Core stabilization exercise with real-time feedback for chronic hemiparetic stroke: a pilot randomized controlled trials.

Science.gov (United States)

Chung, Eunjung; Lee, Byoung-Hee; Hwang, Sujin

2014-01-01

The purpose of this study was to examine the feasibility of core stabilization exercise with real-time feedback on balance and gait function in patients with chronic hemiparetic stroke. Nineteen stroke subjects were enrolled in this study. The patients were randomly divided into the experimental (n = 10) and control groups (n = 9). Subjects in the experimental group performed core stabilization exercise with real-time feedback training for 30 minutes per day during a period of six weeks. Subjects in the control group performed core stabilization exercise during the same period. This study assessed the kinematic parameters using a portable walkway system, and timed up-and-go test. Gait velocity showed significantly greater improvement in the experimental group (7.3 ± 5.0 sec) than in the control group (-0.7 ± 10.6). Stride length showed significantly greater increase in the experimental group (13.2 ± 7.9 on the affected side and 12.6 ± 8.0 on the less affected side) than the control group (3.5 ± 8.7 on the affected side and 3.4 ± 8.5 on the less affected side). After training, change in results on the timed up and go test was significantly greater in the experimental group than in the control group. Core stabilization exercise using real-time feedback produces greater improvement in gait performance in chronic hemiparetic stroke patients than core stabilization exercise only.

Thermal stability analysis and auxiliary power feedback control for the tokamak engineering test breeder (TETB-II)

International Nuclear Information System (INIS)

Sheng Guangzhao

1993-01-01

The thermal stability of TETB-II is analyzed using different methods, viz., POPCON, linear stability analysis and the time evolution calculation of plasma parameters. A thermal instability of the TETB-II is predicted. Auxiliary power feedback control for thermal stability appears feasible and efficient

Delayed feedback control of fractional-order chaotic systems

International Nuclear Information System (INIS)

Gjurchinovski, A; Urumov, V; Sandev, T

2010-01-01

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

Pseudodifferential Perturbations and Stabilization of Distributed Parameter Systems: Dirichlet Feedback Control Problems

DEFF Research Database (Denmark)

Pedersen, Michael

1991-01-01

The stabilization problems for parabolic and hyperbolic partial differential equations with Dirichlet boundary condition are considered. The systems are stabilized by a boundary feedback in(1) The operator equation,(2) The boundary condition,(3) Both the operator equation and the boundary condition...... turns out to be a shortcut to some of the stabilization results of Lasiecka and Triggiani in [J. Differential Equations, 47 (1983), pp. 245-272], [SIAM J. Control Optim., 21(1983), pp. 766-802], and [Appl. Math. Optim., 8(1981), pp. 1-37], and it illuminates to some extent how a change of boundary...

General Output Feedback Stabilization for Fractional Order Systems: An LMI Approach

Directory of Open Access Journals (Sweden)

Yiheng Wei

2014-01-01

Full Text Available This paper is concerned with the problem of general output feedback stabilization for fractional order linear time-invariant (FO-LTI systems with the fractional commensurate order 0<α<2. The objective is to design suitable output feedback controllers that guarantee the stability of the resulting closed-loop systems. Based on the slack variable method and our previous stability criteria, some new results in the form of linear matrix inequality (LMI are developed to the static and dynamic output feedback controllers synthesis for the FO-LTI system with 0<α<1. Furthermore, the results are extended to stabilize the FO-LTI systems with 1≤α<2. Finally, robust output feedback control is discussed. Numerical examples are given to illustrate the effectiveness of the proposed design methods.

Stabilization of model-based networked control systems

Energy Technology Data Exchange (ETDEWEB)

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

2016-06-08

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

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

DEFF Research Database (Denmark)

Fossen, T.I.; Blanke, M.

1999-01-01

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

Beam closed orbit feedback based on PID control

International Nuclear Information System (INIS)

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

2013-01-01

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

Lyapunov-based Stability of Feedback Interconnections of Negative Imaginary Systems

KAUST Repository

Ghallab, Ahmed G.

2017-10-19

Feedback control systems using sensors and actuators such as piezoelectric sensors and actuators, micro-electro-mechanical systems (MEMS) sensors and opto-mechanical sensors, are allowing new advances in designing such high precision technologies. The negative imaginary control systems framework allows for robust control design for such high precision systems in the face of uncertainties due to unmodelled dynamics. The stability of the feedback interconnection of negative imaginary systems has been well established in the literature. However, the proofs of stability feedback interconnection which are used in some previous papers have a shortcoming due to a matrix inevitability issue. In this paper, we provide a new and correct Lyapunov-based proof of one such result and show that the result is still true.

Lyapunov-based Stability of Feedback Interconnections of Negative Imaginary Systems

KAUST Repository

Ghallab, Ahmed G.; Mabrok, Mohamed; Petersen, Ian R.

2017-01-01

Feedback control systems using sensors and actuators such as piezoelectric sensors and actuators, micro-electro-mechanical systems (MEMS) sensors and opto-mechanical sensors, are allowing new advances in designing such high precision technologies. The negative imaginary control systems framework allows for robust control design for such high precision systems in the face of uncertainties due to unmodelled dynamics. The stability of the feedback interconnection of negative imaginary systems has been well established in the literature. However, the proofs of stability feedback interconnection which are used in some previous papers have a shortcoming due to a matrix inevitability issue. In this paper, we provide a new and correct Lyapunov-based proof of one such result and show that the result is still true.

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

DEFF Research Database (Denmark)

Fossen, T. I.; Blanke, Mogens

2000-01-01

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

Adaptive Fuzzy Output-Feedback Method Applied to Fin Control for Time-Delay Ship Roll Stabilization

Directory of Open Access Journals (Sweden)

Rui Bai

2014-01-01

Full Text Available The ship roll stabilization by fin control system is considered in this paper. Assuming that angular velocity in roll cannot be measured, an adaptive fuzzy output-feedback control is investigated. The fuzzy logic system is used to approximate the uncertain term of the controlled system, and a fuzzy state observer is designed to estimate the unmeasured states. By utilizing the fuzzy state observer and combining the adaptive backstepping technique with adaptive fuzzy control design, an observer-based adaptive fuzzy output-feedback control approach is developed. It is proved that the proposed control approach can guarantee that all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB, and the control strategy is effective to decrease the roll motion. Simulation results are included to illustrate the effectiveness of the proposed approach.

Controlling chaotic systems via nonlinear feedback control

International Nuclear Information System (INIS)

Park, Ju H.

2005-01-01

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

Feedback control of coupled-bunch instabilities

International Nuclear Information System (INIS)

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

1993-05-01

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

Feedback stabilization of plasma instabilities

International Nuclear Information System (INIS)

Cap, F.F.

1977-01-01

This paper reviews the theoretical and experimental aspects of feedback stabilization. After giving an outline of a general theoretical model for electrostatic instabilities the author provides a theoretical analysis of the suppression of various types of instability. Experiments which have been carried out on the feedback stabilization of various types of plasma instability are reported. An extensive list of references is given. (B.R.H.)

Feedback stabilization of the resistive shell mode in a tokamak fusion reactor

International Nuclear Information System (INIS)

Fitzpatrick, R.

1997-01-01

Stabilization of the 'resistive shell mode' is vital to the success of the 'advanced tokamak' concept. The most promising reactor relevant approach is to apply external feedback using, for instance, the previously proposed 'fake rotating shell' scheme [R. Fitzpatrick and T. H. Jensen, Phys. Plasmas 3, 2641 (1996)]. This scheme, like other simple feedback schemes, only works if the feedback controlled conductors are located inside the 'critical radius' at which a perfectly conducting shell is just able to stabilize the ideal external kink mode. In general, this is not possible in a reactor, since engineering constraints demand that any feedback controlled conductors be placed outside the neutron shielding blanket (i.e., relatively far from the edge of the plasma). It is demonstrated that the fake rotating shell feedback scheme can be modified so that it works even when the feedback controlled conductors are located well beyond the critical radius. The gain, bandwidth, current, and total power requirements of such a feedback system for a reactor sized plasma are estimated to be less than 100, a few Hz, a fews tens of kA, and a few MW, respectively. These requirements could easily be met using existing technology. It is concluded that feedback stabilization of the resistive shell mode is possible in a tokamak fusion reactor. copyright 1997 American Institute of Physics

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)

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

Science.gov (United States)

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

2012-07-24

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

Requirements for active resistive wall mode (RWM) feedback control

International Nuclear Information System (INIS)

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

2010-01-01

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

Delayed feedback control in quantum transport.

Science.gov (United States)

Emary, Clive

2013-09-28

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

Finite-time output feedback stabilization of high-order uncertain nonlinear systems

Science.gov (United States)

Jiang, Meng-Meng; Xie, Xue-Jun; Zhang, Kemei

2018-06-01

This paper studies the problem of finite-time output feedback stabilization for a class of high-order nonlinear systems with the unknown output function and control coefficients. Under the weaker assumption that output function is only continuous, by using homogeneous domination method together with adding a power integrator method, introducing a new analysis method, the maximal open sector Ω of output function is given. As long as output function belongs to any closed sector included in Ω, an output feedback controller can be developed to guarantee global finite-time stability of the closed-loop system.

ℋ∞ constant gain state feedback stabilization of stochastic hybrid systems with Wiener process

Directory of Open Access Journals (Sweden)

E. K. Boukas

2004-01-01

Full Text Available This paper considers the stabilization problem of the class of continuous-time linear stochastic hybrid systems with Wiener process. The ℋ∞ state feedback stabilization problem is treated. A state feedback controller with constant gain that does not require access to the system mode is designed. LMI-based conditions are developed to design the state feedback controller with constant gain that stochastically stabilizes the studied class of systems and, at the same time, achieve the disturbance rejection of a desired level. The minimum disturbance rejection is also determined. Numerical examples are given to show the usefulness of the proposed results.

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

DEFF Research Database (Denmark)

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

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

Voluntarily controlled but not merely observed visual feedback affects postural sway

Science.gov (United States)

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

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

Feedback control of thermal instability by compression and decompression

International Nuclear Information System (INIS)

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

1983-01-01

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

Feedback control and adaptive control of the energy resource chaotic system

International Nuclear Information System (INIS)

Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun

2007-01-01

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

Stability of digital feedback control systems

Directory of Open Access Journals (Sweden)

Larkin Eugene

2018-01-01

Lag time characteristics are used for investigation of stability of linear systems. Digital PID controller is divided onto linear part, which is realized with a soft and pure lag unit, which is realized with both hardware and software. With use notions amplitude and phase margins, condition for stability of system functioning are obtained. Theoretical results are confirm with computer experiment carried out on the third-order system.

On the roles of direct feedback and error field correction in stabilizing resistive-wall modes

International Nuclear Information System (INIS)

In, Y.; Bogatu, I.N.; Kim, J.S.; Garofalo, A.M.; Jackson, G.L.; La Haye, R.J.; Schaffer, M.J.; Strait, E.J.; Lanctot, M.J.; Reimerdes, H.; Marrelli, L.; Martin, P.; Okabayashi, M.

2010-01-01

Active feedback control in the DIII-D tokamak has fully stabilized the current-driven ideal kink resistive-wall mode (RWM). While complete stabilization is known to require both low frequency error field correction (EFC) and high frequency feedback, unambiguous identification has been made about the distinctive role of each in a fully feedback-stabilized discharge. Specifically, the role of direct RWM feedback, which nullifies the RWM perturbation in a time scale faster than the mode growth time, cannot be replaced by low frequency EFC, which minimizes the lack of axisymmetry of external magnetic fields. (letter)

The effect of normative feedback on stability and efficacy of some selected muscles in a balancing task

Directory of Open Access Journals (Sweden)

Saeed Ashrafpoor Navaee

2016-03-01

Full Text Available The purpose of the present study was to determine the effects of normative feedback on stability and efficacy of some selected muscles at different task difficulty levels in novice individuals. Thirty participants (age Mean= 22.60, SD=1.89 years were randomly assigned into three groups of positive, negative normative feedback and control.  The experimental groups participated in 160 acquisition trials (16 blocks of 10trials for 4 consecutive days (40 per day. Post test was performed after last practice session. The result of ANOVA-repeated measure test indicated that positive normative feedback group outperformed the other groups in stability indices of overall stability (P=0.004, anterior-posterior (P=0.01 and medial-lateral (P=0.001. In addition, the result of Covariance test at electromyography indices of the Soleus and Peroneus brevis showed significant differences in the favor of positive normative feedback in post-test. The findings of the present study showed that normative feedback has functional motivation affect that directly influences physiological changes level of stability control. KEY WORDS: Electromyography, knowledge of result, normative feedback, performance, stability control.

Feedback Linearized Aircraft Control Using Dynamic Cell Structure

Science.gov (United States)

Jorgensen, C. C.

1998-01-01

A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.

Equations for studies of feedback stabilization

International Nuclear Information System (INIS)

Boozer, A.H.

1998-01-01

Important ideal magnetohydrodynamic (MHD) instabilities grow slowly when a conducting wall surrounds a toroidal plasma. Feedback stabilization of these instabilities may be required for tokamaks and other magnetic confinement concepts to achieve adequate plasma pressure and self-driven current for practical fusion power. Equations are derived for simulating feedback stabilization, which require the minimum information about an ideal plasma for an exact analysis. The equations are solved in the approximation of one unstable mode, one wall circuit, one feedback circuit, and one sensor circuit. The analysis based on a single unstable mode is shown to be mathematically equivalent to the standard analysis of feedback of the axisymmetric vertical instability of tokamaks. Unlike that analysis, the method presented here applies to multiple modes that are coupled by the wall and to arbitrary toroidal mode numbers. copyright 1998 American Institute of Physics

A switched state feedback law for the stabilization of LTI systems.

Energy Technology Data Exchange (ETDEWEB)

Santarelli, Keith R.

2009-09-01

Inspired by prior work in the design of switched feedback controllers for second order systems, we develop a switched state feedback control law for the stabilization of LTI systems of arbitrary dimension. The control law operates by switching between two static gain vectors in such a way that the state trajectory is driven onto a stable n - 1 dimensional hyperplane (where n represents the system dimension). We begin by briefly examining relevant geometric properties of the phase portraits in the case of two-dimensional systems to develop intuition, and we then show how these geometric properties can be expressed as algebraic constraints on the switched vector fields that are applicable to LTI systems of arbitrary dimension. We then derive necessary and sufficient conditions to ensure stabilizability of the resulting switched system (characterized primarily by simple conditions on eigenvalues), and describe an explicit procedure for designing stabilizing controllers. We then show how the newly developed control law can be applied to the problem of minimizing the maximal Lyapunov exponent of the corresponding closed-loop state trajectories, and we illustrate the closed-loop transient performance of these switched state feedback controllers via multiple examples.

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

International Nuclear Information System (INIS)

Souza de Paula, Aline; Savi, Marcelo Amorim

2009-01-01

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

Stabilization of exact nonlinear Timoshenko beams in space by boundary feedback

Science.gov (United States)

Do, K. D.

2018-05-01

Boundary feedback controllers are designed to stabilize Timoshenko beams with large translational and rotational motions in space under external disturbances. The exact nonlinear partial differential equations governing motion of the beams are derived and used in the control design. The designed controllers guarantee globally practically asymptotically (and locally practically exponentially) stability of the beam motions at the reference state. The control design, well-posedness and stability analysis are based on various relationships between the earth-fixed and body-fixed coordinates, Sobolev embeddings, and a Lyapunov-type theorem developed to study well-posedness and stability for a class of evolution systems in Hilbert space. Simulation results are included to illustrate the effectiveness of the proposed control design.

The pointer basis and the feedback stabilization of quantum systems

International Nuclear Information System (INIS)

Li, L; Chia, A; Wiseman, H M

2014-01-01

The dynamics for an open quantum system can be ‘unravelled’ in infinitely many ways, depending on how the environment is monitored, yielding different sorts of conditioned states, evolving stochastically. In the case of ideal monitoring these states are pure, and the set of states for a given monitoring forms a basis (which is overcomplete in general) for the system. It has been argued elsewhere (Atkins et al 2005 Europhys. Lett. 69 163) that the ‘pointer basis’ as introduced by Zurek et al (1993 Phys. Rev. Lett. 70 1187), should be identified with the unravelling-induced basis which decoheres most slowly. Here we show the applicability of this concept of pointer basis to the problem of state stabilization for quantum systems. In particular we prove that for linear Gaussian quantum systems, if the feedback control is assumed to be strong compared to the decoherence of the pointer basis, then the system can be stabilized in one of the pointer basis states with a fidelity close to one (the infidelity varies inversely with the control strength). Moreover, if the aim of the feedback is to maximize the fidelity of the unconditioned system state with a pure state that is one of its conditioned states, then the optimal unravelling for stabilizing the system in this way is that which induces the pointer basis for the conditioned states. We illustrate these results with a model system: quantum Brownian motion. We show that even if the feedback control strength is comparable to the decoherence, the optimal unravelling still induces a basis very close to the pointer basis. However if the feedback control is weak compared to the decoherence, this is not the case. (paper)

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

Science.gov (United States)

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

2015-02-01

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

Dynamical control of chaos by slave-master feedback

International Nuclear Information System (INIS)

Behnia, S.; Akhshani, A.

2009-01-01

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

Feedback Control of a Class of Nonholonomic Hamiltonian Systems

DEFF Research Database (Denmark)

Sørensen, Mathias Jesper

Feedback control of nonholonomic systems has always been problematic due to the nonholonomic constraints that limit the space of possible system velocities. This property is very basic, and Brockett proved that a nonholonomic system cannot be asymptotically stabilized by a time-invariant smooth...... turns out to be useful when stabilizing the nonholonomic system. If the system is properly actuated it is possible to asymptotically stabilize the primary part of the configuration coordinates via a passive energy shaping and damping injecting feedback. The feedback is smooth and time......-invariant, but since it does not asymptotically stabilize the secondary part of the configuration coordinates, it does not violate Brockett’s obstruction. The results fromthe general class of nonholonomicHamiltonian systems with kinematic inputs are applied to a real implementation of a four wheel steered, four wheel...

On a new time-delayed feedback control of chaotic systems

International Nuclear Information System (INIS)

Tian Lixin; Xu Jun; Sun Mei; Li Xiuming

2009-01-01

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

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

Science.gov (United States)

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

2009-05-25

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

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

OpenAIRE

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

2009-01-01

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

Tutorial on Feedback Control of Flows, Part I: Stabilization of Fluid Flows in Channels and Pipes

Directory of Open Access Journals (Sweden)

Ole M. Aamo

2002-07-01

Full Text Available The field of flow control has picked up pace over the past decade or so, on the promise of real-time distributed control on turbulent scales being realizable in the near future. This promise is due to the micromachining technology that emerged in the 1980s and developed at an amazing speed through the 1990s. In lab experiments, so called micro-electro-mechanical systems (MEMS that incorporate the entire detection-decision-actuation process on a single chip, have been batch processed in large numbers and assembled into flexible skins for gluing onto body-fluid interfaces for drag reduction purposes. Control of fluid flows span a wide variety of specialities. In Part I of this tutorial, we focus on the problem of reducing drag in channel and pipe flows by stabilizing the parabolic equilibrium profile using boundary feedback control. The control strategics used for this problem include classical control, based on the Nyquist criteria, and various optimal control techniques (H2, H-Infinity, as well as applications of Lyapunov stability theory.

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

Science.gov (United States)

Bean, Jacob; Fuller, Chris; Schiller, Noah

2016-01-01

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

Optimal feedback control of the forced van der Pol system

International Nuclear Information System (INIS)

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

2012-01-01

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

HTS flywheel energy storage system with rotor shaft stabilized by feed-back control of armature currents of motor-generator

International Nuclear Information System (INIS)

Tsukamoto, O.; Utsunomiya, A.

