Management of linear quadratic regulator optimal control with full-vehicle control case study
Directory of Open Access Journals (Sweden)
Rodrigue Tchamna
2016-09-01
Full Text Available Linear quadratic regulator is a powerful technique for dealing with the control design of any linear and nonlinear system after linearization of the system around an operating point. For small systems, which have fewer state variables, the transformation of the performance index from scalar to matrix form can be straightforward. On the other hand, as the system becomes large with many state variables and controllers, appropriate design and notations should be defined to make it easy to automatically implement the technique for any large system without the need to redesign from scratch every time one requires a new system. The main aim of this article was to deal with this issue. This article shows how to automatically obtain the matrix form of the performance index matrices from the scalar version of the performance index. Control of a full-vehicle in cornering was taken as a case study in this article.
Directory of Open Access Journals (Sweden)
Oscar D. Montoya-Giraldo
2014-01-01
Full Text Available This paper presents the design and simulation of a global controller for the Reaction Wheel Pendulum system using energy regulation and extended linearization methods for the state feedback. The proposed energy regulation is based on the gradual reduction of the energy of the system to reach the unstable equilibrium point. The signal input for this task is obtained from the Lyapunov stability theory. The extended state feedback controller design is used to get a smooth nonlinear function that extends the region of operation to a bigger range, in contrast with the static linear state feedback obtained through the method of approximate linearization around an operating point. The general designed controller operates with a switching between the two control signals depending upon the region of operation; perturbations are applied in the control signal and the (simulated measured variables to verify the robustness and efficiency of the controller. Finally, simulations and tests using the model of the reaction wheel pendulum system, allow to observe the versatility and functionality of the proposed controller in the entire operation region of the pendulum.
Directory of Open Access Journals (Sweden)
Linlin Gao
2015-11-01
Full Text Available From the perspective of vehicle dynamics, the four-wheel independent steering vehicle dynamics stability control method is studied, and a four-wheel independent steering varying parameter linear quadratic regulator control system is proposed with the help of expert control method. In the article, a four-wheel independent steering linear quadratic regulator controller for model following purpose is designed first. Then, by analyzing the four-wheel independent steering vehicle dynamic characteristics and the influence of linear quadratic regulator control parameters on control performance, a linear quadratic regulator control parameter adjustment strategy based on vehicle steering state is proposed to achieve the adaptive adjustment of linear quadratic regulator control parameters. In addition, to further improve the control performance, the proposed varying parameter linear quadratic regulator control system is optimized by genetic algorithm. Finally, simulation studies have been conducted by applying the proposed control system to the 8-degree-of-freedom four-wheel independent steering vehicle dynamics model. The simulation results indicate that the proposed control system has better performance and robustness and can effectively improve the stability and steering safety of the four-wheel independent steering vehicle.
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (DEC VAX VERSION)
Frisch, H.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (CDC VERSION)
Armstrong, E. S.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
Interlink Converter with Linear Quadratic Regulator Based Current Control for Hybrid AC/DC Microgrid
Directory of Open Access Journals (Sweden)
Dwi Riana Aryani
2017-11-01
Full Text Available A hybrid alternate current/direct current (AC/DC microgrid consists of an AC subgrid and a DC subgrid, and the subgrids are connected through the interlink bidirectional AC/DC converter. In the stand-alone operation mode, it is desirable that the interlink bidirectional AC/DC converter manages proportional power sharing between the subgrids by transferring power from the under-loaded subgrid to the over-loaded one. In terms of system security, the interlink bidirectional AC/DC converter takes an important role, so proper control strategies need to be established. In addition, it is assumed that a battery energy storage system is installed in one subgrid, and the coordinated control of interlink bidirectional AC/DC converter and battery energy storage system converter is required so that the power sharing scheme between subgrids becomes more efficient. For the purpose of designing a tracking controller for the power sharing by interlink bidirectional AC/DC converter in a hybrid AC/DC microgrid, a droop control method generates a power reference for interlink bidirectional AC/DC converter based on the deviation of the system frequency and voltages first and then interlink bidirectional AC/DC converter needs to transfer the power reference to the over-loaded subgrid. For efficiency of this power transferring, a linear quadratic regulator with exponential weighting for the current regulation of interlink bidirectional AC/DC converter is designed in such a way that the resulting microgrid can operate robustly against various uncertainties and the power sharing is carried out quickly. Simulation results show that the proposed interlink bidirectional AC/DC converter control strategy provides robust and efficient power sharing scheme between the subgrids without deteriorating the secure system operation.
Pfeil, W. H.; De Los Reyes, G.; Bobula, G. A.
1985-01-01
A power turbine governor was designed for a recent-technology turboshaft engine coupled to a modern, articulated rotor system using Linear Quadratic Regulator (LQR) and Kalman Filter (KF) techniques. A linear, state-space model of the engine and rotor system was derived for six engine power settings from flight idle to maximum continuous. An integrator was appended to the fuel flow input to reduce the steady-state governor error to zero. Feedback gains were calculated for the system states at each power setting using the LQR technique. The main rotor tip speed state is not measurable, so a Kalman Filter of the rotor was used to estimate this state. The crossover of the system was increased to 10 rad/s compared to 2 rad/sec for a current governor. Initial computer simulations with a nonlinear engine model indicate a significant decrease in power turbine speed variation with the LQR governor compared to a conventional governor.
Ultra-Low-Dropout Linear Regulator
Thornton, Trevor; Lepkowski, William; Wilk, Seth
2011-01-01
A radiation-tolerant, ultra-low-dropout linear regulator can operate between -150 and 150 C. Prototype components were demonstrated to be performing well after a total ionizing dose of 1 Mrad (Si). Unlike existing components, the linear regulator developed during this activity is unconditionally stable over all operating regimes without the need for an external compensation capacitor. The absence of an external capacitor reduces overall system mass/volume, increases reliability, and lowers cost. Linear regulators generate a precisely controlled voltage for electronic circuits regardless of fluctuations in the load current that the circuit draws from the regulator.
Optimal control linear quadratic methods
Anderson, Brian D O
2007-01-01
This augmented edition of a respected text teaches the reader how to use linear quadratic Gaussian methods effectively for the design of control systems. It explores linear optimal control theory from an engineering viewpoint, with step-by-step explanations that show clearly how to make practical use of the material.The three-part treatment begins with the basic theory of the linear regulator/tracker for time-invariant and time-varying systems. The Hamilton-Jacobi equation is introduced using the Principle of Optimality, and the infinite-time problem is considered. The second part outlines the
Computational aspects of linear control
2002-01-01
Many devices (we say dynamical systems or simply systems) behave like black boxes: they receive an input, this input is transformed following some laws (usually a differential equation) and an output is observed. The problem is to regulate the input in order to control the output, that is for obtaining a desired output. Such a mechanism, where the input is modified according to the output measured, is called feedback. The study and design of such automatic processes is called control theory. As we will see, the term system embraces any device and control theory has a wide variety of applications in the real world. Control theory is an interdisci plinary domain at the junction of differential and difference equations, system theory and statistics. Moreover, the solution of a control problem involves many topics of numerical analysis and leads to many interesting computational problems: linear algebra (QR, SVD, projections, Schur complement, structured matrices, localization of eigenvalues, computation of the...
Design of Linear-Quadratic-Regulator for a CSTR process
Meghna, P. R.; Saranya, V.; Jaganatha Pandian, B.
2017-11-01
This paper aims at creating a Linear Quadratic Regulator (LQR) for a Continuous Stirred Tank Reactor (CSTR). A CSTR is a common process used in chemical industries. It is a highly non-linear system. Therefore, in order to create the gain feedback controller, the model is linearized. The controller is designed for the linearized model and the concentration and volume of the liquid in the reactor are kept at a constant value as required.
Linear feedback controls the essentials
Haidekker, Mark A
2013-01-01
The design of control systems is at the very core of engineering. Feedback controls are ubiquitous, ranging from simple room thermostats to airplane engine control. Helping to make sense of this wide-ranging field, this book provides a new approach by keeping a tight focus on the essentials with a limited, yet consistent set of examples. Analysis and design methods are explained in terms of theory and practice. The book covers classical, linear feedback controls, and linear approximations are used when needed. In parallel, the book covers time-discrete (digital) control systems and juxtapos
Gain scheduled linear quadratic control for quadcopter
Okasha, M.; Shah, J.; Fauzi, W.; Hanouf, Z.
2017-12-01
This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller.
Consys Linear Control System Design Software Package
International Nuclear Information System (INIS)
Diamantidis, Z.
1987-01-01
This package is created in order to help engineers, researchers, students and all who work on linear control systems. The software includes all time and frequency domain analysises, spectral analysises and networks, active filters and regulators design aids. The programmes are written on Hewlett Packard computer in Basic 4.0
On output regulation for linear systems
Saberi, Ali; Stoorvogel, Antonie Arij; Sannuti, Peddapullaiah
For both continuous- and discrete-time systems, we revisit the output regulation problem for linear systems. We generalize the problem formulation in order • to expand the class of reference or disturbance signals, • to utilize the derivative or feedforward information of reference signals whenever
Emittance control in linear colliders
International Nuclear Information System (INIS)
Ruth, R.D.
1991-01-01
Before completing a realistic design of a next-generation linear collider, the authors must first learn the lessons taught by the first generation, the SLC. Given that, they must make designs fault tolerant by including correction and compensation in the basic design. They must also try to eliminate these faults by improved alignment and stability of components. When these two efforts cross, they have a realistic design. The techniques of generation and control of emittance reviewed here provide a foundation for a design which can obtain the necessary luminosity in a next-generation linear collider
Liang, Lihua; Yuan, Jia; Zhang, Songtao; Zhao, Peng
2018-01-01
This work presents optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem in head seas for wave piercing catamarans (WPC). The proposed LQR based GA control strategy is to select optimal weighting matrices (Q and R). The seakeeping performance of WPC based on proposed algorithm is challenged because of multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides the kinematical constraint problems of WPC, the external conditions must be considered, like the sea disturbance and the actuators (a T-foil and two flaps) control. Moreover, this paper describes the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC. Finally, the real-time (RT) NI CompactRIO embedded controller is selected to test the effectiveness of the actuators based on proposed techniques. In conclusion, simulation and experimental results prove the correctness of the proposed algorithm. The percentage of heave and pitch reductions are more than 18% in different high speeds and bad sea conditions. And the results also verify the feasibility of NI CompactRIO embedded controller.
Controlling bistability by linear augmentation
International Nuclear Information System (INIS)
Sharma, Pooja Rani; Shrimali, Manish Dev; Prasad, Awadhesh; Feudel, Ulrike
2013-01-01
In many bistable oscillating systems only one of the attractors is desired to possessing certain system performance. We present a method to drive a bistable system to a desired target attractor by annihilating the other one. This shift from bistability to monostability is achieved by augmentation of the nonlinear oscillator with a linear control system. For a proper choice of the control function one of the attractors disappears at a critical coupling strength in an control-induced boundary crisis. This transition from bistability to monostability is demonstrated with two paradigmatic examples, the autonomous Chua oscillator and a neuronal system with a periodic input signal.
Controller design approach based on linear programming.
Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa
2013-11-01
This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor. © 2013 ISA. Published by ISA. All rights reserved.
Controller for control of pulsed electron linear accelerator
International Nuclear Information System (INIS)
Bryazgin, A.A.; Faktorovich, B.L.
1995-01-01
The controller is based on the K1816VE31 microprocessor and contains 22-channel integrating 10-digital two-wire analog-to-digital converter, 8-channel 12-digit digital-to-analog converter, 24-digit output register, 16-digit input register pulse generator in the range of 0.5 - 50 Hz with the regulation step of 0.05 Hz and delayed pulse generator. The controller is used for pulsed electron linear accelerator control and is reduced to regulation of the electron beam pulse repetition rate and beam energy. 1 ref., 1 fig
Emittance control in linear colliders
International Nuclear Information System (INIS)
Ruth, R.D.
1991-05-01
In this paper, we discuss the generation and control of the emittance in a next-generation linear collider. The beams are extracted from a damping ring and compressed in length by the first bunch compressor. They are then accelerated in a preaccelerator linac up to an energy appropriate for injection into a high gradient linac. In many designs this pre-acceleration is followed by another bunch compression to reach a short bunch. After acceleration in the linac, the bunches are finally focused transversely to a small spot. The proposed vertical beam sizes at the interaction point are the order of a few nanometers while the horizontal sizes are about a factor of 100 larger. This cross-sectional area is about a factor of 10 4 smaller than the SLC. However, the main question is: what are the tolerances to achieve such a small size, and how do they compare to present techniques for alignment and stability? These tolerances are very design dependent. Alignment tolerances in the linac can vary from 1 μm to 100 μm depending upon the basic approach. In this paper we discuss techniques of emittance generation and control which move alignment tolerances to the 100 μm range
Taming Chaos by Linear Regulation with Bound Estimation
Directory of Open Access Journals (Sweden)
Jiqiang Wang
2015-01-01
Full Text Available Chaos control has become an important area of research and consequently many approaches have been proposed to control chaos. This paper proposes a linear regulation method. Different from the existing approaches is that it can provide region of attraction while estimating the bounding behaviour of the norm of the states. The proposed method also possesses design flexibility and can be easily used to cater for special requirement such that control signal should be generated via single input, single state, static feedback and so forth. The applications to the Tigan system, the Genesio chaotic system, the novel chaotic system, and the Lorenz chaotic system justify the above claims.
Atomic Energy Control Regulations
International Nuclear Information System (INIS)
1992-01-01
This is the consolidated text of the Atomic Energy Control Regulations of 17 March 1960, with amendments to 27 August 1992. The Regulations cover the licensing of nuclear facilities, radiation sources, including uranium mining, radiation protection questions, etc. (NEA)
Ocean Dumping Control Regulations
International Nuclear Information System (INIS)
1978-01-01
These Regulations were made further to the Ocean Dumping Control Act which provides for restrictions in dumping operations. The Regulations contain model applications for permits to dump or load a series of materials. (NEA)
COMPARISON OF LINEAR CONTROLLERS FOR A
DEFF Research Database (Denmark)
Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik C.
2005-01-01
on comparing different linear controllers, based on both simulation and experimental results, to determine what is obtainable when applying standard linear controllers to a hydraulic SISO servo system. The paper furthermore addresses how the performance may be improved by using internal pressure control......In many hydraulic control applications, classic linear controllers are still employed, although there exist a number of number of nonlinear control methods, which may be better suited for handling the intrensic non-linearities often found in hydraulic systems. The focus of this paper is therefore...... and model based information to include feedforward information. The control strategies considered are all based on measurement of piston position and pressure only....
Radiation Control Regulation 1993
International Nuclear Information System (INIS)
1993-01-01
This Regulation (No. 434-1993) was made in pursuance of the Radiation Control Act 1990 and replaces the Active Substances Regulations 1959 repealed by the Act. It entered into force on 1 September 1993. The Regulation specifies that the technical radiation protection definitions have the same meaning as in the 1990 recommendations. The Regulation provides for the licensing of persons to use radioactive substances and radiation apparatus. It prescribes activities which may only be carried out by an accredited radiation expert and regulates the use of radiation apparatus and radioactive substances as well as the disposal and transport of radiation apparatus and radioactive substances. (NEA)
Neural Networks for Non-linear Control
DEFF Research Database (Denmark)
Sørensen, O.
1994-01-01
This paper describes how a neural network, structured as a Multi Layer Perceptron, is trained to predict, simulate and control a non-linear process.......This paper describes how a neural network, structured as a Multi Layer Perceptron, is trained to predict, simulate and control a non-linear process....
Application of non-linear discretetime feedback regulators with assignable closed-loop dynamics
Directory of Open Access Journals (Sweden)
Dubljević Stevan
2003-01-01
Full Text Available In the present work the application of a new approach is demonstrated to a discrete-time state feedback regulator synthesis with feedback linearization and pole-placement for non-linear discrete-time systems. Under the simultaneous implementation of a non-linear coordinate transformation and a non-linear state feedback law computed through the solution of a system of non-linear functional equations, both the feedback linearization and pole-placement design objectives were accomplished. The non-linear state feedback regulator synthesis method was applied to a continuous stirred tank reactor (CSTR under non-isothermal operating conditions that exhibits steady-state multiplicity. The control objective was to regulate the reactor at the middle unstable steady state by manipulating the rate of input heat in the reactor. Simulation studies were performed to evaluate the performance of the proposed non-linear state feedback regulator, as it was shown a non-linear state feedback regulator clearly outperformed a standard linear one, especially in the presence of adverse disturbance under which linear regulation at the unstable steady state was not feasible.
Linearizing control of continuous anaerobic fermentation processes
Energy Technology Data Exchange (ETDEWEB)
Babary, J.P. [Centre National d`Etudes Spatiales (CNES), 31 - Toulouse (France). Laboratoire d`Analyse et d`Architecture des Systemes; Simeonov, I. [Institute of Microbiology, Bulgarian Academy of Sciences (Bulgaria); Ljubenova, V. [Institute of Control and System Research, BAS (Country unknown/Code not available); Dochain, D. [Universite Catholique de Louvain (UCL), Louvain-la-Neuve (Belgium)
1997-09-01
Biotechnological processes (BTP) involve living organisms. In the anaerobic fermentation (biogas production process) the organic matter is mineralized by microorganisms into biogas (methane and carbon dioxide) in the absence of oxygen. The biogas is an additional energy source. Generally this process is carried out as a continuous BTP. It has been widely used in life process and has been confirmed as a promising method of solving some energy and ecological problems in the agriculture and industry. Because of the very restrictive on-line information the control of this process in continuous mode is often reduced to control of the biogas production rate or the concentration of the polluting organic matter (de-pollution control) at a desired value in the presence of some perturbations. Investigations show that classical linear controllers have good performances only in the linear zone of the strongly non-linear input-output characteristics. More sophisticated robust and with variable structure (VSC) controllers are studied. Due to the strongly non-linear dynamics of the process the performances of the closed loop system may be degrading in this case. The aim of this paper is to investigate different linearizing algorithms for control of a continuous non-linear methane fermentation process using the dilution rate as a control action and taking into account some practical implementation aspects. (authors) 8 refs.
Stochastic Linear Quadratic Optimal Control Problems
International Nuclear Information System (INIS)
Chen, S.; Yong, J.
2001-01-01
This paper is concerned with the stochastic linear quadratic optimal control problem (LQ problem, for short) for which the coefficients are allowed to be random and the cost functional is allowed to have a negative weight on the square of the control variable. Some intrinsic relations among the LQ problem, the stochastic maximum principle, and the (linear) forward-backward stochastic differential equations are established. Some results involving Riccati equation are discussed as well
Modern linear control design a time-domain approach
Caravani, Paolo
2013-01-01
This book offers a compact introduction to modern linear control design. The simplified overview presented of linear time-domain methodology paves the road for the study of more advanced non-linear techniques. Only rudimentary knowledge of linear systems theory is assumed - no use of Laplace transforms or frequency design tools is required. Emphasis is placed on assumptions and logical implications, rather than abstract completeness; on interpretation and physical meaning, rather than theoretical formalism; on results and solutions, rather than derivation or solvability. The topics covered include transient performance and stabilization via state or output feedback; disturbance attenuation and robust control; regional eigenvalue assignment and constraints on input or output variables; asymptotic regulation and disturbance rejection. Lyapunov theory and Linear Matrix Inequalities (LMI) are discussed as key design methods. All methods are demonstrated with MATLAB to promote practical use and comprehension. ...
A nonlinear plate control without linearization
Directory of Open Access Journals (Sweden)
Yildirim Kenan
2017-03-01
Full Text Available In this paper, an optimal vibration control problem for a nonlinear plate is considered. In order to obtain the optimal control function, wellposedness and controllability of the nonlinear system is investigated. The performance index functional of the system, to be minimized by minimum level of control, is chosen as the sum of the quadratic 10 functional of the displacement. The velocity of the plate and quadratic functional of the control function is added to the performance index functional as a penalty term. By using a maximum principle, the nonlinear control problem is transformed to solving a system of partial differential equations including state and adjoint variables linked by initial-boundary-terminal conditions. Hence, it is shown that optimal control of the nonlinear systems can be obtained without linearization of the nonlinear term and optimal control function can be obtained analytically for nonlinear systems without linearization.
The maximally achievable accuracy of linear optimal regulators and linear optimal filters
Kwakernaak, H.; Sivan, Raphael
1972-01-01
A linear system with a quadratic cost function, which is a weighted sum of the integral square regulation error and the integral square input, is considered. What happens to the integral square regulation error as the relative weight of the integral square input reduces to zero is investigated. In
Linearizing feedforward/feedback attitude control
Paielli, Russell A.; Bach, Ralph E.
1991-01-01
An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.
Controlling attribute effect in linear regression
Calders, Toon; Karim, Asim A.; Kamiran, Faisal; Ali, Wasif Mohammad; Zhang, Xiangliang
2013-01-01
In data mining we often have to learn from biased data, because, for instance, data comes from different batches or there was a gender or racial bias in the collection of social data. In some applications it may be necessary to explicitly control this bias in the models we learn from the data. This paper is the first to study learning linear regression models under constraints that control the biasing effect of a given attribute such as gender or batch number. We show how propensity modeling can be used for factoring out the part of the bias that can be justified by externally provided explanatory attributes. Then we analytically derive linear models that minimize squared error while controlling the bias by imposing constraints on the mean outcome or residuals of the models. Experiments with discrimination-aware crime prediction and batch effect normalization tasks show that the proposed techniques are successful in controlling attribute effects in linear regression models. © 2013 IEEE.
Controlling attribute effect in linear regression
Calders, Toon
2013-12-01
In data mining we often have to learn from biased data, because, for instance, data comes from different batches or there was a gender or racial bias in the collection of social data. In some applications it may be necessary to explicitly control this bias in the models we learn from the data. This paper is the first to study learning linear regression models under constraints that control the biasing effect of a given attribute such as gender or batch number. We show how propensity modeling can be used for factoring out the part of the bias that can be justified by externally provided explanatory attributes. Then we analytically derive linear models that minimize squared error while controlling the bias by imposing constraints on the mean outcome or residuals of the models. Experiments with discrimination-aware crime prediction and batch effect normalization tasks show that the proposed techniques are successful in controlling attribute effects in linear regression models. © 2013 IEEE.
Controllability analysis of decentralised linear controllers for polymeric fuel cells
Energy Technology Data Exchange (ETDEWEB)
Serra, Maria; Aguado, Joaquin; Ansede, Xavier; Riera, Jordi [Institut de Robotica i Informatica Industrial, Universitat Politecnica de Catalunya - Consejo Superior de Investigaciones Cientificas, C. Llorens i Artigas 4, 08028 Barcelona (Spain)
2005-10-10
This work deals with the control of polymeric fuel cells. It includes a linear analysis of the system at different operating points, the comparison and selection of different control structures, and the validation of the controlled system by simulation. The work is based on a complex non linear model which has been linearised at several operating points. The linear analysis tools used are the Morari resiliency index, the condition number, and the relative gain array. These techniques are employed to compare the controllability of the system with different control structures and at different operating conditions. According to the results, the most promising control structures are selected and their performance with PI based diagonal controllers is evaluated through simulations with the complete non linear model. The range of operability of the examined control structures is compared. Conclusions indicate good performance of several diagonal linear controllers. However, very few have a wide operability range. (author)
An example in linear quadratic optimal control
Weiss, George; Zwart, Heiko J.
1998-01-01
We construct a simple example of a quadratic optimal control problem for an infinite-dimensional linear system based on a shift semigroup. This system has an unbounded control operator. The cost is quadratic in the input and the state, and the weighting operators are bounded. Despite its extreme
Resolving Actuator Redundancy - Control Allocation vs. Linear Quadratic Control
Härkegård, Ola
2004-01-01
When designing control laws for systems with more inputs than controlled variables, one issue to consider is how to deal with actuator redundancy. Two tools for distributing the control effort among a redundant set of actuators are control allocation and linear quadratic control design. In this paper, we investigate the relationship between these two design tools when a quadratic performance index is used for control allocation. We show that for a particular class of linear systems, they give...
Linear Parameter Varying Control of Induction Motors
DEFF Research Database (Denmark)
Trangbæk, Klaus
The subject of this thesis is the development of linear parameter varying (LPV) controllers and observers for control of induction motors. The induction motor is one of the most common machines in industrial applications. Being a highly nonlinear system, it poses challenging control problems...... for high performance applications. This thesis demonstrates how LPV control theory provides a systematic way to achieve good performance for these problems. The main contributions of this thesis are the application of the LPV control theory to induction motor control as well as various contributions...
Perturbation analysis of linear control problems
International Nuclear Information System (INIS)
Petkov, Petko; Konstantinov, Mihail
2017-01-01
The paper presents a brief overview of the technique of splitting operators, proposed by the authors and intended for perturbation analysis of control problems involving unitary and orthogonal matrices. Combined with the technique of Lyapunov majorants and the implementation of the Banach and Schauder fixed point principles, it allows to obtain rigorous non-local perturbation bounds for a set of sensitivity analysis problems. Among them are the reduction of linear systems into orthogonal canonical forms, the feedback synthesis problem and pole assignment problem in particular, as well as other important problems in control theory and linear algebra. Key words: perturbation analysis, canonical forms, feedback synthesis
Quad-copter UAV BLDC Motor Control: Linear v/s non-linear control maps
Directory of Open Access Journals (Sweden)
Deep Parikh
2015-08-01
Full Text Available This paper presents some investigations and comparison of using linear versus non-linear static motor-control maps for the speed control of a BLDC (Brush Less Direct Current motors used in quad-copter UAV (Unmanned Aerial Vehicles. The motor-control map considered here is the inverse of the static map relating motor-speed output to motor-voltage input for a typical out-runner type Brushless DC Motors (BLDCM. Traditionally, quad-copter BLDC motor speed control uses simple linear motor-control map defined by the motor-constant specification. However, practical BLDC motors show non-linear characteristic, particularly when operated across wide operating speed-range as is commonly required in quad-copter UAV flight operations. In this paper, our investigations to compare performance of linear versus non-linear motor-control maps are presented. The investigations cover simulation-based and experimental study of BLDC motor speed control systems for quad-copter vehicle available. First the non-linear map relating rotor RPM to motor voltage for quad-copter BLDC motor is obtained experimentally using an optical speed encoder. The performance of the linear versus non-linear motor-control-maps for the speed control are studied. The investigations also cover study of time-responses for various standard test input-signals e.g. step, ramp and pulse inputs, applied as the reference speed-commands. Also, simple 2-degree of freedom test-bed is developed in our laboratory to help test the open-loop and closed-loop experimental investigations. The non-linear motor-control map is found to perform better in BLDC motor speed tracking control performance and thereby helping achieve better quad-copter roll-angle attitude control.
Linear control theory for gene network modeling.
Shin, Yong-Jun; Bleris, Leonidas
2010-09-16
Systems biology is an interdisciplinary field that aims at understanding complex interactions in cells. Here we demonstrate that linear control theory can provide valuable insight and practical tools for the characterization of complex biological networks. We provide the foundation for such analyses through the study of several case studies including cascade and parallel forms, feedback and feedforward loops. We reproduce experimental results and provide rational analysis of the observed behavior. We demonstrate that methods such as the transfer function (frequency domain) and linear state-space (time domain) can be used to predict reliably the properties and transient behavior of complex network topologies and point to specific design strategies for synthetic networks.
Fleming, P.
1985-01-01
A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.
Linear systems optimal and robust control
Sinha, Alok
2007-01-01
Introduction Overview Contents of the Book State Space Description of a Linear System Transfer Function of a Single Input/Single Output (SISO) System State Space Realizations of a SISO System SISO Transfer Function from a State Space Realization Solution of State Space Equations Observability and Controllability of a SISO System Some Important Similarity Transformations Simultaneous Controllability and Observability Multiinput/Multioutput (MIMO) Systems State Space Realizations of a Transfer Function Matrix Controllability and Observability of a MIMO System Matrix-Fraction Description (MFD) MFD of a Transfer Function Matrix for the Minimal Order of a State Space Realization Controller Form Realization from a Right MFD Poles and Zeros of a MIMO Transfer Function Matrix Stability Analysis State Feedback Control and Optimization State Variable Feedback for a Single Input System Computation of State Feedback Gain Matrix for a Multiinput System State Feedback Gain Matrix for a Multi...
Linear Quadratic Controller with Fault Detection in Compact Disk Players
DEFF Research Database (Denmark)
Vidal, Enrique Sanchez; Hansen, K.G.; Andersen, R.S.
2001-01-01
The design of the positioning controllers in Optical Disk Drives are today subjected to a trade off between an acceptable suppression of external disturbances and an acceptable immunity against surfaces defects. In this paper an algorithm is suggested to detect defects of the disk surface combined...... with an observer and a Linear Quadratic Regulator. As a result, the mentioned trade off is minimized and the playability of the tested compact disk player is considerably enhanced....
Robust Control Design via Linear Programming
Keel, L. H.; Bhattacharyya, S. P.
1998-01-01
This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.
Relative controllability and null controllability of linear delay systems ...
African Journals Online (AJOL)
Necessary and sufficient conditions are established for the relative, absolute controllability and null controllability of the generalized linear delay system and its discrete prototype. The paper presents illuminating examples on previous controllability results by Manitius and Olbrot [7] and carries over the results of Onwuatu [8] ...
Linear control theory for gene network modeling.
Directory of Open Access Journals (Sweden)
Yong-Jun Shin
Full Text Available Systems biology is an interdisciplinary field that aims at understanding complex interactions in cells. Here we demonstrate that linear control theory can provide valuable insight and practical tools for the characterization of complex biological networks. We provide the foundation for such analyses through the study of several case studies including cascade and parallel forms, feedback and feedforward loops. We reproduce experimental results and provide rational analysis of the observed behavior. We demonstrate that methods such as the transfer function (frequency domain and linear state-space (time domain can be used to predict reliably the properties and transient behavior of complex network topologies and point to specific design strategies for synthetic networks.
Genetic design of interpolated non-linear controllers for linear plants
International Nuclear Information System (INIS)
Ajlouni, N.
2000-01-01
The techniques of genetic algorithms are proposed as a means of designing non-linear PID control systems. It is shown that the use of genetic algorithms for this purpose results in highly effective non-linear PID control systems. These results are illustrated by using genetic algorithms to design a non-linear PID control system and contrasting the results with an optimally tuned linear PID controller. (author)
Resonance Control for Future Linear Accelerators
Energy Technology Data Exchange (ETDEWEB)
Schappert, Warren [Fermilab
2017-05-01
Many of the next generation of particle accelerators (LCLS II, PIP II) are designed for relatively low beam loading. Low beam loading requirement means the cavities can operate with narrow bandwidths, minimizing capital and base operational costs of the RF power system. With such narrow bandwidths, however, cavity detuning from microphonics or dynamic Lorentz Force Detuning becomes a significant factor, and in some cases can significantly increase both the acquisition cost and the operational cost of the machine. In addition to the efforts to passive environmental detuning reduction (microphonics) active resonance control for the SRF cavities for next generation linear machine will be required. State of the art in the field of the SRF Cavity active resonance control and the results from the recent efforts at FNAL will be presented in this talk.
Optimal Control of Switching Linear Systems
Directory of Open Access Journals (Sweden)
Ali Benmerzouga
2004-06-01
Full Text Available A solution to the control of switching linear systems with input constraints was given in Benmerzouga (1997 for both the conventional enumeration approach and the new approach. The solution given there turned out to be not unique. The main objective in this work is to determine the optimal control sequences {Ui(k , i = 1,..., M ; k = 0, 1, ..., N -1} which transfer the system from a given initial state X0 to a specific target state XT (or to be as close as possible by using the same discrete time solution obtained in Benmerzouga (1997 and minimizing a running cost-to-go function. By using the dynamic programming technique, the optimal solution is found for both approaches given in Benmerzouga (1997. The computational complexity of the modified algorithm is also given.
Well logging system with linearity control
International Nuclear Information System (INIS)
Jones, J.M.
1973-01-01
Apparatus is described for controlling the gain of a nuclear well logging system comprising: (1) means for measuring the energy spectrum of gamma rays produced by earth formation materials surrounding a well borehole; (2) means for measuring the number of counts of a gamma rays having an energy falling within each of at least two predetermined energy band portions of the gamma ray energy spectrum; (3) means for generating a signal proportional to the ratio of the gamma ray counts and for comparing the ratio signal with at least one constant ratio calibration signal; (4) means for generating an error signal representative of the difference of the ratio signal and the constant ratio calibration signal; and (5) means for using the error signal to control the linearity of the well logging system. (author)
Operator approach to linear control systems
Cheremensky, A
1996-01-01
Within the framework of the optimization problem for linear control systems with quadratic performance index (LQP), the operator approach allows the construction of a systems theory including a number of particular infinite-dimensional optimization problems with hardly visible concreteness. This approach yields interesting interpretations of these problems and more effective feedback design methods. This book is unique in its emphasis on developing methods for solving a sufficiently general LQP. Although this is complex material, the theory developed here is built on transparent and relatively simple principles, and readers with less experience in the field of operator theory will find enough material to give them a good overview of the current state of LQP theory and its applications. Audience: Graduate students and researchers in the fields of mathematical systems theory, operator theory, cybernetics, and control systems.
Relative null controllability of linear systems with multiple delays in ...
African Journals Online (AJOL)
varying multiple delays in state and control are developed. If the uncontrolled system is uniformly asymptotically stable, and if the linear system is controllable, then the linear system is null controllable. Journal of the Nigerian Association of ...
Hybrid vehicle optimal control : Linear interpolation and singular control
Delprat, S.; Hofman, T.
2015-01-01
Hybrid vehicle energy management can be formulated as an optimal control problem. Considering that the fuel consumption is often computed using linear interpolation over lookup table data, a rigorous analysis of the necessary conditions provided by the Pontryagin Minimum Principle is conducted. For
Air pollution control regulation. [Japan
Energy Technology Data Exchange (ETDEWEB)
Sogabe, K
1975-05-01
The Basic Law for Environmental Pollution Control is reviewed. The fundamental ideology of pollution control, range of pollution control, environmental standards, and national policy concerning pollution control are discussed. The content of the Air Pollution Control Law is summarized. The purpose of the Air Pollution Control Law, a list of substances regulated by the law, the type of facilities regulated by the law, control standards, type of control means, and emission standards for flue gas (sulfur oxides, particulate matters, and toxic substances) are described. The environmental standard for each pollutant and the target date for achieving the environmental standard are also given. The list of cities where the 7-rank K value control regulation for SOx is enforced is given. The procedure for registration in compliance with the law is also described.
PWR control system design using advanced linear and non-linear methodologies
International Nuclear Information System (INIS)
Rabindran, N.; Whitmarsh-Everiss, M.J.
2004-01-01
Consideration is here given to the methodology deployed for non-linear heuristic analysis in the time domain supported by multi-variable linear control system design methods for the purposes of operational dynamics and control system analysis. This methodology is illustrated by the application of structural singular value μ analysis to Pressurised Water Reactor control system design. (author)
Model Predictive Control for Linear Complementarity and Extended Linear Complementarity Systems
Directory of Open Access Journals (Sweden)
Bambang Riyanto
2005-11-01
Full Text Available In this paper, we propose model predictive control method for linear complementarity and extended linear complementarity systems by formulating optimization along prediction horizon as mixed integer quadratic program. Such systems contain interaction between continuous dynamics and discrete event systems, and therefore, can be categorized as hybrid systems. As linear complementarity and extended linear complementarity systems finds applications in different research areas, such as impact mechanical systems, traffic control and process control, this work will contribute to the development of control design method for those areas as well, as shown by three given examples.
Voltage-regulating constant-current sources in a linear induction accelerator
International Nuclear Information System (INIS)
Zhao Juan; Cao Kefeng; Deng Jianjun; Zhu Lijun; Yang Jia; Ye Chao; Huang Bin; Cao Ningxiang; Dong Jinxuan; Zhang Jichang; Yu Zhiguo; Chen Min
2002-01-01
Constant-current Sources are one of key units in a linear induction accelerator. The requirements for the sources are to supply stable direct current of high power for the induction coil, be easy to computer-control and highly stable and reliable. Applying the technique of linear current source regulating in series, the primary voltage of the power transformer is regulated through an MJYS-JL-350A type three-phase alterative voltage-regulating module. The output current variation is 300-500 A when the load variation is 0.06-0.1 Ω and the voltage drop of the regulator tube is controlled within 8 V±2V when the variation of mains voltage is in ±10%. Both the current ripple and stability meet the technical requirements. The constant-current sources are controlled through an industrial controller. For each of the constant-current sources has a smallest system comprised of 8051 which is communication-controlled through a RS-485 interface, the sources can be controlled remotely
Regulation on control systems tests
International Nuclear Information System (INIS)
Grau, J.; Navarro, J.M.
1978-01-01
Requirements under regulation applicable to the testing of control systems and controlled equipments in the case of USA nuclear projects are examined. They are reviewed, in particular, the following standards and criteria: 10 Code of Federal Regulations 50, Appendix A, General Design Criteria 20 and 21; IEEE Standards 279 and 308; IEEE Standard 338; US Regulatory Guides 1.22 and 1.118.(J.E.de C.)
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....
Control of Coherent Instabilities by Linear Coupling
Cappi, R; Möhl, D
2001-01-01
One of the main challenges in the design of high-energy colliders is the very high luminosity necessary to provide significant event rates. This imposes strong constraints to achieve and preserve beams of high brightness, i.e. intensity to emittance ratio, all along the injector chain. Amongst the phenomena that can blow up and even destroy the beam are transverse coherent instabilities. Two methods are widely used to damp these instabilities. The first one is Landau damping by non-linearities. The second consists in using an electronic feedback system. However, non-linearities are harmful to single-particle motion due to resonance phenomena, and powerful wideband feedback systems are expensive. It is shown in this paper that linear coupling is a further method that can be used to damp transverse coherent instabilities. The theory of collective motion is outlined, including the coupling of instability rise and damping rates, chromaticity and Landau damping. Experimental results obtained at the CERN PS are rep...
Feedback linearizing control of a MIMO power system
Ilyes, Laszlo
Prior research has demonstrated that either the mechanical or electrical subsystem of a synchronous electric generator may be controlled using single-input single-output (SISO) nonlinear feedback linearization. This research suggests a new approach which applies nonlinear feedback linearization to a multi-input multi-output (MIMO) model of the synchronous electric generator connected to an infinite bus load model. In this way, the electrical and mechanical subsystems may be linearized and simultaneously decoupled through the introduction of a pair of auxiliary inputs. This allows well known, linear, SISO control methods to be effectively applied to the resulting systems. The derivation of the feedback linearizing control law is presented in detail, including a discussion on the use of symbolic math processing as a development tool. The linearizing and decoupling properties of the control law are validated through simulation. And finally, the robustness of the control law is demonstrated.
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....
Energy Technology Data Exchange (ETDEWEB)
Kenne, Godpromesse [Laboratoire d' Automatique et d' Informatique Appliquee (LAIA), Departement de Genie Electrique, Universite de Dschang, B.P. 134 Bandjoun, Cameroun; Goma, Raphael; Lamnabhi-Lagarrigue, Francoise [Laboratoire des Signaux et Systemes (L2S), CNRS-SUPELEC, Universite Paris XI, 3 Rue Joliot Curie, 91192 Gif-sur-Yvette (France); Nkwawo, Homere [Departement GEII, Universite Paris XIII, IUT Villetaneuse, 99 Avenue Jean Baptiste Clement, 93430 Villetaneuse (France); Arzande, Amir; Vannier, Jean Claude [Departement Energie, Ecole Superieure d' Electricite-SUPELEC, 3 Rue Joliot Curie, 91192 Gif-sur-Yvette (France)
2010-09-15
In this paper, a simple improved direct feedback linearization design method for transient stability and voltage regulation of power systems is discussed. Starting with the classical direct feedback linearization technique currently applied to power systems, an adaptive nonlinear excitation control of synchronous generators is proposed, which is new and effective for engineering. The power angle and mechanical power input are not assumed to be available. The proposed method is based on a standard third-order model of a synchronous generator which requires only information about the physical available measurements of angular speed, active electric power and generator terminal voltage. Experimental results of a practical power system show that fast response, robustness, damping, steady-state and transient stability as well as voltage regulation are all achieved satisfactorily. (author)
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.
Compressor Surge Control Design Using Linear Matrix Inequality Approach
Uddin, Nur; Gravdahl, Jan Tommy
2017-01-01
A novel design for active compressor surge control system (ASCS) using linear matrix inequality (LMI) approach is presented and including a case study on piston-actuated active compressor surge control system (PAASCS). The non-linear system dynamics of the PAASCS is transformed into linear parameter varying (LPV) system dynamics. The system parameters are varying as a function of the compressor performance curve slope. A compressor surge stabilization problem is then formulated as a LMI probl...
Entry: direct control or regulation?
Perotti, E.; Vorage, M.
2009-01-01
We model a setting in which citizens form coalitions to seek preferential entry to a given market. The lower entry the higher firm profits and political contributions, but the lower social welfare. Politicians choose to either control entry directly and be illegally bribed, or regulate entry using a
ORACLS: A system for linear-quadratic-Gaussian control law design
Armstrong, E. S.
1978-01-01
A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.
Input/Output linearizing control of a nuclear reactor
International Nuclear Information System (INIS)
Perez C, V.
1994-01-01
The feedback linearization technique is an approach to nonlinear control design. The basic idea is to transform, by means of algebraic methods, the dynamics of a nonlinear control system into a full or partial linear system. As a result of this linearization process, the well known basic linear control techniques can be used to obtain some desired dynamic characteristics. When full linearization is achieved, the method is referred to as input-state linearization, whereas when partial linearization is achieved, the method is referred to as input-output linearization. We will deal with the latter. By means of input-output linearization, the dynamics of a nonlinear system can be decomposed into an external part (input-output), and an internal part (unobservable). Since the external part consists of a linear relationship among the output of the plant and the auxiliary control input mentioned above, it is easy to design such an auxiliary control input so that we get the output to behave in a predetermined way. Since the internal dynamics of the system is known, we can check its dynamics behavior on order of to ensure that the internal states are bounded. The linearization method described here can be applied to systems with one-input/one-output, as well as to systems with multiple-inputs/multiple-outputs. Typical control problems such as stabilization and reference path tracking can be solved using this technique. In this work, the input/output linearization theory is presented, as well as the problem of getting the output variable to track some desired trayectories. Further, the design of an input/output control system applied to the nonlinear model of a research nuclear reactor is included, along with the results obtained by computer simulation. (Author)
Linear System Control Using Stochastic Learning Automata
Ziyad, Nigel; Cox, E. Lucien; Chouikha, Mohamed F.
1998-01-01
This paper explains the use of a Stochastic Learning Automata (SLA) to control switching between three systems to produce the desired output response. The SLA learns the optimal choice of the damping ratio for each system to achieve a desired result. We show that the SLA can learn these states for the control of an unknown system with the proper choice of the error criteria. The results of using a single automaton are compared to using multiple automata.
Euclidean null controllability of linear systems with delays in state ...
African Journals Online (AJOL)
Sufficient conditions are developed for the Euclidean controllability of linear systems with delay in state and in control. Namely, if the uncontrolled system is uniformly asymptotically stable and the control equation proper, then the control system is Euclidean null controllable. Journal of the Nigerian Association of ...
