Paley, J I; Felici, F; Coda, S; Goodman, T P
2009-01-01
Real time control of heating systems is essential to maximize plasma performance and avoid or neutralize instabilities under changing plasma conditions. Several feedback control algorithms have been developed on the Tokamak a Configuration Variable (TCV) tokamak that use the electron cyclotron (ECRH/ECCD) system to control a wide range of plasma properties, including the plasma current, shape, profiles as well as the sawtooth instability. Controllers have been developed to obtain sawteeth of a pre-determined period, to maximize the sawtooth period using an extremum seeking control algorithm and finally to provide simultaneous control of the plasma emission profile peak and width using multiple independent EC actuators.
Negative-feedback control system of the high voltage power supply for ECRH
Ding Tonghai; Liu Baohua; Jiang Shufang
2001-01-01
A kind of high accuracy negative high voltage power supply (HVPS) was introduced. The serial feedback was regulated according to the character of the high power tetrode and a new kind of integrator with preset value, which solved the key technological problem of the HVPS that the ECRH system required a voltage of -80 kV, a pulse width of 10 - 100 ms and a precision of 99.7%. The result using a PSPICE code simulation has shown that the method is practical
ECRH on ASDEX Upgrade - System Status, Feed-Back Control, Plasma Physics Results -
Flamm J.
2012-09-01
Full Text Available The ASDEX Upgrade (AUG ECRH system now delivers a total of 3.9 MW to the plasma at 140 GHz. Three new units are capable of 2-frequency operation and may heat the plasma alternatively with 2.1 MW at 105 GHz. The system is routinely used with X2, O2, and X3 schemes. For Bt = 3.2 T also an ITER-like O1-scheme can be run using 105 GHz. The new launchers are capable of fast poloidal movements necessary for real-time control of the location of power deposition. Here real-time control of NTMs is summarized, which requires a fast analysis of massive data streams (ECE and Mirnov correlation and extensive calculations (equilibria, ray-tracing. These were implemented at AUG using a modular concept of standardized real-time diagnostics. The new realtime capabilities have also been used during O2 heating to keep the first reflection of the non-absorbed beam fraction on the holographic reflector tile which ensures a well defined second pass of the beam through the central plasma. Sensors for the beam position are fast thermocouples at the edge of the reflector tile. The enhanced ECRH power was used for several physics studies related to the unique feature of pure electron heating without fueling and without momentum input. As an example the effect of the variation of the heating mix in moderately heated H-modes is demonstrated using the three available heating systems, i.e. ECRH, ICRH and NBI. Keeping the total input power constant, strong effects are seen on the rotation, but none on the pedestal parameters. Also global quantities as the stored energy are hardly modified. Still it is found that the central ion temperature drops as the ECRH fraction exceeds a certain threshold.
Hennen, B.A.; Westerhof, E.; Nuij, P.W.J.M.; Ayten, B.; Baar, de M.R.; Bongers, W.A.; Bürger, A.; Lazzari, De D.; Oosterbeek, J.W.; Thoen, D.J.; Steinbuch, M.
2010-01-01
A demonstration of real-time feedback control for autonomous tracking and stabilization of m/n = 2/1 tearing modes in a tokamak using Electron Cyclotron Resonance Heating and Current Drive (ECRH/ECCD) is reported. The prototype system on TEXTOR combines in the same sight-line an Electron Cyclotron
Electron Cyclotron Resonance Heating (ECRH) Control System
Heefner, J.W.; Williams, C.W.; Lauze, R.R.; Karsner, P.G.
1985-01-01
The ECRH Control System was installed on the Tandem Mirror Experiment-Upgrade (TMX-U) in 1980. The system provides approximately 1 MW of 28 GHz microwave power to the TMX-U plasma. The subsystems of ECRH that must be controlled include high-voltage charging supplies, series pass tubes, and magnet supplies. In addition to the devices that must be controlled, many interlocks must be continuously monitored. The previous control system used relay logic and analog controls to operate the system. This approach has many drawbacks such as lack of system flexibility and maintainability. In order to address these problems, it was decided to go with a CAMAC and Modicon based system that uses a Hewlett-Packard 9836C personal computer to replace the previous analog controls. 2 figs
Study of MOD control system in ECRH
Su Yu; Liu Baohua; Ding Tonghai; Kuang Guangli
2005-01-01
High-voltage power supply (HVPS) is one of the important components in ECRH (Electron Cyclotron Resonance Heating). The MOD (modulator) control system is a key of the operation of HVPS and the whole system. The background and principium is introduced in this paper, especially the detail of the hardware and software of the control system is shown. The experiment, that shows stability, accuracy and reliability had reached the expected goal. (authors)
Real time control of plasmas and ECRH systems on TCV
Paley, J.I.; Felici, F.; Berrino, J.; Coda, S.; Cruz, N.; Duval, B.P.; Goodman, T.P.; Martin, Y.; Moret, J.-M.; Piras, F.; Rodrigues, A.P.; Santos, B.; Varandas, C.A.F.
2008-01-01
Developments in the real time control hardware on TCV paired with the flexibility of plasma shaping and ECRH actuators are opening many opportunities to perform real time experiments and develop algorithms and methods for fusion applications. The ability to control MHD instabilities is particularly
Architecture of central control system for the 10 MW ECRH-plant at W7-X
Braune, H. [Max-Plank-Institut fuer Plasmaphysik, Euratom Association Teilinstitut Greifswald, Wendelsteinstrasse 1, D-17491 Greifswald (Germany)], E-mail: harald.braune@ipp.mpg.de; Brand, P. [Universitaet Stuttgart, Institut fuer Plasmaforschung Pfaffenwaldring 31, D-70569 Stuttgart (Germany); Erckmann, V.; Jonitz, L. [Max-Plank-Institut fuer Plasmaphysik, Euratom Association Teilinstitut Greifswald, Wendelsteinstrasse 1, D-17491 Greifswald (Germany); Leonhardt, W.; Mellein, D. [Forschungszentrum Karlsruhe, Association EURATOM-FZK, IHM, FZK, Hermann-von-Helmholtz-Platz 1, 76344 Eggenstein-Leopoldshafen (Germany); Michel, G. [Max-Plank-Institut fuer Plasmaphysik, Euratom Association Teilinstitut Greifswald, Wendelsteinstrasse 1, D-17491 Greifswald (Germany); Mueller, G. [Universitaet Stuttgart, Institut fuer Plasmaforschung Pfaffenwaldring 31, D-70569 Stuttgart (Germany); Purps, F. [Max-Plank-Institut fuer Plasmaphysik, Euratom Association Teilinstitut Greifswald, Wendelsteinstrasse 1, D-17491 Greifswald (Germany); Schlueter, K.-H. [Universitaet Stuttgart, Institut fuer Plasmaforschung Pfaffenwaldring 31, D-70569 Stuttgart (Germany); Winkler, M. [Max-Plank-Institut fuer Plasmaphysik, Euratom Association Teilinstitut Greifswald, Wendelsteinstrasse 1, D-17491 Greifswald (Germany)
2007-10-15
Electron Cyclotron Resonance Heating (ECRH) is the main heating method for the Wendelstein 7-X stellarator (W7-X) which is presently under construction at IPP Greifswald. The mission of W7-X is to demonstrate the inherent steady state capability of stellarators at reactor relevant plasma parameters. A modular 10 MW ECRH-plant at 140 GHz with 1 MW CW-capability power for each module is also under construction to support the scientific objectives. The commissioning of the ECRH-plant is well under way; three gyrotrons are operational. The strict modular design allows to operate each gyrotron separately and independent from all others. The ECRH-plant consists of many devices such as gyrotrons and high voltage power supplies, superconductive magnets, collector sweep coils, gyrotron cooling systems with many water circuits and last but not least the quasi-optical transmission line for microwaves with remote controlled mirrors and further water cooled circuits. All these devices are essential for a CW operation. A steady state ECRH has specific requirements on the stellarator machine itself, on the microwave sources, transmission elements and in particular on the central control system. The quasi steady state operation (up to 30 min) asks for real time microwave power adjustment during the different segments of one stellarator discharge. Therefore, the ECRH-plant must operate with a maximum reliability and availability. A capable central control system is an important condition to achieve this goal. The central control system for the 10 MW ECRH-plant at W7-X comprises three main parts. In detail these are the voltage and current regulation of each gyrotron, the interlock system to prevent the gyrotrons from damages and the remote control system based on a hierarchy set of PLCs and computers. The architecture of this central control system is presented.
Position control of ECRH launcher mirrors by laser speckle sensor
Michelsen, Poul K.; Bindslev, Henrik; Hansen, Rene Skov; Hanson, Steen G.
2003-01-01
The planned ECRH system for JET included several fixed and steerable mirrors some of which should have been fixed to the building structure and some to the JET vessel structure. A similar system may be anticipated for ITER and for other fusion devices in the future. In order to have high reproducibility of the ECRH beam direction, it is necessary to know the exact positions of the mirrors. This is not a trivial problem because of thermal expansion of the vessel structures and of the launcher itself and of its support structure, the mechanical load on mirrors and support structures, and the accessibility to the various mirrors. We suggest to use a combination of infrared diagnostic of beam spot positions and a new technique published recently, which is based on a non-contact laser speckle sensor for measuring one- and two-dimensional angular displacement. The method is based on Fourier transforming the scattered field from a single laser beam that illuminates the target. The angular distribution of the light field at the target is linearly mapped onto an array image sensor placed in the Fourier plane. Measuring the displacement of this so-called speckle pattern facilitates the determination of the mirror orientation. Transverse target movement can be measured by observing the speckle movement in the image plane of the object. No special surface treatment is required for surfaces having irregularities of the order of or larger than the wavelength of the incident light. For the JET ECRH launcher it is mainly for the last mirror pointing towards the plasma where the technique may be useful. This mirror has to be steerable in order to reflect the microwave beam in the correct direction towards the plasma. Maximum performance of the microwave heating requires that the beam hits this mirror at its centre and that the mirror is turned in the correct angle. Inaccuracies in the positioning of the pull rods for controlling the mirror turning and thermal effects makes it
Testing and commissioning the multinode ECRH realtime control system on the FTU tokamak
Galperti, C.; Boncagni, L.; Alessi, E.; Sozzi, C.; Nowak, S.; Granucci, G.; Minelli, D.; Marchetto, C.
2014-01-01
Highlights: • We conceived, developed and commissioned a distributed multinode control hardware with proven real-time performances. • The adopted hardware solution is modular and reconfigurable. • The adopted software solution is able to host many experimental scenarios and is totally remotely programmable, configurable and testable. • Effective results in on-line MHD instability detection are presented. - Abstract: In tokamak machines, the ECRH heating system is crucial for plasma heating and for stability control. To be reliable, an ECRH control system should be deeply integrated into the supervision and control systems of the machine, and must be interconnected to the diagnostic instruments and the power actuators of the plant. Moreover, several ECRH experiments are under investigation by the community. So, for the sake of efficiency, it should be possible to reprogram a control system on the fly and possibly from remote locations, even during experiment campaigns. This paper presents the new ECRH control system under development at the FTU tokamak. This system consists of multiple units that acquire and process data and are linked through Ethernet and dedicated fiber-optic data links, under a Linux/MARTe framework. This paper also presents open-loop operative results, both about performances of the control system and about signal processing of the diagnostics relevant to MHD control
Testing and commissioning the multinode ECRH realtime control system on the FTU tokamak
Galperti, C., E-mail: galperti@ifp.cnr.it [EURATOM – ENEA – CNR Fusion Association, CNR-IFP, via R. Cozzi 53, 20125 Milan (Italy); Boncagni, L., E-mail: luca.boncagni@enea.it [EURATOM – ENEA – CNR Fusion Association, Frascati Research Center, Division of Fusion Physics, Rome, Frascati (Italy); Alessi, E.; Sozzi, C.; Nowak, S.; Granucci, G.; Minelli, D.; Marchetto, C. [EURATOM – ENEA – CNR Fusion Association, CNR-IFP, via R. Cozzi 53, 20125 Milan (Italy)
2014-03-15
Highlights: • We conceived, developed and commissioned a distributed multinode control hardware with proven real-time performances. • The adopted hardware solution is modular and reconfigurable. • The adopted software solution is able to host many experimental scenarios and is totally remotely programmable, configurable and testable. • Effective results in on-line MHD instability detection are presented. - Abstract: In tokamak machines, the ECRH heating system is crucial for plasma heating and for stability control. To be reliable, an ECRH control system should be deeply integrated into the supervision and control systems of the machine, and must be interconnected to the diagnostic instruments and the power actuators of the plant. Moreover, several ECRH experiments are under investigation by the community. So, for the sake of efficiency, it should be possible to reprogram a control system on the fly and possibly from remote locations, even during experiment campaigns. This paper presents the new ECRH control system under development at the FTU tokamak. This system consists of multiple units that acquire and process data and are linked through Ethernet and dedicated fiber-optic data links, under a Linux/MARTe framework. This paper also presents open-loop operative results, both about performances of the control system and about signal processing of the diagnostics relevant to MHD control.
Operation and control of high power Gyrotrons for ECRH systems in SST-1 and Aditya
Shukla, B.K., E-mail: shukla@ipr.res.in; Bora, D.; Jha, R.; Patel, Jatin; Patel, Harshida; Babu, Rajan; Dhorajiya, Pragnesh; Dalakoti, Shefali; Purohit, Dharmesh
2016-11-15
Highlights: • Operation and control of high power Gyrotrons. • Data acquisition and control (DAQ) for Gyrotron system. • Ignitron based crowbar protection. • VME and PXI based systems. - Abstract: The Electron Cyclotron Resonance Heating (ECRH) system is an important heating system for the reliable start-up of tokamak. The 42 GHz and 82.6 GHz ECRH systems are used in tokamaks SST-1 and Aditya to carry out ECRH related experiments. The Gyrotrons are high power microwave tubes used as a source for ECRH systems. The Gyrotron is a delicate microwave tube, which deliver megawatt level power at very high voltage ∼40–50 kV with the current requirement ∼10 A–50 A. The Gyrotrons are associated with the subsystems like: High voltage power supplies (Beam voltage and anode voltage), dedicated crowbar system, magnet, filament and ion pump power supplies, cooling, interlocks and a dedicated data acquisition & control (DAC) system. There are two levels of interlocks used for the protection of Gyrotron: fast interlocks (arcing, beam over current, dI/dt, anode voltage and anode over current etc.) operate within 10 μs and slow interlocks (cooling, filament, silence of Gyrotron, ion pump and magnet currents) operate within 100 ms. Two Gyrotrons (42 GHz/500 kW/500 ms and 82.6 GHz/200 kW/1000 s) have been commissioned on dummy load for full parameters. The 42 GHz ECRH system has been integrated with SST-1 & Aditya tokamak and various experiments have been carried out related to ECRH assisted breakdown and start-up of tokamak at fundamental and second harmonic. These Gyrotrons are operated with VME based data acquisition and control (DAC) system. The DAC system is capable to acquire 64 digital and 32 analog signals. The system is used to monitor & acquire the data and also used for slow interlocks for the protection of Gyrotron. The data acquired from the system are stored online on VME system and after the shot stored in a file in binary format. The MDSPlus, a set of
Adaptive control strategy for ECRH negative high-voltage power supply based on CMAC neural network
Luo Xiaoping; Du Pengying; Du Shaowu
2011-01-01
In order to solve the problem that the negative high-voltage power supply in an electron cyclotron resonance heating (ECRH) system can not satisfy the requirements because of the nonlinearity and sensitivity, the direct inverse model control strategy was proposed by using cerebellar model articulation controller(CMAC) for better control, and experiments were carried out to study the system performances with CMAC tracing dynamic signals. The results show that this strategy is strong in self-learning and self-adaptation and easy to be realized. (authors)
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)
PXIe based data acquisition and control system for ECRH systems on SST-1 and Aditya tokamak
Patel, Jatinkumar J., E-mail: jatin@ipr.res.in [Institute for Plasma Research, Bhat, Gandhinagar (India); Shukla, B.K.; Rajanbabu, N.; Patel, H.; Dhorajiya, P.; Purohit, D. [Institute for Plasma Research, Bhat, Gandhinagar (India); Mankadiya, K. [Optimized Solutions Pvt. Ltd (India)
2016-11-15
Highlights: • Data Aquisition and control system (DAQ). • PXIe hardware–(PXI–PCI bus extension for Instrumention Express). • RHVPS–Regulated High Voltage Power supply. • SST1–Steady state superconducting tokamak. - Abstract: In Steady State Superconducting (SST-1) tokamak, various RF heating sub-systems are used for plasma heating experiments. In SST-1, Two Electron Cyclotron Resonance Heating (ECRH) systems have been installed for pre-ionization, heating and current drive experiments. The 42 GHz gyrotron based ECRH system is installed and in operation with SST-1 plasma experiments. The 82.6 GHz gyrotron delivers 200 kW CW power (1000 s) while the 42 GHz gyrotron delivers 500 kW power for 500 ms duration. Each gyrotron system consists of various auxiliary power supplies, the crowbar unit and the water cooling system. The PXIe (PCI bus extension for Instrumentation Express)bus based DAC (Data Acquisition and Control) system has been designed, developed and under implementation for safe and reliable operation of the gyrotron. The Control and Monitoring Software applications have been developed using NI LabView 2014 software with real time support on windows platform.
PXIe based data acquisition and control system for ECRH systems on SST-1 and Aditya tokamak
Patel, Jatinkumar J.; Shukla, B.K.; Rajanbabu, N.; Patel, H.; Dhorajiya, P.; Purohit, D.; Mankadiya, K.
2016-01-01
Highlights: • Data Aquisition and control system (DAQ). • PXIe hardware–(PXI–PCI bus extension for Instrumention Express). • RHVPS–Regulated High Voltage Power supply. • SST1–Steady state superconducting tokamak. - Abstract: In Steady State Superconducting (SST-1) tokamak, various RF heating sub-systems are used for plasma heating experiments. In SST-1, Two Electron Cyclotron Resonance Heating (ECRH) systems have been installed for pre-ionization, heating and current drive experiments. The 42 GHz gyrotron based ECRH system is installed and in operation with SST-1 plasma experiments. The 82.6 GHz gyrotron delivers 200 kW CW power (1000 s) while the 42 GHz gyrotron delivers 500 kW power for 500 ms duration. Each gyrotron system consists of various auxiliary power supplies, the crowbar unit and the water cooling system. The PXIe (PCI bus extension for Instrumentation Express)bus based DAC (Data Acquisition and Control) system has been designed, developed and under implementation for safe and reliable operation of the gyrotron. The Control and Monitoring Software applications have been developed using NI LabView 2014 software with real time support on windows platform.
Real time control of plasmas and ECRH systems on TCV
Paley, J.I.; Berrino, J.; Coda, S.; Duval, B.P.; Felici, F.; Goodman, T.P.; Martin, Y.; Moret, J.M.; Piras, F.; Cruz, N.; Rodriques, A.P.; Santos, B.; Varandas, C.A.F.
2009-01-01
Developments in the real time control hardware on Tokamak a Configuration Variable (TCV) coupled with the flexibility of plasma shaping and electron cyclotron (EC) heating and current drive actuators are opening many opportunities to perform real time experiments and develop algorithms and methods for fusion applications. The ability to control magnetohydrodynamic instabilities is particularly important for achieving high performance fusion plasmas and EC is envisaged as a key actuator in maintaining high performance. We have successfully demonstrated control of the sawtooth instability using the EC launcher injection angle to modify the current profile around the q =1 surface. This paper presents an overview of recent real time control experiments on TCV, developments in the hardware and algorithms together with plans for the future.
Real time control of plasmas and ECRH systems on TCV
Paley, J.I.; Berrino, J.; Coda, S.; Cruz, N.; Duval, B.P.; Felici, F.; Goodman, T.P.; Martin, Y.; Moret, J.-M.; Piras, F.; Rodriques, A.P.; Santos, B.; Varandas, C.A.F.
2009-01-01
Developments in the real time control hardware on Tokamak Configuration Variable (TCV) coupled with the flexibility of plasma shaping and electron cyclotron (EC) heating and current drive actuators are opening many opportunities to perform real time experiments and develop algorithms and methods for
Charging system of ECRH high-voltage power supply and its control system
Hu Guofu; Ding Tonghai; Liu Baohua; Jiang Shufang
2003-01-01
High-voltage power supply (HVPS) of Electron Cyclotron Resonance Heating (ECRH) for HT-7 and HT-7U is presently being constructed. The high voltage (100 kV) energy of HVPS is stored in the capacitor banks, and they can power one or two gyrotrons. All the operation of the charging system will be done by the control system, where the field signals are interfaced to programmable logic controller (PLC). The use of PLC not only simplifies the control system, but also enhances the reliability. The software written by using configuration software installed in the master computer allows for remote and multiple operator control, and the status and data information is also remotely available
Progress on the ITER ECRH upper launcher steering mirror identification and control
Collazos, Andres; Bertizzolo, Robert; Chavan, Rene; Dolizy, Frederic; Felici, Federico; Henderson, Mark A.; Landis, Jean-Daniel; Sanchez, Francisco
2009-01-01
The main objective of the ITER ECRH upper launcher (UL) is to control magnetohydrodynamic activity, in particular neoclassical tearing modes (NTMs), by driving several MW of EC current near the q = 1, 3/2, 2 flux surfaces, where NTMs are expected to occur. The steering of the EC power is done by the steering mechanism assembly (SMA) that comprises a reflecting mirror and a frictionless and backlash free pneumo-mechanical system actuated with pressurised helium gas. The control requirements for this component in terms of steering accuracy and speed are reviewed. With respect to these requirements, the performance of the first SMA prototype is assessed in a mock up of the UL pneumatic configuration. The expected design characteristics of the SMA have been verified and an overall satisfactory performance has been assessed. Furthermore, the main challenges for the future work, such as the pressure and angular position control, have been identified.
MARTe at FTU: The new feedback control
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.
Fault Tolerant Feedback Control
Stoustrup, Jakob; Niemann, H.
2001-01-01
An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out...... that there is a separation be-tween the feedback controller and the fault tolerant part. The closed loop feedback properties are handled by the nominal feedback controller and the fault tolerant part is handled by the design of the Youla parameter. The design of the fault tolerant part will not affect the design...... of the nominal feedback con-troller....
FEEDBACK AND LOGISTICS CONTROLLING
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
Tancredi, J.
1983-01-01
Hughes, Electron Dynamics Division is developing gyrotrons for ECRH requirements. In the development program, techniques have been evolved for transmission system components. These techniques include over-moded waveguide tapers, high average power windows, and rf water loads for testing
Dynamics of nonlinear feedback control
Snippe, H.P.; Hateren, J.H. van
2007-01-01
Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input step...
Simulation of feedback control system for NTM stabilisation in ASDEX Upgrade
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
Dynamics of nonlinear feedback control
Snippe, H.P.; Hateren, J.H. van
Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain
Höhnle, H.; Stober, J.; Herrmann, A.; Kasparek, W.; Leuterer, F.; Monaco, F.; Neu, R.; Schmid-Lorch, D.; Schütz, H.; Schweinzer, J.; Stroth, U.; Wagner, D.; Vorbrugg, S.; Wolfrum, E.; ASDEX Upgrade Team
2011-08-01
ASDEX Upgrade has been operated with tungsten-coated plasma-facing components for several years. H-mode operation with good confinement has been demonstrated. Nevertheless, purely neutral beam injection-heated H-modes with reduced gas puff, moderate heating power or/and increased triangularity tend to accumulate tungsten, followed by a radiative collapse. Under these conditions, central electron heating with electron cyclotron resonance heating (ECRH), usually in X2 polarization, changes the impurity transport in the plasma centre, reducing the central tungsten concentration and, in many cases, stabilizing the plasma. In order to extend the applicability of central ECRH to a wider range of magnetic field and plasma current additional ECRH schemes with reduced single-pass absorption have been implemented: X3 heating allows us to reduce the magnetic field by 30%, such that the first H-modes with an ITER-like value of the safety factor of q95 = 3 could be run in the tungsten-coated device. O2 heating increases the cutoff density by a factor of 2 allowing higher currents and triangularities to be addressed. For both schemes, scenarios have been developed to cope with the associated reduced absorption. In the case of central X3 heating, the X2 resonance lies close to the pedestal top at the high-field side of the plasma, serving as a beam dump. For O2, holographic mirrors have been developed which guarantee a second pass through the plasma centre. The beam position on these reflectors is controlled by fast thermocouples. Stray-radiation protection has been implemented using sniffer probes.
Hoehnle, H.; Kasparek, W.; Stroth, U.; Stober, J.; Herrmann, A.; Leuterer, F.; Monaco, F.; Neu, R.; Schmid-Lorch, D.; Schuetz, H.; Schweinzer, J.; Wagner, D.; Vorbrugg, S.; Wolfrum, E.
2011-01-01
ASDEX Upgrade has been operated with tungsten-coated plasma-facing components for several years. H-mode operation with good confinement has been demonstrated. Nevertheless, purely neutral beam injection-heated H-modes with reduced gas puff, moderate heating power or/and increased triangularity tend to accumulate tungsten, followed by a radiative collapse. Under these conditions, central electron heating with electron cyclotron resonance heating (ECRH), usually in X2 polarization, changes the impurity transport in the plasma centre, reducing the central tungsten concentration and, in many cases, stabilizing the plasma. In order to extend the applicability of central ECRH to a wider range of magnetic field and plasma current additional ECRH schemes with reduced single-pass absorption have been implemented: X3 heating allows us to reduce the magnetic field by 30%, such that the first H-modes with an ITER-like value of the safety factor of q 95 = 3 could be run in the tungsten-coated device. O2 heating increases the cutoff density by a factor of 2 allowing higher currents and triangularities to be addressed. For both schemes, scenarios have been developed to cope with the associated reduced absorption. In the case of central X3 heating, the X2 resonance lies close to the pedestal top at the high-field side of the plasma, serving as a beam dump. For O2, holographic mirrors have been developed which guarantee a second pass through the plasma centre. The beam position on these reflectors is controlled by fast thermocouples. Stray-radiation protection has been implemented using sniffer probes.
Linear feedback controls the essentials
Haidekker, Mark A
2013-01-01
The design of control systems is at the very core of engineering. Feedback controls are ubiquitous, ranging from simple room thermostats to airplane engine control. Helping to make sense of this wide-ranging field, this book provides a new approach by keeping a tight focus on the essentials with a limited, yet consistent set of examples. Analysis and design methods are explained in terms of theory and practice. The book covers classical, linear feedback controls, and linear approximations are used when needed. In parallel, the book covers time-discrete (digital) control systems and juxtapos
Dynamics of nonlinear feedback control.
Snippe, H P; van Hateren, J H
2007-05-01
Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input steps, the dynamics of gain and attenuation can be very different, depending on the mathematical form of the nonlinearity and the ordering of the nonlinearity and the filtering in the feedback loop. Further, the dynamics of feedback control can be strongly asymmetrical for increment versus decrement steps of the input. Nevertheless, for each of the models studied, the nonlinearity in the feedback loop can be chosen such that immediately after an input step, the dynamics of feedback control is symmetric with respect to increments versus decrements. Finally, we study the dynamics of the output of the control loops and find conditions under which overshoots and undershoots of the output relative to the steady-state output occur when the models are stimulated with low-pass filtered steps. For small steps at the input, overshoots and undershoots of the output do not occur when the filtering in the control path is faster than the low-pass filtering at the input. For large steps at the input, however, results depend on the model, and for some of the models, multiple overshoots and undershoots can occur even with a fast control path.
PID control with robust disturbance feedback control
Kawai, Fukiko; Vinther, Kasper; Andersen, Palle
2015-01-01
Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....
Feedback control of resistive instabilities
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
Feedback control of resistive instabilities
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
Controlling chaotic systems via nonlinear feedback control
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
Actuator management for ECRH at ASDEX Upgrade
Rapson, Christopher J., E-mail: chris.rapson@ipp.mpg.de; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang
2015-10-15
Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.
Actuator management for ECRH at ASDEX Upgrade
Rapson, Christopher J.; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang
2015-01-01
Highlights: • Real-time actuator management algorithm developed for ECRH at ASDEX Upgrade. • First use of a control hierarchy in a fusion experiment. • Cost function evaluates optimal combination of all gyrotrons to all possible targets. • Considers many factors e.g. mirror movement, power available, presence and mode number of NTMs. • Configurable, robust algorithm is ready for online testing. - Abstract: Automated actuator management will be necessary on long pulse fusion experiments to adjust to unforeseen plasma events and unpredictable actuator availability. However, as a control problem, actuator management is underdeveloped in the fusion community. This contribution proposes an algorithm based on a control hierarchy and a cost function to optimally allocate scarce actuator resources to various objectives in real-time. Details are given on the development and offline testing which have been completed ready for deployment at ASDEX Upgrade. Electron Cyclotron Resonance Heating (ECRH) is particularly relevant for actuator management due to its localised deposition which can flexibly target specific regions of the plasma for different effects such as non-inductive current drive, impurity regulation, control of MHD modes and of course heating. A further motivation is that automated actuator management will simplify the setup of ECRH, in keeping with the long term goal of integrating MHD control as a routine part of ASDEX Upgrade experiments.
Recent Upgrades and Extensions of the ASDEX Upgrade ECRH System
Wagner, Dietmar; Stober, Jörg; Leuterer, Fritz; Monaco, Francesco; Münich, Max; Schmid-Lorch, Dominik; Schütz, Harald; Zohm, Hartmut; Thumm, Manfred; Scherer, Theo; Meier, Andreas; Gantenbein, Gerd; Flamm, Jens; Kasparek, Walter; Höhnle, Hendrik; Lechte, Carsten; Litvak, Alexander G.; Denisov, Gregory G.; Chirkov, Alexey; Popov, Leonid G.; Nichiporenko, Vadim O.; Myasnikov, Vadim E.; Tai, Evgeny M.; Solyanova, Elena A.; Malygin, Sergey A.
2011-03-01
The multi-frequency Electron Cyclotron Heating (ECRH) system at the ASDEX Upgrade tokamak employs depressed collector gyrotrons, step-tunable in the range 105-140 GHz. The system is equipped with a fast steerable launcher allowing for remote steering of the ECRH RF beam during the plasma discharge. The gyrotrons and the mirrors are fully integrated in the discharge control system. The polarization can be controlled in a feed-forward mode. 3 Sniffer probes for millimeter wave stray radiation detection have been installed.
ECRH-assisted start-up in ITER
Lloyd, B.; Carolan, P.G.; Warrick, C.D.