2007-01-01

We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor

HTS flywheel energy storage system with rotor shaft stabilized by feed-back control of armature currents of motor-generator

Science.gov (United States)

Tsukamoto, O.; Utsunomiya, A.

2007-10-01

We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor.

Nonlinear feedback control of chaotic pendulum in presence of saturation effect

Energy Technology Data Exchange (ETDEWEB)

Alasty, Aria [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Azadi Avenue, Tehran 1458889694 (Iran, Islamic Republic of)]. E-mail: aalasti@sharif.edu; Salarieh, Hassan [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Azadi Avenue, Tehran 1458889694 (Iran, Islamic Republic of)]. E-mail: salarieh@mehr.sharif.edu

2007-01-15

In present paper, a feedback linearization control is applied to control a chaotic pendulum system. Tracking the desired periodic orbits such as period-one, period-two, and period-four orbits is efficiently achieved. Due to the presence of saturation in real world control signals, the stability of controller is investigated in presence of saturation and sufficient stability conditions are obtained. At first feedback linearization control law is designed, then to avoid the singularity condition, a saturating constraint is applied to the control signal. The stability conditions are obtained analytically. These conditions must be investigated for each specific case numerically. Simulation results show the effectiveness and robustness of proposed controller. A major advantage of this method is its shorter chaotic transient time in compare to other methods such as OGY and Pyragas controllers.

Chaos control for the family of Roessler systems using feedback controllers

International Nuclear Information System (INIS)

Liao Xiaoxin; Yu Pei

2006-01-01

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

Globally Asymptotic Stability of Stochastic Nonlinear Systems with Time-Varying Delays via Output Feedback Control

Directory of Open Access Journals (Sweden)

Mingzhu Song

2016-01-01

Full Text Available We address the problem of globally asymptotic stability for a class of stochastic nonlinear systems with time-varying delays. By the backstepping method and Lyapunov theory, we design a linear output feedback controller recursively based on the observable linearization for a class of stochastic nonlinear systems with time-varying delays to guarantee that the closed-loop system is globally asymptotically stable in probability. In particular, we extend the deterministic nonlinear system to stochastic nonlinear systems with time-varying delays. Finally, an example and its simulations are given to illustrate the theoretical results.

Iterative learning control with sampled-data feedback for robot manipulators

Directory of Open Access Journals (Sweden)

Delchev Kamen

2014-09-01

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

Time-dependent simulations of feedback stabilization of neoclassical tearing modes in KSTAR plasmas

Energy Technology Data Exchange (ETDEWEB)

Kim, Kyungjin [Department of Nuclear Engineering, Seoul National University, Seoul (Korea, Republic of); Na, Yong-Su, E-mail: ysna@snu.ac.kr [Department of Nuclear Engineering, Seoul National University, Seoul (Korea, Republic of); Kim, Hyun-Seok [Department of Nuclear Engineering, Seoul National University, Seoul (Korea, Republic of); Maraschek, M. [Max-Planck-Institut fuer Plasmaphysik, EURATOM Association, Garching bei München (Germany); Park, Y.S. [Department of Applied Physics and Applied Mathematics, Columbia University, New York (United States); Stober, J. [Max-Planck-Institut fuer Plasmaphysik, EURATOM Association, Garching bei München (Germany); Terzolo, L. [National Fusion Research Institute, Daejeon (Korea, Republic of); Zohm, H. [Max-Planck-Institut fuer Plasmaphysik, EURATOM Association, Garching bei München (Germany)

2014-06-15

A simulation is performed for feedback stabilization of neoclassical tearing mode (NTM) by electron cyclotron current drive (ECCD) for KSTAR in preparation for experiments. An integrated numerical system is constructed by coupling plasma transport, NTM stability, and heating and current drive modules and applied to a KSTAR plasma by assuming similar experimental conditions as ASDEX Upgrade to predict NTM behaviors in KSTAR. System identification is made with database produced by predictive simulations with this integrated numerical system so that three plasma response models are extracted which describe the relation between the EC poloidal launcher angle and the island width in KSTAR. Among them, the P1DI model exhibiting the highest fit accuracy is selected for designing a feedback controller based on the classical Proportional–Integral–Derivative (PID) concept. The controller is coupled with the integrated numerical system and applied to a simulation of NTM stabilization. It is observed that the controller can search and fully stabilize the mode even though the poloidal launch angle is misaligned with the island initially.

Can vibratory feedback be used to improve postural stability in persons with transtibial limb loss?

Science.gov (United States)

Rusaw, David; Hagberg, Kerstin; Nolan, Lee; Ramstrand, Nerrolyn

2012-01-01

The use of vibration as a feedback modality to convey motion of the body has been shown to improve measures of postural stability in some groups of patients. Because individuals using transtibial prostheses lack sensation distal to the amputation, vibratory feedback could possibly be used to improve their postural stability. The current investigation provided transtibial prosthesis users (n = 24, mean age 48 yr) with vibratory feedback proportional to the signal received from force transducers located under the prosthetic foot. Postural stability was evaluated by measuring center of pressure (CoP) movement, limits of stability, and rhythmic weight shift while participants stood on a force platform capable of rotations in the pitch plane (toes up/toes down). The results showed that the vibratory feedback increased the mediolateral displacement amplitude of CoP in standing balance and reduced the response time to rapid voluntary movements of the center of gravity. The results suggest that the use of vibratory feedback in an experimental setting leads to improvements in fast open-loop mechanisms of postural control in transtibial prosthesis users.

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

International Nuclear Information System (INIS)

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

2006-01-01

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

Stability of Nonlinear Systems with Unknown Time-varying Feedback Delay

Science.gov (United States)

Chunodkar, Apurva A.; Akella, Maruthi R.

2013-12-01

This paper considers the problem of stabilizing a class of nonlinear systems with unknown bounded delayed feedback wherein the time-varying delay is 1) piecewise constant 2) continuous with a bounded rate. We also consider application of these results to the stabilization of rigid-body attitude dynamics. In the first case, the time-delay in feedback is modeled specifically as a switch among an arbitrarily large set of unknown constant values with a known strict upper bound. The feedback is a linear function of the delayed states. In the case of linear systems with switched delay feedback, a new sufficiency condition for average dwell time result is presented using a complete type Lyapunov-Krasovskii (L-K) functional approach. Further, the corresponding switched system with nonlinear perturbations is proven to be exponentially stable inside a well characterized region of attraction for an appropriately chosen average dwell time. In the second case, the concept of the complete type L-K functional is extended to a class of nonlinear time-delay systems with unknown time-varying time-delay. This extension ensures stability robustness to time-delay in the control design for all values of time-delay less than the known upper bound. Model-transformation is used in order to partition the nonlinear system into a nominal linear part that is exponentially stable with a bounded perturbation. We obtain sufficient conditions which ensure exponential stability inside a region of attraction estimate. A constructive method to evaluate the sufficient conditions is presented together with comparison with the corresponding constant and piecewise constant delay. Numerical simulations are performed to illustrate the theoretical results of this paper.

Velocity feedback control with a flywheel proof mass actuator

Science.gov (United States)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

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

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.

COA based robust output feedback UPFC controller design

Energy Technology Data Exchange (ETDEWEB)

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

2010-12-15

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

Investigation of a delayed feedback controller of MEMS resonators

KAUST Repository

Masri, Karim M.

2013-08-04

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

Feedback stabilized tandem Fabry-Perot interferometer

International Nuclear Information System (INIS)

Fukushima, Hiroyuki; Ito, Mikio; Shirasu, Hiroshi.

1986-01-01

A new system for measuring the isotopic ratio of uranium, in which two plane-type Fabry-Perot interferometers (tandem FP) are connected in series. The parallelism between the two FPs is achieved automatically by a feedback control mechanism based on laser interference fringe monitoring. The structure of the tandem FP, feedback control system, automatic parallelism adjustment mechanism and wavelength synchronization mechanism are described in detail. For experiments, a hollow cathode discharge tube of a pulse discharge type is employed. Measurements are made to determine the effects of pulse width on the 238 U peak height of 502.7 nm line, recorder traces of 235 U and 238 U lines, half width for 238 U component of the 502.7 nm line, SN ratio, reproducibility of the 235 U/ 238 U peak height ratio and 235 U/ 238 U intensity ratio. Considerations are made on the spectral line width, contrast, transmission factor, and stability of automatic parallelism control and wavelength synchronization. Results obtained indicates that a single-type interferometer would serve adequately for measuring the 235 U/ 238 U ratio if the automatic parallelism control developed here is used. The ultimate object of the tandem system is to make measurement of 236 U. Satisfactory results have not obtained as yet, but most likely the present system would make it possible if a light source of a higher intensity and advanced photometric techniques are developed. (Nogami, K.)

Optimal integral force feedback for active vibration control

Science.gov (United States)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

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

Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback.

Science.gov (United States)

Gao, Fangzheng; Wu, Yuqiang; Zhang, Zhongcai

2015-11-01

This paper investigates the problem of finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is a feedforward-like rather than feedback-like system. This renders the existing control methods inapplicable to the control problems of the systems. A constructive design procedure for output feedback control is given. The designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two simulation examples are provided to illustrate the effectiveness of the proposed approach. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

International Nuclear Information System (INIS)

Park, Ju H

2007-01-01

A novel feedback control scheme is proposed for exponential synchronization of the Genesio-Tesi chaotic system. The feedback controller consists of two parts: a linear dynamic control law and a nonlinear control one. For exponential synchronization between the drive and response Genesio-Tesi systems, the Lyapunov stability analysis is used. Then an existence criterion for the stabilizing controller is presented in terms of linear matrix inequalities (LMIs). The LMIs can be solved easily by various convex optimization algorithms. Finally, a numerical simulation is illustrated to show the effectiveness of the proposed chaos synchronization scheme

Stability of longitudinal bunch length feedback for heavy-ion synchrotrons

Directory of Open Access Journals (Sweden)

D. Lens

2013-03-01

Full Text Available In heavy-ion synchrotrons such as the SIS18 at Helmholtzzentrum für Schwerionenforschung, Helmholtz Centre for Heavy Ion Research (GSI, coherent oscillations of the particle bunches are damped by rf feedback systems to increase the stability and to improve the beam quality. In the longitudinal direction, important modes are the coherent longitudinal dipole and quadrupole oscillation. In this paper we present a new and rigorous approach to analyze the longitudinal feedback to damp these modes. The results are applied to the rf feedback loop at GSI that damps the quadrupole mode. The stability analysis is compared with simulations and is in good agreement with results of a beam experiment. Finally, we summarize practical implications for the operation of the feedback system regarding performance and stability.

Stability of position control system in JIPP T-II

International Nuclear Information System (INIS)

Sakurai, Keiichi; Tanahashi, Shygo

1980-01-01

Computations and experiments on the stability of a feedback control system for maintaining a plasma column in equilibrium are described. The time response of the displacement of the plasma to the desired position is examined by solving the equation of motion of the plasma column. We show that the stability of the feedback control system is improved by using an additional term which represents the shift velocity of the plasma column. (author)

Simultaneous Stabilization of Gyrotron Frequency and Power by PID Double Feedback Control on the Acceleration and Anode Voltages

Science.gov (United States)

Khutoryan, E. M.; Idehara, T.; Kuleshov, A. N.; Tatematsu, Y.; Yamaguchi, Y.; Matsuki, Y.; Fujiwara, T.

2017-07-01

In this paper, we present the results of simultaneous stabilization of both the frequency and the output power by a double PID feedback control on the acceleration and anode voltages in the 460-GHz gyrotron FU CW GVI, also known as "Gyrotron FU CW GO-1" (according to the nomenclature adopted at Osaka University). The approach used in the experiments is based on the modulation of the cyclotron frequency and the pitch factor (velocity ratio) of the electron beam by varying the acceleration and the anode voltages, respectively. In a long-term experiment, the frequency and power stabilities were made to be better than ±10-6 and ±1%, respectively.

Feedback and rotational stabilization of resistive wall modes in ITER

International Nuclear Information System (INIS)

Liu Yueqiang; Bondeson, A.; Chu, M.S.; La Haye, R.J.; Favez, J.-Y.; Lister, J.B.; Gribov, Y.; Gryaznevich, M.; Hender, T.C.; Howell, D.F.

2005-01-01

Different models have been introduced in the stability code MARS-F in order to study the damping effect of resistive wall modes (RWM) in rotating plasmas. Benchmark of MARS-F calculations with RWM experiments on JET and D3D indicates that the semi-kinetic damping model is a good candidate for explaining the damping mechanisms. Based on these results, the critical rotation speeds required for RWM stabilization in an advanced ITER scenario are predicted. Active feedback control of the n = 1 RWM in ITER is also studied using the MARS-F code. (author)

Studies of feedback stabilization of axisymmetric modes in deformable tokamak plasmas

International Nuclear Information System (INIS)

Ward, D.J.

1991-01-01

A new linear MHD stability code, NOVA-W, is described and applied to the study of the feedback stabilization of the axisymmetric mode in deformable tokamak plasma. The NOVA-W code is a modification of the non-variational MHD stability code NOVA that includes the effects of resistive passive conductors and active feedback circuits. The vacuum calculation has been reformulated in terms of the perturbed poloidal flux to allow the inclusion of perturbed toroidal currents outside the plasma. The boundary condition at the plasma-vacuum interface relates the instability displacement to the perturbed poloidal flux. This allows a solution of the linear MHD stability equations with the feedback effects included. The code has been tested for the case of passive stabilization against a simplified analytic model and against a different numerical calculation for a realistic tokamak configuration. The comparisons demonstrate the accuracy of the NOVA-W results. The NOVA-W code is used to examine the effects of plasma deformability on feedback stabilization. It is seen that plasmas with shaped cross sections have unstable motion different from a rigid shift. Plasma equilibria with large triangularity show particularly significant deviations from a uniform rigid shift. Furthermore, the placement of passive conductors is shown to modify the non-rigid components of the motion in a way that reduces the stabilizing effects of these conductors. The eigenfunction is also modified under the effects of active feedback. This deformation is seen to depend strongly on the position of the flux loops. These non-rigid components of the eigenfunction always serve to reduce the stabilizing effect of the active feedback system by reducing the measurable poloidal flux at the flux-loop locations

Passivity-Based Control for Two-Wheeled Robot Stabilization

Science.gov (United States)

Uddin, Nur; Aryo Nugroho, Teguh; Agung Pramudito, Wahyu

2018-04-01

A passivity-based control system design for two-wheeled robot (TWR) stabilization is presented. A TWR is a statically-unstable non-linear system. A control system is applied to actively stabilize the TWR. Passivity-based control method is applied to design the control system. The design results in a state feedback control law that makes the TWR closed loop system globally asymptotically stable (GAS). The GAS is proven mathematically. The TWR stabilization is demonstrated through computer simulation. The simulation results show that the designed control system is able to stabilize the TWR.

Practical Loop-Shaping Design of Feedback Control Systems

Science.gov (United States)

Kopasakis, George

2010-01-01

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

New stability and stabilization for switched neutral control systems

International Nuclear Information System (INIS)

Xiong Lianglin; Zhong Shouming; Ye Mao; Wu Shiliang

2009-01-01

This paper concerns stability and stabilization issues for switched neutral systems and presents new classes of piecewise Lyapunov functionals and multiple Lyapunov functionals, based on which, two new switching rules are introduced to stabilize the neutral systems. One switching rule is designed from the solution of the so-called Lyapunov-Metzler linear matrix inequalities. The other is based on the determination of average dwell time computed from a new class of linear matrix inequalities (LMIs). And then, state-feedback control is derived for the switched neutral control system mainly based on the state switching rules. Finally, three examples are given to demonstrate the effectiveness of the proposed method.

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

International Nuclear Information System (INIS)

Wang Jin

2009-01-01

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

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

International Nuclear Information System (INIS)

Shin, Chang Joo; Jeong, Weui Bong; Hong, Chin Suk

2012-01-01

This paper investigates the active vibration control of clamp beams using positive position feedback (PPF) controllers with a sensor/ moment pair actuator. The sensor/moment pair actuator which is the non-collocated configuration leads to instability of the control system when using the direct velocity feedback (DVFB) control. To alleviate the instability problem, a PPF controller is considered in this paper. A parametric study of the control system with PPF controller is first conducted to characterize the effects of the design parameters (gain and damping ratio in this paper) on the stability and performance. The gain of the controller is found to affect only the relative stability. Increasing the damping ratio of the controller slightly improves the stability condition while the performance gets worse. In addition, the higher mode tuned PPF controller affects the system response at the lower modes significantly. Based on the characteristics of PPF controllers, a multi-mode controllable SISO PPF controller is then considered and tuned to different modes (in this case, three lowest modes) numerically and experimentally. The multi-mode PPF controller can be achieved to have a high gain margin. Moreover, it reduces the vibration of the beam significantly. The vibration levels at the tuned modes are reduced by about 11 dB

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

Advanced feedback control methods in EXTRAP T2R reversed field pinch

International Nuclear Information System (INIS)

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

2006-01-01

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

Advanced feedback control methods in EXTRAP T2R reversed field pinch

Science.gov (United States)

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

2006-07-01

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

Intensity and frequency stabilization of a laser diode by simultaneously controlling its temperature and current

Science.gov (United States)

Mu, Weiwei; Hu, Zhaohui; Wang, Jing; Zhou, Binquan

2017-10-01

Nuclear magnetic resonance gyroscope (NMRG) detects the angular velocity of the vehicle utilizing the interaction between the laser beam and the alkali metal atoms along with the noble gas atoms in the alkali vapor cell. In order to reach high precision inertial measurement target, semiconductor laser in NMRG should have good intensity and frequency stability. Generally, laser intensity and frequency are stabilized separately. In this paper, a new method to stabilize laser intensity and frequency simultaneously with double-loop feedback control is presented. Laser intensity is stabilized to the setpoint value by feedback control of laser diode's temperature. Laser frequency is stabilized to the Doppler absorption peak by feedback control of laser diode's current. The feedback control of current is a quick loop, hence the laser frequency stabilize quickly. The feedback control of temperature is a slow loop, hence the laser intensity stabilize slowly. With the feedback control of current and temperature, the laser intensity and frequency are stabilized finally. Additionally, the dependence of laser intensity and frequency on laser diode's current and temperature are analyzed, which contributes to choose suitable operating range for the laser diode. The advantage of our method is that the alkali vapor cell used for stabilizing laser frequency is the same one as the cell used for NMRG to operate, which helps to miniaturize the size of NMRG prototype. In an 8-hour continuous measurement, the long-term stability of laser intensity and frequency increased by two orders of magnitude and one order of magnitude respectively.

A boundary PDE feedback control approach for the stabilization of mortgage price dynamics

Science.gov (United States)

Rigatos, G.; Siano, P.; Sarno, D.

2017-11-01

Several transactions taking place in financial markets are dependent on the pricing of mortgages (loans for the purchase of residences, land or farms). In this article, a method for stabilization of mortgage price dynamics is developed. It is considered that mortgage prices follow a PDE model which is equivalent to a multi-asset Black-Scholes PDE. Actually it is a diffusion process evolving in a 2D assets space, where the first asset is the house price and the second asset is the interest rate. By applying semi-discretization and a finite differences scheme this multi-asset PDE is transformed into a state-space model consisting of ordinary nonlinear differential equations. For the local subsystems, into which the mortgage PDE is decomposed, it becomes possible to apply boundary-based feedback control. The controller design proceeds by showing that the state-space model of the mortgage price PDE stands for a differentially flat system. Next, for each subsystem which is related to a nonlinear ODE, a virtual control input is computed, that can invert the subsystem's dynamics and can eliminate the subsystem's tracking error. From the last row of the state-space description, the control input (boundary condition) that is actually applied to the multi-factor mortgage price PDE system is found. This control input contains recursively all virtual control inputs which were computed for the individual ODE subsystems associated with the previous rows of the state-space equation. Thus, by tracing the rows of the state-space model backwards, at each iteration of the control algorithm, one can finally obtain the control input that should be applied to the mortgage price PDE system so as to assure that all its state variables will converge to the desirable setpoints. By showing the feasibility of such a control method it is also proven that through selected modification of the PDE boundary conditions the price of the mortgage can be made to converge and stabilize at specific

Fault Tolerant Feedback Control

DEFF Research Database (Denmark)

Stoustrup, Jakob; Niemann, H.

