Design Of Combined Stochastic Feedforward/Feedback Control

Science.gov (United States)

Halyo, Nesim

1989-01-01

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

Dynamics of nonlinear feedback control.

Science.gov (United States)

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.

Dynamics of nonlinear feedback control

NARCIS (Netherlands)

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

Thermal-hydraulic feedback model to calculate the neutronic cross-section in PWR reactions

International Nuclear Information System (INIS)

Santiago, Daniela Maiolino Norberto

2011-01-01

In neutronic codes,it is important to have a thermal-hydraulic feedback module. This module calculates the thermal-hydraulic feedback of the fuel, that feeds the neutronic cross sections. In the neutronic co de developed at PEN / COPPE / UFRJ, the fuel temperature is obtained through an empirical model. This work presents a physical model to calculate this temperature. We used the finite volume technique of discretized the equation of temperature distribution, while calculation the moderator coefficient of heat transfer, was carried out using the ASME table, and using some of their routines to our program. The model allows one to calculate an average radial temperature per node, since the thermal-hydraulic feedback must follow the conditions imposed by the neutronic code. The results were compared with to the empirical model. Our results show that for the fuel elements near periphery, the empirical model overestimates the temperature in the fuel, as compared to our model, which may indicate that the physical model is more appropriate to calculate the thermal-hydraulic feedback temperatures. The proposed model was validated by the neutronic simulator developed in the PEN / COPPE / UFRJ for analysis of PWR reactors. (author)

NUMERICAL MULTIGROUP TRANSIENT ANALYSIS OF SLAB NUCLEAR REACTOR WITH THERMAL FEEDBACK

Directory of Open Access Journals (Sweden)

Filip Osuský

2016-12-01

Full Text Available The paper describes a new numerical code for multigroup transient analyses with thermal feedback. The code is developed at Institute of Nuclear and Physical Engineering. It is necessary to carefully investigate transient states of fast neutron reactors, due to recriticality issues after accident scenarios. The code solves numerical diffusion equation for 1D problem with possible neutron source incorporation. Crank-Nicholson numerical method is used for the transient states. The investigated cases are describing behavior of PWR fuel assembly inside of spent fuel pool and with the incorporated neutron source for better illustration of thermal feedback.

Artificial proprioceptive feedback for myoelectric control.

Science.gov (United States)

Pistohl, Tobias; Joshi, Deepak; Ganesh, Gowrishankar; Jackson, Andrew; Nazarpour, Kianoush

2015-05-01

The typical control of myoelectric interfaces, whether in laboratory settings or real-life prosthetic applications, largely relies on visual feedback because proprioceptive signals from the controlling muscles are either not available or very noisy. We conducted a set of experiments to test whether artificial proprioceptive feedback, delivered noninvasively to another limb, can improve control of a two-dimensional myoelectrically-controlled computer interface. In these experiments, participants were required to reach a target with a visual cursor that was controlled by electromyogram signals recorded from muscles of the left hand, while they were provided with an additional proprioceptive feedback on their right arm by moving it with a robotic manipulandum. Provision of additional artificial proprioceptive feedback improved the angular accuracy of their movements when compared to using visual feedback alone but did not increase the overall accuracy quantified with the average distance between the cursor and the target. The advantages conferred by proprioception were present only when the proprioceptive feedback had similar orientation to the visual feedback in the task space and not when it was mirrored, demonstrating the importance of congruency in feedback modalities for multi-sensory integration. Our results reveal the ability of the human motor system to learn new inter-limb sensory-motor associations; the motor system can utilize task-related sensory feedback, even when it is available on a limb distinct from the one being actuated. In addition, the proposed task structure provides a flexible test paradigm by which the effectiveness of various sensory feedback and multi-sensory integration for myoelectric prosthesis control can be evaluated.

Feedback control strategies for the Liu chaotic system

International Nuclear Information System (INIS)

Zhu Congxu; Chen Zhigang

2008-01-01

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

PID control with robust disturbance feedback control

DEFF Research Database (Denmark)

Kawai, Fukiko; Vinther, Kasper; Andersen, Palle

2015-01-01

Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....

Control and diagnostic uses of feedback

International Nuclear Information System (INIS)

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2008-03-15

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

MRI-guided therapeutic ultrasound: Temperature feedback control for extracorporeal and endoluminal applicators

Science.gov (United States)

Salomir, Rares

2005-09-01

Therapeutic ultrasound is a mini-invasive and promising tool for in situ ablation of non-resectable tumors in uterus, breast, esophagus, kidney, liver, etc. Extracorporeal, endoluminal, and interstitial applicators have been successfully tested to date. Magnetic resonance imaging (MRI) is the only available technique providing non-invasive temperature mapping, together with excellent contrast of soft tissue. Coupling of these two technologies offers the advantage of both: (1) on line spatial guidance to the target region, and (2) thermal dose control during the treatment. This talk will provide an overview of the author's experience with automatic, active feedback control of the temperature evolution in tissues, which has been demonstrated with MRI compatible extracorporeal transducers (focused beam) or endoluminal applicators (plane waves). The feedback loop is based on fast switching capabilities of the driving electronics and real time data transfer out of the MR scanner. Precision of temperature control was typically better than 1°C. This approach is expected to improve the efficacy of the treatment (complete tumor ablation) and the thermal security of the critical regions crossed by the acoustic beam. It also permits one to reach an under-lethal heating regime for local drug delivery using thermosensitive liposomes or gene expression control based on hsp promoters.

Linear feedback controls the essentials

CERN Document Server

Haidekker, Mark A

2013-01-01

The design of control systems is at the very core of engineering. Feedback controls are ubiquitous, ranging from simple room thermostats to airplane engine control. Helping to make sense of this wide-ranging field, this book provides a new approach by keeping a tight focus on the essentials with a limited, yet consistent set of examples. Analysis and design methods are explained in terms of theory and practice. The book covers classical, linear feedback controls, and linear approximations are used when needed. In parallel, the book covers time-discrete (digital) control systems and juxtapos

Multivariable Feedback Control of Nuclear Reactors

Directory of Open Access Journals (Sweden)

Rune Moen

1982-07-01

Full Text Available Multivariable feedback control has been adapted for optimal control of the spatial power distribution in nuclear reactor cores. Two design techniques, based on the theory of automatic control, were developed: the State Variable Feedback (SVF is an application of the linear optimal control theory, and the Multivariable Frequency Response (MFR is based on a generalization of the traditional frequency response approach to control system design.

Integration of advanced feedback control techniques on Tore Supra

International Nuclear Information System (INIS)

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

Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Advance Speed Feedback

DEFF Research Database (Denmark)

Fossen, T.I.; Blanke, M.

1999-01-01

More accurate propeller shaft speed controllers can be designed by using nonlinear control theory. In this paper, an output feedback controller reconstructing the advance speed (speed of water going into the propeller) from vehicle speed measurements is derived. For this purpose a three-state model...... minimizes thruster losses due to variations in propeller axial inlet flow which is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. From the simulations it can be concluded...... of propeller shaft speed, forward (surge) speed of the vehicle and axial inlet flow of the propeller is applied. A nonlinear observer in combination with an output feedback integral controller are derived by applying Lyapunov stability theory and exponential stability is proven. The output feedback controller...

Control of an atom laser using feedback

International Nuclear Information System (INIS)

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

2004-01-01

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

Feedback control and adaptive control of the energy resource chaotic system

International Nuclear Information System (INIS)

Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun

2007-01-01

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

Role of measurement in feedback-controlled quantum engines

Science.gov (United States)

Yi, Juyeon; Kim, Yong Woon

2018-01-01

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

Direct output feedback control of discrete-time systems

International Nuclear Information System (INIS)

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

1993-01-01

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

Controlling chaotic systems via nonlinear feedback control

International Nuclear Information System (INIS)

Park, Ju H.

2005-01-01

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

Time-optimal feedback control for linear systems

International Nuclear Information System (INIS)

Mirica, S.

1976-01-01

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

Nonlinear H-ininity state feedback controllers:

DEFF Research Database (Denmark)

Cromme, Marc; Møller-Pedersen, Jens; Pagh Petersen, Martin

1997-01-01

From a general point of view the state feedback H∞ suboptimal control problem is reasonably well understood. Important problems remain with regard to a priori information of the size of the neighbourhood where the local state feedback H∞ problem is solvable. This problem is solved regionally (sem...... (semiglobally) in this paper, and the obtained control laws are implemented in MAPLE...

Thermal Studies on the SPS Wideband Transverse Feedback Kicker

CERN Document Server

Roggen, Toon; Hofle, Wolfgang; Montesinos, Eric; CERN. Geneva. ATS Department

2016-01-01

As part of the SPS wideband transverse feedback system in the framework of the LHC Injector Upgrade (LIU) project, a wideband kicker design is being proposed. Vertical beam instabilities due to intensity dependent effects (electron cloud instability (ECI) and transverse mode coupling instability (TMCI)) are potentially suppressed by using a feedback system driving such a kicker system. One of the options for a kicker is a one meter long slotted-coaxial kicker, providing a substantial vertical kick strength (10ˉ5 –10ˉ4 eV.s/m) over a bandwidth ranging from nearly DC to 1 GHz. The necessary kick strength requires a total power of 4 kW. This note describes thermal studies that assisted in the material choice of the feedthroughs of the slotted-coaxial kicker and guided the design choices.

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

DEFF Research Database (Denmark)

Fossen, T. I.; Blanke, Mogens

2000-01-01

Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using...... a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller...... compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems, The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water...

Delayed feedback control of fractional-order chaotic systems

International Nuclear Information System (INIS)

Gjurchinovski, A; Urumov, V; Sandev, T

2010-01-01

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

Entanglement-assisted quantum feedback control

Science.gov (United States)

Yamamoto, Naoki; Mikami, Tomoaki

2017-07-01

The main advantage of quantum metrology relies on the effective use of entanglement, which indeed allows us to achieve strictly better estimation performance over the standard quantum limit. In this paper, we propose an analogous method utilizing entanglement for the purpose of feedback control. The system considered is a general linear dynamical quantum system, where the control goal can be systematically formulated as a linear quadratic Gaussian control problem based on the quantum Kalman filtering method; in this setting, an entangled input probe field is effectively used to reduce the estimation error and accordingly the control cost function. In particular, we show that, in the problem of cooling an opto-mechanical oscillator, the entanglement-assisted feedback control can lower the stationary occupation number of the oscillator below the limit attainable by the controller with a coherent probe field and furthermore beats the controller with an optimized squeezed probe field.

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

Science.gov (United States)

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

2017-09-20

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

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

Science.gov (United States)

Bean, Jacob; Fuller, Chris; Schiller, Noah

2016-01-01

Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

MARTe at FTU: The new feedback control

Energy Technology Data Exchange (ETDEWEB)

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

2012-12-15

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

Feedback control of coupled-bunch instabilities

International Nuclear Information System (INIS)

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

1993-05-01

The next generation of synchrotron light sources and particle accelerators will require active feedback systems to control multi-bunch instabilities. Stabilizing hundreds or thousands of potentially unstable modes in these accelerator designs presents many technical challenges. Feedback systems to stabilize coupled-bunch instabilities may be understood in the frequency domain (mode-based feedback) or in the time domain (bunch-by-bunch feedback). In both approaches an external amplifier system is used to create damping fields that prevent coupled-bunch oscillations from growing without bound. The system requirements for transverse (betatron) and longitudinal (synchrotron) feedback are presented, and possible implementation options developed. Feedback system designs based on digital signal-processing techniques are described. Experimental results are shown from a synchrotron oscillation damper in the SSRL/SLAC storage ring SPEAR that uses digital signal-processing techniques

Feedback control of resistive instabilities

International Nuclear Information System (INIS)

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

1986-01-01

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

Feedback control for a train-like vehicle

International Nuclear Information System (INIS)

Micaelli, A.

1994-01-01

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

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

International Nuclear Information System (INIS)

Zhao Junchan; Lu Junan

2008-01-01

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

Beam closed orbit feedback based on PID control

International Nuclear Information System (INIS)

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

2013-01-01

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

Dynamical control of chaos by slave-master feedback

International Nuclear Information System (INIS)

Behnia, S.; Akhshani, A.

2009-01-01

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

Voluntarily controlled but not merely observed visual feedback affects postural sway

Science.gov (United States)

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

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

Feedback control using only quantum back-action

International Nuclear Information System (INIS)

Jacobs, Kurt

2010-01-01

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

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

Science.gov (United States)

Berdahl, Edgar; Smith, Julius O; Niemeyer, Günter

2012-01-01

Traditionally, the average professional musician has owned numerous acoustic musical instruments, many of them having distinctive acoustic qualities. However, a modern musician could prefer to have a single musical instrument whose acoustics are programmable by feedback control, where acoustic variables are estimated from sensor measurements in real time and then fed back in order to influence the controlled variables. In this paper, theory is presented that describes stable feedback control of an acoustic musical instrument. The presentation should be accessible to members of the musical acoustics community who may have limited or no experience with feedback control. First, the only control strategy guaranteed to be stable subject to any musical instrument mobility is described: the sensors and actuators must be collocated, and the controller must emulate a physical analog system. Next, the most fundamental feedback controllers and the corresponding physical analog systems are presented. The effects that these controllers have on acoustic musical instruments are described. Finally, practical design challenges are discussed. A proof explains why changing the resonance frequency of a musical resonance requires much more control power than changing the decay time of the resonance. © 2012 Acoustical Society of America.

Iterative learning control with sampled-data feedback for robot manipulators

Directory of Open Access Journals (Sweden)

Delchev Kamen

2014-09-01

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

Feedback control of plasma configuration in JT-60

International Nuclear Information System (INIS)

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

1986-08-01

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

Feedback control of resistive instabilities

International Nuclear Information System (INIS)

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

1985-12-01

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

Feedforward/feedback control synthesis for performance and robustness

Science.gov (United States)

Wie, Bong; Liu, Qiang

1990-01-01

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

Coherent-feedback-induced controllable optical bistability and photon blockade

International Nuclear Information System (INIS)

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

2015-01-01

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

Microcontroller-based Feedback Control Laboratory Experiments

Directory of Open Access Journals (Sweden)

Chiu Choi

2014-06-01

Full Text Available this paper is a result of the implementation of the recommendations on enhancing hands-on experience of control engineering education using single chip, small scale computers such as microcontrollers. A set of microcontroller-based feedback control experiments was developed for the Electrical Engineering curriculum at the University of North Florida. These experiments provided hands-on techniques that students can utilize in the development of complete solutions for a number of servo control problems. Significant effort was devoted to software development of feedback controllers and the associated signal conditioning circuits interfacing between the microcontroller and the physical plant. These experiments have stimulated the interest of our students in control engineering.

Requirements for active resistive wall mode (RWM) feedback control

International Nuclear Information System (INIS)

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

2010-01-01

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

LHC beam stability and feedback control

International Nuclear Information System (INIS)

Steinhagen, Ralph

2007-01-01

This report presents the stability and the control of the Large Hadron Collider's (LHC) two beam orbits and their particle momenta using beam-based feedback systems. The aim of this report is to contribute to a safe and reliable LHC commissioning and machine operation. The first part of the analysis gives an estimate of the expected sources of orbit and energy perturbations that can be grouped into environmental sources, machine-inherent sources and machine element failures: the slowest perturbation due to ground motion, tides, temperature fluctuations of the tunnel and other environmental influences are described in this report by a propagation model that is both qualitatively and quantitatively supported by geophone and beam motion measurements at LEP and other CERN accelerators. The second part of this analysis deals with the control of the two LHC beams' orbit and energy through automated feedback systems. Based on the reading of the more than 1056 beam position monitors (BPMs) that are distributed over the machine, a central global feedback controller calculates new deflection strengths for the more than 1060 orbit corrector magnets (CODs) that are suitable to correct the orbit and momentum around their references. this report provides an analysis of the BPMs and CODs involved in the orbit and energy feedback. The BPMs are based on a wide-band time normaliser circuit that converts the transverse beam position reading of each individual particle bunch into two laser pulses that are separated by a time delay and transmitted through optical fibres to an acquisition card that converts the delay signals into a digital position. A simple error model has been tested and compared to the measurement accuracy of LHC type BPMs, obtained through beam-based measurements in the SPS. The average beam position is controlled through 1060 superconducting and individually powered corrector dipole magnets. The proposed correction in 'time-domain' consists of a proportional

Combined feedforward and feedback control of end milling system

OpenAIRE

Čuš, Franc; Župerl, Uroš; Balič, Jože

2012-01-01

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

FX2-TH: a two-dimensional nuclear reactor kinetics code with thermal-hydraulic feedback

International Nuclear Information System (INIS)

Shober, R.A.; Daly, T.A.; Ferguson, D.R.