1996-07-01
In ITER, the electric field applied for ionisation and to ramp up the plasma current may be limited to ∼ 0.3 V/m. In this case, based on established theories of the avalanche process, it is shown that ohmic breakdown in ITER is only possible over a narrow range of pressure and magnetic error field. Therefore, ECRH may be necessary to provide robust and reliable start-up. ECRH can ensure prompt breakdown over a wide range of prefill pressure and error field and can also give control over the initial time and location of breakdown. For ECRH-assisted start-up in ITER, the power and pulse length requirements are essentially determined by the need to ensure burnthrough, i.e. complete ionisation of hydrogen and the transition to high ionisation states of impurities. A 0-D code (with inclusion of some 1-D effects) has been developed to analyse burnthrough in ITER. The 0-D simulations indicate that control of the deuterium density is the key factor for ensuring successful start-up in ITER, where the effects of neutral screening and dynamic fuelling by the ex-plasma volume are also crucial. It is concluded that without ECRH, successful start-up will only be possible over a very restricted range of parameters but 3MW of absorbed ECRH power will ensure reasonably robust start-up for a broad range of conditions with beryllium impurity. In the case of carbon impurity, even with an absorbed ECRH power of 5MW one may be restricted to low prefill pressure and/or low carbon concentration for successful start-up. (Author)
Nonlinear H-ininity state feedback controllers:
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...
ECRH Studies on Tokamak Plasmas.
1980-10-10
r.I*cru.Dtrtibution uUnliited 300 Unicorn Pork Drive Woburn, Massachusetts 04801 ECRH STUDIES ON TOKAMAK PLASMAS JAYCOR Project No. 6183 Final Report...up techniques now in use or being suggested, include growing the plasma from a small minor radius or applying a negative voltage spike immediately
Multivariable Feedback Control of Nuclear Reactors
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.
Feedback control of coupled-bunch instabilities
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
Control and diagnostic uses of feedback
Sen, A. K.
2000-01-01
Recent results on multimode feedback control of magnetohydrodynamic (MHD) modes and a variety of diagnostic uses of feedback are summarized. First, is the report on reduction and scaling of transport under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, it is found that the scaling of the diffusion coefficient is linear with root-mean-square rms fluctuation level. The scaling appears not to agree with any generic theory. A variety of other diagnostic uses of feedback have been developed. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low-order dynamic model, suitable for the convenient study of both transport and feedback. First, the time series analysis method is used for the determination of chaotic attractor dimension of plasma fluctuations. For ExB rotational flute modes it is found to be close to three, indicating that a low-order dynamic model may be adequate for transport prediction and feedback controller design. Second, a new method for direct experimental determination of nonlinear dynamical models of plasma turbulence using feedback has been developed. Specifically, the process begins with a standard three-wave coupling model and introduces a variable feedback gain. The power spectrum, delayed power spectrum, and bispectrum of fluctuations are then experimentally obtained. By varying the feedback gain continuously, an arbitrary number of numerical equations for a fixed number of unknowns can be generated. Their numerical solution yields the linear dispersion, as well as nonlinear coupling coefficients. This method has been successfully applied for ExB rotationally driven flute modes. (c) 2000 American Institute of Physics
Artificial proprioceptive feedback for myoelectric control.
Pistohl, Tobias; Joshi, Deepak; Ganesh, Gowrishankar; Jackson, Andrew; Nazarpour, Kianoush
2015-05-01
The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered noninvasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.
Fast polarizers installation for ECRH and ECE in TCV
Silva, Miguel, E-mail: miguel.silva@epfl.ch [Ecole Polytechnique Federale de Lausanne (EPFL), Centre de Recherches en Physique des Plasmas (CRPP), Association EURATOM-Confederation Suisse, CH-1015 Lausanne (Switzerland); Goodman, Timothy; Felici, Federico; Porte, Laurie [Ecole Polytechnique Federale de Lausanne (EPFL), Centre de Recherches en Physique des Plasmas (CRPP), Association EURATOM-Confederation Suisse, CH-1015 Lausanne (Switzerland)
2011-10-15
We report on the installation of fast polarizers for ECRH injection and ECE diagnostics, in the TCV tokamak. The main goal is to change the polarization during a plasma shot and react to changing conditions such as: plasma current and position, ECRH injection angles as well as ECE oblique observation angle and correlation ECE frequency. This will allow tracking of plasma variations, find optimum parameters to maximize ECRH absorption and improve the quality and consistency of ECE measurements. The polarization is varied using two fast polarizers, from General Atomics, positioned either in the evacuated transmission line for ECRH, or in a similar non-evacuated line near a real-time moveable directional antenna for ECE. A programmable driver is used to control a servo-motor and allows three operation modes during a plasma shot: fixed angle position, pre-programmed reference waveform and following of a real-time reference waveform. Preliminary tests of the motor controller achieved an 8 Hz bandwidth for a {+-}4{sup o} amplitude motion and a 2.2 Hz bandwidth for a {+-}4{sup o} amplitude motion. The fast polarizers are presently in the ECE system and the control hardware is being installed.
Control of an atom laser using feedback
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
Feedback control strategies for the Liu chaotic system
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
Recent experiments with ECRH/ECCD in T-10
Kislov, D.A.
2001-01-01
Experiments with ECRH performed during 1998-2000 are presented. An operating regime with an edge transport barrier, interpreted as the H-mode, has been studied with both on-axis and off-axis ECRH. Experimental data imply formation of an internal transport barrier simultaneously with the external transport barrier in the case of off-axis ECRH. Strong evolution of plasma potential in the regions of the external and internal transport barriers has been observed using Heavy Ion Beam Probe diagnostics. The mode of improved confinement with peaked density profiles and increased ion temperature has been observed after pellet injection into ECRH heated plasmas. Experimental study of q(r) profile control by ECCD has been performed. Instabilities, identified as the neoclassical tearing modes, have been found to limit beta in the regimes with a high fraction of bootstrap current. The dependence of the critical β on the q(r) profile has been observed. A systematic study of plasma turbulence has been started using Correlation Reflectometry diagnostics. (author)
Feedback and control for everyone
Albertos, Pedro
2010-01-01
This intriguing and motivating book presents the basic ideas and understanding of control, signals and systems for readers interested in engineering and science. Through a series of examples, the book explores both the theory and the practice of control.
The fast correction coil feedback control system
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
Non interacting control by measurement feedback
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
Feedback Control of MEMS to Atoms
Shapiro, Benjamin
2012-01-01
Feedback Control of MEMS to Atoms illustrates the use of control and control systems as an essential part of functioning integrated miniaturized systems. The book is organized according to the dimensional scale of the problem, starting with microscale systems and ending with atomic-scale systems. Similar to macroscale machines and processes, control systems can play a major role in improving the performance of micro- and nanoscale systems and in enabling new capabilities that would otherwise not be possible. The majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control theory and engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry. This book: Shows how the utilization of feedback control in nanotechnology instrumentation can yield results far better than passive systems can Discusses the application of control systems to problems...
ECRH experiments in ASDEX Upgrade
Leuterer, F.; Guenter, S.; Hobirk, J.; Kirov, K.; Ryter, F.; Wolf, R.; Zohm, H.; Gantenbein, G.
2001-01-01
In ASDEX Upgrade ECRH and ECCD with a power of up to 2 MW has been used. With counter ECCD in discharges with an internal transport barrier we achieved an electron temperature of ≅13 keV. In low density ohmic plasmas we obtained an rf driven current of ≅80% both in co- and counter directions. Neoclassical tearing modes have been completly stabilised by driving a current on the resonant q-surface. Electron heat transport has been studied in standard L- and H-mode plasmas and can be described by a dependence on a critical electron temperature gradient
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)
Entanglement-assisted quantum feedback control
Yamamoto, Naoki; Mikami, Tomoaki
2017-07-01
The main advantage of quantum metrology relies on the effective use of entanglement, which indeed allows us to achieve strictly better estimation performance over the standard quantum limit. In this paper, we propose an analogous method utilizing entanglement for the purpose of feedback control. The system considered is a general linear dynamical quantum system, where the control goal can be systematically formulated as a linear quadratic Gaussian control problem based on the quantum Kalman filtering method; in this setting, an entangled input probe field is effectively used to reduce the estimation error and accordingly the control cost function. In particular, we show that, in the problem of cooling an opto-mechanical oscillator, the entanglement-assisted feedback control can lower the stationary occupation number of the oscillator below the limit attainable by the controller with a coherent probe field and furthermore beats the controller with an optimized squeezed probe field.
Studies of the disruption prevention by ECRH at plasma current rise stage in limiter discharges
Alikaev, V.V.; Borshegovskij, A.A.; Chistyakov, V.V.
1999-01-01
Studies of disruption prevention by means of ECRH in T-10 at the plasma current rise phase in limiter discharges with circular plasma cross-section were performed. Reliable disruption prevention by ECRH at HF power (P HF ) min level equal to 20% of ohmic heating power P OH was demonstrated. m/n=2/1 mode MHD-activity developed before disruption (with characteristic time ∼120 ms) can be considered as disruption precursor and can be used in a feedback system. (author)
Structural learning in feedforward and feedback control.
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.
Feedback control of superconducting quantum circuits
Ristè, D.
2014-01-01
Superconducting circuits have recently risen to the forefront of the solid-state prototypes for quantum computing. Reaching the stage of robust quantum computing requires closing the loop between measurement and control of quantum bits (qubits). This thesis presents the realization of feedback
Microcontroller-based Feedback Control Laboratory Experiments
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.
Delayed feedback control in quantum transport.
Emary, Clive
2013-09-28
Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.
Nonholonomic feedback control among moving obstacles
Armstrong, Stephen Gregory
A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.
LHC beam stability and feedback control
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
LHC beam stability and feedback control
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
ECRH launching scenario in FFHR-d1
Yanagihara, Kota; Kubo, Shin; Shimozuma, Takashi; Yoshimura, Yasuo; Igami, Hiroe; Takahashi, Hiromi; Tsujimura, Tohru; Makino, Ryohhei
2016-10-01
ECRH is promising as a principal heating system in a prototype helical reactor FFHR-d1 where the heating power of 80 MW is required to bring the plasma parameter to break even condition. To generate the plasma and bring it to ignition condition in FFHR-d1, it is effective to heat the under/over-dense plasma with normal ECRH or Electron Bernstein Wave (EBW). Normal ECRH is well established but heating via EBW need sophisticated injection control. EBW can be excited via the O(ordinary)-X(extraordinary)-B(EBW) mode conversion process by launching the ordinary wave from the low field side to plasma cut-off layer with optimum injection angle, and the range of injection angle to get high OXB mode conversion rate is called OXB mode conversion window. Since the window position can change as the plasma parameter, it is necessary to optimize the injection angle so as to aim the window in response to the plasma parameters. Candidates of antenna positions are determined by optimum injection points on the plasma facing wall calculated by the injection angle. Given such picked up area, detailed analysis using ray-tracing calculations and engineering antenna design will be performed.
Smart building temperature control using occupant feedback
Gupta, Santosh K.
This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as
Feedback control of vertical instability in TNS
Frantz, E.R.
1978-05-01
Due to the unfavorable curvature of the vertical vacuum magnetic field, elongated plasmas are vertically unstable when the elongation, epsilon, becomes too large. The TNS (The Next Step) tokamak, as evolved in the Westinghouse-ORNL studies has an inside-D configuration (epsilon = 1.6, A = 5/1.25 = 4) characterized by an average decay index n approximately equal -0.75 at the plasma flux surface near the magnetic axis and is vertically unstable with a growth rate γ 0 approximately 10 5 sec -1 . Eddy currents produced in the vacuum vessel wall will slow this instability to growth rates γ 0 approximately 10 2 sec -1 provided there are no transverse insulating gaps in the vessel wall. A matrix equation has been developed for calculating the eddy currents induced in the EF coils and their stabilizing effect. Control theory for feedback systems with and without delay time is presented and possible plasma position detectors are discussed. For a plasma current of 6.1 MA, the controller peak power requirements using separate controller circuits are approximately 1 MW depending upon EF coil configurations and time delay. This feedback system is designed to stabilize a maximum plasma excursion of 10 cm from the midplane with delay times up to 2 sec
Design Of Combined Stochastic Feedforward/Feedback Control
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.
Brand, P.; Mueller, G.A.
2003-01-01
For plasma heating by ECR in the Stellarator W7-X under construction, 140 GHz gyrotrons with 1 MW cw output power are under development. These tubes have a voltage depressed collector for electron energy recovery. Each gyrotron is fed by two high-voltage sources: a high-power supply for driving the electron beam and a precision low-power supply for beam acceleration. In addition, a protection system with a thyratron crowbar for fast power removal in case of gyrotron arcing is installed. The low-power high-voltage source for beam acceleration is realized by a high-voltage servo-amplifier driving the depression voltage such that the influence of the voltage noise of the main high-power supply on the acceleration voltage is suppressed by feed-back control of the amplifier. Design and simulation of the servo-amplifier by PSpice is presented
A high frequency, high power CARM proposal for the DEMO ECRH system
Mirizzi, Francesco; Spassovsky, Ivan; Ceccuzzi, Silvio; Dattoli, Giuseppe; Di Palma, Emanuele; Doria, Andrea; Gallerano, Gianpiero; Lampasi, Alessandro; Maffia, Giuseppe; Ravera, GianLuca; Sabia, Elio; Tuccillo, Angelo Antonio; Zito, Pietro
2015-01-01
Highlights: • ECRH system for DEMO. • Cyclotron Auto-Resonance Maser (CARM) devices. • Relativistic electron beams. • Bragg reflectors. • High voltage pulse modulators. - Abstract: ECRH&CD systems are extensively used on tokamak plasmas due to their capability of highly tailored power deposition, allowing very localised heating and non-inductive current drive, useful for MHD and profiles control. The high electron temperatures expected in DEMO will require ECRH systems with operating frequency in the 200–300 GHz range, equipped with a reasonable number of high power (P ≥ 1 MW) CW RF sources, for allowing central RF power deposition. In this frame the ENEA Fusion Department (Frascati) is coordinating a task force aimed at the study and realisation of a suitable high power, high frequency reliable source.
A high frequency, high power CARM proposal for the DEMO ECRH system
Mirizzi, Francesco, E-mail: francesco.mirizzi@enea.it [Consorzio CREATE, Via Claudio 21, I-80125 Napoli (Italy); Spassovsky, Ivan [Unità Tecnica Applicazioni delle Radiazioni – ENEA, C.R. Frascati, via E. Fermi 45, I-00044 Frascati (Italy); Ceccuzzi, Silvio [Unità Tecnica Fusione – ENEA C. R. Frascati, via E. Fermi 45, 00044 Frascati, Roma (Italy); Dattoli, Giuseppe; Di Palma, Emanuele; Doria, Andrea; Gallerano, Gianpiero [Unità Tecnica Applicazioni delle Radiazioni – ENEA, C.R. Frascati, via E. Fermi 45, I-00044 Frascati (Italy); Lampasi, Alessandro; Maffia, Giuseppe; Ravera, GianLuca [Unità Tecnica Fusione – ENEA C. R. Frascati, via E. Fermi 45, 00044 Frascati, Roma (Italy); Sabia, Elio [Unità Tecnica Applicazioni delle Radiazioni – ENEA, C.R. Frascati, via E. Fermi 45, I-00044 Frascati (Italy); Tuccillo, Angelo Antonio; Zito, Pietro [Unità Tecnica Fusione – ENEA C. R. Frascati, via E. Fermi 45, 00044 Frascati, Roma (Italy)
2015-10-15
Highlights: • ECRH system for DEMO. • Cyclotron Auto-Resonance Maser (CARM) devices. • Relativistic electron beams. • Bragg reflectors. • High voltage pulse modulators. - Abstract: ECRH&CD systems are extensively used on tokamak plasmas due to their capability of highly tailored power deposition, allowing very localised heating and non-inductive current drive, useful for MHD and profiles control. The high electron temperatures expected in DEMO will require ECRH systems with operating frequency in the 200–300 GHz range, equipped with a reasonable number of high power (P ≥ 1 MW) CW RF sources, for allowing central RF power deposition. In this frame the ENEA Fusion Department (Frascati) is coordinating a task force aimed at the study and realisation of a suitable high power, high frequency reliable source.
Combined feedforward and feedback control of end milling system
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...
Wall conditioning by ECRH discharges and He-GDC in the limiter phase of Wendelstein 7-X
Wauters, T.; Brakel, R.; Brezinsek, S.; Dinklage, A.; Goriaev, A.; Laqua, H. P.; Marsen, S.; Moseev, D.; Stange, T.; Schlisio, G.; Pedersen, T. Sunn; Volzke, O.; Wenzel, U.; the W7-X Team
2018-06-01
Wendelstein 7-X (W7-X) relies on wall conditioning to control the density and the impurity content of the plasma. Wall conditioning in the first operation campaign of W7-X consisted of baking at 150 °C during 1 week prior to operation, glow discharge conditioning (GDC) in helium (He) and electron cyclotron resonance heating (ECRH) discharges. Additionally, the usage of He-GDC was limited to avoid sputtering and migration of metallic plasma facing components. This presented a unique opportunity for studying the applicability of ECRH discharges for initial wall conditioning on a stellarator, albeit in the carbon limiter configuration. A single envelope curve is observed in the normalised outgassing data that takes into account all ECRH discharges. This illustrates that the majority of discharges operates at the limits of a radiative collapse. Hydrogen recycling dominated the fuelling of ECRH discharges throughout while CO outgassing was found strongest at the start of the campaign. A reduction of recycling was observed throughout the campaign. Temporarily depleting the walls from H and impurities was possible by He-GDC. It was shown that the recycling coefficient in -ECRH plasmas could be reduced and the pulse duration significantly extended by He-’recovery’ ECRH plasmas. Good wall conditions were defined by normalised outgassing values below mbar kJ‑1. In absence of -GDC, more than 311 cumulated discharge seconds of ECRH discharges are needed for obtaining lasting low outgassing levels. A release model with two trapping reservoirs could reproduce the normalised outgassing trend, including ECRH and GDC plasma wall interactions.
ECRH and ECCD scenarios for W7-X
Laqua H.P.
2012-09-01
Full Text Available The main ECRH scenarios for the W7-X Stellarator are described. Both X2 (low and moderate densities and O2 scenarios (high density have been studied. Since O2 scenario cannot be realized without pre-heating, transition from X2 to O2 scenarios has been discussed. Due to a lack of Ohmic transformer, only ECCD is available for compensating the bootstrap current and for controlling the edge rotational transform value. The efficiency of ECCD for all main scenarios has been estimated. All simulations have been performed by a 1D transport code coupled self-consistently with ray-tracing code.
Minimal-Inversion Feedforward-And-Feedback Control System
Seraji, Homayoun
1990-01-01
Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.
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...
Design of output feedback controller for a unified chaotic system
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
Sensory-Feedback Exoskeletal Arm Controller
An, Bin; Massie, Thomas H.; Vayner, Vladimir
2004-01-01
An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment
Investigation of a delayed feedback controller of MEMS resonators
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
Coherent-feedback-induced controllable optical bistability and photon blockade
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)
Beam closed orbit feedback based on PID control
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)
Role of measurement in feedback-controlled quantum engines
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
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)
Requirements for active resistive wall mode (RWM) feedback control
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
First ECRH modulation experiments in Tore Supra
Zou, X.L.; Artaud, J. F.; Bouquey, F.; Clary, J.; Darbos, C.; Giruzzi, G.; Lennholm, M.; Magne, R.; Segui, J.L.
2003-01-01
The modulation of Electron Cyclotron Resonance Heating (ECRH) is a powerful tool to investigate the crucial problem of heat transport in tokamaks. This method consists in producing perturbations in the electron temperature by means of highly localised electron heating. By studying the propagation of the heat pulse associated with such perturbations, it is possible to determine both the heat transport coefficient and, as a by-product, the ECRH power deposition. In this work, three methods have been used for electron transport analysis: i) the well-known FFT method; ii) an analytical method, consisting in the simulation of the temperature modulation by an analytical solution of the heat transport equation in cylindrical geometry; iii) the power balance method with the profile analysis. The three methods are applied to the analysis of recent experiments performed on Tore Supra, and their advantages and drawbacks are discussed. (authors)
Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Advance Speed Feedback
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...
Recent Upgrading of ECRH System and Studies to Improve ECRH Performance in the LHD
Igami Hiroe
2015-01-01
Full Text Available This paper reports the recent status of the ECRH system in the LHD and introduces the experimental results that suggest the reasonable effects of the wave-plasma interaction in the plasma boundary including outside the LCFS. With increasing the available ECRH power, ECRH/ECCD have been performed in higher density target plasmas where the mode coupling between the O-mode and the X-mode caused by the magnetic shear occurs for long distance in the low density region of the plasma boundary including the ergodic layer outside the LCFS. In such a case, the incident polarization should be set by taking into account the mode coupling effect. Moreover, the refraction in the boundary region should be considered for accurate numerical prediction of the wave trajectory and power absorption with use of the ray-tracing calculation.
Feedback control for a train-like vehicle
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
Semiglobal H-infinity State Feedback Control
Cromme, Marc; Stoustrup, Jakob
1996-01-01
Semi-global set-stabilizing H-infinity controlis a local within some given compact set such that all statetrajectories are bounded inside the set, and are approaching an openloop invariant subset as time approaches infinity. Sufficientconditions for the existence of a continuous state feedback law...
An Industrial Model Based Disturbance Feedback Control Scheme
Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper
2014-01-01
This paper presents a model based disturbance feedback control scheme. Industrial process systems have been traditionally controlled by using relay and PID controller. However these controllers are affected by disturbances and model errors and these effects degrade control performance. The authors...... propose a new control method that can decrease the negative impact of disturbance and model errors. The control method is motivated by industrial practice by Fuji Electric. Simulation tests are examined with a conventional PID controller and the disturbance feedback control. The simulation results...
ECRH and electron heat transport in tokamaks
Zou, X.L.; Giruzzi, G.; Dumont, R.J.
2003-01-01
It has been observed during the ECRH experiments in tokamaks that the shape of the electron temperature profile in stationary regimes is not very sensitive to the ECRH power deposition i.e. the temperature profile remains peaked at the center even though the ECRH power deposition is off-axis. Various models have been invoked for the interpretation of this profile resilience phenomenon: the inward heat pinch, the critical temperature gradient, the Self-Organized Criticality, etc. Except the pinch effect, all of these models need a specific form of the diffusivity in the heat transport equation. In this work, our approach is to solve a simplified time-dependent heat transport equation analytically in cylindrical geometry. The features of this analytical solution are analyzed, in particular the relationship between the temperature profile resilience and the Eigenmode of the physical system with respect to the heat transport phenomenon. Finally, applications of this analytical solution for the determination of the transport coefficient and the polarization of the EC waves are presented. It has been shown that the solution of the simplified transport equation in a finite cylinder is a Fourier-Bessel series. This series represents in fact a decomposition of the heat source in Eigenmode, which are characterized by the Bessel functions of order 0. The physical interpretation of the Eigenmodes is the following: when the heat source is given by a Bessel function of order 0, the temperature profile has exactly the same form as the source at every time. At the beginning of the power injection, the effectiveness of the temperature response is the same for each Eigenmode, and the response in temperature, having the same form as the source, is local. Conversely, in the later phase of the evolution, the effectiveness of the temperature response for each Eigenmode is different: the higher the order, the lower the effectiveness. In this case the response in temperature appears as
Using sampled-data feedback control and linear feedback synchronization in a new hyperchaotic system
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
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
Optimal centralized and decentralized velocity feedback control on a beam
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
Feedback control using only quantum back-action
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.
Modeling and simulation of Indus-2 RF feedback control system
Sharma, D.; Bagduwal, P.S.; Tiwari, N.; Lad, M.; Hannurkar, P.R.
2012-01-01
Indus-2 synchrotron radiation source has four RF stations along with their feedback control systems. For higher beam energy and current operation amplitude and phase feedback control systems of Indus-2 are being upgraded. To understand the behaviour of amplitude and phase control loop under different operating conditions, modelling and simulation of RF feedback control system is done. RF cavity baseband I/Q model has been created due to its close correspondence with actual implementation and better computational efficiency which makes the simulation faster. Correspondence between cavity baseband and RF model is confirmed by comparing their simulation results. Low Level RF (LLRF) feedback control system simulation is done using the same cavity baseband I/Q model. Error signals are intentionally generated and response of the closed loop system is observed. Simulation will help us in optimizing parameters of upgraded LLRF system for higher beam energy and current operation. (author)
Task-space sensory feedback control of robot manipulators
Cheah, Chien Chern
2015-01-01
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...
Monitoring millimeter wave stray radiation during ECRH operation at ASDEX Upgrade
Schubert, M.; Honecker, F.; Monaco, F.; Schmid-Lorch, D.; Schütz, H.; Stober, J.; Wagner, D.
2012-09-01
Due to imperfection of the single path absorption, ECRH at ASDEX Upgrade (AUG) is always accompanied by stray radiation in the vacuum vessel. New ECRH scenarios with O2 and X3 heating schemes extend the operational space, but they have also the potential to increase the level of stray radiation. There are hazards for invessel components. Damage on electric cables has already been encountered. It is therefore necessary to monitor and control the ECRH with respect to the stray radiation level. At AUG a system of Sniffer antennas equipped with microwave detection diodes is installed. The system is part of the ECRH interlock circuit. We notice, however, that during plasma operation the variations of the Sniffer antenna signal are very large. In laboratory measurements we see variations of up to 20 dB in the directional sensitivity and we conclude that an interference pattern is formed inside the copper sphere of the antenna. When ECRH is in plasma operation at AUG, the plasma is acting as a phase and mode mixer for the millimeter waves and thus the interference pattern inside the sphere changes with the characteristic time of the plasma dynamics. In order to overcome the difficulty of a calibrated measurement of the average stray radiation level, we installed bolometer and pyroelectric detectors, which intrinsically average over interference structures due to their large active area. The bolometer provides a robust calibration but with moderate temporal resolution. The pyroelectric detector provides high sensitivity and a good temporal resolution, but it raises issues of possible signal drifts in long pulses.
Monitoring millimeter wave stray radiation during ECRH operation at ASDEX Upgrade
Wagner D.
2012-09-01
Full Text Available Due to imperfection of the single path absorption, ECRH at ASDEX Upgrade (AUG is always accompanied by stray radiation in the vacuum vessel. New ECRH scenarios with O2 and X3 heating schemes extend the operational space, but they have also the potential to increase the level of stray radiation. There are hazards for invessel components. Damage on electric cables has already been encountered. It is therefore necessary to monitor and control the ECRH with respect to the stray radiation level. At AUG a system of Sniffer antennas equipped with microwave detection diodes is installed. The system is part of the ECRH interlock circuit. We notice, however, that during plasma operation the variations of the Sniffer antenna signal are very large. In laboratory measurements we see variations of up to 20 dB in the directional sensitivity and we conclude that an interference pattern is formed inside the copper sphere of the antenna. When ECRH is in plasma operation at AUG, the plasma is acting as a phase and mode mixer for the millimeter waves and thus the interference pattern inside the sphere changes with the characteristic time of the plasma dynamics. In order to overcome the difficulty of a calibrated measurement of the average stray radiation level, we installed bolometer and pyroelectric detectors, which intrinsically average over interference structures due to their large active area. The bolometer provides a robust calibration but with moderate temporal resolution. The pyroelectric detector provides high sensitivity and a good temporal resolution, but it raises issues of possible signal drifts in long pulses.
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.
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.
Cortical feedback control of olfactory bulb circuits.
Boyd, Alison M; Sturgill, James F; Poo, Cindy; Isaacson, Jeffry S
2012-12-20
Olfactory cortex pyramidal cells integrate sensory input from olfactory bulb mitral and tufted (M/T) cells and project axons back to the bulb. However, the impact of cortical feedback projections on olfactory bulb circuits is unclear. Here, we selectively express channelrhodopsin-2 in olfactory cortex pyramidal cells and show that cortical feedback projections excite diverse populations of bulb interneurons. Activation of cortical fibers directly excites GABAergic granule cells, which in turn inhibit M/T cells. However, we show that cortical inputs preferentially target short axon cells that drive feedforward inhibition of granule cells. In vivo, activation of olfactory cortex that only weakly affects spontaneous M/T cell firing strongly gates odor-evoked M/T cell responses: cortical activity suppresses odor-evoked excitation and enhances odor-evoked inhibition. Together, these results indicate that although cortical projections have diverse actions on olfactory bulb microcircuits, the net effect of cortical feedback on M/T cells is an amplification of odor-evoked inhibition. Copyright © 2012 Elsevier Inc. All rights reserved.
Fast polarizers installation for ECRH and ECE in TCV
Silva, M.; Goodman, T.P.; Felici, F.; Porte, L.
2011-01-01
We report on the installation of fast polarizers for ECRH injection and ECE diagnostics, in the TCV tokamak. The main goal is to change the polarization during a plasma shot and react to changing conditions such as: plasma current and position, ECRH injection angles as well as ECE oblique
Feedback-linearization and feedback-feedforward decentralized control for multimachine power system
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)
Experience with feedback and feedforward for plasma control in ASDEX
Schneider, F.
1983-01-01
Experimental results of vertical and radial position feedback are shown and discussed. In particular, stability problems of vertical position control are studied in detail. A feedforward procedure for the process computer is described and proved by measurements. (author)
Dynamical control of chaos by slave-master feedback
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.
Feedback control of resistive wall modes in toroidal devices
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)
Orbit stability and feedback control in synchrotron radiation rings
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
Feedback control of plasma configuration in JT-60
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)
The Effect of Concurrent Visual Feedback on Controlling Swimming Speed
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.
Feedforward/feedback control synthesis for performance and robustness
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.
A multipoint feedback control system for scanned focussed ultrasound hyperthermia
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
Recent ECRH results in ASDEX upgrade
Leuterer, F.; Dux, R.; Gantenbein, G.
2003-01-01
This paper provides an overview on recent experimental results obtained in ASDEX Upgrade using electron cyclotron heating and current drive. The following topics are covered: determination of the power deposition profile, modulated power deposition, studies of the electron heat transport via power balance and heat wave analysis and a comparison with turbulent transport theory, generation of an internal transport barrier for the electron heat flux, impact of electron cyclotron resonance heating (ECRH) on particle and impurity transport, and studies related to neoclassical tearing modes and to sawteeth. (author)
Quasi-optical techniques for ECRH
Andenaerde, K.; Beyer, J.; Vernon, R.
1985-01-01
The status of research at Wisconsin on quasi-optical launchers for ECRH is presented. Wengenroth's mode transducing antenna has been investigated theoretically. Agreement with experiment using TE 01 excitation is excellent, and the theory has been expanded to include TE 02 and TE 03 excitation as well. A system incorporating such and similar mode transducing antennas with a Cassegrain system will combine the output of various gyrotrons. A device to test this and similar concepts is being built and has been preliminarily tested for mode purity
Virtual grasping: closed-loop force control using electrotactile feedback.
Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario
2014-01-01
Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.
Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback
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.