High performance computing in linear control
International Nuclear Information System (INIS)
Datta, B.N.
1993-01-01
Remarkable progress has been made in both theory and applications of all important areas of control. The theory is rich and very sophisticated. Some beautiful applications of control theory are presently being made in aerospace, biomedical engineering, industrial engineering, robotics, economics, power systems, etc. Unfortunately, the same assessment of progress does not hold in general for computations in control theory. Control Theory is lagging behind other areas of science and engineering in this respect. Nowadays there is a revolution going on in the world of high performance scientific computing. Many powerful computers with vector and parallel processing have been built and have been available in recent years. These supercomputers offer very high speed in computations. Highly efficient software, based on powerful algorithms, has been developed to use on these advanced computers, and has also contributed to increased performance. While workers in many areas of science and engineering have taken great advantage of these hardware and software developments, control scientists and engineers, unfortunately, have not been able to take much advantage of these developments
LQG Controller Design for Pitch Regulated Variable Speed Wind Turbine
DEFF Research Database (Denmark)
Imran, Raja Muhammed; Hussain, Dil Muhammad Akbar; Chen, Zhe
2014-01-01
Variable speed wind turbine is a complex and nonlinear system, a sophisticated control is required to meet the challenges posed by these systems. This paper is presenting a pitch regulation strategy based on LQG (Linear Quadratic Gaussian) to regulate turbine at its rated power and to reject...
Directory of Open Access Journals (Sweden)
Widowati
2012-07-01
Full Text Available The applicability of parameter varying reduced order controllers to aircraft model is proposed. The generalization of the balanced singular perturbation method of linear time invariant (LTI system is used to reduce the order of linear parameter varying (LPV system. Based on the reduced order model the low-order LPV controller is designed by using synthesis technique. The performance of the reduced order controller is examined by applying it to lateral-directional control of aircraft model having 20th order. Furthermore, the time responses of the closed loop system with reduced order LPV controllers and reduced order LTI controller is compared. From the simulation results, the 8th order LPV controller can maintain stability and to provide the same level of closed-loop systems performance as the full-order LPV controller. It is different with the reduced-order LTI controller that cannot maintain stability and performance for all allowable parameter trajectories.
Evaluation of Linear Regression Simultaneous Myoelectric Control Using Intramuscular EMG.
Smith, Lauren H; Kuiken, Todd A; Hargrove, Levi J
2016-04-01
The objective of this study was to evaluate the ability of linear regression models to decode patterns of muscle coactivation from intramuscular electromyogram (EMG) and provide simultaneous myoelectric control of a virtual 3-DOF wrist/hand system. Performance was compared to the simultaneous control of conventional myoelectric prosthesis methods using intramuscular EMG (parallel dual-site control)-an approach that requires users to independently modulate individual muscles in the residual limb, which can be challenging for amputees. Linear regression control was evaluated in eight able-bodied subjects during a virtual Fitts' law task and was compared to performance of eight subjects using parallel dual-site control. An offline analysis also evaluated how different types of training data affected prediction accuracy of linear regression control. The two control systems demonstrated similar overall performance; however, the linear regression method demonstrated improved performance for targets requiring use of all three DOFs, whereas parallel dual-site control demonstrated improved performance for targets that required use of only one DOF. Subjects using linear regression control could more easily activate multiple DOFs simultaneously, but often experienced unintended movements when trying to isolate individual DOFs. Offline analyses also suggested that the method used to train linear regression systems may influence controllability. Linear regression myoelectric control using intramuscular EMG provided an alternative to parallel dual-site control for 3-DOF simultaneous control at the wrist and hand. The two methods demonstrated different strengths in controllability, highlighting the tradeoff between providing simultaneous control and the ability to isolate individual DOFs when desired.
On-line control models for the Stanford Linear Collider
International Nuclear Information System (INIS)
Sheppard, J.C.; Helm, R.H.; Lee, M.J.; Woodley, M.D.
1983-03-01
Models for computer control of the SLAC three-kilometer linear accelerator and damping rings have been developed as part of the control system for the Stanford Linear Collider. Some of these models have been tested experimentally and implemented in the control program for routine linac operations. This paper will describe the development and implementation of these models, as well as some of the operational results
Structured Control of Affine Linear Parameter Varying Systems
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Stoustrup, Jakob
2011-01-01
This paper presents a new procedure to design structured controllers for discrete-time afﬁne linear parametervarying systems (A LPV). The class of control structures includes decentralized of any order, ﬁxed order output feedback, simultaneous plant-control design, among others. A parametervarying...... non-convex condition for an upper bound on the induced L2-norm performance is solved by an iterative linear matrix inequalities (LMI) optimization algorithm. Numerical examples demostrate the effectiveness of the proposed approach....
Practical Implementations of Advanced Process Control for Linear Systems
DEFF Research Database (Denmark)
Knudsen, Jørgen K . H.; Huusom, Jakob Kjøbsted; Jørgensen, John Bagterp
2013-01-01
This paper describes some practical problems encountered, when implementing Advanced Process Control, APC, schemes on linear processes. The implemented APC controllers discussed will be LQR, Riccati MPC and Condensed MPC controllers illustrated by simulation of the Four Tank Process and a lineari......This paper describes some practical problems encountered, when implementing Advanced Process Control, APC, schemes on linear processes. The implemented APC controllers discussed will be LQR, Riccati MPC and Condensed MPC controllers illustrated by simulation of the Four Tank Process...... on pilot plant equipment on the department of Chemical Engineering DTU Lyngby....
An online re-linearization scheme suited for Model Predictive and Linear Quadratic Control
DEFF Research Database (Denmark)
Henriksen, Lars Christian; Poulsen, Niels Kjølstad
This technical note documents the equations for primal-dual interior-point quadratic programming problem solver used for MPC. The algorithm exploits the special structure of the MPC problem and is able to reduce the computational burden such that the computational burden scales with prediction...... horizon length in a linear way rather than cubic, which would be the case if the structure was not exploited. It is also shown how models used for design of model-based controllers, e.g. linear quadratic and model predictive, can be linearized both at equilibrium and non-equilibrium points, making...
Automatic frequency control system for driving a linear accelerator
International Nuclear Information System (INIS)
Helgesson, A.L.
1976-01-01
An automatic frequency control system is described for maintaining the drive frequency applied to a linear accelerator to produce maximum particle output from the accelerator. The particle output amplitude is measured and the frequency of the radio frequency source powering the linear accelerator is adjusted to maximize particle output amplitude
Use of probabilistic weights to enhance linear regression myoelectric control.
Smith, Lauren H; Kuiken, Todd A; Hargrove, Levi J
2015-12-01
Clinically available prostheses for transradial amputees do not allow simultaneous myoelectric control of degrees of freedom (DOFs). Linear regression methods can provide simultaneous myoelectric control, but frequently also result in difficulty with isolating individual DOFs when desired. This study evaluated the potential of using probabilistic estimates of categories of gross prosthesis movement, which are commonly used in classification-based myoelectric control, to enhance linear regression myoelectric control. Gaussian models were fit to electromyogram (EMG) feature distributions for three movement classes at each DOF (no movement, or movement in either direction) and used to weight the output of linear regression models by the probability that the user intended the movement. Eight able-bodied and two transradial amputee subjects worked in a virtual Fitts' law task to evaluate differences in controllability between linear regression and probability-weighted regression for an intramuscular EMG-based three-DOF wrist and hand system. Real-time and offline analyses in able-bodied subjects demonstrated that probability weighting improved performance during single-DOF tasks (p linear regression control. Use of probability weights can improve the ability to isolate individual during linear regression myoelectric control, while maintaining the ability to simultaneously control multiple DOFs.
Design of Linear Control System for Wind Turbine Blade Fatigue Testing
DEFF Research Database (Denmark)
Toft, Anders; Roe-Poulsen, Bjarke Nørskov; Christiansen, Rasmus
2016-01-01
This paper proposes a linear method for wind turbine blade fatigue testing at Siemens Wind Power. The setup consists of a blade, an actuator (motor and load mass) that acts on the blade with a sinusoidal moment, and a distribution of strain gauges to measure the blade flexure. Based...... difficult to control. To make a linear controller, a different approach has been chosen, namely making a controller which is not regulating on the input frequency, but on the input amplitude. A non-linear mechanical model for the blade and the motor has been constructed. This model has been simplified based...... on the desired output, namely the amplitude of the blade. Furthermore, the model has been linearised to make it suitable for linear analysis and control design methods.\\\\ The controller is designed based on a simplified and linearised model, and its gain parameter determined using pole placement. The model...
Implementation of neural network based non-linear predictive control
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1999-01-01
This paper describes a control method for non-linear systems based on generalized predictive control. Generalized predictive control (GPC) was developed to control linear systems, including open-loop unstable and non-minimum phase systems, but has also been proposed to be extended for the control...... of non-linear systems. GPC is model based and in this paper we propose the use of a neural network for the modeling of the system. Based on the neural network model, a controller with extended control horizon is developed and the implementation issues are discussed, with particular emphasis...... on an efficient quasi-Newton algorithm. The performance is demonstrated on a pneumatic servo system....
Fleming, P.
1983-01-01
A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a nonlinear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer. One concerns helicopter longitudinal dynamics and the other the flight dynamics of an aerodynamically unstable aircraft.
Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots
Institute of Scientific and Technical Information of China (English)
YU Wenyong
2006-01-01
A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.
The graphics software of the Saclay Linear Accelerator control system
International Nuclear Information System (INIS)
Gournay, J.F.
1988-01-01
The graphics software used for the control of the Saclay Linear Accelerator is described. The specific requirements that such a software must have in this environment are outlined and some typical applications are presented. (orig.)
Turnpike theory of continuous-time linear optimal control problems
Zaslavski, Alexander J
2015-01-01
Individual turnpike results are of great interest due to their numerous applications in engineering and in economic theory; in this book the study is focused on new results of turnpike phenomenon in linear optimal control problems. The book is intended for engineers as well as for mathematicians interested in the calculus of variations, optimal control, and in applied functional analysis. Two large classes of problems are studied in more depth. The first class studied in Chapter 2 consists of linear control problems with periodic nonsmooth convex integrands. Chapters 3-5 consist of linear control problems with autonomous nonconvex and nonsmooth integrands. Chapter 6 discusses a turnpike property for dynamic zero-sum games with linear constraints. Chapter 7 examines genericity results. In Chapter 8, the description of structure of variational problems with extended-valued integrands is obtained. Chapter 9 ends the exposition with a study of turnpike phenomenon for dynamic games with extended value integran...
Poos, Alexandra M; Maicher, André; Dieckmann, Anna K; Oswald, Marcus; Eils, Roland; Kupiec, Martin; Luke, Brian; König, Rainer
2016-06-02
Understanding telomere length maintenance mechanisms is central in cancer biology as their dysregulation is one of the hallmarks for immortalization of cancer cells. Important for this well-balanced control is the transcriptional regulation of the telomerase genes. We integrated Mixed Integer Linear Programming models into a comparative machine learning based approach to identify regulatory interactions that best explain the discrepancy of telomerase transcript levels in yeast mutants with deleted regulators showing aberrant telomere length, when compared to mutants with normal telomere length. We uncover novel regulators of telomerase expression, several of which affect histone levels or modifications. In particular, our results point to the transcription factors Sum1, Hst1 and Srb2 as being important for the regulation of EST1 transcription, and we validated the effect of Sum1 experimentally. We compiled our machine learning method leading to a user friendly package for R which can straightforwardly be applied to similar problems integrating gene regulator binding information and expression profiles of samples of e.g. different phenotypes, diseases or treatments. © The Author(s) 2016. Published by Oxford University Press on behalf of Nucleic Acids Research.
Linear-constraint wavefront control for exoplanet coronagraphic imaging systems
Sun, He; Eldorado Riggs, A. J.; Kasdin, N. Jeremy; Vanderbei, Robert J.; Groff, Tyler Dean
2017-01-01
A coronagraph is a leading technology for achieving high-contrast imaging of exoplanets in a space telescope. It uses a system of several masks to modify the diffraction and achieve extremely high contrast in the image plane around target stars. However, coronagraphic imaging systems are very sensitive to optical aberrations, so wavefront correction using deformable mirrors (DMs) is necessary to avoid contrast degradation in the image plane. Electric field conjugation (EFC) and Stroke minimization (SM) are two primary high-contrast wavefront controllers explored in the past decade. EFC minimizes the average contrast in the search areas while regularizing the strength of the control inputs. Stroke minimization calculates the minimum DM commands under the constraint that a target average contrast is achieved. Recently in the High Contrast Imaging Lab at Princeton University (HCIL), a new linear-constraint wavefront controller based on stroke minimization was developed and demonstrated using numerical simulation. Instead of only constraining the average contrast over the entire search area, the new controller constrains the electric field of each single pixel using linear programming, which could led to significant increases in speed of the wavefront correction and also create more uniform dark holes. As a follow-up of this work, another linear-constraint controller modified from EFC is demonstrated theoretically and numerically and the lab verification of the linear-constraint controllers is reported. Based on the simulation and lab results, the pros and cons of linear-constraint controllers are carefully compared with EFC and stroke minimization.
Linear dynamical quantum systems analysis, synthesis, and control
Nurdin, Hendra I
2017-01-01
This monograph provides an in-depth treatment of the class of linear-dynamical quantum systems. The monograph presents a detailed account of the mathematical modeling of these systems using linear algebra and quantum stochastic calculus as the main tools for a treatment that emphasizes a system-theoretic point of view and the control-theoretic formulations of quantum versions of familiar problems from the classical (non-quantum) setting, including estimation and filtering, realization theory, and feedback control. Both measurement-based feedback control (i.e., feedback control by a classical system involving a continuous-time measurement process) and coherent feedback control (i.e., feedback control by another quantum system without the intervention of any measurements in the feedback loop) are treated. Researchers and graduates studying systems and control theory, quantum probability and stochastics or stochastic control whether from backgrounds in mechanical or electrical engineering or applied mathematics ...
Computer Based Dose Control System on Linear Accelerator
International Nuclear Information System (INIS)
Taxwim; Djoko-SP; Widi-Setiawan; Agus-Budi Wiyatna
2000-01-01
The accelerator technology has been used for radio therapy. DokterKaryadi Hospital in Semarang use electron or X-ray linear accelerator (Linac)for cancer therapy. One of the control parameter of linear accelerator isdose rate. It is particle current or amount of photon rate to the target. Thecontrol of dose rate in linac have been done by adjusting repetition rate ofanode pulse train of electron source. Presently the control is stillproportional control. To enhance the quality of the control result (minimalstationer error, velocity and stability), the dose control system has beendesigned by using the PID (Proportional Integral Differential) controlalgorithm and the derivation of transfer function of control object.Implementation of PID algorithm control system is done by giving an input ofdose error (the different between output dose and dose rate set point). Theoutput of control system is used for correction of repetition rate set pointfrom pulse train of electron source anode. (author)
Feedback Linearized Aircraft Control Using Dynamic Cell Structure
Jorgensen, C. C.
1998-01-01
A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.
Observability of linear control systems on Lie groups
International Nuclear Information System (INIS)
Ayala, V.; Hacibekiroglu, A.K.
1995-01-01
In this paper, we study the observability problem for a linear control system Σ on a Lie group G. The drift vector field of Σ is an infinitesimal automorphism of G and the control vectors are elements in the Lie algebra of G. We establish algebraic conditions to characterize locally and globally observability for Σ. As in the linear case on R n , these conditions are independent of the control vector. We give an algorithm on the co-tangent bundle of G to calculate the equivalence class of the neutral element. (author). 6 refs
Optimal traffic control in highway transportation networks using linear programming
Li, Yanning; Canepa, Edward S.; Claudel, Christian G.
2014-01-01
of the Hamilton-Jacobi PDE, the problem of controlling the state of the system on a network link in a finite horizon can be posed as a Linear Program. Assuming all intersections in the network are controllable, we show that the optimization approach can
State Space Reduction of Linear Processes using Control Flow Reconstruction
van de Pol, Jan Cornelis; Timmer, Mark
2009-01-01
We present a new method for fighting the state space explosion of process algebraic specifications, by performing static analysis on an intermediate format: linear process equations (LPEs). Our method consists of two steps: (1) we reconstruct the LPE's control flow, detecting control flow parameters
State Space Reduction of Linear Processes Using Control Flow Reconstruction
van de Pol, Jan Cornelis; Timmer, Mark; Liu, Zhiming; Ravn, Anders P.
2009-01-01
We present a new method for fighting the state space explosion of process algebraic specifications, by performing static analysis on an intermediate format: linear process equations (LPEs). Our method consists of two steps: (1) we reconstruct the LPE's control flow, detecting control flow parameters
Neural Generalized Predictive Control of a non-linear Process
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1998-01-01
The use of neural network in non-linear control is made difficult by the fact the stability and robustness is not guaranteed and that the implementation in real time is non-trivial. In this paper we introduce a predictive controller based on a neural network model which has promising stability qu...... detail and discuss the implementation difficulties. The neural generalized predictive controller is tested on a pneumatic servo sys-tem.......The use of neural network in non-linear control is made difficult by the fact the stability and robustness is not guaranteed and that the implementation in real time is non-trivial. In this paper we introduce a predictive controller based on a neural network model which has promising stability...... qualities. The controller is a non-linear version of the well-known generalized predictive controller developed in linear control theory. It involves minimization of a cost function which in the present case has to be done numerically. Therefore, we develop the numerical algorithms necessary in substantial...
On Optimal Feedback Control for Stationary Linear Systems
International Nuclear Information System (INIS)
Russell, David L.
2010-01-01
We study linear-quadratic optimal control problems for finite dimensional stationary linear systems AX+BU=Z with output Y=CX+DU from the viewpoint of linear feedback solution. We interpret solutions in relation to system robustness with respect to disturbances Z and relate them to nonlinear matrix equations of Riccati type and eigenvalue-eigenvector problems for the corresponding Hamiltonian system. Examples are included along with an indication of extensions to continuous, i.e., infinite dimensional, systems, primarily of elliptic type.
H 2 guaranteed cost control of discrete linear systems
Directory of Open Access Journals (Sweden)
Colmenares W.
2000-01-01
Full Text Available This paper presents necessary and sufficient conditions for the existence of a quadratically stabilizing output feedback controller which also assures H 2 guaranteed cost performance on a discrete linear uncertain system where the uncertainty is of the norm bounded type. The conditions are presented as a collection of linear matrix inequalities.The solution, however requires a search over a scalar parameter space.
Use of probabilistic weights to enhance linear regression myoelectric control
Smith, Lauren H.; Kuiken, Todd A.; Hargrove, Levi J.
2015-12-01
Objective. Clinically available prostheses for transradial amputees do not allow simultaneous myoelectric control of degrees of freedom (DOFs). Linear regression methods can provide simultaneous myoelectric control, but frequently also result in difficulty with isolating individual DOFs when desired. This study evaluated the potential of using probabilistic estimates of categories of gross prosthesis movement, which are commonly used in classification-based myoelectric control, to enhance linear regression myoelectric control. Approach. Gaussian models were fit to electromyogram (EMG) feature distributions for three movement classes at each DOF (no movement, or movement in either direction) and used to weight the output of linear regression models by the probability that the user intended the movement. Eight able-bodied and two transradial amputee subjects worked in a virtual Fitts’ law task to evaluate differences in controllability between linear regression and probability-weighted regression for an intramuscular EMG-based three-DOF wrist and hand system. Main results. Real-time and offline analyses in able-bodied subjects demonstrated that probability weighting improved performance during single-DOF tasks (p < 0.05) by preventing extraneous movement at additional DOFs. Similar results were seen in experiments with two transradial amputees. Though goodness-of-fit evaluations suggested that the EMG feature distributions showed some deviations from the Gaussian, equal-covariance assumptions used in this experiment, the assumptions were sufficiently met to provide improved performance compared to linear regression control. Significance. Use of probability weights can improve the ability to isolate individual during linear regression myoelectric control, while maintaining the ability to simultaneously control multiple DOFs.
Directory of Open Access Journals (Sweden)
Yohannes S.M. Simamora
2014-09-01
Full Text Available A simple approach of active surge control of compression systems is presented. Specifically, nonlinear components of the pressure ratio and rotating speed states of the Moore-Greitzer model are transferred into the input vectors. Subsequently, the compressor characteristic is linearized into two modes, which describe the stable region and the unstable region respectively. As a result, the system’s state and input matrices both appear linear, to which linear realization and analysis are applicable. A linear quadratic regulator plus integrator is then chosen as closed-loop controller. By simulation it was shown that the modified model and characteristics can describe surge behavior, while the closed-loop controller can stabilize the system in the unstable operating region. The last-mentioned was achieved when massflow was 5.38 per cent less than the surge point.
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)
Introduction to geometric nonlinear control; Linearization, observability, decoupling
Energy Technology Data Exchange (ETDEWEB)
Respondek, W [Laboratoire de Mathematiques, INSA de Rouen (France)
2002-07-15
These notes are devoted to the problems of linearization, observability, and decoupling of nonlinear control systems. Together with notes of Bronislaw Jakubczyk in the same volume, they form an introduction to geometric methods in nonlinear control theory. In the first part we discuss equivalence of control systems. We consider various aspects of the problem: state-space and feedback equivalence, local and global equivalence, equivalence to linear and partially linear systems. In the second part we present the notion of observability and give a geometric rank condition for local observability and an algebraic characterization of local observability. We discuss unm observability, decompositions of non-observable systems, and properties of generic observable systems. In the third part we introduce the notion of invariant distributions and discuss disturbance decoupling and input-output decoupling. Many concepts and results are illustrated with examples. (author)
A Design of a Hybrid Non-Linear Control Algorithm
Directory of Open Access Journals (Sweden)
Farinaz Behrooz
2017-11-01
Full Text Available One of the high energy consuming devices in the buildings is the air-conditioning system. Designing a proper controller to consider the thermal comfort and simultaneously control the energy usage of the device will impact on the system energy efficiency and its performance. The aim of this study was to design a Multiple-Input and Multiple-Output (MIMO, non-linear, and intelligent controller on direct expansion air-conditioning system The control algorithm uses the Fuzzy Cognitive Map method as a main controller and the Generalized Predictive Control method is used for assigning the initial weights of the main controller. The results of the proposed controller shows that the controller was successfully designed and works in set point tracking and under disturbance rejection tests. The obtained results of the Generalized Predictive Control-Fuzzy Cognitive Map controller are compared with the previous MIMO Linear Quadratic Gaussian control design on the same direct expansion air-conditioning system under the same conditions. The comparative results indicate energy savings would be achieved with the proposed controller with long-term usage. Energy efficiency and thermal comfort conditions are achieved by the proposed controller.
Development Of Linear Quadratic Regulator Design For Small UAV System
Directory of Open Access Journals (Sweden)
Cho Zin Myint
2015-08-01
Full Text Available The aim of this paper is to know the importance role of stability analysis for both unmanned aircraft system and for all control system. The objective of paper is to develop a method for dynamic stability analysis of the design process. These are categorized intoTo design model and stability analysis of UAV based on the forces and moment equations of aircraft dynamic model To choose the suitable controller for desired altitude of a particular UAV model To analyze the stability condition for aircraft using mathematical modeling and MATLAB. In this paper the analytical model of the longitudinal dynamic of flying wing UAV has been developed using aerodynamic data. The stability characteristics of UAV can be achieved from the system transfer function with LQR controller.
Digital linear control theory for automatic stepsize control
Verhoeven, A.; Beelen, T.G.J.; Hautus, M.L.J.; Maten, ter E.J.W.; Anile, A.M.; Ali, G.; Mascali, G.
2006-01-01
In transient analysis of electrical circuits the solution is computed by means of numerical integration methods. Adaptive stepsize control is used to control the local errors of the numerical solution. For optimization purposes smoother stepsize controllers can ensure that the errors and stepsizes
Enhancing damping of gas bearings using linear parameter-varying control
DEFF Research Database (Denmark)
Theisen, Lukas Roy Svane; Niemann, Hans Henrik; Galeazzi, Roberto
2017-01-01
systems to regulate the injection pressure of the fluid. Due to the strong dependencies of system performance on system parameters, the sought controller should be robust over a large range of operational conditions. This paper addresses the damping enhancement of controllable gas bearings through robust...... control approaches. Through an extensive experimental campaign the paper evaluates two robust controllers, a linear parametervarying (LPV) controller and ∞ controller, on their capability to guarantee stability and performance of a gas bearing across the large operational envelopes in rotational speed...
Optimal traffic control in highway transportation networks using linear programming
Li, Yanning
2014-06-01
This article presents a framework for the optimal control of boundary flows on transportation networks. The state of the system is modeled by a first order scalar conservation law (Lighthill-Whitham-Richards PDE). Based on an equivalent formulation of the Hamilton-Jacobi PDE, the problem of controlling the state of the system on a network link in a finite horizon can be posed as a Linear Program. Assuming all intersections in the network are controllable, we show that the optimization approach can be extended to an arbitrary transportation network, preserving linear constraints. Unlike previously investigated transportation network control schemes, this framework leverages the intrinsic properties of the Halmilton-Jacobi equation, and does not require any discretization or boolean variables on the link. Hence this framework is very computational efficient and provides the globally optimal solution. The feasibility of this framework is illustrated by an on-ramp metering control example.
Linearized models for a new magnetic control in MAST
Energy Technology Data Exchange (ETDEWEB)
Artaserse, G., E-mail: giovanni.artaserse@enea.it [Associazione Euratom-ENEA sulla Fusione, Via Enrico Fermi 45, I-00044 Frascati (RM) (Italy); Maviglia, F.; Albanese, R. [Associazione Euratom-ENEA-CREATE sulla Fusione, Via Claudio 21, I-80125 Napoli (Italy); McArdle, G.J.; Pangione, L. [EURATOM/CCFE Fusion Association, Culham Science Centre, Abingdon, Oxon, OX14 3DB (United Kingdom)
2013-10-15
Highlights: ► We applied linearized models for a new magnetic control on MAST tokamak. ► A suite of procedures, conceived to be machine independent, have been used. ► We carried out model-based simulations, taking into account eddy currents effects. ► Comparison with the EFIT flux maps and the experimental magnetic signals are shown. ► A current driven model for the dynamic simulations of the experimental data have been performed. -- Abstract: The aim of this work is to provide reliable linearized models for the design and assessment of a new magnetic control system for MAST (Mega Ampère Spherical Tokamak) using rtEFIT, which can easily be exported to MAST Upgrade. Linearized models for magnetic control have been obtained using the 2D axisymmetric finite element code CREATE L. MAST linearized models include equivalent 2D axisymmetric schematization of poloidal field (PF) coils, vacuum vessel, and other conducting structures. A plasmaless and a double null configuration have been chosen as benchmark cases for the comparison with experimental data and EFIT reconstructions. Good agreement has been found with the EFIT flux map and the experimental signals coming from magnetic probes with only few mismatches probably due to broken sensors. A suite of procedures (equipped with a user friendly interface to be run even remotely) to provide linearized models for magnetic control is now available on the MAST linux machines. A new current driven model has been used to obtain a state space model having the PF coil currents as inputs. Dynamic simulations of experimental data have been carried out using linearized models, including modelling of the effects of the passive structures, showing a fair agreement. The modelling activity has been useful also to reproduce accurately the interaction between plasma current and radial position control loops.
Linearized models for a new magnetic control in MAST
International Nuclear Information System (INIS)
Artaserse, G.; Maviglia, F.; Albanese, R.; McArdle, G.J.; Pangione, L.
2013-01-01
Highlights: ► We applied linearized models for a new magnetic control on MAST tokamak. ► A suite of procedures, conceived to be machine independent, have been used. ► We carried out model-based simulations, taking into account eddy currents effects. ► Comparison with the EFIT flux maps and the experimental magnetic signals are shown. ► A current driven model for the dynamic simulations of the experimental data have been performed. -- Abstract: The aim of this work is to provide reliable linearized models for the design and assessment of a new magnetic control system for MAST (Mega Ampère Spherical Tokamak) using rtEFIT, which can easily be exported to MAST Upgrade. Linearized models for magnetic control have been obtained using the 2D axisymmetric finite element code CREATE L. MAST linearized models include equivalent 2D axisymmetric schematization of poloidal field (PF) coils, vacuum vessel, and other conducting structures. A plasmaless and a double null configuration have been chosen as benchmark cases for the comparison with experimental data and EFIT reconstructions. Good agreement has been found with the EFIT flux map and the experimental signals coming from magnetic probes with only few mismatches probably due to broken sensors. A suite of procedures (equipped with a user friendly interface to be run even remotely) to provide linearized models for magnetic control is now available on the MAST linux machines. A new current driven model has been used to obtain a state space model having the PF coil currents as inputs. Dynamic simulations of experimental data have been carried out using linearized models, including modelling of the effects of the passive structures, showing a fair agreement. The modelling activity has been useful also to reproduce accurately the interaction between plasma current and radial position control loops
Applied Research of Enterprise Cost Control Based on Linear Programming
Directory of Open Access Journals (Sweden)
Yu Shuo
2015-01-01
This paper researches the enterprise cost control through the linear programming model, and analyzes the restriction factors of the labor of enterprise production, raw materials, processing equipment, sales price, and other factors affecting the enterprise income, so as to obtain an enterprise cost control model based on the linear programming. This model can calculate rational production mode in the case of limited resources, and acquire optimal enterprise income. The production guiding program and scheduling arrangement of the enterprise can be obtained through calculation results, so as to provide scientific and effective guidance for the enterprise production. This paper adds the sensitivity analysis in the linear programming model, so as to learn about the stability of the enterprise cost control model based on linear programming through the sensitivity analysis, and verify the rationality of the model, and indicate the direction for the enterprise cost control. The calculation results of the model can provide a certain reference for the enterprise planning in the market economy environment, which have strong reference and practical significance in terms of the enterprise cost control.
Time-varying linear control for tiltrotor aircraft
Directory of Open Access Journals (Sweden)
Jing ZHANG
2018-04-01
Full Text Available Tiltrotor aircraft have three flight modes: helicopter mode, airplane mode, and transition mode. A tiltrotor has characteristics of highly nonlinear, time-varying flight dynamics and inertial/control couplings in its transition mode. It can transit from the helicopter mode to the airplane mode by tilting its nacelles, and an effective controller is crucial to accomplish tilting transition missions. Longitudinal dynamic characteristics of the tiltrotor are described by a nonlinear Lagrange-form model, which takes into account inertial/control couplings and aerodynamic interferences. Reference commands for airspeed velocity and attitude in the transition mode are calculated dynamically by visiting a command library which is founded in advance by analyzing the flight envelope of the tiltrotor. A Time-Varying Linear (TVL model is obtained using a Taylor-expansion based online linearization technique from the nonlinear model. Subsequently, based on an optimal control concept, an online optimization based control method with input constraints considered is proposed. To validate the proposed control method, three typical tilting transition missions are simulated using the nonlinear model of XV-15 tiltrotor aircraft. Simulation results show that the controller can be used to control the tiltrotor throughout its operating envelop which includes a transition flight, and can also deal with vertical gust disturbances. Keywords: Constrained optimal control, Inertia/control couplings, Tiltrotor aircraft, Time-varying control, Transition mode
Synchronization and Control of Linearly Coupled Singular Systems
Directory of Open Access Journals (Sweden)
Fang Qingxiang
2013-01-01
Full Text Available The synchronization and control problem of linearly coupled singular systems is investigated. The uncoupled dynamical behavior at each node is general and can be chaotic or, otherwise the coupling matrix is not assumed to be symmetrical. Some sufficient conditions for globally exponential synchronization are derived based on Lyapunov stability theory. These criteria, which are in terms of linear matrix inequality (LMI, indicate that the left and right eigenvectors corresponding to eigenvalue zero of the coupling matrix play key roles in the stability analysis of the synchronization manifold. The controllers are designed for state feedback control and pinning control, respectively. Finally, a numerical example is provided to illustrate the effectiveness of the proposed conditions.
Brunton, Steven L; Brunton, Bingni W; Proctor, Joshua L; Kutz, J Nathan
2016-01-01
In this wIn this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control.ork, we explore finite
Design and performance of the Stanford Linear Collider Control System
International Nuclear Information System (INIS)
Melen, R.E.
1984-10-01
The success of the Stanford Linear Collider (SLC) will be dependent upon the implementation of a very large advanced computer-based instrumentation and control system. This paper describes the architectural design of this system as well as a critique of its performance. This critique is based on experience obtained from its use in the control and monitoring of 1/3 of the SLAC linac and in support of an expensive experimental machine physics experimental program. 11 references, 3 figures
Linear Matrix Inequalities in Multirate Control over Networks
Directory of Open Access Journals (Sweden)
Ángel Cuenca
2012-01-01
Full Text Available This paper faces two of the main drawbacks in networked control systems: bandwidth constraints and timevarying delays. The bandwidth limitations are solved by using multirate control techniques. The resultant multirate controller must ensure closed-loop stability in the presence of time-varying delays. Some stability conditions and a state feedback controller design are formulated in terms of linear matrix inequalities. The theoretical proposal is validated in two different experimental environments: a crane-based test-bed over Ethernet, and a maglev based platform over Profibus.
Control of Non-linear Marine Cooling System
DEFF Research Database (Denmark)
Hansen, Michael; Stoustrup, Jakob; Bendtsen, Jan Dimon
2011-01-01
We consider the problem of designing control laws for a marine cooling system used for cooling the main engine and auxiliary components aboard several classes of container vessels. We focus on achieving simple set point control for the system and do not consider compensation of the non-linearitie......-linearities, closed circuit flow dynamics or transport delays that are present in the system. Control laws are therefore designed using classical control theory and the performance of the design is illustrated through two simulation examples....
Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators
DEFF Research Database (Denmark)
Andersen, T.O.; Hansen, M.R.; Conrad, Finn
2004-01-01
control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each......A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation...
Nonlinear discrete-time multirate adaptive control of non-linear vibrations of smart beams
Georgiou, Georgios; Foutsitzi, Georgia A.; Stavroulakis, Georgios E.
2018-06-01
The nonlinear adaptive digital control of a smart piezoelectric beam is considered. It is shown that in the case of a sampled-data context, a multirate control strategy provides an appropriate framework in order to achieve vibration regulation, ensuring the stability of the whole control system. Under parametric uncertainties in the model parameters (damping ratios, frequencies, levels of non linearities and cross coupling, control input parameters), the scheme is completed with an adaptation law deduced from hyperstability concepts. This results in the asymptotic satisfaction of the control objectives at the sampling instants. Simulation results are presented.
Fully Integrated, Low Drop-Out Linear Voltage Regulator in 180 nm CMOS
DEFF Research Database (Denmark)
Yosef-Hay, Yoni; Larsen, Dennis Øland; Llimos Muntal, Pere
2017-01-01
This paper presents a capacitor-free low dropout (LDO) linear regulator based on a dual loop topology. The regulator utilizes two feedback loops to satisfy the challenges of hearing aid devices, which include fast transient performance and small voltage spikes under rapid load-current changes...
A Capacitor-Free, Fast Transient Response Linear Voltage Regulator In a 180nm CMOS
DEFF Research Database (Denmark)
Deleuran, Alexander N.; Lindbjerg, Nicklas; Pedersen, Martin K.
2015-01-01
A 1.8 V capacitor-free linear regulator with fast transient response based on a new topology with a fast and slow regulation loop is presented. The design has been laid out and simulated in a 0.18 µm CMOS process. The design has a low component count and is tailored for system-on-chip integration...
Linear and Non-Linear Control Techniques Applied to Actively Lubricated Journal Bearings
DEFF Research Database (Denmark)
Nicoletti, Rodrigo; Santos, Ilmar
2003-01-01
The main objectives of actively lubricated bearings are the simultaneous reduction of wear and vibration between rotating and stationary machinery parts. For reducing wear and dissipating vibration energy until certain limits, one can count with the conventional hydrodynamic lubrication. For furt......The main objectives of actively lubricated bearings are the simultaneous reduction of wear and vibration between rotating and stationary machinery parts. For reducing wear and dissipating vibration energy until certain limits, one can count with the conventional hydrodynamic lubrication....... For further reduction of shaft vibrations one can count with the active lubrication action, which is based on injecting pressurised oil into the bearing gap through orifices machined in the bearing sliding surface. The design and efficiency of some linear (PD, PI and PID) and non-linear controllers, applied...... vibration reduction of unbalance response of a rigid rotor, where the PD and the non-linear P controllers show better performance for the frequency range of study (0 to 80 Hz). The feasibility of eliminating rotor-bearing instabilities (phenomena of whirl) by using active lubrication is also investigated...
Brunton, Steven L.; Brunton, Bingni W.; Proctor, Joshua L.; Kutz, J. Nathan
2016-01-01
In this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control. PMID:26919740
Banks, H. T.; Ito, K.
1991-01-01
A hybrid method for computing the feedback gains in linear quadratic regulator problem is proposed. The method, which combines use of a Chandrasekhar type system with an iteration of the Newton-Kleinman form with variable acceleration parameter Smith schemes, is formulated to efficiently compute directly the feedback gains rather than solutions of an associated Riccati equation. The hybrid method is particularly appropriate when used with large dimensional systems such as those arising in approximating infinite-dimensional (distributed parameter) control systems (e.g., those governed by delay-differential and partial differential equations). Computational advantages of the proposed algorithm over the standard eigenvector (Potter, Laub-Schur) based techniques are discussed, and numerical evidence of the efficacy of these ideas is presented.
Control system analysis for the perturbed linear accelerator rf system
Sung Il Kwon
2002-01-01
This paper addresses the modeling problem of the linear accelerator RF system in SNS. Klystrons are modeled as linear parameter varying systems. The effect of the high voltage power supply ripple on the klystron output voltage and the output phase is modeled as an additive disturbance. The cavity is modeled as a linear system and the beam current is modeled as the exogenous disturbance. The output uncertainty of the low level RF system which results from the uncertainties in the RF components and cabling is modeled as multiplicative uncertainty. Also, the feedback loop uncertainty and digital signal processing signal conditioning subsystem uncertainties are lumped together and are modeled as multiplicative uncertainty. Finally, the time delays in the loop are modeled as a lumped time delay. For the perturbed open loop system, the closed loop system performance, and stability are analyzed with the PI feedback controller.
CONTROL SYSTEM ANALYSIS FOR THE PERTURBED LINEAR ACCELERATOR RF SYSTEM
International Nuclear Information System (INIS)
SUNG-IL KWON; AMY H. REGAN
2002-01-01
This paper addresses the modeling problem of the linear accelerator RF system in SNS. Klystrons are modeled as linear parameter varying systems. The effect of the high voltage power supply ripple on the klystron output voltage and the output phase is modeled as an additive disturbance. The cavity is modeled as a linear system and the beam current is modeled as the exogenous disturbance. The output uncertainty of the low level RF system which results from the uncertainties in the RF components and cabling is modeled as multiplicative uncertainty. Also, the feedback loop uncertainty and digital signal processing signal conditioning subsystem uncertainties are lumped together and are modeled as multiplicative uncertainty. Finally, the time delays in the loop are modeled as a lumped time delay. For the perturbed open loop system, the closed loop system performance, and stability are analyzed with the PI feedback controller
Linear Model-Based Predictive Control of the LHC 1.8 K Cryogenic Loop
Blanco-Viñuela, E; De Prada-Moraga, C
1999-01-01
The LHC accelerator will employ 1800 superconducting magnets (for guidance and focusing of the particle beams) in a pressurized superfluid helium bath at 1.9 K. This temperature is a severely constrained control parameter in order to avoid the transition from the superconducting to the normal state. Cryogenic processes are difficult to regulate due to their highly non-linear physical parameters (heat capacity, thermal conductance, etc.) and undesirable peculiarities like non self-regulating process, inverse response and variable dead time. To reduce the requirements on either temperature sensor or cryogenic system performance, various control strategies have been investigated on a reduced-scale LHC prototype built at CERN (String Test). Model Based Predictive Control (MBPC) is a regulation algorithm based on the explicit use of a process model to forecast the plant output over a certain prediction horizon. This predicted controlled variable is used in an on-line optimization procedure that minimizes an approp...
Linear parameter varying representations for nonlinear control design
Carter, Lance Huntington
Linear parameter varying (LPV) systems are investigated as a framework for gain-scheduled control design and optimal hybrid control. An LPV system is defined as a linear system whose dynamics depend upon an a priori unknown but measurable exogenous parameter. A gain-scheduled autopilot design is presented for a bank-to-turn (BTT) missile. The method is novel in that the gain-scheduled design does not involve linearizations about operating points. Instead, the missile dynamics are brought to LPV form via a state transformation. This idea is applied to the design of a coupled longitudinal/lateral BTT missile autopilot. The pitch and yaw/roll dynamics are separately transformed to LPV form, where the cross axis states are treated as "exogenous" parameters. These are actually endogenous variables, so such a plant is called "quasi-LPV." Once in quasi-LPV form, a family of robust controllers using mu synthesis is designed for both the pitch and yaw/roll channels, using angle-of-attack and roll rate as the scheduling variables. The closed-loop time response is simulated using the original nonlinear model and also using perturbed aerodynamic coefficients. Modeling and control of engine idle speed is investigated using LPV methods. It is shown how generalized discrete nonlinear systems may be transformed into quasi-LPV form. A discrete nonlinear engine model is developed and expressed in quasi-LPV form with engine speed as the scheduling variable. An example control design is presented using linear quadratic methods. Simulations are shown comparing the LPV based controller performance to that using PID control. LPV representations are also shown to provide a setting for hybrid systems. A hybrid system is characterized by control inputs consisting of both analog signals and discrete actions. A solution is derived for the optimal control of hybrid systems with generalized cost functions. This is shown to be computationally intensive, so a suboptimal strategy is proposed that
International Nuclear Information System (INIS)
Belyakov, V.; Kavin, A.; Rumyantsev, E.; Kharitonov, V.; Misenov, B.; Ovsyannikov, A.; Ovsyannikov, D.; Veremei, E.; Zhabko, A.; Mitrishkin, Y.
1999-01-01
This paper is focused on the linear quadratic Gaussian (LQG) controller synthesis methodology for the ITER plasma current, position and shape control system as well as power derivative management system. It has been shown that some poloidal field (PF) coils have less influence on reference plasma-wall gaps control during plasma disturbances and hence they have been used to reduce total control power derivative by means of the additional non-linear feedback. The design has been done on the basis of linear models. Simulation was provided for non-linear model and results are presented and discussed. (orig.)
Design and control of a linearity-enhanced SMA actuator
International Nuclear Information System (INIS)
Son, Hyung-Min; Tak, Chul-Gon; Lee, Yun-Jung; Kang, Seok-Won; Nam, Tae-Hyun; Kim, Jae-Il
2010-01-01
For the accurate and dexterous operation of mechanical systems, continuous-type actuation, rather than on/off-type actuation, is an indispensable function. However, conventional Ti-Ni alloys present difficulties for continuous positioning control, due to their hysteretic and abruptly changing relationship between strain and temperature. Therefore, this paper proposes a new linearity-enhanced SMA actuator using a temperature-gradient annealed alloy and an inverse hysteresis controller. In comparative experiments, the proposed controller and alloy exhibit superior performance for continuous actuation.