1978-10-01

FX2-TH is a two-dimensional, time-dependent nuclear reactor kinetics program with thermal and hydraulic feedback. The neutronics model used is multigroup neutron diffusion theory. The following geometry options are available: x, r, x-y, r-z, theta-r, and triangular. FX2-TH contains two basic thermal and hydraulic models: a simple adiabatic fuel temperature calculation, and a more detailed model consisting of an explicit representation of a fuel pin, gap, clad, and coolant. FX2-TH allows feedback effects from both fuel temperature (Doppler) and coolant temperature (density) changes. FX2-TH will calculate a consistent set of steady state conditions by iterating between the neutronics and thermal-hydraulics until convergence is reached. The time-dependent calculation is performed by the use of the improved quasistatic method. A disk editing capability is available. FX2-TH is operational on IBM system 360 or 370 computers and on the CDC 7600

The development of a thermal hydraulic feedback mechanism with a quasi-fixed point iteration scheme for control rod position modeling for the TRIGSIMS-TH application

Science.gov (United States)

Karriem, Veronica V.

Nuclear reactor design incorporates the study and application of nuclear physics, nuclear thermal hydraulic and nuclear safety. Theoretical models and numerical methods implemented in computer programs are utilized to analyze and design nuclear reactors. The focus of this PhD study's is the development of an advanced high-fidelity multi-physics code system to perform reactor core analysis for design and safety evaluations of research TRIGA-type reactors. The fuel management and design code system TRIGSIMS was further developed to fulfill the function of a reactor design and analysis code system for the Pennsylvania State Breazeale Reactor (PSBR). TRIGSIMS, which is currently in use at the PSBR, is a fuel management tool, which incorporates the depletion code ORIGEN-S (part of SCALE system) and the Monte Carlo neutronics solver MCNP. The diffusion theory code ADMARC-H is used within TRIGSIMS to accelerate the MCNP calculations. It manages the data and fuel isotopic content and stores it for future burnup calculations. The contribution of this work is the development of an improved version of TRIGSIMS, named TRIGSIMS-TH. TRIGSIMS-TH incorporates a thermal hydraulic module based on the advanced sub-channel code COBRA-TF (CTF). CTF provides the temperature feedback needed in the multi-physics calculations as well as the thermal hydraulics modeling capability of the reactor core. The temperature feedback model is using the CTF-provided local moderator and fuel temperatures for the cross-section modeling for ADMARC-H and MCNP calculations. To perform efficient critical control rod calculations, a methodology for applying a control rod position was implemented in TRIGSIMS-TH, making this code system a modeling and design tool for future core loadings. The new TRIGSIMS-TH is a computer program that interlinks various other functional reactor analysis tools. It consists of the MCNP5, ADMARC-H, ORIGEN-S, and CTF. CTF was coupled with both MCNP and ADMARC-H to provide the

An Industrial Model Based Disturbance Feedback Control Scheme

DEFF Research Database (Denmark)

Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper

2014-01-01

This paper presents a model based disturbance feedback control scheme. Industrial process systems have been traditionally controlled by using relay and PID controller. However these controllers are affected by disturbances and model errors and these effects degrade control performance. The authors...... propose a new control method that can decrease the negative impact of disturbance and model errors. The control method is motivated by industrial practice by Fuji Electric. Simulation tests are examined with a conventional PID controller and the disturbance feedback control. The simulation results...

Delayed feedback control in quantum transport.

Science.gov (United States)

Emary, Clive

2013-09-28

Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.

LHC beam stability and feedback control

Energy Technology Data Exchange (ETDEWEB)

Steinhagen, Ralph

2007-07-20

This report presents the stability and the control of the Large Hadron Collider's (LHC) two beam orbits and their particle momenta using beam-based feedback systems. The aim of this report is to contribute to a safe and reliable LHC commissioning and machine operation. The first part of the analysis gives an estimate of the expected sources of orbit and energy perturbations that can be grouped into environmental sources, machine-inherent sources and machine element failures: the slowest perturbation due to ground motion, tides, temperature fluctuations of the tunnel and other environmental influences are described in this report by a propagation model that is both qualitatively and quantitatively supported by geophone and beam motion measurements at LEP and other CERN accelerators. The second part of this analysis deals with the control of the two LHC beams' orbit and energy through automated feedback systems. Based on the reading of the more than 1056 beam position monitors (BPMs) that are distributed over the machine, a central global feedback controller calculates new deflection strengths for the more than 1060 orbit corrector magnets (CODs) that are suitable to correct the orbit and momentum around their references. this report provides an analysis of the BPMs and CODs involved in the orbit and energy feedback. The BPMs are based on a wide-band time normaliser circuit that converts the transverse beam position reading of each individual particle bunch into two laser pulses that are separated by a time delay and transmitted through optical fibres to an acquisition card that converts the delay signals into a digital position. A simple error model has been tested and compared to the measurement accuracy of LHC type BPMs, obtained through beam-based measurements in the SPS. The average beam position is controlled through 1060 superconducting and individually powered corrector dipole magnets. The proposed correction in 'time-domain' consists of a

Design of output feedback controller for a unified chaotic system

International Nuclear Information System (INIS)

Li Wenlin; Chen Xiuqin; Shen Zhiping

2008-01-01

In this paper, the synchronization of a unified chaotic system is investigated by the use of output feedback controllers; a two-input single-output feedback controller and single-input single-output feedback controller are presented to synchronize the unified chaotic system when the states are not all measurable. Compared with the existing results, the controllers designed in this paper have some advantages such as small feedback gain, simple structure and less conservation. Finally, numerical simulations results are provided to demonstrate the validity and effectiveness of the proposed method

Task-space sensory feedback control of robot manipulators

CERN Document Server

Cheah, Chien Chern

2015-01-01

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity i...

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

African Journals Online (AJOL)

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

Feedback Control of MEMS to Atoms

CERN Document Server

Shapiro, Benjamin

2012-01-01

Feedback Control of MEMS to Atoms illustrates the use of control and control systems as an essential part of functioning integrated miniaturized systems. The book is organized according to the dimensional scale of the problem, starting with microscale systems and ending with atomic-scale systems. Similar to macroscale machines and processes, control systems can play a major role in improving the performance of micro- and nanoscale systems and in enabling new capabilities that would otherwise not be possible. The majority of problems at these scales present many new challenges that go beyond the current state-of-the-art in control theory and engineering. This is a result of the multidisciplinary nature of micro/nanotechnology, which requires the merging of control engineering with physics, biology and chemistry. This book: Shows how the utilization of feedback control in nanotechnology instrumentation can yield results far better than passive systems can Discusses the application of control systems to problems...

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

Science.gov (United States)

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Enhanced thermal expansion control rod drive lines for improving passive safety of fast reactors

International Nuclear Information System (INIS)

Edelmann, M.; Baumann, W.; Kuechle, M.; Kussmaul, G.; Vaeth, W.; Bertram, A.

1992-01-01

The paper presents a device for increasing the thermal expansion effect of control rod drive lines on negative reactivity feedback in fast reactors. The enhanced thermal expansion of this device can be utilized for both passive rod drop and forced insertion of absorbers in unprotected transients, e.g. ULOF. In this way the reactor is automatically brought into a permanently subcritical state and temperatures are kept well below the boiling point of the coolant. A prototype of such a device called ATHENa (German: Shut-down by THermal Expansion of Na) is presently under construction and will be tested. The paper presents the principle, design features and thermal properties of ATHENs as well as results of reactor dynamics calculations of ULOF's for EFR with enhanced thermal expansion control rod drive lines. (author)

Feedback control and heat transfer measurements in a Rayleigh-Bénard convection cell

Science.gov (United States)

Vial, M.; Hernández, R. H.

2017-07-01

We report experimental results on the heat transfer and instability onset of a Rayleigh-Bénard convection cell of aspect ratios 6:3:1 filled with a high Prandtl aqueous solution of glycerol under feedback control. We investigate the transient and stationary response of both local temperature readings and heat transfer fluxes on the Rayleigh Bénard cell in both conductive and convective states when we perform two independent feedback control actions on both hot and cold walls. We evaluate the performance of both controllers to maintain a temperature gradient independently if the system is below or above the convection threshold. As the convection cell can be rotated at 180° about the shorter axis of the cell, it was possible to perform transitions between thermal conduction and convection regimes and vice versa under a constant temperature difference maintained by both independent controllers. The experimental setup provided an accurate measurement of the critical Rayleigh number and the evolution of the Nusselt number as a function of the Rayleigh number in the moderately supercritical regime (R a cellular convection pattern formed by 6 transverse rolls throughout the range of Rayleigh numbers.

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

Science.gov (United States)

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

2015-10-01

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

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Science.gov (United States)

Xia, Feng; Ma, Longhua; Peng, Chen; Sun, Youxian; Dong, Jinxiang

2008-01-01

There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS) scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting cross-layer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An event-driven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN. PMID:27879934

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Directory of Open Access Journals (Sweden)

Jinxiang Dong

2008-07-01

Full Text Available There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the uncertainty in available communication resources in wireless control systems closed over WLAN, a cross-layer adaptive feedback scheduling (CLAFS scheme is developed, which takes advantage of the co-design of control and wireless communications. By exploiting crosslayer design, CLAFS adjusts the sampling periods of control systems at the application layer based on information about deadline miss ratio and transmission rate from the physical layer. Within the framework of feedback scheduling, the control performance is maximized through controlling the deadline miss ratio. Key design parameters of the feedback scheduler are adapted to dynamic changes in the channel condition. An eventdriven invocation mechanism for the feedback scheduler is also developed. Simulation results show that the proposed approach is efficient in dealing with channel capacity variations and noise interference, thus providing an enabling technology for control over WLAN.

Minimal-Inversion Feedforward-And-Feedback Control System

Science.gov (United States)

Seraji, Homayoun

1990-01-01

Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.

Optimal centralized and decentralized velocity feedback control on a beam

International Nuclear Information System (INIS)

Engels, W P; Elliott, S J

2008-01-01

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

Environmental Feedback and Spatial Conditioning

DEFF Research Database (Denmark)

Foged, Isak Worre; Poulsen, Esben Skouboe

2010-01-01

with structural integrity, where thermal energy flow through the prototype, to be understood as a membrane, can be controlled and the visual transparancy altered. The work shows performance based feedback systems and physical prototype models driven by information streaming, screening and application....

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

International Nuclear Information System (INIS)

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

2011-01-01

Highlights: → A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. → To design the controller, fairly accurate linear models are identified for the SG. → The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. → Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. → The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.

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

Energy Technology Data Exchange (ETDEWEB)

Safarzadeh, O., E-mail: O_Safarzadeh@sbu.ac.ir [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of); Khaki-Sedigh, A. [K. N. Toosi University of Technology, Tehran (Iran, Islamic Republic of); Shirani, A.S. [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of)

2011-09-15

Highlights: {yields} A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. {yields} To design the controller, fairly accurate linear models are identified for the SG. {yields} The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. {yields} Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. {yields} The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.

Feedback linearizing control of a MIMO power system

Science.gov (United States)

Ilyes, Laszlo

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

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

Science.gov (United States)

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

2016-03-01

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

Role of the Soil Thermal Inertia in the short term variability of the surface temperature and consequences for the soil-moisture temperature feedback

Science.gov (United States)

Cheruy, Frederique; Dufresne, Jean-Louis; Ait Mesbah, Sonia; Grandpeix, Jean-Yves; Wang, Fuxing

2017-04-01

) ''hot spots'', it is generally admitted that the variability of the surface temperature is explained by the soil moisture trough its control on the evaporation. This work suggests that the impact of the soil moisture on the temperature through its impact on the thermal inertia can be as important as its direct impact on the evaporation. Contrarily to the evaporation related soil-moisture temperature negative feedback, the thermal inertia soil-moisture related feedback newly identified by this work is a positive feedback which limits the cooling when the soil moisture increases. These results suggest that uncertainties in the representation of the soil and snow thermal properties can be responsible of significant biases in numerical simulations and emphasize the need to carefully document and evaluate these quantities in the Land Surface Modules implemented in the climate models.

FEEDBACK AND LOGISTICS CONTROLLING

Directory of Open Access Journals (Sweden)

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

Stabilising falling liquid film flows using feedback control

Energy Technology Data Exchange (ETDEWEB)

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

2016-01-15

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

The effect of real-time context-aware feedback on occupants' heating behaviour and thermal adaptation

OpenAIRE

Vellei, Marika; Natarajan, Sukumar; Biri, Benjamin; Padget, Julian; Walker, Ian

2016-01-01

Studies have shown that building energy demand in identical dwellings could vary by a factor of three. Differences in occupant behaviour – i.e. purchase, operation and maintenance – have been implicated as a strong source of these differences. The literature suggests that feedback on energy use to building occupants – particularly real-time feedback – can be used to prompt lower operation-related energy behaviours. This is particularly true for thermal demand which, in cold countries, account...

On a new time-delayed feedback control of chaotic systems

International Nuclear Information System (INIS)

Tian Lixin; Xu Jun; Sun Mei; Li Xiuming

2009-01-01

In this paper, using the idea of the successive dislocation feedback method, a new time-delayed feedback control method called the successive dislocation time-delayed feedback control (SDTDFC) is designed. Firstly, the idea of SDTDFC is introduced. Then some analytic sufficient conditions of the chaos control from the SDTDFC approach are derived for stabilization. Finally, some established results are further clarified via a case study of the Lorenz system with the numerical simulations.

Chaos control for the family of Roessler systems using feedback controllers

International Nuclear Information System (INIS)

Liao Xiaoxin; Yu Pei

2006-01-01

This paper presents a new method for controlling chaos in several classical chaotic Roessler systems using feedback control strategy. In particular, for an arbitrarily given equilibrium point of a Roessler system, we design explicit and simple feedback control laws by which the equilibrium point is globally and exponentially stabilized. Six typical Roessler systems are studied, and explicit formulas are derived for estimating the convergence rate of these systems. Numerical examples are presented to illustrate the theoretical results. A mistake has been found in the existing literature, and a correct result is given

Event-Triggered Output-Feedback Control for Disturbed Linear Systems

Directory of Open Access Journals (Sweden)

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.

The fast correction coil feedback control system

International Nuclear Information System (INIS)

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

1989-01-01

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

Nonclassical state generation for linear quantum systems via nonlinear feedback control

International Nuclear Information System (INIS)

Ohki, Kentaro; Tsumura, Koji; Takeuchi, Reiji

2017-01-01

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

Feedback control of edge turbulence in a tokamak

International Nuclear Information System (INIS)

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

1997-01-01

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

The Effect of Concurrent Visual Feedback on Controlling Swimming Speed

Directory of Open Access Journals (Sweden)

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.

Thermal energy storage apparatus, controllers and thermal energy storage control methods

Science.gov (United States)

Hammerstrom, Donald J.

2016-05-03

Thermal energy storage apparatus, controllers and thermal energy storage control methods are described. According to one aspect, a thermal energy storage apparatus controller includes processing circuitry configured to access first information which is indicative of surpluses and deficiencies of electrical energy upon an electrical power system at a plurality of moments in time, access second information which is indicative of temperature of a thermal energy storage medium at a plurality of moments in time, and use the first and second information to control an amount of electrical energy which is utilized by a heating element to heat the thermal energy storage medium at a plurality of moments in time.

Thermal stress mitigation by Active Thermal Control

DEFF Research Database (Denmark)

Soldati, Alessandro; Dossena, Fabrizio; Pietrini, Giorgio

2017-01-01

This work proposes an Active Thermal Control (ATC) of power switches. Leveraging on the fact that thermal stress has wide impact on the system reliability, controlling thermal transients is supposed to lengthen the lifetime of electronic conversion systems. Indeed in some environments...... results of control schemes are presented, together with evaluation of the proposed loss models. Experimental proof of the ability of the proposed control to reduce thermal swing and related stress on the device is presented, too....