Cui, Z. Y.; Zhang, K.; Morita, S.; Ji, X. Q.; Ding, X. T.; Xu, Y.; Sun, P.; Gao, J. M.; Dong, C. F.; Zheng, D. L.; Li, Y. G.; Jiang, M.; Li, D.; Zhong, W. L.; Liu, Yi; Dong, Y. B.; Song, S. D.; Yu, L. M.; Shi, Z. B.; Fu, B. Z.; Lu, P.; Huang, M.; Yuan, B. S.; Yang, Q. W.; Duan, X. R.
2018-05-01
In HL-2A, an inverse sawtooth oscillation is observed with a long-lasting m/n = 1/1 mode during ECRH phase with power deposition inside sawtooth inversion radius (inner-deposited ECRH), while a normal sawtooth instead appears when the ECRH power is deposited outside sawtooth inversion radius (outer-deposited ECRH). Aluminum is then injected as a trace impurity with laser blow-off (LBO) method into the inner- and outer-deposited ECRH phases of HL-2A discharges to investigate the effect of ECRH on impurity transport. Temporal behavior of soft x-ray (SXR) array signals is analyzed with a 1D impurity transport code, and radial structures of impurity transport coefficients are obtained. The result shows that the radial transport of Al ions is strongly enhanced during the inner-deposited ECRH phase. In particular, an outward convection velocity is developed with positive values of 0 ⩽ V(ρ) ⩽ 3.8 m s-1 in ρ ⩽ 0.5, while the convection velocity is inward in ρ ⩾ 0.6. In the outer-deposited ECRH discharge, on the other hand, the convection velocity takes a big negative value in ρ ⩽ 0.4 and close to zero at ρ ~ 0.6. In ohmic discharges, an inward V(ρ) always appears in the whole plasma radii and gradually increases toward the plasma edge (-3.2 m s-1 at ρ = 1). The simulation result also indicates that centrally-peaked Al ion density profiles presented in the outer-deposited ECRH discharge can be flattened by the inner-deposited ECRH. Modification of impurity transport is discussed in the presence of long-lasting m/n = 1/1 MHD mode.
Direct Torque Control With Feedback Linearization for Induction Motor Drives
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....
Time-delayed feedback control of coherence resonance chimeras
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.
Time-delayed feedback control of diffusion in random walkers
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.
Laser cooling in a feedback-controlled optical shaker
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
Feedback control of nonlinear quantum systems: a rule of thumb.
Jacobs, Kurt; Lund, Austin P
2007-07-13
We show that in the regime in which feedback control is most effective - when measurements are relatively efficient, and feedback is relatively strong - then, in the absence of any sharp inhomogeneity in the noise, it is always best to measure in a basis that does not commute with the system density matrix than one that does. That is, it is optimal to make measurements that disturb the state one is attempting to stabilize.
Feedback linearizing control of a MIMO power system
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.
Force Feedback Control Method of Active Tuned Mass Damper
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.
Self-Controlled Feedback for a Complex Motor Task
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.
Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances
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.
Local effects of ECRH on argon transport at ASDEX upgrade
Sertoli, Marco
2010-01-01
Future deuterium-tritium magnetically confined fusion power plants will most probably rely an high-Z Plasma Facing Components (PFCs) such as tungsten. This choice is determined by the necessity of low erosion of the first wall materials (to guarantee a long lifetime of the wall components) and by the need to avoid the too high tritium wall retention of typical carbon based PFCs. The experience gathered at the ASDEX Upgrade (AUG) tokamak has demonstrated the possibility of reliable and high performance plasma operation with a full tungsten-coated first wall. The observed accumulation of tungsten which can lead to excessive radiation losses is mitigated with the use of Electron Cyclotron Resonance Heating (ECRH). Although this impurity control method is routinely performed at AUG, the underlying physics principles are still not clear. This thesis aims an providing further knowledge an the effects of ECRH an the transport of impurities inside the core plasma. The transport of argon has been therefore investigated in-depth in purely ECR heated L-mode (low-confinement) discharges. Studies an impurity transport in centrally ECR heated nitrogen-seeded H-mode (high-confinement) discharges have also been performed. To this scope, a new crystal X-ray spectrometer of the Johann type has been installed an AUG for argon concentration and ion temperature measurements. New methods for the experimental determination of the total argon density through the integrated use of this diagnostic and of the Soft X-Ray (SXR) diode arrays have been developed. This gives the possibility of evaluating the full profiles of the argon transport coefficients from the linear flux-gradient dependency of local argon density. In comparison to classical χ 2 -minimization methods, the approach proposed here delivers transport coefficients intrinsically independent of the modelling of periodic relaxation mechanisms such as those Lied to sawtooth MHD (Magneto-Hydro-Dynamic) activity. Moreover, the good
Feedback control of thermal instability by compression and decompression
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)
Delayed feedback control of fractional-order chaotic systems
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.
On spatial spillover in feedforward and feedback noise control
Xie, Antai; Bernstein, Dennis
2017-03-01
Active feedback noise control for rejecting broadband disturbances must contend with the Bode integral constraint, which implies that suppression over some frequency range gives rise to amplification over another range at the performance microphone. This is called spectral spillover. The present paper deals with spatial spillover, which refers to the amplification of noise at locations where no microphone is located. A spatial spillover function is defined, which is valid for both feedforward and feedback control with scalar and vector control inputs. This function is numerically analyzed and measured experimentally. Obstructions are introduced in the acoustic space to investigate their effect on spatial spillover.
Event-triggered output feedback control for distributed networked systems.
Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa
2016-01-01
This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Optimal integral force feedback for active vibration control
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.
The Role of Locus of Control and Feedback on Performance of ...
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 ...
Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors
Bean, Jacob; Fuller, Chris; Schiller, Noah
2016-01-01
Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.
Reducing feedback requirements of workload control
Henrich, Peter; Land, Martin; van der Zee, Durk; Gaalman, Gerard
2004-01-01
The workload control concept is known as a robust shop floor control concept. It is especially suited for the dynamic environment of small- and medium-sized enterprises (SMEs) within the make-to-order sector. Before orders are released to the shop floor, they are collected in an ‘order pool’. To
Iterative feedback tuning of wind turbine controllers
van Solingen, E.; Mulders, S.P.; van Wingerden, J.W.
2017-01-01
Traditionally, wind turbine controllers are designed using first principles or linearized or identified models. The aim of this paper is to show that with an automated, online, and model-free tuning strategy, wind turbine control performance can be significantly increased. For this purpose,
Semiglobal H-infty state feedback control
Cromme, Marc
1997-01-01
semi-global set-stabilizing H-infty control is local H-infty control within some given compact set O such that all state trajectories are bounded inside O, and are approaching an open loop invariant set S subset O as t -> infinity. Sufficient conditions for the existance of a continuous statefeed...
Feedback control of plasma position in the HL-1 tokamak
Yuan Baoshan; Jiao Boliang; Yang Kailing
1991-01-01
In the HL-1 tokamak with a thick copper shell, the control of plasma position is successfully performed by a feedback-feedforward system with dual mode regulator and the equilibrium field coils outside the shell. The plasma position can be controlled within ±2 mm in both vertical and horizontal directions under the condition that the iron core of transformer is not saturated
Sensory feedback in artificial control of human mobility
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
MATLAB simulation for an experimental setup of digital feedback control
Zheng Lifang; Liu Songqiang
2005-01-01
This paper describes the digital feedback simulation using MATLAB for an experimental accelerator control setup. By analyzing the plant characteristic in time-domain and frequency-domain, a guideline for design of digital filter and PID controller is derived. (authors)
Stabilising falling liquid film flows using feedback control
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.
Force control in the absence of visual and tactile feedback
Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.
2013-01-01
Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that
Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems
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
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.
Quaternion Feedback Control for Rigid-body Spacecraft
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...
Persistent disturbance rejection via state feedback for networked control systems
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
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.
Linearizing feedforward/feedback attitude control
Paielli, Russell A.; Bach, Ralph E.
1991-01-01
An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.
Adaptive Feedfoward Feedback Control Framework, Phase I
National Aeronautics and Space Administration — A novel approach is proposed for the suppression of the aircraft's structural vibration to increase the resilience of the flight control law in the presence of the...
Time-optimal feedback control for linear systems
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)
Neural Feedback Scheduling of Real-Time Control Tasks
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...
Chaos synchronization in autonomous chaotic system via hybrid feedback control
Yang Lixin; Chu Yandong; Zhang Jiangang; Li Xianfeng; Chang Yingxiang
2009-01-01
This paper presents the synchronization of chaos by designing united controller. First, this method is implemented in synchronization of a simple system, then we realize the synchronization of Lue hyperchaotic system, we also take tracking control to realize the synchronization of Lue hyperchaotic system. Comparing with results, we can find that hybrid feedback control approach is more effective than tracking control for hyperchaotic system. Numerical simulations show the united synchronization method works well.
Feedback Linearized Aircraft Control Using Dynamic Cell Structure
Jorgensen, C. C.
1998-01-01
A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.
Direct torque control with feedback linearization for induction motor drives
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....
Synchronizing strict-feedback and general strict-feedback chaotic systems via a single controller
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
Regulating vacuum pump speed with feedback control
Ludington, D.C.; Aneshansley, D.J.; Pellerin, R.; Guo, F.
1992-01-01
Considerable energy is wasted by the vacuum pump/motor on dairy farms. The output capacity (m 3 /min or cfm) of the vacuum pump always exceeds the capacity needed to milk cows and wash pipelines. Vacuum pumps run at full speed and load regardless of actual need for air. Excess air is admitted through a controller. Energy can be saved from electrical demand reduced by regulating vacuum pump speed according to air based on air usage. An adjustable speed drive (ASD) on the motor and controlled based upon air usage, can reduce the energy used by the vacuum pump. However, the ASD unit tested could not maintain vacuum levels within generally accepted guidelines when air usage changed. Adding a high vacuum reserve and a dual vacuum controller between the vacuum pump and the milking pipeline brought vacuum stability within guidelines. The ASD/dual vacuum system can reduce energy consumption and demand by at least 50 percent during milking and provide better vacuum stability than conventional systems. Tests were not run during washing cycles. Using 1990 costs and only the energy saved during milking, the simple payback on investment in new equipment for a 5 hp motor, speed controller and vacuum regulator would be about 5 years
Feedback Gating Control for Network Based on Macroscopic Fundamental Diagram
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.
A stochastic optimal feedforward and feedback control methodology for superagility
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.
Theory of feedback controlled brain stimulations for Parkinson's disease
Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.
2016-01-01
Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.
Feedback control architecture and the bacterial chemotaxis network.
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.
Stability of digital feedback control systems
Larkin Eugene
2018-01-01
Lag time characteristics are used for investigation of stability of linear systems. Digital PID controller is divided onto linear part, which is realized with a soft and pure lag unit, which is realized with both hardware and software. With use notions amplitude and phase margins, condition for stability of system functioning are obtained. Theoretical results are confirm with computer experiment carried out on the third-order system.
Operations space diagram for ECRH and ECCD
Bindslev, Henrik
2004-01-01
A Clemmov-Mullaly-Allis (CMA) type diagram, the ECW-CMA diagram, for representing the operational possibilities of electron cyclotron heating and current drive (ECRH/ECCD) systems for fusion plasmas is presented. In this diagram, with normalized density and normalized magnetic field coordinates, the parameter range in which it is possible to achieve a given task (e.g. O-mode current drive for stabilizing a neoclassical tearing mode) appears as a region. With also the Greenwald density limit shown, this diagram condenses the information on operational possibilities, facilitating the overview required at the design phase. At the operations phase it may also prove useful in setting up experimental scenarios by showing operational possibilities, avoiding the need for survey type ray-tracing at the initial planning stages. The diagram may also serve the purpose of communicating operational possibilities to non-experts. JET and ITER like plasmas are used, but the method is generic. (author)
Operations space diagram for ECRH and ECCD
Bindslev, H.
2004-01-01
at the design phase. At the operations phase it may also prove useful in setting up experimental scenarios by showing operational possibilities, avoiding the need for survey type ray-tracing at the initial planning stages. The diagram may also serve the purpose of communicating operational possibilities to non......A Clemmov-Mullaly-Allis (CMA) type diagram, the ECW-CMA diagram, for representing the operational possibilities of electron cyclotron heating and current drive (ECRH/ECCD) systems for fusion plasmas is presented. In this diagram, with normalized density and normalized magnetic field coordinates......, the parameter range in which it is possible to achieve a given task (e.g. O-mode current drive for stabilizing a neoclassical tearing mode) appears as a region. With also the Greenwald density limit shown, this diagram condenses the information on operational possibilities, facilitating the overview required...
Feedback control of edge turbulence in a tokamak
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
Feedback Control Design for a Walking Athlete Robot
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.
Feedback brake distribution control for minimum pitch
Tavernini, Davide; Velenis, Efstathios; Longo, Stefano
2017-06-01
The distribution of brake forces between front and rear axles of a vehicle is typically specified such that the same level of brake force coefficient is imposed at both front and rear wheels. This condition is known as 'ideal' distribution and it is required to deliver the maximum vehicle deceleration and minimum braking distance. For subcritical braking conditions, the deceleration demand may be delivered by different distributions between front and rear braking forces. In this research we show how to obtain the optimal distribution which minimises the pitch angle of a vehicle and hence enhances driver subjective feel during braking. A vehicle model including suspension geometry features is adopted. The problem of the minimum pitch brake distribution for a varying deceleration level demand is solved by means of a model predictive control (MPC) technique. To address the problem of the undesirable pitch rebound caused by a full-stop of the vehicle, a second controller is designed and implemented independently from the braking distribution in use. An extended Kalman filter is designed for state estimation and implemented in a high fidelity environment together with the MPC strategy. The proposed solution is compared with the reference 'ideal' distribution as well as another previous feed-forward solution.
Nonlinear Feedback Control of the Rotary Inverted Pendulum
2017-06-01
Feedback linearization has advantages over linearized control because of the ability to operate over a wider range of motion than the small...1sin 2 sin 2 sin 02 2 sin( )1 sin 2 2 xb J x J x x m Ll x x x D x gm l xJ x b f f x
Feedback control for magnetic island suppression in tokamaks
Hennen, B.A.
2011-01-01
A real-time feedback control system has been developed that finds, tracks, suppresses and/or stabilizes resistive magnetic instabilities in a nuclear fusion plasma. In a tokamak, magnetic fields confine a fusion plasma in a topology of toroidally nested magnetic surfaces. The power produced by the
Kinematic feedback control laws for generating natural arm movements
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)
Synchronization of spatiotemporal chaotic systems by feedback control
Lai, Y.; Grebogi, C.
1994-01-01
We demonstrate that two identical spatiotemporal chaotic systems can be synchronized by (1) linking one or a few of their dynamical variables, and (2) applying a small feedback control to one of the systems. Numerical examples using the diffusively coupled logistic map lattice are given. The effect of noise and the limitation of the technique are discussed
Feedback control and adaptive control of the energy resource chaotic system
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
Optimal feedback control of the forced van der Pol system
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.
Feedback Control of a Class of Nonholonomic Hamiltonian Systems
Sørensen, Mathias Jesper
Feedback control of nonholonomic systems has always been problematic due to the nonholonomic constraints that limit the space of possible system velocities. This property is very basic, and Brockett proved that a nonholonomic system cannot be asymptotically stabilized by a time-invariant smooth...... turns out to be useful when stabilizing the nonholonomic system. If the system is properly actuated it is possible to asymptotically stabilize the primary part of the configuration coordinates via a passive energy shaping and damping injecting feedback. The feedback is smooth and time......-invariant, but since it does not asymptotically stabilize the secondary part of the configuration coordinates, it does not violate Brockett’s obstruction. The results fromthe general class of nonholonomicHamiltonian systems with kinematic inputs are applied to a real implementation of a four wheel steered, four wheel...
Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight
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.
Output feedback control of a quadrotor UAV using neural networks.
Dierks, Travis; Jagannathan, Sarangapani
2010-01-01
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.
Feedback control of chlorine inductively coupled plasma etch processing
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
Real-time control systems: feedback, scheduling and robustness
Simon, Daniel; Seuret, Alexandre; Sename, Olivier
2017-08-01
The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.
Electrotactile EMG feedback improves the control of prosthesis grasping force
Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario
2016-10-01
Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for
Experience feedback of computerized controlled nuclear power plants
Poizat, F.
2004-01-01
The N4 step of French PWR-type nuclear power plants is characterized by an instrumentation and control system entirely computerized (operation procedures including normal and accidental operation). Four power plants of this type (Chooz and Civaux sites) of 1450 MWe each were connected to the power grid between August 1996 and December 1999. The achievement of this program make it possible and necessary to carry out an experience feedback about the development, successes and difficulties encountered in order to draw out some lessons for future realizations. This is the aim of this article: 1 - usefulness and difficulties of such an experience feedback: evolution of instrumentation and control systems, necessary cautions; 2 - a successful computerized control: checking of systems operation, advantages, expectations; 3 - efficiency of computerized systems: demonstration of operation safety, profitability; 4 - conclusions and interrogations: system approach instead of 'micro-software' approach, commercial or 'made to measure' products, contract agreement with a supplier, when and how upgrading. (J.S.)
Quantized Passive Dynamic Output Feedback Control with Actuator Failure
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.
Full State Feedback Control for Virtual Power Plants
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.
COA based robust output feedback UPFC controller design
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.
State-feedback control of fuzzy discrete-event systems.
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.
MRI feedback temperature control for focused ultrasound surgery
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
Negative derivative feedback for vibration control of flexible structures
Cazzulani, G; Resta, F; Ripamonti, F; Zanzi, R
2012-01-01
In this paper a resonant control technique, called negative derivative feedback (NDF), for structural vibration control is presented. Resonant control is a class of control logics, based on the modal approach, which calculates the control action through a dynamic compensator in order to achieve a damping increase on a certain number of system modes. The NDF compensator is designed to work as a band-pass filter, cutting off the control action far from the natural frequencies associated with the controlled modes and reducing the so-called spillover effect. In the paper the proposed control logic is compared both theoretically and experimentally with the most common state-of-the-art resonant control techniques. (paper)
Stability and Bifurcation in Magnetic Flux Feedback Maglev Control System
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.
Decoherence control in open quantum systems via classical feedback
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
Velocity feedback control with a flywheel proof mass actuator
Kras, Aleksander; Gardonio, Paolo
2017-08-01
This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.
Improved Position Sensor for Feedback Control of Levitation
Hyers, Robert; Savage, Larry; Rogers, Jan
2004-01-01
An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.
Automatic Thermal Control System with Temperature Difference or Derivation Feedback
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.
Theoretical model for ultracold molecule formation via adaptive feedback control
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 ...
Feedback-Controlled LED Photobioreactor for Photophysiological Studies of Cyanobacteria
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.
Accelerator and feedback control simulation using neural networks
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
Practical Loop-Shaping Design of Feedback Control Systems
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
Summary of ECRH experimental session (S3)
Riviere, A.C.
1980-01-01
ECRH has been successful in heating several tokamaks but not more than 200 kW has been used in any experiment so far. The absorption efficiency is in qualitative agreement with theory but it is not accurately known and, in most cases, the polarisation of the heating wave is not well defined, either due to the effect of wall scattering or due to the character of the wave that is launched. Experiments in FT-1 show an improvement in absorption efficiency when the X-mode is launched from the high field rather than low field side thus avoiding the evanescent layer. In ISX-B the measured absorption (60% +- 15%) during heating is consistent with that expected theoretically (75%) for the assumed mixture of O and X-mode. More or less complete absorption is observed in the large hot plasma in T-10 at the second harmonic, again as expected. In these experiments there is no evidence for generation of new impurities or run-away electrons during heating. However a 15% decrease in electron density is observed in ISX-B. The reason for this is not clear but may be due either to a direct effect of the heating wave on particle transport or to a change in the flux of neutrals at the boundary of the plasma. (author)
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
Control Rod Driveline Reactivity Feedback Model for Liquid Metal Reactors
Kwon, Young-Min; Jeong, Hae-Yong; Chang, Won-Pyo; Cho, Chung-Ho; Lee, Yong-Bum
2008-01-01
The thermal expansion of the control rod drivelines (CRDL) is one important passive mitigator under all unprotected accident conditions in the metal and oxide cores. When the CRDL are washed by hot sodium in the coolant outlet plenum, the CRDL thermally expands and causes the control rods to be inserted further down into the active core region, providing a negative reactivity feedback. Since the control rods are attached to the top of the vessel head and the core attaches to the bottom of the reactor vessel (RV), the expansion of the vessel wall as it heats will either lower the core or raise the control rods supports. This contrary thermal expansion of the reactor vessel wall pulls the control rods out of the core somewhat, providing a positive reactivity feedback. However this is not a safety factor early in a transient because its time constant is relatively large. The total elongated length is calculated by subtracting the vessel expansion from the CRDL expansion to determine the net control rod expansion into the core. The system-wide safety analysis code SSC-K includes the CRDL/RV reactivity feedback model in which control rod and vessel expansions are calculated using single-nod temperatures for the vessel and CRDL masses. The KALIMER design has the upper internal structures (UIS) in which the CRDLs are positioned outside the structure where they are exposed to the mixed sodium temperature exiting the core. A new method to determine the CRDL expansion is suggested. Two dimensional hot pool thermal hydraulic model (HP2D) originally developed for the analysis of the stratification phenomena in the hot pool is utilized for a detailed heat transfer between the CRDL mass and the hot pool coolant. However, the reactor vessel wall temperature is still calculated by a simple lumped model
Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics
Belavkin, V. P.
2009-02-01
A brief account of the quantum information dynamics and dynamical programming methods for the purpose of optimal control in quantum cybernetics with convex constraints and cońcave cost and bequest functions of the quantum state is given. Consideration is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme with continuous observations we exploit the separation theorem of filtering and control aspects for quantum stochastic micro-dynamics of the total system. This allows to start with the Belavkin quantum filtering equation and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to only Hamiltonian terms in the filtering equation. A controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.
Erckmann, V; Gasparino, U; Giannone, L. (Max-Planck-Institut fuer Plasmaphysik, Garching (Germany)) (and others)
1992-01-01
ECRH power modulation experiments in toroidal devices offer the chance to analyze the electron heat transport more conclusively: the electron heat wave propagation can be observed by ECE (or SX) leading to radial profiles of electron temperature modulation amplitude and time delay (phase shift). Taking also the stationary power balance into account, the local electron heat transport can be modelled by a combination of diffusive and convective transport terms. This method is applied to ECRH discharges in the W7-AS stellarator (B=2.5T, R=2m, a[<=]18 cm) where the ECRH power deposition is highly localized. In W7-AS, the T[sub e] modulation profiles measured by a high resolution ECE system are the basis for the local transport analysis. As experimental errors limit the separation of diffusive and convective terms in the electron heat transport for central power deposition, also ECRH power modulation experiments with off-axis deposition and inward heat wave propagation were performed (with 70 GHz o-mode as well as with 140 GHz x-mode for increased absorption). Because collisional electron-ion coupling and radiative losses are only small, low density ECRH discharges are best candidates for estimating the electron heat flux from power balance. (author) 2 refs., 3 figs.
Integration of advanced feedback control techniques on Tore Supra
Barana, O.; Basiuk, V.; Bucalossi, J.
2006-01-01
Tore Supra tokamak plays an important role in development and optimisation of steady-state scenarios. Its real-time feedback control system is a key instrument to improve plasma performances. For this reason, new feedback control schemes have been recently put into operation and others are being developed. This work deals with the implementation in Tore Supra of these advanced algorithms, reports the technical details and shows the first positive results that have been achieved. For instance, encouraging results have been obtained in the field of profiles control. Controls of the full width at half maximum of the suprathermal electrons local emission profile at very low loop voltage and of the maximum of the thermal Larmor radius, normalised to the characteristic length of the electron temperature gradient, have been attained. While the first quantity can be directly associated to the current profile, the second one characterises the pressure profile. A new feedback control algorithm, employed to maximise a given quantity by means of a '' Search Optimisation '' technique, has been effectively tested too: the hard X-ray width has been maximised with simultaneous use of lower hybrid heating power and wave parallel index as actuators. These and other promising results, whose detailed description will be given in the article, have been obtained thanks to the real-time availability of several diagnostic systems. Using a shared memory network as communication layer, they send their measurements to a central computing unit that, in its turn, dispatches the necessary requirements to the actuators. A key issue is the possibility to integrate these controls in such a way as to cope with different requests at the same time. As an example, simultaneous control of the plasma current by means of the lower hybrid heating power, of the loop voltage by means of the poloidal field system and of the hard X-ray width through the lower hybrid heating phase shift has been successfully
ECRH and W7-X: An intriguing pair
Erckmann, V.; Braune, H.; Gantenbein, G.; Jelonnek, J.; Kasparek, W.; Laqua, H. P.; Lechte, C.; Marushchenko, N. B.; Michel, G.; Plaum, B.; Thumm, M.; Weissgerber, M.; Wolf, R.; W7-X ECRH Teams
2014-02-01
The construction of the W7-X basic machine is almost completed and the device is approaching the commissioning phase. W7-X operation will be supported by ECRH working at 140 GHz in 2nd harmonic X- or O-mode with 10 MW cw power. Presently the activities at W7-X concentrate on the implementation of wall-armour, in-vessel components and diagnostics. The ECRH-system is in stand by with 5 out of 10 gyrotrons operational. The status of both, the W7-X device and the ECRH system is reported. Further R&D activities concentrate on extending the launching capability for sophisticated confinement investigations with remote steering launchers in a poloidal plane with weak magnetic field gradient.
Design of feedback controller for TCP/AQM networks
Sukant Kishoro Bisoy
2017-02-01
Full Text Available In this paper, we propose a novel proportional-differential-type feedback controller called Novel-PD as new active queue management (AQM to regulate the queue length with small oscillation. It measures the current queue length and uses the current queue length and differential error signals to adjust packet drop probability dynamically. We provide control theoretic analysis of system stability and develop guidelines to select control gain parameters of Novel-PD. The design of Novel-PD for TCP/AQM system is given in details. NS2 is used for conducting extensive simulation. The proposed controller is compared with random early detection (RED, random exponential marking (REM, proportional integrator (PI and proportional derivative (PD controller. Result shows that, Novel-PD is stable and achieves faster response in dynamic environments where number of TCP connections, bottleneck capacity, round trip time (RTT keeps changing. The proposed controller outperforms other AQM schemes.
Auto-control experiments on DIDO using discontinuous feedback
Lawrence, L.A.J.
1959-12-01
Experiments on auto-controlling the reactor DIDO are described and the equipment design discussed in some detail. The experiments are carried out to show the suitability of an on/off type of control for the maintenance of: (a) a constant flux level in the presence of noise. (b) constant period during power change. The controlling signals stem from measurement of neutron flux computed to give deviation from demanded power, and period respectively. These signals are fed to a D.C. amplifier with variable deadbang whose output is used to control relays, these in turn control the coarse control arms by means of three-phase motors. The system is designed on the basis of locus diagrams, a conventional non-linear technique being used to handle the relay performance. Calculation of the reactor transfer function at high and low power respectively shows that the stability margin is not appreciably affected by the inherent thermodynamic feedback in the reactor core. (author)
Feedback Control Of Dynamical Instabilities In Classical Lasers And Fels
Bielawski, S; Szwaj, C
2005-01-01
Dynamical instabilities lead to unwanted full-scale power oscillations in many classical lasers and FEL oscillators. For a long time, applications requiring stable operation were typically performed by working outside the problematic parameter regions. A breakthrough occurred in the nineties [1], when emphasis was made on the practical importance of unstable states (stationary or periodic) that coexist with unwanted oscillatory states. Indeed, although not observable in usual experiments, unstable states can be stabilized, using a feedback control involving arbitrarily small perturbations of a parameter. This observation stimulated a set of works leading to successful suppression of dynamical instabilities (initially chaos) in lasers, sometimes with surprisingly simple feedback devices [2]. We will review a set of key results, including in particular the recent works on the stabilization of mode-locked lasers, and of the super-ACO, ELETTRA and UVSOR FELs [3].
Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.
Pan, Yongping; Yu, Haoyong
2017-06-01
This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.
A Feedback Optimal Control Algorithm with Optimal Measurement Time Points
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.
Semantically Enhanced Online Configuration of Feedback Control Schemes.
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.
Pulse energy control through dual loop electronic feedback
Jacobs, Cobus
2006-07-01
Full Text Available University of Stellenbosch WWW.LASER-RESEARCH.CO.ZA University of Stellenbosch Pulse Energy Control Through Dual Loop Electronic Feedback Cobus Jacobs, Steven Kriel Christoph Bollig, Thomas Jones Cobus Jacobs et al. Overview head2righthead2right...What is Laser Pulse Energy Control? head2righthead2rightWhy do we need it? head2righthead2rightHow do we get it? head2righthead2rightSimulation head2righthead2rightExperimental Setup head2righthead2rightResults Cobus Jacobs et al. head2righthead2right...
Hybrid viscous damper with filtered integral force feedback control
Høgsberg, Jan; Brodersen, Mark L.
2016-01-01
In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...... is controlled by a filtered integral force feedback strategy, where the main feature is the filter, which is designed to render a damper force that in a phase-plane representation operates in front of the corresponding damper velocity. It is demonstrated that in the specific parameter regime where the damper...
Coherent feedback control of multipartite quantum entanglement for optical fields
Yan, Zhihui; Jia, Xiaojun; Xie, Changde; Peng, Kunchi [State Key Laboratory of Quantum Optics and Quantum Optics Devices, Institute of Opto-Electronics, Shanxi University, Taiyuan, 030006 (China)
2011-12-15
Coherent feedback control (CFC) of multipartite optical entangled states produced by a nondegenerate optical parametric amplifier is theoretically studied. The features of the quantum correlations of amplitude and phase quadratures among more than two entangled optical modes can be controlled by tuning the transmissivity of the optical beam splitter in the CFC loop. The physical conditions to enhance continuous variable multipartite entanglement of optical fields utilizing the CFC loop are obtained. The numeric calculations based on feasible physical parameters of realistic systems provide direct references for the design of experimental devices.
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.
Investigation of a delayed feedback controller of MEMS resonators
Masri, Karim M.
2013-08-04
Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller on stabilizing MEMS resonators. A delayed feedback velocity controller is implemented through modifying the parallel plate electrostatic force used to excite the resonator into motion. A nonlinear single degree of freedom model is used to simulate the resonator response. Long time integration is used first. Then, a finite deference technique to capture periodic motion combined with the Floquet theory is used to capture the stable and unstable periodic responses. We show that applying a suitable positive gain can stabilize the MEMS resonator near or inside the instability dynamic pull in band. We also study the stability of the resonator by tracking its basins of attraction while sweeping the controller gain and the frequency of excitations. For positive delayed gains, we notice significant enhancement in the safe area of the basins of attraction. Copyright © 2013 by ASME.
Closed loop kinesthetic feedback for postural control rehabilitation.