Cazzulani, Gabriele; Resta, Ferruccio; Ripamonti, Francesco
2012-04-01
During the last years, more and more mechanical applications saw the introduction of active control strategies. In particular, the need of improving the performances and/or the system health is very often associated to vibration suppression. This goal can be achieved considering both passive and active solutions. In this sense, many active control strategies have been developed, such as the Independent Modal Space Control (IMSC) or the resonant controllers (PPF, IRC, . . .). In all these cases, in order to tune and optimize the control strategy, the knowledge of the system dynamic behaviour is very important and it can be achieved both considering a numerical model of the system or through an experimental identification process. Anyway, dealing with non-linear or time-varying systems, a tool able to online identify the system parameters becomes a key-point for the control logic synthesis. The aim of the present work is the definition of a real-time technique, based on ARMAX models, that estimates the system parameters starting from the measurements of piezoelectric sensors. These parameters are returned to the control logic, that automatically adapts itself to the system dynamics. The problem is numerically investigated considering a carbon-fiber plate model forced through a piezoelectric patch.
No. 434 - Radiation Control Regulation 1993
International Nuclear Information System (INIS)
1993-01-01
This Regulation, made under the Radiation Control Act 1990, replaces the Radioactive Substances Regulation 1959, repealed by the 1990 Act. It deals with licensing of the use of radioactive substances and radiation apparatus, regulates their use, disposal and transport. It also provides for radiation monitoring and emergency planning. (NEA)
All-Pass Filter Based Linear Voltage Controlled Quadrature Oscillator
Directory of Open Access Journals (Sweden)
Koushick Mathur
2017-01-01
Full Text Available A linear voltage controlled quadrature oscillator implemented from a first-order electronically tunable all-pass filter (ETAF is presented. The active element is commercially available current feedback amplifier (AD844 in conjunction with the relatively new Multiplication Mode Current Conveyor (MMCC device. Electronic tunability is obtained by the control node voltage (V of the MMCC. Effects of the device nonidealities, namely, the parasitic capacitors and the roll-off poles of the port-transfer ratios of the device, are shown to be negligible, even though the usable high-frequency ranges are constrained by these imperfections. Subsequently the filter is looped with an electronically tunable integrator (ETI to implement the quadrature oscillator (QO. Experimental responses on the voltage tunable phase of the filter and the linear-tuning law of the quadrature oscillator up to 9.9 MHz at low THD are verified by simulation and hardware tests.
Monitoring and control system of the Saclay electron linear accelerator
International Nuclear Information System (INIS)
Lafontaine, Antoine
1974-01-01
A description is given of the automatic monitoring and control system of the 60MeV electron linear accelerator of the Centre d'Etudes Nucleaires de Saclay. The paper is mostly concerned with the programmation of the system. However, in a real time device, there is a very close association between computer and electronics, the latter are therefore described in details and make up most of the paper. [fr
The graphics software of the Saclay linear accelerator control system
International Nuclear Information System (INIS)
Gournay, J.F.
1987-06-01
The Control system of the Saclay Linear Accelerator is based upon modern technology hardware. In the graphic software, pictures are created in exactly the same manner for all the graphic devices supported by the system. The informations used to draw a picture are stored in an array called a graphic segment. Three output primitives are used to add graphic material in a segment. Three coordinate systems are defined
Neuromuscular Control of Rapid Linear Accelerations in Fish
2016-06-22
sunfish, Lepomis macrochirus. Animals with flexible bodies, like fishes , face a tradeoff for rapid movements. To produce high forces, they must...2014 30-Apr-2015 Approved for Public Release; Distribution Unlimited Final Report: Neuromuscular Control of Rapid Linear Accelerations in Fish The...Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 swimming, acceleration, fish , muscle, stiffness REPORT DOCUMENTATION PAGE 11. SPONSOR
Generation companies decision-making modeling by linear control theory
International Nuclear Information System (INIS)
Gutierrez-Alcaraz, G.; Sheble, Gerald B.
2010-01-01
This paper proposes four decision-making procedures to be employed by electric generating companies as part of their bidding strategies when competing in an oligopolistic market: naive, forward, adaptive, and moving average expectations. Decision-making is formulated in a dynamic framework by using linear control theory. The results reveal that interactions among all GENCOs affect market dynamics. Several numerical examples are reported, and conclusions are presented. (author)
Delayed Stochastic Linear-Quadratic Control Problem and Related Applications
Directory of Open Access Journals (Sweden)
Li Chen
2012-01-01
stochastic differential equations (FBSDEs with Itô’s stochastic delay equations as forward equations and anticipated backward stochastic differential equations as backward equations. Especially, we present the optimal feedback regulator for the time delay system via a new type of Riccati equations and also apply to a population optimal control problem.
Feedback Linearization Controller for a Wind Energy Power System
Directory of Open Access Journals (Sweden)
Muthana Alrifai
2016-09-01
Full Text Available This paper deals with the control of a doubly-fed induction generator (DFIG-based variable speed wind turbine power system. A system of eight ordinary differential equations is used to model the wind energy conversion system. The generator has a wound rotor type with back-to-back three-phase power converter bridges between its rotor and the grid; it is modeled using the direct-quadrature rotating reference frame with aligned stator flux. An input-state feedback linearization controller is proposed for the wind energy power system. The controller guarantees that the states of the system track the desired states. Simulation results are presented to validate the proposed control scheme. Moreover, further simulation results are shown to investigate the robustness of the proposed control scheme to changes in some of the parameters of the system.
König Ignasiak, Niklas; Habermacher, Lars; Taylor, William R; Singh, Navrag B
2017-01-01
Motor variability is an inherent feature of all human movements and reflects the quality of functional task performance. Depending on the requirements of the motor task, the human sensory-motor system is thought to be able to flexibly govern the appropriate level of variability. However, it remains unclear which neurophysiological structures are responsible for the control of motor variability. In this study, we tested the contribution of cortical cognitive resources on the control of motor variability (in this case postural sway) using a dual-task paradigm and furthermore observed potential changes in control strategy by evaluating Ia-afferent integration (H-reflex). Twenty healthy subjects were instructed to stand relaxed on a force plate with eyes open and closed, as well as while trying to minimize sway magnitude and performing a "subtracting-sevens" cognitive task. In total 25 linear and non-linear parameters were used to evaluate postural sway, which were combined using a Principal Components procedure. Neurophysiological response of Ia-afferent reflex loop was quantified using the Hoffman reflex. In order to assess the contribution of the H-reflex on the sway outcome in the different standing conditions multiple mixed-model ANCOVAs were performed. The results suggest that subjects were unable to further minimize their sway, despite actively focusing to do so. The dual-task had a destabilizing effect on PS, which could partly (by 4%) be counter-balanced by increasing reliance on Ia-afferent information. The effect of the dual-task was larger than the protective mechanism of increasing Ia-afferent information. We, therefore, conclude that cortical structures, as compared to peripheral reflex loops, play a dominant role in the control of motor variability.
Hanks, Brantley R.; Skelton, Robert E.
1991-01-01
Vibration in modern structural and mechanical systems can be reduced in amplitude by increasing stiffness, redistributing stiffness and mass, and/or adding damping if design techniques are available to do so. Linear Quadratic Regulator (LQR) theory in modern multivariable control design, attacks the general dissipative elastic system design problem in a global formulation. The optimal design, however, allows electronic connections and phase relations which are not physically practical or possible in passive structural-mechanical devices. The restriction of LQR solutions (to the Algebraic Riccati Equation) to design spaces which can be implemented as passive structural members and/or dampers is addressed. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical system. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist.
The new control system of the Saclay linear accelerator
International Nuclear Information System (INIS)
Gournay, J.F.; Gourcy, G.; Garreau, F.; Giraud, A.; Rouault, J.
1985-05-01
A new control system for the Safety Linear Accelerator is now being designed. The computer control architecture is based on 3 dedicated VME crates with MC68000 micro-processors: one crate with a disk-based operating system will run the high level application programs and the data base management facilities, another one will manage the man-machine communications and the third one will interface the system to the linac equipments. Communications between the VME microcomputers will be done through 16 bit parallel links. The software is modular and organized in specific layers, the data base is fully distributed. About 90% of the code is written in Fortran
Self-Tuning Control of Linear Systems Followed by Deadzones
Directory of Open Access Journals (Sweden)
K. Kazlauskas
2014-02-01
Full Text Available The aim of the present paper is to increase the efficiency of self-tuning generalized minimum variance (GMV control of linear time-invariant (LTI systems followed by deadzone nonlinearities. An approach, based on reordering of observations to be processed for the reconstruction of an unknown internal signal that acts between LTI system and a static nonlinear block of the closed-loop Wiener system, has been developed. The results of GMV self-tuning control of the second order LTI system with an ordinary deadzone are given.
78 FR 45168 - Acquisition Regulations: Export Control
2013-07-26
... DEPARTMENT OF ENERGY 48 CFR Parts 925, 952 and 970 RIN 1991-AB99 Acquisition Regulations: Export... (78 FR 35195) to amend the Department of Energy Acquisition Regulation (DEAR) to add export control... ``DEAR: Export Control and RIN 1991-AB99,'' by any of the following methods: Federal eRulemaking Portal...
Fuzzy attitude control of solar sail via linear matrix inequalities
Baculi, Joshua; Ayoubi, Mohammad A.
2017-09-01
This study presents a fuzzy tracking controller based on the Takagi-Sugeno (T-S) fuzzy model of the solar sail. First, the T-S fuzzy model is constructed by linearizing the existing nonlinear equations of motion of the solar sail. Then, the T-S fuzzy model is used to derive the state feedback controller gains for the Twin Parallel Distributed Compensation (TPDC) technique. The TPDC tracks and stabilizes the attitude of the solar sail to any desired state in the presence of parameter uncertainties and external disturbances while satisfying actuator constraints. The performance of the TPDC is compared to a PID controller that is tuned using the Ziegler-Nichols method. Numerical simulation shows the TPDC outperforms the PID controller when stabilizing the solar sail to a desired state.
From linear to nonlinear control means: a practical progression.
Gao, Zhiqiang
2002-04-01
With the rapid advance of digital control hardware, it is time to take the simple but effective proportional-integral-derivative (PID) control technology to the next level of performance and robustness. For this purpose, a nonlinear PID and active disturbance rejection framework are introduced in this paper. It complements the existing theory in that (1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; (2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity. Stability analysis, as well as software/hardware test results, are presented. It is evident that the proposed framework lends itself well in seeking innovative solutions to practical problems while maintaining the simplicity and the intuitiveness of the existing technology.
Non-linear control of the output stage of a solar microinverter
Lopez-Santos, Oswaldo; Garcia, Germain; Martinez-Salamero, Luis; Avila-Martinez, Juan C.; Seguier, Lionel
2017-01-01
This paper presents a proposal to control the output stage of a two-stage solar microinverter to inject real power into the grid. The input stage of the microinverter is used to extract the maximum available power of a photovoltaic module enforcing a power source behavior in the DC-link to feed the output stage. The work here reported is devoted to control a grid-connected power source inverter with a high power quality level at the grid side ensuring the power balance of the microinverter regulating the voltage of the DC-link. The proposed control is composed of a sinusoidal current reference generator and a cascade type controller composed by a current tracking loop and a voltage regulation loop. The current reference is obtained using a synchronized generator based on phase locked loop (PLL) which gives the shape, the frequency and phase of the current signal. The amplitude of the reference is obtained from a simple controller regulating the DC-link voltage. The tracking of the current reference is accomplished by means of a first-order sliding mode control law. The solution takes advantage of the rapidity and inherent robustness of the sliding mode current controller allowing a robust behavior in the regulation of the DC-link using a simple linear controller. The analytical expression to determine the power quality indicators of the micro-inverter's output is theoretically solved giving expressions relating the converter parameters. The theoretical approach is validated using simulation and experimental results.
Approximate Controllability for Linear Stochastic Differential Equations in Infinite Dimensions
International Nuclear Information System (INIS)
Goreac, D.
2009-01-01
The objective of the paper is to investigate the approximate controllability property of a linear stochastic control system with values in a separable real Hilbert space. In a first step we prove the existence and uniqueness for the solution of the dual linear backward stochastic differential equation. This equation has the particularity that in addition to an unbounded operator acting on the Y-component of the solution there is still another one acting on the Z-component. With the help of this dual equation we then deduce the duality between approximate controllability and observability. Finally, under the assumption that the unbounded operator acting on the state process of the forward equation is an infinitesimal generator of an exponentially stable semigroup, we show that the generalized Hautus test provides a necessary condition for the approximate controllability. The paper generalizes former results by Buckdahn, Quincampoix and Tessitore (Stochastic Partial Differential Equations and Applications, Series of Lecture Notes in Pure and Appl. Math., vol. 245, pp. 253-260, Chapman and Hall, London, 2006) and Goreac (Applied Analysis and Differential Equations, pp. 153-164, World Scientific, Singapore, 2007) from the finite dimensional to the infinite dimensional case
Non Linear Modelling and Control of Hydraulic Actuators
Directory of Open Access Journals (Sweden)
B. Šulc
2002-01-01
Full Text Available This paper deals with non-linear modelling and control of a differential hydraulic actuator. The nonlinear state space equations are derived from basic physical laws. They are more powerful than the transfer function in the case of linear models, and they allow the application of an object oriented approach in simulation programs. The effects of all friction forces (static, Coulomb and viscous have been modelled, and many phenomena that are usually neglected are taken into account, e.g., the static term of friction, the leakage between the two chambers and external space. Proportional Differential (PD and Fuzzy Logic Controllers (FLC have been applied in order to make a comparison by means of simulation. Simulation is performed using Matlab/Simulink, and some of the results are compared graphically. FLC is tuned in a such way that it produces a constant control signal close to its maximum (or minimum, where possible. In the case of PD control the occurrence of peaks cannot be avoided. These peaks produce a very high velocity that oversteps the allowed values.
On the modelling of linear-assisted DC-DC voltage regulators for photovoltaic solar energy systems
Martínez-García, Herminio; García-Vílchez, Encarna
2017-11-01
This paper shows the modelling of linear-assisted or hybrid (linear & switching) DC/DC voltage regulators. In this kind of regulators, an auxiliary linear regulator is used, which objective is to cancel the ripple at the output voltage and provide fast responses for load variations. On the other hand, a switching DC/DC converter, connected in parallel with the linear regulator, allows to supply almost the whole output current demanded by the load. The objective of this topology is to take advantage of the suitable regulation characteristics that series linear voltage regulators have, but almost achieving the high efficiency that switching DC/DC converters provide. Linear-assisted DC/DC regulators are feedback systems with potential instability. Therefore, their modelling is mandatory in order to obtain design guidelines and assure stability of the implemented power supply system.
Linear parameter-varying control for engineering applications
White, Andrew P; Choi, Jongeun
2013-01-01
The objective of this brief is to carefully illustrate a procedure of applying linear parameter-varying (LPV) control to a class of dynamic systems via a systematic synthesis of gain-scheduling controllers with guaranteed stability and performance. The existing LPV control theories rely on the use of either H-infinity or H2 norm to specify the performance of the LPV system. The challenge that arises with LPV control for engineers is twofold. First, there is no systematic procedure for applying existing LPV control system theory to solve practical engineering problems from modeling to control design. Second, there exists no LPV control synthesis theory to design LPV controllers with hard constraints. For example, physical systems usually have hard constraints on their required performance outputs along with their sensors and actuators. Furthermore, the H-infinity and H2 performance criteria cannot provide hard constraints on system outputs. As a result, engineers in industry could find it difficult to utiliz...
Directory of Open Access Journals (Sweden)
Jan Vittek
2004-01-01
Full Text Available Closed-loop position control of mechanisms directly driven by linear synchronous motors with permanent magnets is presented. The control strategy is based on forced dynamic control, which is a form of feedback linearisation, yielding a non-liner multivariable control law to obtain a prescribed linear speed dynamics together with the vector control condition of mutal orthogonality between the stator current and magnetic flux vectors (assuming perfect estimates of the plant parameters. Outer position control loop is closed via simple feedback with proportional gain. Simulations of the design control sysstem, including the drive with power electronic switching, predict the intended drive performance.
Control of Linear Parameter Varying Systems with Applications
Mohammadpour, Javad
2012-01-01
Control of Linear Parameter Varying Systems with Applications compiles state-of-the-art contributions on novel analytical and computational methods to address system modeling and identification, complexity reduction, performance analysis and control design for time-varying and nonlinear systems in the LPV framework. The book has an interdisciplinary character by emphasizing techniques that can be commonly applied in various engineering fields. It also includes a rich collection of illustrative applications in diverse domains to substantiate the effectiveness of the design methodologies and provide pointers to open research directions. The book is divided into three parts. The first part collects chapters of a more tutorial character on the background of LPV systems modeling and control. The second part gathers chapters devoted to the theoretical advancement of LPV analysis and synthesis methods to cope with the design constraints such as uncertainties and time delay. The third part of the volume showcases con...
Beam Trajectory control of the future Compact LInear Collider beam
Balik, G; Bolzon, B; Brunetti, L; Caron, B; Deleglise, G; Jeremie, A; Le Breton, R; Lottin, J; Pacquet, L
2011-01-01
The future Compact LInear Collider (CLIC) currently under design at CERN (European Organization for Nuclear Research) would create high-energy particle collisions between electrons and positrons, and provide a tool for scientists to address many of the most compelling questions about the fundamental nature of matter, energy, space and time. In accelerating structure, it is well-established that vibrations generated by the ground motion constitute the main limiting factors for reaching the luminosity of 10^34 cm-2s-1. Several methods have been proposed to counteract this phenomena and active vibration controls based on the integration of mechatronic systems into the machine structure is probably one of the most promising. This paper studies the strategy of the vibration suppression. Active vibration control methods, such as optimized parameter of a numerical compensator, adaptive algorithm with real time control are investigated and implemented in the simulation layout. The requirement couldn’t be achieved w...
Yang, Kangjian; Yang, Ping; Wang, Shuai; Dong, Lizhi; Xu, Bing
2018-05-01
We propose a method to identify tip-tilt disturbance model for Linear Quadratic Gaussian control. This identification method based on Levenberg-Marquardt method conducts with a little prior information and no auxiliary system and it is convenient to identify the tip-tilt disturbance model on-line for real-time control. This identification method makes it easy that Linear Quadratic Gaussian control runs efficiently in different adaptive optics systems for vibration mitigation. The validity of the Linear Quadratic Gaussian control associated with this tip-tilt disturbance model identification method is verified by experimental data, which is conducted in replay mode by simulation.
An active interferometer-stabilization scheme with linear phase control
DEFF Research Database (Denmark)
Andresen, Esben Ravn; Krishnamachari, v v; Potma, E O
2006-01-01
We report a simple and robust computer-based active interferometer stabilization scheme which does not require modulation of the interfering beams and relies on an error signal which is linearly related to the optical path difference. In this setup, a non-collinearly propagating reference laser...... beam stabilizes the interference output of the laser light propagating collinearly through the interferometer. This stabilization scheme enables adjustable phase control with 20 ms switching times in the range from 0.02π radians to 6π radians at 632.8 nm....
Linear-quadratic model predictions for tumor control probability
International Nuclear Information System (INIS)
Yaes, R.J.
1987-01-01
Sigmoid dose-response curves for tumor control are calculated from the linear-quadratic model parameters α and Β, obtained from human epidermoid carcinoma cell lines, and are much steeper than the clinical dose-response curves for head and neck cancers. One possible explanation is the presence of small radiation-resistant clones arising from mutations in an initially homogeneous tumor. Using the mutation theory of Delbruck and Luria and of Goldie and Coldman, the authors discuss the implications of such radiation-resistant clones for clinical radiation therapy
The NSW Radiation Control Act and regulation
International Nuclear Information System (INIS)
Towson, J.
1994-01-01
The legal control of radiation safety in New South Wales has undergone substantial change in recent years. The long-awaited Regulation to the 1990 Radiation Control Act came into effect on 1 September 1993 (of necessity, as the Regulation to the previous 1957 Radioactive Substances Act expired on that date). It has not met with unanimous acclaim. The Regulation addresses three broad areas, namely - (a) legal controls - licensing, registration, radiation 'experts'; (b) safety matters - workplace management, monitoring, research exposures, transport/disposal, accidents; and (c) miscellaneous -radiation safety officers, committees, penalties, records, This article offers a personal view of the implications for nuclear medicine practice in New South Wales
Digital linear control theory applied to automatic stepsize control in electrical circuit simulation
Verhoeven, A.; Beelen, T.G.J.; Hautus, M.L.J.; Maten, ter E.J.W.; Di Bucchianico, A.; Mattheij, R.M.M.; Peletier, M.A.
2006-01-01
Adaptive stepsize control is used to control the local errors of the numerical solution. For optimization purposes smoother stepsize controllers are wanted, such that the errors and stepsizes also behave smoothly. We consider approaches from digital linear control theory applied to multistep
Digital linear control theory applied to automatic stepsize control in electrical circuit simulation
Verhoeven, A.; Beelen, T.G.J.; Hautus, M.L.J.; Maten, ter E.J.W.
2005-01-01
Adaptive stepsize control is used to control the local errors of the numerical solution. For optimization purposes smoother stepsize controllers are wanted, such that the errors and stepsizes also behave smoothly. We consider approaches from digital linear control theory applied to multistep
Controllability of linear vector fields on Lie groups
International Nuclear Information System (INIS)
Ayala, V.; Tirao, J.
1994-11-01
In this paper, we shall deal with a linear control system Σ defined on a Lie group G with Lie algebra g. The dynamic of Σ is determined by the drift vector field which is an element in the normalizer of g in the Lie algebra of all smooth vector field on G and by the control vectors which are elements in g considered as left-invariant vector fields. We characterize the normalizer of g identifying vector fields on G with C ∞ -functions defined on G into g. For this class of control systems we study algebraic conditions for the controllability problem. Indeed, we prove that if the drift vector field has a singularity then the Lie algebra rank condition is necessary for the controllability property, but in general this condition does not determine this property. On the other hand, we show that the rank (ad-rank) condition is sufficient for the controllability of Σ. In particular, we extend the fundamental Kalman's theorem when G is an Abelian connected Lie group. Our work is related with a paper of L. Markus and we also improve his results. (author). 7 refs
78 FR 35195 - Acquisition Regulations: Export Control
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The new control system of the Saclay linear accelerator
International Nuclear Information System (INIS)
Gournay, J.F.
1985-10-01
A new control system for the Saclay Linear Accelerator designed during the two past years is now in operation. The computer control architecture is based on 3 dedicated VME crates: one crate with a disk-based operating system runs the high level application programs and the database management facilities, another one manages the man-machine communications and the third one interfaces the system to the linac equipments. At the present time, communications between the VME micro-computers are done through 16 bit parallel links. The software is modular and organized in specific layers, the database is fully distributed. About 90% of the code is written in Fortran. The present status of the system is discussed and the hardware and software developments are described
Approximate analytical relationships for linear optimal aeroelastic flight control laws
Kassem, Ayman Hamdy
1998-09-01
This dissertation introduces new methods to uncover functional relationships between design parameters of a contemporary control design technique and the resulting closed-loop properties. Three new methods are developed for generating such relationships through analytical expressions: the Direct Eigen-Based Technique, the Order of Magnitude Technique, and the Cost Function Imbedding Technique. Efforts concentrated on the linear-quadratic state-feedback control-design technique applied to an aeroelastic flight control task. For this specific application, simple and accurate analytical expressions for the closed-loop eigenvalues and zeros in terms of basic parameters such as stability and control derivatives, structural vibration damping and natural frequency, and cost function weights are generated. These expressions explicitly indicate how the weights augment the short period and aeroelastic modes, as well as the closed-loop zeros, and by what physical mechanism. The analytical expressions are used to address topics such as damping, nonminimum phase behavior, stability, and performance with robustness considerations, and design modifications. This type of knowledge is invaluable to the flight control designer and would be more difficult to formulate when obtained from numerical-based sensitivity analysis.
Application of Minimum-time Optimal Control System in Buck-Boost Bi-linear Converters
Directory of Open Access Journals (Sweden)
S. M. M. Shariatmadar
2017-08-01
Full Text Available In this study, the theory of minimum-time optimal control system in buck-boost bi-linear converters is described, so that output voltage regulation is carried out within minimum time. For this purpose, the Pontryagin's Minimum Principle is applied to find optimal switching level applying minimum-time optimal control rules. The results revealed that by utilizing an optimal switching level instead of classical switching patterns, output voltage regulation will be carried out within minimum time. However, transient energy index of increased overvoltage significantly reduces in order to attain minimum time optimal control in reduced output load. The laboratory results were used in order to verify numerical simulations.
International Nuclear Information System (INIS)
Welander, A.S.; Deranian, R.D.; Humphreys, D.A.; Leuer, J.A.; Walker, M.L.
2005-01-01
Tokamak control design relies on an accurate linear model of the plasma response, which can often dominate the local field variations in regions under active feedback control. For example, when fluxes at selected points on the plasma boundary are regulated in DIII-D, the plasma response to a change in a coil current gives rise to a flux change which can be larger than and opposite to the flux change caused by the coil alone.In the past, rigid plasma models have been used for linear stability and shape control design. In a rigid model, the plasma current profile is considered fixed and moves rigidly in response to control coils to maintain radial and vertical force balance. In a nonrigid model, however, changes in the plasma shape and current profile are taken into account. Such models are expected to be important for future advanced tokamak control design. The present work describes development of a nonrigid plasma response model for high-accuracy multivariable control design and provides comparisons of model predictions against DIII-D experimental data. The linear perturbed plasma response model is calculated rapidly from an existing equilibrium solution
Directory of Open Access Journals (Sweden)
Mohammad Hosein Rezaei
2011-10-01
Full Text Available Transformers perform many functions such as voltage transformation, isolation and noise decoupling. They are indispensable components in electric power distribution system. However, at low frequencies (50 Hz, they are one of the heaviest and the most expensive equipment in an electrical distribution system. Nowadays, electronic power transformers are used instead of conventional power transformers that do voltage transformation and power delivery in power system by power electronic converter. In this paper, the structure of distribution electronic power transformer (DEPT are analized and then paid attention on the design of a linear-quadratic-regulator (LQR with integral action to improve dynamic performance of DEPT with voltage unbalance, voltage sags, voltage harmonics and voltage ﬂicker. The presentation control strategy is simulated by MATLAB/SIMULINK. In addition, the results that are in terms of dc-link reference voltage, input and output voltages clearly show that a better dynamic performance can be achieved by using the LQR method when compared to other techniques.
Sub-optimal control of fuzzy linear dynamical systems under granular differentiability concept.
Mazandarani, Mehran; Pariz, Naser
2018-05-01
This paper deals with sub-optimal control of a fuzzy linear dynamical system. The aim is to keep the state variables of the fuzzy linear dynamical system close to zero in an optimal manner. In the fuzzy dynamical system, the fuzzy derivative is considered as the granular derivative; and all the coefficients and initial conditions can be uncertain. The criterion for assessing the optimality is regarded as a granular integral whose integrand is a quadratic function of the state variables and control inputs. Using the relative-distance-measure (RDM) fuzzy interval arithmetic and calculus of variations, the optimal control law is presented as the fuzzy state variables feedback. Since the optimal feedback gains are obtained as fuzzy functions, they need to be defuzzified. This will result in the sub-optimal control law. This paper also sheds light on the restrictions imposed by the approaches which are based on fuzzy standard interval arithmetic (FSIA), and use strongly generalized Hukuhara and generalized Hukuhara differentiability concepts for obtaining the optimal control law. The granular eigenvalues notion is also defined. Using an RLC circuit mathematical model, it is shown that, due to their unnatural behavior in the modeling phenomenon, the FSIA-based approaches may obtain some eigenvalues sets that might be different from the inherent eigenvalues set of the fuzzy dynamical system. This is, however, not the case with the approach proposed in this study. The notions of granular controllability and granular stabilizability of the fuzzy linear dynamical system are also presented in this paper. Moreover, a sub-optimal control for regulating a Boeing 747 in longitudinal direction with uncertain initial conditions and parameters is gained. In addition, an uncertain suspension system of one of the four wheels of a bus is regulated using the sub-optimal control introduced in this paper. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
International Nuclear Information System (INIS)
Kollar, D.; Kollarova, L.; Khorvat, P.
1976-01-01
A system is elaborated to control stability and linearity of the Cherenkov counter spectrometric channels in an experiment on a magnetic monopole search. Linearity of a light characteristic of a photoelectric multiplier is checked with the help of the calibrated light-strikings of light emitting diodes with flare intensity adjusted by controlling generator voltage across the mercury body. A program algorithm is presented for checking stability and linearity of the Cherenkov counter spectrometric channels which helps to consider the fatigue effects of the photoelectric multiplier resulting from the considerable loads
Controlling multibunch beam breakup in TeV linear colliders
International Nuclear Information System (INIS)
Thompson, K.A.; Ruth, R.D.
1989-01-01
To obtain luminosities near 10 34 cm/sup /minus/2/sec/sup /minus/1/ in a TeV linear collider, it will probably be essential to accelerate many bunches per RF fill in order to increase the energy transfer efficiency. In this paper we study the transverse dynamics of multiple bunches in a linac, and we examine the effects of several methods of controlling the beam blow-up that would otherwise be induced by transverse dipole wake fields. The methods we study are: damping the transverse modes, adjusting the frequency of the dominant transverse modes so that bunches may be placed near zero-crossings of the transverse wake, and bunch-to-bunch variation of the transverse focusing. We study the utility of these cures in the main linacs of an example of a TeV collider. 16 refs., 4 figs., 2 tabs
Predictive IP controller for robust position control of linear servo system.
Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi
2016-07-01
Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Nguyen, Nhan
2013-01-01
This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.
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...
Rana, K. P. S.; Kumar, Vineet; Prasad, Tapan
2018-02-01
Temperature to Frequency Converters (TFCs) are potential signal conditioning circuits (SCCs) usually employed in temperature measurements using thermistors. A NE/SE-566 based SCC has been recently used in several reported works as TFC. Application of NE/SE-566 based SCC requires a mechanism for finding the optimal values of SCC parameters yielding the optimal linearity and desired sensitivity performances. Two classical methods, namely, inflection point and three point have been employed for this task. In this work, the application of these two methods, on NE/SE-566 based SCC in TFC, is investigated in detail and the conditions for its effective usage are developed. Further, since these classical methods offer an approximate linearization of temperature and frequency relationship an application of a linear search based technique is proposed to further enhance the linearity. The implemented linear search method used results obtained from the above mentioned classical methods. The presented simulation studies, for three different industrial grade thermistors, revealed that the linearity enhancements of 21.7, 18.3 and 17.8% can be achieved over the inflection point method and 4.9, 4.7 and 4.7% over the three point method, for an input temperature range of 0-100 °C.
Regulation and Control of Hazardous Wastes
Hans W. Gottinger
1994-01-01
Hazardous waste regulations require disposal in approved dumpsites, where environmental consequences are minimal but entry may be privately very costly. Imperfect policing of regulations makes the socially more costly option illicit disposal preferable form the perspective of the private decision maker. The existence of the waste disposal decision, its economic nature, production independence, and the control over environmental damage are key issues in the economics of hazardous waste managem...
International Nuclear Information System (INIS)
Chiou, J-S; Liu, M-T
2008-01-01
As a powerful machine-learning approach to pattern recognition problems, the support vector machine (SVM) is known to easily allow generalization. More importantly, it works very well in a high-dimensional feature space. This paper presents a nonlinear active suspension controller which achieves a high level performance by compensating for actuator dynamics. We use a linear quadratic regulator (LQR) to ensure optimal control of nonlinear systems. An LQR is used to solve the problem of state feedback and an SVM is used to address the question of the estimation and examination of the state. These two are then combined and designed in a way that outputs feedback control. The real-time simulation demonstrates that an active suspension using the combined SVM-LQR controller provides passengers with a much more comfortable ride and better road handling
Quantum optimal control theory in the linear response formalism
International Nuclear Information System (INIS)
Castro, Alberto; Tokatly, I. V.
2011-01-01
Quantum optimal control theory (QOCT) aims at finding an external field that drives a quantum system in such a way that optimally achieves some predefined target. In practice, this normally means optimizing the value of some observable, a so-called merit function. In consequence, a key part of the theory is a set of equations, which provides the gradient of the merit function with respect to parameters that control the shape of the driving field. We show that these equations can be straightforwardly derived using the standard linear response theory, only requiring a minor generalization: the unperturbed Hamiltonian is allowed to be time dependent. As a result, the aforementioned gradients are identified with certain response functions. This identification leads to a natural reformulation of QOCT in terms of the Keldysh contour formalism of the quantum many-body theory. In particular, the gradients of the merit function can be calculated using the diagrammatic technique for nonequilibrium Green's functions, which should be helpful in the application of QOCT to computationally difficult many-electron problems.
Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins
Directory of Open Access Journals (Sweden)
Subramanian Ramasamy
2010-01-01
Full Text Available The development of a control system for the dive plane control of non-linear biorobotic autonomous underwater vehicles, equipped with pectoral-like fins, is the subject of this paper. Marine animals use pectoral fins for swimming smoothly. The fins are assumed to be oscillating with a combined pitch and heave motion and therefore produce unsteady control forces. The objective is to control the depth of the vehicle. The mean angle of pitch motion of the fin is used as a control variable. A computational-fluid-dynamics-based parameterisation of the fin forces is used for control system design. A robust servo regulator for the control of the depth of the vehicle, based on the non-linear internal model principle, is derived. For the control law derivation, an exosystem of third order is introduced, and the non-linear time-varying biorobotic autonomous underwater vehicle model, including the fin forces, is represented as a non-linear autonomous system in an extended state space. The control system includes the internal model of a k-fold exosystem, where k is a positive integer chosen by the designer. It is shown that in the closed-loop system, all the harmonic components of order up to k of the tracking error are suppressed. Simulation results are presented which show that the servo regulator accomplishes accurate depth control despite uncertainties in the model parameters.
Regulations And Control Of Food And Drugs
International Nuclear Information System (INIS)
Osuide, G.E.; Director General, National Agency For Food And Drugs Administration And Control, Federal Secretariat, Ikoyi, Lagos, Nigeria.
1996-01-01
Effective control of processed food and medicines is crucial for the maintenance of public health. Issues of wholesomeness, quality, efficacy and safety are of paramount concern to both consumers and regulatory agencies alike. Laws and regulatory are put in in place to ensure minimum standards of practice by the various operators in the food and pharmaceutical sub-sectors, such as will guarantee that the regulated products (food, drugs, cosmetics, medical devices, chemicals and bottled water) they deal in satisfy all the parameters of quality, wholesomeness, efficacy and safety. National Agency for Food and Drug Administration and Control (NAFDAC) was established to enforce all relevant laws and regulations on food and drugs among other-regulated products. NAFDAC has put in place appropriate administrative structures and procedures in its efforts to fulfill its mandate. Finally, the agency is in the process of extending its regulatory and control activities to cover irradiated food products in order to safeguard public health
Research on fuzzy PID control to electronic speed regulator
Xu, Xiao-gang; Chen, Xue-hui; Zheng, Sheng-guo
2007-12-01
As an important part of diesel engine, the speed regulator plays an important role in stabilizing speed and improving engine's performance. Because there are so many model parameters of diesel-engine considered in traditional PID control and these parameters present non-linear characteristic.The method to adjust engine speed using traditional PID is not considered as a best way. Especially for the diesel-engine generator set. In this paper, the Fuzzy PID control strategy is proposed. Some problems about its utilization in electronic speed regulator are discussed. A mathematical model of electric control system for diesel-engine generator set is established and the way of the PID parameters in the model to affect the function of system is analyzed. And then it is proposed the differential coefficient must be applied in control design for reducing dynamic deviation of system and adjusting time. Based on the control theory, a study combined control with PID calculation together for turning fuzzy PID parameter is implemented. And also a simulation experiment about electronic speed regulator system was conducted using Matlab/Simulink and the Fuzzy-Toolbox. Compared with the traditional PID Algorithm, the simulated results presented obvious improvements in the instantaneous speed governing rate and steady state speed governing rate of diesel-engine generator set when the fuzzy logic control strategy used.
A Free-Piston Linear Generator Control Strategy for Improving Output Power
Directory of Open Access Journals (Sweden)
Chi Zhang
2018-01-01
Full Text Available This paper presents a control strategy to improve the output power for a single-cylinder two-stroke free-piston linear generator (FPLG. The comprehensive simulation model of this FPLG is established and the operation principle is introduced. The factors that affect the output power are analyzed theoretically. The characteristics of the piston motion are studied. Considering the different features of the piston motion respectively in acceleration and deceleration phases, a ladder-like electromagnetic force control strategy is proposed. According to the status of the linear electric machine, the reference profile of the electromagnetic force is divided into four ladder-like stages during one motion cycle. The piston motions, especially the dead center errors, are controlled by regulating the profile of the electromagnetic force. The feasibility and advantage of the proposed control strategy are verified through comparison analyses with two conventional control strategies via MatLab/Simulink. The results state that the proposed control strategy can improve the output power by around 7–10% with the same fuel cycle mass.
Pacemaker neuron and network oscillations depend on a neuromodulator-regulated linear current
Directory of Open Access Journals (Sweden)
Shunbing Zhao
2010-05-01
Full Text Available Linear leak currents have been implicated in the regulation of neuronal excitability, generation of neuronal and network oscillations, and network state transitions. Yet, few studies have directly tested the dependence of network oscillations on leak currents or explored the role of leak currents on network activity. In the oscillatory pyloric network of decapod crustaceans neuromodulatory inputs are necessary for pacemaker activity. A large subset of neuromodulators is known to activate a single voltage-gated inward current IMI, which has been shown to regulate the rhythmic activity of the network and its pacemaker neurons. Using the dynamic clamp technique, we show that the crucial component of IMI for the generation of oscillatory activity is only a close-to-linear portion of the current-voltage relationship. The nature of this conductance is such that the presence or the absence of neuromodulators effectively regulates the amount of leak current and the input resistance in the pacemaker neurons. When deprived of neuromodulatory inputs, pyloric oscillations are disrupted; yet, a linear reduction of the total conductance in a single neuron within the pacemaker group recovers not only the pacemaker activity in that neuron, but also leads to a recovery of oscillations in the entire pyloric network. The recovered activity produces proper frequency and phasing that is similar to that induced by neuromodulators. These results show that the passive properties of pacemaker neurons can significantly affect their capacity to generate and regulate the oscillatory activity of an entire network, and that this feature is exploited by neuromodulatory inputs.
Directory of Open Access Journals (Sweden)
Renke Han
2014-01-01
Full Text Available It is a very crucial problem to make a microgrid operated reasonably and stably. Considering the nonlinear mathematics model of inverter established in this paper, the input-output feedback linearization method is used to transform the nonlinear mathematics model of inverters to a linear tracking synchronization and consensus regulation control problem. Based on the linear mathematics model and multiagent consensus algorithm, a decentralized coordinated controller is proposed to make amplitudes and angles of voltages from inverters be consensus and active and reactive power shared in the desired ratio. The proposed control is totally distributed because each inverter only requires local and one neighbor’s information with sparse communication structure based on multiagent system. The hybrid consensus algorithm is used to keep the amplitude of the output voltages following the leader and the angles of output voltage as consensus. Then the microgrid can be operated more efficiently and the circulating current between DGs can be effectively suppressed. The effectiveness of the proposed method is proved through simulation results of a typical microgrid system.
Oil pollution control mechanisms - statutes and regulations
International Nuclear Information System (INIS)
1978-04-01
The purpose of this analysis is to provide a detailed picture of federal statutes and regulations, as well as case law, bearing on oil spill prevention and control. Emphasis has been placed on federal action occurring after a spill, although some effort is directed toward review of prevention statutes and regulations. In-depth consideration is given the control of oil pollution under the Federal Water Pollution Control Act but this analysis also touches lightly upon acts that have a lesser effect on oil pollution control. These acts being: The Refuse Act; The Ports and Waterways Safety Act of 1972; The Outer Continental Shelf Lands Act; The Oil Pollution Act of 1961; The Deepwater Port Act of 1974, and The Fish and Wildlife Coordination Act
A Numerical Approximation Framework for the Stochastic Linear Quadratic Regulator on Hilbert Spaces
Energy Technology Data Exchange (ETDEWEB)
Levajković, Tijana, E-mail: tijana.levajkovic@uibk.ac.at, E-mail: t.levajkovic@sf.bg.ac.rs; Mena, Hermann, E-mail: hermann.mena@uibk.ac.at [University of Innsbruck, Department of Mathematics (Austria); Tuffaha, Amjad, E-mail: atufaha@aus.edu [American University of Sharjah, Department of Mathematics (United Arab Emirates)
2017-06-15
We present an approximation framework for computing the solution of the stochastic linear quadratic control problem on Hilbert spaces. We focus on the finite horizon case and the related differential Riccati equations (DREs). Our approximation framework is concerned with the so-called “singular estimate control systems” (Lasiecka in Optimal control problems and Riccati equations for systems with unbounded controls and partially analytic generators: applications to boundary and point control problems, 2004) which model certain coupled systems of parabolic/hyperbolic mixed partial differential equations with boundary or point control. We prove that the solutions of the approximate finite-dimensional DREs converge to the solution of the infinite-dimensional DRE. In addition, we prove that the optimal state and control of the approximate finite-dimensional problem converge to the optimal state and control of the corresponding infinite-dimensional problem.
Mixed H∞ and passive control for linear switched systems via hybrid control approach
Zheng, Qunxian; Ling, Youzhu; Wei, Lisheng; Zhang, Hongbin
2018-03-01
This paper investigates the mixed H∞ and passive control problem for linear switched systems based on a hybrid control strategy. To solve this problem, first, a new performance index is proposed. This performance index can be viewed as the mixed weighted H∞ and passivity performance. Then, the hybrid controllers are used to stabilise the switched systems. The hybrid controllers consist of dynamic output-feedback controllers for every subsystem and state updating controllers at the switching instant. The design of state updating controllers not only depends on the pre-switching subsystem and the post-switching subsystem, but also depends on the measurable output signal. The hybrid controllers proposed in this paper can include some existing ones as special cases. Combine the multiple Lyapunov functions approach with the average dwell time technique, new sufficient conditions are obtained. Under the new conditions, the closed-loop linear switched systems are globally uniformly asymptotically stable with a mixed H∞ and passivity performance index. Moreover, the desired hybrid controllers can be constructed by solving a set of linear matrix inequalities. Finally, a numerical example and a practical example are given.
Blackhole State-Controlled Regulated Pushdown Automata
E. Csuhaj-Varju; T. Masopust (Tomas); G. Vaszil (György); H. Bordihn; R. Freund; T. Hinze; M. Holzer; M. Kutrib; F. Otto
2010-01-01
textabstractIn this paper, we introduce and study a variant of regulated pushdown automata, called blackhole state-controlled R-PDA where a symbol can always be pushed to the pushdown, but only a given depth of the pushdown contents is remembered; the rest of the pushdown contents is lost. In
Fengjiao Wu; Guitao Zhang; Zhengzhong Wang
2016-01-01
The robust fuzzy control for fractional-order hydroturbine regulating system is studied in this paper. First, the more practical fractional-order hydroturbine regulating system with uncertain parameters and random disturbances is presented. Then, on the basis of interval matrix theory and fractional-order stability theorem, a fuzzy control method is proposed for fractional-order hydroturbine regulating system, and the stability condition is expressed as a group of linear matrix inequalities. ...