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

International Nuclear Information System (INIS)

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

2010-01-01

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

Computation of point reactor dynamics equations with thermal feedback via weighted residue method

International Nuclear Information System (INIS)

Suo Changan; Liu Xiaoming

1986-01-01

Point reactor dynamics equations with six groups of delayed neutrons have been computed via weighted-residual method in which the delta function was taken as a weighting function, and the parabolic with or without exponential factor as a trial function respectively for an insertion of large or smaller reactivity. The reactivity inserted into core can be varied with time, including insertion in forms of step function, polynomials up to second power and sine function. A thermal feedback of single flow channel model was added in. The thermal equations concerned were treated by use of a backward difference technique. A WRK code has been worked out, including implementation of an automatic selection of time span based on an input of error requirement and of an automatic change between computation with large reactivity and that with smaller one. On the condition of power varied slowly and without feedback, the results are not sensitive to the selection of values of time span. At last, the comparison of relevant results has shown that the agreement is quite well

Stochastic control and real options valuation of thermal storage-enabled demand response from flexible district energy systems

International Nuclear Information System (INIS)

Kitapbayev, Yerkin; Moriarty, John; Mancarella, Pierluigi

2015-01-01

Highlights: • We calculate the real option value of flexibility from CHP-thermal storage. • Stochastic optimal feedback control problem is solved under uncertain market prices. • Efficient real-time numerical solutions combine simulation, regression and recursion. • Clear, interpretable feedback control maps are produced for each hour of the day. • We give a realistic UK case study using projected market gas and electricity prices. - Abstract: In district energy systems powered by Combined Heat and Power (CHP) plants, thermal storage can significantly increase CHP flexibility to respond to real time market signals and therefore improve the business case of such demand response schemes in a Smart Grid environment. However, main challenges remain as to what is the optimal way to control inter-temporal storage operation in the presence of uncertain market prices, and then how to value the investment into storage as flexibility enabler. In this outlook, the aim of this paper is to propose a model for optimal and dynamic control and long term valuation of CHP-thermal storage in the presence of uncertain market prices. The proposed model is formulated as a stochastic control problem and numerically solved through Least Squares Monte Carlo regression analysis, with integrated investment and operational timescale analysis equivalent to real options valuation models encountered in finance. Outputs are represented by clear and interpretable feedback control strategy maps for each hour of the day, thus suitable for real time demand response under uncertainty. Numerical applications to a realistic UK case study with projected market gas and electricity prices exemplify the proposed approach and quantify the robustness of the selected storage solutions

Non interacting control by measurement feedback

NARCIS (Netherlands)

Woude, van der J.W.

1987-01-01

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

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

Science.gov (United States)

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

2009-05-25

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

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

OpenAIRE

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

2009-01-01

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

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

Directory of Open Access Journals (Sweden)

Meisel Susanne F

2012-12-01

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

Modeling and simulation of Indus-2 RF feedback control system

International Nuclear Information System (INIS)

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)

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

Science.gov (United States)

Perkell, Joseph S

2012-09-01

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

Direct Torque Control With Feedback Linearization for Induction Motor Drives

DEFF Research Database (Denmark)

Lascu, Cristian; Jafarzadeh, Saeed; Fadali, Sami M.

2017-01-01

This paper describes a direct-torque-controlled (DTC) induction motor (IM) drive that employs feedback linearization and sliding-mode control (SMC). A new feedback linearization approach is proposed, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude....... This intuitive linear model is used to implement a DTC-type controller that preserves all DTC advantages and eliminates its main drawback, the flux and torque ripple. Robust, fast, and ripple-free control is achieved by using SMC with proportional control in the vicinity of the sliding surface. SMC assures...... in simulations. The sliding controller is compared with a linear DTC scheme with and without feedback linearization. Extensive experimental results for a sensorless IM drive validate the proposed solution....

Active Control of Thermal Convection in a Rectangular Loop by Changing its Spatial Orientation

Science.gov (United States)

Bratsun, Dmitry A.; Krasnyakov, Ivan V.; Zyuzgin, Alexey V.

2018-02-01

The problem of the automatic control of the fluid flow in a rectangular convective loop heated from below is studied theoretically and experimentally. The control is performed by using a feedback subsystem which changes the convection regimes by introducing small discrete changes in the spatial orientation of the loop with respect to gravity. We focus on effects that arise when the feedback controller operates with an unavoidable time delay, which is cause by the thermal inertia of the medium. The mathematical model of the phenomenon is developed. The dynamic regimes of the convection in the thermosyphon loop under control are studied. It is shown that the proposed control method can successfully stabilize not only a no-motion state of the fluid, but also time-dependent modes of convection including the irregular fluid flow at high values of the Rayleigh number. It is shown that the excessive gain of the proportional feedback can result in oscillations in the loop orientation exciting the unsteady convection modes. The comparison of the experimental data obtained for dielectric oil and dodecane with theory is given, and their good agreement is demonstrated.

Structural learning in feedforward and feedback control.

Science.gov (United States)

Yousif, Nada; Diedrichsen, Jörn

2012-11-01

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

Feedback Linearization Based Arc Length Control for Gas Metal Arc Welding

DEFF Research Database (Denmark)

Thomsen, Jesper Sandberg

2005-01-01

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

Force Feedback Control Method of Active Tuned Mass Damper

Directory of Open Access Journals (Sweden)

Xiuli Wang

2017-01-01

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

Feedback control of resistive wall modes in toroidal devices

International Nuclear Information System (INIS)

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

2003-01-01

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

Optimal integral force feedback for active vibration control

Science.gov (United States)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

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

Verifying detailed fluctuation relations for discrete feedback-controlled quantum dynamics

Science.gov (United States)

Camati, Patrice A.; Serra, Roberto M.

2018-04-01

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

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

Science.gov (United States)

Yong, Ma; Yongzhen, Peng; Shuying, Wang

2005-07-01

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

Self-Controlled Feedback for a Complex Motor Task

Directory of Open Access Journals (Sweden)

Wolf Peter

2011-12-01

Full Text Available Self-controlled augmented feedback enhances learning of simple motor tasks. Thereby, learners tend to request feedback after trials that were rated as good by themselves. Feedback after good trials promotes positive reinforcement, which enhances motor learning. The goal of this study was to investigate when naïve learners request terminal visual feedback in a complex motor task, as conclusions drawn on simple tasks can hardly be transferred to complex tasks. Indeed, seven of nine learners stated to have intended to request feedback predominantly after good trials, but in contrast to their intention, kinematic analysis showed that feedback was rather requested randomly (23% after good, 44% after intermediate, 33% after bad trials. Moreover, requesting feedback after good trials did not correlate with learning success. It seems that self-estimation of performance in complex tasks is challenging. As a consequence, learners might have focused on certain movement aspects rather than on the overall movement. Further studies should assess the current focus of the learner in detail to gain more insight in self-estimation capabilities during complex motor task learning.

Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

Science.gov (United States)

Juang, Jer-Nan; Eure, Kenneth W.

1998-01-01

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

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

Science.gov (United States)

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

2013-01-01

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

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

Science.gov (United States)

Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

2015-10-01

This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.

Quaternion Feedback Control for Rigid-body Spacecraft

DEFF Research Database (Denmark)

Jensen, Hans-Christian Becker; Wisniewski, Rafal

2001-01-01

This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental...

Time-delayed feedback control of coherence resonance chimeras

Science.gov (United States)

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

2017-11-01

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

Feedback control architecture and the bacterial chemotaxis network.

Directory of Open Access Journals (Sweden)

Abdullah Hamadeh

2011-05-01

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

Feedback Gating Control for Network Based on Macroscopic Fundamental Diagram

Directory of Open Access Journals (Sweden)

YangBeibei Ji

2016-01-01

Full Text Available Empirical data from Yokohama, Japan, showed that a macroscopic fundamental diagram (MFD of urban traffic provides for different network regions a unimodal low-scatter relationship between network vehicle density and network space-mean flow. This provides new tools for network congestion control. Based on MFD, this paper proposed a feedback gating control policy which can be used to mitigate network congestion by adjusting signal timings of gating intersections. The objective of the feedback gating control model is to maximize the outflow and distribute the allowed inflows properly according to external demand and capacity of each gating intersection. An example network is used to test the performance of proposed feedback gating control model. Two types of background signalization types for the intersections within the test network, fixed-time and actuated control, are considered. The results of extensive simulation validate that the proposed feedback gating control model can get a Pareto improvement since the performance of both gating intersections and the whole network can be improved significantly especially under heavy demand situations. The inflows and outflows can be improved to a higher level, and the delay and queue length at all gating intersections are decreased dramatically.

A multipoint feedback control system for scanned focussed ultrasound hyperthermia

International Nuclear Information System (INIS)

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

1987-01-01

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

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

Directory of Open Access Journals (Sweden)

Xin Gao

2014-01-01

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

Optimal feedback control of the forced van der Pol system

International Nuclear Information System (INIS)

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

2012-01-01

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

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

Science.gov (United States)

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

2009-01-01

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

COA based robust output feedback UPFC controller design

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)

2010-12-15

In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.

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

Science.gov (United States)

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

2018-01-01

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

Feedback control of superconducting quantum circuits

NARCIS (Netherlands)

Ristè, D.

2014-01-01

Superconducting circuits have recently risen to the forefront of the solid-state prototypes for quantum computing. Reaching the stage of robust quantum computing requires closing the loop between measurement and control of quantum bits (qubits). This thesis presents the realization of feedback

Nonholonomic feedback control among moving obstacles

Science.gov (United States)

Armstrong, Stephen Gregory

A feedback controller is developed for navigating a nonholonomic vehicle in an area with multiple stationary and possibly moving obstacles. Among other applications the developed algorithms can be used for automatic parking of a passenger car in a parking lot with complex configuration or a ground robot in cluttered environment. Several approaches are explored which combine nonholonomic systems control based on sliding modes and potential field methods.

Full State Feedback Control for Virtual Power Plants

Energy Technology Data Exchange (ETDEWEB)

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

2017-09-01

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

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

Science.gov (United States)

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

2009-01-01

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

Feedback Power Control Strategies inWireless Sensor Networks with Joint Channel Decoding

Directory of Open Access Journals (Sweden)

Fabio Perna

2009-11-01

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

Control of thermal therapies with moving power deposition field

International Nuclear Information System (INIS)

Arora, Dhiraj; Minor, Mark A; Skliar, Mikhail; Roemer, Robert B

2006-01-01

A thermal therapy feedback control approach to control thermal dose using a moving power deposition field is developed and evaluated using simulations. A normal tissue safety objective is incorporated in the controller design by imposing constraints on temperature elevations at selected normal tissue locations. The proposed control technique consists of two stages. The first stage uses a model-based sliding mode controller that dynamically generates an 'ideal' power deposition profile which is generally unrealizable with available heating modalities. Subsequently, in order to approximately realize this spatially distributed idealized power deposition, a constrained quadratic optimizer is implemented to compute intensities and dwell times for a set of pre-selected power deposition fields created by a scanned focused transducer. The dwell times for various power deposition profiles are dynamically generated online as opposed to the commonly employed a priori-decided heating strategies. Dynamic intensity and trajectory generation safeguards the treatment outcome against modelling uncertainties and unknown disturbances. The controller is designed to enforce simultaneous activation of multiple normal tissue temperature constraints by rapidly switching between various power deposition profiles. The hypothesis behind the controller design is that the simultaneous activation of multiple constraints substantially reduces treatment time without compromising normal tissue safety. The controller performance and robustness with respect to parameter uncertainties is evaluated using simulations. The results demonstrate that the proposed controller can successfully deliver the desired thermal dose to the target while maintaining the temperatures at the user-specified normal tissue locations at or below the maximum allowable values. Although demonstrated for the case of a scanned focused ultrasound transducer, the developed approach can be extended to other heating modalities with

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

International Nuclear Information System (INIS)

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

1991-04-01

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

A stochastic optimal feedforward and feedback control methodology for superagility

Science.gov (United States)

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

1992-01-01

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

ANCON, Space-Independent Reactor Kinetics with Linear or Nonlinear Thermal Feedback

International Nuclear Information System (INIS)

Vigil, John C.; Dugan, E.T.

1988-01-01

1 - Description of problem or function: ANCON solves the point-reactor kinetic equations including thermal feedback. Lump-type heat balance equations are used to represent the thermodynamics, and the heat capacity of each lump can vary with temperature. Thermal feedback can be either a linear or a non-linear function of lump temperature, and the impressed reactivity can be either a polynomial or sinusoidal function. 2 - Method of solution: In ANCON the system of coupled first-order differential equations is solved by a method based on continuous analytic continuation (references 2 and 3). The basic procedure consists of expanding all the dependent variables except reactivity in Taylor series, with a truncation error criterion, over successive intervals on the time axis. Variations of the basic procedure are used to increase the efficiency of the method in special situations. Automatic switching from the basic procedure to one of its variations (and vice-versa) may occur during the course of a transient. The method yields an analytic criterion for the magnitude of the time-step at any point in the transient. 3 - Restrictions on the complexity of the problem: The program is currently restricted to a maximum of six delayed neutron groups and a maximum of 56 lumps. Larger problems can be accommodated on a 65 K computer by increasing the dimensions of a few subscripted variables. Also, the code is currently restricted to a constant external transport delays, only the open-loop response of a reactor can be computed with ANCON

Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

National Research Council Canada - National Science Library

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

2006-01-01

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

Use of thermal time constant concept in the analysis of reactivity induced accidents with feedback

International Nuclear Information System (INIS)

Narain, R.

1981-01-01

A simple heat transfer model based on the thermal time constant concept which leads to significant reduction in fuel temperature computing time and gives a physical insight of the phenomena is presented. The fuel temperatures can be used to estimate the reactivity feedback using the measured or calculated Doppler coefficients. (E.G.) [pt

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

Directory of Open Access Journals (Sweden)

R.Maheswari

2008-06-01

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

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

OpenAIRE

Sagers, Jason; Blotter, Jonathan

2008-01-01

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

Persistent disturbance rejection via state feedback for networked control systems

Energy Technology Data Exchange (ETDEWEB)

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

2009-04-15

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

Persistent disturbance rejection via state feedback for networked control systems

International Nuclear Information System (INIS)

Yue Dong; Lam, James; Wang Zidong

2009-01-01

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

Practical Loop-Shaping Design of Feedback Control Systems

Science.gov (United States)

Kopasakis, George

2010-01-01

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

On spatial spillover in feedforward and feedback noise control

Science.gov (United States)

Xie, Antai; Bernstein, Dennis

2017-03-01

Active feedback noise control for rejecting broadband disturbances must contend with the Bode integral constraint, which implies that suppression over some frequency range gives rise to amplification over another range at the performance microphone. This is called spectral spillover. The present paper deals with spatial spillover, which refers to the amplification of noise at locations where no microphone is located. A spatial spillover function is defined, which is valid for both feedforward and feedback control with scalar and vector control inputs. This function is numerically analyzed and measured experimentally. Obstructions are introduced in the acoustic space to investigate their effect on spatial spillover.

Laser cooling in a feedback-controlled optical shaker

International Nuclear Information System (INIS)

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

2006-01-01

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

STAR FORMATION IN DISK GALAXIES. III. DOES STELLAR FEEDBACK RESULT IN CLOUD DEATH?

Energy Technology Data Exchange (ETDEWEB)

Tasker, Elizabeth J.; Wadsley, James; Pudritz, Ralph [Department of Physics and Astronomy, McMaster University, 1280 Main Street West, Hamilton, Ontario L8S 4M1 (Canada)

2015-03-01

Stellar feedback, star formation, and gravitational interactions are major controlling forces in the evolution of giant molecular clouds (GMCs). To explore their relative roles, we examine the properties and evolution of GMCs forming in an isolated galactic disk simulation that includes both localized thermal feedback and photoelectric heating. The results are compared with the three previous simulations in this series, which consists of a model with no star formation, star formation but no form of feedback, and star formation with photoelectric heating in a set with steadily increasing physical effects. We find that the addition of localized thermal feedback greatly suppresses star formation but does not destroy the surrounding GMC, giving cloud properties closely resembling the run in which no stellar physics is included. The outflows from the feedback reduce the mass of the cloud but do not destroy it, allowing the cloud to survive its stellar children. This suggests that weak thermal feedback such as the lower bound expected for a supernova may play a relatively minor role in the galactic structure of quiescent Milky-Way-type galaxies, compared to gravitational interactions and disk shear.

STAR FORMATION IN DISK GALAXIES. III. DOES STELLAR FEEDBACK RESULT IN CLOUD DEATH?