2001-01-01

An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out...... that there is a separation be-tween the feedback controller and the fault tolerant part. The closed loop feedback properties are handled by the nominal feedback controller and the fault tolerant part is handled by the design of the Youla parameter. The design of the fault tolerant part will not affect the design...... of the nominal feedback con-troller....

Eliminating oscillations in the Internet by time-delayed feedback control

International Nuclear Information System (INIS)

Liu Chenglin; Tian Yuping

2008-01-01

In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation

Eliminating oscillations in the Internet by time-delayed feedback control

Energy Technology Data Exchange (ETDEWEB)

Liu Chenglin [Department of Automatic Control, Southeast University, Nanjing 210096 (China); Tian Yuping [Department of Automatic Control, Southeast University, Nanjing 210096 (China)], E-mail: yptian@seu.edu.cn

2008-03-15

In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation.

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

International Nuclear Information System (INIS)

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

1994-06-01

Plasma edge feedback experiments on the Texas Experimental Tokamak (TEXT) have been successful in controlling the edge plasma potential fluctuation level. The feedback wave-launcher, consisting of electrostatic probes located in the shadow of the limiter, is driven by the local edge potential fluctuations. In general, the edge potential fluctuations are modified in a broad frequency band. Moreover, it is observed that the potential fluctuations can be reduced (≤100 kHz) without enhancing other modes, or excited (10 to 12 kHz), depending on the phase difference between the driver and the launcher signal, and gain of the system. This turbulence modification is achieved not only locally but also halfway around the torus and has about 2 cm of poloidal extent. Experiments on the characterization of the global plasma parameters with the edge feedback are discussed. Effects of the edge feedback on the estimated fluctuation-induced radial particle flux as well as on the local plasma parameters are presented

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

Science.gov (United States)

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

2016-03-01

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

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

DEFF Research Database (Denmark)

Xin, Zhen; Wang, Xiongfei; Loh, Poh Chiang

2017-01-01

This paper proposes a Second-Order-Generalized- Integrator (SOGI)-based time delay compensation method for extending the stable region of dual-loop Grid-Current-Feedback (GCF) control system. According to the analysis, stable region of the dual-loop system should be designed below a certain...... critical frequency, before time delay compensation method can be applied. To always meet the requirement, relationship between single-loop converter-current-feedback and dual-loop GCF control is clarified, before a robust inner-loop gain for the dualloop GCF scheme is determined. Enforcing this gain allows...

Stabilization of Networked Control Systems Under Feedback-based Communication

National Research Council Canada - National Science Library

Zhang, Lei; Hristu-Varsakelis, Dimitrios

2004-01-01

We study the stabilization of a networked control system (NSC) in which multiple sensors and actuators of a physical plant share a communication medium to exchange information with a remote controller...

Improve beam position stability of SSRF BL15U beamline by using beam intensity feedback

International Nuclear Information System (INIS)

Li Guoqiang; Liang Dongxu; Yan Fen; Li Aiguo; Yu Xiaohan

2013-01-01

Background: The shaking of micro-focus spot in the vertical direction is found during the energy scan experiments, such as XAFS scan. The beam position of vertical direction changes obviously with the energy. Purpose: In order to make the beam position shaking amplitude less than 1/10 of the beam size. Methods: The beam position stability of SSRF BL15U beamline is improved by using beam intensity feedback. The feedback system include beam intensity monitor of the beamline and fine adjust mechanism of pitch 2 (the pitch angle of the second crystal of the double crystal monochromator). The feedback control of the beam position is realized by adjusting the pitch 2 to fix beam intensity at its maximum value. Results: The test results show that the vertical beam vibration below 10 Hz frequency is significantly reduced and also the beam position stability during photon energy scan is improved by more than 5 times. Conclusions: By adopting the new feedback systems, the stability of the beam spot on the specimen stage was dramatically improved which achieved the anticipated target. (authors)

Force Feedback Control Method of Active Tuned Mass Damper

Directory of Open Access Journals (Sweden)

Xiuli Wang

2017-01-01

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

Laser cooling in a feedback-controlled optical shaker

International Nuclear Information System (INIS)

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

2006-01-01

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

Feedback control for magnetic island suppression in tokamaks

NARCIS (Netherlands)

Hennen, B.A.

2011-01-01

A real-time feedback control system has been developed that finds, tracks, suppresses and/or stabilizes resistive magnetic instabilities in a nuclear fusion plasma. In a tokamak, magnetic fields confine a fusion plasma in a topology of toroidally nested magnetic surfaces. The power produced by the

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

International Nuclear Information System (INIS)

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

1995-01-01

Plasma edge feedback experiments on the Texas Experimental Tokamak (TEXT) have been successful in controlling the edge plasma potential fluctuation level. The feedback wave-launcher is driven by the local edge potential fluctuations. The edge potential fluctuations are modified in a broad frequency band. Moreover, the potential fluctuations can be reduced (≤100 kHz) without enhancing other modes, or excited (10 to 12 kHz), depending on the phase difference between the driver and the launcher signal, and gain of the system. This turbulence modification is achieved not only locally but also halfway around the torus and has about 2 cm of poloidal extent. The local plasma parameters at the edge and the estimated fluctuation-induced radial particle flux are somewhat affected by the edge feedback. ((orig.))

Persistent disturbance rejection via state feedback for networked control systems

Energy Technology Data Exchange (ETDEWEB)

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

2009-04-15

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

Persistent disturbance rejection via state feedback for networked control systems

International Nuclear Information System (INIS)

Yue Dong; Lam, James; Wang Zidong

2009-01-01

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

Feedback stabilization of an l = 0, 1, 2 high-beta stellarator

International Nuclear Information System (INIS)

Bartsch, R.R.; Cantrell, E.L.; Gribble, R.F.; Klare, K.A.; Kutac, K.J.; Miller, G.; Quinn, W.E.

1978-05-01

Feedback stabilization of the Scyllac 120 0 toroidal sector is reported. The confinement time was increased by 10-20 μs using feedback to a maximum time of 35-45 μs, which is over 10 growth times of the long-wavelength m = 1 instability. These results were obtained after circuits providing flexible waveforms were used to drive auxiliary equilibrium windings. The resultant improved equilibrium agrees well with recent theory. It was observed that normally stable short-wavelength m = 1 modes could be driven unstable by feedback. This instability, caused by local feedback control, increases the feedback system energy consumption. An instability involving direct coupling of the feedback l = 2 field to the plasma l = 1 motion was also observed. The plasma parameters were: temperature, T/sub e/ approximately equal to T 1 approximately equal to 100 eV; density, n/sub e/ approximately equal to 2 x 10 16 cm -8 ; radius, a approximately equal to 1 cm; and β approximately equal to 0.7. Beta decreased significantly in 40 μs, which can be accounted for by classical resistivity and particle loss from the sector ends

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....

Feedback control of vertical instability in TNS

International Nuclear Information System (INIS)

Frantz, E.R.

1978-05-01

Due to the unfavorable curvature of the vertical vacuum magnetic field, elongated plasmas are vertically unstable when the elongation, epsilon, becomes too large. The TNS (The Next Step) tokamak, as evolved in the Westinghouse-ORNL studies has an inside-D configuration (epsilon = 1.6, A = 5/1.25 = 4) characterized by an average decay index n approximately equal -0.75 at the plasma flux surface near the magnetic axis and is vertically unstable with a growth rate γ 0 approximately 10 5 sec -1 . Eddy currents produced in the vacuum vessel wall will slow this instability to growth rates γ 0 approximately 10 2 sec -1 provided there are no transverse insulating gaps in the vessel wall. A matrix equation has been developed for calculating the eddy currents induced in the EF coils and their stabilizing effect. Control theory for feedback systems with and without delay time is presented and possible plasma position detectors are discussed. For a plasma current of 6.1 MA, the controller peak power requirements using separate controller circuits are approximately 1 MW depending upon EF coil configurations and time delay. This feedback system is designed to stabilize a maximum plasma excursion of 10 cm from the midplane with delay times up to 2 sec

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

International Nuclear Information System (INIS)

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

2004-01-01

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

Decoupling Suspension Controller Based on Magnetic Flux Feedback

Directory of Open Access Journals (Sweden)

Wenqing Zhang

2013-01-01

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

Decoupling suspension controller based on magnetic flux feedback.

Science.gov (United States)

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

2013-01-01

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

Stability and Control of Human Trunk Movement During Walking.

Science.gov (United States)

Wu, Q.; Sepehri, N.; Thornton-Trump, A. B.; Alexander, M.

1998-01-01

A mathematical model has been developed to study the control mechanisms of human trunk movement during walking. The trunk is modeled as a base-excited inverted pendulum with two-degrees of rotational freedom. The base point, corresponding to the bony landmark of the sacrum, can move in three-dimensional space in a general way. Since the stability of upright posture is essential for human walking, a controller has been designed such that the stability of the pendulum about the upright position is guaranteed. The control laws are developed based on Lyapunov's stability theory and include feedforward and linear feedback components. It is found that the feedforward component plays a critical role in keeping postural stability, and the linear feedback component, (resulting from viscoelastic function of the musculoskeletal system) can effectively duplicate the pattern of trunk movement. The mathematical model is validated by comparing the simulation results with those based on gait measurements performed in the Biomechanics Laboratory at the University of Manitoba.

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

Science.gov (United States)

Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

2015-10-01

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

Fast digital feedback control systems for accelerator RF system using FPGA

International Nuclear Information System (INIS)

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

2012-01-01

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

Climate-carbon cycle feedbacks under stabilization: uncertainty and observational constraints

International Nuclear Information System (INIS)

Jones, Chris D.; Cox, Peter M.; Huntingford, Chris

2006-01-01

Avoiding 'dangerous climate change' by stabilization of atmospheric CO 2 concentrations at a desired level requires reducing the rate of anthropogenic carbon emissions so that they are balanced by uptake of carbon by the natural terrestrial and oceanic carbon cycles. Previous calculations of profiles of emissions which lead to stabilized CO 2 levels have assumed no impact of climate change on this natural carbon uptake. However, future climate change effects on the land carbon cycle are predicted to reduce its ability to act as a sink for anthropogenic carbon emissions and so quantification of this feedback is required to determine future permissible emissions. Here, we assess the impact of the climate-carbon cycle feedback and attempt to quantify its uncertainty due to both within-model parameter uncertainty and between-model structural uncertainty. We assess the use of observational constraints to reduce uncertainty in the future permissible emissions for climate stabilization and find that all realistic carbon cycle feedbacks consistent with the observational record give permissible emissions significantly less than previously assumed. However, the observational record proves to be insufficient to tightly constrain carbon cycle processes or future feedback strength with implications for climate-carbon cycle model evaluation

Feedback systems in the SLC

International Nuclear Information System (INIS)

Thompson, K.A.; Jobe, R.K.; Johnson, R.; Phinney, N.

1987-02-01

Two classes of computer-controlled feedback have been implemented to stabilize parameters in subsystems of the SLC: (1) ''slow'' (time scales ∼ minutes) feedback, and (2) ''fast'', i.e., pulse-to-pulse, feedback. The slow loops run in a single FEEDBACK process in the SLC host VAX, which acquires signals and sets control parameters via communication with the database and the network of normal SLC microprocessors. Slow loops exist to stabilize beam energy and energy spread, beam position and angle, and timing of kicker magnets, and to compensate for changes in the phase length of the rf drive line. The fast loops run in dedicated microprocessors, and may sample and/or feedback on particular parameters as often as every pulse of the SLC beam. The first implementations of fast feedback are to control transverse beam blow-up and to stabilize the energy and energy spread of bunches going into the SLC arcs. The overall architecture of the feedback software and the operator interface for controlling loops are discussed

Experience with feedback and feedforward for plasma control in ASDEX

International Nuclear Information System (INIS)

Schneider, F.

1983-01-01

Experimental results of vertical and radial position feedback are shown and discussed. In particular, stability problems of vertical position control are studied in detail. A feedforward procedure for the process computer is described and proved by measurements. (author)

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

Science.gov (United States)

Lam, H K; Leung, Frank H F

2005-04-01

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

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

Science.gov (United States)

Jacobs, Kurt; Lund, Austin P

2007-07-13

We show that in the regime in which feedback control is most effective - when measurements are relatively efficient, and feedback is relatively strong - then, in the absence of any sharp inhomogeneity in the noise, it is always best to measure in a basis that does not commute with the system density matrix than one that does. That is, it is optimal to make measurements that disturb the state one is attempting to stabilize.

Design, parametrization, and pole placement of stabilizing output feedback compensators via injective cogenerator quotient signal modules.

Science.gov (United States)

Blumthaler, Ingrid; Oberst, Ulrich

2012-03-01

Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ℱ over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior

Calculations of axisymmetric stability of tokamak plasmas with active and passive feedback

International Nuclear Information System (INIS)

Ward, D.J.; Jardin, S.C.; Cheng, C.Z.

1991-07-01

A new linear MHD stability code, NOVA-W, has been developed in order to study feedback stabilization of the axisymmetric mode in deformable tokamak plasmas. The NOVA-W code is a modification of the non-variational MHD stability code NOVA that includes the effects of resistive passive conductors and active feedback circuits. The vacuum calculation has been reformulated in terms of the perturbed poloidal flux to allow the inclusion of perturbed toroidal currents outside the plasma. The boundary condition at the plasma-vacuum interface relates the instability displacement to the perturbed poloidal flux. This allows a solution of the linear MHD stability equations with the feedback effects included. The passive stability predictions of the code have been tested both against a simplified analytic model and against a different numerical calculation for a realistic tokamak configuration. The comparisons demonstrate the accuracy of the NOVA-W results. Active feedback calculations are performed for the CIT tokamak design demonstrating the effect of varying the position of the flux loops that provide the measurements of vertical displacement. The results compare well with those computed earlier using a less efficient nonlinear code. 37 refs., 13 figs

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

International Nuclear Information System (INIS)

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

1994-01-01

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

Normal mode approach to modelling of feedback stabilization of the resistive wall mode

International Nuclear Information System (INIS)

Chu, M.S.; Chance, M.S.; Okabayashi, M.; Glasser, A.H.

2003-01-01

Feedback stabilization of the resistive wall mode (RWM) of a plasma in a general feedback configuration is formulated in terms of the normal modes of the plasma-resistive wall system. The growth/damping rates and the eigenfunctions of the normal modes are determined by an extended energy principle for the plasma during its open (feedback) loop operation. A set of equations are derived for the time evolution of these normal modes with currents in the feedback coils. The dynamics of the feedback system is completed by the prescription of the feedback logic. The feasibility of the feedback is evaluated by using the Nyquist diagram method or by solving the characteristic equations. The elements of the characteristic equations are formed from the growth and damping rates of the normal modes, the sensor matrix of the perturbation fluxes detected by the sensor loops, the excitation matrix of the energy input to the normal modes by the external feedback coils, and the feedback logic. (The RWM is also predicted to be excited by an external error field to a large amplitude when it is close to marginal stability.) This formulation has been implemented numerically and applied to the DIII-D tokamak. It is found that feedback with poloidal sensors is much more effective than feedback with radial sensors. Using radial sensors, increasing the number of feedback coils from a central band on the outboard side to include an upper and a lower band can substantially increase the effectiveness of the feedback system. The strength of the RWM that can be stabilized is increased from γτ w = 1 to 30 (γ is the growth rate of the RWM in the absence of feedback and τ w is the resistive wall time constant) Using poloidal sensors, just one central band of feedback coils is sufficient for the stabilization of the RWM with γτ w = 30. (author)

Stabilization of Large Generalized Lotka-Volterra Foodwebs By Evolutionary Feedback

Science.gov (United States)

Ackland, G. J.; Gallagher, I. D.

2004-10-01

Conventional ecological models show that complexity destabilizes foodwebs, suggesting that foodwebs should have neither large numbers of species nor a large number of interactions. However, in nature the opposite appears to be the case. Here we show that if the interactions between species are allowed to evolve within a generalized Lotka-Volterra model such stabilizing feedbacks and weak interactions emerge automatically. Moreover, we show that trophic levels also emerge spontaneously from the evolutionary approach, and the efficiency of the unperturbed ecosystem increases with time. The key to stability in large foodwebs appears to arise not from complexity perse but from evolution at the level of the ecosystem which favors stabilizing (negative) feedbacks.

Feedback Control of Resistive Wall Modes in Slowly Rotating DIII-D Plasmas

Science.gov (United States)

Okabayashi, M.; Chance, M. S.; Takahashi, H.; Garofalo, A. M.; Reimerdes, H.; in, Y.; Chu, M. S.; Jackson, G. L.; La Haye, R. J.; Strait, E. J.

2006-10-01

In slowly rotating plasmas on DIII-D, the requirement of RWM control feedback have been identified, using a MHD code along with measured power supply characteristics. It was found that a small time delay is essential for achieving high beta if no rotation stabilization exists. The overall system delay or the band pass time constant should be in the range of 0.4 of the RWM growth time. Recently the control system was upgraded using twelve linear audio amplifiers and a faster digital control system, reducing the time-delay from 600 to 100 μs. The advantage has been clearly observed when the RWMs excited by ELMs were effectively controlled by feedback even if the rotation transiently slowed nearly to zero. This study provides insight on stability in the low- rotation plasmasw with balanced NBI in DIII-D and also in ITER.

Controllability and stabilization of parabolic equations

CERN Document Server

Barbu, Viorel

2018-01-01

This monograph presents controllability and stabilization methods in control theory that solve parabolic boundary value problems. Starting from foundational questions on Carleman inequalities for linear parabolic equations, the author addresses the controllability of parabolic equations on a variety of domains and the spectral decomposition technique for representing them. This method is, in fact, designed for use in a wider class of parabolic systems that include the heat and diffusion equations. Later chapters develop another process that employs stabilizing feedback controllers with a finite number of unstable modes, with special attention given to its use in the boundary stabilization of Navier–Stokes equations for the motion of viscous fluid. In turn, these applied methods are used to explore related topics like the exact controllability of stochastic parabolic equations with linear multiplicative noise. Intended for graduate students and researchers working on control problems involving nonlinear diff...

Stability investigations of the ASDEX feedback system with filters for reducing thyristor noise

International Nuclear Information System (INIS)

Crisanti, F.; Schneider, F.

1983-06-01

A computer program for analysing the absolute and relative stabilities of any complex system by the root-locus method was developed. It is used to reanalyse the present horizontal position feed-back control in the ASDEX tokamak and to select the optimum parameters for this system with RCL filters for reducing thyristor noise. (orig.)

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

International Nuclear Information System (INIS)

Li, Chenguang; Liu, Wandong; Li, Hong

2014-01-01

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

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

Science.gov (United States)

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

2010-12-01

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

OPTIMAL CONTROL FOR ELECTRIC VEHICLE STABILIZATION

Directory of Open Access Journals (Sweden)

MARIAN GAICEANU

2016-01-01

Full Text Available This main objective of the paper is to stabilize an electric vehicle in optimal manner to a step lane change maneuver. To define the mathematical model of the vehicle, the rigid body moving on a plane is taken into account. An optimal lane keeping controller delivers the adequate angles in order to stabilize the vehicle’s trajectory in an optimal way. Two degree of freedom linear bicycle model is adopted as vehicle model, consisting of lateral and yaw motion equations. The proposed control maintains the lateral stability by taking the feedback information from the vehicle transducers. In this way only the lateral vehicle’s dynamics are enough to considerate. Based on the obtained linear mathematical model the quadratic optimal control is designed in order to maintain the lateral stability of the electric vehicle. The numerical simulation results demonstrate the feasibility of the proposed solution.