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
Design of an optimal preview controller for linear discrete-time descriptor systems with state delay
Cao, Mengjuan; Liao, Fucheng
2015-04-01
In this paper, the linear discrete-time descriptor system with state delay is studied, and a design method for an optimal preview controller is proposed. First, by using the discrete lifting technique, the original system is transformed into a general descriptor system without state delay in form. Then, taking advantage of the first-order forward difference operator, we construct a descriptor augmented error system, including the state vectors of the lifted system, error vectors, and desired target signals. Rigorous mathematical proofs are given for the regularity, stabilisability, causal controllability, and causal observability of the descriptor augmented error system. Based on these, the optimal preview controller with preview feedforward compensation for the original system is obtained by using the standard optimal regulator theory of the descriptor system. The effectiveness of the proposed method is shown by numerical simulation.
Directory of Open Access Journals (Sweden)
N. Jaya
2008-10-01
Full Text Available In this work, a design and implementation of a Conventional PI controller, single region fuzzy logic controller, two region fuzzy logic controller and Globally Linearized Controller (GLC for a two capacity interacting nonlinear process is carried out. The performance of this process using single region FLC, two region FLC and GLC are compared with the performance of conventional PI controller about an operating point of 50 %. It has been observed that GLC and two region FLC provides better performance. Further, this procedure is also validated by real time experimentation using dSPACE.
Lei, Meizhen; Wang, Liqiang
2018-01-01
The halbach-type linear oscillatory motor (HT-LOM) is multi-variable, highly coupled, nonlinear and uncertain, and difficult to get a satisfied result by conventional PID control. An incremental adaptive fuzzy controller (IAFC) for stroke tracking was presented, which combined the merits of PID control, the fuzzy inference mechanism and the adaptive algorithm. The integral-operation is added to the conventional fuzzy control algorithm. The fuzzy scale factor can be online tuned according to the load force and stroke command. The simulation results indicate that the proposed control scheme can achieve satisfied stroke tracking performance and is robust with respect to parameter variations and external disturbance.
Complex regulation controls Neurogenin3 proteolysis
Directory of Open Access Journals (Sweden)
Ryan Roark
2012-10-01
The ubiquitin proteasome system (UPS is known to be responsible for the rapid turnover of many transcription factors, where half-life is held to be critical for regulation of transcriptional activity. However, the stability of key transcriptional regulators of development is often very poorly characterised. Neurogenin 3 (Ngn3 is a basic helix–loop–helix transcription factor that plays a central role in specification and differentiation of endocrine cells of the pancreas and gut, as well as spermatogonia and regions of the brain. Here we demonstrate that Ngn3 protein stability is regulated by the ubiquitin proteasome system and that Ngn3 can be ubiquitylated on lysines, the N-terminus and, highly unusually, on non-canonical residues including cysteines and serines/threonines. Rapid turnover of Ngn3 is regulated both by binding to its heterodimeric partner E protein and by the presence of cdk inhibitors. We show that protein half-life does appear to regulate the activity of Ngn3 in vivo, but, unlike the related transcription factor c-myc, ubiquitylation on canonical sites is not a requirement for transcriptional activity of Ngn3. Hence, we characterise an important new level of Ngn3 post-translational control, which may regulate its transcriptional activity.
Regulation, control, tele-management; Regulation, commande, telegestion
Energy Technology Data Exchange (ETDEWEB)
NONE
2001-07-01
In 1998, the French public authorities have started an ambitious energy mastery policy under the auspices of the Agency of environment and energy mastery (Ademe). One aspect of this policy concerns the R and D, industrial development and applications of automation and computerized control to the energy systems of buildings. This RCT 2000 seminar takes stock of the recent advances in this domain 7 years after the previous RCT issue. The first day of the seminar was devoted to new developments in regulation and control (ergonomics aspects, lighting systems, air conditioning in accommodations, solar systems etc..). Stress was put on the revolution expected with the introduction of domestic computer applications and Internet. This first day ended with a precise status of the standardization and future regulatory aspects. The second day was dealing with tele-management and technical management systems for buildings with an analysis of the impact of Internet and of the sensors and actuators capacity in information processing. The consequences and new requirements of the thermal regulation 2000 and the factors of success of a new start-up of the tele-management market in local authorities and social accommodations were analyzed too. (J.S.)
Kuntsova, M Ia; Sveshnikov, V G; Timofeeva, E V
1978-01-01
In experiments on the shore crab H. sanguineus studies have been made of the effect of variable longitudinal acceleration during swinging (for 15--30 min) upon cardiac activity and gravitational reflexes. High sensitivity of gravitational receptors of the canal statocyst to the effect of acceleration was demonstrated. Removal of the statocysts increases the frequency and amplitude of cardiac contractions as revealed by ECG recording. Changes in stato-kinetic coordinations cause both the disorder of overturning reactions and the disorder of reciprocal inhibition in antagonistic muscles of the dactylopodite. Statocyst regulation of skeletal muscles and heart is presumably realised via contralateral inhibitory canal which is sensitive to linear accelerations.
Popov–Belevitch–Hautus type tests for the controllability of linear complementarity systems
Camlibel, M. Kanat
2007-01-01
It is well-known that checking certain controllability properties of very simple piecewise linear systems are undecidable problems. This paper deals with the controllability problem of a class of piecewise linear systems, known as linear complementarity systems. By exploiting the underlying
Directory of Open Access Journals (Sweden)
Zanxiang Nie
2017-01-01
Full Text Available Linear wave energy converters generate intrinsically intermittent power with variable frequency and amplitude. A composite energy storage system consisting of batteries and super capacitors has been developed and controlled by buck-boost converters. The purpose of the composite energy storage system is to handle the fluctuations and intermittent characteristics of the renewable source, and hence provide a steady output power. Linear wave energy converters working in conjunction with a system composed of various energy storage devices, is considered as a microsystem, which can function in a stand-alone or a grid connected mode. Simulation results have shown that by applying a boost H-bridge and a composite energy storage system more power could be extracted from linear wave energy converters. Simulation results have shown that the super capacitors charge and discharge often to handle the frequent power fluctuations, and the batteries charge and discharge slowly for handling the intermittent power of wave energy converters. Hardware systems have been constructed to control the linear wave energy converter and the composite energy storage system. The performance of the composite energy storage system has been verified in experiments by using electronics-based wave energy emulators.
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
Pradanti, Paskalia; Hartono
2018-03-01
Determination of insulin injection dose in diabetes mellitus treatment can be considered as an optimal control problem. This article is aimed to simulate optimal blood glucose control for patient with diabetes mellitus. The blood glucose regulation of diabetic patient is represented by Ackerman’s Linear Model. This problem is then solved using dynamic programming method. The desired blood glucose level is obtained by minimizing the performance index in Lagrange form. The results show that dynamic programming based on Ackerman’s Linear Model is quite good to solve the problem.
Dynamics and control of quadcopter using linear model predictive control approach
Islam, M.; Okasha, M.; Idres, M. M.
2017-12-01
This paper investigates the dynamics and control of a quadcopter using the Model Predictive Control (MPC) approach. The dynamic model is of high fidelity and nonlinear, with six degrees of freedom that include disturbances and model uncertainties. The control approach is developed based on MPC to track different reference trajectories ranging from simple ones such as circular to complex helical trajectories. In this control technique, a linearized model is derived and the receding horizon method is applied to generate the optimal control sequence. Although MPC is computer expensive, it is highly effective to deal with the different types of nonlinearities and constraints such as actuators’ saturation and model uncertainties. The MPC parameters (control and prediction horizons) are selected by trial-and-error approach. Several simulation scenarios are performed to examine and evaluate the performance of the proposed control approach using MATLAB and Simulink environment. Simulation results show that this control approach is highly effective to track a given reference trajectory.
Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control
Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.
1997-01-01
One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.
Linear signal noise summer accurately determines and controls S/N ratio
Sundry, J. L.
1966-01-01
Linear signal noise summer precisely controls the relative power levels of signal and noise, and mixes them linearly in accurately known ratios. The S/N ratio accuracy and stability are greatly improved by this technique and are attained simultaneously.
Hanks, Brantley R.; Skelton, Robert E.
1991-01-01
This paper addresses the restriction of Linear Quadratic Regulator (LQR) solutions to the algebraic Riccati Equation to design spaces which can be implemented as passive structural members and/or dampers. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical systems. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist. Some examples of simple spring mass systems are shown to illustrate key points.
International Nuclear Information System (INIS)
Peng, Y.-F.
2009-01-01
The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with built-in simple computation, good generalization capability and fast learning property. In this paper, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive CMAC and H ∞ control technique is proposed for a class of chaotic systems with unknown system dynamics and external disturbance. In the proposed control system, an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to mimic an ideal backstepping control (IBC), and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. Finally, three application examples, including a Duffing-Holmes chaotic system, a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the effectiveness and performance of proposed robust control technique.
Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System
DEFF Research Database (Denmark)
Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen
2005-01-01
Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...
Regulated control of practices and radiation sources
International Nuclear Information System (INIS)
1992-01-01
Excepting the radiation caused by the natural background radiation, the Executive Secretariat for Nuclear Affairs (SEAN) does not authorize any source no practice within the national territory that may imply exposure of a person to ionizing radiation unless this use is ruled. This document establishes the basic criteria to set up such system as well as to exclude or exempt practices and sources from this regulated control
Directory of Open Access Journals (Sweden)
Muayad Al-Qaisy
2015-02-01
Full Text Available In this article, multi-input multi-output (MIMO linear model predictive controller (LMPC based on state space model and nonlinear model predictive controller based on neural network (NNMPC are applied on a continuous stirred tank reactor (CSTR. The idea is to have a good control system that will be able to give optimal performance, reject high load disturbance, and track set point change. In order to study the performance of the two model predictive controllers, MIMO Proportional-Integral-Derivative controller (PID strategy is used as benchmark. The LMPC, NNMPC, and PID strategies are used for controlling the residual concentration (CA and reactor temperature (T. NNMPC control shows a superior performance over the LMPC and PID controllers by presenting a smaller overshoot and shorter settling time.
Regulation on control of nuclear fuel materials
International Nuclear Information System (INIS)
Ikeda, Kaname
1976-01-01
Some comment is made on the present laws and the future course of consolidating the regulation of nuclear fuel materials. The first part gives the definitions of the nuclear fuel materials in the laws. The second part deals with the classification and regulation in material handling. Refinement undertaking, fabrication undertaking, reprocessing undertaking, the permission of the government to use the materials, the permission of the government to use the materials under international control, the restriction of transfer and receipt, the reporting, and the safeguard measures are commented. The third part deals with the strengthening of regulation. The nuclear fuel safety deliberation special committee will be established at some opportunity of revising the ordinance. The nuclear material safeguard special committee has been established in the Atomic Energy Commission. The last part deals with the future course of legal consolidation. The safety control will be strengthened. The early investigation of waste handling is necessary, because low level solid wastes are accumulating at each establishment. The law for transporting nuclear materials must be consolidated as early as possible to correspond to foreign transportation laws. Physical protection is awaiting the conclusions of the nuclear fuel safeguard special committee. The control and information systems for the safeguard measures must be consolidated in the laws. (Iwakiri, K.)
Study of load change control in PWRs using the methods of linear optimal control
International Nuclear Information System (INIS)
Yang, T.
1983-01-01
This thesis investigates the application of modern control theory to the problem of controlling load changes in PWR power plants. A linear optimal state feedback scheme resulting from linear optimal control theory with a quadratic cost function is reduced to a partially decentralized control system using mode preservation techniques. Minimum information transfer among major components of the plant is investigated to provide an adequate coordination, simple implementation, and a reliable control system. Two control approaches are proposed: servo and model following. Each design considers several information structures for performance comparison. Integrated output error has been included in the control systems to accommodate external and plant parameter disturbances. In addition, the cross limit feature, specific to certain modern reactor control systems, is considered in the study to prevent low pressure reactor trip conditions. An 11th order nonlinear model for the reactor and boiler is derived based on theoretical principles, and simulation tests are performed for 10% load change as an illustration of system performance
Bayesian integration and non-linear feedback control in a full-body motor task.
Stevenson, Ian H; Fernandes, Hugo L; Vilares, Iris; Wei, Kunlin; Körding, Konrad P
2009-12-01
A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots) on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter) is combined with an optimal controller (either a Linear-Quadratic-Regulator or Bang-bang controller). We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system appears to implement Bayes-like mechanisms for a full-body, dynamic task, it may additionally take into account the specific costs and constraints of the task.
Bayesian integration and non-linear feedback control in a full-body motor task.
Directory of Open Access Journals (Sweden)
Ian H Stevenson
2009-12-01
Full Text Available A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter is combined with an optimal controller (either a Linear-Quadratic-Regulator or Bang-bang controller. We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system appears to implement Bayes-like mechanisms for a full-body, dynamic task, it may additionally take into account the specific costs and constraints of the task.
Jamison, J. W.
1994-01-01
CFORM was developed by the Kennedy Space Center Robotics Lab to assist in linear control system design and analysis using closed form and transient response mechanisms. The program computes the closed form solution and transient response of a linear (constant coefficient) differential equation. CFORM allows a choice of three input functions: the Unit Step (a unit change in displacement); the Ramp function (step velocity); and the Parabolic function (step acceleration). It is only accurate in cases where the differential equation has distinct roots, and does not handle the case for roots at the origin (s=0). Initial conditions must be zero. Differential equations may be input to CFORM in two forms - polynomial and product of factors. In some linear control analyses, it may be more appropriate to use a related program, Linear Control System Design and Analysis (KSC-11376), which uses root locus and frequency response methods. CFORM was written in VAX FORTRAN for a VAX 11/780 under VAX VMS 4.7. It has a central memory requirement of 30K. CFORM was developed in 1987.
Switching control of linear systems for generating chaos
International Nuclear Information System (INIS)
Liu Xinzhi; Teo, Kok-Lay; Zhang Hongtao; Chen Guanrong
2006-01-01
In this paper, a new switching method is developed, which can be applied to generating different types of chaos or chaos-like dynamics from two or more linear systems. A numerical simulation is given to illustrate the generated chaotic dynamic behavior of the systems with some variable parameters. Finally, a circuit is built to realize various chaotic dynamical behaviors
Design and implementation of a 3-A source and sink linear regulator for bus terminators
International Nuclear Information System (INIS)
Li Yanming; Wen Changbao; Wen Limin; Mao Xiangyu
2012-01-01
According to the requirements of the bus terminal regulator, a linear regulator with 3-A source-sink current ability is presented. The use of the NMOS pass transistor and load current feedback technique enhances the system current ability and response speed. The method of adaptive zero compensation realizes loop stability over the whole load range for either source or sink loop. Furthermore, the transconductance matching technique reduces the shoot-through current through the output stage to less than 3 μA. The regulator has been fabricated with a 0.6-μm 30 V BCD process successfully, and the area size is about 1 mm 2 . With a 20 μF output capacitor, the maximum transient output-voltage variation is within 3.5% of the output voltage with load step changes of ±2 A/1 μs. At the load range of ±3 A, the variation of output voltage is less than ±15 mV.
A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System
Directory of Open Access Journals (Sweden)
Carlos Aguilar-Ibanez
2016-01-01
Full Text Available This paper proposes an application of linear flatness control along with active disturbance rejection control (ADRC for the local stabilization and trajectory tracking problems in the underactuated ball and rigid triangle system. To this end, an observer-based linear controller of the ADRC type is designed based on the flat tangent linearization of the system around its corresponding unstable equilibrium rest position. It was accomplished through two decoupled linear extended observers and a single linear output feedback controller, with disturbance cancelation features. The controller guarantees locally exponentially asymptotic stability for the stabilization problem and practical local stability in the solution of the tracking error. An advantage of combining the flatness and the ADRC methods is that it possible to perform online estimates and cancels the undesirable effects of the higher-order nonlinearities discarded by the linearization approximation. Simulation indicates that the proposed controller behaves remarkably well, having an acceptable domain of attraction.
Regulating vacuum pump speed with feedback control
International Nuclear Information System (INIS)
Ludington, D.C.; Aneshansley, D.J.; Pellerin, R.; Guo, F.
1992-01-01
Considerable energy is wasted by the vacuum pump/motor on dairy farms. The output capacity (m 3 /min or cfm) of the vacuum pump always exceeds the capacity needed to milk cows and wash pipelines. Vacuum pumps run at full speed and load regardless of actual need for air. Excess air is admitted through a controller. Energy can be saved from electrical demand reduced by regulating vacuum pump speed according to air based on air usage. An adjustable speed drive (ASD) on the motor and controlled based upon air usage, can reduce the energy used by the vacuum pump. However, the ASD unit tested could not maintain vacuum levels within generally accepted guidelines when air usage changed. Adding a high vacuum reserve and a dual vacuum controller between the vacuum pump and the milking pipeline brought vacuum stability within guidelines. The ASD/dual vacuum system can reduce energy consumption and demand by at least 50 percent during milking and provide better vacuum stability than conventional systems. Tests were not run during washing cycles. Using 1990 costs and only the energy saved during milking, the simple payback on investment in new equipment for a 5 hp motor, speed controller and vacuum regulator would be about 5 years
Nonautonomous linear Hamiltonian systems oscillation, spectral theory and control
Johnson, Russell; Novo, Sylvia; Núñez, Carmen; Fabbri, Roberta
2016-01-01
This monograph contains an in-depth analysis of the dynamics given by a linear Hamiltonian system of general dimension with nonautonomous bounded and uniformly continuous coefficients, without other initial assumptions on time-recurrence. Particular attention is given to the oscillation properties of the solutions as well as to a spectral theory appropriate for such systems. The book contains extensions of results which are well known when the coefficients are autonomous or periodic, as well as in the nonautonomous two-dimensional case. However, a substantial part of the theory presented here is new even in those much simpler situations. The authors make systematic use of basic facts concerning Lagrange planes and symplectic matrices, and apply some fundamental methods of topological dynamics and ergodic theory. Among the tools used in the analysis, which include Lyapunov exponents, Weyl matrices, exponential dichotomy, and weak disconjugacy, a fundamental role is played by the rotation number for linear Hami...
Linear Matrix Inequalities for Analysis and Control of Linear Vector Second-Order Systems
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Stoustrup, Jakob
2015-01-01
the Lyapunov matrix and the system matrices by introducing matrix multipliers, which potentially reduce conservativeness in hard control problems. Multipliers facilitate the usage of parameter-dependent Lyapunov functions as certificates of stability of uncertain and time-varying vector second-order systems......SUMMARY Many dynamical systems are modeled as vector second-order differential equations. This paper presents analysis and synthesis conditions in terms of LMI with explicit dependence in the coefficient matrices of vector second-order systems. These conditions benefit from the separation between....... The conditions introduced in this work have the potential to increase the practice of analyzing and controlling systems directly in vector second-order form. Copyright © 2014 John Wiley & Sons, Ltd....
Nonlinearity measure and internal model control based linearization in anti-windup design
Energy Technology Data Exchange (ETDEWEB)
Perev, Kamen [Systems and Control Department, Technical University of Sofia, 8 Cl. Ohridski Blvd., 1756 Sofia (Bulgaria)
2013-12-18
This paper considers the problem of internal model control based linearization in anti-windup design. The nonlinearity measure concept is used for quantifying the control system degree of nonlinearity. The linearizing effect of a modified internal model control structure is presented by comparing the nonlinearity measures of the open-loop and closed-loop systems. It is shown that the linearization properties are improved by increasing the control system local feedback gain. However, it is emphasized that at the same time the stability of the system deteriorates. The conflicting goals of stability and linearization are resolved by solving the design problem in different frequency ranges.
Capacitor-Free, Low Drop-Out Linear Regulator in a 180 nm CMOS for Hearing Aids
DEFF Research Database (Denmark)
Yosef-Hay, Yoni; Llimos Muntal, Pere; Larsen, Dennis Øland
2016-01-01
This paper presents a capacitor-free low dropout (LDO) linear regulator based on a new dual loop topology. The regulator utilizes the feedback loops to satisfy the challenges for hearing aid devices, which include fast transient performance and small voltage spikes under rapid load-current changes...
DEFF Research Database (Denmark)
Knudsen, Jesper Viese; Bendtsen, Jan Dimon; Andersen, Palle
2016-01-01
In this paper, a self-tuning linear quadratic supervisory regulator using a large-signal state estimator for a diesel driven generator set is proposed. The regulator improves operational efficiency, in comparison to current implementations, by (i) automating the initial tuning process and (ii...... throughout the operating range of the diesel generator....
Related regulation of quality control of industrial products
International Nuclear Information System (INIS)
1983-04-01
This book introduce related regulation of quality control of industrial products, which includes regulations of industrial products quality control, enforcement ordinance of industrial products quality control, enforcement regulation of quality control of industrial products, designated items with industrial production quality indication, industrial production quality test, and industrial production quality test organization and management tips of factory quality by grade.
Distributed Cooperative Secondary Control of Microgrids Using Feedback Linearization
DEFF Research Database (Denmark)
Bidram, Ali; Davoudi, Ali; Lewis, Frank
2013-01-01
This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors. The dist......This paper proposes a secondary voltage control of microgrids based on the distributed cooperative control of multi-agent systems. The proposed secondary control is fully distributed; each distributed generator (DG) only requires its own information and the information of some neighbors...... parameters can be tuned to obtain a desired response speed. The effectiveness of the proposed control methodology is verified by the simulation of a microgrid test system....
A quasi-linear control theory analysis of timesharing skills
Agarwal, G. C.; Gottlieb, G. L.
1977-01-01
The compliance of the human ankle joint is measured by applying 0 to 50 Hz band-limited gaussian random torques to the foot of a seated human subject. These torques rotate the foot in a plantar-dorsal direction about a horizontal axis at a medial moleolus of the ankle. The applied torques and the resulting angular rotation of the foot are measured, digitized and recorded for off-line processing. Using such a best-fit, second-order model, the effective moment of inertia of the ankle joint, the angular viscosity and the stiffness are calculated. The ankle joint stiffness is shown to be a linear function of the level of tonic muscle contraction, increasing at a rate of 20 to 40 Nm/rad/Kg.m. of active torque. In terms of the muscle physiology, the more muscle fibers that are active, the greater the muscle stiffness. Joint viscosity also increases with activation. Joint stiffness is also a linear function of the joint angle, increasing at a rate of about 0.7 to 1.1 Nm/rad/deg from plantar flexion to dorsiflexion rotation.
Observer-based linear parameter varying H∞ tracking control for hypersonic vehicles
Directory of Open Access Journals (Sweden)
Yiqing Huang
2016-11-01
Full Text Available This article aims to develop observer-based linear parameter varying output feedback H∞ tracking controller for hypersonic vehicles. Due to the complexity of an original nonlinear model of the hypersonic vehicle dynamics, a slow–fast loop linear parameter varying polytopic model is introduced for system stability analysis and controller design. Then, a state observer is developed by linear parameter varying technique in order to estimate the unmeasured attitude angular for slow loop system. Also, based on the designed linear parameter varying state observer, a kind of attitude tracking controller is presented to reduce tracking errors for all bounded reference attitude angular inputs. The closed-loop linear parameter varying system is proved to be quadratically stable by Lypapunov function technique. Finally, simulation results show that the developed linear parameter varying H∞ controller has good tracking capability for reference commands.
Structured Linear Parameter Varying Control of Wind Turbines
DEFF Research Database (Denmark)
Adegas, Fabiano Daher; Sloth, Christoffer; Stoustrup, Jakob
2012-01-01
High performance and reliability are required for wind turbines to be competitive within the energy market. To capture their nonlinear behavior, wind turbines are often modeled using parameter-varying models. In this chapter, a framework for modelling and controller design of wind turbines is pre...... in the controller synthesis are solved by an iterative LMI-based algorithm. The resulting controllers can also be easily implemented in practice due to low data storage and simple math operations. The performance of the LPV controllers is assessed by nonlinear simulations results....
Cost Cumulant-Based Control for a Class of Linear Quadratic Tracking Problems
National Research Council Canada - National Science Library
Pham, Khanh D
2007-01-01
.... For instance, the present paper extends the application of cost-cumulant controller design to control of a wide class of linear-quadratic tracking systems where output measurements of a tracker...
A new linearized equation for servo valve in hydraulic control systems
International Nuclear Information System (INIS)
Kim, Tae Hyung; Lee, Ill Yeong
2002-01-01
In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system
Non-linear and adaptive control of a refrigeration system
DEFF Research Database (Denmark)
Rasmussen, Henrik; Larsen, Lars F. S.
2011-01-01
are capable of adapting to variety of systems. This paper proposes a novel method for superheat and capacity control of refrigeration systems; namely by controlling the superheat by the compressor speed and capacity by the refrigerant flow. A new low order nonlinear model of the evaporator is developed......In a refrigeration process heat is absorbed in an evaporator by evaporating a flow of liquid refrigerant at low pressure and temperature. Controlling the evaporator inlet valve and the compressor in such a way that a high degree of liquid filling in the evaporator is obtained at all compressor...... capacities ensures a high energy efficiency. The level of liquid filling is indirectly measured by the superheat. Introduction of variable speed compressors and electronic expansion valves enables the use of more sophisticated control algorithms, giving a higher degree of performance and just as important...
Boundary Control of Linear Evolution PDEs - Continuous and Discrete
DEFF Research Database (Denmark)
Rasmussen, Jan Marthedal
2004-01-01
Consider a partial di erential equation (PDE) of evolution type, such as the wave equation or the heat equation. Assume now that you can influence the behavior of the solution by setting the boundary conditions as you please. This is boundary control in a broad sense. A substantial amount...... of literature exists in the area of theoretical results concerning control of partial differential equations. The results have included existence and uniqueness of controls, minimum time requirements, regularity of domains, and many others. Another huge research field is that of control theory for ordinary di...... erential equations. This field has mostly concerned engineers and others with practical applications in mind. This thesis makes an attempt to bridge the two research areas. More specifically, we make finite dimensional approximations to certain evolution PDEs, and analyze how properties of the discrete...
Robust tracking control for linear vibrating mechanical systems
Directory of Open Access Journals (Sweden)
Francisco Beltrán-Carbajal
2015-01-01
Full Text Available Se propone un enfoque de control novedoso para seguimiento por realimentación de la salida para sistemas mecánicos vibratorios del tipo masa-resorte-amortiguador lineales sub-actuados. La metodología de diseño de control que se presenta considera robustez con respecto de dinámicas no modeladas y fuerzas externas. El esquema de control propuesto solamente requiere mediciones de la variable de la salida de posición. Se utiliza compensación integral del error de seguimiento de manera apropiada para evitar la estimación en tiempo real de las perturbaciones. Resultado analíticos y numéricos muestran la efectividad del esquema de control activo de vibración para atenuación de vibraciones resonantes y caóticas afectando la respuesta de la variable de salida.
Adaptive Non-linear Control of Hydraulic Actuator Systems
DEFF Research Database (Denmark)
Hansen, Poul Erik; Conrad, Finn
1998-01-01
Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....
Estimation and Control for Linear Systems with Additive Cauchy Noise
2013-12-17
man & Hall, New York, 1994. [11] J. L. Speyer and W. H. Chung, Stochastic Processes, Estimation, and Control, SIAM, 2008. [12] Nassim N. Taleb ...Gaussian control algorithms. 18 4 References [1] N. N. Taleb . The Black Swan: The Impact of the Highly Improbable...the multivariable system. The estimator was then evaluated numerically for a third-order example. REFERENCES [1] N. N. Taleb , The Black Swan: The
Almost output regulation of LFT systems via gain-scheduling control
Yuan, Chengzhi; Duan, Chang; Wu, Fen
2018-05-01
Output regulation of general uncertain systems is a meaningful yet challenging problem. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective design mechanism. In this paper, we propose a new design framework for almost output regulation of uncertain systems described in the general form of linear fractional transformation (LFT) with time-varying parametric uncertainties and unknown external perturbations. A novel semi-LFT gain-scheduling output regulator structure is proposed, such that the associated control synthesis conditions guaranteeing both output regulation and ? disturbance attenuation performance are formulated as a set of linear matrix inequalities (LMIs) plus parameter-dependent linear matrix equations, which can be solved separately. A numerical example has been used to demonstrate the effectiveness of the proposed approach.
Speed Sensorless mixed sensitivity linear parameter variant H_inf control of the induction motor
Toth, R.; Fodor, D.
2004-01-01
The paper shows the design of a robust control structure for the speed sensorless vector control of the IM, based on the mixed sensitivity (MS) linear parameter variant (LPV) H8 control theory. The controller makes possible the direct control of the flux and speed of the motor with torque adaptation
Linear motion device and method for inserting and withdrawing control rods
International Nuclear Information System (INIS)
Smith, J. E.
1984-01-01
A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism
Robustness-tracking control based on sliding mode and H∞ theory for linear servo system
Institute of Scientific and Technical Information of China (English)
TIAN Yan-feng; GUO Qing-ding
2005-01-01
A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.
Phase and amplitude control system for Stanford Linear Accelerator
International Nuclear Information System (INIS)
Yoo, S.J.
1983-01-01
The computer controlled phase and amplitude detection system measures the instantaneous phase and amplitude of a 1 micro-second 2856 MHz rf pulse at a 180 Hz rate. This will be used for phase feedback control, and also for phase and amplitude jitter measurement. The program, which was originally written by John Fox and Keith Jobe, has been modified to improve the function of the system. The software algorithms used in the measurement are described, as is the performance of the prototype phase and amplitude detector system
Periosteal PTHrP regulates cortical bone modeling during linear growth in mice.
Wang, Meina; VanHouten, Joshua N; Nasiri, Ali R; Tommasini, Steven M; Broadus, Arthur E
2014-07-01
The modeling of long bone surfaces during linear growth is a key developmental process, but its regulation is poorly understood. We report here that parathyroid hormone-related peptide (PTHrP) expressed in the fibrous layer of the periosteum (PO) drives the osteoclastic (OC) resorption that models the metaphyseal-diaphyseal junction (MDJ) in the proximal tibia and fibula during linear growth. PTHrP was conditionally deleted (cKO) in the PO via Scleraxis gene targeting (Scx-Cre). In the lateral tibia, cKO of PTHrP led to a failure of modeling, such that the normal concave MDJ was replaced by a mound-like deformity. This was accompanied by a failure to induce receptor activator of NF-kB ligand (RANKL) and a 75% reduction in OC number (P ≤ 0.001) on the cortical surface. The MDJ also displayed a curious threefold increase in endocortical osteoblast mineral apposition rate (P ≤ 0.001) and a thickened cortex, suggesting some form of coupling of endocortical bone formation to events on the PO surface. Because it fuses distally, the fibula is modeled only proximally and does so at an extraordinary rate, with an anteromedial cortex in CD-1 mice that was so moth-eaten that a clear PO surface could not be identified. The cKO fibula displayed a remarkable phenotype, with a misshapen club-like metaphysis and an enlargement in the 3D size of the entire bone, manifest as a 40-45% increase in the PO circumference at the MDJ (P ≤ 0.001) as well as the mid-diaphysis (P ≤ 0.001). These tibial and fibular phenotypes were reproduced in a Scx-Cre-driven RANKL cKO mouse. We conclude that PTHrP in the fibrous PO mediates the modeling of the MDJ of long bones during linear growth, and that in a highly susceptible system such as the fibula this surface modeling defines the size and shape of the entire bone. © 2014 Anatomical Society.
International Nuclear Information System (INIS)
Deng Wei; Wu Xue; Wang Xin; Zhang Jinxin; Zhang Xiaofu; Zheng Qiwen; Ma Wuying; Lu Wu; Guo Qi; He Chengfa
2014-01-01
With different irradiation methods including high dose rate irradiation, low dose rate irradiation, alteration temperature and constant dose rate irradiation, and US military standard constant high temperature and constant dose rate irradiation, the ionizing radiation responses of bipolar linear regulator LM317 from three different companies were investigated under the operating and zero biases. The results show that compared with constant high temperature and constant dose rate irradiation method, the alteration temperature and constant dose rate irradiation method can not only very rapidly and accurately evaluate the dose rate effect of three bipolar linear regulators, but also well simulate the damage of low dose rate irradiation. Experiment results make the alteration temperature and constant dose rate irradiation method successfully apply to bipolar linear regulator. (authors)
Robust Comparison of the Linear Model Structures in Self-tuning Adaptive Control
DEFF Research Database (Denmark)
Zhou, Jianjun; Conrad, Finn
1989-01-01
The Generalized Predictive Controller (GPC) is extended to the systems with a generalized linear model structure which contains a number of choices of linear model structures. The Recursive Prediction Error Method (RPEM) is used to estimate the unknown parameters of the linear model structures...... to constitute a GPC self-tuner. Different linear model structures commonly used are compared and evaluated by applying them to the extended GPC self-tuner as well as to the special cases of the GPC, the GMV and MV self-tuners. The simulation results show how the choice of model structure affects the input......-output behaviour of self-tuning controllers....
Robust output feedback H-infinity control and filtering for uncertain linear systems
Chang, Xiao-Heng
2014-01-01
"Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.
Gain-scheduled Linear Quadratic Control of Wind Turbines Operating at High Wind Speed
DEFF Research Database (Denmark)
Østergaard, Kasper Zinck; Stoustrup, Jakob; Brath, Per
2007-01-01
This paper addresses state estimation and linear quadratic (LQ) control of variable speed variable pitch wind turbines. On the basis of a nonlinear model of a wind turbine, a set of operating conditions is identified and a LQ controller is designed for each operating point. The controller gains...... are then interpolated linearly to get a control law for the entire operating envelope. A nonlinear state estimator is designed as a combination of two unscented Kalman filters and a linear disturbance estimator. The gain-scheduling variable (wind speed) is then calculated from the output of these state estimators...
Quadratic theory and feedback controllers for linear time delay systems
International Nuclear Information System (INIS)
Lee, E.B.
1976-01-01
Recent research on the design of controllers for systems having time delays is discussed. Results for the ''open loop'' and ''closed loop'' designs will be presented. In both cases results for minimizing a quadratic cost functional are given. The usefulness of these results is not known, but similar results for the non-delay case are being routinely applied. (author)
Numerical Methods for Solution of the Extended Linear Quadratic Control Problem
DEFF Research Database (Denmark)
Jørgensen, John Bagterp; Frison, Gianluca; Gade-Nielsen, Nicolai Fog
2012-01-01
In this paper we present the extended linear quadratic control problem, its efficient solution, and a discussion of how it arises in the numerical solution of nonlinear model predictive control problems. The extended linear quadratic control problem is the optimal control problem corresponding...... to the Karush-Kuhn-Tucker system that constitute the majority of computational work in constrained nonlinear and linear model predictive control problems solved by efficient MPC-tailored interior-point and active-set algorithms. We state various methods of solving the extended linear quadratic control problem...... and discuss instances in which it arises. The methods discussed in the paper have been implemented in efficient C code for both CPUs and GPUs for a number of test examples....
Chun, Tae Yoon; Lee, Jae Young; Park, Jin Bae; Choi, Yoon Ho
2018-06-01
In this paper, we propose two multirate generalised policy iteration (GPI) algorithms applied to discrete-time linear quadratic regulation problems. The proposed algorithms are extensions of the existing GPI algorithm that consists of the approximate policy evaluation and policy improvement steps. The two proposed schemes, named heuristic dynamic programming (HDP) and dual HDP (DHP), based on multirate GPI, use multi-step estimation (M-step Bellman equation) at the approximate policy evaluation step for estimating the value function and its gradient called costate, respectively. Then, we show that these two methods with the same update horizon can be considered equivalent in the iteration domain. Furthermore, monotonically increasing and decreasing convergences, so called value iteration (VI)-mode and policy iteration (PI)-mode convergences, are proved to hold for the proposed multirate GPIs. Further, general convergence properties in terms of eigenvalues are also studied. The data-driven online implementation methods for the proposed HDP and DHP are demonstrated and finally, we present the results of numerical simulations performed to verify the effectiveness of the proposed methods.
Global stabilization of linear continuous time-varying systems with bounded controls
International Nuclear Information System (INIS)
Phat, V.N.
2004-08-01
This paper deals with the problem of global stabilization of a class of linear continuous time-varying systems with bounded controls. Based on the controllability of the nominal system, a sufficient condition for the global stabilizability is proposed without solving any Riccati differential equation. Moreover, we give sufficient conditions for the robust stabilizability of perturbation/uncertain linear time-varying systems with bounded controls. (author)
Wheel slip control with torque blending using linear and nonlinear model predictive control
Basrah, M. Sofian; Siampis, Efstathios; Velenis, Efstathios; Cao, Dongpu; Longo, Stefano
2017-11-01
Modern hybrid electric vehicles employ electric braking to recuperate energy during deceleration. However, currently anti-lock braking system (ABS) functionality is delivered solely by friction brakes. Hence regenerative braking is typically deactivated at a low deceleration threshold in case high slip develops at the wheels and ABS activation is required. If blending of friction and electric braking can be achieved during ABS events, there would be no need to impose conservative thresholds for deactivation of regenerative braking and the recuperation capacity of the vehicle would increase significantly. In addition, electric actuators are typically significantly faster responding and would deliver better control of wheel slip than friction brakes. In this work we present a control strategy for ABS on a fully electric vehicle with each wheel independently driven by an electric machine and friction brake independently applied at each wheel. In particular we develop linear and nonlinear model predictive control strategies for optimal performance and enforcement of critical control and state constraints. The capability for real-time implementation of these controllers is assessed and their performance is validated in high fidelity simulation.
Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality
Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur
2017-04-01
Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.
Non linear predictive control of a LEGO mobile robot
Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.
2014-10-01
Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.
Synchronizing chaos in an experimental chaotic pendulum using methods from linear control theory
Kaart, S.; Schouten, J.C.; Bleek, van den C.M.
1999-01-01
Linear feedback control, specifically model predictive control (MPC), was used successfully to synchronize an experimental chaotic pendulum both on unstable periodic and aperiodic orbits. MPC enables tuning of the controller to give an optimal controller performance. That is, both the fluctuations
Rómoli, Santiago; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Vega, Jorge Rubén; Eduardo Scaglia, Gustavo Juan
2015-07-01
Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined in the literature. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal controller parameters are selected through Monte Carlo Randomized Algorithm in order to minimize a proposed cost index. The controller performance is evaluated through several tests, and compared with other controller reported in the literature. Finally, a Monte Carlo Randomized Algorithm is conducted to assess the performance of the proposed controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Development of linear flow rate control system for eccentric butter-fly valve
International Nuclear Information System (INIS)
Kwak, K. K.; Cho, S. W.; Park, J. S.; Cho, J. H.; Song, I. T.; Kim, J. G.; Kwon, S. J.; Kim, I. J.; Park, W. K.
1999-12-01
Butter-fly valves are advantageous over gate, globe, plug, and ball valves in a variety of installations, particularly in the large sizes. The purpose of this project development of linear flow rate control system for eccentric butter-fly valve (intelligent butter-fly valve system). The intelligent butter-fly valve system consist of a valve body, micro controller. The micro controller consist of torque control system, pressure censor, worm and worm gear and communication line etc. The characteristics of intelligent butter-fly valve system as follows: Linear flow rate control function. Digital remote control function. guard function. Self-checking function. (author)
Beam control in the ETA-II linear induction accelerator
International Nuclear Information System (INIS)
Chen, Y.J.
1992-01-01
Corkscrew beam motion is caused by chromatic aberration and misalignment of a focusing system. We have taken some measures to control the corkscrew motion on the ETA-II induction accelerator. To minimize chromatic aberration, we have developed an energy compensation scheme which reduces energy sweep and differential phase advance within a beam pulse. To minimize the misalignment errors, we have developed a time-independent steering algorithm which minimizes the observed corkscrew amplitude averaged over the beam pulse. The steering algorithm can be used even if the monitor spacing is much greater than the system's cyclotron wavelength and the corkscrew motion caused by a given misaligned magnet is fully developed, i.e., the relative phase advance is greater than 2π. (Author) 5 figs., 11 refs
Directory of Open Access Journals (Sweden)
Fengjiao Wu
2016-01-01
Full Text Available The robust fuzzy control for fractional-order hydroturbine regulating system is studied in this paper. First, the more practical fractional-order hydroturbine regulating system with uncertain parameters and random disturbances is presented. Then, on the basis of interval matrix theory and fractional-order stability theorem, a fuzzy control method is proposed for fractional-order hydroturbine regulating system, and the stability condition is expressed as a group of linear matrix inequalities. Furthermore, the proposed method has good robustness which can process external random disturbances and uncertain parameters. Finally, the validity and superiority are proved by the numerical simulations.
76 FR 28193 - Amendments to Material Control and Accounting Regulations
2011-05-16
...] Amendments to Material Control and Accounting Regulations AGENCY: Nuclear Regulatory Commission. ACTION... amendments to the material control and accounting (MC&A) regulations. These regulations apply to NRC... ``accounting,'' and thus does not fully describe the accounting aspects that MC&A programs must include...
Linear-quadratic control and quadratic differential forms for multidimensional behaviors
Napp, D.; Trentelman, H.L.
2011-01-01
This paper deals with systems described by constant coefficient linear partial differential equations (nD-systems) from a behavioral point of view. In this context we treat the linear-quadratic control problem where the performance functional is the integral of a quadratic differential form. We look
Decentralised stabilising controllers for a class of large-scale linear ...
Indian Academy of Sciences (India)
subsystems resulting from a new aggregation-decomposition technique. The method has been illustrated through a numerical example of a large-scale linear system consisting of three subsystems each of the fourth order. Keywords. Decentralised stabilisation; large-scale linear systems; optimal feedback control; algebraic ...
Advances in the control of markov jump linear systems with no mode observation
Vargas, Alessandro N; do Val, João B R
2016-01-01
This brief broadens readers’ understanding of stochastic control by highlighting recent advances in the design of optimal control for Markov jump linear systems (MJLS). It also presents an algorithm that attempts to solve this open stochastic control problem, and provides a real-time application for controlling the speed of direct current motors, illustrating the practical usefulness of MJLS. Particularly, it offers novel insights into the control of systems when the controller does not have access to the Markovian mode.
Memristance controlling approach based on modification of linear M—q curve
International Nuclear Information System (INIS)
Liu Hai-Jun; Li Zhi-Wei; Yu Hong-Qi; Sun Zhao-Lin; Nie Hong-Shan
2014-01-01
The memristor has broad application prospects in many fields, while in many cases, those fields require accurate impedance control. The nonlinear model is of great importance for realizing memristance control accurately, but the implementing complexity caused by iteration has limited the actual application of this model. Considering the approximate linear characteristics at the middle region of the memristance-charge (M—q) curve of the nonlinear model, this paper proposes a memristance controlling approach, which is achieved by linearizing the middle region of the M—q curve of the nonlinear memristor, and establishes the linear relationship between memristances M and input excitations so that it can realize impedance control precisely by only adjusting input signals briefly. First, it analyzes the feasibility for linearizing the middle part of the M—q curve of the memristor with a nonlinear model from the qualitative perspective. Then, the linearization equations of the middle region of the M—q curve is constructed by using the shift method, and under a sinusoidal excitation case, the analytical relation between the memristance M and the charge time t is derived through the Taylor series expansions. At last, the performance of the proposed approach is demonstrated, including the linearizing capability for the middle part of the M—q curve of the nonlinear model memristor, the controlling ability for memristance M, and the influence of input excitation on linearization errors. (interdisciplinary physics and related areas of science and technology)
In control? IQC consensus and statutory regulation.