International Nuclear Information System (INIS)

Tasker, Elizabeth J.; Wadsley, James; Pudritz, Ralph

2015-01-01

Stellar feedback, star formation, and gravitational interactions are major controlling forces in the evolution of giant molecular clouds (GMCs). To explore their relative roles, we examine the properties and evolution of GMCs forming in an isolated galactic disk simulation that includes both localized thermal feedback and photoelectric heating. The results are compared with the three previous simulations in this series, which consists of a model with no star formation, star formation but no form of feedback, and star formation with photoelectric heating in a set with steadily increasing physical effects. We find that the addition of localized thermal feedback greatly suppresses star formation but does not destroy the surrounding GMC, giving cloud properties closely resembling the run in which no stellar physics is included. The outflows from the feedback reduce the mass of the cloud but do not destroy it, allowing the cloud to survive its stellar children. This suggests that weak thermal feedback such as the lower bound expected for a supernova may play a relatively minor role in the galactic structure of quiescent Milky-Way-type galaxies, compared to gravitational interactions and disk shear

Velocity feedback control with a flywheel proof mass actuator

Science.gov (United States)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.

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

International Nuclear Information System (INIS)

Zhang Jing; Xu Daolin; Zhou Jiaxi; Li Yingli

2012-01-01

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

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

International Nuclear Information System (INIS)

Combes, Joshua; Wiseman, Howard M

2011-01-01

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

Investigation of a delayed feedback controller of MEMS resonators

KAUST Repository

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

2013-01-01

Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller

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

Science.gov (United States)

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

2010-12-01

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

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

Science.gov (United States)

Asai, Tomohisa

2015-12-15

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

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

Science.gov (United States)

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

2011-01-01

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

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

DEFF Research Database (Denmark)

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

2014-01-01

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

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

International Nuclear Information System (INIS)

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

2004-01-01

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

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

International Nuclear Information System (INIS)

Chen Shihua; Wang Feng; Wang Changping

2004-01-01

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

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

International Nuclear Information System (INIS)

Hu Huaichuan; Shan Jiafang

2009-01-01

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

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

Directory of Open Access Journals (Sweden)

John A Cunningham

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

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

OpenAIRE

Alessio Serafini

2012-01-01

We present a broad summary of research involving the application of quantum feedback control techniques to optical set-ups, from the early enhancement of optical amplitude squeezing to the recent stabilisation of photon number states in a microwave cavity, dwelling mostly on the latest experimental advances. Feedback control of quantum optical continuous variables, quantum non-demolition memories, feedback cooling, quantum state control, adaptive quantum measurements and coherent feedback str...

Time-delayed feedback control of diffusion in random walkers

Science.gov (United States)

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

2017-07-01

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

Event-triggered output feedback control for distributed networked systems.

Science.gov (United States)

Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa

2016-01-01

This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback-Controlled LED Photobioreactor for Photophysiological Studies of Cyanobacteria

Energy Technology Data Exchange (ETDEWEB)

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

2013-04-09

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

Kinematic feedback control laws for generating natural arm movements

International Nuclear Information System (INIS)

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

2014-01-01

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

Direct torque control with feedback linearization for induction motor drives

DEFF Research Database (Denmark)

Lascu, Cristian; Jafarzadeh, Saeed; Fadali, Sami M.

2015-01-01

This paper describes a Direct Torque Controlled (DTC) Induction Machine (IM) drive that employs feedback linearization and sliding-mode control. A feedback linearization approach is investigated, which yields a decoupled linear IM model with two state variables: torque and stator flux magnitude....... This intuitive linear model is used to implement a DTC type controller that preserves all DTC advantages and eliminates its main drawback, the flux and torque ripple. Robust, fast, and ripple-free control is achieved by using Variable Structure Control (VSC) with proportional control in the vicinity...... robust stability analysis are presented. The sliding controller is compared with a linear DTC scheme, and experimental results for a sensorless IM drive validate the proposed solution....

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

International Nuclear Information System (INIS)

Souza de Paula, Aline; Savi, Marcelo Amorim

2009-01-01

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

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

Science.gov (United States)

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

2012-01-01

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

Real-time feedback for spatiotemporal field stabilization in MR systems.

Science.gov (United States)

Duerst, Yolanda; Wilm, Bertram J; Dietrich, Benjamin E; Vannesjo, S Johanna; Barmet, Christoph; Schmid, Thomas; Brunner, David O; Pruessmann, Klaas P

2015-02-01

MR imaging and spectroscopy require a highly stable, uniform background field. The field stability is typically limited by hardware imperfections, external perturbations, or field fluctuations of physiological origin. The purpose of the present work is to address these issues by introducing spatiotemporal field stabilization based on real-time sensing and feedback control. An array of NMR field probes is used to sense the field evolution in a whole-body MR system concurrently with regular system operation. The field observations serve as inputs to a proportional-integral controller that governs correction currents in gradient and higher-order shim coils such as to keep the field stable in a volume of interest. The feedback system was successfully set up, currently reaching a minimum latency of 20 ms. Its utility is first demonstrated by countering thermal field drift during an EPI protocol. It is then used to address respiratory field fluctuations in a T2 *-weighted brain exam, resulting in substantially improved image quality. Feedback field control is an effective means of eliminating dynamic field distortions in MR systems. Third-order spatial control at an update time of 100 ms has proven sufficient to largely eliminate thermal and breathing effects in brain imaging at 7 Tesla. © 2014 Wiley Periodicals, Inc.

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

Science.gov (United States)

Reddy, Rajiv M; Panahi, Issa M S

2008-01-01

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

Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

Science.gov (United States)

Pan, Yongping; Yu, Haoyong

2017-06-01

This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

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

Directory of Open Access Journals (Sweden)

Sang-Hoon Yeo

2016-12-01

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

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

Science.gov (United States)

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

2016-12-01

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

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

DEFF Research Database (Denmark)

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

1996-01-01

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

Advanced feedback control methods in EXTRAP T2R reversed field pinch

International Nuclear Information System (INIS)

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

2006-01-01

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

Advanced feedback control methods in EXTRAP T2R reversed field pinch

Science.gov (United States)

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

2006-07-01

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

Thermal modeling and temperature control of a PEM fuel cell system for forklift applications

DEFF Research Database (Denmark)

Liso, Vincenzo; Nielsen, Mads Pagh; Kær, Søren Knudsen

2014-01-01

Temperature changes in PEM fuel cell stacks are considerably higher during load variations and have a negative impact as they generate thermal stresses and stack degradation. Cell hydration is also of vital importance in fuel cells and it is strongly dependent on operating temperature....... A combination of high temperature and reduced humidity increases the degradation rate. Stack thermal management and control are, thus, crucial issues in PEM fuel cell systems especially in automotive applications such as forklifts. In this paper we present a control–oriented dynamic model of a liquid–cooled PEM...... fuel cell system for studying temperature variations over fast load changes. A temperature dependent cell polarization and hydration model integrated with the compressor, humidifier and cooling system are simulated in dynamic condition. A feedback PID control was implemented for stack cooling...

Sensory feedback in artificial control of human mobility

NARCIS (Netherlands)

Veltink, Petrus H.

1999-01-01

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

Productivity feedback did not terminate the Paleocene-Eocene Thermal Maximum (PETM

Directory of Open Access Journals (Sweden)

A. Torfstein

2010-04-01

Full Text Available The Paleocene-Eocene Thermal Maximum (PETM occurred approximately 55 million years ago, and is one of the most dramatic abrupt global warming events in the geological record. This warming was triggered by the sudden release of thousands of gigatons of carbon into the atmosphere and is widely perceived to be the best analogue for current anthropogenic climate change. Yet, the mechanism of recovery from this event remains controversial. A massive increase in the intensity of the marine biological pump ("productivity feedback" has been suggested to cause a drawdown of atmospheric CO₂ and subsequent carbon sequestration in the ocean. A re-evaluation of the "productivity feedback hypothesis", based on biogenic barium mass accumulation rates (Ba-MARs for a site in the Southern Ocean, finds that any increase in export production lagged the initial carbon release by at least ~70 000 years. This implies that export production did not facilitate rapid removal of excess carbon from the atmosphere. Thus, the most likely mechanism for carbon removal appears to be silicate weathering, which occurred at much slower rates than previously assumed.

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

International Nuclear Information System (INIS)

Li, Chenguang; Liu, Wandong; Li, Hong

2014-01-01

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

Direct torque control via feedback linearization for permanent magnet synchronous motor drives

DEFF Research Database (Denmark)

Lascu, Cristian; Boldea, Ion; Blaabjerg, Frede

2012-01-01

The paper describes a direct torque controlled (DTC) permanent magnet synchronous motor (PMSM) drive that employs feedback linearization and uses sliding-mode and linear controllers. We introduce a new feedback linearization approach that yields a decoupled linear PMSM model with two state...

Quantized Passive Dynamic Output Feedback Control with Actuator Failure

Directory of Open Access Journals (Sweden)

Zu-Xin Li

2016-01-01

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

Neural Feedback Scheduling of Real-Time Control Tasks

OpenAIRE

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

2008-01-01

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

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

Directory of Open Access Journals (Sweden)

Jeffrey T. Fairbrother

2012-08-01

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

Orbit stability and feedback control in synchrotron radiation rings

International Nuclear Information System (INIS)

Yu, L.H.

1989-01-01

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

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

Directory of Open Access Journals (Sweden)

Suzete Chiviacowsky

2012-06-01

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

Feedback control of chlorine inductively coupled plasma etch processing

International Nuclear Information System (INIS)

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

2005-01-01

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

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

International Nuclear Information System (INIS)

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

2006-01-01

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

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

International Nuclear Information System (INIS)

Wang Jin

2009-01-01

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-09-01

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

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

Science.gov (United States)

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

2013-01-01

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

Sensitivity to plant modelling uncertainties in optimal feedback control of sound radiation from a panel

DEFF Research Database (Denmark)

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 effect of human physical and psychological adaption on time period of thermal adaption in naturally ventilated building

DEFF Research Database (Denmark)

liu, weiwei; Huangfu, Hao; Xiong, Jing

2014-01-01

This study proposed a method to determine time period of thermal adaption for occupants in naturally ventilated building, and analyzed the synergistic and separate feedback effect of the physical and psychological adaption modes on the time period of thermal adaption. Using the method, the values...... of the time period of thermal adaption were obtained on the basis of the data from a long-term field survey conducted in two typical naturally ventilated offices located in Changsha, China. The results showed that the occupants need to take 4.25 days to fully adapt to a step-change in outdoor air temperature...

A Feed-forward Geometrical Compensation and Adaptive Feedback Control Algorithm for Hydraulic Robot Manipulators

DEFF Research Database (Denmark)

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....

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

Science.gov (United States)

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.

Theory of feedback controlled brain stimulations for Parkinson's disease

Science.gov (United States)

Sanzeni, A.; Celani, A.; Tiana, G.; Vergassola, M.

2016-01-01

Limb tremor and other debilitating symptoms caused by the neurodegenerative Parkinson's disease are currently treated by administering drugs and by fixed-frequency deep brain stimulation. The latter interferes directly with the brain dynamics by delivering electrical impulses to neurons in the subthalamic nucleus. While deep brain stimulation has shown therapeutic benefits in many instances, its mechanism is still unclear. Since its understanding could lead to improved protocols of stimulation and feedback control, we have studied a mathematical model of the many-body neural network dynamics controlling the dynamics of the basal ganglia. On the basis of the results obtained from the model, we propose a new procedure of active stimulation, that depends on the feedback of the network and that respects the constraints imposed by existing technology. We show by numerical simulations that the new protocol outperforms the standard ones for deep brain stimulation and we suggest future experiments that could further improve the feedback procedure.

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

Science.gov (United States)

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

2017-07-01

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

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

International Nuclear Information System (INIS)

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

1994-01-01

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

A combined stochastic feedforward and feedback control design methodology with application to autoland design

Science.gov (United States)

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.

Feedback Control Design for a Walking Athlete Robot

Directory of Open Access Journals (Sweden)

Xuan Vu Trien Nguyen

2017-06-01

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

State-feedback control of fuzzy discrete-event systems.

Science.gov (United States)

Lin, Feng; Ying, Hao

2010-06-01

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

Optimal control in thermal engineering

CERN Document Server

Badescu, Viorel

2017-01-01

This book is the first major work covering applications in thermal engineering and offering a comprehensive introduction to optimal control theory, which has applications in mechanical engineering, particularly aircraft and missile trajectory optimization. The book is organized in three parts: The first part includes a brief presentation of function optimization and variational calculus, while the second part presents a summary of the optimal control theory. Lastly, the third part describes several applications of optimal control theory in solving various thermal engineering problems. These applications are grouped in four sections: heat transfer and thermal energy storage, solar thermal engineering, heat engines and lubrication.Clearly presented and easy-to-use, it is a valuable resource for thermal engineers and thermal-system designers as well as postgraduate students.

Feedback Linearized Aircraft Control Using Dynamic Cell Structure

Science.gov (United States)

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.

Improvement of density control by feedback on Langmuir probe signals in Tore Supra

International Nuclear Information System (INIS)

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)

Thermal-hydraulic feedback model to calculate the neutronic cross-section in PWR reactions; Modelo termohidraulico para realimentacao do calculo de secoes de choque neutronicas em reatores PWR

Energy Technology Data Exchange (ETDEWEB)

Santiago, Daniela Maiolino Norberto

2011-07-01

In neutronic codes,it is important to have a thermal-hydraulic feedback module. This module calculates the thermal-hydraulic feedback of the fuel, that feeds the neutronic cross sections. In the neutronic co de developed at PEN / COPPE / UFRJ, the fuel temperature is obtained through an empirical model. This work presents a physical model to calculate this temperature. We used the finite volume technique of discretized the equation of temperature distribution, while calculation the moderator coefficient of heat transfer, was carried out using the ASME table, and using some of their routines to our program. The model allows one to calculate an average radial temperature per node, since the thermal-hydraulic feedback must follow the conditions imposed by the neutronic code. The results were compared with to the empirical model. Our results show that for the fuel elements near periphery, the empirical model overestimates the temperature in the fuel, as compared to our model, which may indicate that the physical model is more appropriate to calculate the thermal-hydraulic feedback temperatures. The proposed model was validated by the neutronic simulator developed in the PEN / COPPE / UFRJ for analysis of PWR reactors. (author)

Experience feedback of computerized controlled nuclear power plants

International Nuclear Information System (INIS)

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.)

BRIEF COMMUNICATIONS: Strong reflection of a series of pulses from a four-wave mirror with thermal nonlinearity under parametric feedback conditions

Science.gov (United States)

Barashkov, M. S.; Bel'dyugin, Igor'M.; Zolotarev, M. V.; Kruzhilin, Yu I.; Krymskiĭ, M. I.; Oshkin, S. P.; Starkov, G. S.; Umnov, A. F.; Kharchenko, M. A.

1989-04-01

A four-wave mirror exhibiting a thermal nonlinearity was used in a study of the interaction of concurrent waves under parametric feedback conditions in the presence of a nonreciprocal element. Strong reflection of a series of pulses of ~ 300 ns duration from a neodymium glass laser was demonstrated: the maximum reflection coefficient was in excess of 30. An analysis was made of the quality of the radiation reflected from this four-mirror parametric feedback system. A considerable reduction was observed in the steady-state threshold for the operation of this mirror with a thermal nonlinearity when the angles of convergence of the interacting beams were small compared with the case of head-on collision of the waves.

Fast digital feedback control systems for accelerator RF system using FPGA

International Nuclear Information System (INIS)

Bagduwal, Pritam Singh; Sharma, Dheeraj; Tiwari, Nitesh; Lad, M.; Hannurkar, P.R.

2012-01-01

Feedback control system plays important role for proper injection and acceleration of beam in particle accelerators by providing the required amplitude and phase stability of RF fields in accelerating structures. Advancement in the field of digital technology enables us to develop fast digital feedback control system for RF applications. Digital Low Level RF (LLRF) system offers the inherent advantages of Digital System like flexibility, adaptability, good repeatability and reduced long time drift errors compared to analog system. To implement the feedback control algorithm, I/Q control scheme is used. By properly sampling the down converted IF signal using fast ADC we get accurate feedback signal and also eliminates the need of two separate detectors for amplitude and phase detection. Controller is implemented in Vertex-4 FPGA. Codes for control algorithms which controls the amplitude and phase in all four quadrants with good accuracy are written in the VHDL. I/Q modulator works as common actuator for both amplitude and phase correction. Synchronization between RF, LO and ADC clock is indispensable and has been achieved by deriving the clock and LO signal from RF signal itself. Control system has been successfully tested in lab with phase and amplitude stability better then ±1% and ±1° respectively. High frequency RF signal is down converted to IF using the super heterodyne technique. Super heterodyne principal not only brings the RF signal to the Low IF frequency at which it can be easily processed but also enables us to use the same hardware and software for other RF frequencies with some minor modification. (author)

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

International Nuclear Information System (INIS)

Jiang, Jian-ping; Li, Dong-xu

2010-01-01

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

Output feedback control of a quadrotor UAV using neural networks.