Improved State Feedback H∞ Control for Flexible Air-Breathing Hypersonic Vehicles on LMI Approach

Directory of Open Access Journals (Sweden)

Zhang Xue

2017-01-01

Full Text Available Focusing on a nonlinear longitudinal dynamical model for Air-breathing Hypersonic Flight Vehicles (AHFV, a linearized model on a nominal trim condition is proposed. To stabilize the flight of an AHFV in the presence of external disturbances and actuator uncertainties, a state feedback H∞ control is designed. With bounds on the uncertainties, a feedback stabilization problem is converted to an optimal control problem and the cost function is minimized by solving a set of linear matrix inequalities. Since uncertainties in the design of AHFV are inevitable, to make a comparison, a general H∞ robust controller is constructed by only considering the disturbances firstly. Then the results are extended by incorporating the actual existing uncertainties as well as the external disturbances in the AHFV system. Numerical simulation shows that the controller, which takes both disturbances and uncertainties into account, can effectively stabilize the AHFV system.

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

Directory of Open Access Journals (Sweden)

Olav Slupphaug

1999-07-01

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

Active feedback stabilization of axisymmetric modes in highly elongated tokamak plasmas

International Nuclear Information System (INIS)

Ward, D.J.; Hofmann, F.

1993-07-01

Active feedback stabilization of the vertical instability is studied for highly elongated tokamak plasmas (1≤κ≤3), and evaluated in particular for the TCV configuration. It is shown that the feedback can strongly affect the form of the eigenfunction for these highly elongated equilibria, and this can have detrimental effects on the ability of the feedback system to properly detect and stabilize the plasma. A calculation of the vertical displacement that uses poloidal flux measurements, poloidal magnetic field measurements, and corrections for the vessel eddy currents and active feedback currents was found to be effective even in the cases with the worst deformations of the eigenfunction. We also examine how these deformations affect differently shaped equilibria, and it is seen that the magnitude of the deformation of the eigenfunction is strongly function of the plasma elongation. (author) 15 figs., 13 refs

Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

Directory of Open Access Journals (Sweden)

Maode Yan

2017-11-01

Full Text Available This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations. In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.

On a program manifold's stability of one contour automatic control systems

Science.gov (United States)

Zumatov, S. S.

2017-12-01

Methodology of analysis of stability is expounded to the one contour systems automatic control feedback in the presence of non-linearities. The methodology is based on the use of the simplest mathematical models of the nonlinear controllable systems. Stability of program manifolds of one contour automatic control systems is investigated. The sufficient conditions of program manifold's absolute stability of one contour automatic control systems are obtained. The Hurwitz's angle of absolute stability was determined. The sufficient conditions of program manifold's absolute stability of control systems by the course of plane in the mode of autopilot are obtained by means Lyapunov's second method.

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

Energy Technology Data Exchange (ETDEWEB)

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

2009-10-15

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

Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

Science.gov (United States)

Pan, Yongping; Yu, Haoyong

2017-06-01

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

Imaging stability in force-feedback high-speed atomic force microscopy

International Nuclear Information System (INIS)

Kim, Byung I.; Boehm, Ryan D.

2013-01-01

We studied the stability of force-feedback high-speed atomic force microscopy (HSAFM) by imaging soft, hard, and biological sample surfaces at various applied forces. The HSAFM images showed sudden topographic variations of streaky fringes with a negative applied force when collected on a soft hydrocarbon film grown on a grating sample, whereas they showed stable topographic features with positive applied forces. The instability of HSAFM images with the negative applied force was explained by the transition between contact and noncontact regimes in the force–distance curve. When the grating surface was cleaned, and thus hydrophilic by removing the hydrocarbon film, enhanced imaging stability was observed at both positive and negative applied forces. The higher adhesive interaction between the tip and the surface explains the improved imaging stability. The effects of imaging rate on the imaging stability were tested on an even softer adhesive Escherichia coli biofilm deposited onto the grating structure. The biofilm and planktonic cell structures in HSAFM images were reproducible within the force deviation less than ∼0.5 nN at the imaging rate up to 0.2 s per frame, suggesting that the force-feedback HSAFM was stable for various imaging speeds in imaging softer adhesive biological samples. - Highlights: ► We investigated the imaging stability of force-feedback HSAFM. ► Stable–unstable imaging transitions rely on applied force and sample hydrophilicity. ► The stable–unstable transitions are found to be independent of imaging rate

The Derivation of the Stability Bound of the Feedback ANC System That Has an Error in the Estimated Secondary Path Model

Directory of Open Access Journals (Sweden)

Seong-Pil Moon

2018-01-01

Full Text Available This paper investigates the stability problem of the feedback active noise control (ANC system, which can be caused by the modeling error of the electro-acoustic path estimation in its feedback mechanism. A stability analysis method is proposed to obtain the stability bound as a form of a closed-form equation in terms of the delay error length of the secondary path, the ANC filter length, and the primary noise frequency. In the proposed method, the system’s open loop magnitude and phase response equations are separately exploited and approximated within the Nyquist stability criterion. The stability bound of the proposed method is verified by comparing both the original Nyquist stability condition and the simulation results.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Science.gov (United States)

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

2013-01-01

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

Adaptive modification of the delayed feedback control algorithm with a continuously varying time delay

International Nuclear Information System (INIS)

Pyragas, V.; Pyragas, K.

2011-01-01

We propose a simple adaptive delayed feedback control algorithm for stabilization of unstable periodic orbits with unknown periods. The state dependent time delay is varied continuously towards the period of controlled orbit according to a gradient-descent method realized through three simple ordinary differential equations. We demonstrate the efficiency of the algorithm with the Roessler and Mackey-Glass chaotic systems. The stability of the controlled orbits is proven by computation of the Lyapunov exponents of linearized equations. -- Highlights: → A simple adaptive modification of the delayed feedback control algorithm is proposed. → It enables the control of unstable periodic orbits with unknown periods. → The delay time is varied continuously according to a gradient descend method. → The algorithm is embodied by three simple ordinary differential equations. → The validity of the algorithm is proven by computation of the Lyapunov exponents.

Gaze stabilization in chronic vestibular-loss and in cerebellar ataxia: interactions of feedforward and sensory feedback mechanisms.

Science.gov (United States)

Sağlam, M; Lehnen, N

2014-01-01

During gaze shifts, humans can use visual, vestibular, and proprioceptive feedback, as well as feedforward mechanisms, for stabilization against active and passive head movements. The contributions of feedforward and sensory feedback control, and the role of the cerebellum, are still under debate. To quantify these contributions, we increased the head moment of inertia in three groups (ten healthy, five chronic vestibular-loss and nine cerebellar-ataxia patients) while they performed large gaze shifts to flashed targets in darkness. This induces undesired head oscillations. Consequently, both active (desired) and passive (undesired) head movements had to be compensated for to stabilize gaze. All groups compensated for active and passive head movements, vestibular-loss patients less than the other groups (P feedforward mechanisms substantially contribute to gaze stabilization. Proprioception alone is not sufficient (gain 0.2). Stabilization against active and passive head movements was not impaired in our cerebellar ataxia patients.

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

Science.gov (United States)

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

2017-07-01

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

Feedback stabilization of axisymmetric modes in tokamaks

International Nuclear Information System (INIS)

Jardin, S.C.; Larrabee, D.A.

1982-01-01

Noncircular tokamak plasmas can be unstable to ideal MHD axisymmetric instabilities. Passive conductors with finite resistivity will at best slow down these instabilities to the resistive (L/R) time of the conductors. An active feedback system far from the plasma which responds on this resistive time can stabilize the system provided its mutual inductance with the passive coils is small enough

FIRST BEAM TESTS OF THE APS MBA UPGRADE ORBIT FEEDBACK CONTROLLER

Energy Technology Data Exchange (ETDEWEB)

Sereno, N. S.; Arnold, N.; Brill, A.; Bui, H.; Carwardine, J.; Decker, G.; Deriy, B.; Emery, L.; Farnsworth, R.; Fors, T.; Keane, R.; Lenkszus, F.; Lill, R.; Paskvan, D.; Pietryla, A.; Shang, H.; Shoaf, S.; Veseli, S.; Wang, J.; Xu, S.; Yang, B.X.

2017-03-25

The new orbit feedback system required for the APS multi-bend acromat (MBA) ring must meet challenging beam stability requirements. The AC stability requirement is to correct rms beam motion to 10 % the rms beam size at the insertion device source points from 0.01 to 1000 Hz. The vertical plane represents the biggest challenge for AC stability which is required to be 400 nm rms for a 4 micron vertical beam size. In addition long term drift over a period of 7 days is required to be 1 micron or less at insertion de- vice BPMs and 2 microns for arc bpms. We present test re- sults of theMBA prototype orbit feedback controller (FBC) in the APS storage ring. In this test, four insertion device BPMs were configured to send data to the FBC for process- ing into four fast corrector setpoints. The configuration of four bpms and four fast correctors creates a 4-bump and the configuration of fast correctors is similar to what will be implemented in the MBA ring. We report on performance benefits of increasing the sampling rate by a factor of 15 to 22.6 kHz over the existing APS orbit feedback system, lim- itations due to existing storage ring hardware and extrapo- lation to theMBA orbit feedback design. FBC architecture, signal flow and processing design will also be discussed.

Synthesis for robust synchronization of chaotic systems under output feedback control with multiple random delays

International Nuclear Information System (INIS)

Wen Guilin; Wang Qingguo; Lin Chong; Han Xu; Li Guangyao

2006-01-01

Synchronization under output feedback control with multiple random time delays is studied, using the paradigm in nonlinear physics-Chua's circuit. Compared with other synchronization control methods, output feedback control with multiple random delay is superior for a realistic synchronization application to secure communications. Sufficient condition for global stability of delay-dependent synchronization is established based on the LMI technique. Numerical simulations fully support the analytical approach, in spite of the random delays

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

Science.gov (United States)

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

2018-01-01

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

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

International Nuclear Information System (INIS)

Yan Zhenya; Yu Pei

2007-01-01

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

On fully three-dimensional resistive wall mode and feedback stabilization computations

International Nuclear Information System (INIS)

Strumberger, E.; Merkel, P.; Sempf, M.; Guenter, S.

2008-01-01

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes. In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Koeppendoerfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208

Dynamics of nonlinear feedback control

OpenAIRE

Snippe, H.P.; Hateren, J.H. van

2007-01-01

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input step...

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

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Santos, Ilmar

2014-01-01

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

Feedback stabilization system for pulsed single longitudinal mode tunable lasers

Science.gov (United States)

Esherick, Peter; Raymond, Thomas D.

1991-10-01

A feedback stabilization system for pulse single longitudinal mode tunable lasers having an excited laser medium contained within an adjustable length cavity and producing a laser beam through the use of an internal dispersive element, including detection of angular deviation in the output laser beam resulting from detuning between the cavity mode frequency and the passband of the internal dispersive element, and generating an error signal based thereon. The error signal can be integrated and amplified and then applied as a correcting signal to a piezoelectric transducer mounted on a mirror of the laser cavity for controlling the cavity length.

Feedback control of persistent-current oscillation based on the atomic-clock technique

Science.gov (United States)

Yu, Deshui; Dumke, Rainer

2018-05-01

We propose a scheme of stabilizing the persistent-current Rabi oscillation based on the flux qubit-resonator-atom hybrid structure. The low-Q L C resonator weakly interacts with the flux qubit and maps the persistent-current Rabi oscillation of the flux qubit onto the intraresonator electric field. This oscillating electric field is further coupled to a Rydberg-Rydberg transition of the 87Rb atoms. The Rabi-frequency fluctuation of the flux qubit is deduced from measuring the atomic population via the fluorescence detection and stabilized by feedback controlling the external flux bias. Our numerical simulation indicates that the feedback-control method can efficiently suppress the background fluctuations in the flux qubit, especially in the low-frequency limit. This technique may be extensively applicable to different types of superconducting circuits, paving a way to long-term-coherence superconducting quantum information processing.

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

Science.gov (United States)

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; Navratil, Gerald

2018-04-01

DIII-D experiments show that a new, advanced algorithm enables resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic flux diffusion time of the vacuum vessel wall. Experiments have shown that modern control techniques like linear quadratic Gaussian (LQG) control require less current than the proportional controller in use at DIII-D when using control coils external to DIII-D’s vacuum vessel. Experiments were conducted to develop control of a rotating n  =  1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high βN experiments also show that advanced feedback techniques using external control coils may be as effective as internal control coil feedback using classical control techniques.

Stability and oscillation of two coupled Duffing equations with time delay state feedback

International Nuclear Information System (INIS)

El-Bassiouny, A F

2006-01-01

This paper presents an analytical study of the simultaneous principal parametric resonances of two coupled Duffing equations with time delay state feedback. The concept of an equivalent damping related to the delay feedback is proposed and the appropriate choice of the feedback gains and the time delay is discussed from the viewpoint of vibration control. The method of multiple scales is used to determine a set of ordinary differential equations governing the modulation of the amplitudes and phases of the two modes. The first order approximation of the resonances are derived and the effect of time delay on the resonances is investigated. The fixed points correspond to a periodic motion for the starting system and we show the frequency-response curves. We analyse the effect of time delay and the other different parameters on these oscillations. The stability of the fixed points is examined by using the variational method. Numerical solutions are carried out and graphical representations of the results are presented and discussed. Increasing in the time delay τ given decreasing and increasing in the regions of definition and stability respectively and the first mode has decreased magnitudes. The multivalued solutions disappear when decreasing the coefficients of cubic nonlinearities of the second mode α 3 and the detuning parameter σ 2 respectively. Both modes shift to the left for increasing linear feedback gain v 1 and the coefficient of parametric excitation f 1 respectively

An improved direct feedback linearization technique for transient stability enhancement and voltage regulation of power generators

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)

The effects of plasma deformability on the feedback stabilization of axisymmetric modes in tokamak plasmas

International Nuclear Information System (INIS)

Ward, D.J.; Jardin, S.C.

1991-09-01

The effects of plasma deformability on the feedback stabilization of axisymmetric modes of tokamak plasmas are studied. It is seen that plasmas with strongly shaped cross sections have unstable motion different from a rigid shift. Furthermore, the placement of passive conductors is shown to modify the non-rigid components of the eigenfunction in a way that reduces the stabilizing eddy currents in these conductors. Passive feedback results using several equilibria of varying shape are presented. The eigenfunction is also modified under the effects of active feedback. This deformation is seen to depend strongly on the position of the flux loops which are used to determine plasma vertical position for the active feedback system. The variations of these non-rigid components of the eigenfunction always serve to reduce the stabilizing effect of the active feedback system by reducing the measurable poloidal flux at the flux-loop locations. Active feedback results are presented for the PBX-M tokamak configuration. (author) 19 figs., 2 tabs., 30 refs

Feedback Control Of Dynamical Instabilities In Classical Lasers And Fels

CERN Document Server

Bielawski, S; Szwaj, C

2005-01-01

Dynamical instabilities lead to unwanted full-scale power oscillations in many classical lasers and FEL oscillators. For a long time, applications requiring stable operation were typically performed by working outside the problematic parameter regions. A breakthrough occurred in the nineties [1], when emphasis was made on the practical importance of unstable states (stationary or periodic) that coexist with unwanted oscillatory states. Indeed, although not observable in usual experiments, unstable states can be stabilized, using a feedback control involving arbitrarily small perturbations of a parameter. This observation stimulated a set of works leading to successful suppression of dynamical instabilities (initially chaos) in lasers, sometimes with surprisingly simple feedback devices [2]. We will review a set of key results, including in particular the recent works on the stabilization of mode-locked lasers, and of the super-ACO, ELETTRA and UVSOR FELs [3].

Design Of Combined Stochastic Feedforward/Feedback Control

Science.gov (United States)

Halyo, Nesim

1989-01-01

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

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)

Dynamics of nonlinear feedback control.

Science.gov (United States)

Snippe, H P; van Hateren, J H

2007-05-01

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input steps, the dynamics of gain and attenuation can be very different, depending on the mathematical form of the nonlinearity and the ordering of the nonlinearity and the filtering in the feedback loop. Further, the dynamics of feedback control can be strongly asymmetrical for increment versus decrement steps of the input. Nevertheless, for each of the models studied, the nonlinearity in the feedback loop can be chosen such that immediately after an input step, the dynamics of feedback control is symmetric with respect to increments versus decrements. Finally, we study the dynamics of the output of the control loops and find conditions under which overshoots and undershoots of the output relative to the steady-state output occur when the models are stimulated with low-pass filtered steps. For small steps at the input, overshoots and undershoots of the output do not occur when the filtering in the control path is faster than the low-pass filtering at the input. For large steps at the input, however, results depend on the model, and for some of the models, multiple overshoots and undershoots can occur even with a fast control path.

Nonlinear Synergetic Governor Controllers for Steam Turbine Generators to Enhance Power System Stability

Directory of Open Access Journals (Sweden)

Xingbao Ju

2017-07-01

Full Text Available This paper proposes a decentralized nonlinear synergetic governor controller (NSGC for turbine generators to enhance power system stability by using synergetic control theory and the feedback linearization technique. The precise feedback linearization model of a turbine-generator with a steam valve control is obtained, at first, by using a feedback linearization technique. Then based on this model, a manifold is defined as a linear combination of the deviation of the rotor angle, speed deviation, and speed derivative. The control law of the proposed NSGC is deduced and the stability condition of the whole closed-loop system is subsequently analyzed. According to the requirement of the primary frequency regulation, an additional proportional integral (PI controller is designed to dynamically track the steady-state value of the rotor angle. Case studies are undertaken based on a single-machine infinite-bus system and the New England system, respectively. Simulation results show that the proposed NSGC can suppress the power oscillations and improve transient stability more effectively in comparison with the conventional proportional-integral-derivative (PID governor controller. Moreover, the proposed NSGC is robust to the variations of the system operating conditions.

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

International Nuclear Information System (INIS)

Afridi, M. A.

2012-01-01

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

Dynamics of nonlinear feedback control

NARCIS (Netherlands)

Snippe, H.P.; Hateren, J.H. van

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain

Numerical Study of Equilibrium, Stability, and Advanced Resistive Wall Mode Feedback Algorithms on KSTAR

Science.gov (United States)

Katsuro-Hopkins, Oksana; Sabbagh, S. A.; Bialek, J. M.; Park, H. K.; Kim, J. Y.; You, K.-I.; Glasser, A. H.; Lao, L. L.

2007-11-01

Stability to ideal MHD kink/ballooning modes and the resistive wall mode (RWM) is investigated for the KSTAR tokamak. Free-boundary equilibria that comply with magnetic field coil current constraints are computed for monotonic and reversed shear safety factor profiles and H-mode tokamak pressure profiles. Advanced tokamak operation at moderate to low plasma internal inductance shows that a factor of two improvement in the plasma beta limit over the no-wall beta limit is possible for toroidal mode number of unity. The KSTAR conducting structure, passive stabilizers, and in-vessel control coils are modeled by the VALEN-3D code and the active RWM stabilization performance of the device is evaluated using both standard and advanced feedback algorithms. Steady-state power and voltage requirements for the system are estimated based on the expected noise on the RWM sensor signals. Using NSTX experimental RWM sensors noise data as input, a reduced VALEN state-space LQG controller is designed to realistically assess KSTAR stabilization system performance.

Finite-Time Stabilization and Adaptive Control of Memristor-Based Delayed Neural Networks.

Science.gov (United States)

Wang, Leimin; Shen, Yi; Zhang, Guodong

Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.

On a program manifold’s stability of one contour automatic control systems

Directory of Open Access Journals (Sweden)

Zumatov S. S.