Lee, Graham R; Fitzgibbon, Maria C; O'Shea, Paula
2016-06-13
Purpose - Internal quality control (IQC) represents an essential risk management tool within the total testing pathway (TTP) that contributes to the overall objective of assuring the quality of results produced in medical laboratories. Controlling analytical phase quality alone requires significant expertise and input by scientifically trained staff. This effort has escalated exponentially following the publication of the International Organisation for Standardisation (ISO)15189:2012 requirements for quality and competence in medical laboratories. The reported inconsistency and diversity to IQC approaches in diagnostic laboratories is definitive evidence that international guidance in IQC programme design and implementation is long overdue. The paper aims to discuss these issues. Design/methodology/approach - Herein, the authors define, describe and critically examine the essential elements four stages of an IQC programme and suggest a template to inform both design and ease of implementation. For practical application, the authors have stratified the proposed methodology into four stages: staff education and training; IQC material; IQC targets; and IQC procedure, and provide recommendations that meet ISO15189:2012 requirements. Findings - These recommendations are informed by the published literature together with the collective experience working in clinical biochemistry and diagnostic endocrinology laboratories. The authors note that the laboratory staff's effort on IQC is a continuous process, driven by changes within each IQC stage, in response to risk analysis, maximising economic value or through professional leadership and central to IQC programme implementation and delivery. Practical implications - The authors offer a template that laboratories can use to inform the design and implementation of their IQC programme. Originality/value - The proposed IQC programme is user friendly, flexible and pragmatic with the potential to harmonise practice. The authors
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....
Controllability of non-linear systems: generic singularities and their stability
International Nuclear Information System (INIS)
Davydov, Alexey A; Zakalyukin, Vladimir M
2012-01-01
This paper presents an overview of the state of the art in applications of singularity theory to the analysis of generic singularities of controllability of non-linear systems on manifolds. Bibliography: 40 titles.
Control of the Thermal Evaporation of Organic Semiconductors via Exact Linearization
Martin Steinberger; Martin Horn
2011-01-01
In this article, a high vacuum system for the evaporation of organic semiconductors is introduced and a mathematical model is given. Based on the exact input output linearization a deposition rate controller is designed and tested with different evaporation materials.
Decentralized control of discrete-time linear time invariant systems with input saturation
Deliu, Ciprian; Deliu, C.; Malek, Babak; Roy, Sandip; Saberi, Ali; Stoorvogel, Antonie Arij
2009-01-01
We study decentralized stabilization of discrete time linear time invariant (LTI) systems subject to actuator saturation, using LTI controllers. The requirement of stabilization under both saturation constraints and decentralization impose obvious necessary conditions on the open-loop plant, namely
Iterated non-linear model predictive control based on tubes and contractive constraints.
Murillo, M; Sánchez, G; Giovanini, L
2016-05-01
This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Application of local area networks to accelerator control systems at the Stanford Linear Accelerator
International Nuclear Information System (INIS)
Fox, J.D.; Linstadt, E.; Melen, R.
1983-03-01
The history and current status of SLAC's SDLC networks for distributed accelerator control systems are discussed. These local area networks have been used for instrumentation and control of the linear accelerator. Network topologies, protocols, physical links, and logical interconnections are discussed for specific applications in distributed data acquisition and control system, computer networks and accelerator operations
Electric field control methods for foil coils in high-voltage linear actuators
Beek, van T.A.; Jansen, J.W.; Lomonova, E.A.
2015-01-01
This paper describes multiple electric field control methods for foil coils in high-voltage coreless linear actuators. The field control methods are evaluated using 2-D and 3-D boundary element methods. A comparison is presented between the field control methods and their ability to mitigate
International Nuclear Information System (INIS)
Xunjing, L.
1981-12-01
The vector-valued measure defined by the well-posed linear boundary value problems is discussed. The maximum principle of the optimal control problem with non-convex constraint is proved by using the vector-valued measure. Especially, the necessary conditions of the optimal control of elliptic systems is derived without the convexity of the control domain and the cost function. (author)
Directory of Open Access Journals (Sweden)
Musa Danjuma SHEHU
2008-06-01
Full Text Available This paper lays emphasis on formulation of two dimensional differential games via optimal control theory and consideration of control systems whose dynamics is described by a system of Ordinary Differential equation in the form of linear equation under the influence of two controls U(. and V(.. Base on this, strategies were constructed. Hence we determine the optimal strategy for a control say U(. under a perturbation generated by the second control V(. within a given manifold M.
Linear motion device and method for inserting and withdrawing control rods
Smith, J.E.
Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.
Linear switched reluctance motor control with PIC18F452 microcontroller
DURSUN, Mahir; KOÇ, Fatmagül
2014-01-01
This paper presents the simulation, control, and experimental results of the velocity of a double-sided, 6/4-poled, 3-phased, 8 A, 24 V, 250 W, and 250 N pull force linear switched reluctance motor (LSRM). In the simulation and experimental study, the reference velocity is constant depending on the position and time. The velocity versus the position of the translator was controlled with fuzzy logic control (FLC) and proportional-integral (PI) control techniques. The motor was control...
78 FR 67225 - Amendments to Material Control and Accounting Regulations
2013-11-08
... Amendments to Material Control and Accounting Regulations AGENCY: Nuclear Regulatory Commission. ACTION... for material control and accounting (MC&A) of special nuclear material (SNM). The goal of this... for control and accounting of SNM that is held by a licensee. The MC&A regulations ensure that the...
Directory of Open Access Journals (Sweden)
Zeyu Shi
2017-01-01
Full Text Available Active power filter (APF is the most popular device in regulating power quality issues. Currently, most literatures ignored the impact of grid impedance and assumed the load voltage is ideal, which had not described the system accurately. In addition, the controllers applied PI control; thus it is hard to improve the compensation quality. This paper establishes a precise model which consists of APF, load, and grid impedance. The Bode diagram of traditional simplified model is obviously different with complete model, which means the descriptions of the system based on the traditional simplified model are inaccurate and incomplete. And then design exact feedback linearization and quasi-sliding mode control (FBL-QSMC is based on precise model in inner current loop. The system performances in different parameters are analyzed and dynamic performance of proposed algorithm is compared with traditional PI control algorithm. At last, simulations are taken in three cases to verify the performance of proposed control algorithm. The results proved that the proposed feedback linearization and quasi-sliding mode control algorithm has fast response and robustness; the compensation performance is superior to PI control obviously, which also means the complete modeling and proposed control algorithm are correct.
Thosar, Archana; Patra, Amit; Bhattacharyya, Souvik
2008-07-01
Design of a nonlinear control system for a Variable Air Volume Air Conditioning (VAVAC) plant through feedback linearization is presented in this article. VAVAC systems attempt to reduce building energy consumption while maintaining the primary role of air conditioning. The temperature of the space is maintained at a constant level by establishing a balance between the cooling load generated in the space and the air supply delivered to meet the load. The dynamic model of a VAVAC plant is derived and formulated as a MIMO bilinear system. Feedback linearization is applied for decoupling and linearization of the nonlinear model. Simulation results for a laboratory scale plant are presented to demonstrate the potential of keeping comfort and maintaining energy optimal performance by this methodology. Results obtained with a conventional PI controller and a feedback linearizing controller are compared and the superiority of the proposed approach is clearly established.
Intelligent control of non-linear dynamical system based on the adaptive neurocontroller
Engel, E.; Kovalev, I. V.; Kobezhicov, V.
2015-10-01
This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.
International Nuclear Information System (INIS)
Abootorabi Zarchi, H.; Arab Markadeh, Gh.R.; Soltani, J.
2010-01-01
In this paper, a nonlinear speed tracking controller is introduced for three-phase synchronous reluctance motor (SynRM) on the basis of input-output feedback linearization (IOFL), considering the different control strategies (maximum torque per Ampere, high efficiency and minimum KVA rating for the inverter) related to this motor. The proposed control approach is capable of decoupling control of stator flux and motor generated torque. The validity and effectiveness of the method is verified by simulation and experimental results.
Paul, Shibashis; Ghosh, Shyamolina; Ray, Deb Shankar
2018-02-01
We consider a reaction-diffusion system with linear, stochastic activator-inhibitor kinetics where the time evolution of concentration of a species at any spatial location depends on the relative average concentration of its neighbors. This self-regulating nature of kinetics brings in spatial correlation between the activator and the inhibitor. An interplay of this correlation in kinetics and disparity of diffusivities of the two species leads to symmetry breaking non-equilibrium transition resulting in stationary pattern formation. The role of initial noise strength and the linear reaction terms has been analyzed for pattern selection.
78 FR 46851 - Controlled Group Regulation Examples
2013-08-02
...) to require the presence of two levels of controlled entities for a controlled group to exist, and... changes would add a new example to illustrate both the mechanics of the controlled group rules as applied...
Poor glycemic control impacts linear and non-linear dynamics of heart rate in DM type 2
Directory of Open Access Journals (Sweden)
Daniela Bassi
2015-08-01
Full Text Available INTRODUCTION: It is well known that type 2 diabetes mellitus (T2DM produces cardiovascular autonomic neuropathy (CAN, which may affect the cardiac autonomic modulation. However, it is unclear whether the lack of glycemic control in T2DM without CAN could impact negatively on cardiac autonomic modulation. Objective: To evaluate the relationship between glycemic control and cardiac autonomic modulation in individuals with T2DM without CAN. Descriptive, prospective and cross sectional study.METHODS: Forty-nine patients with T2DM (51±7 years were divided into two groups according to glycosylated hemoglobin (HbA1c: G1≤7% and G2>7.0%. Resting heart rate (HR and RR interval (RRi were obtained and calculated by linear (Mean iRR; Mean HR; rMSSD; STD RR; LF; HF; LF/HF, TINN and RR Tri, and non-linear (SD1; SD2; DFα1; DFα2, Shannon entropy; ApEn; SampEn and CD methods of heart rate variability (HRV. Insulin, HOMA-IR, fasting glucose and HbA1c were obtained by blood tests.RESULTS: G2 (HbA1c≤7% showed lower values for the mean of iRR; STD RR; RR Tri, TINN, SD2, CD and higher mean HR when compared with G1 (HbA1c > 7%. Additionally, HbA1c correlated negatively with mean RRi (r=0.28, p=0.044; STD RR (r=0.33, p=0.017; RR Tri (r=-0.35, p=0.013, SD2 (r=-0.39, p=0.004 and positively with mean HR (r=0.28, p=0.045. Finally, fasting glucose correlated negatively with STD RR (r=-0.36, p=0.010; RR Tri (r=-0.36, p=0.010; TINN (r=-0.33, p=0.019 and SD2 (r=-0.42, p=0.002.CONCLUSION: We concluded that poor glycemic control is related to cardiac autonomic modulation indices in individuals with T2DM even if they do not present cardiovascular autonomic neuropathy.
Bifurcation analysis and linear control of the Newton-Leipnik system
International Nuclear Information System (INIS)
Wang Xuedi; Tian Lixin
2006-01-01
In this paper, we study a sort of chaotic system-Newton-Leipnik system which possesses two strange attractors. The static and dynamic bifurcations of the system are studied. The chaos controlling is performed by a simpler linear controller, and numerical simulation of the control is supplied. At the same time, Lyapunov exponents of the system show that the result of the chaos controlling is right
Efficiency Improvement of a High Dynamic BLDC Linear Motor by Multiphase Control
Lemmens, Joris; Vanvlasselaer, Kris; Mulier, Kristof; Goossens, Stijn; Symens, Wim; Driesen, Johan
2013-01-01
This paper proposes a multiphase control strategy for a high dynamic brushless DC linear motor as an alternative for conventional three-phase field-oriented control. Analysis of the magnetic field waveforms shows that three-phase control is not optimal for the 6-slot 7-pole motor topology. Therefore, a multiphase control strategy is elaborated which injects currents proportional to the electromotive force into each of the nine stator coil groups. This results in a maximal alignment force ...
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)
Application of Dynamic Systems Family for Synthesis of Fuzzy Control with Account of Non-linearities
Directory of Open Access Journals (Sweden)
Andriy Lozynskyy
2016-01-01
Full Text Available Dynamic system with nonlinearities has been considered. This system has been divided into a set of linear subsystems. A fuzzy controller of the considered system has been synthesized. It takes into account nonlinearities of the system and provides smooth switching between controllers of the linear subsystems. An unstable subsystem has been utilized, which provides better dynamic characteristics of the considered system. Comparison with traditional controller has been conducted. Corresponding qualitative and quantitative estimates have been provided. They testify the expediency of the proposed approach.
DEFF Research Database (Denmark)
Ahmadi, Mohamadreza; Mojallali, Hamed; Wisniewski, Rafal
2012-01-01
This paper addresses the robust stability and control problem of uncertain piecewise linear switched systems where, instead of the conventional Carathe ́odory solutions, we allow for Filippov solutions. In other words, in contrast to the previous studies, solutions with infinite switching in fini...... algorithm is proposed to surmount the aforementioned matrix inequality conditions....... time along the facets and on faces of arbitrary dimensions are also taken into account. Firstly, based on earlier results, the stability problem of piecewise linear systems with Filippov solutions is translated into a number of linear matrix inequality feasibility tests. Subsequently, a set of matrix...... inequalities are brought forward, which determines the asymptotic stability of the Filippov solutions of a given uncertain piecewise linear system. Afterwards, bilinear matrix inequality conditions for synthesizing a robust controller with a guaranteed H∞ per- formance are formulated. Finally, a V-K iteration...
Linear and nonlinear schemes applied to pitch control of wind turbines.
Geng, Hua; Yang, Geng
2014-01-01
Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters.
LMI-based gain scheduled controller synthesis for a class of linear parameter varying systems
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Anderson, Brian; Lanzon, Alexander
2006-01-01
This paper presents a novel method for constructing controllers for a class of single-input multiple-output (SIMO) linear parameter varying (LPV) systems. This class of systems encompasses many physical systems, in particular systems where individual components vary with time, and is therefore...... of significant practical relevance to control designers. The control design presented in this paper has the properties that the system matrix of the closed loop is multi-affine in the various scalar parameters, and that the resulting controller ensures a certain degree of stability for the closed loop even when...... as a standard linear time-invariant (LTI) design combined with a set of linear matrix inequalities, which can be solved efficiently with software tools. The design procedure is illustrated by a numerical example....
Risk adjusted receding horizon control of constrained linear parameter varying systems
Sznaier, M.; Lagoa, C.; Stoorvogel, Antonie Arij; Li, X.
2005-01-01
In the past few years, control of Linear Parameter Varying Systems (LPV) has been the object of considerable attention, as a way of formalizing the intuitively appealing idea of gain scheduling control for nonlinear systems. However, currently available LPV techniques are both computationally
Linear Dynamics and Control of a Kinematic Wobble–Yoke Stirling Engine
Alvarez–Aguirre, Alejandro; García–Canseco, Eloísa; Scherpen, Jacquelien M.A.
2010-01-01
This paper presents a control systems approach for the modeling and control of a kinematic wobble–yoke Stirling engine. The linear dynamics of the Stirling engine are analyzed based on the dynamical model of the system, developed by these authors. We show that the Stirling engine can be viewed as a
Linear dynamics and control of a kinematic wobble-yoke Stirling engine
Alvarez Aguirre, A.; Garcia Canseco, E.; Scherpen, J.M.A.
2010-01-01
This paper presents a control systems approachfor the modeling and control of a kinematic wobbleyokeStirling engine. The linear dynamics of the Stirling engine are analyzed based on the dynamical model of the system, developed by the authors in [1]. We show that the Stirling engine can be viewed as
A new criterion for chaos and hyperchaos synchronization using linear feedback control
International Nuclear Information System (INIS)
Wang Faqiang; Liu Chongxin
2006-01-01
Based on the characteristic of the chaotic or hyperchaotic system and linear feedback control method, synchronization of the two identical chaotic or hyperchaotic systems with different initial conditions is studied. The range of the control parameter for synchronization is derived. Simulation results are provided to show the effectiveness of the proposed synchronization method
Controllability of a Class of Bimodal Discrete-Time Piecewise Linear Systems
Yurtseven, E.; Camlibel, M.K.; Heemels, W.P.M.H.
2013-01-01
In this paper we will provide algebraic necessary and sufficient conditions for the controllability/reachability/null controllability of a class of bimodal discrete-time piecewise linear systems including several instances of interest that are not covered by existing works which focus primarily on
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)
An improved robust model predictive control for linear parameter-varying input-output models
Abbas, H.S.; Hanema, J.; Tóth, R.; Mohammadpour, J.; Meskin, N.
2018-01-01
This paper describes a new robust model predictive control (MPC) scheme to control the discrete-time linear parameter-varying input-output models subject to input and output constraints. Closed-loop asymptotic stability is guaranteed by including a quadratic terminal cost and an ellipsoidal terminal
DEFF Research Database (Denmark)
Sokoler, Leo Emil; Dammann, Bernd; Madsen, Henrik
2014-01-01
This paper presents a decomposition algorithm for solving the optimal control problem (OCP) that arises in Mean-Variance Economic Model Predictive Control of stochastic linear systems. The algorithm applies the alternating direction method of multipliers to a reformulation of the OCP...
Overlapping quadratic optimal control of linear time-varying commutative systems
Czech Academy of Sciences Publication Activity Database
Bakule, Lubomír; Rodellar, J.; Rossell, J. M.
2002-01-01
Roč. 40, č. 5 (2002), s. 1611-1627 ISSN 0363-0129 R&D Projects: GA AV ČR IAA2075802 Institutional research plan: CEZ:AV0Z1075907 Keywords : overlapping * optimal control * linear time-varying systems Subject RIV: BC - Control Systems Theory Impact factor: 1.441, year: 2002
Interpolation of polytopic control Lyapunov functions for discrete–time linear systems
Nguyen, T.T.; Lazar, M.; Spinu, V.; Boje, E.; Xia, X.
2014-01-01
This paper proposes a method for interpolating two (or more) polytopic control Lyapunov functions (CLFs) for discrete--time linear systems subject to polytopic constraints, thereby combining different control objectives. The corresponding interpolated CLF is used for synthesis of a stabilizing
Directory of Open Access Journals (Sweden)
Angélica Garzón-Umerenkova
2018-04-01
Full Text Available This research aimed to analyze the linear bivariate correlation and structural relations between self-regulation -as a central construct-, with flow, health, procrastination and academic performance, in an academic context. A total of 363 college students took part, 101 men (27.8% and 262 women (72.2%. Participants had an average age of 22 years and were between the first and fifth year of studies. They were from five different programs and two universities in Bogotá city (Colombia. A validated ad hoc questionnaire of physical and psychological health was applied along with a battery of tests to measure self-regulation, procrastination, and flourishing. To establish an association relationship, Pearson bivariate correlations were performed using SPSS software (v. 22.0, and structural relationship predictive analysis was performed using an SEM on AMOS software (v. 22.0. Regarding this linear association, it was established that (1 self-regulation has a significant positive association on flourishing and overall health, and a negative effect on procrastination. Regarding the structural relation, it confirmed that (2 self-regulation is a direct and positive predictor of flourishing and health; (3 self-regulation predicts procrastination directly and negatively, and academic performance indirectly and positively; and (4 age and gender have a prediction effect on the analyzed variables. Implications, limitations and future research scope are discussed.
Garzón-Umerenkova, Angélica; de la Fuente, Jesús; Amate, Jorge; Paoloni, Paola V.; Fadda, Salvatore; Pérez, Javier Fiz
2018-01-01
This research aimed to analyze the linear bivariate correlation and structural relations between self-regulation -as a central construct-, with flow, health, procrastination and academic performance, in an academic context. A total of 363 college students took part, 101 men (27.8%) and 262 women (72.2%). Participants had an average age of 22 years and were between the first and fifth year of studies. They were from five different programs and two universities in Bogotá city (Colombia). A validated ad hoc questionnaire of physical and psychological health was applied along with a battery of tests to measure self-regulation, procrastination, and flourishing. To establish an association relationship, Pearson bivariate correlations were performed using SPSS software (v. 22.0), and structural relationship predictive analysis was performed using an SEM on AMOS software (v. 22.0). Regarding this linear association, it was established that (1) self-regulation has a significant positive association on flourishing and overall health, and a negative effect on procrastination. Regarding the structural relation, it confirmed that (2) self-regulation is a direct and positive predictor of flourishing and health; (3) self-regulation predicts procrastination directly and negatively, and academic performance indirectly and positively; and (4) age and gender have a prediction effect on the analyzed variables. Implications, limitations and future research scope are discussed.
Garzón-Umerenkova, Angélica; de la Fuente, Jesús; Amate, Jorge; Paoloni, Paola V; Fadda, Salvatore; Pérez, Javier Fiz
2018-01-01
This research aimed to analyze the linear bivariate correlation and structural relations between self-regulation -as a central construct-, with flow, health, procrastination and academic performance, in an academic context. A total of 363 college students took part, 101 men (27.8%) and 262 women (72.2%). Participants had an average age of 22 years and were between the first and fifth year of studies. They were from five different programs and two universities in Bogotá city (Colombia). A validated ad hoc questionnaire of physical and psychological health was applied along with a battery of tests to measure self-regulation, procrastination, and flourishing. To establish an association relationship, Pearson bivariate correlations were performed using SPSS software (v. 22.0), and structural relationship predictive analysis was performed using an SEM on AMOS software (v. 22.0). Regarding this linear association, it was established that (1) self-regulation has a significant positive association on flourishing and overall health, and a negative effect on procrastination. Regarding the structural relation, it confirmed that (2) self-regulation is a direct and positive predictor of flourishing and health; (3) self-regulation predicts procrastination directly and negatively, and academic performance indirectly and positively; and (4) age and gender have a prediction effect on the analyzed variables. Implications, limitations and future research scope are discussed.
Linearity of bulk-controlled inverter ring VCO in weak and strong inversion
DEFF Research Database (Denmark)
Wismar, Ulrik Sørensen; Wisland, D.; Andreani, Pietro
2007-01-01
In this paper linearity of frequency modulation in voltage controlled inverter ring oscillators for non feedback sigma delta converter applications is studied. The linearity is studied through theoretical models of the oscillator operating at supply voltages above and below the threshold voltage......, process variations and temperature variations have also been simulated to indicate the advantages of having the soft rail bias transistor in the VCO....
The design of programme-controlled gain and linear pulse amplifier
International Nuclear Information System (INIS)
Guan Xuemei; Chen Chunkai; Northeast Normal Univ., Changchun; Qiao Shuang; Zhou Chuansheng
2006-01-01
The authors have designed a kind of new-style programme-controlled gain and linear pulse amplifier with accurate gausses of CR-RC-CR shaping circuit structure. The use of non-volatile digital electric potential device and accurate operational amplifier makes the circuit structure simple greatly, makes the ability stronger that resists assault. It can realize multistage gain in succession and make the drift of temperature low and make the linearity of pulse well. (authors)
Utility of low-order linear nuclear-power-plant models in plant diagnostics and control
International Nuclear Information System (INIS)
Tylee, J.L.
1981-01-01
A low-order, linear model of a pressurized water reactor (PWR) plant is described and evaluated. The model consists of 23 linear, first-order difference equations and simulates all subsystems of both the primary and secondary sides of the plant. Comparisons between the calculated model response and available test data show the model to be an adequate representation of the actual plant dynamics. Suggested use for the model in an on-line digital plant diagnostics and control system are presented
78 FR 68779 - Controlled Group Regulation Examples; Hearing Cancellation
2013-11-15
... DEPARTMENT OF THE TREASURY Internal Revenue Service 26 CFR Part 1 [REG-114122-12] RIN 1545-BK96 Controlled Group Regulation Examples; Hearing Cancellation AGENCY: Internal Revenue Service (IRS), Treasury... controlled group rules related to regulated investment companies. DATES: The public hearing originally...
40 CFR 52.1582 - Control strategy and regulations: Ozone.
2010-07-01
... 40 Protection of Environment 4 2010-07-01 2010-07-01 false Control strategy and regulations: Ozone... Control strategy and regulations: Ozone. (a) Subchapter 16 of the New Jersey Administrative Code, entitled... demonstration that emissions from growth in vehicle miles traveled will not increase motor vehicle emissions and...
International Nuclear Information System (INIS)
Yan Zhenya; Yu Pei
2007-01-01
In this paper, we study chaos (lag) synchronization of a new LC chaotic system, which can exhibit not only a two-scroll attractor but also two double-scroll attractors for different parameter values, via three types of state feedback controls: (i) linear feedback control; (ii) adaptive feedback control; and (iii) a combination of linear feedback and adaptive feedback controls. As a consequence, ten families of new feedback control laws are designed to obtain global chaos lag synchronization for τ < 0 and global chaos synchronization for τ = 0 of the LC system. Numerical simulations are used to illustrate these theoretical results. Each family of these obtained feedback control laws, including two linear (adaptive) functions or one linear function and one adaptive function, is added to two equations of the LC system. This is simpler than the known synchronization controllers, which apply controllers to all equations of the LC system. Moreover, based on the obtained results of the LC system, we also derive the control laws for chaos (lag) synchronization of another new type of chaotic system
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.
77 FR 71530 - Cuban Assets Control Regulations
2012-12-03
... operating expenses or other official business of third-country diplomatic or consular missions in Cuba... authorized to process funds transfers for the operating expenses or other official business of third-country... Regulations to authorize the processing of funds transfers for the operating expenses or other official...
International Nuclear Information System (INIS)
Ghandour, J; Aberkane, S; Ponsart, J-C
2014-01-01
In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight
Output feedback control of linear fractional transformation systems subject to actuator saturation
Ban, Xiaojun; Wu, Fen
2016-11-01
In this paper, the control problem for a class of linear parameter varying (LPV) plant subject to actuator saturation is investigated. For the saturated LPV plant depending on the scheduling parameters in linear fractional transformation (LFT) fashion, a gain-scheduled output feedback controller in the LFT form is designed to guarantee the stability of the closed-loop LPV system and provide optimised disturbance/error attenuation performance. By using the congruent transformation, the synthesis condition is formulated as a convex optimisation problem in terms of a finite number of LMIs for which efficient optimisation techniques are available. The nonlinear inverted pendulum problem is employed to demonstrate the effectiveness of the proposed approach. Moreover, the comparison between our LPV saturated approach with an existing linear saturated method reveals the advantage of the LPV controller when handling nonlinear plants.
DEFF Research Database (Denmark)
Sokoler, Leo Emil; Standardi, Laura; Edlund, Kristian
2014-01-01
This paper presents a warm-started Dantzig–Wolfe decomposition algorithm tailored to economic model predictive control of dynamically decoupled subsystems. We formulate the constrained optimal control problem solved at each sampling instant as a linear program with state space constraints, input...... limits, input rate limits, and soft output limits. The objective function of the linear program is related directly to the cost of operating the subsystems, and the cost of violating the soft output constraints. Simulations for large-scale economic power dispatch problems show that the proposed algorithm...... is significantly faster than both state-of-the-art linear programming solvers, and a structure exploiting implementation of the alternating direction method of multipliers. It is also demonstrated that the control strategy presented in this paper can be tuned using a weighted ℓ1-regularization term...
Convergence Guaranteed Nonlinear Constraint Model Predictive Control via I/O Linearization
Directory of Open Access Journals (Sweden)
Xiaobing Kong
2013-01-01
Full Text Available Constituting reliable optimal solution is a key issue for the nonlinear constrained model predictive control. Input-output feedback linearization is a popular method in nonlinear control. By using an input-output feedback linearizing controller, the original linear input constraints will change to nonlinear constraints and sometimes the constraints are state dependent. This paper presents an iterative quadratic program (IQP routine on the continuous-time system. To guarantee its convergence, another iterative approach is incorporated. The proposed algorithm can reach a feasible solution over the entire prediction horizon. Simulation results on both a numerical example and the continuous stirred tank reactors (CSTR demonstrate the effectiveness of the proposed method.
Wang, Chen; Xie, G.; Wang, L.; Cao, M.
The aim of the present study is to investigate the locomotion control of a robotic fish. To achieve this goal, we design a control architecture based on a novel central pattern generator (CPG) and implement it as a system of coupled linear oscillators. This design differs significantly from the
On the internal stability of non-linear dynamic inversion: application to flight control
Czech Academy of Sciences Publication Activity Database
Alam, M.; Čelikovský, Sergej
2017-01-01
Roč. 11, č. 12 (2017), s. 1849-1861 ISSN 1751-8644 R&D Projects: GA ČR(CZ) GA17-04682S Institutional support: RVO:67985556 Keywords : flight control * non-linear dynamic inversion * stability Subject RIV: BC - Control Systems Theory OBOR OECD: Automation and control systems Impact factor: 2.536, year: 2016 http://library.utia.cas.cz/separaty/2017/TR/celikovsky-0476150.pdf
Directory of Open Access Journals (Sweden)
Wanfang Shen
2012-01-01
Full Text Available The mathematical formulation for a quadratic optimal control problem governed by a linear quasiparabolic integrodifferential equation is studied. The control constrains are given in an integral sense: Uad={u∈X;∫ΩUu⩾0, t∈[0,T]}. Then the a posteriori error estimates in L∞(0,T;H1(Ω-norm and L2(0,T;L2(Ω-norm for both the state and the control approximation are given.
A Novel Method of Robust Trajectory Linearization Control Based on Disturbance Rejection
Directory of Open Access Journals (Sweden)
Xingling Shao
2014-01-01
Full Text Available A novel method of robust trajectory linearization control for a class of nonlinear systems with uncertainties based on disturbance rejection is proposed. Firstly, on the basis of trajectory linearization control (TLC method, a feedback linearization based control law is designed to transform the original tracking error dynamics to the canonical integral-chain form. To address the issue of reducing the influence made by uncertainties, with tracking error as input, linear extended state observer (LESO is constructed to estimate the tracking error vector, as well as the uncertainties in an integrated manner. Meanwhile, the boundedness of the estimated error is investigated by theoretical analysis. In addition, decoupled controller (which has the characteristic of well-tuning and simple form based on LESO is synthesized to realize the output tracking for closed-loop system. The closed-loop stability of the system under the proposed LESO-based control structure is established. Also, simulation results are presented to illustrate the effectiveness of the control strategy.
Specific recognition of linear polyubiquitin by A20 zinc finger 7 is involved in NF-κB regulation
Tokunaga, Fuminori; Nishimasu, Hiroshi; Ishitani, Ryuichiro; Goto, Eiji; Noguchi, Takuya; Mio, Kazuhiro; Kamei, Kiyoko; Ma, Averil; Iwai, Kazuhiro; Nureki, Osamu
2012-01-01
LUBAC (linear ubiquitin chain assembly complex) activates the canonical NF-κB pathway through linear polyubiquitination of NEMO (NF-κB essential modulator, also known as IKKγ) and RIP1. However, the regulatory mechanism of LUBAC-mediated NF-κB activation remains elusive. Here, we show that A20 suppresses LUBAC-mediated NF-κB activation by binding linear polyubiquitin via the C-terminal seventh zinc finger (ZF7), whereas CYLD suppresses it through deubiquitinase (DUB) activity. We determined the crystal structures of A20 ZF7 in complex with linear diubiquitin at 1.70–1.98 Å resolutions. The crystal structures revealed that A20 ZF7 simultaneously recognizes the Met1-linked proximal and distal ubiquitins, and that genetic mutations associated with B cell lymphomas map to the ubiquitin-binding sites. Our functional analysis indicated that the binding of A20 ZF7 to linear polyubiquitin contributes to the recruitment of A20 into a TNF receptor (TNFR) signalling complex containing LUBAC and IκB kinase (IKK), which results in NF-κB suppression. These findings provide new insight into the regulation of immune and inflammatory responses. PMID:23032187
Globally linearized control on diabatic continuous stirred tank reactor: a case study.
Jana, Amiya Kumar; Samanta, Amar Nath; Ganguly, Saibal
2005-07-01
This paper focuses on the promise of globally linearized control (GLC) structure in the realm of strongly nonlinear reactor system control. The proposed nonlinear control strategy is comprised of: (i) an input-output linearizing state feedback law (transformer), (ii) a state observer, and (iii) an external linear controller. The synthesis of discrete-time GLC controller for single-input single-output diabatic continuous stirred tank reactor (DCSTR) has been studied first, followed by the synthesis of feedforward/feedback controller for the same reactor having dead time in process as well as in disturbance. Subsequently, the multivariable GLC structure has been designed and then applied on multi-input multi-output DCSTR system. The simulation study shows high quality performance of the derived nonlinear controllers. The better-performed GLC in conjunction with reduced-order observer has been compared with the conventional proportional integral controller on the example reactor and superior performance has been achieved by the proposed GLC control scheme.
Shao, Xingling; Wang, Honglun
2015-01-01
This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Jiandong Yang
2015-10-01
Full Text Available On the basis of the state–space method (SSM, a novel linear mathematical model of the unsteady flow for the tailrace system with an open channel is proposed. This novel model is an elastic linearized model of water hammer. The validity of the model has been verified by several examples of numerical simulation, which are based on a finite difference technique. Then, the complete mathematical model for the hydro-turbine governing system of hydropower station with an open tailrace channel, which is used for simulating the transient process of the hydro-turbine governing system under load disturbance, is established by combining the models of hydro-turbine, generator, governor and open tailrace channel. Finally, according to the complete model, the regulation quality for hydro-turbine governing system with an open tailrace channel under load disturbance is studied, and the effects of open tailrace channel and tailrace surge tank on regulation quality are analyzed. The results indicate that: The open tailrace channel has a strong influence on the regulation quality by observing the water level fluctuations in tailrace surge tank. The surge shows a piecewise periodical change along with the variation in the length of an open channel. The open tailrace channel can be used to improve the regulation quality of hydro-turbine governing system.
Modulation linearization of a frequency-modulated voltage controlled oscillator, part 3
Honnell, M. A.
1975-01-01
An analysis is presented for the voltage versus frequency characteristics of a varactor modulated VHF voltage controlled oscillator in which the frequency deviation is linearized by using the nonlinear characteristics of a field effect transistor as a signal amplifier. The equations developed are used to calculate the oscillator output frequency in terms of pertinent circuit parameters. It is shown that the nonlinearity exponent of the FET has a pronounced influence on frequency deviation linearity, whereas the junction exponent of the varactor controls total frequency deviation for a given input signal. A design example for a 250 MHz frequency modulated oscillator is presented.
Directory of Open Access Journals (Sweden)
Baogui Xin
2015-04-01
Full Text Available A projective synchronization scheme for a kind of n-dimensional discrete dynamical system is proposed by means of a linear feedback control technique. The scheme consists of master and slave discrete dynamical systems coupled by linear state error variables. A kind of novel 3-D chaotic discrete system is constructed, to which the test for chaos is applied. By using the stability principles of an upper or lower triangular matrix, two controllers for achieving projective synchronization are designed and illustrated with the novel systems. Lastly some numerical simulations are employed to validate the effectiveness of the proposed projective synchronization scheme.
Implementation of a controller for linear positioners applicable in optical fiber stretching
International Nuclear Information System (INIS)
Castrillo Piedra, Andres Rodolfo
2014-01-01
A low cost controller is implemented for linear positioners applicable in optic fiber stretching. The possibility of using a donated equipment is evaluated by the Escuela de Ingenieria Mecanica. The equipment is required by the non-linear photonic research laboratory (NLPR-LAB) for stretching of micro structured fiber. The process has required a slow and precise stretching, so the controllers must be precisely programmed to rotate the motors at different speeds. Donated equipment is evaluated to see if it is possible to use for fiber stretching [es
Computerized reactor power regulation with logarithmic controller
International Nuclear Information System (INIS)
Gossanyi, A.; Vegh, E.
1982-11-01
A computerized reactor control system has been operating at a 5 MW WWR-SM research reactor in the Central Research Institute for Physics, Budapest, for some years. This paper describes the power controller used in the SPC operating mode of the system, which operates in a 5-decade wide power range with +-0.5% accuracy. The structure of the controller easily limits the minimal reactor period and produces a reactor transient with constant period if the power demand changes. (author)
A Fast Condensing Method for Solution of Linear-Quadratic Control Problems
DEFF Research Database (Denmark)
Frison, Gianluca; Jørgensen, John Bagterp
2013-01-01
consider a condensing (or state elimination) method to solve an extended version of the LQ control problem, and we show how to exploit the structure of this problem to both factorize the dense Hessian matrix and solve the system. Furthermore, we present two efficient implementations. The first......In both Active-Set (AS) and Interior-Point (IP) algorithms for Model Predictive Control (MPC), sub-problems in the form of linear-quadratic (LQ) control problems need to be solved at each iteration. The solution of these sub-problems is usually the main computational effort. In this paper we...... implementation is formally identical to the Riccati recursion based solver and has a computational complexity that is linear in the control horizon length and cubic in the number of states. The second implementation has a computational complexity that is quadratic in the control horizon length as well...
Neural Network Control for the Linear Motion of a Spherical Mobile Robot
Directory of Open Access Journals (Sweden)
Yao Cai
2011-09-01
Full Text Available This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those two variables have strong coupling due to the mechanical structure of the robot. Different from traditional treatments, no linearization is applied to this system but a single‐input multiple‐output PID (SIMO_PID controller is designed by adopting a six‐input single‐ output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function neural network to compensate the actuator nonlinearity and the credit assignment (CA learning method to obtain faster convergence of CMAC_GBF. The proposed controller is generalizable to other single‐input multiple‐output system with good real‐time capability. Simulations in Matlab are used to validate the control effects.
Non-linear hybrid control oriented modelling of a digital displacement machine
DEFF Research Database (Denmark)
Pedersen, Niels Henrik; Johansen, Per; Andersen, Torben O.
2017-01-01
Proper feedback control of digital fluid power machines (Pressure, flow, torque or speed control) requires a control oriented model, from where the system dynamics can be analyzed, stability can be proven and design criteria can be specified. The development of control oriented models for hydraulic...... Digital Displacement Machines (DDM) is complicated due to non-smooth machine behavior, where the dynamics comprises both analog, digital and non-linear elements. For a full stroke operated DDM the power throughput is altered in discrete levels based on the ratio of activated pressure chambers....... In this paper, a control oriented hybrid model is established, which combines the continuous non-linear pressure chamber dynamics and the discrete shaft position dependent activation of the pressure chambers. The hybrid machine model is further extended to describe the dynamics of a Digital Fluid Power...
Directory of Open Access Journals (Sweden)
Luiz Augusto da Cruz Meleiro
2005-06-01
Full Text Available In this work a MIMO non-linear predictive controller was developed for an extractive alcoholic fermentation process. The internal model of the controller was represented by two MISO Functional Link Networks (FLNs, identified using simulated data generated from a deterministic mathematical model whose kinetic parameters were determined experimentally. The FLN structure presents as advantages fast training and guaranteed convergence, since the estimation of the weights is a linear optimization problem. Besides, the elimination of non-significant weights generates parsimonious models, which allows for fast execution in an MPC-based algorithm. The proposed algorithm showed good potential in identification and control of non-linear processes.Neste trabalho um controlador preditivo não linear multivariável foi desenvolvido para um processo de fermentação alcoólica extrativa. O modelo interno do controlador foi representado por duas redes do tipo Functional Link (FLN, identificadas usando dados de simulação gerados a partir de um modelo validado experimentalmente. A estrutura FLN apresenta como vantagem o treinamento rápido e convergência garantida, já que a estimação dos seus pesos é um problema de otimização linear. Além disso, a eliminação de pesos não significativos gera modelos parsimoniosos, o que permite a rápida execução em algoritmos de controle preditivo baseado em modelo. Os resultados mostram que o algoritmo proposto tem grande potencial para identificação e controle de processos não lineares.
Energy Technology Data Exchange (ETDEWEB)
Hoelemann, Sebastian
2011-07-01
As a part of the OXYCOAL AC project a concept of a fossil-fired power plant without emissions of CO{sub 2} is developed in which the recirculated flue gas in a high-temperature ceramic membrane is enriched with oxygen for the combustion of coal. This enables a separation of CO{sub 2} at relatively low efficiency losses. The contribution under consideration deals with the design of a block control strategy for this dynamic extremely demanding process. A cascaded control structure with two non-linear model-based predictive controllers is implemented. An essential component of the cascade structure is an adaptation of this specially developed algorithm with which the underlying controller determines the values for restrictions that are valid in the super-posed regulator in determining the setpoint. The block control approach is examined using a simulation model.
Directory of Open Access Journals (Sweden)
Long Chen
2016-01-01
Full Text Available Active suspension has not been popularized for high energy consumption. To address this issue, this paper introduces the concept of a new kind of suspension. The linear motor is considered to be integrated into an adjustable shock absorber to form the hybrid active semiactive suspension (HASAS. To realize the superiority of HASAS, its energy consumption and regeneration mechanisms are revealed. And the system controller which is composed of linear quadratic regulator (LQR controller, mode decision and switch controller, and the sliding mode control based thrust controller is developed. LQR controller is designed to maintain the suspension control objectives, while mode decision and switch controller decides the optimal damping level to tune motor thrust. The thrust controller ensures motor thrust tracking. An adjustable shock absorber with three regulating levels to be used in HASAS is trial produced and tested to obtain its working characteristics. Finally, simulation analysis is made with the experimental three damping characteristics. The impacts of adjustable damping on the motor force and energy consumption are investigated. Simulation results demonstrate the advantages of HASAS in energy conservation with various suspension control objectives. Even self-powered active control and energy regenerated to the power source can be realized.
A general digital computer procedure for synthesizing linear automatic control systems
International Nuclear Information System (INIS)
Cummins, J.D.
1961-10-01
The fundamental concepts required for synthesizing a linear automatic control system are considered. A generalized procedure for synthesizing automatic control systems is demonstrated. This procedure has been programmed for the Ferranti Mercury and the IBM 7090 computers. Details of the programmes are given. The procedure uses the linearized set of equations which describe the plant to be controlled as the starting point. Subsequent computations determine the transfer functions between any desired variables. The programmes also compute the root and phase loci for any linear (and some non-linear) configurations in the complex plane, the open loop and closed loop frequency responses of a system, the residues of a function of the complex variable 's' and the time response corresponding to these residues. With these general programmes available the design of 'one point' automatic control systems becomes a routine scientific procedure. Also dynamic assessments of plant may be carried out. Certain classes of multipoint automatic control problems may also be solved with these procedures. Autonomous systems, invariant systems and orthogonal systems may also be studied. (author)
International Nuclear Information System (INIS)
Tang, Yanmei; Bai, Yan; Huang, Congzhi; Du, Bin
2015-01-01
Highlights: • A disturbance rejection solution to the load frequency control issue is proposed. • Several power systems with wind energy conversation system have been tested. • A tuning algorithm of the controller parameters was proposed. • The performance of the proposed approach is better than traditional controllers. - Abstract: A new grid load frequency control approach is proposed for the doubly fed induction generator based wind power plants. The load frequency control issue in a power system is undergoing fundamental changes due to the rapidly growing amount of wind energy conversation system, and concentrating on maintaining generation-load balance and disturbance rejection. The prominent feature of the linear active disturbance rejection control approach is that the total disturbance can be estimated and then eliminated in real time. And thus, it is a feasible solution to deal with the load frequency control issue. In this paper, the application of the linear active disturbance rejection control approach in the load frequency control issue for a complex power system with wind energy conversation system based on doubly fed induction generator is investigated. The load frequency control issue is formulated as a decentralized multi-objective optimization control problem, the solution to which is solved by the hybrid particle swarm optimization technique. To show the effectiveness of the proposed control scheme, the robust performance testing based on Monte-Carlo approach is carried out. The performance superiority of the system with the proposed linear active disturbance rejection control approach over that with the traditional proportional integral and fuzzy-proportional integral-based controllers is validated by the simulation results
International Nuclear Information System (INIS)
Culver, T.B.