Science.gov (United States)

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.

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

Science.gov (United States)

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

2009-05-01

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

Why self-controlled feedback enhances motor learning: Answers from electroencephalography and indices of motivation.

Science.gov (United States)

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.

Masked and unmasked error-related potentials during continuous control and feedback

Science.gov (United States)

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

Control performances of a piezoactuator direct drive valve system at high temperatures with thermal insulation

Science.gov (United States)

Han, Yung-Min; Han, Chulhee; Kim, Wan Ho; Seong, Ho Yong; Choi, Seung-Bok

2016-09-01

This technical note presents control performances of a piezoactuator direct drive valve (PDDV) operated at high temperature environment. After briefly discussing operating principle and mechanical dimensions of the proposed PDDV, an appropriate size of the PDDV is manufactured. As a first step, the temperature effect on the valve performance is experimentally investigated by measuring the spool displacement at various temperatures. Subsequently, the PDDV is thermally insulated using aerogel and installed in a large-size heat chamber in which the pneumatic-hydraulic cylinders and sensors are equipped. A proportional-integral-derivative feedback controller is then designed and implemented to control the spool displacement of the valve system. In this work, the spool displacement is chosen as a control variable since it is directly related to the flow rate of the valve system. Three different sinusoidal displacements with different frequencies of 1, 10 and 50 Hz are used as reference spool displacement and tracking controls are undertaken up to 150 °C. It is shown that the proposed PDDV with the thermal insulation can provide favorable control responses without significant tracking errors at high temperatures.

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

Science.gov (United States)

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

2008-03-01

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

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

Science.gov (United States)

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

2018-02-01

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

Ion anomalous transport and feedback control. Final technical report, September 1, 1987 - August 31, 1997

International Nuclear Information System (INIS)

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

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

Directory of Open Access Journals (Sweden)

Shuiqing Yu

2013-01-01

Full Text Available This paper investigates the dynamic output feedback control for nonlinear networked control systems with both random packet dropout and random delay. Random packet dropout and random delay are modeled as two independent random variables. An observer-based dynamic output feedback controller is designed based upon the Lyapunov theory. The quantitative relationship of the dropout rate, transition probability matrix, and nonlinear level is derived by solving a set of linear matrix inequalities. Finally, an example is presented to illustrate the effectiveness of the proposed method.

Control oriented system analysis and feedback control of a numerical sawtooth instability model

NARCIS (Netherlands)

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

Synchronization control of cross-strict feedback hyperchaotic system based on cross active backstepping design

International Nuclear Information System (INIS)

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

CARMEN-SYSTEM, Programs System for Thermal Neutron Diffusion and Burnup with Feedback

International Nuclear Information System (INIS)

Ahnert, Carol; Aragones, Jose M.

1983-01-01

1 - Description of problem or function: CARMEN is a system of programs developed for the neutronic calculation of PWR cycles. It includes the whole chain of analysis from cell calculations to core calculations with burnup. The core calculations are based on diffusion theory with cross sections depending on the relevant space-dependent feedback effects which are present at each moment along the cycles. The diffusion calculations are in one, two or three dimensions and in two energy groups. The feedback effects which are treated locally are: burnup, water density, power density and fission products. In order to study in detail these parameters the core should be divided into as many zones as different cross section sets are expected to be required in order to reproduce reality correctly. A relevant difference in any feedback parameter between zones produces different cross section sets for the corresponding zones. CARMEN is also capable to perform the following calculations: - Multiplication factor by burnup step with fixed boron concentration - Buckling and control rod insertion - Buckling search by burnup step - Boron search by burnup step - Control rod insertion search by burnup step. 2 - Method of solution: The cell code (LEOPARD-TRACA) generates the fuel assembly cross sections versus burnup. This is the basic library to be used in the CARMEN code proper. With a planar distribution guess for power density, water density and fluxes, the macroscopic cross sections by zone are calculated by CARMEN, and then a diffusion calculation is done in the whole geometry. With the distribution of power density, heat accumulated in the coolant and the thermal and fast fluxes determined in the diffusion calculation, CARMEN calculates the values of the most relevant parameters that influence the macroscopic cross sections by zone: burnup, water density, effective fuel temperature and fission product concentrations. If these parameters by zone are different from the reference

Auditory reafferences: The influence of real-time feedback on movement control

Directory of Open Access Journals (Sweden)

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.

Science.gov (United States)

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.

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

Science.gov (United States)

Mizumoto, Ikuro; Tsunematsu, Junpei; Fujii, Seiya

2016-09-01

In this paper, a design method of an output feedback control system with a simple feedforward input for a combustion model of diesel engine will be proposed based on the almost strictly positive real-ness (ASPR-ness) of the controlled system for a combustion control of diesel engines. A parallel feedforward compensator (PFC) design scheme which renders the resulting augmented controlled system ASPR will also be proposed in order to design a stable output feedback control system for the considered combustion model. The effectiveness of our proposed method will be confirmed through numerical simulations.

Spacecraft Design Thermal Control Subsystem

Science.gov (United States)

Miyake, Robert N.

2008-01-01

The Thermal Control Subsystem engineers task is to maintain the temperature of all spacecraft components, subsystems, and the total flight system within specified limits for all flight modes from launch to end-of-mission. In some cases, specific stability and gradient temperature limits will be imposed on flight system elements. The Thermal Control Subsystem of "normal" flight systems, the mass, power, control, and sensing systems mass and power requirements are below 10% of the total flight system resources. In general the thermal control subsystem engineer is involved in all other flight subsystem designs.

\\mathscr{H}_2 optimal control techniques for resistive wall mode feedback in tokamaks

Science.gov (United States)

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.

A quantum Szilard engine without heat from a thermal reservoir

Science.gov (United States)

Hamed Mohammady, M.; Anders, Janet

2017-11-01

We study a quantum Szilard engine that is not powered by heat drawn from a thermal reservoir, but rather by projective measurements. The engine is constituted of a system { S }, a weight { W }, and a Maxwell demon { D }, and extracts work via measurement-assisted feedback control. By imposing natural constraints on the measurement and feedback processes, such as energy conservation and leaving the memory of the demon intact, we show that while the engine can function without heat from a thermal reservoir, it must give up at least one of the following features that are satisfied by a standard Szilard engine: (i) repeatability of measurements; (ii) invariant weight entropy; or (iii) positive work extraction for all measurement outcomes. This result is shown to be a consequence of the Wigner-Araki-Yanase theorem, which imposes restrictions on the observables that can be measured under additive conservation laws. This observation is a first-step towards developing ‘second-law-like’ relations for measurement-assisted feedback control beyond thermality.

Self-controlled video feedback on tactical skills for soccer teams results in more active involvement of players.

Science.gov (United States)

van Maarseveen, Mariëtte J J; Oudejans, Raôul R D; Savelsbergh, Geert J P

2018-02-01

Many studies have shown that self-controlled feedback is beneficial for learning motor tasks, and that learners prefer to receive feedback after supposedly good trials. However, to date all studies conducted on self-controlled learning have used individual tasks and mainly relatively simple skills. Therefore, the aim of this study was to examine self-controlled feedback on tactical skills in small-sided soccer games. Highly talented youth soccer players were assigned to a self-control or yoked group and received video feedback on their offensive performance in 3 vs. 2 small-sided games. The results showed that the self-control group requested feedback mostly after good trials, that is, after they scored a goal. In addition, the perceived performance of the self-control group was higher on feedback than on no-feedback trials. Analyses of the conversations around the video feedback revealed that the players and coach discussed good and poor elements of performance and how to improve it. Although the coach had a major role in these conversations, the players of the self-control group spoke more and showed more initiative compared to the yoked group. The results revealed no significant beneficial effect of self-controlled feedback on performance as judged by the coach. Overall, the findings suggest that in such a complex situation as small-sided soccer games, self-controlled feedback is used both to confirm correct performance elements and to determine and correct errors, and that self-controlled learning stimulates the involvement of the learner in the learning process. Copyright © 2017 Elsevier B.V. All rights reserved.

Nonlinear feedback control of chaotic pendulum in presence of saturation effect

Energy Technology Data Exchange (ETDEWEB)

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.

Thermal equilibrium, stability and burn control

International Nuclear Information System (INIS)

Cohn, D.

1982-01-01

A number of aspects of the thermal stability and equilibrium control of ignited tokamak plasma have been investigated. Examined approaches were passive control (the effect of radial motion, the effect of radial motion and small additional transport loss), active control (the compression and decompression of plasma, subignited operation with small amount of variable external heating, and density control), and thermal equilibrium control (additional power loss from impurity radiation and enhanced transport from increased ripple). One-D calculation has been made on thermal instability eigen-modes. It was found that for electron thermal induction loss given by Alcator scaling and for neoclassical ion transport, there was at most one unstable mode with a temperature profile which maintains the temperature profile at thermal equilibrium. The effect of the coupling of temperature fluctuation and the fluctuation in major radius was investigated. Temperature driven radial motion combined with a small amount of ripple transport loss was found to be a very effective mechanism for passive thermal stability control. (Kato, T.)

Feedback Linearization Control of a Shunt Active Power Filter Using a Fuzzy Controller

Directory of Open Access Journals (Sweden)

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.

Design and evaluation of a flow-to-frequency converter circuit with thermal feedback

International Nuclear Information System (INIS)

Pawlowski, Eligiusz

2017-01-01

A novel thermal flow sensor with a frequency output is presented. The sensor provides a pulse-train output whose frequency is related to the fluid flow rate around a self-heating thermistor. The integrating properties of the temperature sensor have been used, which allowed for realization of the pulse frequency modulator with a thermal feedback loop, stabilizing the temperature of the sensor placed in the flowing medium. The system assures a balance of the amount of heat supplied in the impulses to the sensor and the heat given up by the sensor in a continuous way to the flowing medium. Therefore the frequency of output pulse-train is proportional to the medium flow velocity around the sensor. The special feature of the presented solution is the total integration of the thermal sensor with the measurement signal conditioning system. i.e. the sensor and conditioning system are not separate elements of the measurement circuit, but constitute a whole in the form of a thermal heat-balance mode flow-to-frequency converter. The frequency signal from the converter may be directly connected to the microprocessor digital input, which with use of the standard built-in counters may convert the frequency into a numerical value of high precision. The sensor has been experimentally characterized as a function of the average flow velocity of air at room temperature. (paper)

Feedback control of vertical instability in TNS

International Nuclear Information System (INIS)

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

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

International Nuclear Information System (INIS)

Chen, W.-C.

2008-01-01

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

Eliminating oscillations in the Internet by time-delayed feedback control

International Nuclear Information System (INIS)

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

Eliminating oscillations in the Internet by time-delayed feedback control

Energy Technology Data Exchange (ETDEWEB)

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.

Closed loop kinesthetic feedback for postural control rehabilitation.

Science.gov (United States)

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.

The role played by thermal feedback in heated Farley-Buneman waves at high latitudes

Directory of Open Access Journals (Sweden)

J.-P. St.-Maurice

2000-05-01

Full Text Available It is becoming increasingly clear that electron thermal effects have to be taken into account when dealing with the theory of ionospheric instabilities in the high-latitude ionosphere. Unfortunately, the mathematical complexity often hides the physical processes at work. We follow the limiting cases of a complex but systematic generalized fluid approach to get to the heart of the thermal processes that affect the stability of E region waves during electron heating events. We try to show as simply as possible under what conditions thermal effects contribute to the destabilization of strongly field-aligned (zero aspect angle Farley-Buneman modes. We show that destabilization can arise from a combination of (1 a reduction in pressure gradients associated with temperature fluctuations that are out of phase with density fluctuations, and (2 thermal diffusion, which takes the electrons from regions of enhanced temperatures to regions of negative temperature fluctuations, and therefore enhanced densities. However, we also show that, contrary to what has been suggested in the past, for modes excited along the E0×B direction thermal feedback decreases the growth rate and raises the threshold speed of the Farley-Buneman instability. The increase in threshold speed appears to be important enough to explain the generation of `Type IV' waves in the high-latitude ionosphere.Key words: Ionosphere (auroral ionosphere; iono- spheric irregularities; plasma waves and instabilities

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

Science.gov (United States)

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.

Investigation of a delayed feedback controller of MEMS resonators

KAUST Repository

Masri, Karim M.

2013-08-04

Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller on stabilizing MEMS resonators. A delayed feedback velocity controller is implemented through modifying the parallel plate electrostatic force used to excite the resonator into motion. A nonlinear single degree of freedom model is used to simulate the resonator response. Long time integration is used first. Then, a finite deference technique to capture periodic motion combined with the Floquet theory is used to capture the stable and unstable periodic responses. We show that applying a suitable positive gain can stabilize the MEMS resonator near or inside the instability dynamic pull in band. We also study the stability of the resonator by tracking its basins of attraction while sweeping the controller gain and the frequency of excitations. For positive delayed gains, we notice significant enhancement in the safe area of the basins of attraction. Copyright © 2013 by ASME.

Design of H2/H∞ RMPC for Boiler Superheated Steam Temperature Based on Memoryless Feedback Multistep Strategy

Directory of Open Access Journals (Sweden)

Pu Han

2017-01-01

Full Text Available The collection of superheated steam temperature models of a thermal power plant under different loads can be approximated to “multimodel” linear uncertain systems. After transformation, the tracking system was obtained from “multimodel” linear uncertain systems. For this tracking uncertain system, a mixed H2/H∞ robust model predictive control (HRMPC based on a memoryless feedback multistep strategy is proposed. A multistep control strategy combines the advantages of predictive control rolling optimization with memoryless feedback control thoughts. It could effectively decrease the controller optimization parameter and ensure closed-loop system stability, and, at the same time, it also achieved acceptable control performance. Successful application to the superheated steam temperature system of a 300 MW thermal power plant verified the study of the HRMPC-P cascade controller design scheme in terms of feasibility and effectiveness.

Improved Position Sensor for Feedback Control of Levitation

Science.gov (United States)

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.

Asymmetric positive feedback loops reliably control biological responses.

Science.gov (United States)

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.

Synchronization of cellular neural networks of neutral type via dynamic feedback controller

International Nuclear Information System (INIS)

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.

Humans can integrate feedback of discrete events in their sensorimotor control of a robotic hand.

Science.gov (United States)

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.

The effective reflection of a pulse sequence from a four-wave mirror with thermal nonlinearity under parametric feedback

Science.gov (United States)

Barashkov, M. S.; Bel'Diugin, I. M.; Zolotarev, M. V.; Kruzhilin, Iu. I.; Krymskii, M. I.

1989-04-01

A four-wave mirror with thermal nonlinearity has been experimentally realized with the interaction of corunning waves under parametric feedback with a nonreciprocal element. The effective reflection of a sequence of pulses with duration of about 300 ns from a neodymium-glass laser with maximal reflection coefficients greater than 30 has been demonstrated. The quality of the radiation reflected from the mirror is studied. A significant reduction in the steady-state lasing threshold has been shown with thermal nonlinearity at small angles of the interacting beam convergence, compared to the case of counterrunning convergence.

Stability and Bifurcation in Magnetic Flux Feedback Maglev Control System

Directory of Open Access Journals (Sweden)

Wen-Qing Zhang

2013-01-01

Full Text Available Nonlinear properties of magnetic flux feedback control system have been investigated mainly in this paper. We analyzed the influence of magnetic flux feedback control system on control property by time delay and interfering signal of acceleration. First of all, we have established maglev nonlinear model based on magnetic flux feedback and then discussed hopf bifurcation’s condition caused by the acceleration’s time delay. The critical value of delayed time is obtained. It is proved that the period solution exists in maglev control system and the stable condition has been got. We obtained the characteristic values by employing center manifold reduction theory and normal form method, which represent separately the direction of hopf bifurcation, the stability of the period solution, and the period of the period motion. Subsequently, we discussed the influence maglev system on stability of by acceleration’s interfering signal and obtained the stable domain of interfering signal. Some experiments have been done on CMS04 maglev vehicle of National University of Defense Technology (NUDT in Tangshan city. The results of experiments demonstrate that viewpoints of this paper are correct and scientific. When time lag reaches the critical value, maglev system will produce a supercritical hopf bifurcation which may cause unstable period motion.

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

Science.gov (United States)

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.