Vérité, Fabien; Bachta, Wael; Morel, Guillaume
2014-01-01
Postural control rehabilitation may benefit from the use of smart devices providing biofeedback. This approach consists of increasing the patients perception of their postural state. Namely, postural state is monitored and fed back in real time to the patients through one or more sensory channels. This allows implementing rehabilitation exercises where the patients control their posture with the help of additional sensory inputs. In this paper, a closed loop control of the Center-Of-Pressure (CoP) based on kinesthetic feedback is proposed as a new form of biofeedback. The motion of a one Degree of Freedom (DoF) translational device, lightly touched by the patient's forefinger, is servoed to the patient's CoP position extracted from the measurements of a force plate on which he/she stands. As a result, the patient's CoP can be controllably displaced. A first set of experiments is used to prove the feasibility of this closed-loop control under ideal conditions favoring the perception of the kinesthetic feedback, while the subject is totally unaware of the context. A second set of experiments is then proposed to evaluate the robustness of this approach under experimental conditions that are more realistic with regards to the clinical context of a rehabilitation program involving biofeedback-based exercises.
Laser Soldering of Rat Skin Using a Controlled Feedback System
Mohammad Sadegh Nourbakhsh
2009-03-01
Full Text Available Introduction: Laser tissue soldering using albumin and indocyanine green dye (ICG is an effective technique utilized in various surgical procedures. The purpose of this study was to perform laser soldering of rat skin under a feedback control system and compare the results with those obtained using standard sutures. Material and Methods: Skin incisions were made over eight rats’ dorsa, which were subsequently closed using different wound closure interventions in two groups: (a using a temperature controlled infrared detector or (b by suture. Tensile strengths were measured at 2, 5, 7 and 10 days post-incision. Histological examination was performed at the time of sacrifice. Results: Tensile strength results showed that during the initial days following the incisions, the tensile strengths of the sutured samples were greater than the laser samples. However, 10 days after the incisions, the tensile strengths of the laser soldered incisions were higher than the sutured cuts. Histopathological examination showed a preferred wound healing response in the soldered skin compared with the control samples. The healing indices of the laser soldered repairs (426 were significantly better than the control samples (340.5. Conclusion: Tissue feedback control of temperature and optical changes in laser soldering of skin leads to a higher tensile strength and better histological results and hence this method may be considered as an alternative to standard suturing.
Aeroassisted orbital maneuvering using Lyapunov optimal feedback control
Grantham, Walter J.; Lee, Byoung-Soo
1987-01-01
A Liapunov optimal feedback controller incorporating a preferred direction of motion at each state of the system which is opposite to the gradient of a specified descent function is developed for aeroassisted orbital transfer from high-earth orbit to LEO. The performances of the Liapunov controller and a calculus-of-variations open-loop minimum-fuel controller, both of which are based on the 1962 U.S. Standard Atmosphere, are simulated using both the 1962 U.S. Standard Atmosphere and an atmosphere corresponding to the STS-6 Space Shuttle flight. In the STS-6 atmosphere, the calculus-of-variations open-loop controller fails to exit the atmosphere, while the Liapunov controller achieves the optimal minimum-fuel conditions, despite the + or - 40 percent fluctuations in the STS-6 atmosphere.
Feedback Linearization Controller for a Wind Energy Power System
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.
Sen, A.K.
1998-01-01
This final report is comprised of the following six progress reports: Ion Temperature Gradient Instability and Anomalous Transport, July 1989; Ion Temperature Gradient Instability and Anomalous Transport, August 1991; Ion Temperature Gradient Instability and Anomalous Transport, July 1993; Ion Anomalous Transport and Feedback Control, May 1994; Ion Anomalous Transport and Feedback Control, April 1995; and Ion Anomalous Transport and Feedback Control, December 1997
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.
Asymmetric positive feedback loops reliably control biological responses.
Ratushny, Alexander V; Saleem, Ramsey A; Sitko, Katherine; Ramsey, Stephen A; Aitchison, John D
2012-04-24
Positive feedback is a common mechanism enabling biological systems to respond to stimuli in a switch-like manner. Such systems are often characterized by the requisite formation of a heterodimer where only one of the pair is subject to feedback. This ASymmetric Self-UpREgulation (ASSURE) motif is central to many biological systems, including cholesterol homeostasis (LXRα/RXRα), adipocyte differentiation (PPARγ/RXRα), development and differentiation (RAR/RXR), myogenesis (MyoD/E12) and cellular antiviral defense (IRF3/IRF7). To understand why this motif is so prevalent, we examined its properties in an evolutionarily conserved transcriptional regulatory network in yeast (Oaf1p/Pip2p). We demonstrate that the asymmetry in positive feedback confers a competitive advantage and allows the system to robustly increase its responsiveness while precisely tuning the response to a consistent level in the presence of varying stimuli. This study reveals evolutionary advantages for the ASSURE motif, and mechanisms for control, that are relevant to pharmacologic intervention and synthetic biology applications.
Decoupling Suspension Controller Based on Magnetic Flux Feedback
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.
Dynamic Intelligent Feedback Scheduling in Networked Control Systems
Hui-ying Chen
2013-01-01
Full Text Available For the networked control system with limited bandwidth and flexible workload, a dynamic intelligent feedback scheduling strategy is proposed. Firstly, a monitor is used to acquire the current available network bandwidth. Then, the new available bandwidth in the next interval is predicted by using LS_SVM approach. At the same time, the dynamic performance indices of all control loops are obtained with a two-dimensional fuzzy logic modulator. Finally, the predicted network bandwidth is dynamically allocated by the bandwidth manager and the priority allocator in terms of the loops' dynamic performance indices. Simulation results show that the sampling periods and priorities of control loops are adjusted timely according to the network workload condition and the dynamic performance of control loops, which make the system running in the optimal state all the time.
Design of Gain Scheduling Control Using State Derivative Feedback
Lázaro Ismael Hardy Llins
2017-01-01
Full Text Available In recent years, the study of systems subject to time-varying parameters has awakened the interest of many researchers. The gain scheduling control strategy guarantees a good performance for systems of this type and also is considered as the simplest to deal with problems of this nature. Moreover, the class of systems in which the state derivative signals are easier to obtain than the state signals, such as in the control for reducing vibrations in a mechanical system, has gained an important hole in control theory. Considering those ideas, we propose sufficient conditions via LMI for designing a gain scheduling controller using state derivative feedback. The D-stability methodology was used for improving the performance of the transitory response. Practical implementation in an active suspension system and comparison with other methods validates the efficiency of the proposed strategy.
Decoupling suspension controller based on magnetic flux feedback.
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.
Proportional feedback control of laminar flow over a hemisphere
Lee, Jung Il [Dept. of Mechanical Engineering, Ajou University, Suwon (Korea, Republic of); Son, Dong Gun [Severe Accident and PHWR Safety Research Division, Korea Atomic Energy Research Institute (KAERI), Daejeon (Korea, Republic of)
2016-08-15
In the present study, we perform a proportional feedback control of laminar flow over a hemisphere at Re = 300 to reduce its lift fluctuations by attenuating the strength of the vortex shedding. As a control input, blowing/suction is distributed on the surface of hemisphere before the separation, and its strength is linearly proportional to the transverse velocity at a sensing location in the centerline of the wake. The sensing location is determined based on a correlation function between the lift force and the time derivative of sensing velocity. The optimal proportional gains for the proportional control are obtained for the sensing locations considered. The present control successfully attenuates the velocity fluctuations at the sensing location and three dimensional vertical structures in the wake, resulting in the reduction of lift fluctuations of hemisphere.
Myoelectric hand prosthesis force control through servo motor current feedback.
Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini
2009-10-01
This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.
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...
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
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.
Single-temperature quantum engine without feedback control.
Yi, Juyeon; Talkner, Peter; Kim, Yong Woon
2017-08-01
A cyclically working quantum-mechanical engine that operates at a single temperature is proposed. Its energy input is delivered by a quantum measurement. The functioning of the engine does not require any feedback control. We analyze work, heat, and the efficiency of the engine for the case of a working substance that is governed by the laws of quantum mechanics and that can be adiabatically compressed and expanded. The obtained general expressions are exemplified for a spin in an adiabatically changing magnetic field and a particle moving in a potential with slowly changing shape.
On Optimal Feedback Control for Stationary Linear Systems
Russell, David L.
2010-01-01
We study linear-quadratic optimal control problems for finite dimensional stationary linear systems AX+BU=Z with output Y=CX+DU from the viewpoint of linear feedback solution. We interpret solutions in relation to system robustness with respect to disturbances Z and relate them to nonlinear matrix equations of Riccati type and eigenvalue-eigenvector problems for the corresponding Hamiltonian system. Examples are included along with an indication of extensions to continuous, i.e., infinite dimensional, systems, primarily of elliptic type.
Designing a stable feedback control system for blind image deconvolution.
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.
Genetic test feedback with weight control advice: study protocol for a randomized controlled trial
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
Feedback control in deep drawing based on experimental datasets
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.
Shared internal models for feedforward and feedback control.
Wagner, Mark J; Smith, Maurice A
2008-10-15
A child often learns to ride a bicycle in the driveway, free of unforeseen obstacles. Yet when she first rides in the street, we hope that if a car suddenly pulls out in front of her, she will combine her innate goal of avoiding an accident with her learned knowledge of the bicycle, and steer away or brake. In general, when we train to perform a new motor task, our learning is most robust if it updates the rules of online error correction to reflect the rules and goals of the new task. Here we provide direct evidence that, after a new feedforward motor adaptation, motor feedback responses to unanticipated errors become precisely task appropriate, even when such errors were never experienced during training. To study this ability, we asked how, if at all, do online responses to occasional, unanticipated force pulses during reaching arm movements change after adapting to altered arm dynamics? Specifically, do they change in a task-appropriate manner? In our task, subjects learned novel velocity-dependent dynamics. However, occasional force-pulse perturbations produced unanticipated changes in velocity. Therefore, after adaptation, task-appropriate responses to unanticipated pulses should compensate corresponding changes in velocity-dependent dynamics. We found that after adaptation, pulse responses precisely compensated these changes, although they were never trained to do so. These results provide evidence for a smart feedback controller which automatically produces responses specific to the learned dynamics of the current task. To accomplish this, the neural processes underlying feedback control must (1) be capable of accurate real-time state prediction for velocity via a forward model and (2) have access to recently learned changes in internal models of limb dynamics.
Effect of vibrotactile feedback on an EMG-based proportional cursor control system.
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.
Process-based quality for thermal spray via feedback control
Dykhuizen, R. C.; Neiser, R. A.
2006-09-01
Quality control of a thermal spray system manufacturing process is difficult due to the many input variables that need to be controlled. Great care must be taken to ensure that the process remains constant to obtain a consistent quality of the parts. Control is greatly complicated by the fact that measurement of particle velocities and temperatures is a noisy stochastic process. This article illustrates the application of quality control concepts to a wire flame spray process. A central feature of the real-time control system is an automatic feedback control scheme that provides fine adjustments to ensure that uncontrolled variations are accommodated. It is shown how the control vectors can be constructed from simple process maps to independently control particle velocity and temperature. This control scheme is shown to perform well in a real production environment. We also demonstrate that slight variations in the feed wire curvature can greatly influence the process. Finally, the geometry of the spray system and sensor must remain constant for the best reproducibility.
The design of an ECRH system for JET-EP
Verhoeven, A.G.A.; Bongers, W.A.; Elzendoorn, B.S.Q.
2003-01-01
An electron cyclotron resonance heating (ECRH) system has been designed for JET in the framework of the JET enhanced performance project (JET-EP) under the European fusion development agreement. Due to financial constraints it has been decided not to implement this project. Nevertheless, the design...
The design of an ECRH system for JET-EP
Verhoeven, A. G. A.; Bongers, W. A.; Elzendoorn, B. S. Q.; Graswinckel, M.; Hellingman, P.; Kooijman, W.; Kruijt, O. G.; Maagdenberg, J.; Ronden, D.; Stakenborg, J.; Sterk, A. B.; Tichler, J.; Alberti, S.; Goodman, T.; Henderson, M.; Hoekzema, J. A.; Oosterbeek, J. W.; Fernandez, A.; Likin, K.; Bruschi, A.; Cirant, S.; Novaks, S.; Piosczyk, B.; Thumm, M.; Bindslev, H.; Kaye, A.; Fleming, C.; Zohm, H.
2003-01-01
An electron cyclotron resonance heating (ECRH) system has been designed for JET in the framework of the JET enhanced performance project (JET-EP) under the European fusion development agreement. Due to financial constraints it has been decided not to implement this project. Nevertheless, the design
Hosea J.C.
2012-09-01
Full Text Available The National Spherical Torus Experiment Upgrade (NSTX-U will operate at an axial toroidal field of up to 1 T, about twice the field available on NSTX. A 28 GHz electron cylotron resonance heating (ECRH system is currently being planned for NSTX-U. A 1 MW 28 GHz gyrotron will be employed. Intially the system will use short, 10-50 ms, 1 MW pulses for ECRH-assisted discharge start-up. Later the pulse length will be extended to 1-5 s to study electron Bernstein wave heating (EBWH during the plasma current flat top. A mirror launcher will be used to couple microwave power to the plasma via O-mode to the slow X-mode to EBW (O-X-B double mode conversion. This paper presents a pre-conceptual design for the ECRH/EBWH system proposed for NSTX-U and includes ray tracing and Fokker-Planck modeling results for 28 GHz ECRH during plasma start-up and EBW heating and current drive during the plasma current flattop of a NSTX-U advanced H-mode plasma scenario.
Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV
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...
ORBIT FEEDBACK CONTROL FOR THE LHC Prototyping at the SPS
Steinhagen, Ralph J
2004-01-01
The Large Hadron Collider (LHC) is the next generation proton collider that is presently built at CERN. The LHC will be installed in the former LEP (Large Electron Positron Collider) tunnel. The presence of a high intensity beam in an environment of cryogenic magnets requires an excellent control of particle losses from the beam. Eventually the performance of the LHC may be limited by the ability to control the beam losses. The performance of the LHC cleaning system depends critically on the beam position stability. Ground motion, field and alignment imperfections and beam manipulations may cause orbit movements. The role of the future LHC Orbit Feedback System is the minimisation of closed orbit perturbations by periodically measuring and steering the transverse beam position back to its reference position. This diploma thesis focuses on the design and prototyping of an orbit feedback system at the SPS. The design is based on a separation of the steering problem into space and time. While the correction in s...
Automatic Overset Grid Generation with Heuristic Feedback Control
Robinson, Peter I.
2001-01-01
An advancing front grid generation system for structured Overset grids is presented which automatically modifies Overset structured surface grids and control lines until user-specified grid qualities are achieved. The system is demonstrated on two examples: the first refines a space shuttle fuselage control line until global truncation error is achieved; the second advances, from control lines, the space shuttle orbiter fuselage top and fuselage side surface grids until proper overlap is achieved. Surface grids are generated in minutes for complex geometries. The system is implemented as a heuristic feedback control (HFC) expert system which iteratively modifies the input specifications for Overset control line and surface grids. It is developed as an extension of modern control theory, production rules systems and subsumption architectures. The methodology provides benefits over the full knowledge lifecycle of an expert system for knowledge acquisition, knowledge representation, and knowledge execution. The vector/matrix framework of modern control theory systematically acquires and represents expert system knowledge. Missing matrix elements imply missing expert knowledge. The execution of the expert system knowledge is performed through symbolic execution of the matrix algebra equations of modern control theory. The dot product operation of matrix algebra is generalized for heuristic symbolic terms. Constant time execution is guaranteed.
Voluntarily controlled but not merely observed visual feedback affects postural sway
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
Plasma control techniques of the ASDEX feedback system
Schneider, F.
1981-01-01
In the ASDEX tokamak the shots are exactly preprogrammed and most of the disturbances are reproducible. So a computer can learn from one shot how to correct the next one. With this sort of disturbance feedforward one can also introduce a 'negative delay' in the program to compensate even fast and strong disturbances withous unwanted overswing or oscillations. The feedforward in conjunction with feedback control allows production of a magnetically limited plasma from the very beginning without any wall or limiter contact. This is a reason why in ASDEX the loop voltage on breakdown can be as low as 5 V/sup 2/. The plasma column can be controlled in the vacuum vessel even after disruptions have occurred
Design of EAST LHCD high power supply feedback control system based on PLC
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)
Modelling of Rotor-gas bearings for Feedback Controller Design
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 control of resistive wall modes in toroidal devices
Liu, Y.Q.
2002-01-01
Active feedback of resistive wall modes is investigated using cylindrical theory and toroidal calculations. For tokamaks, good performance is obtained by using active coils with one set of coils in the poloidal direction and sensors detecting the poloidal field inside the first wall, located at the outboard mid-plane. With suitable width of the feedback coil such a system can give robust control with respect to variations in plasma current, pressure and rotation. Calculations are shown for ITER-like geometry with a double wall. The voltages and currents in the active coils are well within the design limits for ITER. Calculations for RFP's are presented for a finite number of coils both in the poloidal and toroidal directions. With 4 coils in the poloidal and 24 coils in the toroidal direction, all non-resonant modes can be stabilized both at high and low theta. Several types of sensors, including radial and internal poloidal or toroidal sensors, can stabilize the RWM, but poloidal sensors give the most robust performance. (author)
Online feedback-controlled renal constant infusion clearances in rats.
Schock-Kusch, Daniel; Shulhevich, Yury; Xie, Qing; Hesser, Juergen; Stsepankou, Dzmitry; Neudecker, Sabine; Friedemann, Jochen; Koenig, Stefan; Heinrich, Ralf; Hoecklin, Friederike; Pill, Johannes; Gretz, Norbert
2012-08-01
Constant infusion clearance techniques using exogenous renal markers are considered the gold standard for assessing the glomerular filtration rate. Here we describe a constant infusion clearance method in rats allowing the real-time monitoring of steady-state conditions using an automated closed-loop approach based on the transcutaneous measurement of the renal marker FITC-sinistrin. In order to optimize parameters to reach steady-state conditions as fast as possible, a Matlab-based simulation tool was established. Based on this, a real-time feedback-regulated approach for constant infusion clearance monitoring was developed. This was validated by determining hourly FITC-sinistrin plasma concentrations and the glomerular filtration rate in healthy and unilaterally nephrectomized rats. The transcutaneously assessed FITC-sinistrin fluorescence signal was found to reflect the plasma concentration. Our method allows the precise determination of the onset of steady-state marker concentration. Moreover, the steady state can be monitored and controlled in real time for several hours. This procedure is simple to perform since no urine samples and only one blood sample are required. Thus, we developed a real-time feedback-based system for optimal regulation and monitoring of a constant infusion clearance technique.
Amplitude based feedback control for NTM stabilisation at ASDEX Upgrade
Rapson, Christopher, E-mail: chris.rapson@ipp.mpg.de; Giannone, Louis; Maraschek, Marc; Reich, Matthias; Stober, Joerg; Treutterer, Wolfgang
2014-05-15
Highlights: • Two algorithms have been developed which use the NTM amplitude to control ECCD deposition and stabilise NTMs. • Both algorithms were tested and tuned in a simulation of the full feedback loop including an MRE. • Both algorithms have been successfully deployed in ASDEX Upgrade experiments. • Use of the NTM amplitude adds considerable robustness, which is necessary when trying to target ECCD to within 1 cm of the island location. • This is part of ongoing work to reliably and quickly stabilise NTMs in any plasma scenario. - Abstract: Neoclassical Tearing Modes (NTMs) degrade the confinement in tokamak plasmas at high beta, placing a major limitation on the projected fusion performance. Furthermore, NTMs can lead to disruptions with even more severe consequences. Therefore methods to stabilise NTMs are being developed with high priority at several research institutes worldwide. The favoured method is to deposit Electron Cyclotron Current Drive (ECCD) precisely at the mode location by controlling a movable mirror in the ECCD launcher. This method requires both the mode location and the deposition location to be known with high accuracy in real time. The required accuracy is given by half of the marginal island width, or approximately 1 cm for a m/n = 3/2 NTM at ASDEX Upgrade. Despite considerable development on a range of diagnostics, it remains challenging to provide the necessary accuracy reliably and in real time. To relax the accuracy requirements and add robustness, the feedback controller can additionally consider the effect of ECCD on the NTM amplitude directly. Then the optimal deposition location is simply where the NTM amplitude is minimised. The simplest implementation sweeps the ECCD beam across the expected NTM location. After the sweep, the beam can be returned to the optimal location and held there to stabilise the NTM. Unfortunately, waiting for a full sweep takes too long. Therefore a second method assesses the NTM growth every
Adaptive landing gear concept—feedback control validation
Mikulowski, Grzegorz M.; Holnicki-Szulc, Jan
2007-12-01
The objective of this paper is to present an integrated feedback control concept for adaptive landing gears (ALG) and its experimental validation. Aeroplanes are subjected to high dynamic loads as a result of the impact during each landing. Classical landing gears, which are in common use, are designed in accordance with official regulations in a way that ensures the optimal energy dissipation for the critical (maximum) sink speed. The regulations were formulated in order to ensure the functional capability of the landing gears during an emergency landing. However, the landing gears, whose characteristics are optimized for these critical conditions, do not perform well under normal impact conditions. For that situation it is reasonable to introduce a system that would adapt the characteristics of the landing gears according to the sink speed of landing. The considered system assumes adaptation of the damping force generated by the landing gear, which would perform optimally in an emergency situation and would adapt itself for regular landings as well. This research covers the formulation and design of the control algorithms for an adaptive landing gear based on MR fluid, implementation of the algorithms on an FPGA platform and experimental verification on a lab-scale landing gear device. The main challenge of the research was to develop a control methodology that could operate effectively within 50 ms, which is assumed to be the total duration of the phenomenon. The control algorithm proposed in this research was able to control the energy dissipation process on the experimental stand.
Tafalla, D.; Tabares, F.L.
2001-07-01
The TJ-II stellarator has been conditioned by glow discharge (GD) during the first campaigns of operation, working only with ECR heating and all metal walls. The application of a He GD during the overnight period before the operation has been required in order to obtain reproducible discharges. However, the density control of the ECRH discharges was not possible because of the He implanted on the wall during GS. An short Ar GD({<=}30 min) applied before the operation allows desorbes part of the implanted He. By applying this procedure (HeGD+ArGD), reproducible and density controlled plasmas have been achieved in H{sub 2} and He. (Author) 20 refs.
Jump resonant frequency islands in nonlinear feedback control systems
Koenigsberg, W. D.; Dunn, J. C.
1975-01-01
A new type of jump resonance is predicted and observed in certain nonlinear feedback control systems. The new jump resonance characteristic is described as a 'frequency island' due to the fact that a portion of the input-output transfer characteristic is disjoint from the main body. The presence of such frequency islands was predicted by using a sinusoidal describing function characterization of the dynamics of an inertial gyro employing nonlinear ternary rebalance logic. While the general conditions under which such islands are possible has not been examined, a numerical approach is presented which can aid in establishing their presence. The existence of the frequency islands predicted for the ternary rebalanced gyro was confirmed by simulating the nonlinear system and measuring the transfer function.
On the maximum Q in feedback controlled subignited plasmas
Anderson, D.; Hamnen, H.; Lisak, M.
1990-01-01
High Q operation in feedback controlled subignited fusion plasma requires the operating temperature to be close to the ignition temperature. In the present work we discuss technological and physical effects which may restrict this temperature difference. The investigation is based on a simplified, but still accurate, 0=D analytical analysis of the maximum Q of a subignited system. Particular emphasis is given to sawtooth ocsillations which complicate the interpretation of diagnostic neutron emission data into plasma temperatures and may imply an inherent lower bound on the temperature deviation from the ignition point. The estimated maximum Q is found to be marginal (Q = 10-20) from the point of view of a fusion reactor. (authors)
Theoretical model for ultracold molecule formation via adaptive feedback control
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
Output Feedback Stabilization with Nonlinear Predictive Control: Asymptotic properties
Lars Imsland
2003-07-01
Full Text Available State space based nonlinear model predictive control (NM PC needs the state for the prediction of the system behaviour. Unfortunately, for most applications, not all states are directly measurable. To recover the unmeasured states, typically a stable state observer is used. However, this implies that the stability of the closed-loop should be examined carefully, since no general nonlinear separation principle exists. Recently semi-global practical stability results for output feedback NMPC using a high-gain observer for state estimation have been established. One drawback of this result is that (in general the observer gain must be increased, if the desired set the state should converge to is made smaller. We show that under slightly stronger assumptions, not only practical stability, but also convergence of the system states and observer error to the origin for a sufficiently large but bounded observer gain can be achieved.
Shuiqing Yu
2013-01-01
Full Text Available This paper investigates the dynamic output feedback control for nonlinear networked control systems with both random packet dropout and random delay. Random packet dropout and random delay are modeled as two independent random variables. An observer-based dynamic output feedback controller is designed based upon the Lyapunov theory. The quantitative relationship of the dropout rate, transition probability matrix, and nonlinear level is derived by solving a set of linear matrix inequalities. Finally, an example is presented to illustrate the effectiveness of the proposed method.
Chaos control for the family of Roessler systems using feedback controllers
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
Effect of intermittent feedback control on robustness of human-like postural control system
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.
Feedback control of acoustic musical instruments: collocated control using physical analogs.
Berdahl, Edgar; Smith, Julius O; Niemeyer, Günter
2012-01-01
Traditionally, the average professional musician has owned numerous acoustic musical instruments, many of them having distinctive acoustic qualities. However, a modern musician could prefer to have a single musical instrument whose acoustics are programmable by feedback control, where acoustic variables are estimated from sensor measurements in real time and then fed back in order to influence the controlled variables. In this paper, theory is presented that describes stable feedback control of an acoustic musical instrument. The presentation should be accessible to members of the musical acoustics community who may have limited or no experience with feedback control. First, the only control strategy guaranteed to be stable subject to any musical instrument mobility is described: the sensors and actuators must be collocated, and the controller must emulate a physical analog system. Next, the most fundamental feedback controllers and the corresponding physical analog systems are presented. The effects that these controllers have on acoustic musical instruments are described. Finally, practical design challenges are discussed. A proof explains why changing the resonance frequency of a musical resonance requires much more control power than changing the decay time of the resonance. © 2012 Acoustical Society of America.
Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment
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
Neural networks for feedback feedforward nonlinear control systems.
Parisini, T; Zoppoli, R
1994-01-01
This paper deals with the problem of designing feedback feedforward control strategies to drive the state of a dynamic system (in general, nonlinear) so as to track any desired trajectory joining the points of given compact sets, while minimizing a certain cost function (in general, nonquadratic). Due to the generality of the problem, conventional methods are difficult to apply. Thus, an approximate solution is sought by constraining control strategies to take on the structure of multilayer feedforward neural networks. After discussing the approximation properties of neural control strategies, a particular neural architecture is presented, which is based on what has been called the "linear-structure preserving principle". The original functional problem is then reduced to a nonlinear programming one, and backpropagation is applied to derive the optimal values of the synaptic weights. Recursive equations to compute the gradient components are presented, which generalize the classical adjoint system equations of N-stage optimal control theory. Simulation results related to nonlinear nonquadratic problems show the effectiveness of the proposed method.
Conrad, Finn; Zhou, Jianjun; Gabacik, Andrzej
1998-01-01
Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control.......Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control....
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
Control oriented system analysis and feedback control of a numerical sawtooth instability model
Witvoet, G.; Westerhof, E.; Steinbuch, M.; Baar, de M.R.; Doelman, N.J.; Prater, R.
2010-01-01
A combined Porcelli-Kadomtsev numerical sawtooth instability model is analyzed using control oriented identification techniques. The resulting discrete time linear models describe the system’s behavior from crash to crash and is used in the design of a simple discrete time feedback controller, which
Mørkholt, Jakob
1997-01-01
Optimal feedback control of broadband sound radiation from a rectangular baffled panel has been investigated through computer simulations. Special emphasis has been put on the sensitivity of the optimal feedback control to uncertainties in the modelling of the system under control.A model...... in terms of a set of radiation filters modelling the radiation dynamics.Linear quadratic feedback control applied to the panel in order to minimise the radiated sound power has then been simulated. The sensitivity of the model based controller to modelling uncertainties when using feedback from actual...
Feedback control of atomic motion in an optical lattice
Morrow, N.V.; Dutta, S.K.; Raithel, G.
2002-01-01
We demonstrate a real-time feedback scheme to manipulate wave-packet oscillations of atoms in an optical lattice. The average position of the atoms in the lattice wells is measured continuously and nondestructively. A feedback loop processes the position signal and translates the lattice potential. Depending on the feedback loop characteristics, we find amplification, damping, or an entire alteration of the wave-packet oscillations. Our results are well supported by simulations
Empirical Reduced-Order Modeling for Boundary Feedback Flow Control
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.
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...
On a new time-delayed feedback control of chaotic systems
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.
Design and testing of data analysis tool for ECRH systems in labview
Patel, Jatinkumar; Patel, H.; Purohit, D.; Rajanbabu, N.; Mistry, H.; Shukla, B.K.
2017-01-01
Electron Cyclotron Resonance Heating (ECRH) is one of the essential RF heating sub systems used for pre-ionization and current drive experiments in SST1. In SST-1, Gyrotron based two ECRH systems are installed. 42 GHz gyrotron system capable of delivering 500kW RF power for 500ms and the 82.6 GHz gyrotron capable of delivering 200kW continuously for 1000 second. VME based Data acquisition and control (DAC) system is installed with the gyrotron systems and is under operation with SST-1. This paper explains the basic features of PXI DAC and the data analysis tool designed in labview 2014 and the problems faced during design and testing of different lengths of data plot. It has various features of plotting data in different categories i.e. plotting of fast acquisition signals data to decide the sequence of gyrotron interlocks happened during the gyrotron operations, conversion of main binary file into 32 .text files and all the 32 analog signals data plot in a single plot, auto update of selected important signals plot at the end of the shot
High-power microwave diplexers for advanced ECRH systems
Kasparek, W.; Petelin, M.; Erckmann, V.; Bruschi, A.; Noke, F.; Purps, F.; Hollmann, F.; Koshurinov, Y.; Lubyako, L.; Plaum, B.; Wubie, W.
2009-01-01
In electron cyclotron resonance heating systems, high-power multiplexers can be employed as power combiners, adjustable power dividers, fast switches to toggle the power between two launchers, as well as frequency sensitive directional couplers to combine heating and diagnostic applications on one launcher. In the paper, various diplexer designs for quasi-optical and corrugated waveguide transmission systems are discussed. Numerical calculations, low-power tests and especially high-power experiments performed at the ECRH system of W7-X are shown, which demonstrate the capability of these devices. Near term plans for applications on ASDEX Upgrade and FTU are presented. Based on the present results, options for implementation of power combiners and fast switches in the ECRH system of ITER is discussed.
Movement goals and feedback and feedforward control mechanisms in speech production.