1991-01-01
Several modifications of the linear-quadratic regulator (LQR) optimization algorithm are developed, and the computational efficiency of each algorithm with respect to groundwater remediation is evaluated. In each case, the optimization model is combined with a finite element groundwater flow and transport simulation model to determine the optimal time-varying pump-and-treat policy. The first modification of the LQR algorithm incorporated management periods, which are groups of simulation time steps during which the pumping policy remains constant. Management periods reduced the total computational demand, as measured by the CPU time, by as much as 85% compared to the time needed for the LQR solution without management periods. Complexity analysis revealed that computational savings of equal or greater magnitude can be expected in general for groundwater remediation applications and for many other applications of dynamic control. The LQR algorithm with management periods was further modified by assuming steady-state hydraulics within a management period (SSLQR), which simplifies the derivatives of the transition equation. A quasi-Newton differential dynamic programming (QNDDP) was formulated by approximating the complicated second derivatives of the transition equation using a Broyden rank-one approximation. QNDDP converged to the optimal policy for the test problem significantly faster than the LQR algorithm, requiring approximately half the computational time. With the test problem expanded to include the capacity of the treatment facility as a state variable, QNDDP with management periods can determine the optimal treatment facility capacity. With many management periods, the addition of the capital costs of the treatment facility changed the optimal policy so that the required treatment facility capacity was reduced
Proposed Food (Control of Irradiation) Regulations 1990
International Nuclear Information System (INIS)
1990-08-01
The paper summarizes proposals UK Ministry of Agriculture, Fisheries and Food Proposals for part of a comprehensive range of controls applying to premises using sources of ionising radiation in the processing of food. (UK)
International Nuclear Information System (INIS)
Raza, K.S.M.
2004-01-01
This paper demonstrates that if a complicated nonlinear, non-square, state-coupled multi variable system is smartly linearized and subjected to a thorough stability analysis then we can achieve our design objectives via a controller which will be quite simple (in term of resource usage and execution time) and very efficient (in terms of robustness). Further the aim is to implement this controller via computer in a real time environment. Therefore first a nonlinear mathematical model of the system is achieved. An intelligent work is done to decouple the multivariable system. Linearization and stability analysis techniques are employed for the development of a linearized and mathematically sound control law. Nonlinearities like the saturation in actuators are also been catered. The controller is then discretized using Runge-Kutta integration. Finally the discretized control law is programmed in a computer in a real time environment. The programme is done in RT -Linux using GNU C for the real time realization of the control scheme. The real time processes, like sampling and controlled actuation, and the non real time processes, like graphical user interface and display, are programmed as different tasks. The issue of inter process communication, between real time and non real time task is addressed quite carefully. The results of this research pursuit are presented graphically. (author)
A unified approach to fixed-order controller design via linear matrix inequalities
Directory of Open Access Journals (Sweden)
Iwasaki T.
1995-01-01
Full Text Available We consider the design of fixed-order (or low-order linear controllers which meet certain performance and/or robustness specifications. The following three problems are considered; covariance control as a nominal performance problem, 𝒬 -stabilization as a robust stabilization problem, and robust L ∞ control problem as a robust performance problem. All three control problems are converted to a single linear algebra problem of solving a linear matrix inequality (LMI of the type B G C + ( B G C T + Q < 0 for the unknown matrix G . Thus this paper addresses the fixed-order controller design problem in a unified way. Necessary and sufficient conditions for the existence of a fixed-order controller which satisfies the design specifications for each problem are derived, and an explicit controller formula is given. In any case, the resulting problem is shown to be a search for a (structured positive definite matrix X such that X ∈ 𝒞 1 and X − 1 ∈ 𝒞 2 where 𝒞 1 and 𝒞 2 are convex sets defined by LMIs. Computational aspects of the nonconvex LMI problem are discussed.
A unified approach to fixed-order controller design via linear matrix inequalities
Directory of Open Access Journals (Sweden)
T. Iwasaki
1995-01-01
Full Text Available We consider the design of fixed-order (or low-order linear controllers which meet certain performance and/or robustness specifications. The following three problems are considered; covariance control as a nominal performance problem,-stabilization as a robust stabilization problem, and robust L∞ control problem as a robust performance problem. All three control problems are converted to a single linear algebra problem of solving a linear matrix inequality (LMI of the type BGC+(BGCT+Q<0 for the unknown matrix G. Thus this paper addresses the fixed-order controller design problem in a unified way. Necessary and sufficient conditions for the existence of a fixed-order controller which satisfies the design specifications for each problem are derived, and an explicit controller formula is given. In any case, the resulting problem is shown to be a search for a (structured positive definite matrix X such that X∈1 and X−1∈2 where 1 and 2 are convex sets defined by LMIs. Computational aspects of the nonconvex LMI problem are discussed.
DEFF Research Database (Denmark)
Pausas, Guifre Vendrell; Llimos Muntal, Pere; Jørgensen, Ivan Harald Holger
2017-01-01
This paper presents a high-voltage integrated regulator capable of sinking current for driving pulse-triggered level shifters in drivers for ultrasound applications. The regulator utilizes a new topology with a feedback loop and a current sinking circuit to satisfy the requirements of the portable....... The proposed design has been implemented in high-voltage 0.18 μm process whithin an area of 0.11 mm2 and it is suitable for system-on-chip integration due to its low component count and the fully integrated design....
Experimental implementation of optimal linear-optical controlled-unitary gates
Czech Academy of Sciences Publication Activity Database
Lemr, K.; Bartkiewicz, K.; Černoch, Antonín; Dušek, M.; Soubusta, Jan
2015-01-01
Roč. 114, č. 15 (2015), "153602-1"-"153602-5" ISSN 0031-9007 R&D Projects: GA ČR GAP205/12/0382 Institutional support: RVO:68378271 Keywords : two-qubit gates * optimal linear-optical controlled-unitary gates * quantum computing Subject RIV: BH - Optics, Masers, Lasers Impact factor: 7.645, year: 2015
Kasemsinsup, Y.; Romagnoli, R.; Heertjes, M.F.; Weiland, S.; Butler, H.
2017-01-01
In this work, we study a novel approach towards the reference-tracking feedforward control design for linear dynamical systems. By utilizing the superposition property and exploiting signal decomposition together with a quadratic optimization process, we obtain a feedforward design procedure for
Torque decomposition and control in an iron core linear permanent magnet motor.
Overboom, T.T.; Smeets, J.P.C.; Stassen, J.M.; Jansen, J.W.; Lomonova, E.
2012-01-01
Abstract—This paper concerns the decomposition and control of the torque produced by an iron core linear permanent magnet motor. The proposed method is based on the dq0-decomposition of the three-phase currents using Park’s transformation. The torque is decomposed into a reluctance component and two
H-infinity Control of Linear Systems with Almost Periodic Inputs
DEFF Research Database (Denmark)
Larsen, Mikael
1996-01-01
In this paper we consider the class of linear, infinitedimensional systems with bounded input and output operators. Wederive and QTR H-infinity type result, formulated for thecase where the input signals are almost periodic in a generalizedsense. Control probelms, for which this result is relevant...
Receding-horizon control for max-plus linear systems with discrete actions using optimistic planning
Xu, J.; Busoniu, L; van den Boom, A.J.J.; De Schutter, B.H.K.; Cassandras, Christos G.; Giua, Alessandro; Li, Zhiwu
2016-01-01
This paper addresses the infinite-horizon optimal control problem for max-plus linear systems where the considered objective function is a sum of discounted stage costs over an infinite horizon. The minimization problem of the cost function is equivalently transformed into a maximization problem of
Decentralized control of discrete-time linear time invariant systems with input saturation
Deliu, C.; Deliu, Ciprian; Malek, Babak; Roy, Sandip; Saberi, Ali; Stoorvogel, Antonie Arij
We study decentralized stabilization of discrete-time linear time invariant (LTI) systems subject to actuator saturation, using LTI controllers. The requirement of stabilization under both saturation constraints and decentralization impose obvious necessary conditions on the open-loop plant, namely
Robust and Fault-Tolerant Linear Parameter-Varying Control of Wind Turbines
DEFF Research Database (Denmark)
Sloth, Christoffer; Esbensen, Thomas; Stoustrup, Jakob
2011-01-01
High performance and reliability are required for wind turbines to be competitive within the energy market. To capture their nonlinear behavior, wind turbines are often modeled using parameter-varying models. In this paper we design and compare multiple linear parameter-varying (LPV) controllers,...
Zhang, Langwen; Xie, Wei; Wang, Jingcheng
2017-11-01
In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min-max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm.
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.
International Nuclear Information System (INIS)
Soltani, J.; Fath Abadi, A.M.
2003-01-01
This paper describes the application of static var compensators, on an electrical distribution network containing two large synchronous motors, one of which is excited via a three-phase thyristor bridge rectifier. The second machine is excited via a diode bridge rectifier. Based on linear optimization control, the measurable feedback signals are applied to the control system loops of static var compensators and the excitation control loop of the first synchronous motor. The phase equations method was used to develop a computer program to model the distribution network. Computer results were obtained to demonstrate the system performance for some abnormal modes of operation. These results show that employing static var compensators based on the linear optimization control design for electrical distribution networks containing large synchronous motors is beneficial and may be considered a first stage of the system design
A novel mixed-synchronization phenomenon in coupled Chua's circuits via non-fragile linear control
International Nuclear Information System (INIS)
Wang Jun-Wei; Ma Qing-Hua; Zeng Li
2011-01-01
Dynamical variables of coupled nonlinear oscillators can exhibit different synchronization patterns depending on the designed coupling scheme. In this paper, a non-fragile linear feedback control strategy with multiplicative controller gain uncertainties is proposed for realizing the mixed-synchronization of Chua's circuits connected in a drive-response configuration. In particular, in the mixed-synchronization regime, different state variables of the response system can evolve into complete synchronization, anti-synchronization and even amplitude death simultaneously with the drive variables for an appropriate choice of scaling matrix. Using Lyapunov stability theory, we derive some sufficient criteria for achieving global mixed-synchronization. It is shown that the desired non-fragile state feedback controller can be constructed by solving a set of linear matrix inequalities (LMIs). Numerical simulations are also provided to demonstrate the effectiveness of the proposed control approach. (general)
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
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
Proposed general amendments to the atomic energy control regulations
International Nuclear Information System (INIS)
1986-01-01
Canada's Atomic Energy Control Act defines the powers and responsibilities of the Atomic Energy Control Board (AECB). Among these is to make regulations to control the development, application and use of atomic energy. In these proposed general amendments to the Atomic Energy Control Regulations substantial changes are proposed in the designation of the authority of AECB staff, exemptions from licensing, international safeguards, duties of licensees and atomic radiation workers, security of information, and provision for hearings. The scope of the control of atomic energy has been redefined as relating to matters of health, safety, security, international safeguards, and the protection of the environment
Designing Linear Feedback Controller for Elastic Inverted Pendulum with Tip Mass
Directory of Open Access Journals (Sweden)
Minh Hoang Nguyen
2016-12-01
Full Text Available This paper introduced a kind of cart and pole system. The pole in this system is not a solid beam but an elastic beam. The paper analyzed the dynamic equation of this complex system. Then, a linear feedback controller was designed to stabilize this model in order to keep the elastic beam balanced in the up-side position. The control results were proved to work well through simulation.
Receding horizon control of hybrid linear delayed systems: Application to sewer networks
Joseph-Duran, Bernat; Ocampo-Martinez, Carlos; Cembrano, Gabriela
2013-01-01
A control-oriented hybrid linear model for water transport in sewer networks is proposed as a suitable framework for the computation of real-time controllers for the minimization of flooding in presence of heavy-rain events. The model is based on individual network elements (sewers, gates, weirs and tanks) and does not rely on topological simplifications, thus providing a better description of the hydrological and hydraulic phenomena than in similar works. Using a generic form of a hybrid lin...
Linear quadratic regulator design for an unpowered, winged re-entry vehicle
Mooij, E.
1998-01-01
This report describes the design of an attitude controller for an unpowered, winged re-entry vehicle. The decoupling of the symmetric and asymmetric motion makes it possible to design two separate controllers, one for the pitch mot ion and one for the lateral motion. The design of the controller, a
Brühl, Elisabeth; Buckup, Tiago; Motzkus, Marcus
2018-06-07
Mechanisms and optimal experimental conditions in coherent control still intensely stimulate debates. In this work, a phase-only control mechanism in an open quantum system is investigated experimentally and numerically. Several parameterizations for femtosecond pulse shaping (combination of chirp and multipulses) are exploited in transient absorption of a prototype organic molecule to control population and vibrational coherence in ground and excited states. Experimental results are further numerically simulated and corroborated with a four-level density-matrix model, which reveals a phase-only control mechanism based on the interaction between the tailored phase of the excitation pulse and the induced transient absorption. In spite of performing experiment and numerical simulations in the linear regime of excitation, the control effect amplitude depends non-linearly on the excitation energy and is explained as a pump-dump control mechanism. No evidence of single-photon control is observed with the model. Moreover, our results also show that the control effect on the population and vibrational coherence is highly dependent on the spectral detuning of the excitation spectrum. Contrary to the popular belief in coherent control experiments, spectrally resonant tailored excitation will lead to the control of the excited state only for very specific conditions.
GPI-repetitive control for linear systems with parameter uncertainty / variation
Directory of Open Access Journals (Sweden)
John A. Cortés-Romero
2015-01-01
Full Text Available Robust repetitive control problems for uncertain linear systems have been considered by different approaches. This article proposes the use of Repetitive Control and Generalized Proportional Integral (GPI Control in a complementary fashion. The conditioning and coupling of these techniques has been done in a time discrete context. Repetitive control is a control technique, based on the internal model principle, which yields perfect asymptotic tracking and rejection of periodic signals. On the other hand, GPI control is established as a robust linear control system design technique that is able to reject structured time polynomial additive perturbation, in particular, parameter uncertainty that can be locally approximated by time polynomial signal. GPI control provides a suitable stability and robustness conditions for the proper Repetitive Control operation. A stability analysis is presented under the frequency response framework using plant samples for different parameter uncertainty conditions. We carry out some comparative stability analysis with other complementary control approaches that has been effective for this kind of task, enhancing a better robustness and an improved performance for the GPI case. Illustrative simulation examples are presented which validate the proposed approach.
Online Energy Management of City Cars with Multi-Objective Linear Parameter-Varying L2-Gain Control
Directory of Open Access Journals (Sweden)
Boe-Shong Hong
2015-09-01
Full Text Available This work aims at online regulating transient current out of the batteries of small-sized electric cars that transport people and goods around cities. In a city with heavy traffic, transient current dominates the energy economy and propulsion capability, which are in opposition to each other. In order to manage the trade-off between energy consumption per distance and propulsion capability in transience, the authors improve on previous work on multi-objective linear parameter-varying (LPV L2-gain control. The observer embedded into this multi-objective controller no longer assumes Kalman-filtering structure, and structural conservatism is thus removed. A full-spectrum set of experiments is performed. The results reveal that the feedback design significantly improves energy-motion management.
Linear parameter-varying modeling and control of the steam temperature in a Canadian SCWR
Energy Technology Data Exchange (ETDEWEB)
Sun, Peiwei, E-mail: sunpeiwei@mail.xjtu.edu.cn; Zhang, Jianmin; Su, Guanghui
2017-03-15
Highlights: • Nonlinearity of Canadian SCWR is analyzed based on step responses and Nyquist plots. • LPV model is derived through Jacobian linearization and curve fitting. • An output feedback H{sub ∞} controller is synthesized for the steam temperature. • The control performance is evaluated by step disturbances and wide range operation. • The controller can stabilize the system and reject the reactor power disturbance. - Abstract: The Canadian direct-cycle Supercritical Water-cooled Reactor (SCWR) is a pressure-tube type SCWR under development in Canada. The dynamics of the steam temperature have a high degree of nonlinearity and are highly sensitive to reactor power disturbances. Traditional gain scheduling control cannot theoretically guarantee stability for all operating regions. The control performance can also be deteriorated when the controllers are switched. In this paper, a linear parameter-varying (LPV) strategy is proposed to solve such problems. Jacobian linearization and curve fitting are applied to derive the LPV model, which is verified using a nonlinear dynamic model and determined to be sufficiently accurate for control studies. An output feedback H{sub ∞} controller is synthesized to stabilize the steam temperature system and reject reactor power disturbances. The LPV steam temperature controller is implemented using a nonlinear dynamic model, and step changes in the setpoints and typical load patterns are carried out in the testing process. It is demonstrated through numerical simulation that the LPV controller not only stabilizes the steam temperature under different disturbances but also efficiently rejects reactor power disturbances and suppresses the steam temperature variation at different power levels. The LPV approach is effective in solving control problems of the steam temperature in the Canadian SCWR.
Implementation of hybrid pollution control techniques to regulate the ...
African Journals Online (AJOL)
driniev
1999-05-13
May 13, 1999 ... regulate the metal finishing industries in the Ethekwini. Municipality ... ment processes, process control methodology and engineering design. ..... standards. There were many barriers that had to be overcome, the most.
Single-Event Transient Testing of Low Dropout PNP Series Linear Voltage Regulators
Adell, Philippe; Allen, Gregory
2013-01-01
As demand for high-speed, on-board, digital-processing integrated circuits on spacecraft increases (field-programmable gate arrays and digital signal processors in particular), the need for the next generation point-of-load (POL) regulator becomes a prominent design issue. Shrinking process nodes have resulted in core rails dropping to values close to 1.0 V, drastically reducing margin to standard switching converters or regulators that power digital ICs. The goal of this task is to perform SET characterization of several commercial POL converters, and provide a discussion of the impact of these results to state-of-the-art digital processing IC through laser and heavy ion testing
Liu, Tao; Huang, Jie
2017-04-17
This paper presents a discrete-time recurrent neural network approach to solving systems of linear equations with two features. First, the system of linear equations may not have a unique solution. Second, the system matrix is not known precisely, but a sequence of matrices that converges to the unknown system matrix exponentially is known. The problem is motivated from solving the output regulation problem for linear systems. Thus, an application of our main result leads to an online solution to the output regulation problem for linear systems.
International Nuclear Information System (INIS)
Huang, C.-H.; Li, J.-X.
2006-01-01
A non-linear optimal control algorithm is examined in this study for the diffusion process of semiconductor materials. The purpose of this algorithm is to estimate an optimal control function such that the homogeneity of the concentration can be controlled during the diffusion process and the diffusion-induced stresses for the semiconductor materials can thus be reduced. The validation of this optimal control analysis utilizing the conjugate gradient method of minimization is analysed by using numerical experiments. Three different diffusion processing times are given and the corresponding optimal control functions are to be determined. Results show that the diffusion time can be shortened significantly by applying the optimal control function at the boundary and the homogeneity of the concentration is also guaranteed. This control function can be obtained within a very short CPU time on a Pentium III 600 MHz PC
Robust control design for active driver assistance systems a linear-parameter-varying approach
Gáspár, Péter; Bokor, József; Nemeth, Balazs
2017-01-01
This monograph focuses on control methods that influence vehicle dynamics to assist the driver in enhancing passenger comfort, road holding, efficiency and safety of transport, etc., while maintaining the driver’s ability to override that assistance. On individual-vehicle-component level the control problem is formulated and solved by a unified modelling and design method provided by the linear parameter varying (LPV) framework. The global behaviour desired is achieved by a judicious interplay between the individual components, guaranteed by an integrated control mechanism. The integrated control problem is also formalized and solved in the LPV framework. Most important among the ideas expounded in the book are: application of the LPV paradigm in the modelling and control design methodology; application of the robust LPV design as a unified framework for setting control tasks related to active driver assistance; formulation and solution proposals for the integrated vehicle control problem; proposal for a re...
Feedback control linear, nonlinear and robust techniques and design with industrial applications
Dodds, Stephen J
2015-01-01
This book develops the understanding and skills needed to be able to tackle original control problems. The general approach to a given control problem is to try the simplest tentative solution first and, when this is insufficient, to explain why and use a more sophisticated alternative to remedy the deficiency and achieve satisfactory performance. This pattern of working gives readers a full understanding of different controllers and teaches them to make an informed choice between traditional controllers and more advanced modern alternatives in meeting the needs of a particular plant. Attention is focused on the time domain, covering model-based linear and nonlinear forms of control together with robust control based on sliding modes and the use of state observers such as disturbance estimation. Feedback Control is self-contained, paying much attention to explanations of underlying concepts, with detailed mathematical derivations being employed where necessary. Ample use is made of diagrams to aid these conce...
Linear Motor Motion Control Experiment System Design Based on LabVIEW
Directory of Open Access Journals (Sweden)
Cuixian He
2018-01-01
Full Text Available In order to meet the needs of experimental training of electrical information industry, a linear motor motion experiment system based on LabVIEW was developed. This system is based on the STM32F103ZET6 system processor controller, a state signal when the motor moves through the grating encoder feedback controller to form a closed loop, through the RS232 serial port communication with the host computer, the host computer is designed in the LabVIEW interactive environment monitoring software. Combined with the modular design concept proposed overall program, given the detailed hardware circuit, targeted for the software function design, to achieve man-machine interface. The system control of high accuracy, good stability, meet the training requirements for laboratory equipment, but also as a reference embodiment of the linear motor monitoring system.
Time-dependent switched discrete-time linear systems control and filtering
Zhang, Lixian; Shi, Peng; Lu, Qiugang
2016-01-01
This book focuses on the basic control and filtering synthesis problems for discrete-time switched linear systems under time-dependent switching signals. Chapter 1, as an introduction of the book, gives the backgrounds and motivations of switched systems, the definitions of the typical time-dependent switching signals, the differences and links to other types of systems with hybrid characteristics and a literature review mainly on the control and filtering for the underlying systems. By summarizing the multiple Lyapunov-like functions (MLFs) approach in which different requirements on comparisons of Lyapunov function values at switching instants, a series of methodologies are developed for the issues on stability and stabilization, and l2-gain performance or tube-based robustness for l∞ disturbance, respectively, in Chapters 2 and 3. Chapters 4 and 5 are devoted to the control and filtering problems for the time-dependent switched linear systems with either polytopic uncertainties or measurable time-varying...
Yu, Jimin; Yang, Chenchen; Tang, Xiaoming; Wang, Ping
2018-03-01
This paper investigates the H ∞ control problems for uncertain linear system over networks with random communication data dropout and actuator saturation. The random data dropout process is modeled by a Bernoulli distributed white sequence with a known conditional probability distribution and the actuator saturation is confined in a convex hull by introducing a group of auxiliary matrices. By constructing a quadratic Lyapunov function, effective conditions for the state feedback-based H ∞ controller and the observer-based H ∞ controller are proposed in the form of non-convex matrix inequalities to take the random data dropout and actuator saturation into consideration simultaneously, and the problem of non-convex feasibility is solved by applying cone complementarity linearization (CCL) procedure. Finally, two simulation examples are given to demonstrate the effectiveness of the proposed new design techniques. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Finite-time H∞ control for linear continuous system with norm-bounded disturbance
Meng, Qingyi; Shen, Yanjun
2009-04-01
In this paper, the definition of finite-time H∞ control is presented. The system under consideration is subject to time-varying norm-bounded exogenous disturbance. The main aim of this paper is focused on the design a state feedback controller which ensures that the closed-loop system is finite-time bounded (FTB) and reduces the effect of the disturbance input on the controlled output to a prescribed level. A sufficient condition is presented for the solvability of this problem, which can be reduced to a feasibility problem involving linear matrix inequalities (LMIs). A detailed solving method is proposed for the restricted linear matrix inequalities. Finally, examples are given to show the validity of the methodology.
Sliding mode control-based linear functional observers for discrete-time stochastic systems
Singh, Satnesh; Janardhanan, Sivaramakrishnan
2017-11-01
Sliding mode control (SMC) is one of the most popular techniques to stabilise linear discrete-time stochastic systems. However, application of SMC becomes difficult when the system states are not available for feedback. This paper presents a new approach to design a SMC-based functional observer for discrete-time stochastic systems. The functional observer is based on the Kronecker product approach. Existence conditions and stability analysis of the proposed observer are given. The control input is estimated by a novel linear functional observer. This approach leads to a non-switching type of control, thereby eliminating the fundamental cause of chatter. Furthermore, the functional observer is designed in such a way that the effect of process and measurement noise is minimised. Simulation example is given to illustrate and validate the proposed design method.
Robust control and linear parameter varying approaches application to vehicle dynamics
Gaspar, Peter; Bokor, József
2013-01-01
Vehicles are complex systems (non-linear, multi-variable) where the abundance of embedded controllers should ensure better security. This book aims at emphasizing the interest and potential of Linear Parameter Varying methods within the framework of vehicle dynamics, e.g. · proposed control-oriented model, complex enough to handle some system non linearities but still simple for control or observer design, · take into account the adaptability of the vehicle's response to driving situations, to the driver request and/or to the road sollicitations, · manage interactions between various actuators to optimize the dynamic behavior of vehicles. This book results from the 32th International Summer School in Automatic that held in Grenoble, France, in September 2011, where recent methods (based on robust control and LPV technics), then applied to the control of vehicle dynamics, have been presented. After some theoretical background and a view on so...
Asynchronous L1-gain control of uncertain switched positive linear systems with dwell time.
Li, Yang; Zhang, Hongbin
2018-04-01
In this paper, dwell time (DT) stability, L 1 -gain performance analysis and asynchronous L 1 -gain controller design problems of uncertain switched positive linear systems (SPLSs) are investigated. Via a time-scheduled multiple linear co-positive Lyapunov function (TSMLCLF) approach, convex sufficient conditions of DT stability and L 1 -gain performance of SPLSs with interval and polytopic uncertainties are presented. Furthermore, by utilizing the feature that the TSMLCLF keeps decreasing even if the controller is running asynchronously with the system, the asynchronous L 1 -gain controller design problem of SPLSs with interval and polytopic uncertainties is investigated. Convex sufficient conditions of the existence of time-varying asynchronous state-feedback controller which can ensure the closed-loop system's positivity, stability and L 1 -gain performance are established, and the controller gain matrices can be calculated instantaneously online. The obtained L 1 -gain in the paper is standard. All the results are presented in terms of linear programming. A practical example is provided to show the effectiveness of the results. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Neuroengineering control and regulation of behavior
Wróbel, A.; Radzewicz, C.; Mankiewicz, L.; Hottowy, P.; Knapska, E.; Konopka, W.; Kublik, E.; Radwańska, K.; Waleszczyk, W. J.; Wójcik, D. K.
2014-11-01
To monitor neuronal circuits involved in emotional modulation of sensory processing we proposed a plan to establish novel research techniques combining recent biological, technical and analytical discoveries. The project was granted by National Science Center and we started to build a new experimental model for studying the selected circuits of genetically marked and behaviorally activated neurons. To achieve this goal we will combine the pioneering, interdisciplinary expertise of four Polish institutions: (i) the Nencki Institute of Experimental Biology (Polish Academy of Sciences) will deliver the expertise on genetically modified mice and rats, mapping of the neuronal circuits activated by behavior, monitoring complex behaviors measured in the IntelliCage system, electrophysiological brain activity recordings by multielectrodes in behaving animals, analysis and modeling of behavioral and electrophysiological data; (ii) the AGH University of Science and Technology (Faculty of Physics and Applied Computer Sciences) will use its experience in high-throughput electronics to build multichannel systems for recording the brain activity of behaving animals; (iii) the University of Warsaw (Faculty of Physics) and (iv) the Center for Theoretical Physics (Polish Academy of Sciences) will construct optoelectronic device for remote control of opto-animals produced in the Nencki Institute based on the unique experience in laser sources, studies of light propagation and its interaction with condensed media, wireless medical robotic systems, fast readout opto-electronics with control software and micromechanics.
Frost, Susan A.; Bodson, Marc; Acosta, Diana M.
2009-01-01
The Next Generation (NextGen) transport aircraft configurations being investigated as part of the NASA Aeronautics Subsonic Fixed Wing Project have more control surfaces, or control effectors, than existing transport aircraft configurations. Conventional flight control is achieved through two symmetric elevators, two antisymmetric ailerons, and a rudder. The five effectors, reduced to three command variables, produce moments along the three main axes of the aircraft and enable the pilot to control the attitude and flight path of the aircraft. The NextGen aircraft will have additional redundant control effectors to control the three moments, creating a situation where the aircraft is over-actuated and where a simple relationship does not exist anymore between the required effector deflections and the desired moments. NextGen flight controllers will incorporate control allocation algorithms to determine the optimal effector commands and attain the desired moments, taking into account the effector limits. Approaches to solving the problem using linear programming and quadratic programming algorithms have been proposed and tested. It is of great interest to understand their relative advantages and disadvantages and how design parameters may affect their properties. In this paper, we investigate the sensitivity of the effector commands with respect to the desired moments and show on some examples that the solutions provided using the l2 norm of quadratic programming are less sensitive than those using the l1 norm of linear programming.
Gollee, Henrik; Gawthrop, Peter J; Lakie, Martin; Loram, Ian D
2017-11-01
A human controlling an external system is described most easily and conventionally as linearly and continuously translating sensory input to motor output, with the inevitable output remnant, non-linearly related to the input, attributed to sensorimotor noise. Recent experiments show sustained manual tracking involves repeated refractoriness (insensitivity to sensory information for a certain duration), with the temporary 200-500 ms periods of irresponsiveness to sensory input making the control process intrinsically non-linear. This evidence calls for re-examination of the extent to which random sensorimotor noise is required to explain the non-linear remnant. This investigation of manual tracking shows how the full motor output (linear component and remnant) can be explained mechanistically by aperiodic sampling triggered by prediction error thresholds. Whereas broadband physiological noise is general to all processes, aperiodic sampling is associated with sensorimotor decision making within specific frontal, striatal and parietal networks; we conclude that manual tracking utilises such slow serial decision making pathways up to several times per second. The human operator is described adequately by linear translation of sensory input to motor output. Motor output also always includes a non-linear remnant resulting from random sensorimotor noise from multiple sources, and non-linear input transformations, for example thresholds or refractory periods. Recent evidence showed that manual tracking incurs substantial, serial, refractoriness (insensitivity to sensory information of 350 and 550 ms for 1st and 2nd order systems respectively). Our two questions are: (i) What are the comparative merits of explaining the non-linear remnant using noise or non-linear transformations? (ii) Can non-linear transformations represent serial motor decision making within the sensorimotor feedback loop intrinsic to tracking? Twelve participants (instructed to act in three prescribed
International Nuclear Information System (INIS)
Montoya Andrade, Dan-El; Villa Jaén, Antonio de la; García Santana, Agustín
2014-01-01
Highlights: • We considered the linear generator copper losses in the proposed MPC strategy. • We maximized the power transferred to the generator side power converter. • The proposed MPC increases the useful average power injected into the grid. • The stress level of the PTO system can be reduced by the proposed MPC. - Abstract: The amount of energy that a wave energy converter can extract depends strongly on the control strategy applied to the power take-off system. It is well known that, ideally, the reactive control allows for maximum energy extraction from waves. However, the reactive control is intrinsically noncausal in practice and requires some kind of causal approach to be applied. Moreover, this strategy does not consider physical constraints and this could be a problem because the system could achieve unacceptable dynamic values. These, and other control techniques have focused on the wave energy extraction problem in order to maximize the energy absorbed by the power take-off device without considering the possible losses in intermediate devices. In this sense, a reactive control that considers the linear generator copper losses has been recently proposed to increase the useful power injected into the grid. Among the control techniques that have emerged recently, the model predictive control represents a promising strategy. This approach performs an optimization process on a time prediction horizon incorporating dynamic constraints associated with the physical features of the power take-off system. This paper proposes a model predictive control technique that considers the copper losses in the control optimization process of point absorbers with direct drive linear generators. This proposal makes the most of reactive control as it considers the copper losses, and it makes the most of the model predictive control, as it considers the system constraints. This means that the useful power transferred from the linear generator to the power
On an Optimal -Control Problem in Coefficients for Linear Elliptic Variational Inequality
Directory of Open Access Journals (Sweden)
Olha P. Kupenko
2013-01-01
Full Text Available We consider optimal control problems for linear degenerate elliptic variational inequalities with homogeneous Dirichlet boundary conditions. We take the matrix-valued coefficients in the main part of the elliptic operator as controls in . Since the eigenvalues of such matrices may vanish and be unbounded in , it leads to the “noncoercivity trouble.” Using the concept of convergence in variable spaces and following the direct method in the calculus of variations, we establish the solvability of the optimal control problem in the class of the so-called -admissible solutions.
A free-piston Stirling engine/linear alternator controls and load interaction test facility
Rauch, Jeffrey S.; Kankam, M. David; Santiago, Walter; Madi, Frank J.
1992-01-01
A test facility at LeRC was assembled for evaluating free-piston Stirling engine/linear alternator control options, and interaction with various electrical loads. This facility is based on a 'SPIKE' engine/alternator. The engine/alternator, a multi-purpose load system, a digital computer based load and facility control, and a data acquisition system with both steady-periodic and transient capability are described. Preliminary steady-periodic results are included for several operating modes of a digital AC parasitic load control. Preliminary results on the transient response to switching a resistive AC user load are discussed.
Directory of Open Access Journals (Sweden)
Longge Zhang
2013-01-01
Full Text Available Two automatic robust model predictive control strategies are presented for uncertain polytopic linear plants with input and output constraints. A sequence of nested geometric proportion asymptotically stable ellipsoids and controllers is constructed offline first. Then the feedback controllers are automatically selected with the receding horizon online in the first strategy. Finally, a modified automatic offline robust MPC approach is constructed to improve the closed system's performance. The new proposed strategies not only reduce the conservatism but also decrease the online computation. Numerical examples are given to illustrate their effectiveness.
Linear Time Varying Approach to Satellite Attitude Control Using only Electromagnetic Actuation
DEFF Research Database (Denmark)
Wisniewski, Rafal
2000-01-01
, lightweight, and power efficient actuators is therefore crucial and viable. This paper discusser linear attitude control strategies for a low earth orbit satellite actuated by a set of mutually perpendicular electromagnetic coils. The principle is to use the interaction between the Earth's magnetic field......, nevertheless, a solution of the riccati equation gives an excellent frame for investigations provided in this paper. An observation that geomagnetic field changes approximately periodically when satellite is on a near polar orbit is used throughout this paper. Three types of attitude controllers are proposed......: an infinite horizon, a finite horizon, and a constant gain controller. Their performance is evaluated and compared in the simulation study of the environment...
Parallel Implementation of Riccati Recursion for Solving Linear-Quadratic Control Problems
DEFF Research Database (Denmark)
Frison, Gianluca; Jørgensen, John Bagterp
2013-01-01
In both Active-Set (AS) and Interior-Point (IP) algorithms for Model Predictive Control (MPC), sub-problems in the form of linear-quadratic (LQ) control problems need to be solved at each iteration. The solution of these sub-problems is usually the main computational effort. In this paper...... an alternative version of the Riccati recursion solver for LQ control problems is presented. The performance of both the classical and the alternative version is analyzed from a theoretical as well as a numerical point of view, and the alternative version is found to be approximately 50% faster than...
DEFF Research Database (Denmark)
Petersen, Lars Norbert; Poulsen, Niels Kjølstad; Niemann, Hans Henrik
2015-01-01
In this paper, we compare the performance of an economically optimizing Nonlinear Model Predictive Controller (E-NMPC) to a linear tracking Model Predictive Controller (MPC) for a spray drying plant. We find in this simulation study, that the economic performance of the two controllers are almost...... equal. We evaluate the economic performance with an industrially recorded disturbance scenario, where unmeasured disturbances and model mismatch are present. The state of the spray dryer, used in the E-NMPC and MPC, is estimated using Kalman Filters with noise covariances estimated by a maximum...
Controlling occupational radiation exposure. Alternatives to regulation
International Nuclear Information System (INIS)
Sagan, L.A.; Squitieri, R.; Wildman, S.S.
1980-01-01
The principal strategy adopted for the control of occupational radiation exposure has been the establishment of standards expressed as maximum permissible exposures. The use of such standards is subject to a number of defects, among which is the neglect of the economic impact of imposing such standards. Furthermore, such standards carry the implication of a threshold for radiation effects, a concept now widely challenged. Lastly, the use of standards makes it impossible to evaluate the efficiency of the regulatory agency or to compare its performance with other similar agencies. An alternative to the use of standards, i.e. cost-benefit analysis, is discussed. The advantages of this technique meet many of the objections to the use of standards alone and allow health and safety resources to be allocated in a manner most likely to save the most lives. The greatest disadvantage of cost-benefit analysis has been the difficulty in evaluating the benefit side of the equation. Although the risks of radiation exposure are not known with precision, they are nevertheless well understood. Therefore, the application of cost-benefit analysis to occupational radiation exposure is rational. There are a number of barriers to reform in the use of standards and the adoption of cost-benefit analysis. These attitudinal and institutional constraints are discussed. The nature of private or market systems of control are discussed, i.e. the use of liability and insurance mechanisms. These also have shortcomings that require further development but are seen as potentially more efficient for both employer and employee than is the use of regulatory standards. (author)
Feedback control systems for non-linear simulation of operational transients in LMFBRs
International Nuclear Information System (INIS)
Khatib-Rahbar, M.; Agrawal, A.K.; Srinivasan, E.S.
1979-01-01
Feedback control systems for non-linear simulation of operational transients in LMFBRs are developed. The models include (1) the reactor power control and rod drive mechanism, (2) sodium flow control and pump drive system, (3) steam generator flow control and valve actuator dynamics, and (4) the supervisory control. These models have been incorporated into the SSC code using a flexible approach, in order to accommodate some design dependent variations. The impact of system nonlinearity on the control dynamics is shown to be significant for severe perturbations. Representative result for a 10 cent and 25 cent step insertion of reactivity and a 10% ramp change in load in 40 seconds demonstrate the suitability of this model for study of operational transients without scram in LMFBRs
Design and development of control instrumentation for the superconducting Linear Accelerator
International Nuclear Information System (INIS)
Joshi, Gopal; Kapatral, R.S.; Jha, K.; Rathod, N.C.; Sujo, C.I.; Ananthakrishnan, T.S.; Narsaiah, A.; Ghodgaonkar, M.D.; Kataria, S.K.; Singh, S.K.
2001-01-01
Electronics Division, BARC is developing the required control instrumentation for the Linear Accelerator (LINAC) coming up at TIFR. This consists of RF systems, CAMAC instruments and the Control and Information System. The control system consists of several identical Local Control Stations (LCS) connected over a LAN to a Main Control Station (MCS). Each LCS consists of a PC, CAMAC crates with functional Modules and RF systems. The MCS will contain two PCs running identical software. Each LCS will cater to two LINAC module each consisting of one cryostat and four resonators. This paper discusses different systems developed and under development in the Electronics Division which play an important role in the control of the LINAC. (author)
Modelling the influence of sensory dynamics on linear and nonlinear driver steering control
Nash, C. J.; Cole, D. J.
2018-05-01
A recent review of the literature has indicated that sensory dynamics play an important role in the driver-vehicle steering task, motivating the design of a new driver model incorporating human sensory systems. This paper presents a full derivation of the linear driver model developed in previous work, and extends the model to control a vehicle with nonlinear tyres. Various nonlinear controllers and state estimators are compared with different approximations of the true system dynamics. The model simulation time is found to increase significantly with the complexity of the controller and state estimator. In general the more complex controllers perform best, although with certain vehicle and tyre models linearised controllers perform as well as a full nonlinear optimisation. Various extended Kalman filters give similar results, although the driver's sensory dynamics reduce control performance compared with full state feedback. The new model could be used to design vehicle systems which interact more naturally and safely with a human driver.
Controlling the wave propagation through the medium designed by linear coordinate transformation
International Nuclear Information System (INIS)
Wu, Yicheng; He, Chengdong; Wang, Yuzhuo; Liu, Xuan; Zhou, Jing
2015-01-01
Based on the principle of transformation optics, we propose to control the wave propagating direction through the homogenous anisotropic medium designed by linear coordinate transformation. The material parameters of the medium are derived from the linear coordinate transformation applied. Keeping the space area unchanged during the linear transformation, the polarization-dependent wave control through a non-magnetic homogeneous medium can be realized. Beam benders, polarization splitter, and object illusion devices are designed, which have application prospects in micro-optics and nano-optics. The simulation results demonstrate the feasibilities and the flexibilities of the method and the properties of these devices. Design details and full-wave simulation results are provided. The work in this paper comprehensively applies the fundamental theories of electromagnetism and mathematics. The method of obtaining a new solution of the Maxwell equations in a medium from a vacuum plane wave solution and a linear coordinate transformation is introduced. These have a pedagogical value and are methodologically and motivationally appropriate for physics students and teachers at the undergraduate and graduate levels. (paper)
Controlling the wave propagation through the medium designed by linear coordinate transformation
Wu, Yicheng; He, Chengdong; Wang, Yuzhuo; Liu, Xuan; Zhou, Jing
2015-01-01
Based on the principle of transformation optics, we propose to control the wave propagating direction through the homogenous anisotropic medium designed by linear coordinate transformation. The material parameters of the medium are derived from the linear coordinate transformation applied. Keeping the space area unchanged during the linear transformation, the polarization-dependent wave control through a non-magnetic homogeneous medium can be realized. Beam benders, polarization splitter, and object illusion devices are designed, which have application prospects in micro-optics and nano-optics. The simulation results demonstrate the feasibilities and the flexibilities of the method and the properties of these devices. Design details and full-wave simulation results are provided. The work in this paper comprehensively applies the fundamental theories of electromagnetism and mathematics. The method of obtaining a new solution of the Maxwell equations in a medium from a vacuum plane wave solution and a linear coordinate transformation is introduced. These have a pedagogical value and are methodologically and motivationally appropriate for physics students and teachers at the undergraduate and graduate levels.
Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles
Wilcox, Zachary Donald
The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed
Averaging and Linear Programming in Some Singularly Perturbed Problems of Optimal Control
Energy Technology Data Exchange (ETDEWEB)
Gaitsgory, Vladimir, E-mail: vladimir.gaitsgory@mq.edu.au [Macquarie University, Department of Mathematics (Australia); Rossomakhine, Sergey, E-mail: serguei.rossomakhine@flinders.edu.au [Flinders University, Flinders Mathematical Sciences Laboratory, School of Computer Science, Engineering and Mathematics (Australia)
2015-04-15
The paper aims at the development of an apparatus for analysis and construction of near optimal solutions of singularly perturbed (SP) optimal controls problems (that is, problems of optimal control of SP systems) considered on the infinite time horizon. We mostly focus on problems with time discounting criteria but a possibility of the extension of results to periodic optimization problems is discussed as well. Our consideration is based on earlier results on averaging of SP control systems and on linear programming formulations of optimal control problems. The idea that we exploit is to first asymptotically approximate a given problem of optimal control of the SP system by a certain averaged optimal control problem, then reformulate this averaged problem as an infinite-dimensional linear programming (LP) problem, and then approximate the latter by semi-infinite LP problems. We show that the optimal solution of these semi-infinite LP problems and their duals (that can be found with the help of a modification of an available LP software) allow one to construct near optimal controls of the SP system. We demonstrate the construction with two numerical examples.
Linear extrapolation distance for a black cylindrical control rod with the pulsed neutron method
International Nuclear Information System (INIS)
Loewenhielm, G.
1978-03-01
The objective of this experiment was to measure the linear extrapolation distance for a central black cylindrical control rod in a cylindrical water moderator. The radius for both the control rod and the moderator was varied. The pulsed neutron technique was used and the decay constant was measured for both a homogeneous and a heterogeneous system. From the difference in the decay constants the extrapolation distance could be calculated. The conclusion is that within experimental error it is safe to use the approximate formula given by Pellaud or the more exact one given by Kavenoky. We can also conclude that linear anisotropic scattering is accounted for in a correct way in the approximate formula given by Pellaud and Prinja and Williams
Robust control of uncertain dynamic systems a linear state space approach
Yedavalli, Rama K
2014-01-01
This textbook aims to provide a clear understanding of the various tools of analysis and design for robust stability and performance of uncertain dynamic systems. In model-based control design and analysis, mathematical models can never completely represent the “real world” system that is being modeled, and thus it is imperative to incorporate and accommodate a level of uncertainty into the models. This book directly addresses these issues from a deterministic uncertainty viewpoint and focuses on the interval parameter characterization of uncertain systems. Various tools of analysis and design are presented in a consolidated manner. This volume fills a current gap in published works by explicitly addressing the subject of control of dynamic systems from linear state space framework, namely using a time-domain, matrix-theory based approach. This book also: Presents and formulates the robustness problem in a linear state space model framework Illustrates various systems level methodologies with examples and...
Using Octupoles for Background Control in Linear Colliders an Exploratory Conceptual Study
Pitthan, R
1999-01-01
If one adds a suited Octupole (or an even higher multipole) lattice to linear collider Quadrupole FODO lattices, the amplifying properties of the combined lattice drive particles in the tails, but not those in the core, into resonant losses. This approach is quite different in concept and beam dynamics impact from past proposed use of non-linear elements for collimation. This non-traditional scheme for background control has the added advantage that most, or maybe all, of the Halo collimation can be done using the lever arm of the real estate of the main accelerators, thus reducing the costly length of a separate dedicated collimation section and also unifying machine protection and background control. Simulations of particle distributions are presented. This approach requires co operation by the designers of the accelerators, the beam delivery system, and the Detector, because a careful balance between sometimes conflicting requirements has to be found. As a second component of this approach the use of Octup...
Understanding Federal regulations as guidelines for classical biological control programs
Michael E. Montgomery
2011-01-01
This chapter reviews the legislation and rules that provide the foundation for federal regulation of the introduction of natural enemies of insects as biological control agents. It also outlines the steps for complying with regulatory requirements, using biological control of Adelges tsugae Annand, the hemlock woolly adelgid (HWA), as an example. The...
On Secondary Control Approaches for Voltage Regulation in DC Microgrids
DEFF Research Database (Denmark)
Peyghami, Saeed; Mokhtari, Hossein; Davari, Pooya
2017-01-01
Centralized or decentralized secondary controller is commonly employed to regulate the voltage drop raised by the primary controller. However, in the case of high capacity MGs and long feeders with much voltage drop on the line resistances, the conventional methods may not guarantee the voltage r...
On Secondary Control Approaches for Voltage Regulation in DC Microgrids
DEFF Research Database (Denmark)
Peyghami Akhuleh, Saeed; Mokhtari, Hossein; Davari, Pooya
2017-01-01
Centralized or decentralized secondary controller is commonly employed to regulate the voltage drop raised by the primary controller. However, in the case of high capacity MGs and long feeders with much voltage drop on the line resistances, the conventional methods may not guarantee the voltage...
Rectifier Current Control for an LLC Resonant Converter Based on a Simplified Linearized Model
Zhijian Fang; Junhua Wang; Shanxu Duan; Liangle Xiao; Guozheng Hu; Qisheng Liu
2018-01-01
In this paper, a rectifier current control for an LLC resonant converter is proposed, based on a simplified, two-order, linearized model that adds a rectifier current feedback inner loop to improve dynamic performance. Compared to the traditional large-signal model with seven resonant states, this paper utilizes a rectifier current state to represent the characteristics of the resonant states, simplifying the LLC resonant model from seven orders to two orders. Then, the rectifier current feed...
Design of linear pulse motor for control element drive mechanism of SMART
International Nuclear Information System (INIS)
Kim, J. H.; Huh, H.; Kim, J. I.; Jang, M. H.; Kang, D. H.
1999-01-01
49 Control Rod Drive Mechanisms(CEDMs) are densely installed on the reactor central head of SMART. The structural design should ensure the space for maintenance/repair, cable routing, and heat release from the motor. In this paper, an improved design is presented to enlarge the space between CEDMs by decreasing the diameter of linear pulse motor. The reduction of motor thrust force due to the decrease of the motor diameter is compensated by resizing the other structural components
Evaluation of linear DC motor actuators for control of large space structures
Ide, Eric Nelson
1988-01-01
This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...
The Automatic Radiation Control System Of The Inr Linear Accelerator (troitsk).
Grachev, M I; Kuptsov, S I; Peleshko, V N; Shishkin, K I; Shmelev, M O; Skorkin, V M
2004-01-01
The radiation monitor system (RMS) at accelerator INR is a part of radiation safety system of experimental complex INR. RMS is intended for continuous monitoring of radiation field behind biological protection of linear accelerator INR with the personnel dose control and alarm purposes. Three-level system RMS consists of the operator computer, microprocessor data acquisition modules and networks of UDBN-02R neutron detectors and BDRC-01P photon detectors, located inside and behind biological protection of the accelerator (fig. 1).
Ito, Kazufumi; Teglas, Russell
1987-01-01
The numerical scheme based on the Legendre-tau approximation is proposed to approximate the feedback solution to the linear quadratic optimal control problem for hereditary differential systems. The convergence property is established using Trotter ideas. The method yields very good approximations at low orders and provides an approximation technique for computing closed-loop eigenvalues of the feedback system. A comparison with existing methods (based on averaging and spline approximations) is made.
Ito, K.; Teglas, R.
1984-01-01
The numerical scheme based on the Legendre-tau approximation is proposed to approximate the feedback solution to the linear quadratic optimal control problem for hereditary differential systems. The convergence property is established using Trotter ideas. The method yields very good approximations at low orders and provides an approximation technique for computing closed-loop eigenvalues of the feedback system. A comparison with existing methods (based on averaging and spline approximations) is made.
Directory of Open Access Journals (Sweden)
Adrian TOADER
2010-09-01
Full Text Available The paper was conceived in two parts. Part I, previously published in this journal, highlighted the main steps of adaptive output feedback control for non-affine uncertain systems, having a known relative degree. The main paradigm of this approach was the feedback linearization (dynamic inversion with neural network augmentation. Meanwhile, based on new contributions of the authors, a new paradigm, that of robust servomechanism problem solution, has been added to the controller architecture. The current Part II of the paper presents the validation of the controller hereby obtained by using the longitudinal channel of a hovering VTOL-type aircraft as mathematical model.
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)
Directory of Open Access Journals (Sweden)
Mengjuan Cao
2014-01-01
Full Text Available The linear discrete-time descriptor noncausal multirate system is considered for the presentation of a new design approach for optimal preview control. First, according to the characteristics of causal controllability and causal observability, the descriptor noncausal system is constructed into a descriptor causal closed-loop system. Second, by using the characteristics of the causal system and elementary transformation, the descriptor causal closed-loop system is transformed into a normal system. Then, taking advantage of the discrete lifting technique, the normal multirate system is converted to a single-rate system. By making use of the standard preview control method, we construct the descriptor augmented error system. The quadratic performance index for the multirate system is given, which can be changed into one for the single-rate system. In addition, a new single-rate system is obtained, the optimal control law of which is given. Returning to the original system, the optimal preview controller for linear discrete-time descriptor noncausal multirate systems is derived. The stabilizability and detectability of the lifted single-rate system are discussed in detail. The optimal preview control design techniques are illustrated by simulation results for a simple example.
Li, Yanning
2013-10-01
This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using boundary flow control, as a Linear Program. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP (or MILP if the objective function depends on boolean variables). Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality. © 2013 IEEE.
A new look at the robust control of discrete-time Markov jump linear systems
Todorov, M. G.; Fragoso, M. D.
2016-03-01
In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.
Li, Yanning; Canepa, Edward S.; Claudel, Christian G.
2013-01-01
This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using boundary flow control, as a Linear Program. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP (or MILP if the objective function depends on boolean variables). Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality. © 2013 IEEE.
Optimization of boiling water reactor control rod patterns using linear search
International Nuclear Information System (INIS)
Kiguchi, T.; Doi, K.; Fikuzaki, T.; Frogner, B.; Lin, C.; Long, A.B.
1984-01-01
A computer program for searching the optimal control rod pattern has been developed. The program is able to find a control rod pattern where the resulting power distribution is optimal in the sense that it is the closest to the desired power distribution, and it satisfies all operational constraints. The search procedure consists of iterative uses of two steps: sensitivity analyses of local power and thermal margins using a three-dimensional reactor simulator for a simplified prediction model; linear search for the optimal control rod pattern with the simplified model. The optimal control rod pattern is found along the direction where the performance index gradient is the steepest. This program has been verified to find the optimal control rod pattern through simulations using operational data from the Oyster Creek Reactor
Digital Low-Level RF Controls for Future Superconducting Linear Colliders
Simrock, Stefan
2005-01-01
The requirements for RF Control Systems of Superconducting Linear Colliders are not only defined in terms of the quality of field control but also with respect to operability, availability, and maintainability of the RF System, and the interfaces to other subsystems. The field control of the vector-sum of many cavities driven by one klystron in pulsed mode at high gradients is a challenging task since severe Lorentz force detuning, microphonics and beam induced field errors must be suppressed by several orders of magnitude. This is accomplished by a combination of local and global feedback and feedforward control. Sensors monitor individual cavity probe signals, and forward and reflected wave as well as the beam properties including beam energy and phase while actuators control the incident wave of the klystron and individual cavity resonance frequencies. The operability of a large llrf system requires a high degree of automation while the high availability requires robust algorithms, redundancy, and extremel...
Controllability of Free-piston Stirling Engine/linear Alternator Driving a Dynamic Load
Kankam, M. David; Rauch, Jeffrey S.
1994-01-01
This paper presents the dynamic behavior of a Free-Piston Stirling Engine/linear alternator (FPSE/LA) driving a single-phase fractional horse-power induction motor. The controllability and dynamic stability of the system are discussed by means of sensitivity effects of variations in system parameters, engine controller, operating conditions, and mechanical loading on the induction motor. The approach used expands on a combined mechanical and thermodynamic formulation employed in a previous paper. The application of state-space technique and frequency domain analysis enhances understanding of the dynamic interactions. Engine-alternator parametric sensitivity studies, similar to those of the previous paper, are summarized. Detailed discussions are provided for parametric variations which relate to the engine controller and system operating conditions. The results suggest that the controllability of a FPSE-based power system is enhanced by proper operating conditions and built-in controls.
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
Czech Academy of Sciences Publication Activity Database
Pčolka, M.; Žáčeková, E.; Robinett, R.; Čelikovský, Sergej; Šebek, M.
2016-01-01
Roč. 53, č. 1 (2016), s. 124-138 ISSN 0967-0661 R&D Projects: GA ČR GA13-20433S Institutional support: RVO:67985556 Keywords : Model predictive control * Identification for control * Building climatecontrol Subject RIV: BC - Control Systems Theory Impact factor: 2.602, year: 2016 http://library.utia.cas.cz/separaty/2016/TR/celikovsky-0460306.pdf
Linear-control-based synchronization of coexisting attractor networks with time delays
International Nuclear Information System (INIS)
Yun-Zhong, Song
2010-01-01
This paper introduces the concept of linear-control-based synchronization of coexisting attractor networks with time delays. Within the new framework, closed loop control for each dynamic node is realized through linear state feedback around its own arena in a decentralized way, where the feedback matrix is determined through consideration of the coordination of the node dynamics, the inner connected matrix and the outer connected matrix. Unlike previously existing results, the feedback gain matrix here is decoupled from the inner matrix; this not only guarantees the flexible choice of the gain matrix, but also leaves much space for inner matrix configuration. Synchronization of coexisting attractor networks with time delays is made possible in virtue of local interaction, which works in a distributed way between individual neighbours, and the linear feedback control for each node. Provided that the network is connected and balanced, synchronization will come true naturally, where theoretical proof is given via a Lyapunov function. For completeness, several illustrative examples are presented to further elucidate the novelty and efficacy of the proposed scheme. (general)
Centralized motion control of a linear tooth belt drive: Analysis of the performance and limitations
Energy Technology Data Exchange (ETDEWEB)
Jokinen, M.
2010-07-01
A centralized robust position control for an electrical driven tooth belt drive is designed in this doctoral thesis. Both a cascaded control structure and a PID based position controller are discussed. The performance and the limitations of the system are analyzed and design principles for the mechanical structure and the control design are given. These design principles are also suitable for most of the motion control applications, where mechanical resonance frequencies and control loop delays are present. One of the major challenges in the design of a controller for machinery applications is that the values of the parameters in the system model (parameter uncertainty) or the system model it self (non-parametric uncertainty) are seldom known accurately in advance. In this thesis a systematic analysis of the parameter uncertainty of the linear tooth beltdrive model is presented and the effect of the variation of a single parameter on the performance of the total system is shown. The total variation of the model parameters is taken into account in the control design phase using a Quantitative Feedback Theory (QFT). The thesis also introduces a new method to analyze reference feedforward controllers applying the QFT. The performance of the designed controllers is verified by experimental measurements. The measurements confirm the control design principles that are given in this thesis. (orig.)
Lewis, Myles; Vyse, Simon; Shields, Adrian; Boeltz, Sebastian; Gordon, Patrick; Spector, Timothy; Lehner, Paul; Walczak, Henning; Vyse, Timothy
2015-02-26
A single risk haplotype across UBE2L3 is strongly associated with systemic lupus erythematosus (SLE) and many other autoimmune diseases. UBE2L3 is an E2 ubiquitin-conjugating enzyme with specificity for RING-in-between-RING E3 ligases, including HOIL-1 and HOIP, components of the linear ubiquitin chain assembly complex (LUBAC), which has a pivotal role in inflammation, through crucial regulation of NF-κB. We aimed to determine whether UBE2L3 regulates LUBAC-mediated activation of NF-κB, and determine the effect of UBE2L3 genotype on NF-κB activation and B-cell differentiation. UBE2L3 genotype data from SLE genome-wide association studies was imputed by use of 1000 Genomes data. UBE2L3 function was studied in a HEK293-NF-κB reporter cell line with standard molecular biology techniques. p65 NF-κB translocation in ex-vivo B cells and monocytes from genotyped healthy individuals was quantified by imaging flow cytometry. B-cell subsets from healthy individuals and patients with SLE, stratified by UBE2L3 genotype, were determined by multicolour flow cytometry. rs140490, located at -270 base pairs of the UBE2L3 promoter, was identified as the most strongly associated single nucleotide polymorphism (p=8·6 × 10(-14), odds ratio 1·30, 95% CI 1·21-1·39). The rs140490 risk allele increased UBE2L3 expression in B cells and monocytes. Marked upregulation of NF-κB was observed with combined overexpression of UBE2L3 and LUBAC, but abolished by dominant-negative mutant UBE2L3 (C86S), or UBE2L3 silencing. The rs140490 genotype correlated with basal NF-κB activation in ex-vivo human B cells and monocytes, as well as NF-κB sensitivity to CD40 or tumour necrosis factor (TNF) stimulation. UBE2L3 expression was 3-4 times higher in circulating plasmablasts and plasma cells than in other B-cell subsets, with higher levels in patients with SLE than in controls. The rs140490 genotype correlated with increasing plasmablast and plasma cell differentiation in patients with SLE
2010-03-10
... specific license, or otherwise exempt, the exportation of such services and software from the United States... services and software. Paragraph (c) of each of these two sections provides that specific licenses may be... Iranian Transactions Regulations to authorize the exportation of certain services and software incident to...
Selection of Noisy Sensors and Actuators for Regulation of Linear Systems.
1983-08-01
solution. Case (3) is a 173 W nr*4w a 43C3C’- r4)CD-p4:- r4P 42-N)-r4 C 4.D u A . C CO -4- * ’I -o CD o -o C-, c W~~~ ~0~,C J LOJ LOrPt r-L Nr 4.1 en 4.11...the Control Subsystem for Stochastic Distributed Parameter Systems," Lecture Notes in Control and Information Sciences. Distributed Parameter Systems...3 - .~ ~’j~ "IL St 234 CALL flE (TrLUTTLJJ13XX12lP12.12) TITLY(1)u1OH AXR TITLYC2)u1OH AY2 TITLY(3)10OH AZ2 TITLYC4)-1OH AX1O-AX2 rTITLY(5)-l0H AYlO
International Nuclear Information System (INIS)
Berdaky, Mafalda Feliciano
2000-01-01
This work presents the operational part of the final process of the establishment of a radiotherapy service with a linear accelerator (6 MeV photon beams), including the acceptance tests, commissioning tests and the implementation of a quality control program through routine mechanical and radiation tests. All acceptance tests were satisfactory, showing results below the allowed limits of the manufacturer, the commissioning tests presented results within those of the international recommendations. The quality control program was performed during 34 months and showed an excellent stability of this accelerator. (author)
Decentralized control of the COFS-I Mast using linear dc motors
Lindner, Douglas K.; Celano, Tom; Ide, Eric
1989-01-01
Consideration is given to a decentralized control design for vibration suppression in the COFS-I Mast using linear dc motors for actuators. The decentralized control design is based results from power systems using root locus techniques that are not well known. The approach is effective because the loop gain is low due to low actuator authority. The frequency-dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the the stroke length of the actuator, its effectiveness is limited.
Wibowo, Sigit Basuki; Matsumoto, Toshihiro; Michizono, Shinichiro; Miura, Takako; Qiu, Feng; Liu, Na
2017-09-01
A field programmable gate array-based digital low level rf (LLRF) control system will be used in the International Linear Collider (ILC) in order to satisfy the rf stability requirements. The digital LLRF control system with four different intermediate frequencies has been developed to decrease the required number of analog-to-digital converters in this system. The proof of concept of this technique was demonstrated at the Superconducting RF Test Facility in the High Energy Accelerator Research Organization, Japan. The amplitude and phase stability has fulfilled the ILC requirements.
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
Energy Technology Data Exchange (ETDEWEB)
Hasanien, Hany M., E-mail: Hanyhasanien@ieee.or [Dept. of Elec. Power and Machines, Faculty of Eng., Ain-shams Univ. Cairo (Egypt); Muyeen, S.M. [Department of Electrical Engineering, Petroleum Institute, Abu Dhabi (United Arab Emirates); Tamura, Junji [Department of EEE, Kitami Institute of Technology, 165 Koen Cho, Kitami 090-8507, Hokkaido (Japan)
2010-12-15
This paper presents a novel adaptive neuro-fuzzy controller applies on transverse flux linear motor for controlling its speed. The proposed controller presents fuzzy logic controller with self tuning scaling factors based on artificial neural network structure. It has two input variables and one control output variable. Firstly the fuzzy logic control rules are described then NN architecture is represented to self tune the output scaling factors of the controller. The application of this control technique represents the novelty of work, where this algorithm has so far not been stated before for this type of drives. This methodology solves the problem of nonlinearities and load changes of TFLM drives. The dynamic response of the motor is studied under the rated load condition as well as load disturbances. The proposed controller ensures fast and accurate dynamic response with an excellent steady state performance. The dynamic response of the motor with the proposed controller is compared with PI and adaptive NN controllers. It is found that the proposed controller gives better and faster response from the viewpoint of overshoot and settling time. Matlab/Simulink tool is used for this dynamic simulation study.
Evolution of the Argonne Tandem Linear Accelerator System (ATLAS) control system
International Nuclear Information System (INIS)
Power, M.; Munson, F.
2012-01-01
Given that the Argonne Tandem Linear Accelerator System (ATLAS) recently celebrated its 25. anniversary, this paper will explore the past, present, and future of the ATLAS Control System, and how it has evolved along with the accelerator and control system technology. ATLAS as we know it today, originated with a Tandem Van de Graff in the sixties. With the addition of the Booster section in the late seventies, came the first computerized control. ATLAS itself was placed into service on June 25, 1985, and was the world's first superconducting linear accelerator for ions. Since its dedication as a National User Facility, more than a thousand experiments by more than 2,000 users worldwide, have taken advantage of the unique capabilities it provides. Today, ATLAS continues to be a user facility for physicists who study the particles that form the heart of atoms. Its most recent addition, CARIBU (Californium Rare Isotope Breeder Upgrade), creates special beams that feed into ATLAS. ATLAS is similar to a living organism, changing and responding to new technological challenges and research needs. As it continues to evolve, so does the control system: from the original days using a DEC PDP-11/34 computer and two CAMAC crates, to a DEC Alpha computer running Vsystem software and more than twenty CAMAC crates, to distributed computers and VME systems. Future upgrades are also in the planning stages that will continue to evolve the control system. (authors)
Robust entry guidance using linear covariance-based model predictive control
Directory of Open Access Journals (Sweden)
Jianjun Luo
2017-02-01
Full Text Available For atmospheric entry vehicles, guidance design can be accomplished by solving an optimal issue using optimal control theories. However, traditional design methods generally focus on the nominal performance and do not include considerations of the robustness in the design process. This paper proposes a linear covariance-based model predictive control method for robust entry guidance design. Firstly, linear covariance analysis is employed to directly incorporate the robustness into the guidance design. The closed-loop covariance with the feedback updated control command is initially formulated to provide the expected errors of the nominal state variables in the presence of uncertainties. Then, the closed-loop covariance is innovatively used as a component of the cost function to guarantee the robustness to reduce its sensitivity to uncertainties. After that, the models predictive control is used to solve the optimal problem, and the control commands (bank angles are calculated. Finally, a series of simulations for different missions have been completed to demonstrate the high performance in precision and the robustness with respect to initial perturbations as well as uncertainties in the entry process. The 3σ confidence region results in the presence of uncertainties which show that the robustness of the guidance has been improved, and the errors of the state variables are decreased by approximately 35%.
Optimal linear-quadratic control of coupled parabolic-hyperbolic PDEs
Aksikas, I.; Moghadam, A. Alizadeh; Forbes, J. F.
2017-10-01
This paper focuses on the optimal control design for a system of coupled parabolic-hypebolic partial differential equations by using the infinite-dimensional state-space description and the corresponding operator Riccati equation. Some dynamical properties of the coupled system of interest are analysed to guarantee the existence and uniqueness of the solution of the linear-quadratic (LQ)-optimal control problem. A state LQ-feedback operator is computed by solving the operator Riccati equation, which is converted into a set of algebraic and differential Riccati equations, thanks to the eigenvalues and the eigenvectors of the parabolic operator. The results are applied to a non-isothermal packed-bed catalytic reactor. The LQ-optimal controller designed in the early portion of the paper is implemented for the original nonlinear model. Numerical simulations are performed to show the controller performances.
Efficient Implementation of the Riccati Recursion for Solving Linear-Quadratic Control Problems
DEFF Research Database (Denmark)
Frison, Gianluca; Jørgensen, John Bagterp
2013-01-01
In both Active-Set (AS) and Interior-Point (IP) algorithms for Model Predictive Control (MPC), sub-problems in the form of linear-quadratic (LQ) control problems need to be solved at each iteration. The solution of these sub-problems is typically the main computational effort at each iteration....... In this paper, we compare a number of solvers for an extended formulation of the LQ control problem: a Riccati recursion based solver can be considered the best choice for the general problem with dense matrices. Furthermore, we present a novel version of the Riccati solver, that makes use of the Cholesky...... factorization of the Pn matrices to reduce the number of flops. When combined with regularization and mixed precision, this algorithm can solve large instances of the LQ control problem up to 3 times faster than the classical Riccati solver....
Probabilistic vs linear blending approaches to shared control for wheelchair driving.
Ezeh, Chinemelu; Trautman, Pete; Devigne, Louise; Bureau, Valentin; Babel, Marie; Carlson, Tom
2017-07-01
Some people with severe mobility impairments are unable to operate powered wheelchairs reliably and effectively, using commercially available interfaces. This has sparked a body of research into "smart wheelchairs", which assist users to drive safely and create opportunities for them to use alternative interfaces. Various "shared control" techniques have been proposed to provide an appropriate level of assistance that is satisfactory and acceptable to the user. Most shared control techniques employ a traditional strategy called linear blending (LB), where the user's commands and wheelchair's autonomous commands are combined in some proportion. In this paper, however, we implement a more generalised form of shared control called probabilistic shared control (PSC). This probabilistic formulation improves the accuracy of modelling the interaction between the user and the wheelchair by taking into account uncertainty in the interaction. In this paper, we demonstrate the practical success of PSC over LB in terms of safety, particularly for novice users.
Impulsive Control for Continuous-Time Markov Decision Processes: A Linear Programming Approach
Energy Technology Data Exchange (ETDEWEB)
Dufour, F., E-mail: dufour@math.u-bordeaux1.fr [Bordeaux INP, IMB, UMR CNRS 5251 (France); Piunovskiy, A. B., E-mail: piunov@liv.ac.uk [University of Liverpool, Department of Mathematical Sciences (United Kingdom)
2016-08-15
In this paper, we investigate an optimization problem for continuous-time Markov decision processes with both impulsive and continuous controls. We consider the so-called constrained problem where the objective of the controller is to minimize a total expected discounted optimality criterion associated with a cost rate function while keeping other performance criteria of the same form, but associated with different cost rate functions, below some given bounds. Our model allows multiple impulses at the same time moment. The main objective of this work is to study the associated linear program defined on a space of measures including the occupation measures of the controlled process and to provide sufficient conditions to ensure the existence of an optimal control.
Wireless control system for two-axis linear oscillating motion applying CBR technology
Kuzyakov, O. N.; Andreeva, M. A.
2018-03-01
The paper presents the aspects of elaborating a movement control system. The system is to implement determination of movement characteristics of the object controlled, which performs an oscillating linear motion in a two-axis direction. The system has an electronic-optical principle of action: light receivers are attached to a controlled object, and a laser light emitter is attached to a static construction. While the object performs movement along the construction, the light emitter signal is registered by light receivers, based on which determination of the object position and characteristic of its movement are performed. An algorithm of system implementation is elaborated. Signal processing is performed on the basis of the case-based reasoning method. The system is to be used in machine-building industry in controlling relative displacement of the dynamic object or its assembly.
Mejias, Jorge F; Payeur, Alexandre; Selin, Erik; Maler, Leonard; Longtin, André
2014-01-01
The control of input-to-output mappings, or gain control, is one of the main strategies used by neural networks for the processing and gating of information. Using a spiking neural network model, we studied the gain control induced by a form of inhibitory feedforward circuitry-also known as "open-loop feedback"-, which has been experimentally observed in a cerebellum-like structure in weakly electric fish. We found, both analytically and numerically, that this network displays three different regimes of gain control: subtractive, divisive, and non-monotonic. Subtractive gain control was obtained when noise is very low in the network. Also, it was possible to change from divisive to non-monotonic gain control by simply modulating the strength of the feedforward inhibition, which may be achieved via long-term synaptic plasticity. The particular case of divisive gain control has been previously observed in vivo in weakly electric fish. These gain control regimes were robust to the presence of temporal delays in the inhibitory feedforward pathway, which were found to linearize the input-to-output mappings (or f-I curves) via a novel variability-increasing mechanism. Our findings highlight the feedforward-induced gain control analyzed here as a highly versatile mechanism of information gating in the brain.
Directory of Open Access Journals (Sweden)
Jorge F Mejias
2014-02-01
Full Text Available The control of input-to-output mappings, or gain control, is one of the main strategies used by neural networks for the processing and gating of information. Using a spiking neural network model, we studied the gain control induced by a form of inhibitory feedforward circuitry — also known as ’open-loop feedback’ —, which has been experimentally observed in a cerebellum-like structure in weakly electric fish. We found, both analytically and numerically, that this network displays three different regimes of gain control: subtractive, divisive, and non-monotonic. Subtractive gain control was obtained when noise is very low in the network. Also, it was possible to change from divisive to non-monotonic gain control by simply modulating the strength of the feedforward inhibition, which may be achieved via long-term synaptic plasticity. The particular case of divisive gain control has been previously observed in vivo in weakly electric fish. These gain control regimes were robust to the presence of temporal delays in the inhibitory feedforward pathway, which were found to linearize the input-to-output mappings (or f-I curves via a novel variability-increasing mechanism. Our findings highlight the feedforward-induced gain control analyzed here as a highly versatile mechanism of information gating in the brain.
Drag reduction of a car model by linear genetic programming control
Li, Ruiying; Noack, Bernd R.; Cordier, Laurent; Borée, Jacques; Harambat, Fabien
2017-08-01
We investigate open- and closed-loop active control for aerodynamic drag reduction of a car model. Turbulent flow around a blunt-edged Ahmed body is examined at ReH≈ 3× 105 based on body height. The actuation is performed with pulsed jets at all trailing edges (multiple inputs) combined with a Coanda deflection surface. The flow is monitored with 16 pressure sensors distributed at the rear side (multiple outputs). We apply a recently developed model-free control strategy building on genetic programming in Dracopoulos and Kent (Neural Comput Appl 6:214-228, 1997) and Gautier et al. (J Fluid Mech 770:424-441, 2015). The optimized control laws comprise periodic forcing, multi-frequency forcing and sensor-based feedback including also time-history information feedback and combinations thereof. Key enabler is linear genetic programming (LGP) as powerful regression technique for optimizing the multiple-input multiple-output control laws. The proposed LGP control can select the best open- or closed-loop control in an unsupervised manner. Approximately 33% base pressure recovery associated with 22% drag reduction is achieved in all considered classes of control laws. Intriguingly, the feedback actuation emulates periodic high-frequency forcing. In addition, the control identified automatically the only sensor which listens to high-frequency flow components with good signal to noise ratio. Our control strategy is, in principle, applicable to all multiple actuators and sensors experiments.
Directory of Open Access Journals (Sweden)
Chunyan Han
2015-01-01
Full Text Available Based on the heteroclinic Shil’nikov theorem and switching control, a kind of multipiecewise linear chaotic system is constructed in this paper. Firstly, two fundamental linear systems are constructed via linearization of a chaotic system at its two equilibrium points. Secondly, a two-piecewise linear chaotic system which satisfies the Shil’nikov theorem is generated by constructing heteroclinic loop between equilibrium points of the two fundamental systems by switching control. Finally, another multipiecewise linear chaotic system that also satisfies the Shil’nikov theorem is obtained via alternate translation of the two fundamental linear systems and heteroclinic loop construction of adjacent equilibria for the multipiecewise linear system. Some basic dynamical characteristics, including divergence, Lyapunov exponents, and bifurcation diagrams of the constructed systems, are analyzed. Meanwhile, computer simulation and circuit design are used for the proposed chaotic systems, and they are demonstrated to be effective for the method of chaos anticontrol.
Rigatos, Gerasimos G
2016-06-01
It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.
Liolios, A
2003-01-01
The paper presents a new numerical approach for a non-linear optimal control problem arising in earthquake civil engineering. This problem concerns the elastoplastic softening-fracturing unilateral contact between neighbouring buildings during earthquakes when Coulomb friction is taken into account under second-order instabilizing effects. So, the earthquake response of the adjacent structures can appear instabilities and chaotic behaviour. The problem formulation presented here leads to a set of equations and inequalities, which is equivalent to a dynamic hemivariational inequality in the way introduced by Panagiotopoulos [Hemivariational Inequalities. Applications in Mechanics and Engineering, Springer-Verlag, Berlin, 1993]. The numerical procedure is based on an incremental problem formulation and on a double discretization, in space by the finite element method and in time by the Wilson-theta method. The generally non-convex constitutive contact laws are piecewise linearized, and in each time-step a non-c...
Energy Technology Data Exchange (ETDEWEB)
Hong Junjie, E-mail: hongjjie@mail.sysu.edu.cn [School of Engineering, Sun Yat-Sen University, Guangzhou 510006 (China); Li Liyi, E-mail: liliyi@hit.edu.cn [Dept. Electrical Engineering, Harbin Institute of Technology, Harbin 150000 (China); Zong Zhijian; Liu Zhongtu [School of Engineering, Sun Yat-Sen University, Guangzhou 510006 (China)
2011-10-15
Highlights: {yields} The structure of the permanent magnet linear synchronous motor (SW-PMLSM) is new. {yields} A new current control method CEVPC is employed in this motor. {yields} The sectional power supply method is different to the others and effective. {yields} The performance gets worse with voltage and current limitations. - Abstract: To include features such as greater thrust density, higher efficiency without reducing the thrust stability, this paper proposes a section winding permanent magnet linear synchronous motor (SW-PMLSM), whose iron core is continuous, whereas winding is divided. The discrete system model of the motor is derived. With the definition of the current error vector and selection of the value function, the theory of the current error vector based prediction control (CEVPC) for the motor currents is explained clearly. According to the winding section feature, the motion region of the mover is divided into five zones, in which the implementation of the current predictive control method is proposed. Finally, the experimental platform is constructed and experiments are carried out. The results show: the current control effect has good dynamic response, and the thrust on the mover remains constant basically.
A review of model predictive control: moving from linear to nonlinear design methods
International Nuclear Information System (INIS)
Nandong, J.; Samyudia, Y.; Tade, M.O.
2006-01-01
Linear model predictive control (LMPC) has now been considered as an industrial control standard in process industry. Its extension to nonlinear cases however has not yet gained wide acceptance due to many reasons, e.g. excessively heavy computational load and effort, thus, preventing its practical implementation in real-time control. The application of nonlinear MPC (NMPC) is advantageous for processes with strong nonlinearity or when the operating points are frequently moved from one set point to another due to, for instance, changes in market demands. Much effort has been dedicated towards improving the computational efficiency of NMPC as well as its stability analysis. This paper provides a review on alternative ways of extending linear MPC to the nonlinear one. We also highlight the critical issues pertinent to the applications of NMPC and discuss possible solutions to address these issues. In addition, we outline the future research trend in the area of model predictive control by emphasizing on the potential applications of multi-scale process model within NMPC
CEDM Controller for a Linear Pulse Motor by using Pulse Width Modulation Method in Integral Reactor
International Nuclear Information System (INIS)
Lee, Joon-Koo; Keum, Jong-Yong; Park, Heui-Youn
2007-01-01
Integral Reactor SMART is under development at KAERI. The design characteristics of SMART are radically different from those employed in currently operating loop type PWR in Korea. The reliability and accuracy of Control Rod Drive Mechanism are very important to the reactor safety and the design of the Plant Protection System. The SMART CEDM designed for fine-step movement consists of a linear pulse motor, reed switch type sensor with top and bottom limit switches which also act as Control Element Assembly(CEA) Position indicator, The linear pulse motor is a four phase synchronous DC electric machine with inner stator and output stator in coolant medium inside a strong housing. The objective of this paper is to introduce and to explain the CEDM controller CEDM Controller is being developed with a new design concept and digital technology to reduce the Operating Error and improve the systems' reliability and availability. And Switched Mode Power Supply is also being developed with digital hardware technology. This paper involves the test details and result
Localized modelling and feedback control of linear instabilities in 2-D wall bounded shear flows
Tol, Henry; Kotsonis, Marios; de Visser, Coen
2016-11-01
A new approach is presented for control of instabilities in 2-D wall bounded shear flows described by the linearized Navier-Stokes equations (LNSE). The control design accounts both for spatially localized actuators/sensors and the dominant perturbation dynamics in an optimal control framework. An inflow disturbance model is proposed for streamwise instabilities that drive laminar-turbulent transition. The perturbation modes that contribute to the transition process can be selected and are included in the control design. A reduced order model is derived from the LNSE that captures the input-output behavior and the dominant perturbation dynamics. This model is used to design an optimal controller for suppressing the instability growth. A 2-D channel flow and a 2-D boundary layer flow over a flat plate are considered as application cases. Disturbances are generated upstream of the control domain and the resulting flow perturbations are estimated/controlled using wall shear measurements and localized unsteady blowing and suction at the wall. It will be shown that the controller is able to cancel the perturbations and is robust to unmodelled disturbances.
Energy Technology Data Exchange (ETDEWEB)
Kamali, Mohammadreza; Jazayeri, Seyed Ali [K. N.Toosi University of Technology, Tehran (Iran, Islamic Republic of); Najafi, Farid [University of Guilan, Rasht (Iran, Islamic Republic of); Kawashima, Kenji [Tokyo Medical and Dental University, Tokyo (Japan); Kagawa, Toshiharu [Tokyo Institute of Technology, Tokyo (Japan)
2016-05-15
This paper introduces a new nozzle-flapper valve with isothermal chamber using piezoelectric actuator. It controls the pressure and flow rate simply, effectively and separately. The proposed valve uses isothermal chamber presenting practical isothermal condition due to its large heat transfer interfaces filled by metal wool. The valve uses stacked type piezoelectric actuator with unique advantages. By using this valve, a simple method has been fulfilled to control flow rate or pressure of ideal gases in a pneumatic actuators. Experimental results demonstrated applications of the proposed valve to control either pressure or flow rate in pneumatic circuits. This valve can be also used in the pilot stage valve to actuate the main stage of a much bigger pneumatic valve. Designated structure contains only one pressure sensor installed on the isothermal control chamber, capable of controlling both pressure and flow rate. The desired output mass flow rate of the valve is controlled by the pressure changes during positioning of piezoelectric actuator at proper position. The proposed valve can control steady and unsteady oscillatory flow rate and pressure effectively, using nonlinear control method such as feedback linearization approach. Its effectiveness is demonstrated and validated through simulation and experiments.
Photovoltaic System Regulation Based on a PID Fuzzy Controller to Ensure a Fixed Settling Time
Directory of Open Access Journals (Sweden)
Paula A. Ortiz-Valencia
2013-11-01
Full Text Available The main objective of the controllers in photovoltaic systems (PV is to ensure the maximum extraction of the available power. Those controllers usually combine the action of a maximum power point tracking algorithm (MPPT with a voltage regulator, which has the function of rejecting disturbances at the panel terminals. Such controllers are commonly based on PI and PID structures, it requiring linearized models at an operating point. But, due to disturbances generated by the environment and the load, the operating point of the system changes drastically, which hinder to obtain the desired system performance. This paper proposes to regulate the PV system using a Fuzzy PID controller, which adapts to changes in solar irradiance and load oscillations. This characteristic guarantees a constant settling time, which is required to precisely define the period of the MPPT algorithm. In the case of classical linear controllers, the period of the MPPT algorithm is set to the worst case (longest period which generates additional power losses by slowing down the tracking of the optimal operating point. Therefore, the solution proposed in this paper improves the overall system efficiency. Finally, such a solution is validated through simulations in Matlab®.
The regulations concerning the uses of international controlled material
International Nuclear Information System (INIS)
1978-01-01
These provisions are established on the basis of and to enforce ''The law for the regulations of nuclear source materials, nuclear fuel materials and reactors'' and the ''Prescriptions on the usage of internationally regulated goods'' in the Enforcement Ordinance of the Law. Terms are explained, such as area for incoming and outgoing of goods, main measuring point, batch and real stocks. Applications for the permission of the use of internationally regulated goods shall be filed, in which the kinds of such goods for the materials and equipments in each partner country, with which international agreement was concluded, and the quantity and expected period of use of each regulated material must be written. The users of such regulated materials shall keep the records on the usage of such materials in each factory or establishment. Such records include the quantities of receiving and delivering and stocks of nuclear raw material of each kind, radiation control reports and the records of accidents in the facilities for using nuclear raw materials. Applications for the approval of the stipulation on the management of measurement shall be filed, in which the functions and organizations of the persons engaging in the measurement and control of internationally regulated goods, the establishment of the areas for receiving and delivering the goods and the marks to be put on such areas, etc. Applications for the designation as the persons engaging in information processing works are specified. (Okada, K.)
Networked control of discrete-time linear systems over lossy digital communication channels
Jin, Fang; Zhao, Guang-Rong; Liu, Qing-Quan
2013-12-01
This article addresses networked control problems for linear time-invariant systems. The insertion of the digital communication network inevitably leads to packet dropout, time delay and quantisation error. Due to data rate limitations, quantisation error is not neglected. In particular, the case where the sensors and controllers are geographically separated and connected via noisy, bandwidth-limited digital communication channels is considered. A fundamental limitation on the data rate of the channel for mean-square stabilisation of the closed-loop system is established. Sufficient conditions for mean-square stabilisation are derived. It is shown that there exists a quantisation, coding and control scheme to stabilise the unstable system over packet dropout communication channels if the data rate is larger than the lower bound proposed in our result. An illustrative example is given to demonstrate the effectiveness of the proposed conditions.
International Nuclear Information System (INIS)
Balasubramaniam, P.; Kalpana, M.; Rakkiyappan, R.
2012-01-01
Fuzzy cellular neural networks (FCNNs) are special kinds of cellular neural networks (CNNs). Each cell in an FCNN contains fuzzy operating abilities. The entire network is governed by cellular computing laws. The design of FCNNs is based on fuzzy local rules. In this paper, a linear matrix inequality (LMI) approach for synchronization control of FCNNs with mixed delays is investigated. Mixed delays include discrete time-varying delays and unbounded distributed delays. A dynamic control scheme is proposed to achieve the synchronization between a drive network and a response network. By constructing the Lyapunov—Krasovskii functional which contains a triple-integral term and the free-weighting matrices method an improved delay-dependent stability criterion is derived in terms of LMIs. The controller can be easily obtained by solving the derived LMIs. A numerical example and its simulations are presented to illustrate the effectiveness of the proposed method. (interdisciplinary physics and related areas of science and technology)
Adaptive vision-based control of an unmanned aerial vehicle without linear velocity measurements.
