orbit is essential for the utilization of a low emittance storage ring as a high brightness radiation source. We discuss the development of the measurement and feedback control of the closed orbit, with emphasis on the activities as the National Synchrotron Light Source of BNL. We discuss the performance of the beam position detectors in use and under development: the PUE rf detector, split ion chamber detector, photo-emission detector, solid state detector, and the graphite detector. Depending on the specific experiments, different beamlines require different tolerances on the orbit motion. Corresponding to these different requirements, we discuss two approaches to closed orbit feedback: the global and local feedback systems. Then we describe a new scheme for the real time global feedback by implementing a feedback system based upon a harmonic analysis of both the orbit movements and the correction magnetic fields. 14 refs., 6 figs., 2 tabs

Self-controlled feedback enhances learning in adults with Down syndrome Feedback autocontrolado melhora a aprendizagem em adultos com síndrome de Down

Directory of Open Access Journals (Sweden)

Suzete Chiviacowsky

2012-06-01

Full Text Available BACKGROUND: One factor that has consistently been shown to enhance learning in typical participants is self-controlled practice. OBJECTIVES: The purpose of the present study was to examine whether the learning benefits of self-controlled feedback found previously in non-disabled adults would also be found in adults with Down syndrome. METHODS: Participants with Down syndrome practiced a linear positioning task. In the self-control group, learners were provided with feedback about the movement outcome at their request. Each participant in the yoked group received the same feedback schedule as their counterpart in the self-control group. RESULTS: Learning was assessed by a retention test, consisting of 10 trials without feedback, one day later. The self-control group demonstrated more effective learning of the task than the yoked group. CONCLUSION: Self-controlled feedback enhanced motor learning in participants with Down syndrome.CONTEXTUALIZAÇÃO: Uma variável que consistentemente tem mostrado melhorar a aprendizagem em sujeitos típicos é a prática autocontrolada. OBJETIVOS: Examinar se os benefícios do feedback autocontrolado para a aprendizagem, encontrados previamente em adultos típicos, também serão encontrados em adultos que apresentam a Síndrome de Down. MÉTODOS: Participantes com a Síndrome de Down praticaram uma tarefa de posicionamento linear. Os aprendizes do grupo autocontrolado receberam feedback sobre o resultado do movimento, quando solicitado. Já os participantes do grupo pareado receberam o mesmo arranjo de feedback dos sujeitos do grupo autocontrolado. RESULTADOS: A aprendizagem foi avaliada por meio de um teste de retenção, o qual consistiu em dez tentativas sem feedback, um dia depois da fase de prática. O grupo autocontrolado demonstrou aprendizagem mais efetiva da tarefa do que o grupo pareado. CONCLUSÃO: Feedback autocontrolado melhora a aprendizagem motora em sujeitos com a Síndrome de Down.

Feedback-controlled lubrication for reducing the lateral vibration of flexible rotors supported by tilting-pad journal bearings

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Santos, Ilmar

2015-01-01

function is optimized in the stabilizing gain domain and then chosen from a subdomain imposed by servovalve restrictions. This work demonstrates enhancements of the dynamic response of flexible rotor-bearing systems supported by an active tilting-pad journal bearing by means of the feedback......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...

Feedback controlled dephasing and population relaxation in a two-level system

International Nuclear Information System (INIS)

Wang Jin

2009-01-01

This Letter presents the maximum achievable stability and purity that can be obtained in a two-level system with both dephasing and population relaxation processes by using homodyne-mediated feedback control. An analytic formula giving the optimal amplitudes of the driving and feedback for the steady-state is also presented. Experimental examples are used to show the importance of controlling the dephasing process.

Optimizing the feedback control of Galvo scanners for laser manufacturing systems

Science.gov (United States)

Mirtchev, Theodore; Weeks, Robert; Minko, Sergey

2010-06-01

This paper summarizes the factors that limit the performance of moving-magnet galvo scanners driven by closed-loop digital servo amplifiers: torsional resonances, drifts, nonlinearities, feedback noise and friction. Then it describes a detailed Simulink® simulator that takes into account these factors and can be used to automatically tune the controller for best results with given galvo type and trajectory patterns. It allows for rapid testing of different control schemes, for instance combined position/velocity PID loops and displays the corresponding output in terms of torque, angular position and feedback sensor signal. The tool is configurable and can either use a dynamical state-space model of galvo's open-loop response, or can import the experimentally measured frequency domain transfer function. Next a drive signal digital pre-filtering technique is discussed. By performing a real-time Fourier analysis of the raw command signal it can be pre-warped to minimize all harmonics around the torsional resonances while boosting other non-resonant high frequencies. The optimized waveform results in much smaller overshoot and better settling time. Similar performance gain cannot be extracted from the servo controller alone.

Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller

International Nuclear Information System (INIS)

Nino, Daniel; Wang, Haowei; N Milstein, Joshua

2014-01-01

Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices. (paper)

Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller

Energy Technology Data Exchange (ETDEWEB)

Nino, Daniel; Wang, Haowei; N Milstein, Joshua, E-mail: josh.milstein@utoronto.ca [Department of Chemical and Physical Sciences, University of Toronto Mississauga, Mississauga, ON L5L 1C6 (Canada)

2014-09-01

Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices. (paper)