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.
MHD-Stabilization of Axisymmetric Mirror Systems Using Pulsed ECRH
Post, R.F.
2010-01-01
This paper, part of a continuing study of means for the stabilization of MHD interchange modes in axisymmertric mirror-based plasma confinement systems, is aimed at a preliminary look at a technique that would employ a train of plasma pressure pulses produced by ECRH to accomplish the stabilization. The purpose of using sequentially pulsed ECRH rather than continuous-wave ECRH is to facilitate the localization of the heated-electron plasma pulses in regions of the magnetic field with a strong positive field-line curvature, e. g. in the 'expander' region of the mirror magnetic field, outside the outermost mirror, or in other regions of the field with positive field-line curvature. The technique proposed, of the class known as 'dynamic stabilization,' relies on the time-averaged effect of plasma pressure pulses generated in regions of positive field-line curvature to overcome the destabilizing effect of plasma pressure in regions of negative field-line curvature within the confinement region. As will also be discussed in the paper, the plasma pulses, when produced in regions of the confining having a negative gradient, create transient electric potentials of ambipolar origin, an effect that was studied in 1964 in The PLEIDE experiment in France. These electric fields preserve the localization of the hot-electron plasma pulses for a time determined by ion inertia. It is suggested that it may be possible to use this result of pulsed ECRH not only to help to stabilize the plasma but also to help plug mirror losses in a manner similar to that employed in the Tandem Mirror.
[European Community Respiratory Health Survey in Adults (ECRHS)].
Heinrich, J; Richter, K; Frye, C; Meyer, I; Wölke, G; Wjst, M; Nowak, D; Magnussen, H; Wichmann, H E
2002-05-01
The European Community Respiratory Health Survey (ECRHS) was the first study to assess the geographical variation in asthma, allergy, and allergic sensitization in adults using the same instruments and definitions. The database of the ECRHS includes information from approximately 140 000 individuals aged 20 - 44 years from 22 countries. The aim of this review is to summarize the results of the ECRHS and to present the specific contribution of the German centers in Hamburg and Erfurt. The prevalence ranged from 2.0 - 11.9 % for asthma, 9.5 - 40.9 % for allergic rhinitis, 4.0 - 32.0 % for wheeze, 3.4 - 27.9 % for bronchial hyperreactivity, and 16.2 - 44.5 % for allergic sensitisation against common aeroallergens. Although the prevalence of these atopic disorders were found to be consistently higher for the Hamburg center compared to the Erfurt center, strong regional differences in the prevalences were also found within several other European countries. Overall Europe, the lowest prevalences were seen in the Eastern and Middle European countries with the center Erfurt, followed by the Mediterranean region. The highest prevalences were reported for all English speaking centers. Strong geographic variation was reported for medication for asthma. Asthma seems to be undertreated in several countries. Environmental exposures and in particular indoor factors, and exposures at the workplace are playing a major role for asthma in adulthood. Furthermore, protective effects on atopy were found for exposures to pets (dogs) and a large number of siblings in early childhood. In conclusion, the ECRHS has shown that the prevalence of asthma varies widely. The fact that the geographical pattern is consistent with the distribution of atopy and bronchial responsiveness supports the conclusion that the geographical variations in the prevalence of asthma are true and likely due to environmental factors.
Walking Flexibility after Hemispherectomy: Split-Belt Treadmill Adaptation and Feedback Control
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…
Hennen, B.A.; Westerhof, E.; Nuij, Pwjm; M.R. de Baar,; Steinbuch, M.
2012-01-01
Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron
Pulsed klystrons with feedback controlled mod-anode modulators
Reass, William A [Los Alamos National Laboratory; Baca, David M [Los Alamos National Laboratory; Jerry, Davis L [Los Alamos National Laboratory; Rees, Daniel E [Los Alamos National Laboratory
2009-01-01
This paper describes a fast rise and fall, totem-pole mod-anode modulators for klystron application. Details of these systems as recently installed utilizing a beam switch tube ''on-deck'' and a planar triode ''off-deck'' in a grid-catch feedback regulated configuration will be provided. The grid-catch configuration regulates the klystron mod-anode voltage at a specified set-point during switching as well as providing a control mechanism that flat-top regulates the klystron beam current during the pulse. This flat-topped klystron beam current is maintained while the capacitor bank droops. In addition, we will review more modern on-deck designs using a high gain, high voltage planar triode as a regulating and switching element. These designs are being developed, tested, and implemented for the Los Alamos Neutron Science Center (LANSCE) accelerator refurbishment project, ''LANSCE-R''. An advantage of the planar triode is that the tube can be directly operated with solid state linear components and provides for a very compact design. The tubes are inexpensive compared to stacked semiconductor switching assemblies and also provide a linear control capability. Details of these designs are provided as well as operational and developmental results.
Feedback controlled electrical nerve stimulation: a computer simulation.
Doruk, R Ozgur
2010-07-01
The role of repetitive firing in neurophysiologic or neuropsychiatric disorders, such as Parkinson, epilepsy and bipolar type disorders, has always been a topic of medical research as therapies target either the cease of firing or a decrease in its frequency. In electrotherapy, one of the mechanisms to achieve the purpose in point is to apply a low density electric current to the nervous system. In this study, a computer simulation is provided of a treatment in which the stimulation current is computed by nerve fiber cell membrane potential feedback so that the level of the current is automatically instead of manually adjusted. The behavior of the nerve cell is represented by the Hodgkin-Huxley (HH) model, which is slightly modified into a linear model with state dependent coefficients. Due to this modification, the algebraic and differential Riccati equations can be applied, which allows an optimal controller minimizing a quadratic performance index given by the user. Using a controlled current injection can decrease unnecessarily long current injection times that may be harmful to the neuronal network. This study introduces a prototype for a possible future application to a network of neurons as it is more realistic than a single neuron. Copyright 2010 Elsevier Ireland Ltd. All rights reserved.
Quantum feedback for rapid state preparation in the presence of control imperfections
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.
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.
Temperature feedback control for long-term carrier-envelope phase locking
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.
Design and Validation of Optimized Feedforward with Robust Feedback Control of a Nuclear Reactor
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
Learning feedback and feedforward control in a mirror-reversed visual environment.
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.
Chen, C.-C.; Hsu, C.-H.; Chen, Y.-J.; Lin, Y.-F.
2007-01-01
The almost disturbance decoupling and trajectory tracking of nonlinear control systems using an observer-based fuzzy feedback linearization control (FLC) is developed. Because not all of the state variables of the nonlinear dynamic equations are available, a nonlinear state observer is employed to estimate the state variables. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. In order to demonstrate the practical applicability, the study has investigated a pendulum control system
PC-based digital feedback control for scanning force microscope
Mohd Ashhar Khalid
2002-01-01
In the past, most digital feedback implementation for scanned-probe microscope were based on a digital signal processor (DSP). At present DSP plug-in card with the input-output interface module is still expensive compared to a fast pentium PC motherboard. For a magnetic force microscope (MFM) digital feedback has an advantage where the magnetic signal can be easily separated from the topographic signal. In this paper, a simple low-cost PC-based digital feedback and imaging system for Scanning Force Microscope (SFM) is presented. (Author)
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...
Capacitive Sensors for Feedback Control of Microfluidic Devices
Chen, J. Z.; Darhuber, A. A.; Troian, S. M.; Wagner, S.
2003-11-01
Automation of microfluidic devices based on thermocapillary flow [1] requires feedback control and detection techniques for monitoring the location, and ideally also composition and volume of liquid droplets. For this purpose we have developed a co-planar capacitance technique with a sensitivity of 0.07 pF at a frequency of 370 kHz. The variation in capacitance due to the presence of a droplet is monitored by the output frequency of an RC relaxation oscillator consisting of two inverters, one resistor and one capacitor. We discuss the performance of this coplanar sensor as a function of the electrode dimensions and geometry. These geometric variables determine the electric field penetration depth within the liquid, which in our studies ranged from 30 to 450 microns. Numerical solutions for the capacitance corresponding to the exact fabricated geometry agree very well with experimental data. An approximate analytic solution, which ignores fringe field effects, provides a simple but excellent guide for design development. [1] A. A. Darhuber et al., Appl. Phys. Lett. 82, 657 (2003).
Developing an active artificial hair cell using nonlinear feedback control
Joyce, Bryan S.; Tarazaga, Pablo A.
2015-09-01
The hair cells in the mammalian cochlea convert sound-induced vibrations into electrical signals. These cells have inspired a variety of artificial hair cells (AHCs) to serve as biologically inspired sound, fluid flow, and acceleration sensors and could one day replace damaged hair cells in humans. Most of these AHCs rely on passive transduction of stimulus while it is known that the biological cochlea employs active processes to amplify sound-induced vibrations and improve sound detection. In this work, an active AHC mimics the active, nonlinear behavior of the cochlea. The AHC consists of a piezoelectric bimorph beam subjected to a base excitation. A feedback control law is used to reduce the linear damping of the beam and introduce a cubic damping term which gives the AHC the desired nonlinear behavior. Model and experimental results show the AHC amplifies the response due to small base accelerations, has a higher frequency sensitivity than the passive system, and exhibits a compressive nonlinearity like that of the mammalian cochlea. This bio-inspired accelerometer could lead to new sensors with lower thresholds of detection, improved frequency sensitivities, and wider dynamic ranges.
Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification
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.
Grand, Kirk F; Bruzi, Alessandro T; Dyke, Ford B; Godwin, Maurice M; Leiker, Amber M; Thompson, Andrew G; Buchanan, Taylor L; Miller, Matthew W
2015-10-01
It was tested whether learners who choose when to receive augmented feedback while practicing a motor skill exhibit enhanced augmented feedback processing and intrinsic motivation, along with superior learning, relative to learners who do not control their feedback. Accordingly, participants were assigned to either self-control (Self) or yoked groups and asked to practice a non-dominant arm beanbag toss. Self participants received augmented feedback at their discretion, whereas Yoked participants were given feedback schedules matched to Self counterparts. Participants' visual feedback was occluded, and when they received augmented feedback, their processing of it was indexed with the electroencephalography-derived feedback-related negativity (FRN). Participants self-reported intrinsic motivation via the Intrinsic Motivation Inventory (IMI) after practice, and completed a retention and transfer test the next day to index learning. Results partially support the hypothesis. Specifically, Self participants reported higher IMI scores, exhibited larger FRNs, and demonstrated better accuracy on the transfer test, but not on the retention test, nor did they exhibit greater consistency on the retention or transfer tests. Additionally, post-hoc multiple regression analysis indicated FRN amplitude predicted transfer test accuracy (accounting for IMI score). Results suggest self-controlled feedback schedules enhance feedback processing, which enhances the transfer of a newly acquired motor skill. Copyright © 2015 Elsevier B.V. All rights reserved.
Wang Jing; Gao Jinfeng; Ma Xikui
2007-01-01
This Letter presents a novel cross active backstepping design method for synchronization control of cross-strict feedback hyperchaotic system, in which the ordinary backstepping design is unavailable. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. The proposed method is applied to achieve chaos synchronization of two identical cross-strict feedback hyperchaotic systems. Also it is used to implement synchronization between cross-strict feedback hyperchaotic system and Roessler hyperchaotic system. Numerical examples illustrate the validity of the control method
Startup experience with the MFTF-B ECRH 100 kV dc power supply
Bishop, S.R.; Goodman, R.A.; Wilson, J.H.
1983-01-01
One of the 24 Accel dc Power Supplies (ADCPS) originally intended for the Mirror Fusion Test Facility (MFTF-B) Neutral Beam Power Supply (NBPS) System has been converted to provide negative polarity output at 90 kV with a load current of 64 A dc. The load duty cycle is a pulse of 30-seconds duration with a pulse repetition period of five minutes. A new control system has been built which will serve as a prototype for the MFTF-B ADCPS controls, and a test setup was built which will be used to test the ADCPS. The Electron Cyclotron Resonance Heating (ECRH) dc Power Supply (DCPS) has been tested under both no-load and dummy-load conditions, under remote control, without notable problems. Test results indicate that the power supply should be reliable and safe to operate, and will meet the load duty requirements
Startup experience with the MFTF-B ECRH 100 kV dc power supply
Bishop, S.R.; Goodman, R.A.; Wilson, J.H.
1983-01-01
One of the 24 Accel DC Power Supplies (ADCPS) originally intended for the Mirror Fusion Test Facility (MFTF-B) Neutral Beam Power Supply (NBPS) System has been converted to provide negative polarity output at 90 kV with a load current of 64 A dc. The load duty cycle is a pulse of 30-seconds duration with a pulse repetition period of five minutes. A new control system has been built which will serve as a prototype for the MFTF-B ADCPS controls, and a test setup was built which will be used to test the ADCPS. The Electron Cyclotron Resonance Heating (ECRH) DC Power Supply (DCPS) has been tested under both no-load and dummy-load conditions, under remote control, without notable problems. Test results indicate that the power supply should be reliable and safe to operate, and will meet the load duty requirements
Controlling chaos in a nonlinear pendulum using an extended time-delayed feedback control method
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.
Shin, Chang Joo; Jeong, Weui Bong; Hong, Chin Suk
2012-01-01
This paper investigates the active vibration control of clamp beams using positive position feedback (PPF) controllers with a sensor/ moment pair actuator. The sensor/moment pair actuator which is the non-collocated configuration leads to instability of the control system when using the direct velocity feedback (DVFB) control. To alleviate the instability problem, a PPF controller is considered in this paper. A parametric study of the control system with PPF controller is first conducted to characterize the effects of the design parameters (gain and damping ratio in this paper) on the stability and performance. The gain of the controller is found to affect only the relative stability. Increasing the damping ratio of the controller slightly improves the stability condition while the performance gets worse. In addition, the higher mode tuned PPF controller affects the system response at the lower modes significantly. Based on the characteristics of PPF controllers, a multi-mode controllable SISO PPF controller is then considered and tuned to different modes (in this case, three lowest modes) numerically and experimentally. The multi-mode PPF controller can be achieved to have a high gain margin. Moreover, it reduces the vibration of the beam significantly. The vibration levels at the tuned modes are reduced by about 11 dB
Direct torque control via feedback linearization for permanent magnet synchronous motor drives
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...
Feedback Linearization Control of a Shunt Active Power Filter Using a Fuzzy Controller
Tianhua Li
2013-09-01
Full Text Available In this paper, a novel feedback linearization based sliding mode controlled parallel active power filter using a fuzzy controller is presented in a three-phase three-wire grid. A feedback linearization control with fuzzy parameter self-tuning is used to implement the DC side voltage regulation while a novel integral sliding mode controller is applied to reduce the total harmonic distortion of the supply current. Since traditional unit synchronous sinusoidal signal calculation methods are not applicable when the supply voltage contains harmonics, a novel unit synchronous sinusoidal signal computing method based on synchronous frame transforming theory is presented to overcome this disadvantage. The simulation results verify that the DC side voltage is very stable for the given value and responds quickly to the external disturbance. A comparison is also made to show the advantages of the novel unit sinusoidal signal calculating method and the super harmonic treatment property of the designed active power filter.
Theoretical and experimental study of Chen chaotic system with notch filter feedback control
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)
The steady-state ECRH-system at Wendelstein7-X
Laqua, H.P.; Erckmann, V.; Brakel, R.; Braune, H.; Maassberg, H.; Marushchenko, N.; Michel, G.; Turkin, Y.; Ullrich, S.; Dammertz, G.; Thumm, M.; Brand, P.; Gantenbein, G.; Kasparek, W.
2005-01-01
Electron Cyclotron Resonance Heating (ECRH) is the main heating system for the Wendelstein7-X (W7-X) stellarator and the only one for CW-operation in the first stage. The mission of W7-X, which is presently under construction at IPP-Greifswald, is to demonstrate the inherent steady state capability of stellarators at reactor relevant plasma parameters. A modular 10 MW ECRH plant at 140 GHz with 1 MW CW-capability power for each module is under construction to meet the scientific objectives. Simulations of different ECRH scenarios, which are foreseen for W7-X operation and base on ray- tracing calculations and confinement studies, will be presented. A steady state ECRH has specific requirements on the stellarator machine itself, on the ECRH-sources, transmissions elements and on the experimental environment. In particular all elements have to be sufficiently cooled, screened and armoured against microwaves. The commissioning of the ECRH plant is well under way, the strategy and status of the project will be reported. First full power, CW integral tests of one ECRH module have been performed. A large microwave stray radiation chamber for integrated in-vessel component tests had been brought into operation. A bi-axially movable, motor driven ECRH antenna mock-up was build and is tested for reliability now. A strategy for the commissioning and the first experimental campaign at W7-X has been developed. (author)
A randomized controlled trial of a personalized feedback intervention for problem gamblers.
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
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.
Conditioning of TJ-II Stellarator during the ECRH Plasmas Period
Tafalla, D.; Tabares, F. L.
2001-01-01
The TJ-II stellarator has been conditioned by glow discharge (GD) during the first campaigns of operation, working only with ECR heating and all metal walls. The application of a He GD during the overnight period before the operation has been required in order to obtain reproducible discharges. However, the density control of the ECRH discharges was not possible because of the He implanted on the wall during GS. An short Ar GD(≤30 min) applied before the operation allows desorbes part of the implanted He. By applying this procedure (HeGD+ArGD), reproducible and density controlled plasmas have been achieved in H 2 and He. (Author) 20 refs
ECRH [electron-cyclotron resonance heating]-heated distributions in thermal-barrier tandem mirrors
Cohen, R.H.; LoDestro, L.L.
1987-01-01
The distribution function is calculated for electrons subjected to strong electron-cyclotron resonance heating (ECRH) at the plug and barrier in a tandem-mirror thermal-barrier cell. When ECRH diffusion locally dominates over collisions and a boundary condition (associated with electrons passing to the center cell) imposes variations on the distribution function rapid compared to the variation of the ECRH and collisional diffusion coefficients, the kinetic equation can be reduced approximately to Laplace's equation. For the typical case where velocity space is divided into distinct regions in which plug and barrier ECRH dominate, the solution in each region can be expressed in terms of the plasma dispersion function or exponential integrals, according to whether the passing electrons are dominated by collisions or ECRH, respectively. The analytic results agree well with Fokker-Planck code results, in terms of both velocity-space structure and values of moments. 10 refs., 4 figs
Liu Zhuo; Kuang Luelin; Hu Kai; Xu Luting; Wei Suhua; Guo Lingzhen; Li Xinqi
2010-01-01
In a solid-state circuit QED system, we demonstrate that a homodyne-current-based feedback can create and stabilize highly entangled two-qubit states in the presence of a moderate noisy environment. Particularly, we present an extended analysis for the current-based Markovian feedback, which leads to an improved feedback scheme. We show that this is essential to achieve a desirable control effect by the use of dispersive measurement.
Dynamics and control of a financial system with time-delayed feedbacks
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
Controlling chaos and synchronization for new chaotic system using linear feedback control
Yassen, M.T.
2005-01-01
This paper is devoted to study the problem of controlling chaos for new chaotic dynamical system (four-scroll dynamical system). Linear feedback control is used to suppress chaos to unstable equilibria and to achieve chaos synchronization of two identical four-scroll systems. Routh-Hurwitz criteria is used to study the conditions of the asymptotic stability of the equilibrium points of the controlled system. The sufficient conditions for achieving synchronization of two identical four-scroll systems are derived by using Lyapunov stability theorem. Numerical simulations are presented to demonstrate the effectiveness of the proposed chaos control and synchronization schemes
Fahad A Al-Hussein
2009-01-01
Conclusions: A process of audits in the context of statistical process control is necessary for any improvement in the implementation of guidelines in primary care. Statistical process control charts are an effective means of visual feedback to the care providers.
Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller
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)
Barr, D.S.
1993-01-01
It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems
Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller
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)
Barr, D.S.
1992-01-01
It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems
Iterative learning control with sampled-data feedback for robot manipulators
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
First results from protective ECRH diagnostics for Wendelstein 7-X
Marsen, S.; Corre, Y.; Laqua, H. P.; Moncada, V.; Moseev, D.; Niemann, H.; Preynas, M.; Stange, T.; The W7-X Team
2017-08-01
Wendelstein 7-X (W7-X) is a steady state capable optimised stellarator. The main heating system is electron cyclotron resonance heating (ECRH) operating at 140 GHz providing up to 9 MW microwave power. The power is launched into the machine by front steerable quasi-optical launchers in X- or O-mode. While in X-mode the first pass absorption is 99%, it is only 40... 70% in O-mode. O2-mode heating is forseen for high density operation above the X2 cutoff density of 1.2\\centerdot {{10}20} m-3. A set of diagnostics has been developed to protect the machine from non absorbed ECRH power which can easily damage in vessel components. The non absorbed power hitting the inner wall is measured by waveguides embedded in the first wall (ECA diagnostic). In order to prevent the inner wall from overheating or arcing, a near-infra red sensitive video diagnostic with a dynamic range of 450...1200 °C was integrated in the ECRH launchers. Thermal calculations for the carbon tiles predict a temperature increase above the detection threshold for scenarios of plasma start-up failure or poor absorption on a time scale of 50 ms. However, the temperature increase measured by an IR camera in experiments with failed break down, i.e. no ECRH absorption for up to 50 ms, was only Δ T≈ 70{{~}\\circ} C. In discharges with ≈ 5% transmission the measured temperature increase was comparable. The stray radiation level inside the machine is measured by so called sniffer probes resembling microwave diode detectors which were designed to collect all radiation approaching the probing surface independent of incident angle and polarization. Five sniffer probes are installed at different toroidal positions. They were integrated in the ECRH interlock system. During the first operational phase of W7-X this was the only available plasma interlock system. The signal quality proofed to be high enough for a reliable termination in case of poor absorption. After a breakdown phase of 10 ms, the sniffer
Feedback control of one's own action: Self-other sensory attribution in motor control.
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.
Feedback power control strategies in wireless sensor networks with joint channel decoding.
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.
Xing-Yuan, Wang; Na, Zhang
2010-01-01
Coupled map lattices are taken as examples to study the synchronisation of spatiotemporal chaotic systems. First, a generalised synchronisation of two coupled map lattices is realised through selecting an appropriate feedback function and appropriate range of feedback parameter. Based on this method we use the phase compression method to extend the range of the parameter. So, we integrate the feedback control method with the phase compression method to implement the generalised synchronisation and obtain an exact range of feedback parameter. This technique is simple to implement in practice. Numerical simulations show the effectiveness and the feasibility of the proposed program. (general)
Feedback control of occupant motion during a crash
Hesseling, R.J.; Steinbuch, M.; Veldpaus, F.E.; Klisch, T.
2006-01-01
Passive in-vehicle safety systems such as the air bag and the belt restrain the occupant during a crash. However, often their behavior is not optimal in terms of occupant injuries. This paper discusses an approach to design an ideal restraint system. The problem is formulated as a feedback tracking
The effects of self-controlled video feedback on the learning of the basketball set shot
Christopher Adam Aiken
2012-09-01
Full Text Available Allowing learners to control some aspect of instructional support (e.g., augmented feedback appears to facilitate motor skill acquisition. No studies, however, have examined self-controlled (SC video feedback without the provision of additional attentional cueing. The purpose of this study was to extend previous SC research using video feedback about movement form for the basketball set shot without explicitly directing attention to specific aspects of the movement. The SC group requested video feedback of their performance following any trial during the acquisition phase. The yoked (YK group received feedback according to a schedule created by a SC counterpart. During acquisition participants were also allowed to view written instructional cues at any time. Results revealed that the SC group had significantly higher form scores during the transfer phase and utilized the instructional cues more frequently during acquisition. Post-training questionnaire responses indicated no preference for requesting or receiving feedback following good trials as reported by Chiviacowsky and Wulf (2002, 2005. The nature of the task was such that participants could have assigned both positive and negative evaluations to different aspects of the movement during the same trial. Thus, the lack of preferences along with the similarity in scores for feedback and no-feedback trials may simply have reflected this complexity. Importantly, however, the results indicated that SC video feedback conferred a learning benefit without the provision of explicit additional attentional cueing.
Feedback Control of a Solid-State Qubit Using High-Fidelity Projective Measurement
Riste, D.; Bultink, C.C.; Lehnert, K.W.; DiCarlo, L.
2012-01-01
We demonstrate feedback control of a superconducting transmon qubit using discrete, projective measurement and conditional coherent driving. Feedback realizes a fast and deterministic qubit reset to a target state with 2.4% error averaged over input superposition states, and allows concatenating
Nonlinear H-infinity State Feedback Controllers: Computation of Valid Region
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...
The 3 MW ECRH/ECCD transmission and launching system on TORE SUPRA
Lennholm, M.; Agarici, G.; Berger-By, G.; Bosia, P.; Bouquey, F.; Clary, J.; Darbos, C.; Giruzzi, G.; Jung, M.; Magne, R.; Roux, D.; Petit, T.; Segui, J.L.; Zou, X.L.
2003-01-01
The ECRH experiment on TORE SUPRA is designed to inject up to 3 MW of power at 118 GHz using an antenna consisting of six fixed spherical mirrors and three mobile steering mirrors. The position of the mobile mirrors can be varied in real time using two stepper motors for each mobile mirror. In addition to controlling the injection angle, the position of the mobile mirrors also affects the polarisation of the injected wave. Accurate formulae to compute, in real time, the stepper motor positions required to obtain the desired beam injection angles have been derived. Formulae to determine the effect on the wave polarisation, of the actual mobile mirror positions have also been determined. These formulae have been verified by precise laser measurements and by comparison of power deposition calculations and experimental results. (authors)
The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems.
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.
Wen Guilin; Wang Qingguo; Lin Chong; Han Xu; Li Guangyao
2006-01-01
Synchronization under output feedback control with multiple random time delays is studied, using the paradigm in nonlinear physics-Chua's circuit. Compared with other synchronization control methods, output feedback control with multiple random delay is superior for a realistic synchronization application to secure communications. Sufficient condition for global stability of delay-dependent synchronization is established based on the LMI technique. Numerical simulations fully support the analytical approach, in spite of the random delays
Barbara eDrueke
2012-04-01
Full Text Available Executive control describes a wide range of cognitive processes which are critical for the goal-directed regulation of stimulus processing and action regulation. Previous studies have shown that executive control performance declines with age but yet, it is still not clear whether different internal and external factors - as performance feedback and age - influence these cognitive processes and how they might interact with each other. Therefore, we investigated feedback effects in the flanker task in young as well as in older adults in two experiments. Performance feedback significantly improved executive performance in younger adults at the expense of errors. In older adults, feedback also led to higher error rates, but had no significant effect on executive performance which might be due to stronger interference. Results indicate that executive functions can be positively influenced by performance feedback in younger adults, but not necessarily in older adults.
Yang, Li-Farn; Mikulas, Martin M., Jr.; Park, K. C.; Su, Renjeng
1993-01-01
This paper presents a moment-gyro control approach to the maneuver and vibration suppression of a flexible truss arm undergoing a constant slewing motion. The overall slewing motion is triggered by a feedforward input, and a companion feedback controller is employed to augment the feedforward input and subsequently to control vibrations. The feedforward input for the given motion requirement is determined from the combined CMG (Control Momentum Gyro) devices and the desired rigid-body motion. The rigid-body dynamic model has enabled us to identify the attendant CMG momentum saturation constraints. The task for vibration control is carried out in two stages; first in the search of a suitable CMG placement along the beam span for various slewing maneuvers, and subsequently in the development of Liapunov-based control algorithms for CMG spin-stabilization. Both analytical and numerical results are presented to show the effectiveness of the present approach.
Feedforward-feedback control of dissolved oxygen concentration in a predenitrification system.
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.
Experimental Electron Heat Diffusion in TJ-II ECRH Plasmas
Vargas, V.I.; Lopez-Bruna, D.; Herranz, J.; Castejon, F.
2006-07-01
Interpretative transport has been used to revisit the global scalings of TJ-II ECRH plasmas from a local perspective. Density, rotational transform and ERCH power scans were analysed based upon Thomson Scattering data (electron density and temperature) in steady state discharges. A simple formula to obtain the thermal conductivity, assuming pure diffusion and negligible convective heat fluxes was used in a set of 161 discharges. All the analysis was performed with the ASTRA transport shell. The density scan indicates that inside n=0,4 there is no significant change of e with density in the range studied (0.4
Particle Transport in ECRH Plasmas of the TJ-II
Vargas, V. I.; Lopez-Bruna, D.; Estrada, T.; Guasp, J.; Reynolds, J. M.; Velasco, J. L.; Herranz, J.
2007-01-01
We present a systematic study of particle transport in ECRH plasmas of TJ-II with different densities. The goal is to fi nd particle confinement time and electron diffusivity dependence with line-averaged density. The experimental information consists of electron temperature profiles, T e (Thomson Scattering TS) and electron density, n e , (TS and reflectometry) and measured puffing data in stationary discharges. The profile of the electron source, Se, was obtained by the 3D Monte-Carlo code EIRENE. The analysis of particle balance has been done by linking the results of the code EIRENE with the results of a model that reproduces ECRH plasmas in stationary conditions. In the range of densities studied (0.58 ≤n e > (10 1 9m - 3) ≤0.80) there are two regions of confinement separated by a threshold density, e > ∼0.65 10 1 9m - 3. Below this threshold density the particle confinement time is low, and vice versa. This is reflected in the effective diffusivity, D e , which in the range of validity of this study, 0.5 e are flat for ≥0,63(10 1 9m - 3). (Author) 35 refs
Experimental Electron Heat Diffusion in TJ-II ECRH Plasmas
Vargas, V.I.; Lopez-Bruna, D.; Herranz, J.; Castejon, F.
2006-01-01
Interpretative transport has been used to revisit the global scalings of TJ-II ECRH plasmas from a local perspective. Density, rotational transform and ERCH power scans were analysed based upon Thomson Scattering data (electron density and temperature) in steady state discharges. A simple formula to obtain the thermal conductivity, assuming pure diffusion and negligible convective heat fluxes was used in a set of 161 discharges. All the analysis was performed with the ASTRA transport shell. The density scan indicates that inside n=0,4 there is no significant change of e with density in the range studied (0.4 (1019m-3) 1.0), while in 0,5 <0,8 approximately, e decreases with density. In the rotational transform scan it is found that the values of e when a low order rational of the rotational transform is present locally seem to be smaller for the corresponding range, although it is apparent a general beneficial effect of the corresponding change in magnetic structure. Finally, in the ECRH power scan, e is found to have an overall increment in 0,2< n0,6 when QECH increases from 200 to 400 kW, although it is less significant in the density gradient region (n 0,7). (Author) 22 refs
Role of ECRH in potential formation for tandem mirrors
Rognlien, T.D.; Matsuda, Y.; Stewart, J.J.