Jabbari Asl, Hamed; Yoon, Jungwon
2016-11-01
In this paper, an image-based visual servo controller is designed for an unmanned aerial vehicle. The main objective is to use flow of image features as the velocity cue to compensate for the low quality of linear velocity information obtained from accelerometers. Nonlinear observers are designed to estimate this flow. The proposed controller is bounded, which can help to keep the target points in the field of view of the camera. The main advantages over the previous full dynamic observer-based methods are that, the controller is robust with respect to unknown image depth, and also no yaw information is required. The complete stability analysis is presented and asymptotic convergence of the error signals is guaranteed. Simulation results show the effectiveness of the proposed approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Mariana Santos Matos Cavalca
2012-01-01
Full Text Available One of the main advantages of predictive control approaches is the capability of dealing explicitly with constraints on the manipulated and output variables. However, if the predictive control formulation does not consider model uncertainties, then the constraint satisfaction may be compromised. A solution for this inconvenience is to use robust model predictive control (RMPC strategies based on linear matrix inequalities (LMIs. However, LMI-based RMPC formulations typically consider only symmetric constraints. This paper proposes a method based on pseudoreferences to treat asymmetric output constraints in integrating SISO systems. Such technique guarantees robust constraint satisfaction and convergence of the state to the desired equilibrium point. A case study using numerical simulation indicates that satisfactory results can be achieved.
Linear Time Varying Approach to Satellite Attitude Control Using only Electromagnetic Actuation
DEFF Research Database (Denmark)
Wisniewski, Rafal
1997-01-01
, lightweight, and power efficient actuators is therefore crucial and viable. This paper discusses linear attitude control strategies for a low earth orbit satellite actuated by a set of mutually perpendicular electromagnetic coils. The principle is to use the interaction between the Earth's magnetic field...... systems is limited, nevertheless, a solution of the Riccati equation gives an excellent frame for investigations provided in this paper. An observation that geomagnetic field changes approximately periodically when a satellite is on a near polar orbit is used throughout this paper. Three types of attitude...... controllers are proposed: an infinite horizon, a finite horizon, and a constant gain controller. Their performance is evaluated and compared in the simulation study of the realistic environment....
Adaptive robust fault-tolerant control for linear MIMO systems with unmatched uncertainties
Zhang, Kangkang; Jiang, Bin; Yan, Xing-Gang; Mao, Zehui
2017-10-01
In this paper, two novel fault-tolerant control design approaches are proposed for linear MIMO systems with actuator additive faults, multiplicative faults and unmatched uncertainties. For time-varying multiplicative and additive faults, new adaptive laws and additive compensation functions are proposed. A set of conditions is developed such that the unmatched uncertainties are compensated by actuators in control. On the other hand, for unmatched uncertainties with their projection in unmatched space being not zero, based on a (vector) relative degree condition, additive functions are designed to compensate for the uncertainties from output channels in the presence of actuator faults. The developed fault-tolerant control schemes are applied to two aircraft systems to demonstrate the efficiency of the proposed approaches.
The Inverse System Method Applied to the Derivation of Power System Non—linear Control Laws
Institute of Scientific and Technical Information of China (English)
DonghaiLI; XuezhiJIANG; 等
1997-01-01
The differential geometric method has been applied to a series of power system non-linear control problems effectively.However a set of differential equations must be solved for obtaining the required diffeomorphic transformation.Therefore the derivation of control laws is very complicated.In fact because of the specificity of power system models the required diffeomorphic transformation may be obtained directly,so it is unnecessary to solve a set of differential equations.In addition inverse system method is equivalent to differential geometric method in reality and not limited to affine nonlinear systems,Its physical meaning is able to be viewed directly and its deduction needs only algebraic operation and derivation,so control laws can be obtained easily and the application to engineering is very convenient.Authors of this paper take steam valving control of power system as a typical case to be studied.It is demonstrated that the control law deduced by inverse system method is just the same as one by differential geometric method.The conclusion will simplify the control law derivations of steam valving,excitation,converter and static var compensator by differential geometric method and may be suited to similar control problems in other areas.
Xingling, Shao; Honglun, Wang
2014-11-01
This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Passive impedance-based second-order sliding mode control for non-linear teleoperators
Directory of Open Access Journals (Sweden)
Luis G García-Valdovinos
2017-02-01
Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.
Directory of Open Access Journals (Sweden)
Maoyuan Feng
2014-01-01
Full Text Available This study proposes a mixed integer linear programming (MILP model to optimize the spillways scheduling for reservoir flood control. Unlike the conventional reservoir operation model, the proposed MILP model specifies the spillways status (including the number of spillways to be open and the degree of the spillway opened instead of reservoir release, since the release is actually controlled by using the spillway. The piecewise linear approximation is used to formulate the relationship between the reservoir storage and water release for a spillway, which should be open/closed with a status depicted by a binary variable. The control order and symmetry rules of spillways are described and incorporated into the constraints for meeting the practical demand. Thus, a MILP model is set up to minimize the maximum reservoir storage. The General Algebraic Modeling System (GAMS and IBM ILOG CPLEX Optimization Studio (CPLEX software are used to find the optimal solution for the proposed MILP model. The China’s Three Gorges Reservoir, whose spillways are of five types with the total number of 80, is selected as the case study. It is shown that the proposed model decreases the flood risk compared with the conventional operation and makes the operation more practical by specifying the spillways status directly.
AUTHOR|(SzGeCERN)673023; Blanco Viñuela, Enrique
In each of eight arcs of the 27 km circumference Large Hadron Collider (LHC), 2.5 km long strings of super-conducting magnets are cooled with superfluid Helium II at 1.9 K. The temperature stabilisation is a challenging control problem due to complex non-linear dynamics of the magnets temperature and presence of multiple operational constraints. Strong nonlinearities and variable dead-times of the dynamics originate at strongly heat-flux dependent effective heat conductivity of superfluid that varies three orders of magnitude over the range of possible operational conditions. In order to improve the temperature stabilisation, a proof of concept on-line economic output-feedback Non-linear Model Predictive Controller (NMPC) is presented in this thesis. The controller is based on a novel complex first-principles distributed parameters numerical model of the temperature dynamics over a 214 m long sub-sector of the LHC that is characterized by very low computational cost of simulation needed in real-time optimizat...
International Nuclear Information System (INIS)
Liolios, A.A.; Boglou, A.K.
2003-01-01
The paper presents a new numerical approach for a non-linear optimal control problem arising in earthquake civil engineering. This problem concerns the elastoplastic softening-fracturing unilateral contact between neighbouring buildings during earthquakes when Coulomb friction is taken into account under second-order instabilizing effects. So, the earthquake response of the adjacent structures can appear instabilities and chaotic behaviour. The problem formulation presented here leads to a set of equations and inequalities, which is equivalent to a dynamic hemivariational inequality in the way introduced by Panagiotopoulos [Hemivariational Inequalities. Applications in Mechanics and Engineering, Springer-Verlag, Berlin, 1993]. The numerical procedure is based on an incremental problem formulation and on a double discretization, in space by the finite element method and in time by the Wilson-θ method. The generally non-convex constitutive contact laws are piecewise linearized, and in each time-step a non-convex linear complementarity problem is solved with a reduced number of unknowns
Palmer, A; Kearton, J; Hayman, O
2012-11-01
The objective of this study was to determine current radiotherapy linear accelerator quality control (QC) practice in the UK, as a comparative benchmark and indicator of development needs, and to raise awareness of QC as a key performance indicator. All UK radiotherapy centres were invited to complete an online questionnaire regarding their local QC processes, and submit their QC schedules. The range of QC tests, frequency of measurements and acceptable tolerances in use across the UK were analysed, and consensus and range statistics determined. 72% of the UK's 62 radiotherapy centres completed the questionnaire and 40% provided their QC schedules. 60 separate QC tests were identified from the returned schedules. There was a large variation in the total time devoted to QC between centres: interquartile range from 13 to 26 h per linear accelerator per month. There has been a move from weekly to monthly testing of output calibration in the last decade, with reliance on daily constancy testing equipment. 33% of centres thought their schedules were in need of an update and only 30% used risk-assessment approaches to determine local QC schedule content. Less than 30% of centres regularly complete all planned QC tests each month, although 96% achieve over 80% of tests. A comprehensive "snapshot" of linear accelerator QC testing practice in the UK has been collated, which demonstrates reasonable agreement between centres in their stated QC test frequencies. However, intelligent design of QC schedules and management is necessary to ensure efficiency and appropriateness.
Classical linear-control analysis applied to business-cycle dynamics and stability
Wingrove, R. C.
1983-01-01
Linear control analysis is applied as an aid in understanding the fluctuations of business cycles in the past, and to examine monetary policies that might improve stabilization. The analysis shows how different policies change the frequency and damping of the economic system dynamics, and how they modify the amplitude of the fluctuations that are caused by random disturbances. Examples are used to show how policy feedbacks and policy lags can be incorporated, and how different monetary strategies for stabilization can be analytically compared. Representative numerical results are used to illustrate the main points.
Minimum Energy Control of 2D Positive Continuous-Discrete Linear Systems
Directory of Open Access Journals (Sweden)
Kaczorek Tadeusz
2014-09-01
Full Text Available The minimum energy control problem for the 2D positive continuous-discrete linear systems is formulated and solved. Necessary and sufficient conditions for the reachability at the point of the systems are given. Sufficient conditions for the existence of solution to the problem are established. It is shown that if the system is reachable then there exists an optimal input that steers the state from zero boundary conditions to given final state and minimizing the performance index for only one step (q = 1. A procedure for solving of the problem is proposed and illustrated by a numerical example.
Ranges of control in the transcriptional regulation of Escherichia coli.
Sonnenschein, Nikolaus; Hütt, Marc-Thorsten; Stoyan, Helga; Stoyan, Dietrich
2009-12-24
The positioning of genes in the genome is an important evolutionary degree of freedom for organizing gene regulation. Statistical properties of these distributions have been studied particularly in relation to the transcriptional regulatory network. The systematics of gene-gene distances then become important sources of information on the control, which different biological mechanisms exert on gene expression. Here we study a set of categories, which has to our knowledge not been analyzed before. We distinguish between genes that do not participate in the transcriptional regulatory network (i.e. that are according to current knowledge not producing transcription factors and do not possess binding sites for transcription factors in their regulatory region), and genes that via transcription factors either are regulated by or regulate other genes. We find that the two types of genes ("isolated" and "regulatory" genes) show a clear statistical repulsion and have different ranges of correlations. In particular we find that isolated genes have a preference for shorter intergenic distances. These findings support previous evidence from gene expression patterns for two distinct logical types of control, namely digital control (i.e. network-based control mediated by dedicated transcription factors) and analog control (i.e. control based on genome structure and mediated by neighborhood on the genome).
Digital base-band rf control system for the superconducting Darmstadt electron linear accelerator
Directory of Open Access Journals (Sweden)
M. Konrad
2012-05-01
Full Text Available The accelerating field in superconducting cavities has to be stabilized in amplitude and phase by a radio-frequency (rf control system. Because of their high loaded quality factor superconducting cavities are very susceptible for microphonics. To meet the increased requirements with respect to accuracy, availability, and diagnostics, the previous analog rf control system of the superconducting Darmstadt electron linear accelerator S-DALINAC has been replaced by a digital rf control system. The new hardware consists of two components: An rf module that converts the signal from the cavity down to the base-band and a field-programmable gate array board including a soft CPU that carries out the signal processing steps of the control algorithm. Different algorithms are used for normal-conducting and superconducting cavities. To improve the availability of the control system, techniques for automatic firmware and software deployment have been implemented. Extensive diagnostic features provide the operator with additional information. The architecture of the rf control system as well as the functionality of its components will be presented along with measurements that characterize the performance of the system, yielding, e.g., an amplitude stabilization down to (ΔA/A_{rms}=7×10^{-5} and a phase stabilization of (Δϕ_{rms}=0.8° for superconducting cavities.
Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel
2015-05-27
One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.
Directory of Open Access Journals (Sweden)
Carlos Santos
2015-05-01
Full Text Available One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.
Active Inference, homeostatic regulation and adaptive behavioural control.
Pezzulo, Giovanni; Rigoli, Francesco; Friston, Karl
2015-11-01
We review a theory of homeostatic regulation and adaptive behavioural control within the Active Inference framework. Our aim is to connect two research streams that are usually considered independently; namely, Active Inference and associative learning theories of animal behaviour. The former uses a probabilistic (Bayesian) formulation of perception and action, while the latter calls on multiple (Pavlovian, habitual, goal-directed) processes for homeostatic and behavioural control. We offer a synthesis these classical processes and cast them as successive hierarchical contextualisations of sensorimotor constructs, using the generative models that underpin Active Inference. This dissolves any apparent mechanistic distinction between the optimization processes that mediate classical control or learning. Furthermore, we generalize the scope of Active Inference by emphasizing interoceptive inference and homeostatic regulation. The ensuing homeostatic (or allostatic) perspective provides an intuitive explanation for how priors act as drives or goals to enslave action, and emphasises the embodied nature of inference. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.
A 5 V-to-3.3 V CMOS Linear Regulator with Three-Output Temperature-Independent Reference Voltages
Directory of Open Access Journals (Sweden)
San-Fu Wang
2016-01-01
Full Text Available This paper presents a 5 V-to-3.3 V linear regulator circuit, which uses 3.3 V CMOS transistors to replace the 5 V CMOS transistors. Thus, the complexity of the manufacturing semiconductor process can be improved. The proposed linear regulator is implemented by cascode architecture, which requires three different reference voltages as the bias voltages of its circuit. Thus, the three-output temperature-independent reference voltage circuit is proposed, which provides three accurate reference voltages simultaneously. The three-output temperature-independent reference voltages also can be used in other circuits of the chip. By using the proposed temperature-independent reference voltages, the proposed linear regulator can provide an accurate output voltage, and it is suitable for low cost, small size, and highly integrated system-on-chip (SoC applications. Moreover, the proposed linear regulator uses the cascode technique, which improves both the gain performance and the isolation performance. Therefore, the proposed linear regulator has a good performance in reference voltage to output voltage isolation. The voltage variation of the linear regulator is less than 2.153% in the temperature range of −40°C–120°C, and the power supply rejection ratio (PSRR is less than −42.8 dB at 60 Hz. The regulator can support 0~200 mA output current. The core area is less than 0.16 mm2.
Using octupoles for background control in linear colliders -- An exploratory conceptual study
International Nuclear Information System (INIS)
Pitthan, R.
2000-01-01
If one adds a suited Octupole (or an even higher multipole) lattice to linear collider Quadrupole FODO lattices, the amplifying properties of the combined lattice drive particles in the tails, but not those in the core, into resonant losses. This approach is quite different in concept and beam dynamics impact from past proposed use of non-linear elements for collimation. This non-traditional scheme for background control has the added advantage that most, or maybe all, of the Halo collimation can be done using the lever arm of the real estate of the main accelerators, thus reducing the costly length of a separate dedicated collimation section and also unifying machine protection and background control. Simulations of particle distributions are presented. This approach requires cooperation by the designers of the accelerators, the beam delivery system, and the Detector, because a careful balance between sometimes conflicting requirements has to be found. As a second component of this approach the use of Octupoles right before the final focusing Quadrupoles is proposed in order to enlarge the effective beam stay clear by a factor of 2--3, thus reducing the requirements for collimation. This concept would reduce the requirement for collimation but simulation have not been carried out here in detail. To further explore and implement this concept will require a considerable effort in manpower, possibly comparable to, although less in scope, than the effort to develop the NLC RF or the CLIC RF schemes
An adaptive noise cancelling system used for beam control at the Stanford Linear Accelerator Center
International Nuclear Information System (INIS)
Himel, T.; Allison, S.; Grossberg, P.; Hendrickson, L.; Sass, R.; Shoaee, H.
1993-06-01
The SLAC Linear Collider now has a total of twenty-four beam-steering feedback loops used to keep the electron and positron beams on their desired trajectories. Seven of these loops measure and control the same beam as it proceeds down the linac through the arcs to the final focus. Ideally by each loop should correct only for disturbances that occur between it and the immediate upstream loop. In fact, in the original system each loop corrected for all upstream disturbances. This resulted in undesirable over-correction and ringing. We added MIMO (Multiple Input Multiple Output) adaptive noise cancellers to separate the signal we wish to correct from disturbances further upstream. This adaptive control improved performance in the 1992 run
The Application of Linear and Nonlinear Water Tanks Case Study in Teaching of Process Control
Li, Xiangshun; Li, Zhiang
2018-02-01
In the traditional process control teaching, the importance of passing knowledge is emphasized while the development of creative and practical abilities of students is ignored. Traditional teaching methods are not very helpful to breed a good engineer. Case teaching is a very useful way to improve students’ innovative and practical abilities. In the traditional case teaching, knowledge points are taught separately based on different examples or no examples, thus it is very hard to setup the whole knowledge structure. Though all the knowledge is learned, how to use the knowledge to solve engineering problems keeps challenging for students. In this paper, the linear and nonlinear tanks are taken as illustrative examples which involves several knowledge points of process control. The application method of each knowledge point is discussed in detail and simulated. I believe the case-based study will be helpful for students.
A study of an electron gun controlled with a meshless grid for a linear accelerator
International Nuclear Information System (INIS)
Homma, Akira; Nakata, Katsuhide; Sawamura, Teruko; Narita, Masakuni
1996-01-01
An electron gun for a linear accelerator with a control grid of meshless electrode (meshless grid) is expected to overcome some disadvantages of beam quality using an ordinary mesh grid. A gun of this type was designed and its characteristics were numerically analyzed. The simulation program code Egn2 with a boundary setting routine POLYGON was used. The result indicated that the grid can control the beam launched from the cathode to the anode electrode. It also indicated the Ip-Vp and Ip-Vp characteristics which are different from an ordinary triode gun with a mesh-grid. The mutual conductance gm of 0.4[mS], the maximum average current of 1.6[A] and cut-off voltage -200[V] were obtained under a condition of 200[kV] acceleration voltage. (author)
Analysis and control of wakefields in X-band crab cavities for Compact Linear Collider
Energy Technology Data Exchange (ETDEWEB)
Ambattu, P.K., E-mail: praveen-kumar.ambattu@stfc.ac.uk [Cockcroft Institute, Warrington WA4 4AD (United Kingdom); Lancaster University, Lancaster LA1 4 YW (United Kingdom); Burt, G. [Cockcroft Institute, Warrington WA4 4AD (United Kingdom); Lancaster University, Lancaster LA1 4 YW (United Kingdom); Khan, V.F.; Jones, R.M. [Cockcroft Institute, Warrington WA4 4AD (United Kingdom); University of Manchester, Manchester M13 9PL (United Kingdom); Dexter, A. [Cockcroft Institute, Warrington WA4 4AD (United Kingdom); Lancaster University, Lancaster LA1 4 YW (United Kingdom); Dolgashev, V. [SLAC, Menlo Park, CA 94025 (United States)
2011-11-21
The Compact Linear Collider requires a crab cavity on each beamline prior to the interaction point to rotate the bunches before collision. The cavities are X-band travelling wave type and are located close to the final doublet of the beam delivery system. This makes the beam very sensitive to transverse momentum imparted by wakefields; hence the wakefields must be tightly controlled. Of special concerns are the orthogonal polarisation of the operating mode and the fundamental monopole mode of the crab cavity. The former mode is at the same frequency as the operating mode of a cylindrically symmetric cavity and the latter one is at a lower frequency and hence is difficult to damp using a single means. In this paper major problematic modes of the crab cavity are investigated and damping requirements for them are calculated. Possibility of meeting the required wakefield control using waveguide damping and choke damping is thoroughly investigated. As a comparison, damped-detuning is also investigated.
Regulations for the peat production water pollution control; Turvetuotannon vesiensuojeluohjeisto
Energy Technology Data Exchange (ETDEWEB)
Savolainen, M.; Heikkinen, K.; Ihme, R. [ed.] [VTT Communities and Infrastructure, Espoo (Finland)
1996-12-31
The regulations for peat production water pollution control include the latest information on anti-pollution constructions applicable to peat production including field ditches, sedimentation basins, overland flow areas, forest soil saturation, evaporation basins, chemicalization, detention of runoff and artificial flood plains. Information on subsurface drainage in peat mining is also given. The regulations deal with environmental viewpoints, planning of water protection and information on how to build, use and maintain anti-pollution constructions. Special attention is given to the soil conditions, because they play an important role in the building of different constructions. (orig.) (48 refs.)
Regulations for the peat production water pollution control
International Nuclear Information System (INIS)
Savolainen, M.; Heikkinen, K.; Ihme, R.
1996-01-01
The regulations for peat production water pollution control include the latest information on anti-pollution constructions applicable to peat production including field ditches, sedimentation basins, overland flow areas, forest soil saturation, evaporation basins, chemicalization, detention of runoff and artificial flood plains. Information on subsurface drainage in peat mining is also given. The regulations deal with environmental viewpoints, planning of water protection and information on how to build, use and maintain anti-pollution constructions. Special attention is given to the soil conditions, because they play an important role in the building of different constructions. (orig.) (48 refs.)
SOR/88-144, Atomic Energy Control Regulations, amendment
International Nuclear Information System (INIS)
1988-01-01
These amendments dated 25 February 1988 mainly concern naturally-occurring radioactive prescribed substances (namely, uranium, thorium, radium, etc.). Any naturally-occurring radioactive material in a mineral or other material which has not been related to an activity associated with the development, application or use of atomic energy, is exempted from the scope of the Regulations. The Regulations will therefore not apply to such radioactive substances present in building materials or in minerals commonly used in industrial activities which are not associated with the nuclear fuel cycle. This exemption does not apply to such material in connection with import control and preparation for transport. (NEA)
DAC with LQR Control Design for Pitch Regulated Variable Speed Wind Turbine
DEFF Research Database (Denmark)
Imran, Raja Muhammad; Hussain, Dil Muhammad Akbar; Soltani, Mohsen
2014-01-01
Disturbance Accommodation Control (DAC) is used to model and simulate a system with known disturbance waveform. This paper presents a control scheme to mitigate the effect of disturbances by using collective pitch control for the aboverated wind speed (Region III) for a variable speed wind turbine....... We have used Linear Quadratic Regulator (LQR) to obtain full state feedback gain, disturbance feedback gain is calculated independently and then estimator gain is achieved by poleplacement technique in the DAC augmented plant model. The reduced order model (two-mass model) of wind turbine is used...... and 5MW National Renewable Energy Laboratory (NREL) wind turbine is used in this research. We have shown comparison of results relating to pitch angle, drive train torsion and generator speed obtained by a PID controller and DAC. Simulations are performed in MATLAB/Simulink. The results are compared...
Low-level feedback control for the phase regulation of CLIC Drive Beam Klystrons
AUTHOR|(SzGeCERN)752526
2015-01-01
The requirement of luminosity loss below 1% raises tight tolerances for the phase and power stability of the CLIC drive beam (DB) klystrons and consequently for the high voltage pulse ripple of the modulators. A low-level RF (LLRF) feedback system needs to be developed and combined with the modulator in order to guarantee the phase and amplitude tolerances. To this aim, three feedback control strategies were investigated, i) Proportional Integral (PI) controller, ii) Linear Quadratic Integral Regulator (LQI) and iii) Model Predictive Controller (MPC). The klystron, as well as the incident phase noise were modelled and used for the design and evaluation of the controllers. First simulation results are presented along with future steps and directions.
Reducing the pressure drag of a D-shaped bluff body using linear feedback control
Dalla Longa, L.; Morgans, A. S.; Dahan, J. A.
2017-12-01
The pressure drag of blunt bluff bodies is highly relevant in many practical applications, including to the aerodynamic drag of road vehicles. This paper presents theory revealing that a mean drag reduction can be achieved by manipulating wake flow fluctuations. A linear feedback control strategy then exploits this idea, targeting attenuation of the spatially integrated base (back face) pressure fluctuations. Large-eddy simulations of the flow over a D-shaped blunt bluff body are used as a test-bed for this control strategy. The flow response to synthetic jet actuation is characterised using system identification, and controller design is via shaping of the frequency response to achieve fluctuation attenuation. The designed controller successfully attenuates integrated base pressure fluctuations, increasing the time-averaged pressure on the body base by 38%. The effect on the flow field is to push the roll-up of vortices further downstream and increase the extent of the recirculation bubble. This control approach uses only body-mounted sensing/actuation and input-output model identification, meaning that it could be applied experimentally.
Driver electronics design and control for a total artificial heart linear motor.
Unthan, Kristin; Cuenca-Navalon, Elena; Pelletier, Benedikt; Finocchiaro, Thomas; Steinseifer, Ulrich
2018-01-27
For any implantable device size and efficiency are critical properties. Thus, a linear motor for a Total Artificial Heart was optimized with focus on driver electronics and control strategies. Hardware requirements were defined from power supply and motor setup. Four full bridges were chosen for the power electronics. Shunt resistors were set up for current measurement. Unipolar and bipolar switching for power electronics control were compared regarding current ripple and power losses. Here, unipolar switching showed smaller current ripple and required less power to create the necessary motor forces. Based on calculations for minimal power losses Lorentz force was distributed to the actor's four coils. The distribution was determined as ratio of effective magnetic flux through each coil, which was captured by a force test rig. Static and dynamic measurements under physiological conditions analyzed interaction of control and hardware and all efficiencies were over 89%. In conclusion, the designed electronics, optimized control strategy and applied current distribution create the required motor force and perform optimal under physiological conditions. The developed driver electronics and control offer optimized size and efficiency for any implantable or portable device with multiple independent motor coils. Graphical Abstract ᅟ.
Rectifier Current Control for an LLC Resonant Converter Based on a Simplified Linearized Model
Directory of Open Access Journals (Sweden)
Zhijian Fang
2018-03-01
Full Text Available In this paper, a rectifier current control for an LLC resonant converter is proposed, based on a simplified, two-order, linearized model that adds a rectifier current feedback inner loop to improve dynamic performance. Compared to the traditional large-signal model with seven resonant states, this paper utilizes a rectifier current state to represent the characteristics of the resonant states, simplifying the LLC resonant model from seven orders to two orders. Then, the rectifier current feedback inner loop is proposed to increase the control system damping, improving dynamic performance. The modeling and design methodology for the LLC resonant converter are also presented in this paper. A frequency analysis is conducted to verify the accuracy of the simplified model. Finally, a 200 W LLC resonant converter prototype is built to verify the effectiveness of the proposed control strategy. Compared to a traditional single-loop controller, the settling time and voltage droop were reduced from 10.8 ms to 8.6 ms and from 6.8 V to 4.8 V, respectively, using the proposed control strategy.
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.
DEFF Research Database (Denmark)
Sokoler, Leo Emil; Frison, Gianluca; Edlund, Kristian
2013-01-01
In this paper, we develop an efficient interior-point method (IPM) for the linear programs arising in economic model predictive control of linear systems. The novelty of our algorithm is that it combines a homogeneous and self-dual model, and a specialized Riccati iteration procedure. We test...
Neuroendocrine control by kisspeptins: role in metabolic regulation of fertility.
Navarro, Victor M; Tena-Sempere, Manuel
2011-09-13
The neurohormonal control of reproduction involves a hierarchical network of central and peripheral signals in the hypothalamic-pituitary-gonadal (HPG) axis. Development and function of this neuroendocrine system is the result of a lifelong delicate balance between endogenous regulators and environmental cues, including nutritional and metabolic factors. Kisspeptins are the peptide products of KISS1, which operate via the G-protein-coupled receptor GPR54 (also known as Kiss1R). These peptides have emerged as essential upstream regulators of neurons secreting gonadotropin-releasing hormone (GnRH), the major hypothalamic node for the stimulatory control of the HPG axis. They are potent elicitors of gonadotropin secretion in various species and physiological settings. Moreover, Kiss1 neurons in the hypothalamus participate in crucial features of reproductive maturation and function, such as brain-level sex differentiation, puberty onset and the neuroendocrine regulation of gonadotropin secretion and ovulation. Cotransmitters of Kiss1 neurons, such as neurokinin B, with roles in controlling the HPG axis have been identified by genetic, neuroanatomical and physiological studies. In addition, a putative role has been proposed for Kiss1 neurons in transmitting metabolic information to GnRH neurons, although the precise mechanisms are as yet unclear. In this Review, we present the major reproductive features of kisspeptins, especially their interplay with neurokinin B and potential roles in the metabolic control of puberty and fertility, and suggest new avenues for research.
DEFF Research Database (Denmark)
Sokoler, Leo Emil; Frison, Gianluca; Skajaa, Anders
2015-01-01
We develop an efficient homogeneous and self-dual interior-point method (IPM) for the linear programs arising in economic model predictive control of constrained linear systems with linear objective functions. The algorithm is based on a Riccati iteration procedure, which is adapted to the linear...... system of equations solved in homogeneous and self-dual IPMs. Fast convergence is further achieved using a warm-start strategy. We implement the algorithm in MATLAB and C. Its performance is tested using a conceptual power management case study. Closed loop simulations show that 1) the proposed algorithm...
A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control
Directory of Open Access Journals (Sweden)
Jeremy Krause
2018-05-01
Full Text Available Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1 the strategic use of metallic parts in high stress areas (i.e., the piston rod; (2 post-processing of the inner surface of the cylinder for smooth finish; (3 piston head design and seal placement for strong and leak-proof action; and (4 sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.
Mitigation of ground motion effects in linear accelerators via feed-forward control
Directory of Open Access Journals (Sweden)
J. Pfingstner
2014-12-01
Full Text Available Ground motion is a severe problem for many particle accelerators, since it excites beam oscillations, which decrease the beam quality and create beam-beam offset (at colliders. Orbit feedback systems can only compensate ground motion effects at frequencies significantly smaller than the beam repetition rate. In linear colliders, where the repetition rate is low, additional counter measures have to be put in place. For this reason, a ground motion mitigation method based on feed-forward control is presented in this paper. It has several advantages compared to other techniques (stabilization systems and intratrain feedback systems such as cost reduction and potential performance improvement. An analytical model is presented that allows the derivation of hardware specification and performance estimates for a specific accelerator and ground motion model. At the Accelerator Test Facility (ATF2, ground motion sensors have been installed to verify the feasibility of important parts of the mitigation strategy. In experimental studies, it has been shown that beam excitations due to ground motion can be predicted from ground motion measurements on a pulse-to-pulse basis. Correlations of up to 80% between the estimated and measured orbit jitter have been observed. Additionally, an orbit jitter source was identified and has been removed, which halved the orbit jitter power at ATF2 and shows that the feed-forward scheme is also very useful for the detection of installation issues. We believe that the presented mitigation method has the potential to reduce costs and improve the performance of linear colliders and potentially other linear accelerators.
Distributed Cooperative Current-Sharing Control of Parallel Chargers Using Feedback Linearization
Directory of Open Access Journals (Sweden)
Jiangang Liu
2014-01-01
Full Text Available We propose a distributed current-sharing scheme to address the output current imbalance problem for the parallel chargers in the energy storage type light rail vehicle system. By treating the parallel chargers as a group of agents with output information sharing through communication network, the current-sharing control problem is recast as the consensus tracking problem of multiagents. To facilitate the design, input-output feedback linearization is first applied to transform the nonidentical nonlinear charging system model into the first-order integrator. Then, a general saturation function is introduced to design the cooperative current-sharing control law which can guarantee the boundedness of the proposed control. The cooperative stability of the closed-loop system under fixed and dynamic communication topologies is rigorously proved with the aid of Lyapunov function and LaSalle invariant principle. Simulation using a multicharging test system further illustrates that the output currents of parallel chargers are balanced using the proposed control.
Stability and performance analysis of a jump linear control system subject to digital upsets
Wang, Rui; Sun, Hui; Ma, Zhen-Yang
2015-04-01
This paper focuses on the methodology analysis for the stability and the corresponding tracking performance of a closed-loop digital jump linear control system with a stochastic switching signal. The method is applied to a flight control system. A distributed recoverable platform is implemented on the flight control system and subject to independent digital upsets. The upset processes are used to stimulate electromagnetic environments. Specifically, the paper presents the scenarios that the upset process is directly injected into the distributed flight control system, which is modeled by independent Markov upset processes and independent and identically distributed (IID) processes. A theoretical performance analysis and simulation modelling are both presented in detail for a more complete independent digital upset injection. The specific examples are proposed to verify the methodology of tracking performance analysis. The general analyses for different configurations are also proposed. Comparisons among different configurations are conducted to demonstrate the availability and the characteristics of the design. Project supported by the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 61403395), the Natural Science Foundation of Tianjin, China (Grant No. 13JCYBJC39000), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, China, the Tianjin Key Laboratory of Civil Aircraft Airworthiness and Maintenance in Civil Aviation of China (Grant No. 104003020106), and the Fund for Scholars of Civil Aviation University of China (Grant No. 2012QD21x).
Merrikh-Bayat, Farshad
2011-04-01
One main approach for time-domain simulation of the linear output-feedback systems containing fractional-order controllers is to approximate the transfer function of the controller with an integer-order transfer function and then perform the simulation. In general, this approach suffers from two main disadvantages: first, the internal stability of the resulting feedback system is not guaranteed, and second, the amount of error caused by this approximation is not exactly known. The aim of this paper is to propose an efficient method for time-domain simulation of such systems without facing the above mentioned drawbacks. For this purpose, the fractional-order controller is approximated with an integer-order transfer function (possibly in combination with the delay term) such that the internal stability of the closed-loop system is guaranteed, and then the simulation is performed. It is also shown that the resulting approximate controller can effectively be realized by using the proposed method. Some formulas for estimating and correcting the simulation error, when the feedback system under consideration is subjected to the unit step command or the unit step disturbance, are also presented. Finally, three numerical examples are studied and the results are compared with the Oustaloup continuous approximation method. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Cheng, Rendy P.; Tischler, Mark B.; Celi, Roberto
2006-01-01
This research describes a new methodology for the extraction of a high-order, linear time invariant model, which allows the periodicity of the helicopter response to be accurately captured. This model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC algorithms. The key results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. However, the results show that the vibration response to maneuvers must be considered during the HHC design process, and this leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration responses during maneuvers can be reduced by optimizing the closed-loop higher harmonic control algorithm using conventional control system analyses.
Sliding-Mode Observer for Speed and Position Sensorless Control of Linear-PMSM
Directory of Open Access Journals (Sweden)
Kazraji Saeed Masoumi
2014-05-01
Full Text Available The paper presents a sliding-mode observer that utilizes sigmoid function for speed and position sensorless control of permanent-magnet linear synchronous motor (PMLSM. In conventional sliding mode observer method there are the chattering phenomenon and the phase lag. Thus, in order to avoid the usage of the low pass filter and the phase compensator based on back EMF, in this paper a sliding mode observer with sigmoid function for detecting the back EMF in a PMLSM is designed to estimate the speed and the position of the rotor. Most of conventional sliding mode observers use sign or saturation functions which need low pass filter in order to detect back electromotive force (back EMF. In this paper a sigmoid function is used instead of discontinuous sign function to decrease undesirable chattering phenomenon. By reducing the chattering, detecting of the back EMF can be made directly from switching signal without any low pass filter. Thus the delay time in the proposed observer is eliminated because of the low pass filter. Furthermore, there is no need to compensate phase fault in position and speed estimating of linear-PMSM. Advantages of the proposed observer have been shown by simulation with MATLAB software.
Hanford regulated laundry: inventory control and production improvement study
Energy Technology Data Exchange (ETDEWEB)
Hostick, C. J.; Imhoff, C. H.; Levine, L. O.
1986-04-01
The purpose of this report is to assist the Hanford regulated laundry facility in reducing processing costs and in improving facility performance. Specific problem areas addressed were: no method for determining optimum manpower requirements, resulting in excessive amounts of employee overtime; no buffer inventory available to offset demand peaks, resulting in additional employee overtime and unmet demand; lack of adequate inventory control, resulting in unnecessary inventory costs; and no detailed analysis of the impact of 100% monitoring.
[Research progress on photosynthesis regulating and controlling soil respiration].
Jing, Yan-Li; Guan, De-Xin; Wu, Jia-Bing; Wang, An-Zhi; Yuan, Feng-Hui
2013-01-01
To understand the mechanisms of soil respiration and accurately estimate its magnitude are the crucial basis of evaluating global carbon balance. However, the previously built soil respiration forecast models usually neglect the physiological processes that photosynthesis supplies substrates for rhizospheric respiration, leading to the defect in evaluating the mechanisms of soil respiration. This paper summarized the research progress on the mechanisms of photosynthetic regulation and control of soil respiration, introduced the related main research methods, and discussed the existing problems and research hotspots.
Quantifying feedforward control: a linear scaling model for fingertip forces and object weight.
Lu, Ying; Bilaloglu, Seda; Aluru, Viswanath; Raghavan, Preeti
2015-07-01
The ability to predict the optimal fingertip forces according to object properties before the object is lifted is known as feedforward control, and it is thought to occur due to the formation of internal representations of the object's properties. The control of fingertip forces to objects of different weights has been studied extensively by using a custom-made grip device instrumented with force sensors. Feedforward control is measured by the rate of change of the vertical (load) force before the object is lifted. However, the precise relationship between the rate of change of load force and object weight and how it varies across healthy individuals in a population is not clearly understood. Using sets of 10 different weights, we have shown that there is a log-linear relationship between the fingertip load force rates and weight among neurologically intact individuals. We found that after one practice lift, as the weight increased, the peak load force rate (PLFR) increased by a fixed percentage, and this proportionality was common among the healthy subjects. However, at any given weight, the level of PLFR varied across individuals and was related to the efficiency of the muscles involved in lifting the object, in this case the wrist and finger extensor muscles. These results quantify feedforward control during grasp and lift among healthy individuals and provide new benchmarks to interpret data from neurologically impaired populations as well as a means to assess the effect of interventions on restoration of feedforward control and its relationship to muscular control. Copyright © 2015 the American Physiological Society.
Optimal Stochastic Control Problem for General Linear Dynamical Systems in Neuroscience
Directory of Open Access Journals (Sweden)
Yan Chen
2017-01-01
Full Text Available This paper considers a d-dimensional stochastic optimization problem in neuroscience. Suppose the arm’s movement trajectory is modeled by high-order linear stochastic differential dynamic system in d-dimensional space, the optimal trajectory, velocity, and variance are explicitly obtained by using stochastic control method, which allows us to analytically establish exact relationships between various quantities. Moreover, the optimal trajectory is almost a straight line for a reaching movement; the optimal velocity bell-shaped and the optimal variance are consistent with the experimental Fitts law; that is, the longer the time of a reaching movement, the higher the accuracy of arriving at the target position, and the results can be directly applied to designing a reaching movement performed by a robotic arm in a more general environment.
Stochastic road excitation and control feasibility in a 2D linear tyre model
Rustighi, E.; Elliott, S. J.
2007-03-01
For vehicle under normal driving conditions and speeds above 30-40 km/h the dominating internal and external noise source is the sound generated by the interaction between the tyre and the road. This paper presents a simple model to predict tyre behaviour in the frequency range up to 400 Hz, where the dominant vibration is two dimensional. The tyre is modelled as an elemental system, which permits the analysis of the low-frequency tyre response when excited by distributed stochastic displacements in the contact patch. A linear model has been used to calculate the contact forces from the road roughness and thus calculate the average spectral properties of the resulting radial velocity of the tyre in one step from the spectral properties of the road roughness. Such a model has also been used to provide an estimate of the potential effect of various active control strategies for reducing the tyre vibrations.
Friction control using ultrasonic oscillation for rolling-element linear-motion guide
International Nuclear Information System (INIS)
Oiwa, Takaaki
2006-01-01
This article reports a friction-control method for rolling-element linear-motion guides used for precision positioning. In general, static friction greater than dynamic friction generates stick-slip motion and diminishes the positioning accuracy. Two ultrasonic actuators excite both the rail and the carriage of the guide to give relative displacements to bearing surfaces. In order to effectively propagate the vibration over the entire rail without damping, the actuator drives at that frequency with a half wavelength corresponding to the distances between the rail mounting bolts. This also minimizes undesirable vibration of the machine structure. Moreover, the bearing surfaces of the carriage are resonated by a second ultrasonic actuator. The experiments using a force sensor showed that the static and dynamic friction forces were reduced by approximately 25% at any place on the 600-mm-long rail. Moreover, excitation only at very low velocity decreased the static friction peak
Computational Modelling and Optimal Control of Ebola Virus Disease with non-Linear Incidence Rate
Takaidza, I.; Makinde, O. D.; Okosun, O. K.
2017-03-01
The 2014 Ebola outbreak in West Africa has exposed the need to connect modellers and those with relevant data as pivotal to better understanding of how the disease spreads and quantifying the effects of possible interventions. In this paper, we model and analyse the Ebola virus disease with non-linear incidence rate. The epidemic model created is used to describe how the Ebola virus could potentially evolve in a population. We perform an uncertainty analysis of the basic reproductive number R 0 to quantify its sensitivity to other disease-related parameters. We also analyse the sensitivity of the final epidemic size to the time control interventions (education, vaccination, quarantine and safe handling) and provide the cost effective combination of the interventions.
Directory of Open Access Journals (Sweden)
T. H. S. Abdelaziz
2005-01-01
Full Text Available In this paper we introduce a complete parametric approach for solving the problem of eigenstructure assignment via state-derivative feedback for linear systems. This problem is always solvable for any controllable systems iff the open-loop system matrix is nonsingular. In this work, two parametric solutions to the feedback gain matrix are introduced that describe the available degrees of freedom offered by the state-derivative feedback in selecting the associated eigenvectors from an admissible class. These freedoms can be utilized to improve robustness of the closed-loop system. Accordingly, the sensitivity of the assigned eigenvalues to perturbations in the system and gain matrix is minimized. Numerical examples are included to show the effectiveness of the proposed approach.
Directory of Open Access Journals (Sweden)
Baogui Xin
2012-01-01
Full Text Available Based on linear feedback control technique, a projective synchronization scheme of N-dimensional chaotic fractional-order systems is proposed, which consists of master and slave fractional-order financial systems coupled by linear state error variables. It is shown that the slave system can be projectively synchronized with the master system constructed by state transformation. Based on the stability theory of linear fractional order systems, a suitable controller for achieving synchronization is designed. The given scheme is applied to achieve projective synchronization of chaotic fractional-order financial systems. Numerical simulations are given to verify the effectiveness of the proposed projective synchronization scheme.
Development of linear pulse motor type control element drive mechanism for smart
International Nuclear Information System (INIS)
Je-Yong, Yu; Jong-in, Kim; Ji-ho, Kim; Hyung, Huh; Moon-Hee, Chang
2001-01-01
The system-integrated modular advanced reactor (SMART) currently under development at the Korea Atomic Energy Research Institute is being designed with soluble boron free operation and the use of nuclear heating for reactor start-up. These design features require a Control Element Drive Mechanism(CEDM) for SMART to have fine-step movement capability as well as high reliability for fine reactivity control. In this paper, the design characteristics of a new concept CEDM driven by a Linear Pulse Motor (LPM) which meets the design requirements of the integral reactor SMART are introduced. The primary dimensions of the linear pulse motor are determined by electro-magnetic analysis and the results are also presented. In parallel with the electro-magnetic analysis, the conceptual design of the CEDM is visualized and checked for interferences among parts by assembling three dimensional (3D) models on computer. A prototype of the LPM with double air-gaps for the CEDM sub-assemblies to lift 100 kg is designed, analysed, manufactured and tested to confirm the validity of the CEDM design concept. A converter and test facility are manufactured to verify the dynamic performance of the LPM. The mover of the LPM is welded with ferromagnetic material and non-ferromagnetic material to get the magnetic flux path between the inner stator and outer stator. The thrust forces of LPM predicted by the analytic model have shown good agreement with experimental results from the prototype LPM. It is found that the LPM type CEDM has high force density and a simple drive mechanism to reduce volume and satisfy reactor operating circumstances with high pressure and temperature. (authors)