2017-12-01

Full Text Available Methodology of analysis of stability is expounded to the one contour systems automatic control feedback in the presence of non-linearities. The methodology is based on the use of the simplest mathematical models of the nonlinear controllable systems. Stability of program manifolds of one contour automatic control systems is investigated. The sufficient conditions of program manifold’s absolute stability of one contour automatic control systems are obtained. The Hurwitz’s angle of absolute stability was determined. The sufficient conditions of program manifold’s absolute stability of control systems by the course of plane in the mode of autopilot are obtained by means Lyapunov’s second method.

Research on Design of MUH Attitude Stability Augmentation Control System

Science.gov (United States)

Fan, Shigang

2017-09-01

Attitude stability augmentation control system with a lower cost need to be designed so that MUH (Mini Unmanned Helicopter) can adapt to different types of geographic environment and fly steadily although the weather may be bad. Attitude feedback was calculated mainly by filtering estimation within attitude acquisition module in this system. Stability augmentation can be improved mainly by PI. This paper will depict running principle and designing process of MUH attitude stability augmentation control system and algorithm that is considered as an important part in this system.

Active feedback stabilization of the flute instability in a mirror machine using field-aligned coils

International Nuclear Information System (INIS)

Lifshitz, A.; Be'ery, I.; Fisher, A.; Ron, A.; Fruchtman, A.

2012-01-01

A plasma confined in linear mirror machines is unstable even at low β, mainly because of the flute instability. One possible way to stabilize the plasma is to use active feedback to correct the plasma shape in real time. The theoretically investigated apparatus consists of feedback coils aligned with the magnetic field, immersed in a cold plasma around the hot core. When the current through the feedback coils changes, the plasma moves to conserve the magnetic flux via compressional Alfvén waves. An analytical model is used to find a robust feedback algorithm with zero residual currents. It is shown that due to the plasma's rotation, maximal stability is obtained with a large phase angle between the perturbations' modes and the feedback integral-like term. Finally, a two-dimensional MHD simulation implementing the above algorithm in fact shows stabilization of the plasma with zero residual currents. (paper)

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

International Nuclear Information System (INIS)

Chen, C.-C.; Hsu, C.-H.; Chen, Y.-J.; Lin, Y.-F.

2007-01-01

The almost disturbance decoupling and trajectory tracking of nonlinear control systems using an observer-based fuzzy feedback linearization control (FLC) is developed. Because not all of the state variables of the nonlinear dynamic equations are available, a nonlinear state observer is employed to estimate the state variables. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. In order to demonstrate the practical applicability, the study has investigated a pendulum control system

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

International Nuclear Information System (INIS)

Barr, D.S.

1993-01-01

It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

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

International Nuclear Information System (INIS)

Barr, D.S.

1992-01-01

It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

Plasma measurement by feedback-stabilized dual-beam laser interferometer

International Nuclear Information System (INIS)

Yasuda, Akio; Kawahata, Kazuo; Kanai, Yasubumi.

1982-03-01

The plasma density in a dynamic magneto arcjet is measured by a stabilized dual-beam laser interferometer proposed by the authors. The fringe shift for a 0.63 μm beam of He-Ne laser is used to stabilize the interferometer against the effect of mechanical vibration by means of a feedback controlled speaker coil, while the other beam of 3.39 μm, for which the effect of mechanical vibrations is excluded, is used to measure plasma density. Stability of --1/500 of one fringe for 0.63 μm is obtained during a long period for frequencies lower than a few Hertz. Stability for higher frequencies, which determines the accuracy of the present measurement, is limited to --1/30 of one fringe for 0.63 μm, which corresponds to --1/200 of one fringe and a line electron density of --1.5 x 10 14 cm - 2 for 3.39 μm, by acoustic noise picked up by the speaker coil. The advantage of this technique over the single-laser technique is that the frequency response of the interferometer extends down to zero frequency. Since the effect of the neutral gas background is practically reduced to zero, the present interferometer is to be applied advantageously to the diagnostics of the plasma produced in high pressure gases. (author)

Including model uncertainty in the model predictive control with output feedback

Directory of Open Access Journals (Sweden)

Rodrigues M.A.

2002-01-01

Full Text Available This paper addresses the development of an efficient numerical output feedback robust model predictive controller for open-loop stable systems. Stability of the closed loop is guaranteed by using an infinite horizon predictive controller and a stable state observer. The performance and the computational burden of this approach are compared to a robust predictive controller from the literature. The case used for this study is based on an industrial gasoline debutanizer column.

Artificial proprioceptive feedback for myoelectric control.

Science.gov (United States)

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

2015-05-01

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

Beam stability in synchrotrons with digital transverse feedback systems in dependence on beam tunes

International Nuclear Information System (INIS)

Zhabitskij, V.M.

2011-01-01

The beam stability problem in synchrotrons with a digital transverse feedback system (TFS) is studied. The TFS damper kicker (DK) corrects the transverse momentum of a bunch in proportion to its displacement from the closed orbit measured at the location of the beam position monitor (BPM). It is shown that the area and configuration of the beam stability separatrix depend on the beam tune, the feedback gain, the phase balance between the phase advance from BPM to DK and the phase response of the feedback chain at the betatron frequency

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

NARCIS (Netherlands)

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

2015-01-01

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

Numerical simulation of feedback stabilization of axisymmetric modes in tokamaks using driven halo currents

International Nuclear Information System (INIS)

Jardin, S.C.; Schmidt, J.A.

1998-01-01

The Tokamak Simulation Code (TSC) has been used to model a new method of feedback stabilization of the axisymmetric instability in tokamaks using driven halo (or scrape-off layer) currents. The method appears to be feasible for a wide range of plasma edge parameters. It may offer advantages over the more conventional method of controlling this instability when applied in a reactor environment. (author)

Feedback control strategies for the Liu chaotic system

International Nuclear Information System (INIS)

Zhu Congxu; Chen Zhigang

2008-01-01

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

Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

Directory of Open Access Journals (Sweden)

Yaoyao Wang

2014-01-01

Full Text Available For the 4-DOF (degrees of freedom trajectory tracking control problem of underwater remotely operated vehicles (ROVs in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC technique is introduced in light of the equivalent output injection sliding mode observer (SMO and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

Act-and-wait time-delayed feedback control of nonautonomous systems

Science.gov (United States)

Pyragas, Viktoras; Pyragas, Kestutis

2016-07-01

Act-and-wait modification of a time-delayed feedback control (TDFC) algorithm is proposed to stabilize unstable periodic orbits in nonautonomous dynamical systems. Due to periodical switching on and off the control perturbation, an infinite-dimensional function space of the TDFC system is reduced to the finite-dimensional state space. As a result the number of Floquet exponents defining the stability of the controlled orbit remains the same as for the control-free system. The values of these exponents can be effectively manipulated by the variation of control parameters. We demonstrate the advantages of the modification for the chaotic nonautonomous Duffing oscillator with diagonal and nondiagonal control matrices. In both cases very deep minima of the spectral abscissa of Floquet exponents have been attained. The advantage of the modification is particularly remarkable for the nondiagonal coupling; in this case the conventional TDFC fails, whereas the modified version works.

Stabilization and synchronization of Genesio-Tesi system via single variable feedback controller

International Nuclear Information System (INIS)

Wang Guangming

2010-01-01

This Letter investigates the stabilization and synchronization of Genesio-Tesi systems. Firstly, modifying the previous method, we stabilize the Genesio-Tesi system. Then, we synchronize two identical Genesio chaotic system by extending the obtained stabilization results. To the best of our knowledge, the above controllers obtained in this Letter are simpler than those obtained in the existing results. Finally, numerical simulations verify the effectiveness and the validity of the above theoretical results.

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.

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

CERN Document Server

AUTHOR|(SzGeCERN)752526

2015-01-01

The requirement of luminosity loss below 1% raises tight tolerances for the phase and power stability of the CLIC drive beam (DB) klystrons and consequently for the high voltage pulse ripple of the modulators. A low-level RF (LLRF) feedback system needs to be developed and combined with the modulator in order to guarantee the phase and amplitude tolerances. To this aim, three feedback control strategies were investigated, i) Proportional Integral (PI) controller, ii) Linear Quadratic Integral Regulator (LQI) and iii) Model Predictive Controller (MPC). The klystron, as well as the incident phase noise were modelled and used for the design and evaluation of the controllers. First simulation results are presented along with future steps and directions.

Homogeneous Stabilizer by State Feedback for Switched Nonlinear Systems Using Multiple Lyapunov Functions’ Approach

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Hui Ye

2017-01-01

Full Text Available This paper investigates the problem of global stabilization for a class of switched nonlinear systems using multiple Lyapunov functions (MLFs. The restrictions on nonlinearities are neither linear growth condition nor Lipschitz condition with respect to system states. Based on adding a power integrator technique, we design homogeneous state feedback controllers of all subsystems and a switching law to guarantee that the closed-loop system is globally asymptotically stable. Finally, an example is given to illustrate the validity of the proposed control scheme.

Design of a Stability Augmentation System for an Unmanned Helicopter Based on Adaptive Control Techniques

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Shouzhao Sheng

2015-09-01

Full Text Available The task of control of unmanned helicopters is rather complicated in the presence of parametric uncertainties and measurement noises. This paper presents an adaptive model feedback control algorithm for an unmanned helicopter stability augmentation system. The proposed algorithm can achieve a guaranteed model reference tracking performance and speed up the convergence rates of adjustable parameters, even when the plant parameters vary rapidly. Moreover, the model feedback strategy in the algorithm further contributes to the improvement in the control quality of the stability augmentation system in the case of low signal to noise ratios, mainly because the model feedback path is noise free. The effectiveness and superiority of the proposed algorithm are demonstrated through a series of tests.

Feedback control of resistive wall modes in toroidal devices

International Nuclear Information System (INIS)

Liu, Y.Q.

2002-01-01

Active feedback of resistive wall modes is investigated using cylindrical theory and toroidal calculations. For tokamaks, good performance is obtained by using active coils with one set of coils in the poloidal direction and sensors detecting the poloidal field inside the first wall, located at the outboard mid-plane. With suitable width of the feedback coil such a system can give robust control with respect to variations in plasma current, pressure and rotation. Calculations are shown for ITER-like geometry with a double wall. The voltages and currents in the active coils are well within the design limits for ITER. Calculations for RFP's are presented for a finite number of coils both in the poloidal and toroidal directions. With 4 coils in the poloidal and 24 coils in the toroidal direction, all non-resonant modes can be stabilized both at high and low theta. Several types of sensors, including radial and internal poloidal or toroidal sensors, can stabilize the RWM, but poloidal sensors give the most robust performance. (author)

Low Voltage CMOS Fully Differential Current Feedback Amplifier with Controllable 3-dB Bandwidth

International Nuclear Information System (INIS)

Madian, A.H.; Mahmoud, S.A.; Ashour, M.A.; Soliman, A.M.

2008-01-01

This paper presents a new CMOS fully differential current feedback operational amplifier with controllable 3-dB bandwidth suitable for analog data processing and acquisition applications. The FDCFOA has the advantage of a wide range controllable 3-dB bandwidth (∼57 MHz to 500 MHz) without changing the feedback resistance this guarantee the stability of the circuit. The FDCFOA has a standby current of 320μA. PSpice simulations of the FDCFOA block were given using 0.25μm CMOS technology from AMI MOSIS and dual supply voltages ±0.75 V

PID control with robust disturbance feedback control

DEFF Research Database (Denmark)

Kawai, Fukiko; Vinther, Kasper; Andersen, Palle

2015-01-01

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

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

Science.gov (United States)

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

2016-07-01

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

Feedback control stabilization of critical dynamics via resource transport on multilayer networks: How glia enable learning dynamics in the brain

Science.gov (United States)

Virkar, Yogesh S.; Shew, Woodrow L.; Restrepo, Juan G.; Ott, Edward

2016-10-01

Learning and memory are acquired through long-lasting changes in synapses. In the simplest models, such synaptic potentiation typically leads to runaway excitation, but in reality there must exist processes that robustly preserve overall stability of the neural system dynamics. How is this accomplished? Various approaches to this basic question have been considered. Here we propose a particularly compelling and natural mechanism for preserving stability of learning neural systems. This mechanism is based on the global processes by which metabolic resources are distributed to the neurons by glial cells. Specifically, we introduce and study a model composed of two interacting networks: a model neural network interconnected by synapses that undergo spike-timing-dependent plasticity; and a model glial network interconnected by gap junctions that diffusively transport metabolic resources among the glia and, ultimately, to neural synapses where they are consumed. Our main result is that the biophysical constraints imposed by diffusive transport of metabolic resources through the glial network can prevent runaway growth of synaptic strength, both during ongoing activity and during learning. Our findings suggest a previously unappreciated role for glial transport of metabolites in the feedback control stabilization of neural network dynamics during learning.

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

Energy Technology Data Exchange (ETDEWEB)

Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)

2009-04-15

This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

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

International Nuclear Information System (INIS)

Vasegh, Nastaran; Sedigh, Ali Khaki

2009-01-01

This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

Beam stability in synchrotrons with digital filters in the feedback loop of a transverse damper

International Nuclear Information System (INIS)

Zhabitskij, V.M.

2009-01-01

The stability of an ion beam in synchrotrons with digital filters in the feedback loop of a transverse damper is treated. Solving the characteristic equation allows one to calculate the achievable damping rates as a function of instability growth rate, feedback gain and parameters of the signal processing. A transverse feedback system (TFS) is required in synchrotrons to stabilize the high intensity ion beams against transverse instabilities and to damp the beam injection errors. The TFS damper kicker (DK) corrects the transverse momentum of a bunch in proportion to its displacement from the closed orbit at the location of the beam position monitor (BPM). The digital signal processing unit in the feedback loop between BPM and DK ensures a condition to achieve optimal damping. Damping rates of the feedback systems with digital notch, Hilbert and all-pass filters are analyzed in comparison with those in an ideal feedback system

Resonant passive–active vibration absorber with integrated force feedback control

International Nuclear Information System (INIS)

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

2016-01-01

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

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

Directory of Open Access Journals (Sweden)

Olav Slupphaug

2001-01-01

Full Text Available We present a mathematical programming approach to robust control of nonlinear systems with uncertain, possibly time-varying, parameters. The uncertain system is given by different local affine parameter dependent models in different parts of the state space. It is shown how this representation can be obtained from a nonlinear uncertain system by solving a set of continuous linear semi-infinite programming problems, and how each of these problems can be solved as a (finite series of ordinary linear programs. Additionally, the system representation includes control- and state constraints. The controller design method is derived from Lyapunov stability arguments and utilizes an affine parameter dependent quadratic Lyapunov function. The controller has a piecewise affine output feedback structure, and the design amounts to finding a feasible solution to a set of linear matrix inequalities combined with one spectral radius constraint on the product of two positive definite matrices. A local solution approach to this nonconvex feasibility problem is proposed. Complexity of the design method and some special cases such as state- feedback are discussed. Finally, an application of the results is given by proposing an on-line computationally feasible algorithm for constrained nonlinear state- feedback model predictive control with robust stability.

A stage structure pest management model with impulsive state feedback control

Science.gov (United States)

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

2015-06-01

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

Numerical Feedback Stabilization with Applications to Networks

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Simone Göttlich

2017-01-01

Full Text Available The focus is on the numerical consideration of feedback boundary control problems for linear systems of conservation laws including source terms. We explain under which conditions the numerical discretization can be used to design feedback boundary values for network applications such as electric transmission lines or traffic flow systems. Several numerical examples illustrate the properties of the results for different types of networks.

Nonlinear feedback synchronisation control between fractional-order and integer-order chaotic systems

International Nuclear Information System (INIS)

Jia Li-Xin; Dai Hao; Hui Meng

2010-01-01

This paper focuses on the synchronisation between fractional-order and integer-order chaotic systems. Based on Lyapunov stability theory and numerical differentiation, a nonlinear feedback controller is obtained to achieve the synchronisation between fractional-order and integer-order chaotic systems. Numerical simulation results are presented to illustrate the effectiveness of this method

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

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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.

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

International Nuclear Information System (INIS)

Maurer, D.A.

2002-01-01

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

Control and diagnostic uses of feedback

International Nuclear Information System (INIS)

Sen, A. K.

2000-01-01

Recent results on multimode feedback control of magnetohydrodynamic (MHD) modes and a variety of diagnostic uses of feedback are summarized. First, is the report on reduction and scaling of transport under feedback. By controlling the fluctuation amplitudes and consequently the transport via feedback, it is found that the scaling of the diffusion coefficient is linear with root-mean-square rms fluctuation level. The scaling appears not to agree with any generic theory. A variety of other diagnostic uses of feedback have been developed. The primary goal is an experimental methodology for the determination of dynamic models of plasma turbulence, both for better transport understanding and more credible feedback controller designs. A specific motivation is to search for a low-order dynamic model, suitable for the convenient study of both transport and feedback. First, the time series analysis method is used for the determination of chaotic attractor dimension of plasma fluctuations. For ExB rotational flute modes it is found to be close to three, indicating that a low-order dynamic model may be adequate for transport prediction and feedback controller design. Second, a new method for direct experimental determination of nonlinear dynamical models of plasma turbulence using feedback has been developed. Specifically, the process begins with a standard three-wave coupling model and introduces a variable feedback gain. The power spectrum, delayed power spectrum, and bispectrum of fluctuations are then experimentally obtained. By varying the feedback gain continuously, an arbitrary number of numerical equations for a fixed number of unknowns can be generated. Their numerical solution yields the linear dispersion, as well as nonlinear coupling coefficients. This method has been successfully applied for ExB rotationally driven flute modes. (c) 2000 American Institute of Physics

Decentralized H∞ Control for Uncertain Interconnected Systems of Neutral Type via Dynamic Output Feedback

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Heli Hu

2014-01-01

Full Text Available The design of the dynamic output feedback H∞ control for uncertain interconnected systems of neutral type is investigated. In the framework of Lyapunov stability theory, a mathematical technique dealing with the nonlinearity on certain matrix variables is developed to obtain the solvability conditions for the anticipated controller. Based on the corresponding LMIs, the anticipated gains for dynamic output feedback can be achieved by solving some algebraic equations. Also, the norm of the transfer function from the disturbance input to the controlled output is less than the given index. A numerical example and the simulation results are given to show the effectiveness of the proposed method.

Modified Cross Feedback Control for a Magnetically Suspended Flywheel Rotor with Significant Gyroscopic Effects

Directory of Open Access Journals (Sweden)

Yuan Ren

2014-01-01

Full Text Available For magnetically suspended rigid rotors (MSRs with significant gyroscopic effects, phase lag of the control channel is the main factor influencing the system nutation stability and decoupling performance. At first, this paper proves that the phase lag of the cross channel instead of the decentralized channel is often the main factor influencing the system nutation stability at high speeds. Then a modified cross feedback control strategy based on the phase compensation of cross channel is proposed to improve the stability and decoupling performances. The common issues associated with the traditional control methods have been successfully resolved by this method. Analysis, simulation, and experimental results are presented to demonstrate the feasibility and superiority of the proposed control method.

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)

THE DETERMINATION OF A CRITICAL VALUE FOR DYNAMIC STABILITY OF SEMICONDUCTOR LASER DIODE WITH EXTERNAL OPTICAL FEEDBACK

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Remzi YILDIRIM

1998-01-01

Full Text Available In this study, dynamic stability analysis of semiconductor laser diodes with external optical feedback has been realized. In the analysis the frequency response of the transfer function of laser diode H jw( , the transfer m function of laser diode with external optical feedback TF jw( , and optical feedback transfer function m K jw( obtained from small signal equations has been m accomplished using Nyquist stability analysis in complex domain. The effect of optical feedback on the stability of the system has been introduced and to bring the laser diode to stable condition the working critical boundary range of dampig frequency and reflection power constant (R has been determined. In the study the reflection power has been taken as ( .