Feedback Control of a Class of Nonholonomic Hamiltonian Systems

DEFF Research Database (Denmark)

Sørensen, Mathias Jesper

Feedback control of nonholonomic systems has always been problematic due to the nonholonomic constraints that limit the space of possible system velocities. This property is very basic, and Brockett proved that a nonholonomic system cannot be asymptotically stabilized by a time-invariant smooth...... turns out to be useful when stabilizing the nonholonomic system. If the system is properly actuated it is possible to asymptotically stabilize the primary part of the configuration coordinates via a passive energy shaping and damping injecting feedback. The feedback is smooth and time......-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...

Feedback Control of a Solid-State Qubit Using High-Fidelity Projective Measurement

NARCIS (Netherlands)

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

Bifurcation Regulations Governed by Delay Self-Control Feedback in a Stochastic Birhythmic System

Science.gov (United States)

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.

A high precision dual feedback discrete control system designed for satellite trajectory simulator

Science.gov (United States)

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.

JT-60 configuration parameters for feedback control determined by regression analysis

Energy Technology Data Exchange (ETDEWEB)

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

International Nuclear Information System (INIS)

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)

An overview of neural function and feedback control in human communication.

Science.gov (United States)

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.

Controlling chaos in RCL-shunted Josephson junction by delayed linear feedback

International Nuclear Information System (INIS)

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

MATLAB simulation for an experimental setup of digital feedback control

International Nuclear Information System (INIS)

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)

Disturbance attenuation of nonlinear control systems using an observer-based fuzzy feedback linearization control

International Nuclear Information System (INIS)

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

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

NARCIS (Netherlands)

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

2017-01-01

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

Real-time control systems: feedback, scheduling and robustness

Science.gov (United States)

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.

Feedback control for magnetic island suppression in tokamaks

NARCIS (Netherlands)

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

Constrained state-feedback control of an externally excited synchronous machine

NARCIS (Netherlands)

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.

The GDQ Method of Thermal Vibration Laminated Shell with Actuating Magnetostrictive Layers

Directory of Open Access Journals (Sweden)

C.C. Hong

2017-06-01

Full Text Available The research of laminated magnetostrictive shell under thermal vibration was computed by using the generalized differential quadrature (GDQ method. In the thermoelastic stress-strain equations that contain the terms linear temperature rise and the magnetostrictive material with velocity feedback control. The dynamic equilibrium differential equations with displacements were normalized and discretized into the dynamic discretized equations by the GDQ method. Two edges of laminated shell with clamped boundary conditions were considered. The values of interlaminar thermal stresses and center displacement of shell with and without velocity feedback control were calculated, respectively. The purpose of this research is to compute the time responses of displacement and stresses in the laminated magnetostrictive shell subjected to thermal vibration with suitable controlled gain values. The numerical GDQ results of displacement and stresses are also obtained and investigated. With velocity feedback and suitable control gain values are found to reduce the amplitude of displacement and stresses into a smaller value. The higher values of temperature get the higher amplitude of displacement and stresses. The GDQ results of actuating magnetostrictive shells can be applied in the field of morphing aircraft (adaptive structures and smart materials to reduce and suppress the vibration when under aero-thermal flutter.

Robust output feedback H-infinity control and filtering for uncertain linear systems

CERN Document Server

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.

Feedback control of nonlinear quantum systems: a rule of thumb.

Science.gov (United States)

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.

Support surface related changes in feedforward and feedback control of standing posture.

Science.gov (United States)

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.

Electrotactile EMG feedback improves the control of prosthesis grasping force

Science.gov (United States)

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

The clinical relevance of advanced artificial feedback in the control of a multi-functional myoelectric prosthesis.

Science.gov (United States)

Markovic, Marko; Schweisfurth, Meike A; Engels, Leonard F; Bentz, Tashina; Wüstefeld, Daniela; Farina, Dario; Dosen, Strahinja

2018-03-27

To effectively replace the human hand, a prosthesis should seamlessly respond to user intentions but also convey sensory information back to the user. Restoration of sensory feedback is rated highly by the prosthesis users, and feedback is critical for grasping in able-bodied subjects. Nonetheless, the benefits of feedback in prosthetics are still debated. The lack of consensus is likely due to the complex nature of sensory feedback during prosthesis control, so that its effectiveness depends on multiple factors (e.g., task complexity, user learning). We evaluated the impact of these factors with a longitudinal assessment in six amputee subjects, using a clinical setup (socket, embedded control) and a range of tasks (box and blocks, block turn, clothespin and cups relocation). To provide feedback, we have proposed a novel vibrotactile stimulation scheme capable of transmitting multiple variables from a multifunction prosthesis. The subjects wore a bracelet with four by two uniformly placed vibro-tactors providing information on contact, prosthesis state (active function), and grasping force. The subjects also completed a questionnaire for the subjective evaluation of the feedback. The tests demonstrated that feedback was beneficial only in the complex tasks (block turn, clothespin and cups relocation), and that the training had an important, task-dependent impact. In the clothespin relocation and block turn tasks, training allowed the subjects to establish successful feedforward control, and therefore, the feedback became redundant. In the cups relocation task, however, the subjects needed some training to learn how to properly exploit the feedback. The subjective evaluation of the feedback was consistently positive, regardless of the objective benefits. These results underline the multifaceted nature of closed-loop prosthesis control as, depending on the context, the same feedback interface can have different impact on performance. Finally, even if the closed

Decoherence control in open quantum systems via classical feedback

International Nuclear Information System (INIS)

Ganesan, Narayan; Tarn, Tzyh-Jong

2007-01-01

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

Transition from weak to strong measurements by nonlinear quantum feedback control

International Nuclear Information System (INIS)

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.

Generalised synchronisation of spatiotemporal chaos using feedback control method and phase compression

International Nuclear Information System (INIS)

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)

In vivo argon laser vascular welding using thermal feedback: open and closed loop patency and collagen crosslinking

Energy Technology Data Exchange (ETDEWEB)

Small, W., LLNL

1997-02-28

An in vivo study of vascular welding with a fiber-delivered argon laser was conducted using a canine model. Longitudinal arteriotomies and venotomies were treated on femoral vein and artery. Laser energy was delivered to the vessel wall via a 400 {micro}m optical fiber. The surface temperature at the center of the laser spot was monitored in real time using a hollow glass optical fiber-based two-color infrared thermometer. The surface temperature was limited by either a room-temperature saline drip or direct feedback control of the laser using a mechanical shutter to alternately pass and block the laser. Acute patency was evaluated either visually (leak/no leak) or by in vivo burst pressure measurements. Biochemical assays were performed to investigate the possible laser-induced formation or destruction of enzymatically mediated covalent crosslinks between collagen molecules. Viable welds were created both with and without the use of feedback control. Tissues maintained at 50 C using feedback control had an elevated crosslink count compared to controls, while those irradiated without feedback control experienced a decrease. Differences between the volumetric heating associated with open and closed loop protocols may account for the different effects on collagen crosslinks. Covalent mechanisms may play a role in argon laser vascular fusion.

Towards Quantum Cybernetics:. Optimal Feedback Control in Quantum Bio Informatics

Science.gov (United States)

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.

Active vibration control of clamped beams using positive position feedback controllers with moment pair

International Nuclear Information System (INIS)

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

A Novel Pitch Control System of a Large Wind Turbine Using Two-Degree-of-Freedom Motion Control with Feedback Linearization Control

Directory of Open Access Journals (Sweden)

Ching-Sung Wang

2016-09-01

Full Text Available Pitch Control plays a significant role for a large wind turbine. This study investigates a novel robust hydraulic pitch control system of a large wind turbine. The novel hydraulic pitch control system is driven by a novel high efficiency and high response hydraulic servo system. The pitch controller, designed by two degree-of-freedom (2-DOF motion control with feedback linearization, is developed to enhance the controllability and stability of the pitch control system. Furthermore, the full-scale testbed of the hydraulic pitch control system of a large wind turbine is developed for practically experimental verification. Besides, the wind turbine simulation software FAST is used to analyze the motion of the blade which results are given to the testbed as the disturbance load command. The 2-DOF pitch controller contains a feedforward controller with feedback linearization theory to overcome the nonlinearities of the system and a feedback controller to improve the system robustness for achieving the disturbance rejection. Consequently, the novel hydraulic pitch control system shows excellent path tracking performance in the experiments. Moreover, the robustness test with a simulated disturbance load generated by FAST is performed to validate the reliability of the proposed pitch control system.

A global bioheat model with self-tuning optimal regulation of body temperature using Hebbian feedback covariance learning.

Science.gov (United States)

Ong, M L; Ng, E Y K

2005-12-01

In the lower brain, body temperature is continually being regulated almost flawlessly despite huge fluctuations in ambient and physiological conditions that constantly threaten the well-being of the body. The underlying control problem defining thermal homeostasis is one of great enormity: Many systems and sub-systems are involved in temperature regulation and physiological processes are intrinsically complex and intertwined. Thus the defining control system has to take into account the complications of nonlinearities, system uncertainties, delayed feedback loops as well as internal and external disturbances. In this paper, we propose a self-tuning adaptive thermal controller based upon Hebbian feedback covariance learning where the system is to be regulated continually to best suit its environment. This hypothesis is supported in part by postulations of the presence of adaptive optimization behavior in biological systems of certain organisms which face limited resources vital for survival. We demonstrate the use of Hebbian feedback covariance learning as a possible self-adaptive controller in body temperature regulation. The model postulates an important role of Hebbian covariance adaptation as a means of reinforcement learning in the thermal controller. The passive system is based on a simplified 2-node core and shell representation of the body, where global responses are captured. Model predictions are consistent with observed thermoregulatory responses to conditions of exercise and rest, and heat and cold stress. An important implication of the model is that optimal physiological behaviors arising from self-tuning adaptive regulation in the thermal controller may be responsible for the departure from homeostasis in abnormal states, e.g., fever. This was previously unexplained using the conventional "set-point" control theory.

Exponential synchronization of the Genesio-Tesi chaotic system via a novel feedback control

International Nuclear Information System (INIS)

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

Micro-Scalable Thermal Control Device

Science.gov (United States)

Moran, Matthew E. (Inventor)

2002-01-01

A microscalable thermal control module consists of a Stirling cycle cooler that can be manipulated to operate at a selected temperature within the heating and cooling range of the module. The microscalable thermal control module is particularly suited for controlling the temperature of devices that must be maintained at precise temperatures. It is particularly suited for controlling the temperature of devices that need to be alternately heated or cooled. The module contains upper and lower opposing diaphragms, with a regenerator region containing a plurality of regenerators interposed between the diaphragms. Gaps exist on each side of each diaphragm to permit it to oscillate freely. The gap on the interior side one diaphragm is in fluid connection with the gap on the interior side of the other diaphragm through regenerators. As the diaphragms oscillate working gas is forced through the regenerators. The surface area of each regenerator is sufficiently large to effectively transfer thermal energy to and from the working gas as it is passed through them. The phase and amplitude of the oscillations can be manipulated electronically to control the steady state temperature of the active thermal control surface, and to switch the operation of the module from cooling to heating, or vice versa. The ability of the microscalable thermal control module to heat and cool may be enhanced by operating a plurality of modules in series, in parallel, or in connection through a shared bottom layer.

Semantically Enhanced Online Configuration of Feedback Control Schemes.

Science.gov (United States)

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

2018-03-01

Recent progress toward the realization of the "Internet of Things" has improved the ability of physical and soft/cyber entities to operate effectively within large-scale, heterogeneous systems. It is important that such capacity be accompanied by feedback control capabilities sufficient to ensure that the overall systems behave according to their specifications and meet their functional objectives. To achieve this, such systems require new architectures that facilitate the online deployment, composition, interoperability, and scalability of control system components. Most current control systems lack scalability and interoperability because their design is based on a fixed configuration of specific components, with knowledge of their individual characteristics only implicitly passed through the design. This paper addresses the need for flexibility when replacing components or installing new components, which might occur when an existing component is upgraded or when a new application requires a new component, without the need to readjust or redesign the overall system. A semantically enhanced feedback control architecture is introduced for a class of systems, aimed at accommodating new components into a closed-loop control framework by exploiting the semantic inference capabilities of an ontology-based knowledge model. This architecture supports continuous operation of the control system, a crucial property for large-scale systems for which interruptions have negative impact on key performance metrics that may include human comfort and welfare or economy costs. A case-study example from the smart buildings domain is used to illustrate the proposed architecture and semantic inference mechanisms.

Design of the control room of the N4-type PWR: main features and feedback operating experience

International Nuclear Information System (INIS)

Peyrouton, J.M.; Guillas, J.; Nougaret, Ch.

2004-01-01

This article presents the design, specificities and innovating features of the control room of the N4-type PWR. A brief description of control rooms of previous 900 MW and 1300 MW -type PWR allows us to assess the change. The design of the first control room dates back to 1972, at that time 2 considerations were taken into account: first the design has to be similar to that of control rooms for thermal plants because plant operators were satisfied with it and secondly the normal operating situation has to be privileged to the prejudice of accidental situations just as it was in a thermal plant. The turning point was the TMI accident that showed the weight of human factor in accidental situations in terms of pilot team, training, procedures and the ergonomics of the work station. The impact of TMI can be seen in the design of 1300 MW-type PWR. In the beginning of the eighties EDF decided to launch a study for a complete overhaul of the control room concept, the aim was to continue reducing the human factor risk and to provide a better quality of piloting the plant in any situation. The result is the control room of the N4-type PWR. Today the cumulated feedback experience of N4 control rooms represents more than 20 years over a wide range of situations from normal to incidental, a survey shows that the N4 design has fulfilled its aims. (A.C.)

Preparing to reach: selecting an adaptive long-latency feedback controller

OpenAIRE

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...

Force control in the absence of visual and tactile feedback

NARCIS (Netherlands)

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

Evaluating advanced LMR [liquid metal reactor] reactivity feedbacks using SSC

International Nuclear Information System (INIS)

Slovik, G.C.; Van Tuyle, G.J.; Kennett, R.J.; Cheng, H.S.

1988-01-01

Analyses of the PRISM and SAFR Liquid Metal Reactors with SSC are discussed from a safety and licensing perspective. The PRISM and SAFR reactors with metal fuel are designed for inherent shutdown responses to loss-of-flow and loss-of-heat-sink events. The demonstration of this technology was performed by EBR-II during experiments in April 1986 by ANL (Planchon, et al.). Response to postulated TOPs (control rod withdrawal) are made acceptable largely by reducing reactivity swings, and therefore minimizing the size of possible ractivity insertions. Analyses by DOE and the contractors GE, RI, and ANL take credit for several reactivity feedback mechanisms during transient calculations. These feedbacks include Doppler, sodium density, and thermal expansion of the grid plates, the load pads, the fuel (axial) and the control rod which are now factored into the BNL SSC analyses. The bowing feedback mechanism is not presently modeled in the SSC due to its complexity and subsequent large uncertainty. The analysis is conservative by not taking credit for this negative feedback mechanism. Comparisons of BNL predictions with DOE contractors are provided

Accelerator and feedback control simulation using neural networks

International Nuclear Information System (INIS)

Nguyen, D.; Lee, M.; Sass, R.; Shoaee, H.

1991-05-01

Unlike present constant model feedback system, neural networks can adapt as the dynamics of the process changes with time. Using a process model, the ''Accelerator'' network is first trained to simulate the dynamics of the beam for a given beam line. This ''Accelerator'' network is then used to train a second ''Controller'' network which performs the control function. In simulation, the networks are used to adjust corrector magnetics to control the launch angle and position of the beam to keep it on the desired trajectory when the incoming beam is perturbed. 4 refs., 3 figs

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

Science.gov (United States)

Wang, Gang; Chen, Changzheng; Yu, Shenbo

2017-07-01

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

Achieving control and synchronization merely through a stochastically adaptive feedback coupling

Science.gov (United States)

Lin, Wei; Chen, Xin; Zhou, Shijie

2017-07-01

Techniques of deterministically adaptive feedback couplings have been successfully and extensively applied to realize control or/and synchronization in chaotic dynamical systems and even in complex dynamical networks. In this article, a technique of stochastically adaptive feedback coupling is novelly proposed to not only realize control in chaotic dynamical systems but also achieve synchronization in unidirectionally coupled systems. Compared with those deterministically adaptive couplings, the proposed stochastic technique interestingly shows some advantages from a physical viewpoint of time and energy consumptions. More significantly, the usefulness of the proposed stochastic technique is analytically validated by the theory of stochastic processes. It is anticipated that the proposed stochastic technique will be widely used in achieving system control and network synchronization.