1985-01-01
The axial ion plugging potential in a tandem mirror is produced by electron cyclotron resonance heating (ECRH) applied at two locations in the end mirror cell. A second harmonic (ω = 2ω/sub c/) resonance is used near the midplane to generate hot electrons which yield an electron potential barrier between center cell electrons and electrons outboard of the end cell midplane. The latter group of electrons is then heated at the fundamental resonance (ω = ω/sub c/) on the outboard side of the magnetic well which drives an ion confining potential. Fokker-Planck and Monte Carlo calculations show that such a configuration is achievable, and the scaling obeys a rather simple set of equations. Another aspect of this configuration is the experimental observation that the fundamental heating drives the overall potential of the device relative to the wall to approx. 1 kV. An analytic model predicts this behavior for very strong ECRH. Results are given a numerical study of electron confinement in a mirror cell owing to fundamental heating as the level of the rf electric field, E/sub rf/, is increased. For the second part of the paper, we show that moderate levels of uniformly distributed rf fields, called cavity fields, can result in very hot (>250 keV) tails in the electron distribution as seen in the TMX-U experiment
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)
Progress of high power and long pulse ECRH system in EAST
Wang, Xiaojie; Liu, Fukun; Shan, Jiafang; Xu, Handong; DajunWu; Li, Bo; Wei, Wei; Zhang, Jian; Huang, Yiyun; Tang, Yunying; Xu, Weiye; Hu, Huaichuan; Wang, Jian; Xu, Li; Zhang, Liyuan; Feng, Jianqiang
2015-01-01
Highlights: • The design and the status of the 140 GHz/4 MW/1000 s ECRH system on EAST tokamak is described in detail. • Two of the four gyrotrons are tested in factory. • The transmission line and the equatorial launcher for the first 2 MW system are ready for installation. • Series tests have been carried out for the most critical elements for the real-time launcher. • The auxiliary system includes the water cooling system, the HVPS system, the vacuum system have been installed and tested. - Abstract: In accordance with the long pulse objectives of the Experimental Advanced Superconducting Tokamak (EAST), an electron cyclotron resonance heating (ECRH) system with the feature of 4 MW power for a pulse length up to 1000 s at 140 GHz, using second harmonic of the extraordinary mode (X2) is presently under construction at the institute of plasma physics, Chinese academy of sciences (ASIPP). The missions of the system are to provide central heating, current drive, plasma profile tailoring and control of magneto-hydrodynamic (MHD) instabilities. The continuous wave (CW) power is transmitted from the gyrotrons to EAST via low-loss evacuated waveguide transmission lines. Considering the diverse applications of the EC system, the front steering launcher is designed to inject four individually steered beams across nearly the entire plasma cross section. The beam's launch angles can be continuously varied with the optimized scanning range of over 30° in poloidal direction and ±25° in toroidal, as well as the polarization will be adjusted during the discharge by the orientations of a pair of polarizers in the transmission line to maintain the highest absorption for different operational scenarios. The commissioning of the first 2 MW system will be commenced in the end of 2014.
Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang
2010-09-01
This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.
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.
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
Feedback Linearization Based Arc Length Control for Gas Metal Arc Welding
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....
Verifying detailed fluctuation relations for discrete feedback-controlled quantum dynamics
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.
A dynamic feedback-control toll pricing methodology : a case study on Interstate 95 managed lanes.
2013-06-01
Recently, congestion pricing emerged as a cost-effective and efficient strategy to mitigate the congestion problem on freeways. This study develops a feedback-control based dynamic toll approach to formulate and solve for optimal tolls. The study com...
Phase and amplitude feedback control system for the Los Alamos free-electron laser
Lynch, M.T.; Tallerico, P.J.; Higgins, E.F.
1985-01-01
Phase and amplitude feedback control systems for the Los Alamos free-electron laser (FEL) are described. Beam-driven voltages are very high in the buncher cavity because the electron gun is pulsed at the fifth subharmonic of the buncher resonant frequency. The high beam loading necessitated a novel feedback and drive configuration for the buncher. A compensation cirucit has been added to the gun/driver system to reduce observed drift. Extremely small variations in the accelerator gradients had dramatic effects on the laser output power. These problems and how they were solved are described and plans for improvements in the feedback control system are discussed. 5 refs., 7 figs
The phase detection and calculation for low hybrid wave phase-feedback control system
Liu Qiang; Liang Hao; Zhou Yongzhao; Shan Jiafang
2008-01-01
A method of phase detection and calculation for low hybrid wave phase-feedback control system and the implementing the algorithms on DSP cores embedded in FPGA is introduced. By taking the advantages of matlab-aided design and algorithms optimization to carry out parallel processing of multi-channel phase calculation in FPGA with rich resources, the purposed of fast phase-feedback control is achieved under the need of complicated mathematical operations. (authors)
Feedback controlled dephasing and population relaxation in a two-level system
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.
Synchronization of cellular neural networks of neutral type via dynamic feedback controller
Park, Ju H.
2009-01-01
In this paper, we aim to study global synchronization for neural networks with neutral delay. A dynamic feedback control scheme is proposed to achieve the synchronization between drive network and response network. By utilizing the Lyapunov function and linear matrix inequalities (LMIs), we derive simple and efficient criterion in terms of LMIs for synchronization. The feedback controllers can be easily obtained by solving the derived LMIs.
Feedback and feedforward control of frequency tuning to naturalistic stimuli.
Chacron, Maurice J; Maler, Leonard; Bastian, Joseph
2005-06-08
Sensory neurons must respond to a wide variety of natural stimuli that can have very different spatiotemporal characteristics. Optimal responsiveness to subsets of these stimuli can be achieved by devoting specialized neural circuitry to different stimulus categories, or, alternatively, this circuitry can be modulated or tuned to optimize responsiveness to current stimulus conditions. This study explores the mechanisms that enable neurons within the initial processing station of the electrosensory system of weakly electric fish to shift their tuning properties based on the spatial extent of the stimulus. These neurons are tuned to low frequencies when the stimulus is restricted to a small region within the receptive field center but are tuned to higher frequencies when the stimulus impinges on large regions of the sensory epithelium. Through a combination of modeling and in vivo electrophysiology, we reveal the respective contributions of the filtering characteristics of extended dendritic structures and feedback circuitry to this shift in tuning. Our results show that low-frequency tuning can result from the cable properties of an extended dendrite that conveys receptor-afferent information to the cell body. The shift from low- to high-frequency tuning, seen in response to spatially extensive stimuli, results from increased wide-band input attributable to activation of larger populations of receptor afferents, as well as the activation of parallel fiber feedback from the cerebellum. This feedback provides a cancellation signal with low-pass characteristics that selectively attenuates low-frequency responsiveness. Thus, with spatially extensive stimuli, these cells preferentially respond to the higher-frequency components of the receptor-afferent input.
Particle Transport in ECRH Plasmas of the TJ-II; Transporte de Particulas en Plasmas ECRH del TJ-II
Vargas, V. I.; Lopez-Bruna, D.; Estrada, T.; Guasp, J.; Reynolds, J. M.; Velasco, J. L.; Herranz, J.
2007-07-01
We present a systematic study of particle transport in ECRH plasmas of TJ-II with different densities. The goal is to fi nd particle confinement time and electron diffusivity dependence with line-averaged density. The experimental information consists of electron temperature profiles, T{sub e} (Thomson Scattering TS) and electron density, n{sub e}, (TS and reflectometry) and measured puffing data in stationary discharges. The profile of the electron source, Se, was obtained by the 3D Monte-Carlo code EIRENE. The analysis of particle balance has been done by linking the results of the code EIRENE with the results of a model that reproduces ECRH plasmas in stationary conditions. In the range of densities studied (0.58 {<=}n{sub e}> (10{sup 1}9m{sup -}3) {<=}0.80) there are two regions of confinement separated by a threshold density,
Nonclassical state generation for linear quantum systems via nonlinear feedback control
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 novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms
Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.
2017-01-01
It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a
Advanced feedback control methods in EXTRAP T2R reversed field pinch
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.
Advanced feedback control methods in EXTRAP T2R reversed field pinch
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
Winkens, R A; Pop, P; Bugter-Maessen, A M; Grol, R P; Kester, A D; Beusmans, G H; Knottnerus, J A
1995-02-25
Feedback can be described as a way to provide information on doctors' performance to enable changes in future behaviour. Feedback is used with the aim of changing test-ordering behaviour. It can lead to reductions in test usage and cost savings. It is not sufficiently clear, however, whether feedback leads to more appropriate test use. Since 1985, the Diagnostic Coordinating Center Maastricht has been giving feedback on diagnostic tests as a routine health care activity to all family doctors in its region. Both quantity and quality of requests are discussed. In a randomised, controlled trial over 2.5 years, discussion of tests not included previously was added to the existing routine feedback. One group of family doctors (n = 39) received feedback on test-group A (electrocardiography, endoscopy, cervical smears, and allergy tests), the other (n = 40) on test-group B (radiographic and ultrasonographic tests). Thus, each group of doctors acted as a control group for the other. Changes in volume and rationality of requests were analysed. The number of requests decreased during the trial (p = 0.036). Request numbers decreased particularly for test-group A (p = 0.04). The proportion of requests that were non-rational decreased more in the intervention than in the control groups (p = 0.009). Rationality improved predominantly for test-group B (p = 0.043). Thus, routine feedback can change the quantity and quality of requests.
Heavy ion beam probe investigations of plasma potential in ECRH and NBI in the TJ-II stellarator
Melnikov, A.V.; Eliseev, L.; Perfilov, S.V.; Chmyga, A.A.; Dreval, N.; Khrebtov, S.M.; Komarov, A.D.; Kozachok, A.S.; Krupnik, L.; Alonso, A.; Pablos, J.L. de; Cappa, A.; Fernandez, A.; Fuentes, C.; Hidalgo, C.; Liniers, M.; Pedrosa, M.A.
2005-01-01
Direct measurements of electric potential and its fluctuations are of a primary importance in magnetic confinement systems. The Heavy Ion Beam Probe (HIBP) diagnostic is used in TJ-2 stellarator to study directly plasma electric potential profiles with spatial (up to 1cm) and temporal (up to 10 ∝s) resolution. The singly charged heavy ions Cs + with energies up to 125 keV are used to probe the plasma column from the edge to the core. Both ECRH and NBI heated plasmas (P ECRH = 200 - 400kW, P NBI = 400kW, E NBI = 28 kV) were studied. The significant improvement in the HIBP beam control system and the acquisition electronics leads us to increase the possibilities of the diagnostic. The most crucial one is the extension of the signal dynamic range, which allows us to have the reliable profiles from the plasma center to the plasma edge both in the high and low field side regions. Low density ECRH (n = 0.5-1.1.10 13 cm -3 ) plasmas in TJ-2 are characterised by core positive plasma potential of order of 500 - 1000 V and positive electric fields up to 50 V/cm. Edge radial electric fields remain positive at low densities and became negative at the threshold density that depends of plasma configuration. NBI plasmas are characterized by negative electric potential in the full plasma column and negative radial electric fields (in the range of 10 - 40 V/cm). The density rise during the NBI phase is accompanied by the decay of core plasma potential. When density is getting the level of n ∼ 2.0.10 13 cm -3 , the potential stops its evolution and remains constant. The evolution of plasma potential near density limit is under investigation. These observations, reported in different magnetic configurations, show the clear link between plasma potential and plasma density. (author)
Bifurcation Regulations Governed by Delay Self-Control Feedback in a Stochastic Birhythmic System
Ma, Zhidan; Ning, Lijuan
2017-12-01
We aim to investigate bifurcation behaviors in a stochastic birhythmic van der Pol (BVDP) system subjected to delay self-control feedback. First, the harmonic approximation is adopted to drive the delay self-control feedback to state variables without delay. Then, Fokker-Planck-Kolmogorov (FPK) equation and stationary probability density function (SPDF) for amplitude are obtained by applying stochastic averaging method. Finally, dynamical scenarios of the change of delay self-control feedback as well as noise that markedly influence bifurcation performance are observed. It is found that: the big feedback strength and delay will suppress the large amplitude limit cycle (LC) while the relatively big noise strength facilitates the large amplitude LC, which imply the proposed regulation strategies are feasible. Interestingly enough, the inner LC is never destroyed due to noise. Furthermore, the validity of analytical results was verified by Monte Carlo simulation of the dynamics.
Shestakov, E. A.; Savrukhin, P. V.
2017-10-01
Experiments in the T-10 tokamak demonstrated possibility of controlling the plasma current during disruption instability using the electron cyclotron resonance heating (ECRH) and the controlled operation of the ohmic current-holding system. Quasistable plasma discharge with repeating sawtooth oscillations can be restored after energy quench using auxiliary ECRH power when PEC / POH > 2-5. The external magnetic field generation system consisted of eight saddle coils that were arranged symmetrically relative to the equatorial plane of the torus outside of the vacuum vessel of the T-10 tokamak to study the possible resonant magnetic field effects on the rotation frequency of magnetic islands. The saddle coils power supply system is based on four thyristor converters with a total power of 300 kW. The power supply control system is based on Siemens S7 controllers. As shown by preliminary experiments, the interaction efficiency of external magnetic fields with plasma depends on the plasma magnetic configuration. Optimal conditions for slowing the rotation of magnetic islands were determined. Additionally, the direction of the error magnetic field in the T-10 tokamak was determined, and the threshold value of the external magnetic field was determined.
Output Feedback Control of Electro-Hydraulic Cylinder Drives using the Twisting Algorithm
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....
Combined feedforward and feedback control of a redundant, nonlinear, dynamic musculoskeletal system.
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.
Halyo, Nesim
1987-01-01
A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.
Research of a New 6-Dof Force Feedback Hand Controller System
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.
Chaotification of vibration isolation floating raft system via nonlinear time-delay feedback control
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.
Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand.
Cipriani, Christian; Segil, Jacob L; Clemente, Francesco; ff Weir, Richard F; Edin, Benoni
2014-11-01
Providing functionally effective sensory feedback to users of prosthetics is a largely unsolved challenge. Traditional solutions require high band-widths for providing feedback for the control of manipulation and yet have been largely unsuccessful. In this study, we have explored a strategy that relies on temporally discrete sensory feedback that is technically simple to provide. According to the Discrete Event-driven Sensory feedback Control (DESC) policy, motor tasks in humans are organized in phases delimited by means of sensory encoded discrete mechanical events. To explore the applicability of DESC for control, we designed a paradigm in which healthy humans operated an artificial robot hand to lift and replace an instrumented object, a task that can readily be learned and mastered under visual control. Assuming that the central nervous system of humans naturally organizes motor tasks based on a strategy akin to DESC, we delivered short-lasting vibrotactile feedback related to events that are known to forcefully affect progression of the grasp-lift-and-hold task. After training, we determined whether the artificial feedback had been integrated with the sensorimotor control by introducing short delays and we indeed observed that the participants significantly delayed subsequent phases of the task. This study thus gives support to the DESC policy hypothesis. Moreover, it demonstrates that humans can integrate temporally discrete sensory feedback while controlling an artificial hand and invites further studies in which inexpensive, noninvasive technology could be used in clever ways to provide physiologically appropriate sensory feedback in upper limb prosthetics with much lower band-width requirements than with traditional solutions.
Self-controlled feedback facilitates motor learning in both high and low activity individuals.
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.
Self-controlled feedback facilitates motor learning in both high and low activity individuals
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.
Exponential synchronization of the Genesio-Tesi chaotic system via a novel feedback control
Park, Ju H
2007-01-01
A novel feedback control scheme is proposed for exponential synchronization of the Genesio-Tesi chaotic system. The feedback controller consists of two parts: a linear dynamic control law and a nonlinear control one. For exponential synchronization between the drive and response Genesio-Tesi systems, the Lyapunov stability analysis is used. Then an existence criterion for the stabilizing controller is presented in terms of linear matrix inequalities (LMIs). The LMIs can be solved easily by various convex optimization algorithms. Finally, a numerical simulation is illustrated to show the effectiveness of the proposed chaos synchronization scheme
Hydraulic engine valve actuation system including independent feedback control
Marriott, Craig D
2013-06-04
A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.
Robust wide-range control of nuclear reactors by using the feedforward-feedback concept
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
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
Description of the heliac TJ-II and its ECRH system
Perea, A.; Martin, R.; Alvarez Rivas, J.L.
1986-01-01
This paper describes the main engineering aspects of the flexible heliac TJ-II, as well as the ECRH scheme that will be used for initial operation. Previous papers have described the physics of the device
Squeezed light in an optical parametric oscillator network with coherent feedback quantum control.
Crisafulli, Orion; Tezak, Nikolas; Soh, Daniel B S; Armen, Michael A; Mabuchi, Hideo
2013-07-29
We present squeezing and anti-squeezing spectra of the output from a degenerate optical parametric oscillator (OPO) network arranged in different coherent quantum feedback configurations. One OPO serves as a quantum plant, the other as a quantum controller. The addition of coherent feedback enables shaping of the output squeezing spectrum of the plant, and is found to be capable of pushing the frequency of maximum squeezing away from the optical driving frequency and broadening the spectrum over a wider frequency band. The experimental results are in excellent agreement with the developed theory, and illustrate the use of coherent quantum feedback to engineer the quantum-optical properties of the plant OPO output.
Al-Jundi, Wissam; Elsharif, Mohamed; Anderson, Melanie; Chan, Phillip; Beard, Jonathan; Nawaz, Shah
Constructive feedback plays an important role in learning during surgical training. Standard feedback is usually given verbally following direct observation of the procedure by a trained assessor. However, such feedback requires the physical presence of expert faculty members who are usually busy and time-constrained by clinical commitments. We aim to evaluate electronic feedback (e-feedback) after video observation of surgical suturing in comparison with standard face-to-face verbal feedback. A prospective, blinded, randomized controlled trial comparing e-feedback with standard verbal feedback was carried out in February 2015 using a validated pro formas for assessment. The study participants were 38 undergraduate medical students from the University of Sheffield, UK. They were recorded on video performing the procedural skill, completed a self-evaluation form, and received e-feedback on the same day (group 1); observed directly by an assessor, invited to provide verbal self-reflection, and then received standard verbal feedback (group 2). In both groups, the feedback was provided after performing the procedure. The participants returned 2 days later and performed the same skill again. Poststudy questionnaire was used to assess the acceptability of each feedback among the participants. Overall, 19 students in group 1 and 18 students in group 2 completed the study. Although there was a significant improvement in the overall mean score on the second performance of the task for all participants (first performance mean 11.59, second performance mean 15.95; p ≤ 0.0001), there was no difference in the overall mean improvement score between group 1 and group 2 (4.74 and 3.94, respectively; p = 0.49). The mean overall scores for the e-feedback group at baseline recorded by 2 independent investigators showed good agreement (mean overall scores of 12.84 and 11.89; Cronbach α = 0.86). Poststudy questionnaire demonstrated that both e-feedback and standard verbal feedback
Feedback Power Control Strategies inWireless Sensor Networks with Joint Channel Decoding
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.
Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.
Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S
2009-12-01
Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.
Optimal control of nonlinear continuous-time systems in strict-feedback form.
Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani
2015-10-01
This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.
Eliminating oscillations in the Internet by time-delayed feedback control
Liu Chenglin; Tian Yuping
2008-01-01
In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation
Web/smart phone based control and feedback systems for irrigation systems
The role of the internet and mobile devices in the control and feedback of irrigation systems is reviewed. This role is placed in the larger context of four distinct components required for irrigation management, including 1. the control panel; 2. remote control; 3. soil, plant, and weather (SPW) se...
Eliminating oscillations in the Internet by time-delayed feedback control
Liu Chenglin [Department of Automatic Control, Southeast University, Nanjing 210096 (China); Tian Yuping [Department of Automatic Control, Southeast University, Nanjing 210096 (China)], E-mail: yptian@seu.edu.cn
2008-03-15
In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation.
Robust output feedback H-infinity control and filtering for uncertain linear systems
Chang, Xiao-Heng
2014-01-01
"Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.
Cates, C.; Shilov, M.; Mauel, M. E.; Navratil, G. A.; Maurer, D.; Mukherjee, S.; Nadle, D.; Bialek, J.; Boozer, A.
2000-01-01
External kink instabilities are suppressed in a tokamak experiment by either (1) energizing a distributed array of independently controlled active feedback coils mounted outside a segmented resistive wall or (2) inserting a second segmented wall having much higher electrical conductivity. When the active feedback coils are off and the highly conducting wall is withdrawn, kink instabilities excited by plasma current gradients grow at a rate comparable to the magnetic diffusion rate of the resistive wall. (c) 2000 American Institute of Physics
Preparing to reach: selecting an adaptive long-latency feedback controller
Ahmadi-Pajouh, Mohammad Ali; Towhidkhah, Farzad; Shadmehr, Reza
2012-01-01
In a voluntary movement, the nervous system specifies not only the motor commands, but also the gains associated with reaction to sensory feedback. For example, suppose that during reaching a perturbation tends to push the hand to the left. With practice, the brain not only learns to produce commands that predictively compensate for the perturbation, but also increases the long-latency reflex gain associated with leftward displacements of the arm. That is, the brain learns a feedback controll...
Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks
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
Progress of the ECRH Upper Launcher design for ITER
Strauss, D.; Aiello, G.; Bruschi, A.; Chavan, R.; Farina, D.; Figini, L.; Gagliardi, M.; Garcia, V.; Goodman, T.P.; Grossetti, G.; Heemskerk, C.; Henderson, M.A.; Kasparek, W.; Krause, A.; Landis, J.-D.; Meier, A.; Moro, A.; Platania, P.; Plaum, B.; Poli, E.
2014-01-01
The design of the ITER ECRH system provides 20 MW millimeter wave power for central plasma heating and MHD stabilization. The system consists of an array of 24 gyrotrons with power supplies coupled to a set of transmission lines guiding the beams to the four upper and the equatorial launcher. The front steering upper launcher design described herein has passed successfully the preliminary design review, and it is presently in the final design stage. The launcher consists of a millimeter wave system and steering mechanism with neutron shielding integrated into an upper port plug with the plasma facing blanket shield module (in-vessel) and a set of ex-vessel waveguides connecting the launcher to the transmission lines. Part of the transmission lines are the ultra-low loss CVD torus diamond windows and a shutter valve, a miter bend section and the feedthroughs integrated in the plug closure plate. These components are connected by corrugated waveguides and form together the first confinement system (FCS). In-vessel, the millimeter-wave system includes a quasi-optical beam propagation system including four mirror sets and a front steering mirror. The millimeter wave system is integrated into a specifically optimized upper port plug providing structural stability to withstand plasma disruption forces and the high heat load from the plasma side with a dedicated blanket shield module. A recent update in the ITER interface definition has resulted in the recession of the upper port plug first wall panels, which is now integrated into the design. Apart from the millimeter wave system the upper port plug houses also a set of shield blocks which provide neutron shielding. An overview of the actual ITER ECRH Upper Launcher is given together with some highlights of the design
Improvement of density control by feedback on Langmuir probe signals in Tore Supra
Gunn, J.; Bucalossi, J.; Costanzo, L.; Grisolia, C.; Ghendrih, Ph.; Grosman, A.; Loarer, T.; Martin, G.; Monier-Garbet, P.; Moulin, D.; Pascal, J.Y.; Saint-Laurent, F.
1999-12-01
Real time control of deuterium or helium gas injection by feedback on Langmuir probe signals is implemented in Tore Supra ergodic divertor discharges. The feedback schemes are based on the robust experimental observation that the density limit coincides with edge temperature T e ∼ 10 eV. Three control algorithms are used: (1) proportional feedback on the central line-averaged density with real-time attenuation of the system gain and security cut-off of the gas injection if the edge temperature becomes too low; (2) proportional feedback on the central line-averaged density with security cut-off controlled by the degree of detachment (DoD); (3) proportional feedback on edge temperature with security cut-off on the DoD. The DoD is defined for deuterium discharges, but not for helium since those do not detach. All three feedback modes permit operation close to the density limit and have been successfully applied for plasma currents 0.4 p p =1.4 MA with up to 4 MW of ICRH power. (author)
Stabilization of Networked Control Systems Under Feedback-based Communication
Zhang, Lei; Hristu-Varsakelis, Dimitrios
2004-01-01
We study the stabilization of a networked control system (NSC) in which multiple sensors and actuators of a physical plant share a communication medium to exchange information with a remote controller...
Nonlinear free vibration control of beams using acceleration delayed-feedback control
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
Feedback control of Zero Moment Point for stable bipedal walking
Looij, van de R.M.A.; Nijmeijer, H.; Kostic, D.
2014-01-01
In order to prevent the humanoid robot TUlip from falling a start has been made with a Zero Moment Point (ZMP) based controller. The chosen controller, which is called the Linear Inverted Pendulum Tracker (LIPT) controller, is based upon a lag between the real and reference ZMP and is used in
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.
Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario
2014-09-01
In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.
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.
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.
Distributed Cooperative Secondary Control of Microgrids Using Feedback Linearization
Bidram, Ali; Davoudi, Ali; Lewis, Frank
2013-01-01
This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors. The dist......This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors...... parameters can be tuned to obtain a desired response speed. The effectiveness of the proposed control methodology is verified by the simulation of a microgrid test system....
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.
Event-Triggered Output-Feedback Control for Disturbed Linear Systems
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.
Cooling and squeezing the fluctuations of a nanomechanical beam by indirect quantum feedback control
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.
Hamed, Kaveh Akbari; Gregg, Robert D.
2016-01-01
This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059
Reversed field pinch operation with intelligent shell feedback control in EXTRAP T2R
Brunsell, P. R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J. R.; Rachlew, E.
2006-11-01
Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size.
Reversed field pinch operation with intelligent shell feedback control in EXTRAP T2R
Brunsell, P.R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J.R.; Rachlew, E.
2006-01-01
Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size
Chaos control in delayed chaotic systems via sliding mode based delayed feedback
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
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.
Adaptive H∞ synchronization of chaotic systems via linear and nonlinear feedback control
Fu Shi-Hui; Lu Qi-Shao; Du Ying
2012-01-01
Adaptive H ∞ synchronization of chaotic systems via linear and nonlinear feedback control is investigated. The chaotic systems are redesigned by using the generalized Hamiltonian systems and observer approach. Based on Lyapunov's stability theory, linear and nonlinear feedback control of adaptive H ∞ synchronization is established in order to not only guarantee stable synchronization of both master and slave systems but also reduce the effect of external disturbance on an H ∞ -norm constraint. Adaptive H ∞ synchronization of chaotic systems via three kinds of control is investigated with applications to Lorenz and Chen systems. Numerical simulations are also given to identify the effectiveness of the theoretical analysis. (general)
Output-Feedback Model Predictive Control of a Pasteurization Pilot Plant based on an LPV model
Karimi Pour, Fatemeh; Ocampo-Martinez, Carlos; Puig, Vicenç
2017-01-01
This paper presents a model predictive control (MPC) of a pasteurization pilot plant based on an LPV model. Since not all the states are measured, an observer is also designed, which allows implementing an output-feedback MPC scheme. However, the model of the plant is not completely observable when augmented with the disturbance models. In order to solve this problem, the following strategies are used: (i) the whole system is decoupled into two subsystems, (ii) an inner state-feedback controller is implemented into the MPC control scheme. A real-time example based on the pasteurization pilot plant is simulated as a case study for testing the behavior of the approaches.
Heli Hu
2014-01-01
Full Text Available The design of the dynamic output feedback H∞ control for uncertain interconnected systems of neutral type is investigated. In the framework of Lyapunov stability theory, a mathematical technique dealing with the nonlinearity on certain matrix variables is developed to obtain the solvability conditions for the anticipated controller. Based on the corresponding LMIs, the anticipated gains for dynamic output feedback can be achieved by solving some algebraic equations. Also, the norm of the transfer function from the disturbance input to the controlled output is less than the given index. A numerical example and the simulation results are given to show the effectiveness of the proposed method.
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.
SOS based robust H(∞) fuzzy dynamic output feedback control of nonlinear networked control systems.
Chae, Seunghwan; Nguang, Sing Kiong
2014-07-01
In this paper, a methodology for designing a fuzzy dynamic output feedback controller for discrete-time nonlinear networked control systems is presented where the nonlinear plant is modelled by a Takagi-Sugeno fuzzy model and the network-induced delays by a finite state Markov process. The transition probability matrix for the Markov process is allowed to be partially known, providing a more practical consideration of the real world. Furthermore, the fuzzy controller's membership functions and premise variables are not assumed to be the same as the plant's membership functions and premise variables, that is, the proposed approach can handle the case, when the premise of the plant are not measurable or delayed. The membership functions of the plant and the controller are approximated as polynomial functions, then incorporated into the controller design. Sufficient conditions for the existence of the controller are derived in terms of sum of square inequalities, which are then solved by YALMIP. Finally, a numerical example is used to demonstrate the validity of the proposed methodology.
Neuro-fuzzy control of structures using acceleration feedback
Schurter, Kyle C.; Roschke, Paul N.
2001-08-01
This paper described a new approach for the reduction of environmentally induced vibration in constructed facilities by way of a neuro-fuzzy technique. The new control technique is presented and tested in a numerical study that involves two types of building models. The energy of each building is dissipated through magnetorheological (MR) dampers whose damping properties are continuously updated by a fuzzy controller. This semi-active control scheme relies on the development of a correlation between the accelerations of the building (controller input) and the voltage applied to the MR damper (controller output). This correlation forms the basis for the development of an intelligent neuro-fuzzy control strategy. To establish a context for assessing the effectiveness of the semi-active control scheme, responses to earthquake excitation are compared with passive strategies that have similar authority for control. According to numerical simulation, MR dampers are less effective control mechanisms than passive dampers with respect to a single degree of freedom (DOF) building model. On the other hand, MR dampers are predicted to be superior when used with multiple DOF structures for reduction of lateral acceleration.
Resolvent-based feedback control for turbulent friction drag reduction
Kawagoe, Aika; Nakashima, Satoshi; Luhar, Mitul; Fukagata, Koji
2017-11-01
Suboptimal control for turbulent friction drag reduction has been studied extensively. Nakashima et al. (accepted) extended resolvent analysis to suboptimal control, and for the control where the streamwise wall shear stress is used as an input (Case ST), they revealed the control effect across spectral space is mixed: there are regions of drag increase as well as reduction. This suggests that control performance may be improved if the control is applied for selective wavelengths, or if a new law is designed to suppress the spectral region leading to drag increase. In the present study, we first assess the effect of suboptimal control for selective wavelengths via DNS. The friction Reynolds number is set at 180. For Case ST, resolvent analysis predicts drag reduction at long streamwise wavelengths. DNS with control applied only for this spectral region, however, did not result in drag reduction. Then, we seek an effective control law using resolvent analysis and propose a new law. DNS results for this law are consistent with predictions from resolvent analysis, and about 10% drag reduction is attained. Further, we discuss how this law reduces the drag from a dynamical and theoretical point of view. This work was supported through Grant-in-Aid for Scientic Research (C) (No. 25420129) by Japan Society for the Promotion of Science (JSPS).