Design of feedback control systems for unstable plants with saturating actuators

Science.gov (United States)

Kapasouris, Petros; Athans, Michael; Stein, Gunter

1988-01-01

A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.

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

Science.gov (United States)

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Operating wind turbines in strong wind conditions by using feedforward-feedback control

International Nuclear Information System (INIS)

Feng, Ju; Sheng, Wen Zhong

2014-01-01

Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades

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

Science.gov (United States)

Meng, Su; Chen, Jie; Sun, Jian

2017-10-01

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

Feedback-stabilized dual-beam laser interferometer for plasma measurements

International Nuclear Information System (INIS)

Yasuda, A.; Kanai, Y.; Kusunoki, J.; Kawahata, K.; Takeda, S.

1980-01-01

A stabilized laser interferometer is proposed with two beams as the light source. The fringe shift for a 0.63 μm beam of a He--Ne laser is used to stabilize the interferometer against the effect of mechanical vibrations via a feedback controlled speaker coil, while another beam of 3.39 μm, for which consequently the effect of the mechanical vibrations is excluded, is used to measure the plasma density. A stability of approx.1/500 of one fringe for 0.63 μm is obtained during a long period for frequencies lower than a few Hz. The stability for higher frequencies is limited to approx.1/30 of one fringe for 0.63 μm, which correspondes to approx.1/200 of one fringe for 3.39 μm, by the acoustic noise picked up by the speaker coil. Furthermore, the total accuracy is limited by the detector noise to approx.1/60 of one fringe for 3.39 μm, which corresponds to a line electron density of approx.5 x 10 14 cm -2 . The detector noise may be reduced by cooling the detector. The advantage of this technique over the single-laser technique is that the frequency response of the interferometer extends down to zero frequency. The interferometer is tested with the measurement of a plasma in a dynamic magnetic arcjet. Since the effect of the neutral gas background is reduced in the present interferometer, the application has an advantage for the diagnostics of plasmas produced in high pressure gases

Efficient method for time-domain simulation of the linear feedback systems containing fractional order controllers.

Science.gov (United States)

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.

Semiglobal H-infinity State Feedback Control

DEFF Research Database (Denmark)

Cromme, Marc; Stoustrup, Jakob

1996-01-01

Semi-global set-stabilizing H-infinity controlis a local within some given compact set such that all statetrajectories are bounded inside the set, and are approaching an openloop invariant subset as time approaches infinity. Sufficientconditions for the existence of a continuous state feedback law...

Feedback stabilization of the axisymmetric instability of a deformable tokamak plasma

International Nuclear Information System (INIS)

Pomphrey, N.; Jardin, S.C.; Ward, D.J.

1989-01-01

The paper presents an analysis of the magnetohydrodynamic stability of the axisymmetric system consisting of a free boundary tokamak plasma with non-circular cross-section, finite resistivity passive conductors, and an active feedback system with magnetic flux pickup loops, a proportional amplifier with gain G and current carrying poloidal field coils. A numerical simulation of the system when G is set to zero identifies flux loop locations which correctly sense the plasma motion. However, when certain of these locations are incorporated into an active feedback scheme, the plasma fails to be stabilized, no matter what value of the gain is chosen. Analysis on the basis of an extended energy principle indicates that this failure is due to the deformability of the plasma cross-section. (author). 14 refs, 7 figs

Linear feedback controls the essentials

CERN Document Server

Haidekker, Mark A

2013-01-01

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

Stability and dynamics of a controlled van der Pol-Duffing oscillator

International Nuclear Information System (INIS)

Ji, J.C.; Hansen, C.H.

2006-01-01

The trivial equilibrium of a van der Pol-Duffing oscillator under a linear-plus-nonlinear feedback control may change its stability either via a single or via a double Hopf bifurcation if the time delay involved in the feedback reaches certain values. It is found that the trivial equilibrium may lose its stability via a subcritical or supercritical Hopf bifurcation and regain its stability via a reverse subcritical or supercritical Hopf bifurcation as the time delay increases. A stable limit cycle appears after a supercritical Hopf bifurcation occurs and disappears through a reverse supercritical Hopf bifurcation. The interaction of the weakly periodic excitation and the stable bifurcating solution is investigated for the forced system under primary resonance conditions. It is shown that the forced periodic response may lose its stability via a Neimark-Sacker bifurcation. Analytical results are validated by a comparison with those of direct numerical integration

Stabilization of business cycles of finance agents using nonlinear optimal control

Science.gov (United States)

Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.

2017-11-01

Stabilization of the business cycles of interconnected finance agents is performed with the use of a new nonlinear optimal control method. First, the dynamics of the interacting finance agents and of the associated business cycles is described by a modeled of coupled nonlinear oscillators. Next, this dynamic model undergoes approximate linearization round a temporary operating point which is defined by the present value of the system's state vector and the last value of the control inputs vector that was exerted on it. The linearization procedure is based on Taylor series expansion of the dynamic model and on the computation of Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms in the Taylor series expansion is considered as a disturbance which is compensated by the robustness of the control loop. Next, for the linearized model of the interacting finance agents, an H-infinity feedback controller is designed. The computation of the feedback control gain requires the solution of an algebraic Riccati equation at each iteration of the control algorithm. Through Lyapunov stability analysis it is proven that the control scheme satisfies an H-infinity tracking performance criterion, which signifies elevated robustness against modelling uncertainty and external perturbations. Moreover, under moderate conditions the global asymptotic stability features of the control loop are proven.

Design of active feedback controller used in the infrared beam line of SSRF

International Nuclear Information System (INIS)

Zhang Yongli; Tong Yajun; Zhang Zhaohong; Chen Min; Jiang Jianguo; Gong Peirong

2014-01-01

Background: The infrared beam line consists of many kinds of optical components that are susceptible to the external mechanical vibration, which will be further amplified by the long optical paths to seriously destroy the stability of infrared beam position. Purpose: The active feedback controller is used to stabilize the infrared beam position disturbed by the external environment. Methods: The design of the active feedback controller used in the infrared beam line of SSRF was proposed in this paper firstly, which included its background, light-path layout and operating process. Subsequently, the selections of the crucial components such as detector and actuator were discussed in details. Finally, the correction compensator design and its experimental test were also presented. The correction compensator design was realized by utilizing the frequency response method, and tested in time domain, frequency domain and mathematical model simulation of the controlled object. Results: The experimental tests included time domain step response signal of the controller, the time domain signal and its relevant magnitude spectrum in frequency domain due to the light source simulation vibration. Conclusion: The results show that the maximum effective operating band is 250 Hz and the maximum steady error is 5 μm. (authors)

Final analysis of the engineering data on the scyllac feedback stabilization experiment

International Nuclear Information System (INIS)

Kutac, K.J.; Kewish, R.W.; Miller, G.; Gribble, R.F.

1977-01-01

The feedback stabilization system consists of four basic components: plasma position detectors, a signal processor or mode analyzer driven by the position detector signals, power amplifiers which are driven by the mode analyzer, and feedback load coils driven by the power amplifiers. A short description of each of the four components of the system is presented. The location of the components in the experiment is shown

Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

Energy Technology Data Exchange (ETDEWEB)

Kontchou, E W Chimi; Fotsin, H B [Laboratoire d' Electronique, Departement de Physique, Faculte des Sciences, Universite de Dschang, B P 67 Dschang (Cameroon); Woafo, P [Laboratory of Modelling and Simulation in Engineering and Biological Physics, Faculty of Science, University of Yaounde I, Box 812, Yaounde (Cameroon)], E-mail: hbfotsin@yahoo.fr

2008-04-15

This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented.

Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

International Nuclear Information System (INIS)

Kontchou, E W Chimi; Fotsin, H B; Woafo, P

2008-01-01

This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented

Design of feedback controller for TCP/AQM networks

Directory of Open Access Journals (Sweden)

Sukant Kishoro Bisoy

2017-02-01

Full Text Available In this paper, we propose a novel proportional-differential-type feedback controller called Novel-PD as new active queue management (AQM to regulate the queue length with small oscillation. It measures the current queue length and uses the current queue length and differential error signals to adjust packet drop probability dynamically. We provide control theoretic analysis of system stability and develop guidelines to select control gain parameters of Novel-PD. The design of Novel-PD for TCP/AQM system is given in details. NS2 is used for conducting extensive simulation. The proposed controller is compared with random early detection (RED, random exponential marking (REM, proportional integrator (PI and proportional derivative (PD controller. Result shows that, Novel-PD is stable and achieves faster response in dynamic environments where number of TCP connections, bottleneck capacity, round trip time (RTT keeps changing. The proposed controller outperforms other AQM schemes.

State-Feedback Control for Fractional-Order Nonlinear Systems Subject to Input Saturation

Directory of Open Access Journals (Sweden)

Junhai Luo

2014-01-01

Full Text Available We give a state-feedback control method for fractional-order nonlinear systems subject to input saturation. First, a sufficient condition is derived for the asymptotical stability of a class of fractional-order nonlinear systems. Then based on Gronwall-Bellman lemma and a sector bounded condition of the saturation function, a linear state-feed back controller is designed. Finally, two simulation examples are presented to show the validity of the proposed method.

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

International Nuclear Information System (INIS)

Dong, Z.

2011-01-01

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

A feedback control strategy for the airfoil system under non-Gaussian colored noise excitation

Energy Technology Data Exchange (ETDEWEB)

Huang, Yong, E-mail: hy@njust.edu.cn, E-mail: taogang@njust.edu.cn; Tao, Gang, E-mail: hy@njust.edu.cn, E-mail: taogang@njust.edu.cn [School of Energy and Power Engineering, Nanjing University of Science and Technology, 200 XiaoLingwei Street, Nanjing 210094 (China)

2014-09-01

The stability of a binary airfoil with feedback control under stochastic disturbances, a non-Gaussian colored noise, is studied in this paper. First, based on some approximated theories and methods the non-Gaussian colored noise is simplified to an Ornstein-Uhlenbeck process. Furthermore, via the stochastic averaging method and the logarithmic polar transformation, one dimensional diffusion process can be obtained. At last by applying the boundary conditions, the largest Lyapunov exponent which can determine the almost-sure stability of the system and the effective region of control parameters is calculated.

A feedback control strategy for the airfoil system under non-Gaussian colored noise excitation.

Science.gov (United States)

Huang, Yong; Tao, Gang

2014-09-01

The stability of a binary airfoil with feedback control under stochastic disturbances, a non-Gaussian colored noise, is studied in this paper. First, based on some approximated theories and methods the non-Gaussian colored noise is simplified to an Ornstein-Uhlenbeck process. Furthermore, via the stochastic averaging method and the logarithmic polar transformation, one dimensional diffusion process can be obtained. At last by applying the boundary conditions, the largest Lyapunov exponent which can determine the almost-sure stability of the system and the effective region of control parameters is calculated.

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

Science.gov (United States)

Zhang, Li-Dong; Zhu, Wen-Xing

2015-06-01

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

Truncated predictor feedback for time-delay systems

CERN Document Server

Zhou, Bin

2014-01-01

This book provides a systematic approach to the design of predictor based controllers for (time-varying) linear systems with either (time-varying) input or state delays. Differently from those traditional predictor based controllers, which are infinite-dimensional static feedback laws and may cause difficulties in their practical implementation, this book develops a truncated predictor feedback (TPF) which involves only finite dimensional static state feedback. Features and topics: A novel approach referred to as truncated predictor feedback for the stabilization of (time-varying) time-delay systems in both the continuous-time setting and the discrete-time setting is built systematically Semi-global and global stabilization problems of linear time-delay systems subject to either magnitude saturation or energy constraints are solved in a systematic manner Both stabilization of a single system and consensus of a group of systems (multi-agent systems) are treated in a unified manner by applying the truncated pre...

Fuzzy Adaptive Output Feedback Control of Uncertain Nonlinear Systems With Prescribed Performance.

Science.gov (United States)

Zhang, Jin-Xi; Yang, Guang-Hong

2018-05-01

This paper investigates the tracking control problem for a family of strict-feedback systems in the presence of unknown nonlinearities and immeasurable system states. A low-complexity adaptive fuzzy output feedback control scheme is proposed, based on a backstepping method. In the control design, a fuzzy adaptive state observer is first employed to estimate the unmeasured states. Then, a novel error transformation approach together with a new modification mechanism is introduced to guarantee the finite-time convergence of the output error to a predefined region and ensure the closed-loop stability. Compared with the existing methods, the main advantages of our approach are that: 1) without using extra command filters or auxiliary dynamic surface control techniques, the problem of explosion of complexity can still be addressed and 2) the design procedures are independent of the initial conditions. Finally, two practical examples are performed to further illustrate the above theoretic findings.

Chaos synchronization of uncertain chaotic systems using composite nonlinear feedback based integral sliding mode control.

Science.gov (United States)

Mobayen, Saleh

2018-06-01

This paper proposes a combination of composite nonlinear feedback and integral sliding mode techniques for fast and accurate chaos synchronization of uncertain chaotic systems with Lipschitz nonlinear functions, time-varying delays and disturbances. The composite nonlinear feedback method allows accurate following of the master chaotic system and the integral sliding mode control provides invariance property which rejects the perturbations and preserves the stability of the closed-loop system. Based on the Lyapunov- Krasovskii stability theory and linear matrix inequalities, a novel sufficient condition is offered for the chaos synchronization of uncertain chaotic systems. This method not only guarantees the robustness against perturbations and time-delays, but also eliminates reaching phase and avoids chattering problem. Simulation results demonstrate that the suggested procedure leads to a great control performance. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A Riccati solution for the ideal MHD plasma response with applications to real-time stability control

Science.gov (United States)

Glasser, Alexander; Kolemen, Egemen; Glasser, A. H.

2018-03-01

Active feedback control of ideal MHD stability in a tokamak requires rapid plasma stability analysis. Toward this end, we reformulate the δW stability method with a Hamilton-Jacobi theory, elucidating analytical and numerical features of the generic tokamak ideal MHD stability problem. The plasma response matrix is demonstrated to be the solution of an ideal MHD matrix Riccati differential equation. Since Riccati equations are prevalent in the control theory literature, such a shift in perspective brings to bear a range of numerical methods that are well-suited to the robust, fast solution of control problems. We discuss the usefulness of Riccati techniques in solving the stiff ordinary differential equations often encountered in ideal MHD stability analyses—for example, in tokamak edge and stellarator physics. We demonstrate the applicability of such methods to an existing 2D ideal MHD stability code—DCON [A. H. Glasser, Phys. Plasmas 23, 072505 (2016)]—enabling its parallel operation in near real-time, with wall-clock time ≪1 s . Such speed may help enable active feedback ideal MHD stability control, especially in tokamak plasmas whose ideal MHD equilibria evolve with inductive timescale τ≳ 1s—as in ITER.

Multivariable Feedback Control of Nuclear Reactors

Directory of Open Access Journals (Sweden)

Rune Moen

1982-07-01

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

Dynamic Evaluation of LCL-type Grid-Connected Inverters with Different Current Feedback Control Schemes

DEFF Research Database (Denmark)

Han, Yang; Li, Zipeng; Guerrero, Josep M.

2015-01-01

typical current feedback control schemes in LCL grid-connected system are analyzed and compared systematically. Analysis in s-domain take the effect of the digital computation and modulation delay into account. The stability analysis is presented by root locus in the discrete domain, the optimal values......Proportional-resonant (PR) compensator and LCL filter becomes a better choice in grid-connected inverter system with high performance and low costs. However, the resonance phenomenon caused by LCL filter affect the system stability significantly. In this paper, the stability problem of three...

ORBIT FEEDBACK CONTROL FOR THE LHC Prototyping at the SPS

CERN Document Server

Steinhagen, Ralph J

2004-01-01

The Large Hadron Collider (LHC) is the next generation proton collider that is presently built at CERN. The LHC will be installed in the former LEP (Large Electron Positron Collider) tunnel. The presence of a high intensity beam in an environment of cryogenic magnets requires an excellent control of particle losses from the beam. Eventually the performance of the LHC may be limited by the ability to control the beam losses. The performance of the LHC cleaning system depends critically on the beam position stability. Ground motion, field and alignment imperfections and beam manipulations may cause orbit movements. The role of the future LHC Orbit Feedback System is the minimisation of closed orbit perturbations by periodically measuring and steering the transverse beam position back to its reference position. This diploma thesis focuses on the design and prototyping of an orbit feedback system at the SPS. The design is based on a separation of the steering problem into space and time. While the correction in s...

Complex dynamics of a Holling type II prey-predator system with state feedback control

International Nuclear Information System (INIS)

Jiang Guirong; Lu Qishao; Qian Linning

2007-01-01

The complex dynamics of a Holling type II prey-predator system with impulsive state feedback control is studied in both theoretical and numerical ways. The sufficient conditions for the existence and stability of semi-trivial and positive periodic solutions are obtained by using the Poincare map and the analogue of the Poincare criterion. The qualitative analysis shows that the positive periodic solution bifurcates from the semi-trivial solution through a fold bifurcation. The bifurcation diagrams, Lyapunov exponents, and phase portraits are illustrated by an example, in which the chaotic solutions appear via a cascade of period-doubling bifurcations. The superiority of the state feedback control strategy is also discussed

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

Science.gov (United States)

Zhao, Guoping; Sharbafi, Maziar; Vlutters, Mark; van Asseldonk, Edwin; Seyfarth, Andre

2017-07-01

We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP template model is capable of stabilizing the trunk and reproduce a human-like hip torque during the stance phase of walking. With leg force and joint angle feedback inspired by the VPP template model, our controller provides hip and knee torque assistance during the stance phase. A pilot experiment was conducted with four healthy subjects. Joint kinematics, leg muscle electromyography (EMG), and metabolic cost were measured during walking with and without assistance. Results show that, for 0.6 m/s walking, our controller can reduce leg muscle activations, especially for the medial gastrocnemius (about 16.0%), while hip and knee joint kinematics remain similar to the condition without the controller. Besides, the controller also reduces 10% of the net metabolic cost during walking. This paper demonstrates walking assistance benefits of the VPP template model for the first time. The support of human walking is achieved by a force feedback of leg force applied to the control of hip and knee joints. It can help us to provide a framework for investigating walking assistance control in the future.

Auto-control experiments on DIDO using discontinuous feedback

International Nuclear Information System (INIS)

Lawrence, L.A.J.

1959-12-01

Experiments on auto-controlling the reactor DIDO are described and the equipment design discussed in some detail. The experiments are carried out to show the suitability of an on/off type of control for the maintenance of: (a) a constant flux level in the presence of noise. (b) constant period during power change. The controlling signals stem from measurement of neutron flux computed to give deviation from demanded power, and period respectively. These signals are fed to a D.C. amplifier with variable deadbang whose output is used to control relays, these in turn control the coarse control arms by means of three-phase motors. The system is designed on the basis of locus diagrams, a conventional non-linear technique being used to handle the relay performance. Calculation of the reactor transfer function at high and low power respectively shows that the stability margin is not appreciably affected by the inherent thermodynamic feedback in the reactor core. (author)

Control of an atom laser using feedback

International Nuclear Information System (INIS)

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

2004-01-01

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

Generalized fast feedback system in the SLC

International Nuclear Information System (INIS)

Hendrickson, L.; Allison, S.; Gromme, T.; Himel, T.; Krauter, K.; Rouse, F.; Sass, R.; Shoaee, H.

1991-11-01

A generalized fast feedback system has been developed to stabilize beams at various locations in the SLC. The system is designed to perform measurements and change actuator settings to control beam states such as position, angle and energy on a pulse to pulse basis. The software design is based on the state space formalism of digital control theory. The system is database-driven, facilitating the addition of new loops without requiring additional software. A communications system, KISNet, provides fast communications links between microprocessors for feedback loops which involve multiple micros. Feedback loops have been installed in seventeen locations throughout the SLC and have proven to be invaluable in stabilizing the machine

Stability analysis of multiple-robot control systems

Science.gov (United States)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach

Science.gov (United States)

Pei, Jing; Newsome, Jerry R.