An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

International Nuclear Information System (INIS)

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

An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

International Nuclear Information System (INIS)

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

Contamination Control for Thermal Engineers

Science.gov (United States)

Rivera, Rachel B.

2015-01-01

The presentation will be given at the 26th Annual Thermal Fluids Analysis Workshop (TFAWS 2015) hosted by the Goddard Spaceflight Center (GSFC) Thermal Engineering Branch (Code 545). This course will cover the basics of Contamination Control, including contamination control related failures, the effects of contamination on Flight Hardware, what contamination requirements translate to, design methodology, and implementing contamination control into Integration, Testing and Launch.

Negative thermal expansion materials: technological key for control of thermal expansion

OpenAIRE

Koshi Takenaka

2012-01-01

Most materials expand upon heating. However, although rare, some materials contract upon heating. Such negative thermal expansion (NTE) materials have enormous industrial merit because they can control the thermal expansion of materials. Recent progress in materials research enables us to obtain materials exhibiting negative coefficients of linear thermal expansion over −30 ppm K−1. Such giant NTE is opening a new phase of control of thermal expansion in composites. Specifically examining pra...

Control characteristics of cryogenic distillation column with a feedback stream for fusion reactor

International Nuclear Information System (INIS)

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)

DWARF, 1-D Few-Group Neutron Diffusion with Thermal Feedback for Burnup and Xe Oscillation

International Nuclear Information System (INIS)

Anderson, E.C.; Putnam, G.E.

1975-01-01

1 - Description of problem or function: DWARF allows one-dimensional simulation of reactor burnup and xenon oscillation problems in slab, cylindrical, or spherical geometry using a few-group diffusion theory model. 2 - Method of solution: The few-group, neutron diffusion theory equations are reduced to a system of finite-difference equations that are solved for each group by the Gauss method at each time point. Fission neutron source iteration can be accelerated with Chebyshev extrapolation. A thermal feedback iterative loop is used to obtain consistent solutions for the distributions of reactor power, neutron flux, and fuel and coolant properties with the neutron group constants functions of the latter. Solutions for the new nuclide concentrations of a time-point are made with the flux assumed constant in the time interval. 3 - Restrictions on the complexity of the problem - Maxima of: 4 groups; 40 regions; 50 macroscopic materials (Only 10 are functions of the feedback variables); 50 nuclides per region; 250 mesh points

Feedback control of current drive by using hybrid wave in tokamaks

International Nuclear Information System (INIS)

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)

Phase and amplitude feedback control system for the Los Alamos free-electron laser

International Nuclear Information System (INIS)

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

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

Science.gov (United States)

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

2017-03-01

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

Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.

Science.gov (United States)

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.

Controlling chaos and synchronization for new chaotic system using linear feedback control

International Nuclear Information System (INIS)

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

Different auditory feedback control for echolocation and communication in horseshoe bats.

Directory of Open Access Journals (Sweden)

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.

Velocity Feedback Experiments

Directory of Open Access Journals (Sweden)

Chiu Choi

2017-02-01

Full Text Available Transient response such as ringing in a control system can be reduced or removed by velocity feedback. It is a useful control technique that should be covered in the relevant engineering laboratory courses. We developed velocity feedback experiments using two different low cost technologies, viz., operational amplifiers and microcontrollers. These experiments can be easily integrated into laboratory courses on feedback control systems or microcontroller applications. The intent of developing these experiments was to illustrate the ringing problem and to offer effective, low cost solutions for removing such problem. In this paper the pedagogical approach for these velocity feedback experiments was described. The advantages and disadvantages of the two different implementation of velocity feedback were discussed also.

Nonlinear Feedback Control of the Rotary Inverted Pendulum

Science.gov (United States)

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

Synchronization of spatiotemporal chaotic systems by feedback control

International Nuclear Information System (INIS)

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

The phase detection and calculation for low hybrid wave phase-feedback control system

International Nuclear Information System (INIS)

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)

Template model inspired leg force feedback based control can assist human walking.

Science.gov (United States)

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.

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

Science.gov (United States)

Lam, H K

2012-02-01

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

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

Science.gov (United States)

Scheerer, Nichole E; Jones, Jeffery A

2014-12-01

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

Active feedback control of kink modes in tokamaks: 3D VALEN modeling and HBT-EP experiments

International Nuclear Information System (INIS)

Maurer, D.A.

2002-01-01

Significant progress in the development of active feedback control as a robust technique for the suppression of the wall stabilized external kink or resistive wall mode (RWM) in tokamaks has been achieved through a combination of modeling and experiments. Results from the 3D feedback modeling code VALEN, which serves as the primary analysis and feedback control design tool for RWM studies on the HBT-EP and DIII-D experiments, are in good agreement with observations. VALEN modeling of proposed advanced control system designs on HBT-EP, DIII-D, NSTX, and FIRE are predicted to approach the ideal wall beta limit in agreement with design principles based on simple single mode analytic theory of RWM feedback control. Benchmark experiments on HBT-EP have shown suppression of plasma disruption at rational edge q values using active feedback control in agreement with model predictions. In addition, the observation in HBT-EP of the plasma amplification of static resonant magnetic fields in plasmas marginally stable to the RWM is in agreement with theory. (author)

Web/smart phone based control and feedback systems for irrigation systems

Science.gov (United States)

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...

Short- and Long-Term Learning of Feedforward Control of a Myoelectric Prosthesis with Sensory Feedback by Amputees.

Science.gov (United States)

Strbac, Matija; Isakovic, Milica; Belic, Minja; Popovic, Igor; Simanic, Igor; Farina, Dario; Keller, Thierry; Dosen, Strahinja

2017-11-01

Human motor control relies on a combination of feedback and feedforward strategies. The aim of this study was to longitudinally investigate artificial somatosensory feedback and feedforward control in the context of grasping with myoelectric prosthesis. Nine amputee subjects performed routine grasping trials, with the aim to produce four levels of force during four blocks of 60 trials across five days. The electrotactile force feedback was provided in the second and third block using multipad electrode and spatial coding. The first baseline and last validation block (open-loop control) evaluated the effects of long- (across sessions) and short-term (within session) learning, respectively. The outcome measures were the absolute error between the generated and target force, and the number of force saturations. The results demonstrated that the electrotactile feedback improved the performance both within and across sessions. In the validation block, the performance did not significantly decrease and the quality of open-loop control (baseline) improved across days, converging to the performance characterizing closed-loop control. This paper provides important insights into the feedback and feedforward processes in prosthesis control, contributing to the better understanding of the role and design of feedback in prosthetic systems.

A Feedback Optimal Control Algorithm with Optimal Measurement Time Points

Directory of Open Access Journals (Sweden)

Felix Jost

2017-02-01

Full Text Available Nonlinear model predictive control has been established as a powerful methodology to provide feedback for dynamic processes over the last decades. In practice it is usually combined with parameter and state estimation techniques, which allows to cope with uncertainty on many levels. To reduce the uncertainty it has also been suggested to include optimal experimental design into the sequential process of estimation and control calculation. Most of the focus so far was on dual control approaches, i.e., on using the controls to simultaneously excite the system dynamics (learning as well as minimizing a given objective (performing. We propose a new algorithm, which sequentially solves robust optimal control, optimal experimental design, state and parameter estimation problems. Thus, we decouple the control and the experimental design problems. This has the advantages that we can analyze the impact of measurement timing (sampling independently, and is practically relevant for applications with either an ethical limitation on system excitation (e.g., chemotherapy treatment or the need for fast feedback. The algorithm shows promising results with a 36% reduction of parameter uncertainties for the Lotka-Volterra fishing benchmark example.

Hybrid feedback feedforward: An efficient design of adaptive neural network control.

Science.gov (United States)

Pan, Yongping; Liu, Yiqi; Xu, Bin; Yu, Haoyong

2016-04-01

This paper presents an efficient hybrid feedback feedforward (HFF) adaptive approximation-based control (AAC) strategy for a class of uncertain Euler-Lagrange systems. The control structure includes a proportional-derivative (PD) control term in the feedback loop and a radial-basis-function (RBF) neural network (NN) in the feedforward loop, which mimics the human motor learning control mechanism. At the presence of discontinuous friction, a sigmoid-jump-function NN is incorporated to improve control performance. The major difference of the proposed HFF-AAC design from the traditional feedback AAC (FB-AAC) design is that only desired outputs, rather than both tracking errors and desired outputs, are applied as RBF-NN inputs. Yet, such a slight modification leads to several attractive properties of HFF-AAC, including the convenient choice of an approximation domain, the decrease of the number of RBF-NN inputs, and semiglobal practical asymptotic stability dominated by control gains. Compared with previous HFF-AAC approaches, the proposed approach possesses the following two distinctive features: (i) all above attractive properties are achieved by a much simpler control scheme; (ii) the bounds of plant uncertainties are not required to be known. Consequently, the proposed approach guarantees a minimum configuration of the control structure and a minimum requirement of plant knowledge for the AAC design, which leads to a sharp decrease of implementation cost in terms of hardware selection, algorithm realization and system debugging. Simulation results have demonstrated that the proposed HFF-AAC can perform as good as or even better than the traditional FB-AAC under much simpler control synthesis and much lower computational cost. Copyright © 2015 Elsevier Ltd. All rights reserved.

Adaptive H∞ synchronization of chaotic systems via linear and nonlinear feedback control

International Nuclear Information System (INIS)

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)

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

Science.gov (United States)

Raul, P R; Dwivedula, R V; Pagilla, P R

2016-07-01

The problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Reversed field pinch operation with intelligent shell feedback control in EXTRAP T2R

Science.gov (United States)

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

International Nuclear Information System (INIS)

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

Feedback and Feedforward Control During Walking in Individuals With Chronic Ankle Instability.

Science.gov (United States)

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.

Grid-Current-Feedback Control for LCL-Filtered Grid Converters With Enhanced Stability

DEFF Research Database (Denmark)

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...

Design of output feedback UPFC controller for damping of electromechanical oscillations using PSO

Energy Technology Data Exchange (ETDEWEB)

Shayeghi, H. [Technical Engineering Dept., Univ. of Mohaghegh Ardabili, Ardabil (Iran); Shayanfar, H.A. [Center of Excellence for Power Automation and Operation, Electrical Engineering Dept., Iran Univ. of Science and Technology, Tehran (Iran); Jalilzadeh, S.; Safari, A. [Technical Engineering Dept., Zanjan Univ., Zanjan (Iran)

2009-10-15

In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) is developed. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a particle swarm optimization technique (PSO) that has a strong ability to find the most optimistic results. Only local and available state variables are adopted as the input signals of each controller for the decentralized design. Thus, structure of the designed UPFC controller is simple and easy to implement. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through nonlinear time-domain simulation and some performance indices studies. The results analysis reveals that the designed PSO-based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions show that the {delta}{sub E} based controller is superior to both the m{sub B} based controller and conventional power system stablizer. (author)

Ammonia-based feedforward and feedback aeration control in activated sludge processes.

Science.gov (United States)

Rieger, Leiv; Jones, Richard M; Dold, Peter L; Bott, Charles B

2014-01-01

Aeration control at wastewater treatment plants based on ammonia as the controlled variable is applied for one of two reasons: (1) to reduce aeration costs, or (2) to reduce peaks in effluent ammonia. Aeration limitation has proven to result in significant energy savings, may reduce external carbon addition, and can improve denitrification and biological phosphorus (bio-P) performance. Ammonia control for limiting aeration has been based mainly on feedback control to constrain complete nitrification by maintaining approximately one to two milligrams of nitrogen per liter of ammonia in the effluent. Increased attention has been given to feedforward ammonia control, where aeration control is based on monitoring influent ammonia load. Typically, the intent is to anticipate the impact of sudden load changes, and thereby reduce effluent ammonia peaks. This paper evaluates the fundamentals of ammonia control with a primary focus on feedforward control concepts. A case study discussion is presented that reviews different ammonia-based control approaches. In most instances, feedback control meets the objectives for both aeration limitation and containment of effluent ammonia peaks. Feedforward control, applied specifically for switching aeration on or off in swing zones, can be beneficial when the plant encounters particularly unusual influent disturbances.

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

NARCIS (Netherlands)

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

A feedback linearization approach to spacecraft control using momentum exchange devices. Ph.D. Thesis

Science.gov (United States)

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.

Thermal modelling using discrete vasculature for thermal therapy: a review

Science.gov (United States)

Kok, H.P.; Gellermann, J.; van den Berg, C.A.T.; Stauffer, P.R.; Hand, J.W.; Crezee, J.

2013-01-01

Reliable temperature information during clinical hyperthermia and thermal ablation is essential for adequate treatment control, but conventional temperature measurements do not provide 3D temperature information. Treatment planning is a very useful tool to improve treatment quality and substantial progress has been made over the last decade. Thermal modelling is a very important and challenging aspect of hyperthermia treatment planning. Various thermal models have been developed for this purpose, with varying complexity. Since blood perfusion is such an important factor in thermal redistribution of energy in in vivo tissue, thermal simulations are most accurately performed by modelling discrete vasculature. This review describes the progress in thermal modelling with discrete vasculature for the purpose of hyperthermia treatment planning and thermal ablation. There has been significant progress in thermal modelling with discrete vasculature. Recent developments have made real-time simulations possible, which can provide feedback during treatment for improved therapy. Future clinical application of thermal modelling with discrete vasculature in hyperthermia treatment planning is expected to further improve treatment quality. PMID:23738700

Chaos synchronization in autonomous chaotic system via hybrid feedback control

International Nuclear Information System (INIS)

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.

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

Directory of Open Access Journals (Sweden)

Geir Hovland

2017-10-01

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

Space thermal control development

Science.gov (United States)

Hoover, M. J.; Grodzka, P. G.; Oneill, M. J.

1971-01-01

The results of experimental investigations on a number of various phase change materials (PCMs) and PCMs in combination with metals and other materials are reported. The evaluations include the following PCM system performance characteristics: PCM and PCM/filler thermal diffusivities, the effects of long-term thermal cycling, PCM-container compatibility, and catalyst effectiveness and stability. Three PCMs demonstrated performance acceptable enough to be considered for use in prototype aluminum thermal control devices. These three PCMs are lithium nitrate trihydrate with zinc hydroxy nitrate catalyst, acetamide, and myristic acid. Of the fillers tested, aluminum honeycomb filler was found to offer the most increase in system thermal diffusivity.

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

Science.gov (United States)

Lam, H K; Leung, Frank H F

2005-04-01

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

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

Science.gov (United States)

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

2016-03-01

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

Decentralised output feedback control of Markovian jump interconnected systems with unknown interconnections

Science.gov (United States)

Li, Li-Wei; Yang, Guang-Hong

2017-07-01

The problem of decentralised output feedback control is addressed for Markovian jump interconnected systems with unknown interconnections and general transition rates (TRs) allowed to be unknown or known with uncertainties. A class of decentralised dynamic output feedback controllers are constructed, and a cyclic-small-gain condition is exploited to dispose the unknown interconnections so that the resultant closed-loop system is stochastically stable and satisfies an H∞ performance. With slack matrices to cope with the nonlinearities incurred by unknown and uncertain TRs in control synthesis, a novel controller design condition is developed in linear matrix inequality formalism. Compared with the existing works, the proposed approach leads to less conservatism. Finally, two examples are used to illustrate the effectiveness of the new results.

Spectrum optimization-based chaotification using time-delay feedback control

International Nuclear Information System (INIS)

Zhou Jiaxi; Xu Daolin; Zhang Jing; Liu Chunrong

2012-01-01

Highlights: ► A time-delay feedback controller is designed for chaotification. ► A spectrum optimization method is proposed to determine chaotification parameters. ► Numerical examples verify the spectrum optimization- based chaotification method. ► Engineering application in line spectrum reconfiguration is demonstrated. - Abstract: In this paper, a spectrum optimization method is developed for chaotification in conjunction with an application in line spectrum reconfiguration. A key performance index (the objective function) based on Fourier spectrum is specially devised with the idea of suppressing spectrum spikes and broadening frequency band. Minimization of the index empowered by a genetic algorithm enables to locate favorable parameters of the time-delay feedback controller, by which a line spectrum of harmonic vibration can be transformed into a broad-band continuous spectrum of chaotic motion. Numerical simulations are carried out to verify the feasibility of the method and to demonstrate its effectiveness of chaotifying a 2-DOFs linear mechanical system.

Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation

Directory of Open Access Journals (Sweden)

Rong Mei

2017-01-01

Full Text Available This paper presents an adaptive neural output feedback control scheme for uncertain robot manipulators with input saturation using the radial basis function neural network (RBFNN and disturbance observer. First, the RBFNN is used to approximate the system uncertainty, and the unknown approximation error of the RBFNN and the time-varying unknown external disturbance of robot manipulators are integrated as a compounded disturbance. Then, the state observer and the disturbance observer are proposed to estimate the unmeasured system state and the unknown compounded disturbance based on RBFNN. At the same time, the adaptation technique is employed to tackle the control input saturation problem. Utilizing the estimate outputs of the RBFNN, the state observer, and the disturbance observer, the adaptive neural output feedback control scheme is developed for robot manipulators using the backstepping technique. The convergence of all closed-loop signals is rigorously proved via Lyapunov analysis and the asymptotically convergent tracking error is obtained under the integrated effect of the system uncertainty, the unmeasured system state, the unknown external disturbance, and the input saturation. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed adaptive neural output feedback control scheme for uncertain robot manipulators.

Synchronizing tracking control for flexible joint robots via estimated state feedback

NARCIS (Netherlands)

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

Ex vivo evaluation of super pulse diode laser system with smart temperature feedback for contact soft-tissue surgery

Science.gov (United States)

Yaroslavsky, Ilya; Boutoussov, Dmitri; Vybornov, Alexander; Perchuk, Igor; Meleshkevich, Val; Altshuler, Gregory

2018-02-01

Until recently, Laser Diodes (LD) have been limited in their ability to deliver high peak power levels, which, in turn, limited their clinical capabilities. New technological developments made possible advent of "super pulse" LD (SPLD). Moreover, advanced means of smart thermal feedback enable precise control of laser power, thus ensuring safe and optimally efficacious application. In this work, we have evaluated a prototype SPLD system ex vivo. The device provided up to 25 W average and up to 150 W pulse power at 940 nm wavelength. The laser was operated in the thermal feedback-controlled mode, where power of the laser was varied automatically as a function of real-time thermal feedback to maintain constant tip temperature. The system was also equipped with a fiber tip initiated with advanced TiO2 /tungsten technique. Evaluation methods were designed to assess: 1) Speed and depth of cutting; 2) Dimensions of coagulative margin. The SPLD system was compared with industry-leading conventional diode and CO2 devices. The results indicate that the SPLD system provides increase in speed of controlled cutting by a factor of >2 in comparison with the conventional diode laser and approaching that of CO2 device. The produced ratio of the depth of cut to the thermal damage margin was significantly higher than conventional diodes and close to that of the CO2 system, suggesting optimal hemostasis conditions. SPLD technology with real-time temperature control has a potential for creating a new standard of care in the field of precision soft tissue surgery.

Aeroassisted orbital maneuvering using Lyapunov optimal feedback control

Science.gov (United States)

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.

Negative derivative feedback for vibration control of flexible structures

International Nuclear Information System (INIS)

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)

CubeSat Form Factor Thermal Control Louvers

Science.gov (United States)

Evans, Allison L. (Inventor)

2018-01-01

Thermal control louvers for CubeSats or small spacecraft may include a plurality of springs attached to a back panel of the thermal control louvers. The thermal control louvers may also include a front panel, which includes at least two end panels interlocked with one or more middle panels. The front panel may secure the springs, shafts, and flaps to the back panel.

Pulse energy control through dual loop electronic feedback

CSIR Research Space (South Africa)

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...

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

Science.gov (United States)

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

2018-03-01

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

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

Directory of Open Access Journals (Sweden)

Ling Gao

2016-09-01

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

Model-Based State Feedback Controller Design for a Turbocharged Diesel Engine with an EGR System

Directory of Open Access Journals (Sweden)

Tianpu Dong

2015-05-01

Full Text Available This paper describes a method for the control of transient exhaust gas recirculation (EGR systems. Firstly, a state space model of the air system is developed by simplifying a mean value model. The state space model is linearized by using linearization theory and validated by the GT-Power data with an operating point of the diesel engine. Secondly, a state feedback controller based on the intake oxygen mass fraction is designed for EGR control. Since direct measurement of the intake oxygen mass fraction is unavailable on the engine, the estimation method for intake oxygen mass fraction has been proposed in this paper. The control strategy is analyzed by using co-simulation with the Matlab/Simulink and GT-Powers software. Finally, the whole control system is experimentally validated against experimental data of a turbocharged diesel engine. The control effect of the state feedback controller compared with PID controller proved to be further verify the feasibility and advantages of the proposed state feedback controller.

Reality Monitoring and Feedback Control of Speech Production Are Related Through Self-Agency.

Science.gov (United States)

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.

A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

NARCIS (Netherlands)

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

Industrial application of thermal image processing and thermal control

Science.gov (United States)

Kong, Lingxue

2001-09-01

Industrial application of infrared thermography is virtually boundless as it can be used in any situations where there are temperature differences. This technology has particularly been widely used in automotive industry for process evaluation and system design. In this work, thermal image processing technique will be introduced to quantitatively calculate the heat stored in a warm/hot object and consequently, a thermal control system will be proposed to accurately and actively manage the thermal distribution within the object in accordance with the heat calculated from the thermal images.

End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

Directory of Open Access Journals (Sweden)

Shuhuan Wen

2012-12-01

Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

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

Science.gov (United States)

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

2014-05-21

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

Active tilting-pad journal bearings supporting flexible rotors: Part II–The model-based feedback-controlled lubrication

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Santos, Ilmar

2017-01-01

This is part II of a twofold paper series dealing with the design and implementation of model-based controllers meant for assisting the hybrid and developing the feedback-controlled lubrication regimes in active tilting pad journal bearings (active TPJBs). In both papers theoretical and experimen...... derived in part I. Results show further suppression of resonant vibrations when using the feedback-controlled or active lubrication, overweighting the reduction already achieved with hybrid lubrication, thus improving the whole machine dynamic performance.......This is part II of a twofold paper series dealing with the design and implementation of model-based controllers meant for assisting the hybrid and developing the feedback-controlled lubrication regimes in active tilting pad journal bearings (active TPJBs). In both papers theoretical...... and experimental analyses are presented with focus on the reduction of rotor lateral vibration. This part is devoted to synthesising model-based LQG optimal controllers (LQR regulator + Kalman Filter) for the feedback-controlled lubrication and is based upon the mathematical model of the rotor-bearing system...

Negative thermal expansion materials: technological key for control of thermal expansion.

Science.gov (United States)

Takenaka, Koshi

2012-02-01

Most materials expand upon heating. However, although rare, some materials contract upon heating. Such negative thermal expansion (NTE) materials have enormous industrial merit because they can control the thermal expansion of materials. Recent progress in materials research enables us to obtain materials exhibiting negative coefficients of linear thermal expansion over -30 ppm K -1 . Such giant NTE is opening a new phase of control of thermal expansion in composites. Specifically examining practical aspects, this review briefly summarizes materials and mechanisms of NTE as well as composites containing NTE materials, based mainly on activities of the last decade.

Negative thermal expansion materials: technological key for control of thermal expansion

Directory of Open Access Journals (Sweden)

Koshi Takenaka

2012-01-01

Full Text Available Most materials expand upon heating. However, although rare, some materials contract upon heating. Such negative thermal expansion (NTE materials have enormous industrial merit because they can control the thermal expansion of materials. Recent progress in materials research enables us to obtain materials exhibiting negative coefficients of linear thermal expansion over −30 ppm K−1. Such giant NTE is opening a new phase of control of thermal expansion in composites. Specifically examining practical aspects, this review briefly summarizes materials and mechanisms of NTE as well as composites containing NTE materials, based mainly on activities of the last decade.

Negative thermal expansion materials: technological key for control of thermal expansion

International Nuclear Information System (INIS)

Takenaka, Koshi

2012-01-01

Most materials expand upon heating. However, although rare, some materials contract upon heating. Such negative thermal expansion (NTE) materials have enormous industrial merit because they can control the thermal expansion of materials. Recent progress in materials research enables us to obtain materials exhibiting negative coefficients of linear thermal expansion over −30 ppm K −1 . Such giant NTE is opening a new phase of control of thermal expansion in composites. Specifically examining practical aspects, this review briefly summarizes materials and mechanisms of NTE as well as composites containing NTE materials, based mainly on activities of the last decade. (topical review)

Studies on thermal properties and thermal control effectiveness of a new shape-stabilized phase change material with high thermal conductivity

International Nuclear Information System (INIS)

Cheng Wenlong; Liu Na; Wu Wanfan

2012-01-01

In order to overcome the difficulty of conventional phase change materials (PCMs) in packaging, the shape-stabilized PCMs are proposed to be used in the electronic device thermal control. However, the conventional shape-stabilized PCMs have the drawback of lower thermal conductivity, so a new shape-stabilized PCM with high thermal conductivity, which is suitable for thermal control of electronic devices, is prepared. The thermal properties of n-octadecane-based shape-stabilized PCM are tested and analyzed. The heat storage/release performance is studied by numerical simulation. Its thermal control effect for electronic devices is also discussed. The results show that the expanded graphite (EG) can greatly improve the thermal conductivity of the material with little effect on latent heat and phase change temperature. When the mass fraction of EG is 5%, thermal conductivity has reached 1.76 W/(m K), which is over 4 times than that of the original one. Moreover, the material has larger latent heat and good thermal stability. The simulation results show that the material can have good heat storage/release performance. The analysis of the effect of thermal parameters on thermal control effect for electronic devices provides references to the design of phase change thermal control unit. - Highlights: ► A new shape-stabilized PCM with higher thermal conductivity is prepared. ► The material overcomes the packaging difficulty of traditional PCMs used in thermal control unit. ► The EG greatly improves thermal conductivity with little effect on latent heat. ► The material has high thermal stability and good heat storage/release performance. ► The effectiveness of the material for electronic device thermal control is proved.

Co-Design of Event Generator and Dynamic Output Feedback Controller for LTI Systems

Directory of Open Access Journals (Sweden)

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.

CFD Analysis of Thermal Control System Using NX Thermal and Flow

Science.gov (United States)

Fortier, C. R.; Harris, M. F. (Editor); McConnell, S. (Editor)

2014-01-01

The Thermal Control Subsystem (TCS) is a key part of the Advanced Plant Habitat (APH) for the International Space Station (ISS). The purpose of this subsystem is to provide thermal control, mainly cooling, to the other APH subsystems. One of these subsystems, the Environmental Control Subsystem (ECS), controls the temperature and humidity of the growth chamber (GC) air to optimize the growth of plants in the habitat. The TCS provides thermal control to the ECS with three cold plates, which use Thermoelectric Coolers (TECs) to heat or cool water as needed to control the air temperature in the ECS system. In order to optimize the TCS design, pressure drop and heat transfer analyses were needed. The analysis for this system was performed in Siemens NX Thermal/Flow software (Version 8.5). NX Thermal/Flow has the ability to perform 1D or 3D flow solutions. The 1D flow solver can be used to represent simple geometries, such as pipes and tubes. The 1D flow method also has the ability to simulate either fluid only or fluid and wall regions. The 3D flow solver is similar to other Computational Fluid Dynamic (CFD) software. TCS performance was analyzed using both the 1D and 3D solvers. Each method produced different results, which will be evaluated and discussed.

Shared internal models for feedforward and feedback control.

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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.

Bayesian feedback versus Markovian feedback in a two-level atom

International Nuclear Information System (INIS)

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

2002-01-01

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

Application of a Virtual Reactivity Feedback Control Loop in Non-Nuclear Testing of a Fast Spectrum Reactor

International Nuclear Information System (INIS)

Bragg-Sitton, Shannon M.; Forsbacka, Matthew

2004-01-01

For a compact, fast-spectrum reactor, reactivity feedback is dominated by core deformation at elevated temperature. Given the use of accurate deformation measurement techniques, it is possible to simulate nuclear feedback in non-nuclear electrically heated reactor tests. Implementation of simulated reactivity feedback in response to measured deflection is being tested at the Nasa Marshall Space Flight Center Early Flight Fission Test Facility (EFF-TF). During tests of the SAFE-100 reactor prototype, core deflection was monitored using a high resolution camera. 'Virtual' reactivity feedback was accomplished by applying the results of Monte Carlo calculations (MCNPX) to core deflection measurements; the computational analysis was used to establish the reactivity worth of various core deformations. The power delivered to the SAFE-100 prototype was then adjusted accordingly via kinetics calculations. The work presented in this paper will demonstrate virtual reactivity feedback as core power was increased from 1 kWt to 10 kWt, held approximately constant at 10 kWt, and then allowed to decrease based on the negative thermal reactivity coefficient. (authors)

Feedback control and stabilization experiments on the Texas Experimental Tokamak (TEXT)

International Nuclear Information System (INIS)

Uckan, T.; Carreras, B.A.; Richards, B.; Wootton, A.J.; Bengtson, R.D.; Bravenec, R.; Li, G.X.; Hurwitz, P.D.; Phillips, P.E.; Rowan, W.L.

1994-06-01

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, consisting of electrostatic probes located in the shadow of the limiter, is driven by the local edge potential fluctuations. In general, the edge potential fluctuations are modified in a broad frequency band. Moreover, it is observed that 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. Experiments on the characterization of the global plasma parameters with the edge feedback are discussed. Effects of the edge feedback on the estimated fluctuation-induced radial particle flux as well as on the local plasma parameters are presented

Experience with feedback and feedforward for plasma control in ASDEX

International Nuclear Information System (INIS)

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)

Pilot acute study of feedback-controlled retrograde peristalsis invoked by neural gastric electrical stimulation

International Nuclear Information System (INIS)

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

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

Science.gov (United States)

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.

Resonant passive–active vibration absorber with integrated force feedback control

International Nuclear Information System (INIS)

Høgsberg, Jan; Brodersen, Mark L; Krenk, Steen

2016-01-01

A general format of a two-terminal vibration absorber is constructed by placing a passive unit in series with a hybrid unit, composed of an active actuator in parallel with a second passive element. The displacement of the active actuator is controlled by an integrated feedback control with the difference in force between the two passive elements as input. This format allows passive and active contributions to be combined arbitrarily within the hybrid unit, which results in a versatile absorber format with guaranteed closed-loop stability. This is demonstrated for resonant absorbers with inertia realized passively by a mechanical inerter or actively by the integrated force feedback. Accurate calibration formulae are presented for two particular absorber configurations and the performance is subsequently demonstrated with respect to both equal modal damping and effective response reduction. (technical note)

Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.

Science.gov (United States)

Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping

2017-01-31

In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.

Model-based rational feedback controller design for closed-loop deep brain stimulation of Parkinson's disease

Science.gov (United States)

Gorzelic, P.; Schiff, S. J.; Sinha, A.

2013-04-01

Objective. To explore the use of classical feedback control methods to achieve an improved deep brain stimulation (DBS) algorithm for application to Parkinson's disease (PD). Approach. A computational model of PD dynamics was employed to develop model-based rational feedback controller design. The restoration of thalamocortical relay capabilities to patients suffering from PD is formulated as a feedback control problem with the DBS waveform serving as the control input. Two high-level control strategies are tested: one that is driven by an online estimate of thalamic reliability, and another that acts to eliminate substantial decreases in the inhibition from the globus pallidus interna (GPi) to the thalamus. Control laws inspired by traditional proportional-integral-derivative (PID) methodology are prescribed for each strategy and simulated on this computational model of the basal ganglia network. Main Results. For control based upon thalamic reliability, a strategy of frequency proportional control with proportional bias delivered the optimal control achieved for a given energy expenditure. In comparison, control based upon synaptic inhibitory output from the GPi performed very well in comparison with those of reliability-based control, with considerable further reduction in energy expenditure relative to that of open-loop DBS. The best controller performance was amplitude proportional with derivative control and integral bias, which is full PID control. We demonstrated how optimizing the three components of PID control is feasible in this setting, although the complexity of these optimization functions argues for adaptive methods in implementation. Significance. Our findings point to the potential value of model-based rational design of feedback controllers for Parkinson's disease.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

Directory of Open Access Journals (Sweden)

Wenqing Zhang

2013-01-01

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

Decoupling suspension controller based on magnetic flux feedback.

Science.gov (United States)

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

2013-01-01

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

Feedback control of plasma position in the HL-1 tokamak

International Nuclear Information System (INIS)

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

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

Directory of Open Access Journals (Sweden)

Arne J Nagengast

2010-07-01

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

Deterministic creation and stabilization of entanglement in circuit QED by homodyne-mediated feedback control

International Nuclear Information System (INIS)