Reality Monitoring and Feedback Control of Speech Production Are Related Through Self-Agency.
Subramaniam, Karuna; Kothare, Hardik; Mizuiri, Danielle; Nagarajan, Srikantan S; Houde, John F
2018-01-01
Self-agency is the experience of being the agent of one's own thoughts and motor actions. The intact experience of self-agency is necessary for successful interactions with the outside world (i.e., reality monitoring) and for responding to sensory feedback of our motor actions (e.g., speech feedback control). Reality monitoring is the ability to distinguish internally self-generated information from outside reality (externally-derived information). In the present study, we examined the relationship of self-agency between lower-level speech feedback monitoring (i.e., monitoring what we hear ourselves say) and a higher-level cognitive reality monitoring task. In particular, we examined whether speech feedback monitoring and reality monitoring were driven by the capacity to experience self-agency-the ability to make reliable predictions about the outcomes of self-generated actions. During the reality monitoring task, subjects made judgments as to whether information was previously self-generated (self-agency judgments) or externally derived (external-agency judgments). During speech feedback monitoring, we assessed self-agency by altering environmental auditory feedback so that subjects listened to a perturbed version of their own speech. When subjects heard minimal perturbations in their auditory feedback while speaking, they made corrective responses, indicating that they judged the perturbations as errors in their speech output. We found that self-agency judgments in the reality-monitoring task were higher in people who had smaller corrective responses ( p = 0.05) and smaller inter-trial variability ( p = 0.03) during minimal pitch perturbations of their auditory feedback. These results provide support for a unitary process for the experience of self-agency governing low-level speech control and higher level reality monitoring.
Feedback control of a cupola - concepts and experimental results
Moore, K.L. [Idaho State Univ., Pocatello, ID (United States); Abdelrahman, M.A. [Tenn. Technological Univ., Cookeville, TN (United States); Larsen, E.; Clark, D. [Lockheed Martin Idaho Technologies Co., Idaho Falls, ID (United States); King, P. [US Dept. of Energy Albany Research Center, Albany, OR (United States)
1998-10-01
In this paper we present some final results from a research project focused on introducing automatic control to the operation of cupola iron furnaces. The main aim of this research is to improve the operational efficiency and performance of the cupola furnace, an important foundry process used to melt iron. Previous papers have described the development of appropriate control system architectures for the cupola. These results are summarized. Then we describe the experimental results obtained with the U.S. Department of Energy Albany Research Center`s research cupola. First, experimental data is used to calibrate the model, which is taken as a first-order multivariable system with time delay. Then relative gain analysis is used to select loop pairings to be used in a multi-loop controller. The resulting controller pairs meltrate with blast volume, iron temperature with oxygen addition, and carbon composition with percent coke. Special (nonlinear) filters are used to compute meltrate from actual scale readings of the amount of iron produced and to smooth the temperature measurement. The temperature and meltrate loops use single-loop PI control. The composition loop uses a Smith predictor to discount the deadtime associated with mass transport through the furnace. Experimental results validate the conceptual controller design and provide proof-of-concept of the idea of controlling a foundry cupola. Future research directions are discussed, including the concept of an integrated, intelligent industrial process controller, or I{sup 3}PC.
Use of feedback control to address flight safety issues
Ganguli, Subhabrata
This thesis addresses three control problems related to flight safety. The first problem relates to the scope of improvement in performance of conventional flight control laws. In particular, aircraft longitudinal axis control based on the Total Energy Control System (TECS) is studied. The research draws attention to a potentially sluggish and undesirable aircraft response when the engine dynamics is slow (typically the case). The proposed design method uses a theoretically well-developed modern design method based on Hinfinity optimization to improve the aircraft dynamic behavior in spite of slow engine characteristics. At the same time, the proposed design method achieves other desirable performance goals such as insensitivity to sensor noise and wind gust rejection: all addressed in one unified framework. The second problem is based on a system level analysis of control structure hierarchy for aircraft flight control. The objective of the analysis problem is to translate outer-loop stability and performance specifications into a comprehensive inner-loop metric. The prime motivation is to make the flight control design process more systematic and the system-integration reliable and independent of design methodology. The analysis problem is posed within the robust control analysis framework. Structured singular value techniques and free controller parameterization ideas are used to impose a hierarchical structure for flight control architecture. The third problem involves development and demonstration of a new reconfiguration strategy in the flight control architecture that has the potential of improving flight safety while keeping cost and complexity low. This research proposes a fault tolerant feature based on active robust reconfiguration. The fault tolerant control problem is formulated in the Linear Parameter Varying (LPV) design framework. A prime advantage of this approach is that the synthesis results in a single nonlinear controller (as opposed to a bank
A new criterion for chaos and hyperchaos synchronization using linear feedback control
Wang Faqiang; Liu Chongxin
2006-01-01
Based on the characteristic of the chaotic or hyperchaotic system and linear feedback control method, synchronization of the two identical chaotic or hyperchaotic systems with different initial conditions is studied. The range of the control parameter for synchronization is derived. Simulation results are provided to show the effectiveness of the proposed synchronization method
Robust output-feedback control to eliminate stick-slip oscillations in drill-string systems
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
Optimal Control Allocation with Load Sensor Feedback for Active Load Suppression
Miller, Christopher
2017-01-01
These slide sets describe the OCLA formulation and associated algorithms as a set of new technologies in the first practical application of load limiting flight control utilizing load feedback as a primary control measurement. Slide set one describes Experiment Development and slide set two describes Flight-Test Performance.
Synchronizing tracking control for flexible joint robots via estimated state feedback
Rodriguez Angeles, A.; Nijmeijer, H.
2004-01-01
In this paper, we propose a synchronization controller for flexible joint robots, which are interconnected in a master-slave scheme. The synchronization controller is based on feedback linearization and only requires measurements of the master and slave link positions, since the velocities and
Constrained state-feedback control of an externally excited synchronous machine
Carpiuc, S.C.; Lazar, M.
2013-01-01
State-feedback control of externally excited synchronous machines employed in applications such as hybrid electric vehicles and full electric vehicles is a challenging problem. Indeed, these applications are characterized by fast dynamics that are subject to hard physical and control constraints.
Chen, Xiao; Wang, Qian; Srebric, Jelena
2016-01-01
Highlights: • This study evaluates an occupant-feedback driven Model Predictive Controller (MPC). • The MPC adjusts indoor temperature based on a dynamic thermal sensation (DTS) model. • A chamber model for predicting chamber air temperature is developed and validated. • Experiments show that MPC using DTS performs better than using Predicted Mean Vote. - Abstract: In current centralized building climate control, occupants do not have much opportunity to intervene the automated control system. This study explores the benefit of using thermal comfort feedback from occupants in the model predictive control (MPC) design based on a novel dynamic thermal sensation (DTS) model. This DTS model based MPC was evaluated in chamber experiments. A hierarchical structure for thermal control was adopted in the chamber experiments. At the high level, an MPC controller calculates the optimal supply air temperature of the chamber heating, ventilation, and air conditioning (HVAC) system, using the feedback of occupants’ votes on thermal sensation. At the low level, the actual supply air temperature is controlled by the chiller/heater using a PI control to achieve the optimal set point. This DTS-based MPC was also compared to an MPC designed based on the Predicted Mean Vote (PMV) model for thermal sensation. The experiment results demonstrated that the DTS-based MPC using occupant feedback allows significant energy saving while maintaining occupant thermal comfort compared to the PMV-based MPC.
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.
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.
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.
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.
End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots
Shuhuan Wen
2012-12-01
Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.
Nonlinear feedback control of chaotic pendulum in presence of saturation effect
Alasty, Aria [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Azadi Avenue, Tehran 1458889694 (Iran, Islamic Republic of)]. E-mail: aalasti@sharif.edu; Salarieh, Hassan [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Azadi Avenue, Tehran 1458889694 (Iran, Islamic Republic of)]. E-mail: salarieh@mehr.sharif.edu
2007-01-15
In present paper, a feedback linearization control is applied to control a chaotic pendulum system. Tracking the desired periodic orbits such as period-one, period-two, and period-four orbits is efficiently achieved. Due to the presence of saturation in real world control signals, the stability of controller is investigated in presence of saturation and sufficient stability conditions are obtained. At first feedback linearization control law is designed, then to avoid the singularity condition, a saturating constraint is applied to the control signal. The stability conditions are obtained analytically. These conditions must be investigated for each specific case numerically. Simulation results show the effectiveness and robustness of proposed controller. A major advantage of this method is its shorter chaotic transient time in compare to other methods such as OGY and Pyragas controllers.
Physiological Feedback Control 2011-2012 Annual Report
2013-01-07
Desai, James R. Baker Jr., Bradford G. Orr, Mark M. Banaszak Holl. The effect of mass transport in the synthesis of partially acetylated dendrimer ...Invention Title: UM 3709 – Dendrimeric Prodrug as a Controlled Release Formulation in Pain Management – Patent Title: Dendrimer Conjugates Patent... Dendrimeric Prodrug as a Controlled Release Formulation in Pain Management – Patent Title: Dendrimer Conjugates Patent/Application Numbers: 61/101,461; 12
Dzielski, John Edward
1988-01-01
Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.
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.
Aelen, P; Jurkov, A; Aulanier, A; Mintchev, M P
2009-01-01
Neural gastric electrical stimulation (NGES) is a new method for invoking gastric contractions under microprocessor control. However, optimization of this technique using feedback mechanisms to minimize power consumption and maximize effectiveness has been lacking. The present pilot study proposes a prototype feedback-controlled neural gastric electric stimulator for the treatment of obesity. Both force-based and inter-electrode impedance-based feedback neurostimulators were implemented and tested. Four mongrel dogs (2 M, 2 F, weight 14.9 ± 2.3 kg) underwent subserosal implantation of two-channel, 1 cm, bipolar electrode leads and two force transducers in the distal antrum. Two of the dogs were stimulated with a force feedback system utilizing the force transducers, and the other two animals were stimulated utilizing an inter-electrode impedance-based feedback system utilizing the proximal electrode leads. Both feedback systems were able to recognize erythromycin-driven contractions of the stomach and were capable of overriding them with NGES-invoked retrograde contractions which exceeded the magnitudes of the erythromycin-driven contractions by an average of 100.6 ± 33.5% in all animals. The NGES-invoked contractions blocked the erythromycin-driven contractions past the proximal electrode pair and induced temporary gastroparesis in the vicinity of the distal force transducer despite the continuing erythromycin infusion. The amplitudes of the erythromycin-invoked contractions in the vicinity of the proximal force transducer decreased abruptly by an average of 47.9 ± 6.3% in all four dogs after triggering-invoked retrograde contractions, regardless of the specific feedback-controlled mechanism. The proposed technique could be helpful for retaining food longer in the stomach, thus inducing early satiety and diminishing food intake
Edge turbulence control on the KT-5C tokamak by feedback using electrostatic probes
Zhai Kan; Wang Cheng; Wen Yizi; Yu Changxuan; Wan Shude; Liu Wandong; Xu Zhizhan
1998-01-01
Experiments on edge turbulence control have been performed on the KT-5C tokamak by feedback using two sets of electrostatic probes as the driving probe and detective probe. The results indicate that the feedback can enhance or reduce the turbulence amplitude depending upon the phase shift and gain of the feedback network. When the feedback with 90 degree phase shift and with certain loop gain is applied, the spectrum component of turbulence is reduced obviously and the fluctuation amplitude of the electron density and electron temperature become lower by about 25%. consistently the particle flux across the magnetic field induced by the electrostatic fluctuation also decreases by about 25%. On the other hand, the feedback with 0 degree or 180 degree or -90 degree phase shift can enhance the amplitude of the edge turbulence. These results indicate a nonlinear mechanism of the influence of feedback on the edge turbulence, which to some extent also reflect a specific nonlinear characteristic of the edge turbulence
JT-60 configuration parameters for feedback control determined by regression analysis
Matsukawa, Makoto; Hosogane, Nobuyuki; Ninomiya, Hiromasa (Japan Atomic Energy Research Inst., Naka, Ibaraki (Japan). Naka Fusion Research Establishment)
1991-12-01
The stepwise regression procedure was applied to obtain measurement formulas for equilibrium parameters used in the feedback control of JT-60. This procedure automatically selects variables necessary for the measurements, and selects a set of variables which are not likely to be picked up by physical considerations. Regression equations with stable and small multicollinearity were obtained and it was experimentally confirmed that the measurement formulas obtained through this procedure were accurate enough to be applicable to the feedback control of plasma configurations in JT-60. (author).
JT-60 configuration parameters for feedback control determined by regression analysis
Matsukawa, Makoto; Hosogane, Nobuyuki; Ninomiya, Hiromasa
1991-12-01
The stepwise regression procedure was applied to obtain measurement formulas for equilibrium parameters used in the feedback control of JT-60. This procedure automatically selects variables necessary for the measurements, and selects a set of variables which are not likely to be picked up by physical considerations. Regression equations with stable and small multicollinearity were obtained and it was experimentally confirmed that the measurement formulas obtained through this procedure were accurate enough to be applicable to the feedback control of plasma configurations in JT-60. (author)
Complex dynamics of a Holling type II prey-predator system with state feedback control
Jiang Guirong; Lu Qishao; Qian Linning
2007-01-01
The complex dynamics of a Holling type II prey-predator system with impulsive state feedback control is studied in both theoretical and numerical ways. The sufficient conditions for the existence and stability of semi-trivial and positive periodic solutions are obtained by using the Poincare map and the analogue of the Poincare criterion. The qualitative analysis shows that the positive periodic solution bifurcates from the semi-trivial solution through a fold bifurcation. The bifurcation diagrams, Lyapunov exponents, and phase portraits are illustrated by an example, in which the chaotic solutions appear via a cascade of period-doubling bifurcations. The superiority of the state feedback control strategy is also discussed
Transition from weak to strong measurements by nonlinear quantum feedback control
Zhang Jing; Liu Yuxi; Wu Rebing; Li Chunwen; Tarn, Tzyh-Jong
2010-01-01
We find that feedback control may induce 'pseudo'-nonlinear dynamics in a damped harmonic oscillator, whose centroid trajectory in the phase space behaves like a classical nonlinear system. Thus, similar to nonlinear amplifiers (e.g., rf-driven Josephson junctions), feedback control on the harmonic oscillator can induce nonlinear bifurcation, which can be used to amplify small signals and further to measure quantum states of qubits. Using the cavity QED and the circuit QED systems as examples, we show how to apply our method to measuring the states of two-level atoms and superconducting charge qubits.
Low Voltage CMOS Fully Differential Current Feedback Amplifier with Controllable 3-dB Bandwidth
Madian, A.H.; Mahmoud, S.A.; Ashour, M.A.; Soliman, A.M.
2008-01-01
This paper presents a new CMOS fully differential current feedback operational amplifier with controllable 3-dB bandwidth suitable for analog data processing and acquisition applications. The FDCFOA has the advantage of a wide range controllable 3-dB bandwidth (∼57 MHz to 500 MHz) without changing the feedback resistance this guarantee the stability of the circuit. The FDCFOA has a standby current of 320μA. PSpice simulations of the FDCFOA block were given using 0.25μm CMOS technology from AMI MOSIS and dual supply voltages ±0.75 V
An overview of neural function and feedback control in human communication.
Hood, L J
1998-01-01
The speech and hearing mechanisms depend on accurate sensory information and intact feedback mechanisms to facilitate communication. This article provides a brief overview of some components of the nervous system important for human communication and some electrophysiological methods used to measure cortical function in humans. An overview of automatic control and feedback mechanisms in general and as they pertain to the speech motor system and control of the hearing periphery is also presented, along with a discussion of how the speech and auditory systems interact.
Grid-Current-Feedback Control for LCL-Filtered Grid Converters With Enhanced Stability
Xin, Zhen; Wang, Xiongfei; Loh, Poh Chiang
2017-01-01
This paper proposes a Second-Order-Generalized- Integrator (SOGI)-based time delay compensation method for extending the stable region of dual-loop Grid-Current-Feedback (GCF) control system. According to the analysis, stable region of the dual-loop system should be designed below a certain...... critical frequency, before time delay compensation method can be applied. To always meet the requirement, relationship between single-loop converter-current-feedback and dual-loop GCF control is clarified, before a robust inner-loop gain for the dualloop GCF scheme is determined. Enforcing this gain allows...
Controlling chaos in RCL-shunted Josephson junction by delayed linear feedback
Feng Yuling; Shen Ke
2008-01-01
The resistively-capacitively-inductively-shunted (RCL-shunted) Josephson junction (RCLSJJ) shows chaotic behaviour under some parameter conditions. Here a scheme for controlling chaos in the RCLSJJ is presented based on the linear feedback theory. Numerical simulations show that this scheme can be effectively used to control chaotic states in this junction into stable periodic states. Moreover, the different stable period states with different period numbers can be obtained by appropriately adjusting the feedback intensity and delay time without any pre-knowledge of this system required
Partial state feedback control of chaotic neural network and its application
He Guoguang; Shrimali, Manish Dev; Aihara, Kazuyuki
2007-01-01
The chaos control in the chaotic neural network is studied using the partial state feedback with a control signal from a few control neurons. The controlled CNN converges to one of the stored patterns with a period which depends on the initial conditions, i.e., the set of control neurons and other control parameters. We show that the controlled CNN can distinguish between two initial patterns even if they have a small difference. This implies that such a controlled CNN can be feasibly applied to information processing such as pattern recognition
Neural network-based optimal adaptive output feedback control of a helicopter UAV.
Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani
2013-07-01
Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.
Controllable recirculators with charged capacitors in a feedback loop
Malevich, I.A.; Postoyanov, Yu.I.; Efremenko, D.A.
1975-01-01
Devices for generating stable pulse trains in the 100 nsec-10 μsec range and trains of paired pulses with a controllable generation period are described. The parameters of the long-term generation-frequency stability and the probability density of short fluctuations of the period were investigated
Quadratic theory and feedback controllers for linear time delay systems
Lee, E.B.
1976-01-01
Recent research on the design of controllers for systems having time delays is discussed. Results for the ''open loop'' and ''closed loop'' designs will be presented. In both cases results for minimizing a quadratic cost functional are given. The usefulness of these results is not known, but similar results for the non-delay case are being routinely applied. (author)
Intuitive control of self-propelled microjets with haptic feedback
Pacchierotti, Claudio; Magdanz, V.; Medina-Sanchez, M.; Schmidt, O.G.; Prattichizzo, D.; Misra, Sarthak
2015-01-01
Self-propelled microrobots have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery and micromanipulation of cells. However, none of the steering systems available in the literature enable humans to intuitively and effectively control these
Temporal control and compensation for perturbed voicing feedback
Mitsuya, Takashi; MacDonald, Ewen; Munhall, Kevin G.
2014-01-01
Previous research employing a real-time auditory perturbation paradigm has shown that talkers monitor their own speech attributes such as fundamental frequency, vowel intensity, vowel formants, and fricative noise as part of speech motor control. In the case of vowel formants or fricative noise...
Progress in real-time feedback control systems in RFX
Barana, O.; Luchetta, A. E-mail: adriano.luchetta@igi.cnr.it; Manduchi, G.; Taliercio, C
2004-06-01
Major modifications of the RFX load assembly and power supplies are in progress to allow extensive active control schemes, such as equilibrium and plasma position control and innovative control of the MHD modes. The digital control system is implemented in VME64 using a distributed architecture. The use of a 'stable' operating system that is likely to survive some generations of processors can help coping with evolution of technology. PowerPC and Pentium processors were thus considered as candidates and tested and the first one has been selected due to the better performance in floating point computation. Wind River VxWorks has been chosen as real-time operating system. 100 Mbit switched Ethernet has been evaluated for real-time communication by using the user datagram protocol (UDP). Measurements have been executed on a prototype system to assess data transfer latency, jitter and reliability and the results confirm that the solution is suitable for the application. The paper describes in detail the reasons for the choice in the hardware components. Results from several tests comparing the performance of different solutions are also provided.
Controlling a negative loaded hydraulic cylinder using pressure feedback
Hansen, M.R.; Andersen, T.O.
2010-01-01
This paper is concerned with the inherent oscillatory nature of pressure compensated velocity control of a hydraulic cylinder subjected to a negative load and suspended by means of an over-center valve. Initially, a linearized stability analysis of such a hydraulic circuit is carried out clearly ...... in a nonlinear time domain simulation model validating the linear stability analysis....
Electromagnetic Signal Feedback Control for Proximity Detection Systems
Smith, Adam K.
Coal is the most abundant fossil fuel in the United States and remains an essential source of energy. While more than half of coal production comes from surface mining, nearly twice as many workers are employed by underground operations. One of the key pieces of equipment used in underground coal mining is the continuous mining machine. These large and powerful machines are operated in confined spaces by remote control. Since 1984, 40 mine workers in the U. S. have been killed when struck or pinned by a continuous mining machine. It is estimated that a majority of these accidents could have been prevented with the application of proximity detection systems. While proximity detection systems can significantly increase safety around a continuous mining machine, there are some system limitations. Commercially available proximity warning systems for continuous mining machines use magnetic field generators to detect workers and establish safe work areas around the machines. Several environmental factors, however, can influence and distort the magnetic fields. To minimize these effects, a control system has been developed using electromagnetic field strength and generator current to stabilize and control field drift induced by internal and external environmental factors. A laboratory test set-up was built using a ferrite-core magnetic field generator to produce a stable magnetic field. Previous work based on a field-invariant magnetic flux density model, which generically describes the electromagnetic field, is expanded upon. The analytically established transferable shell-based flux density distribution model is used to experimentally validate the control system. By controlling the current input to the ferrite-core generator, a more reliable and consistent magnetic field is produced. Implementation of this technology will improve accuracy and performance of existing commercial proximity detection systems. These research results will help reduce the risk of traumatic
\\mathscr{H}_2 optimal control techniques for resistive wall mode feedback in tokamaks
Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; Navratil, Gerald
2018-04-01
DIII-D experiments show that a new, advanced algorithm enables resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic flux diffusion time of the vacuum vessel wall. Experiments have shown that modern control techniques like linear quadratic Gaussian (LQG) control require less current than the proportional controller in use at DIII-D when using control coils external to DIII-D’s vacuum vessel. Experiments were conducted to develop control of a rotating n = 1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high βN experiments also show that advanced feedback techniques using external control coils may be as effective as internal control coil feedback using classical control techniques.
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 ...
Ideomotor feedback control in a recurrent neural network.
Galtier, Mathieu
2015-06-01
The architecture of a neural network controlling an unknown environment is presented. It is based on a randomly connected recurrent neural network from which both perception and action are simultaneously read and fed back. There are two concurrent learning rules implementing a sort of ideomotor control: (i) perception is learned along the principle that the network should predict reliably its incoming stimuli; (ii) action is learned along the principle that the prediction of the network should match a target time series. The coherent behavior of the neural network in its environment is a consequence of the interaction between the two principles. Numerical simulations show a promising performance of the approach, which can be turned into a local and better "biologically plausible" algorithm.
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.
Fuzzy PID Feedback Control of Piezoelectric Actuator with Feedforward Compensation
Ziqiang Chi; Minping Jia; Qingsong Xu
2014-01-01
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 deri...
Ghandour, J; Aberkane, S; Ponsart, J-C
2014-01-01
In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight
Nonlinear Feedback Control and Stability Analysis of a Proof-of-Work Blockchain
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.
Yu, Jue; Zhuang, Jian; Yu, Dehong
2015-01-01
This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Co-Design of Event Generator and Dynamic Output Feedback Controller for LTI Systems
Dan Ma
2015-01-01
Full Text Available This paper presents a co-design method of the event generator and the dynamic output feedback controller for a linear time-invariant (LIT system. The event-triggered condition on the sensor-to-controller and the controller-to-actuator depends on the plant output and the controller output, respectively. A sufficient condition on the existence of the event generator and the dynamic output feedback controller is proposed and the co-design problem can be converted into the feasibility of linear matrix inequalities (LMIs. The LTI system is asymptotically stable under the proposed event-triggered controller and also reduces the computing resources with respect to the time-triggered one. In the end, a numerical example is given to illustrate the effectiveness of the proposed approach.
Du, Zhongzhou; Sun, Yi; Liu, Jie; Su, Rijian; Yang, Ming; Li, Nana; Gan, Yong; Ye, Na
2018-04-01
Magnetic fluid hyperthermia, as a novel cancer treatment, requires precise temperature control at 315 K-319 K (42 °C-46 °C). However, the traditional temperature measurement method cannot obtain the real-time temperature in vivo, resulting in a lack of temperature feedback during the heating process. In this study, the feasibility of temperature measurement and feedback control using magnetic nanoparticles is proposed and demonstrated. This technique could be applied in hyperthermia. Specifically, the triangular-wave temperature measurement method is improved by reconstructing the original magnetization response of magnetic nanoparticles based on a digital phase-sensitive detection algorithm. The standard deviation of the temperature in the magnetic nanoparticle thermometer is about 0.1256 K. In experiments, the temperature fluctuation of the temperature measurement and feedback control system using magnetic nanoparticles is less than 0.5 K at the expected temperature of 315 K. This shows the feasibility of the temperature measurement method for temperature control. The method provides a new solution for temperature measurement and feedback control in hyperthermia.
Mosconi, Matthew W; Mohanty, Suman; Greene, Rachel K; Cook, Edwin H; Vaillancourt, David E; Sweeney, John A
2015-02-04
Sensorimotor abnormalities are common in autism spectrum disorder (ASD) and among the earliest manifestations of the disorder. They have been studied far less than the social-communication and cognitive deficits that define ASD, but a mechanistic understanding of sensorimotor abnormalities in ASD may provide key insights into the neural underpinnings of the disorder. In this human study, we examined rapid, precision grip force contractions to determine whether feedforward mechanisms supporting initial motor output before sensory feedback can be processed are disrupted in ASD. Sustained force contractions also were examined to determine whether reactive adjustments to ongoing motor behavior based on visual feedback are altered. Sustained force was studied across multiple force levels and visual gains to assess motor and visuomotor mechanisms, respectively. Primary force contractions of individuals with ASD showed greater peak rate of force increases and large transient overshoots. Individuals with ASD also showed increased sustained force variability that scaled with force level and was more severe when visual gain was highly amplified or highly degraded. When sustaining a constant force level, their reactive adjustments were more periodic than controls, and they showed increased reliance on slower feedback mechanisms. Feedforward and feedback mechanism alterations each were associated with more severe social-communication impairments in ASD. These findings implicate anterior cerebellar circuits involved in feedforward motor control and posterior cerebellar circuits involved in transforming visual feedback into precise motor adjustments in ASD. Copyright © 2015 the authors 0270-6474/15/352015-11$15.00/0.
Auditory reafferences: The influence of real-time feedback on movement control
Christian eKennel
2015-01-01
Full Text Available Auditory reafferences are real-time auditory products created by a person’s own movements. Whereas the interdependency of action and perception is generally well studied, the auditory feedback channel and the influence of perceptual processes during movement execution remain largely unconsidered. We argue that movements have a rhythmic character that is closely connected to sound, making it possible to manipulate auditory reafferences online to understand their role in motor control. We examined if step sounds, occurring as a by-product of running, have an influence on the performance of a complex movement task. Twenty participants completed a hurdling task in three auditory feedback conditions: a control condition with normal auditory feedback, a white noise condition in which sound was masked, and a delayed auditory feedback condition. Overall time and kinematic data were collected. Results show that delayed auditory feedback led to a significantly slower overall time and changed kinematic parameters. Our findings complement previous investigations in a natural movement situation with nonartificial auditory cues. Our results support the existing theoretical understanding of action–perception coupling and hold potential for applied work, where naturally occurring movement sounds can be implemented in the motor learning processes.
Auditory reafferences: the influence of real-time feedback on movement control.
Kennel, Christian; Streese, Lukas; Pizzera, Alexandra; Justen, Christoph; Hohmann, Tanja; Raab, Markus
2015-01-01
Auditory reafferences are real-time auditory products created by a person's own movements. Whereas the interdependency of action and perception is generally well studied, the auditory feedback channel and the influence of perceptual processes during movement execution remain largely unconsidered. We argue that movements have a rhythmic character that is closely connected to sound, making it possible to manipulate auditory reafferences online to understand their role in motor control. We examined if step sounds, occurring as a by-product of running, have an influence on the performance of a complex movement task. Twenty participants completed a hurdling task in three auditory feedback conditions: a control condition with normal auditory feedback, a white noise condition in which sound was masked, and a delayed auditory feedback condition. Overall time and kinematic data were collected. Results show that delayed auditory feedback led to a significantly slower overall time and changed kinematic parameters. Our findings complement previous investigations in a natural movement situation with non-artificial auditory cues. Our results support the existing theoretical understanding of action-perception coupling and hold potential for applied work, where naturally occurring movement sounds can be implemented in the motor learning processes.
Investigation of control system of traction electric drive with feedbacks on load
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.
Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre
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.
A high precision dual feedback discrete control system designed for satellite trajectory simulator
Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan
2005-08-01
Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.
Including model uncertainty in the model predictive control with output feedback
Rodrigues M.A.
2002-01-01
Full Text Available This paper addresses the development of an efficient numerical output feedback robust model predictive controller for open-loop stable systems. Stability of the closed loop is guaranteed by using an infinite horizon predictive controller and a stable state observer. The performance and the computational burden of this approach are compared to a robust predictive controller from the literature. The case used for this study is based on an industrial gasoline debutanizer column.
Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed
Tian, Ye; Song, Qi; Cattafesta, Louis
2005-01-01
This report summarizes the activities on "Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed." The work summarized consists primarily of two parts. The first part summarizes our previous work and the extensions to adaptive ID and control algorithms. The second part concentrates on the validation of adaptive algorithms by applying them to a vibration beam test bed. Extensions to flow control problems are discussed.
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.
Model-Based State Feedback Controller Design for a Turbocharged Diesel Engine with an EGR System
Tianpu Dong
2015-05-01
Full Text Available This paper describes a method for the control of transient exhaust gas recirculation (EGR systems. Firstly, a state space model of the air system is developed by simplifying a mean value model. The state space model is linearized by using linearization theory and validated by the GT-Power data with an operating point of the diesel engine. Secondly, a state feedback controller based on the intake oxygen mass fraction is designed for EGR control. Since direct measurement of the intake oxygen mass fraction is unavailable on the engine, the estimation method for intake oxygen mass fraction has been proposed in this paper. The control strategy is analyzed by using co-simulation with the Matlab/Simulink and GT-Powers software. Finally, the whole control system is experimentally validated against experimental data of a turbocharged diesel engine. The control effect of the state feedback controller compared with PID controller proved to be further verify the feasibility and advantages of the proposed state feedback controller.