2015-01-01

Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.

Differential effects of absent visual feedback control on gait variability during different locomotion speeds.

Science.gov (United States)

Wuehr, M; Schniepp, R; Pradhan, C; Ilmberger, J; Strupp, M; Brandt, T; Jahn, K

2013-01-01

Healthy persons exhibit relatively small temporal and spatial gait variability when walking unimpeded. In contrast, patients with a sensory deficit (e.g., polyneuropathy) show an increased gait variability that depends on speed and is associated with an increased fall risk. The purpose of this study was to investigate the role of vision in gait stabilization by determining the effects of withdrawing visual information (eyes closed) on gait variability at different locomotion speeds. Ten healthy subjects (32.2 ± 7.9 years, 5 women) walked on a treadmill for 5-min periods at their preferred walking speed and at 20, 40, 70, and 80 % of maximal walking speed during the conditions of walking with eyes open (EO) and with eyes closed (EC). The coefficient of variation (CV) and fractal dimension (α) of the fluctuations in stride time, stride length, and base width were computed and analyzed. Withdrawing visual information increased the base width CV for all walking velocities (p < 0.001). The effects of absent visual information on CV and α of stride time and stride length were most pronounced during slow locomotion (p < 0.001) and declined during fast walking speeds. The results indicate that visual feedback control is used to stabilize the medio-lateral (i.e., base width) gait parameters at all speed sections. In contrast, sensory feedback control in the fore-aft direction (i.e., stride time and stride length) depends on speed. Sensory feedback contributes most to fore-aft gait stabilization during slow locomotion, whereas passive biomechanical mechanisms and an automated central pattern generation appear to control fast locomotion.

Resistive Wall Mode Stability and Control in the Reversed Field Pinch

International Nuclear Information System (INIS)

Yadikin, Dmitriy

2006-03-01

Control of MHD instabilities using a conducting wall together with external magnetic fields is an important route to improved performance and reliability in fusion devices. Active control of MHD modes is of interest for both the Advanced Tokamak and the Reversed Field Pinch (RFP) configurations. A wide range of unstable, current driven MHD modes is present in the RFP. An ideally conducting wall facing the plasma can in principle provide stabilization to these modes. However, a real, resistive wall characterized by a wall field diffusion time, cannot stabilize the ideal MHD modes unless they rotate with Alfvenic velocity, which is usually not the case. With a resistive wall, the ideal modes are converted into resistive wall modes (RWM) with growth rates comparable to the inverse wall time. Resistive wall modes have been studied in the EXTRAP T2R thin shell RFP device. Growth rates have been measured and found in agreement with linear MHD stability calculations. An advanced system for active control has been developed and installed on the EXTRAP T2R device. The system includes an array of 128 active saddle coils, fully covering the torus surface. Experiments on EXTRAP T2R have for the first time demonstrated simultaneous active suppression of multiple independent RWMs. In experiments with a partial array, coupling of different modes due to the limited number of feedback coils has been observed, in agreement with theory. Different feedback strategies, such as the intelligent shell, the rotating shell, and mode control have been studied. Further, feedback operation with different types of magnetic field sensors, measuring either the radial or the toroidal field components have been compared

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

International Nuclear Information System (INIS)

Zhao, Zhong; Kong, Yinchang; Chen, Ying

2016-01-01

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

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

International Nuclear Information System (INIS)

Hennen, B.A.; Westerhof, E.; De Baar, M.R.; Nuij, P.W.J.M.; Steinbuch, M.

2012-01-01

Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron cyclotron resonance heating and current drive (ECRH/ECCD) with a tearing mode and the stabilization of a mode at a specific width. In order to simulate these control tasks, the time evolution of a tearing mode subject to suppression by ECRH/ECCD and destabilization by a magnetic perturbation field is modelled using the generalized Rutherford equation. The model includes an equilibrium model and an ECRH/ECCD launcher model. The dynamics and static equilibria of this model are analysed. The model is linearized and based on the linearized model, linear feedback controllers are designed and simulated, demonstrating both alignment and width control of tearing modes in TEXTOR. (paper)

Stability of Switched Feedback Time-Varying Dynamic Systems Based on the Properties of the Gap Metric for Operators

Directory of Open Access Journals (Sweden)

M. De la Sen

2012-01-01

Full Text Available The stabilization of dynamic switched control systems is focused on and based on an operator-based formulation. It is assumed that the controlled object and the controller are described by sequences of closed operator pairs (L,C on a Hilbert space H of the input and output spaces and it is related to the existence of the inverse of the resulting input-output operator being admissible and bounded. The technical mechanism addressed to get the results is the appropriate use of the fact that closed operators being sufficiently close to bounded operators, in terms of the gap metric, are also bounded. That philosophy is followed for the operators describing the input-output relations in switched feedback control systems so as to guarantee the closed-loop stabilization.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Science.gov (United States)

Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

2015-08-01

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

Output Feedback Dissipation Control for the Power-Level of Modular High-Temperature Gas-Cooled Reactors

Directory of Open Access Journals (Sweden)

Zhe Dong

2011-11-01

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

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

DEFF Research Database (Denmark)

Salazar, Jorge Andrés González; Santos, Ilmar

2015-01-01

function is optimized in the stabilizing gain domain and then chosen from a subdomain imposed by servovalve restrictions. This work demonstrates enhancements of the dynamic response of flexible rotor-bearing systems supported by an active tilting-pad journal bearing by means of the feedback......The feedback-controlled lubrication regime, based on a model-free designed proportional–derivative controller, is experimentally investigated in a flexible rotor mounted on an actively-lubricated tilting-pad journal bearing. With such a lubrication regime, both the resulting pressure distribution...

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

Science.gov (United States)

Brunsell, P. R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J. R.; Rachlew, E.

2006-11-01

Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size.

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

International Nuclear Information System (INIS)

Brunsell, P.R.; Kuldkepp, M.; Menmuir, S.; Cecconello, M.; Hedqvist, A.; Yadikin, D.; Drake, J.R.; Rachlew, E.

2006-01-01

Discharges in the thin shell reversed field pinch (RFP) device EXTRAP T2R without active feedback control are characterized by growth of non-resonant m = 1 unstable resistive wall modes (RWMs) in agreement with linear MHD theory. Resonant m = 1 tearing modes (TMs) exhibit initially fast rotation and the associated perturbed radial fields at the shell are small, but eventually TMs wall-lock and give rise to a growing radial field. The increase in the radial field at the wall due to growing RWMs and wall-locked TMs is correlated with an increase in the toroidal loop voltage, which leads to discharge termination after 3-4 wall times. An active magnetic feedback control system has been installed in EXTRAP T2R. A two-dimensional array of 128 active saddle coils (pair-connected into 64 independent m = 1 coils) is used with intelligent shell feedback control to suppress the m = 1 radial field at the shell. With feedback control, active stabilization of the full toroidal spectrum of 16 unstable m = 1 non-resonant RWMs is achieved, and TM wall locking is avoided. A three-fold extension of the pulse length, up to the power supply limit, is observed. Intelligent shell feedback control is able to maintain the plasma equilibrium for 10 wall times, with plasma confinement parameters sustained at values comparable to those obtained in thick shell devices of similar size

Robust D-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Xiao-lu Ren

2014-01-01

Full Text Available This paper deals with the aerodynamic modeling of a small ducted fan UAV and the problem of attitude stabilization when the parameter of the vehicle is varied. The main aerodynamic model of the hovering flight UAV is first presented. Then, an attitude control is designed from a linearization of the dynamic model around the hovering flight, which is based on the H∞ output feedback control theory with D-stability. Simulation results show that such method has good robustness to the attitude system. They can meet the requirements of attitude control and verify further the feasibility of such a control strategy.

Theoretical modeling of the feedback stabilization of external MHD modes of toroidal geometry

International Nuclear Information System (INIS)

Chance, M.S.; Chu, M.S.; Okabayashi, M.

2001-01-01

A theoretical framework for understanding the feedback mechanism against external MHD modes has been formulated. Efficient computational tools - the GATO stability code coupled with a substantially modified VACUUM code - have been developed to effectively design viable feedback systems against these modes. The analysis assumed a thin resistive shell and a feedback coil structure accurately modeled in θ, with only a single harmonic variation in φ. An optimized configuration and placement of the feedback and sensor coils as well as the time constants and induced currents in the enclosing resistive shell have been computed for the DIII-D device. Up to 90% of the effectiveness of an ideal wall can be achieved. (author)

Role of measurement in feedback-controlled quantum engines

Science.gov (United States)

Yi, Juyeon; Kim, Yong Woon

2018-01-01

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

Direct output feedback control of discrete-time systems

International Nuclear Information System (INIS)

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

1993-01-01

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

Effects of linear and nonlinear time-delayed feedback on the noise-enhanced stability phenomenon in a periodically driven bistable system

International Nuclear Information System (INIS)

Jia, Zheng-Lin; Mei, Dong-Cheng

2011-01-01

We investigate numerically the effects of time delay on the phenomenon of noise-enhanced stability (NES) in a periodically modulated bistable system. Three types of time-delayed feedback, including linear delayed feedback, nonlinear delayed feedback and global delayed feedback, are considered. We find a non-monotonic behaviour of the mean first-passage time (MFPT) as a function of the delay time τ, with a maximum in the case of linear delayed feedback and with a minimum in the case of nonlinear delayed feedback. There are two peculiar values of τ around which the NES phenomenon is enhanced or weakened. For the case of global delayed feedback, the increase of τ always weakens the NES phenomenon. Moreover, we also show that the amplitude A and the frequency Ω of the periodic forcing play an opposite role in the NES phenomenon, i.e. the increase of A weakens the NES effect while the increase of Ω enhances it. These observations demonstrate that the time-delayed feedback can be used as a feasible control scheme for the NES phenomenon

Effects of kinesthetic haptic feedback on standing stability of young healthy subjects and stroke patients.

Science.gov (United States)

Afzal, Muhammad Raheel; Byun, Ha-Young; Oh, Min-Kyun; Yoon, Jungwon

2015-03-13

Haptic control is a useful therapeutic option in rehabilitation featuring virtual reality interaction. As with visual and vibrotactile biofeedback, kinesthetic haptic feedback may assist in postural control, and can achieve balance control. Kinesthetic haptic feedback in terms of body sway can be delivered via a commercially available haptic device and can enhance the balance stability of both young healthy subjects and stroke patients. Our system features a waist-attached smartphone, software running on a computer (PC), and a dedicated Phantom Omni® device. Young healthy participants performed balance tasks after assumption of each of four distinct postures for 30 s (one foot on the ground; the Tandem Romberg stance; one foot on foam; and the Tandem Romberg stance on foam) with eyes closed. Patient eyes were not closed and assumption of the Romberg stance (only) was tested during a balance task 25 s in duration. An Android application running continuously on the smartphone sent mediolateral (ML) and anteroposterior (AP) tilt angles to a PC, which generated kinesthetic haptic feedback via Phantom Omni®. A total of 16 subjects, 8 of whom were young healthy and 8 of whom had suffered stroke, participated in the study. Post-experiment data analysis was performed using MATLAB®. Mean Velocity Displacement (MVD), Planar Deviation (PD), Mediolateral Trajectory (MLT) and Anteroposterior Trajectory (APT) parameters were analyzed to measure reduction in body sway. Our kinesthetic haptic feedback system was effective to reduce postural sway in young healthy subjects regardless of posture and the condition of the substrate (the ground) and to improve MVD and PD in stroke patients who assumed the Romberg stance. Analysis of Variance (ANOVA) revealed that kinesthetic haptic feedback significantly reduced body sway in both categories of subjects. Kinesthetic haptic feedback can be implemented using a commercial haptic device and a smartphone. Intuitive balance cues were

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

Science.gov (United States)

Tran, Tri; Ha, Q P

2018-01-01

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

Generalized fast feedback system in the SLC

International Nuclear Information System (INIS)

Hendrickson, L.; Allison, S.; Gromme, T.; Himel, T.; Krauter, K.; Rouse, F.; Sass, R.; Shoaee, H.

1992-01-01

A generalized fast feedback system has been developed to stabilize beams at various locations in the SLC. The system is designed to perform measurements and change actuator settings to control beam states such as position, angle and energy on a pulse to pulse basis. The software design is based on the state space formalism of digital control theory. The system is database-driven, facilitating the addition of new loops without requiring additional software. A communications system, KISNet, provides fast communications links between microprocessors for feedback loops which involve multiple micros. Feedback loops have been installed in seventeen locations throughout the SLC and have proven to be invaluable in stabilizing the machine. (author)

Dynamics and stabilization of peak current-mode controlled buck converter with constant current load

International Nuclear Information System (INIS)

Leng Min-Rui; Zhou Guo-Hua; Zhang Kai-Tun; Li Zhen-Hua

2015-01-01

The discrete iterative map model of peak current-mode controlled buck converter with constant current load (CCL), containing the output voltage feedback and ramp compensation, is established in this paper. Based on this model the complex dynamics of this converter is investigated by analyzing bifurcation diagrams and the Lyapunov exponent spectrum. The effects of ramp compensation and output voltage feedback on the stability of the converter are investigated. Experimental results verify the simulation and theoretical analysis. The stability boundary and chaos boundary are obtained under the theoretical conditions of period-doubling bifurcation and border collision. It is found that there are four operation regions in the peak current-mode controlled buck converter with CCL due to period-doubling bifurcation and border-collision bifurcation. Research results indicate that ramp compensation can extend the stable operation range and transfer the operating mode, and output voltage feedback can eventually eliminate the coexisting fast-slow scale instability. (paper)

Bifurcation Control of an Electrostatically-Actuated MEMS Actuator with Time-Delay Feedback

Directory of Open Access Journals (Sweden)

Lei Li

2016-10-01

Full Text Available The parametric excitation system consisting of a flexible beam and shuttle mass widely exists in microelectromechanical systems (MEMS, which can exhibit rich nonlinear dynamic behaviors. This article aims to theoretically investigate the nonlinear jumping phenomena and bifurcation conditions of a class of electrostatically-driven MEMS actuators with a time-delay feedback controller. Considering the comb structure consisting of a flexible beam and shuttle mass, the partial differential governing equation is obtained with both the linear and cubic nonlinear parametric excitation. Then, the method of multiple scales is introduced to obtain a slow flow that is analyzed for stability and bifurcation. Results show that time-delay feedback can improve resonance frequency and stability of the system. What is more, through a detailed mathematical analysis, the discriminant of Hopf bifurcation is theoretically derived, and appropriate time-delay feedback force can make the branch from the Hopf bifurcation point stable under any driving voltage value. Meanwhile, through global bifurcation analysis and saddle node bifurcation analysis, theoretical expressions about the system parameter space and maximum amplitude of monostable vibration are deduced. It is found that the disappearance of the global bifurcation point means the emergence of monostable vibration. Finally, detailed numerical results confirm the analytical prediction.

Design of Gain Scheduling Control Using State Derivative Feedback

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Lázaro Ismael Hardy Llins

2017-01-01

Full Text Available In recent years, the study of systems subject to time-varying parameters has awakened the interest of many researchers. The gain scheduling control strategy guarantees a good performance for systems of this type and also is considered as the simplest to deal with problems of this nature. Moreover, the class of systems in which the state derivative signals are easier to obtain than the state signals, such as in the control for reducing vibrations in a mechanical system, has gained an important hole in control theory. Considering those ideas, we propose sufficient conditions via LMI for designing a gain scheduling controller using state derivative feedback. The D-stability methodology was used for improving the performance of the transitory response. Practical implementation in an active suspension system and comparison with other methods validates the efficiency of the proposed strategy.

Bayesian feedback versus Markovian feedback in a two-level atom

International Nuclear Information System (INIS)

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

2002-01-01

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

Nonlinear H-ininity state feedback controllers:

DEFF Research Database (Denmark)

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

1997-01-01

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

Designing a stable feedback control system for blind image deconvolution.

Science.gov (United States)

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

2018-05-01

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

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

Science.gov (United States)

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

2016-04-01

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

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

Science.gov (United States)

Press, J.

1972-01-01

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

Entanglement-assisted quantum feedback control

Science.gov (United States)

Yamamoto, Naoki; Mikami, Tomoaki

2017-07-01

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

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

Science.gov (United States)

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

2017-09-20

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

Stability Analysis of a Voltage-Based Controller for Robot Manipulators

Directory of Open Access Journals (Sweden)

Jorge Orrante-Sakanassi

2013-01-01

Full Text Available A voltage-based control scheme for robot manipulators has been presented in recent literature, where feedback linearization is applied in the electrical equations of the DC motors in order to cancel the electrical current terms. However, in this paper we show that this control technique generates a system of the form Ex = Ax + Bu, where E is a singular matrix, that is to say, a generalized state-space system or singular system. This paper introduces a formal stability analysis of the respective system by considering the state-space equation as a singular system. Furthermore, in order to avoid the singularity of the closed-loop system, modified voltage-based control schemes are proposed, whose Lyapunov stability analyses conclude semiglobal asymptotic stability for the set-point control case and uniform boundedness of the solutions and semiglobal convergence of the position, as well as velocity errors for the tracking control case. The proposed control systems are simulated for the tracking and set-point cases using the CICESE Pelican robot driven by DC motors.

THEORETICAL MODELING OF THE FEEDBACK STABILIZATION OF EXTERNAL MHD MODES IN TOROIDAL GEOMETRY

International Nuclear Information System (INIS)

CHANCE, M.S.; CHU, M.S.; OKABAYASHI, M.; TURNBULL, A.D.

2001-02-01

OAK-B135 A theoretical framework for understanding the feedback mechanism against external MHD modes has been formulated. Efficient computational tools--the GATO stability code coupled with a substantially modified VACUUM code--have been developed to effectively design viable feedback systems against these modes. The analysis assumed a thin resistive shell and a feedback coil structure accurately modeled in θ, with only a single harmonic variation in φ. Time constants and induced currents in the enclosing resistive shell are calculated. An optimized configuration based on an idealized model have been computed for the DIII-D device. Up to 90% of the effectiveness of an ideal wall can be achieved

MARTe at FTU: The new feedback control

Energy Technology Data Exchange (ETDEWEB)

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

2012-12-15

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

Feedback control of resistive instabilities

International Nuclear Information System (INIS)

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

1986-01-01

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

Feedback control for a train-like vehicle

International Nuclear Information System (INIS)

Micaelli, A.

1994-01-01

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

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

International Nuclear Information System (INIS)

Zhao Junchan; Lu Junan

2008-01-01

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

Slewing maneuvers and vibration control of space structures by feedforward/feedback moment-gyro controls

Science.gov (United States)

Yang, Li-Farn; Mikulas, Martin M., Jr.; Park, K. C.; Su, Renjeng

1993-01-01

This paper presents a moment-gyro control approach to the maneuver and vibration suppression of a flexible truss arm undergoing a constant slewing motion. The overall slewing motion is triggered by a feedforward input, and a companion feedback controller is employed to augment the feedforward input and subsequently to control vibrations. The feedforward input for the given motion requirement is determined from the combined CMG (Control Momentum Gyro) devices and the desired rigid-body motion. The rigid-body dynamic model has enabled us to identify the attendant CMG momentum saturation constraints. The task for vibration control is carried out in two stages; first in the search of a suitable CMG placement along the beam span for various slewing maneuvers, and subsequently in the development of Liapunov-based control algorithms for CMG spin-stabilization. Both analytical and numerical results are presented to show the effectiveness of the present approach.

Stabilization and tracking controller for a class of nonlinear discrete-time systems

International Nuclear Information System (INIS)

Sharma, B.B.; Kar, I.N.