Design of output feedback UPFC controller for damping of electromechanical oscillations using PSO
Shayeghi, H. [Technical Engineering Dept., Univ. of Mohaghegh Ardabili, Ardabil (Iran); Shayanfar, H.A. [Center of Excellence for Power Automation and Operation, Electrical Engineering Dept., Iran Univ. of Science and Technology, Tehran (Iran); Jalilzadeh, S.; Safari, A. [Technical Engineering Dept., Zanjan Univ., Zanjan (Iran)
2009-10-15
In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) is developed. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a particle swarm optimization technique (PSO) that has a strong ability to find the most optimistic results. Only local and available state variables are adopted as the input signals of each controller for the decentralized design. Thus, structure of the designed UPFC controller is simple and easy to implement. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through nonlinear time-domain simulation and some performance indices studies. The results analysis reveals that the designed PSO-based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions show that the {delta}{sub E} based controller is superior to both the m{sub B} based controller and conventional power system stablizer. (author)
Erckmann, V.; Gasparino, U.; Giannone, L.
1992-01-01
ECRH power modulation experiments in toroidal devices offer the chance to analyze the electron heat transport more conclusively: the electron heat wave propagation can be observed by ECE (or SX) leading to radial profiles of electron temperature modulation amplitude and time delay (phase shift). Taking also the stationary power balance into account, the local electron heat transport can be modelled by a combination of diffusive and convective transport terms. This method is applied to ECRH discharges in the W7-AS stellarator (B=2.5T, R=2m, a≤18 cm) where the ECRH power deposition is highly localized. In W7-AS, the T e modulation profiles measured by a high resolution ECE system are the basis for the local transport analysis. As experimental errors limit the separation of diffusive and convective terms in the electron heat transport for central power deposition, also ECRH power modulation experiments with off-axis deposition and inward heat wave propagation were performed (with 70 GHz o-mode as well as with 140 GHz x-mode for increased absorption). Because collisional electron-ion coupling and radiative losses are only small, low density ECRH discharges are best candidates for estimating the electron heat flux from power balance. (author) 2 refs., 3 figs
Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot
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...
Support surface related changes in feedforward and feedback control of standing posture.
Mohapatra, Sambit; Kukkar, Komal K; Aruin, Alexander S
2014-02-01
The aim of the study was to investigate the effect of different support surfaces on feedforward and feedback components of postural control. Nine healthy subjects were exposed to external perturbations applied to their shoulders while standing on a rigid platform, foam, and wobble board with eyes open or closed. Electrical activity of nine trunk and leg muscles and displacements of the center of pressure were recorded and analyzed during the time frames typical of feedforward and feedback postural adjustments. Feedforward control of posture was characterized by earlier activation of anterior muscles when the subjects stood on foam compared to a wobble board or a firm surface. In addition, the magnitude of feedforward muscle activity was the largest when the foam was used. During the feedback control, anterior muscles were activated prior to posterior muscles irrespective of the nature of surface. Moreover, the largest muscle activity was seen when the supporting surface was foam. Maximum CoP displacement occurred when subjects were standing on a rigid surface. Altering support surface affects both feedforward and feedback components of postural control. This information should be taken into consideration in planning rehabilitation interventions geared towards improvement of balance. Copyright © 2013 Elsevier Ltd. All rights reserved.
Observer-based output-feedback control to eliminate torsional drill-string vibrations
Vromen, T.G.M.; Wouw, van de N.; Doris, A.; Astrid, P.; Nijmeijer, H.
2014-01-01
Torsional stick-slip vibrations decrease the performance and reliability of drilling systems used for the exploration of energy and mineral resources. In this work, we present the design of a nonlinear observer-based output-feedback control strategy to eliminate these vibrations. We apply the
Mrňa, Libor; Šarbort, Martin; Řeřucha, Šimon; Jedlička, Petr
2012-01-01
Roč. 39, NOV (2012), s. 784-791 ISSN 1875-3892. [LANE 2012. Laser Assisted Net Shape Engineering /7./ International Conference on Photonic Technologies. Fürth, 12.11.2012-15.12.2012] Institutional support: RVO:68081731 Keywords : laser welding * feedback control * frequency analysis * adaptive beam shaping Subject RIV: BH - Optics, Masers, Lasers
Monolithically Integrated Light Feedback Control Circuit for Blue/UV LED Smart Package
Koladouz Esfahani, Z.; Tohidian, M.; van Zeijl, H.W.; Kolahdouz, Mohammadreza; Zhang, G.Q.
2017-01-01
Given the performance decay of high-power light-emitting diode (LED) chips over time and package condition changes, having a reliable output light for sensitive applications is a point of concern. In this study, a light feedback control circuit, including blue-selective photodiodes, for
Plasma luminescence feedback control system for precise ultrashort pulse laser tissue ablation
Kim, Beop-Min; Feit, Michael D.; Rubenchik, Alexander M.; Gold, David M.; Darrow, Christopher B.; Marion, John E., II; Da Silva, Luiz B.
1998-05-01
Plasma luminescence spectroscopy was used for precise ablation of bone tissue without damaging nearby soft tissue using an ultrashort pulse laser. Strong contrast of the luminescence spectra between bone marrow and spinal cord provided the real time feedback control so bone tissue is selectively ablated while preserving the spinal cord.
Lin, Jih-Hsuan
2015-06-01
In Asia, dance games are among the most popular types of exergames. Whereas traditional dance-based games emphasize step movements on a dance pad, more recent dance games emphasize intuitive dance movements using simple controllers or players' own bodies to "just dance." However, because of limited space and access, young adults in Taiwan often do not use these games. Popular dance videos on YouTube are more readily available to students because these videos can be accessed on a computer. Therefore, the current study examines the effects of interactivity (the role of feedback) and controller use on participants' physiological and psychological outcomes during exergames. The dance game "Just Dance 3" (Ubisoft, Montreuil, France) was chosen as the stimulus for this study. Participants danced through one song for rehearsal and warm-up, followed by three songs for the experiment, which lasted approximately 12 minutes. One hundred twenty-nine college students participated in a 2×2×2 (interactivity, feedback versus no feedback; controller, with versus without; sex, male versus female) between-subject factorial design. A series of 2×2×2 (interactivity, controller, and sex) analyses of variance showed no significant differences in interaction effects on participants' heart rates, blood pressures, body movements, step counts, or perceived psychological outcomes. Dance game videos without feedback are also effective tools for achieving moderate-level exercise intensity. These videos can supplement the limited access to games in Asian countries, such as Taiwan.
A Three-Year Feedback Study of a Remote Laboratory Used in Control Engineering Studies
Chevalier, Amélie; Copot, Cosmin; Ionescu, Clara; De Keyser, Robin
2017-01-01
This paper discusses the results of a feedback study for a remote laboratory used in the education of control engineering students. The goal is to show the effectiveness of the remote laboratory on examination results. To provide an overview, the two applications of the remote laboratory are addressed: 1) the Stewart platform, and 2) the quadruple…
Jia Li-Xin; Dai Hao; Hui Meng
2010-01-01
This paper focuses on the synchronisation between fractional-order and integer-order chaotic systems. Based on Lyapunov stability theory and numerical differentiation, a nonlinear feedback controller is obtained to achieve the synchronisation between fractional-order and integer-order chaotic systems. Numerical simulation results are presented to illustrate the effectiveness of this method
Operating wind turbines in strong wind conditions by using feedforward-feedback control
Feng, Ju; Sheng, Wen Zhong
2014-01-01
Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades
Pyragas, V.; Pyragas, K.
2011-01-01
We propose a simple adaptive delayed feedback control algorithm for stabilization of unstable periodic orbits with unknown periods. The state dependent time delay is varied continuously towards the period of controlled orbit according to a gradient-descent method realized through three simple ordinary differential equations. We demonstrate the efficiency of the algorithm with the Roessler and Mackey-Glass chaotic systems. The stability of the controlled orbits is proven by computation of the Lyapunov exponents of linearized equations. -- Highlights: → A simple adaptive modification of the delayed feedback control algorithm is proposed. → It enables the control of unstable periodic orbits with unknown periods. → The delay time is varied continuously according to a gradient descend method. → The algorithm is embodied by three simple ordinary differential equations. → The validity of the algorithm is proven by computation of the Lyapunov exponents.
To Stabilize Power Systems from Various Kind of Oscillations using a State Feedback Controller
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)
Nonlinear power flow feedback control for improved stability and performance of airfoil sections
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.
Feedback control of a Darrieus wind turbine and optimization of the produced energy
Maurin, T.; Henry, B.; Devos, F.; de Saint Louvent, B.; Gosselin, J.
1984-03-01
A microprocessor-driven control system, applied to the feedback control of a Darrieus wind turbine is presented. The use of a dc machine as a generator to recover the energy and as a motor to start the engine, allows simplified power electronics. The architecture of the control unit is built to ensure four different functions: starting, optimization of the recoverable energy, regulation of the speed, and braking. An experimental study of the system in a wind tunnel allowed optimization of the coefficients of the proportional and integral (pi) control algorithm. The electrical energy recovery was found to be much more efficient using the feedback system than without the control unit. This system allows a better characterization of the wind turbine and a regulation adapted to the wind statistics observed in one given geographical location.
Active field control (AFC) -electro-acoustic enhancement system using acoustical feedback control
Miyazaki, Hideo; Watanabe, Takayuki; Kishinaga, Shinji; Kawakami, Fukushi
2003-10-01
AFC is an electro-acoustic enhancement system using FIR filters to optimize auditory impressions, such as liveness, loudness, and spaciousness. This system has been under development at Yamaha Corporation for more than 15 years and has been installed in approximately 50 venues in Japan to date. AFC utilizes feedback control techniques for recreation of reverberation from the physical reverberation of the room. In order to prevent coloration problems caused by a closed loop condition, two types of time-varying control techniques are implemented in the AFC system to ensure smooth loop gain and a sufficient margin in frequency characteristics to prevent instability. Those are: (a) EMR (electric microphone rotator) -smoothing frequency responses between microphones and speakers by changing the combinations of inputs and outputs periodically; (b) fluctuating-FIR -smoothing frequency responses of FIR filters and preventing coloration problems caused by fixed FIR filters, by moving each FIR tap periodically on time axis with a different phase and time period. In this paper, these techniques are summarized. A block diagram of AFC using new equipment named AFC1, which has been developed at Yamaha Corporation and released recently in the US, is also presented.
Liu, Yanfang; Shan, Jinjun; Gabbert, Ulrich
2015-01-01
This paper presents the control system design for a piezoelectric actuator (PEA) for a high-speed trajectory scanning application. First nonlinear hysteresis is compensated for by using the Maxwell resistive capacitor model. Then the linear dynamics of the hysteresis-compensated piezoelectric actuator are identified. A proportional plus integral (PI) controller is designed based on the linear system, enhanced by feedforward hysteresis compensation. It is found that the feedback controller does not always improve tracking accuracy. When the input frequency exceeds a certain value, feedforward control only may result in better control performance. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach. (paper)
Advanced Optics for the Remote Steering ITER ECRH Upper Launcher
Bruschi, A; Cirant, S; Moro, A; Platania, P; Sozzi, C
2005-01-01
The optics of the ECRH Upper Launcher in ITER based on the Remote Steering concept needs special attention, since any focussing element in front of the waveguide has combined effects on the range of steering angles achievable and the beam width in the plasma region. The effects are studied in detail for a setup composed by 8 beams per port (three ports), for a spherical and a hyperbolic mirror surface. Gaussian beam analysis is compared to beam pattern calculations with the optical physics code GRASP, in order to verify the validity of gaussian optics approximation. The standard description with simply astigmatic beams, not adequate in more complex systems as the proposed two-mirror set-up, requires approximations, which are compared with the generalized astigmatic beam description. The ohmic losses at the end mirrors and the related localized heating due to the very large power density cause deformations that depends on the design of the cooling circuit. The distortion of the beam shape has been evaluated in a realistic case of mirror cooling with a small-channel system. The quantification of the effect depends on the precise evaluation ohmic losses and their enhancement in the long term due to the surface deterioration
Influence of high energy electrons on ECRH in LHD
Ogasawara S.
2012-09-01
Full Text Available The central bulk electron temperature of more than 20 keV is achieved in LHD as a result of increasing the injection power and the lowering the electron density near 2 × 1018 m−3. Such collision-less regime is important from the aspect of the neoclassical transport and also the potential structure formation. The presences of appreciable amount of high energy electrons are indicated from hard X-ray PHA, and the discrepancy between the stored energy and kinetic energy estimated from Thomson scattering. ECE spectrum are also sensitive to the presence of high energy electrons and discussed by solving the radiation transfer equation. The ECRH power absorption to the bulk and the high energy electrons are dramatically affected by the acceleration and the confinement of high energy electrons. The heating mechanisms and the acceleration process of high energy electrons are discussed by comparing the experimental results and the ray tracing calculation under assumed various density and mean energy of high energy electrons.
A Coherence Preservation Control Strategy in Cavity QED Based on Classical Quantum Feedback
Ming Li
2013-01-01
Full Text Available For eliminating the unexpected decoherence effect in cavity quantum electrodynamics (cavity QED, the transfer function of Rabi oscillation is derived theoretically using optical Bloch equations. In particular, the decoherence in cavity QED from the atomic spontaneous emission is especially considered. A feedback control strategy is proposed to preserve the coherence through Rabi oscillation stabilization. In the scheme, a classical quantum feedback channel for the quantum information acquisition is constructed via the quantum tomography technology, and a compensation system based on the root locus theory is put forward to suppress the atomic spontaneous emission and the associated decoherence. The simulation results have proved its effectiveness and superiority for the coherence preservation.
Feedback-controlled diffusion: From self-trapping to true self-avoiding walks
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
Peckens, Courtney A.; Cook, Ireana; Lynch, Jerome P.
2016-04-01
Wireless sensor networks (WSNs) have emerged as a reliable, low-cost alternative to the traditional wired sensing paradigm. While such networks have made significant progress in the field of structural monitoring, significantly less development has occurred for feedback control applications. Previous work in WSNs for feedback control has highlighted many of the challenges of using this technology including latency in the wireless communication channel and computational inundation at the individual sensing nodes. This work seeks to overcome some of those challenges by drawing inspiration from the real-time sensing and control techniques employed by the biological central nervous system and in particular the mammalian cochlea. A novel bio-inspired wireless sensor node was developed that employs analog filtering techniques to perform time-frequency decomposition of a sensor signal, thus encompassing the functionality of the cochlea. The node then utilizes asynchronous sampling of the filtered signal to compress the signal prior to communication. This bio-inspired sensing architecture is extended to a feedback control application in order to overcome the traditional challenges currently faced by wireless control. In doing this, however, the network experiences high bandwidths of low-significance information exchange between nodes, resulting in some lost data. This study considers the impact of this lost data on the control capabilities of the bio-inspired control architecture and finds that it does not significantly impact the effectiveness of control.
Template model inspired leg force feedback based control can assist human walking.
Zhao, Guoping; Sharbafi, Maziar; Vlutters, Mark; van Asseldonk, Edwin; Seyfarth, Andre
2017-07-01
We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP template model is capable of stabilizing the trunk and reproduce a human-like hip torque during the stance phase of walking. With leg force and joint angle feedback inspired by the VPP template model, our controller provides hip and knee torque assistance during the stance phase. A pilot experiment was conducted with four healthy subjects. Joint kinematics, leg muscle electromyography (EMG), and metabolic cost were measured during walking with and without assistance. Results show that, for 0.6 m/s walking, our controller can reduce leg muscle activations, especially for the medial gastrocnemius (about 16.0%), while hip and knee joint kinematics remain similar to the condition without the controller. Besides, the controller also reduces 10% of the net metabolic cost during walking. This paper demonstrates walking assistance benefits of the VPP template model for the first time. The support of human walking is achieved by a force feedback of leg force applied to the control of hip and knee joints. It can help us to provide a framework for investigating walking assistance control in the future.
Nadimi, Esmaeil Sharak; Bak, Thomas; Izadi-Zamanabadi, Roozbeh
2006-01-01
The main objective of this paper is to investigate the erformance and applicability of two GPC (generalized predictive control) based control methods on a complete benchmark model of the Stewart platform made in MATLAB V6.5. The first method involves an LQG controller (Linear Quadratic Gaussian...
Charles R Larson; Donald A Robin
2016-01-01
The pitch-shift paradigm has become a widely used method for studying the role of voice pitch auditory feedback in voice control. This paradigm introduces small, brief pitch shifts in voice auditory feedback to vocalizing subjects. The perturbations trigger a reflexive mechanism that counteracts the change in pitch. The underlying mechanisms of the vocal responses are thought to reflect a negative feedback control system that is similar to constructs developed to explain other forms of motor ...
Alikaev, V.V.; Borshegovskij, A.A.; Chistyakov, V.V.
2001-01-01
'Studies of the Disruption Prevention by ECRH at Plasma Current Rise Stage in Limiter Discharges' - Studies of disruption prevention by means of ECRH in T-10 at the plasma current rise phase in limiter discharges with circular plasma cross-section were performed. Reliable disruption prevention by ECRH at HF power (P HF ) min level equal to 20% of ohmic heating power P OH was demonstrated. m/n=2/1 mode MHD-activity developed before disruption (with characteristic time ∼ 120 ms) can be considered as disruption precursor and can be used in a feedback system. 'Possibility of an Internal Transport Barrier Producing under Dominating Electron Transport in the T-10 Tokamak' - The reversed shear experiments were carried out on T-10 at the HF power up to 1MW. The reversed shear in the core was produced by on-axis ECCD in direction opposite to the plasma current. There are no obvious signs of Internal Transport Barriers formation under condition when high-k turbulence determines the electron transport. (author)
Feedback control and stabilization experiments on the Texas Experimental Tokamak (TEXT)
Uckan, T.; Richards, B.; Wootton, A.J.; Bengtson, R.D.; Bravenec, R.; Carreras, B.A.; Li, G.X.; Hurwitz, P.; Phillips, P.E.; Rowan, W.L.; Tsui, H.Y.W.; Uglum, J.R.; Wen, Y.; Winslow, D.
1995-01-01
Plasma edge feedback experiments on the Texas Experimental Tokamak (TEXT) have been successful in controlling the edge plasma potential fluctuation level. The feedback wave-launcher is driven by the local edge potential fluctuations. The edge potential fluctuations are modified in a broad frequency band. Moreover, the potential fluctuations can be reduced (≤100 kHz) without enhancing other modes, or excited (10 to 12 kHz), depending on the phase difference between the driver and the launcher signal, and gain of the system. This turbulence modification is achieved not only locally but also halfway around the torus and has about 2 cm of poloidal extent. The local plasma parameters at the edge and the estimated fluctuation-induced radial particle flux are somewhat affected by the edge feedback. ((orig.))
T. H. S. Abdelaziz
2005-01-01
Full Text Available In this paper we introduce a complete parametric approach for solving the problem of eigenstructure assignment via state-derivative feedback for linear systems. This problem is always solvable for any controllable systems iff the open-loop system matrix is nonsingular. In this work, two parametric solutions to the feedback gain matrix are introduced that describe the available degrees of freedom offered by the state-derivative feedback in selecting the associated eigenvectors from an admissible class. These freedoms can be utilized to improve robustness of the closed-loop system. Accordingly, the sensitivity of the assigned eigenvalues to perturbations in the system and gain matrix is minimized. Numerical examples are included to show the effectiveness of the proposed approach.
Weck, Florian; Kaufmann, Yvonne M; Höfling, Volkmar
2017-07-01
The development and improvement of therapeutic competencies are central aims in psychotherapy training; however, little is known about which training interventions are suitable for the improvement of competencies. In the current pilot study, the efficacy of feedback regarding therapeutic competencies was investigated in cognitive behavioural therapy (CBT). Totally 19 trainee therapists and 19 patients were allocated randomly to a competence feedback group (CFG) or control group (CG). Two experienced clinicians and feedback providers who were blind to the treatment conditions independently evaluated therapeutic competencies on the Cognitive Therapy Scale at five treatment times (i.e., at Sessions 1, 5, 9, 13, and 17). Whereas CFG and CG included regular supervision, only therapists in the CFG additionally received written qualitative and quantitative feedback regarding their demonstrated competencies in conducting CBT during treatment. We found a significant Time × Group interaction effect (η² = .09), which indicates a larger competence increase in the CFG in comparison to the CG. Competence feedback was demonstrated to be suitable for the improvement of therapeutic competencies in CBT. These findings may have important implications for psychotherapy training, clinical practice, and psychotherapy research. However, further research is necessary to ensure the replicability and generalizability of the findings.
Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.
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.
Yi-Ching Chen
2017-11-01
Full Text Available Error amplification (EA feedback is a promising approach to advance visuomotor skill. As error detection and visuomotor processing at short time scales decline with age, this study examined whether older adults could benefit from EA feedback that included higher-frequency information to guide a force-tracking task. Fourteen young and 14 older adults performed low-level static isometric force-tracking with visual guidance of typical visual feedback and EA feedback containing augmented high-frequency errors. Stabilogram diffusion analysis was used to characterize force fluctuation dynamics. Also, the discharge behaviors of motor units and pooled motor unit coherence were assessed following the decomposition of multi-channel surface electromyography (EMG. EA produced different behavioral and neurophysiological impacts on young and older adults. Older adults exhibited inferior task accuracy with EA feedback than with typical visual feedback, but not young adults. Although stabilogram diffusion analysis revealed that EA led to a significant decrease in critical time points for both groups, EA potentiated the critical point of force fluctuations <ΔFc2>, short-term effective diffusion coefficients (Ds, and short-term exponent scaling only for the older adults. Moreover, in older adults, EA added to the size of discharge variability of motor units and discharge regularity of cumulative discharge rate, but suppressed the pooled motor unit coherence in the 13–35 Hz band. Virtual EA alters the strategic balance between open-loop and closed-loop controls for force-tracking. Contrary to expectations, the prevailing use of closed-loop control with EA that contained high-frequency error information enhanced the motor unit discharge variability and undermined the force steadiness in the older group, concerning declines in physiological complexity in the neurobehavioral system and the common drive to the motoneuronal pool against force destabilization.
Different auditory feedback control for echolocation and communication in horseshoe bats.
Ying Liu
Full Text Available Auditory feedback from the animal's own voice is essential during bat echolocation: to optimize signal detection, bats continuously adjust various call parameters in response to changing echo signals. Auditory feedback seems also necessary for controlling many bat communication calls, although it remains unclear how auditory feedback control differs in echolocation and communication. We tackled this question by analyzing echolocation and communication in greater horseshoe bats, whose echolocation pulses are dominated by a constant frequency component that matches the frequency range they hear best. To maintain echoes within this "auditory fovea", horseshoe bats constantly adjust their echolocation call frequency depending on the frequency of the returning echo signal. This Doppler-shift compensation (DSC behavior represents one of the most precise forms of sensory-motor feedback known. We examined the variability of echolocation pulses emitted at rest (resting frequencies, RFs and one type of communication signal which resembles an echolocation pulse but is much shorter (short constant frequency communication calls, SCFs and produced only during social interactions. We found that while RFs varied from day to day, corroborating earlier studies in other constant frequency bats, SCF-frequencies remained unchanged. In addition, RFs overlapped for some bats whereas SCF-frequencies were always distinctly different. This indicates that auditory feedback during echolocation changed with varying RFs but remained constant or may have been absent during emission of SCF calls for communication. This fundamentally different feedback mechanism for echolocation and communication may have enabled these bats to use SCF calls for individual recognition whereas they adjusted RF calls to accommodate the daily shifts of their auditory fovea.
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 for unsteady flow and its application to the stochastic Burgers equation
Choi, Haecheon; Temam, Roger; Moin, Parviz; Kim, John
1993-01-01
The study applies mathematical methods of control theory to the problem of control of fluid flow with the long-range objective of developing effective methods for the control of turbulent flows. Model problems are employed through the formalism and language of control theory to present the procedure of how to cast the problem of controlling turbulence into a problem in optimal control theory. Methods of calculus of variations through the adjoint state and gradient algorithms are used to present a suboptimal control and feedback procedure for stationary and time-dependent problems. Two types of controls are investigated: distributed and boundary controls. Several cases of both controls are numerically simulated to investigate the performances of the control algorithm. Most cases considered show significant reductions of the costs to be minimized. The dependence of the control algorithm on the time-descretization method is discussed.
Masked and unmasked error-related potentials during continuous control and feedback
Lopes Dias, Catarina; Sburlea, Andreea I.; Müller-Putz, Gernot R.
2018-06-01
The detection of error-related potentials (ErrPs) in tasks with discrete feedback is well established in the brain–computer interface (BCI) field. However, the decoding of ErrPs in tasks with continuous feedback is still in its early stages. Objective. We developed a task in which subjects have continuous control of a cursor’s position by means of a joystick. The cursor’s position was shown to the participants in two different modalities of continuous feedback: normal and jittered. The jittered feedback was created to mimic the instability that could exist if participants controlled the trajectory directly with brain signals. Approach. This paper studies the electroencephalographic (EEG)—measurable signatures caused by a loss of control over the cursor’s trajectory, causing a target miss. Main results. In both feedback modalities, time-locked potentials revealed the typical frontal-central components of error-related potentials. Errors occurring during the jittered feedback (masked errors) were delayed in comparison to errors occurring during normal feedback (unmasked errors). Masked errors displayed lower peak amplitudes than unmasked errors. Time-locked classification analysis allowed a good distinction between correct and error classes (average Cohen-, average TPR = 81.8% and average TNR = 96.4%). Time-locked classification analysis between masked error and unmasked error classes revealed results at chance level (average Cohen-, average TPR = 60.9% and average TNR = 58.3%). Afterwards, we performed asynchronous detection of ErrPs, combining both masked and unmasked trials. The asynchronous detection of ErrPs in a simulated online scenario resulted in an average TNR of 84.0% and in an average TPR of 64.9%. Significance. The time-locked classification results suggest that the masked and unmasked errors were indistinguishable in terms of classification. The asynchronous classification results suggest that the
Feedback and Feedforward Control During Walking in Individuals With Chronic Ankle Instability.
Yen, Sheng-Che; Corkery, Marie B; Donohoe, Amy; Grogan, Maddison; Wu, Yi-Ning
2016-09-01
Study Design Controlled laboratory study. Background Recurrent ankle sprains associated with chronic ankle instability (CAI) occur not only in challenging sports but also in daily walking. Understanding whether and how CAI alters feedback and feedforward controls during walking may be important for developing interventions for CAI prevention or treatment. Objective To understand whether CAI is associated with changes in feedback and feedforward control when individuals with CAI are subjected to experimental perturbation during walking. Methods Twelve subjects with CAI and 12 control subjects walked on a treadmill while adapting to external loading that generated inversion perturbation at the ankle joint. Ankle kinematics around heel contact during and after the adaptation were compared between the 2 groups. Results Both healthy and CAI groups showed an increase in eversion around heel contact in early adaptation to the external loading. However, the CAI group adapted back toward the baseline, while the healthy controls showed further increase in eversion in late adaptation. When the external loading was removed in the postadaptation period, healthy controls showed an aftereffect consisting of an increase in eversion around heel contact, but the CAI group showed no aftereffect. Conclusion The results provide preliminary evidence that CAI may alter individuals' feedback and feedforward control during walking. J Orthop Sports Phys Ther 2016;46(9):775-783. Epub 5 Aug 2016. doi:10.2519/jospt.2016.6403.
Control characteristics of cryogenic distillation column with a feedback stream for fusion reactor
Yamanishi, Toshihiko; Okuno, Kenji
1997-01-01
The control characteristics of the cryogenic distillation column with a feedback stream have been discussed based on computer simulation results. This column plays an important role in fusion reactor. A new control system was proposed from the simulation results. The flow rate of top product is determined from the composition and flow rate of a main feed stream by a feedforward control loop. The flow rates of the feedback stream and vapor stream within the column are proportionally changed with a corresponding change of feed flow rate. The flow rate of vapor stream within the column is further adjusted to maintain product purity by a feedback control loop. The proposed system can control the product purity for a large fluctuation of feed composition, a change of feed flow rate, and an increase or decrease of the number of total theoretical stages of the column. The control system should be designed for each column by considering its operating conditions and function. The present study gives us a basic procedure for the design method of the control system of the cryogenic distillation column. (author)
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.
Feedback control of current drive by using hybrid wave in tokamaks
Wijnands, T.J.; CEA Centre d'Etudes de Cadarache, 13 - Saint-Paul-lez-Durance
1997-03-01
This work is focussed on an important and recent development in present day Controlled Nuclear Fusion Research and Tokamaks. The aim is to optimise the energy confinement for a certain magnetic configuration by adapting the radial distribution of the current. Of particular interest are feedback control scenarios with stationary modifications of the current profile using current, driven by Lower Hybrid waves. A new feedback control system has been developed for Tore Supra and has made a large number of new operation scenarios possible. In one of the experiments described here, there is no energy exchange between the poloidal field system and the plasma, the current is controlled by the power of the Lower Hybrid waves while the launched wave spectrum is used to optimise the current profile shape and the energy confinement. (author)
Fuzzy Adaptive Output Feedback Control of Uncertain Nonlinear Systems With Prescribed Performance.
Zhang, Jin-Xi; Yang, Guang-Hong
2018-05-01
This paper investigates the tracking control problem for a family of strict-feedback systems in the presence of unknown nonlinearities and immeasurable system states. A low-complexity adaptive fuzzy output feedback control scheme is proposed, based on a backstepping method. In the control design, a fuzzy adaptive state observer is first employed to estimate the unmeasured states. Then, a novel error transformation approach together with a new modification mechanism is introduced to guarantee the finite-time convergence of the output error to a predefined region and ensure the closed-loop stability. Compared with the existing methods, the main advantages of our approach are that: 1) without using extra command filters or auxiliary dynamic surface control techniques, the problem of explosion of complexity can still be addressed and 2) the design procedures are independent of the initial conditions. Finally, two practical examples are performed to further illustrate the above theoretic findings.
Feedback Control of Resistive Wall Modes in Slowly Rotating DIII-D Plasmas
Okabayashi, M.; Chance, M. S.; Takahashi, H.; Garofalo, A. M.; Reimerdes, H.; in, Y.; Chu, M. S.; Jackson, G. L.; La Haye, R. J.; Strait, E. J.
2006-10-01
In slowly rotating plasmas on DIII-D, the requirement of RWM control feedback have been identified, using a MHD code along with measured power supply characteristics. It was found that a small time delay is essential for achieving high beta if no rotation stabilization exists. The overall system delay or the band pass time constant should be in the range of 0.4 of the RWM growth time. Recently the control system was upgraded using twelve linear audio amplifiers and a faster digital control system, reducing the time-delay from 600 to 100 μs. The advantage has been clearly observed when the RWMs excited by ELMs were effectively controlled by feedback even if the rotation transiently slowed nearly to zero. This study provides insight on stability in the low- rotation plasmasw with balanced NBI in DIII-D and also in ITER.