2011-01-01

Highlights: → We present recursive design of stabilizing controller for nonlinear discrete-time systems. → Problem of stabilizing and tracking control of single link manipulator system is addressed. → We extend the proposed results to output tracking problems. → The proposed methodology is applied satisfactorily to discrete-time chaotic maps. - Abstract: In this paper, stabilization and tracking control problem for parametric strict feedback class of discrete time systems is addressed. Recursive design of control function based on contraction theory framework is proposed instead of traditional Lyapunov based method. Explicit structure of controller is derived for the addressed class of nonlinear discrete-time systems. Conditions for exponential stability of system states are derived in terms of controller parameters. At each stage of recursive procedure a specific structure of Jacobian matrix is ensured so as to satisfy conditions of stability. The closed loop dynamics in this case remains nonlinear in nature. The proposed algorithm establishes global stability results in quite a simple manner as it does not require formulation of error dynamics. Problem of stabilization and output tracking control in case of single link manipulator system with actuator dynamics is analyzed using the proposed strategy. The proposed results are further extended to stabilization of discrete time chaotic systems. Numerical simulations presented in the end show the effectiveness of the proposed approach.

Feedback control using only quantum back-action

International Nuclear Information System (INIS)

Jacobs, Kurt

2010-01-01

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

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

Science.gov (United States)

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

2012-01-01

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

Stability and bifurcation of numerical discretization of a second-order delay differential equation with negative feedback

International Nuclear Information System (INIS)

Ding Xiaohua; Su Huan; Liu Mingzhu

2008-01-01

The paper analyzes a discrete second-order, nonlinear delay differential equation with negative feedback. The characteristic equation of linear stability is solved, as a function of two parameters describing the strength of the feedback and the damping in the autonomous system. The existence of local Hopf bifurcations is investigated, and the direction and stability of periodic solutions bifurcating from the Hopf bifurcation of the discrete model are determined by the Hopf bifurcation theory of discrete system. Finally, some numerical simulations are performed to illustrate the analytical results found

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

Science.gov (United States)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Feedback control of plasma configuration in JT-60

International Nuclear Information System (INIS)

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

1986-08-01

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

Feedback control of resistive instabilities

International Nuclear Information System (INIS)

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

1985-12-01

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

Feedforward/feedback control synthesis for performance and robustness

Science.gov (United States)

Wie, Bong; Liu, Qiang

1990-01-01

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

Feedback-stabilized fractional fringe laser interferometer for plasma density measurements

International Nuclear Information System (INIS)

Schneider, J.; Robertson, S.

1979-01-01

A feedback stabilization technique is described for a fractional fringe interferometer measuring plasma electron densities. Using this technique, a CO 2 laser Michelson interferometer with a pyroelectric detector exhibited a sensitivity of 3.4 x 10 -4 fringe on a 1-ms time scale and, due to acoustic pickup, 1.8 x 10 -2 fringe on a 10-ms time scale. The rise time is 45 μs. Stabilization against slow drifts in mirror distances is achieved by an electromechanically translated mirror driven by a servo system having a 0.2-s response time. A mechanical chopper in one of the two beam paths generates the signal which drives the servo system

A Coherence Preservation Control Strategy in Cavity QED Based on Classical Quantum Feedback

Directory of Open Access Journals (Sweden)

Ming Li

2013-01-01

Full Text Available For eliminating the unexpected decoherence effect in cavity quantum electrodynamics (cavity QED, the transfer function of Rabi oscillation is derived theoretically using optical Bloch equations. In particular, the decoherence in cavity QED from the atomic spontaneous emission is especially considered. A feedback control strategy is proposed to preserve the coherence through Rabi oscillation stabilization. In the scheme, a classical quantum feedback channel for the quantum information acquisition is constructed via the quantum tomography technology, and a compensation system based on the root locus theory is put forward to suppress the atomic spontaneous emission and the associated decoherence. The simulation results have proved its effectiveness and superiority for the coherence preservation.

Coherent-feedback-induced controllable optical bistability and photon blockade

International Nuclear Information System (INIS)

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

2015-01-01

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

Microcontroller-based Feedback Control Laboratory Experiments

Directory of Open Access Journals (Sweden)

Chiu Choi

2014-06-01

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

Bifurcation analysis in delayed feedback Jerk systems and application of chaotic control

International Nuclear Information System (INIS)

Zheng Baodong; Zheng Huifeng

2009-01-01

Jerk systems with delayed feedback are considered. Firstly, by employing the polynomial theorem to analyze the distribution of the roots to the associated characteristic equation, the conditions of ensuring the existence of Hopf bifurcation are given. Secondly, the stability and direction of the Hopf bifurcation are determined by applying the normal form method and center manifold theorem. Finally, the application to chaotic control is investigated, and some numerical simulations are carried out to illustrate the obtained results.

Fast feedback for linear colliders

International Nuclear Information System (INIS)

Hendrickson, L.; Adolphsen, C.; Allison, S.; Gromme, T.; Grossberg, P.; Himel, T.; Krauter, K.; MacKenzie, R.; Minty, M.; Sass, R.

1995-01-01

A fast feedback system provides beam stabilization for the SLC. As the SLC is in some sense a prototype for future linear colliders, this system may be a prototype for future feedbacks. The SLC provides a good base of experience for feedback requirements and capabilities as well as a testing ground for performance characteristics. The feedback system controls a wide variety of machine parameters throughout the SLC and associated experiments, including regulation of beam position, angle, energy, intensity and timing parameters. The design and applications of the system are described, in addition to results of recent performance studies

Exponential Stabilization of Underactuated Vehicles

Energy Technology Data Exchange (ETDEWEB)

Pettersen, K.Y.

1996-12-31

Underactuated vehicles are vehicles with fewer independent control actuators than degrees of freedom to be controlled. Such vehicles may be used in inspection of sub-sea cables, inspection and maintenance of offshore oil drilling platforms, and similar. This doctoral thesis discusses feedback stabilization of underactuated vehicles. The main objective has been to further develop methods from stabilization of nonholonomic systems to arrive at methods that are applicable to underactuated vehicles. A nonlinear model including both dynamics and kinematics is used to describe the vehicles, which may be surface vessels, spacecraft or autonomous underwater vehicles (AUVs). It is shown that for a certain class of underactuated vehicles the stabilization problem is not solvable by linear control theory. A new stability result for a class of homogeneous time-varying systems is derived and shown to be an important tool for developing continuous periodic time-varying feedback laws that stabilize underactuated vehicles without involving cancellation of dynamics. For position and orientation control of a surface vessel without side thruster a new continuous periodic feedback law is proposed that does not cancel any dynamics, and that exponentially stabilizes the origin of the underactuated surface vessel. A further issue considered is the stabilization of the attitude of an AUV. Finally, the thesis discusses stabilization of both position and attitude of an underactuated AUV. 55 refs., 28 figs.

Exponential Stabilization of an Underactuated Surface Vessel

Directory of Open Access Journals (Sweden)

Kristin Y. Pettersen

1997-07-01

Full Text Available The paper shows that a large class of underactuated vehicles cannot be asymptotically stabilized by either continuous or discontinuous state feedback. Furthermore, stabilization of an underactuated surface vessel is considered. Controllability properties of the surface vessels is presented, and a continuous periodic time-varying feedback law is proposed. It is shown that this feedback law exponentially stabilizes the surface vessel to the origin, and this is illustrated by simulations.

Combined feedforward and feedback control of end milling system

OpenAIRE

Čuš, Franc; Župerl, Uroš; Balič, Jože

2012-01-01

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

Smart building temperature control using occupant feedback

Science.gov (United States)

Gupta, Santosh K.

This work was motivated by the problem of computing optimal commonly-agreeable thermal settings in spaces with multiple occupants. In this work we propose algorithms that take into account each occupant's preferences along with the thermal correlations between different zones in a building, to arrive at optimal thermal settings for all zones of the building in a coordinated manner. In the first part of this work we incorporate active occupant feedback to minimize aggregate user discomfort and total energy cost. User feedback is used to estimate the users comfort range, taking into account possible inaccuracies in the feedback. The control algorithm takes the energy cost into account, trading it off optimally with the aggregate user discomfort. A lumped heat transfer model based on thermal resistance and capacitance is used to model a multi-zone building. We provide a stability analysis and establish convergence of the proposed solution to a desired temperature that minimizes the sum of energy cost and aggregate user discomfort. However, for convergence to the optimal, sufficient separation between the user feedback frequency and the dynamics of the system is necessary; otherwise, the user feedback provided do not correctly reflect the effect of current control input value on user discomfort. The algorithm is further extended using singular perturbation theory to determine the minimum time between successive user feedback solicitations. Under sufficient time scale separation, we establish convergence of the proposed solution. Simulation study and experimental runs on the Watervliet based test facility demonstrates performance of the algorithm. In the second part we develop a consensus algorithm for attaining a common temperature set-point that is agreeable to all occupants of a zone in a typical multi-occupant space. The information on the comfort range functions is indeed held privately by each occupant. Using occupant differentiated dynamically adjusted prices as

COMPARISON OF SENSORS FOR RESISTIVE WALL MODE FEEDBACK CONTROL. MILESTONE No.145 ''CONTAINING PLASMA INSTABILITIES WITH METAL WALLS''

International Nuclear Information System (INIS)

STRAIT, E.J.; CHU, M.S.; GAROFALO, A.M.; LAHAYE, R.J.; OKABAYASHI, M.; REIMERDES, H.; SCOVILLE, J.T.; TURNBULL, A.D.

2002-01-01

OAK A271 COMPARISON OF SENSORS FOR RESISTIVE WALL MODE FEEDBACK CONTROL MILESTONE No.145 CONTAINING PLASMA INSTABILITIES WITH METAL WALLS. The most serious instabilities in the tokamak are those described by ideal magneto-hydrodynamic theory. These modes limit the stable operating space of the tokamak. The ideal MHD calculations predict the stable operating space of the tokamak may be approximately doubled when a perfectly conducting metal wall is placed near the plasma boundary, compared to the case with no wall (free boundary). The unstable mode distortions of the plasma column cannot bulge out through a perfectly conducting wall. However, real walls have finite conductivity and when plasmas are operated in the regime between the free boundary stability limit and the perfectly conducting wall limit, the unstable mode encountered in that case the resistive wall mode, can leak out through the metal wall, allowing the mode to keep slowly growing. The slow growth affords the possibility of feedback stabilizing this mode with external coils. DIII-D is making good progress in such feedback stabilization research and in 2002 will use an improved set of mode sensors inside the vacuum vessel and closer to the plasma surface which are expected theoretically to improve the ability to stabilize the resistive wall mode

Using periodic modulation to control coexisting attractors induced by delayed feedback

International Nuclear Information System (INIS)

Martinez-Zerega, B.E.; Pisarchik, A.N.; Tsimring, L.S.

2003-01-01

A delay in feedback can stabilize simultaneously several unstable periodic orbits embedded in a chaotic attractor. We show that by modulating the feedback variable it is possible to lock one of these states and eliminate other coexisting periodic attractors. The method is demonstrated with both a logistic map and a CO 2 laser model

Classical linear-control analysis applied to business-cycle dynamics and stability

Science.gov (United States)

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.

A Lyapunov Stability Theory-Based Control Strategy for Three-Level Shunt Active Power Filter

Directory of Open Access Journals (Sweden)

Yijia Cao

2017-01-01

Full Text Available The three-phase three-wire neutral-point-clamped shunt active power filter (NPC-SAPF, which most adopts classical closed-loop feedback control methods such as proportional-integral (PI, proportional-resonant (PR and repetitive control, can only output 1st–25th harmonic currents with 10–20 kHz switching frequency. The reason for this is that the controller design must make a compromise between system stability and harmonic current compensation ability under the condition of less than 20 kHz switching frequency. To broaden the bandwidth of the compensation current, a Lyapunov stability theory-based control strategy is presented in this paper for NPC-SAPF. The proposed control law is obtained by constructing the switching function on the basis of the mathematical model and the Lyapunov candidate function, which can avoid introducing closed-loop feedback control and keep the system globally asymptotically stable. By means of the proposed method, the NPC-SAPF has compensation ability for the 1st–50th harmonic currents, the total harmonic distortion (THD and each harmonic content of grid currents satisfy the requirements of IEEE Standard 519-2014. In order to verify the superiority of the proposed control strategy, stability conditions of the proposed strategy and the representative PR controllers are compared. The simulation results in MATLAB/Simulink (MathWorks, Natick, MA, USA and the experimental results obtained on a 6.6 kVA NPC-SAPF laboratory prototype validate the proposed control strategy.

Virtual velocity loop based on MEMS accelerometers for optical stabilization control system

Science.gov (United States)

Ren, Wei; Deng, Chao; Mao, Yao; Ren, Ge

2017-08-01

In the optical stabilization control system (OSCS) control system based on a charge-coupled device (CCD), stabilization performance of the line-of-sight is severely limited by the mechanical resonance and the low sampling rate of the CCD. An approach to improve the stabilization performance of the OSCS control system with load restriction based on three loops, including an acceleration loop, a virtual velocity loop, and a position loop, by using MEMS accelerometers and a CCD is proposed. The velocity signal is obtained by accelerators instead of gyro sensors. Its advantages are low power, low cost, small size, and wide measuring range. A detailed analysis is provided to show how to design the virtual velocity loop and correct virtual velocity loop drift. Experimental results show that the proposed multiloop feedback control method with virtual velocity loop in which the disturbance suppression performance is better than that of the dual loop control with only an acceleration loop and a position loop at low frequency.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

Boundary feedback stabilization of distributed parameter systems

DEFF Research Database (Denmark)

Pedersen, Michael

1988-01-01

The author introduces the method of pseudo-differential stabilization. He notes that the theory of pseudo-differential boundary operators is a fruitful approach to problems arising in control and stabilization theory of distributed-parameter systems. The basic pseudo-differential calculus can...

An Industrial Model Based Disturbance Feedback Control Scheme

DEFF Research Database (Denmark)

Kawai, Fukiko; Nakazawa, Chikashi; Vinther, Kasper

2014-01-01

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

Effect of overall feedback inhibition in unbranched biosynthetic pathways.

Science.gov (United States)

Alves, R; Savageau, M A

2000-11-01

We have determined the effects of control by overall feedback inhibition on the systemic behavior of unbranched metabolic pathways with an arbitrary pattern of other feedback inhibitions by using a recently developed numerical generalization of Mathematically Controlled Comparisons, a method for comparing the function of alternative molecular designs. This method allows the rigorous determination of the changes in systemic properties that can be exclusively attributed to overall feedback inhibition. Analytical results show that the unbranched pathway can achieve the same steady-state flux, concentrations, and logarithmic gains with respect to changes in substrate, with or without overall feedback inhibition. The analytical approach also shows that control by overall feedback inhibition amplifies the regulation of flux by the demand for end product while attenuating the sensitivity of the concentrations to the same demand. This approach does not provide a clear answer regarding the effect of overall feedback inhibition on the robustness, stability, and transient time of the pathway. However, the generalized numerical method we have used does clarify the answers to these questions. On average, an unbranched pathway with control by overall feedback inhibition is less sensitive to perturbations in the values of the parameters that define the system. The difference in robustness can range from a few percent to fifty percent or more, depending on the length of the pathway and on the metabolite one considers. On average, overall feedback inhibition decreases the stability margins by a minimal amount (typically less than 5%). Finally, and again on average, stable systems with overall feedback inhibition respond faster to fluctuations in the metabolite concentrations. Taken together, these results show that control by overall feedback inhibition confers several functional advantages upon unbranched pathways. These advantages provide a rationale for the prevalence of this

Capacitor Current Feedback-Based Active Resonance Damping Strategies for Digitally-Controlled Inductive-Capacitive-Inductive-Filtered Grid-Connected Inverters

DEFF Research Database (Denmark)

Lorzadeh, Iman; Askarian Abyaneh, Hossein; Savaghebi, Mehdi

2016-01-01

Inductive-capacitive-inductive (LCL)-type line filters are widely used in grid-connected voltage source inverters (VSIs), since they can provide substantially improved attenuation of switching harmonics in currents injected into the grid with lower cost, weight and power losses than their L......-type counterparts. However, the inclusion of third order LCL network complicates the current control design regarding the system stability issues because of an inherent resonance peak which appears in the open-loop transfer function of the inverter control system near the control stability boundary. To avoid...... passive (resistive) resonance damping solutions, due to their additional power losses, active damping (AD) techniques are often applied with proper control algorithms in order to damp the LCL filter resonance and stabilize the system. Among these techniques, the capacitor current feedback (CCF) AD has...

Feedback-Equivalence of Nonlinear Systems with Applications to Power System Equations.

Science.gov (United States)

Marino, Riccardo

The key concept of the dissertation is feedback equivalence among systems affine in control. Feedback equivalence to linear systems in Brunovsky canonical form and the construction of the corresponding feedback transformation are used to: (i) design a nonlinear regulator for a detailed nonlinear model of a synchronous generator connected to an infinite bus; (ii) establish which power system network structures enjoy the feedback linearizability property and design a stabilizing control law for these networks with a constraint on the control space which comes from the use of d.c. lines. It is also shown that the feedback linearizability property allows the use of state feedback to contruct a linear controllable system with a positive definite linear Hamiltonian structure for the uncontrolled part if the state space is even; a stabilizing control law is derived for such systems. Feedback linearizability property is characterized by the involutivity of certain nested distributions for strongly accessible analytic systems; if the system is defined on a manifold M diffeomorphic to the Euclidean space, it is established that the set where the property holds is a submanifold open and dense in M. If an analytic output map is defined, a set of nested involutive distributions can be always defined and that allows the introduction of an observability property which is the dual concept, in some sense, to feedback linearizability: the goal is to investigate when a nonlinear system affine in control with an analytic output map is feedback equivalent to a linear controllable and observable system. Finally a nested involutive structure of distributions is shown to guarantee the existence of a state feedback that takes a nonlinear system affine in control to a single input one, both feedback equivalent to linear controllable systems, preserving one controlled vector field.

Robust Speed Tracking Control for a Micro Turbine as a Distributed Energy Resource via Feedback Domination and Disturbance Observer

Directory of Open Access Journals (Sweden)

Ancheng Xu

2017-01-01

Full Text Available Micro turbine (MT is characterized with complex dynamics, parameter uncertainties, and variable working conditions. In this paper, a novel robust controller is investigated for a single-shaft micro turbine as a distributed energy resource by integrating a feedback domination control technique and a feedforward disturbance compensation. An active estimation process of the mismatched disturbances is firstly enabled by constructing a disturbance observer. Secondly, we adopt a feedback domination technique, rather than popularly used feedback linearization methods, to handle the system nonlinearities. In an explicit way, the composite controllers are then derived by recursive design based on Lyapunov theory while a global input-to-state stability can be guaranteed. Abundant comparison simulation results are provided to demonstrate the effectiveness of the proposed scheme, which not only perform an improved closed-loop control performance comparing to all existing results, but also render a simple control law which will ease its practical implementation.

Mixed H2/Hinfinity output-feedback control of second-order neutral systems with time-varying state and input delays.

Science.gov (United States)

Karimi, Hamid Reza; Gao, Huijun

2008-07-01

A mixed H2/Hinfinity output-feedback control design methodology is presented in this paper for second-order neutral linear systems with time-varying state and input delays. Delay-dependent sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller, which guarantees asymptotic stability and a mixed H2/Hinfinity performance for the closed-loop system of the second-order neutral linear system, is then developed directly instead of coupling the model to a first-order neutral system. A Lyapunov-Krasovskii method underlies the LMI-based mixed H2/Hinfinity output-feedback control design using some free weighting matrices. The simulation results illustrate the effectiveness of the proposed methodology.

Design of output feedback controller for a unified chaotic system

International Nuclear Information System (INIS)

Li Wenlin; Chen Xiuqin; Shen Zhiping

2008-01-01

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

Task-space sensory feedback control of robot manipulators

CERN Document Server

Cheah, Chien Chern

2015-01-01

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

Stabilization of Networked Control Systems with Variable Delays and Saturating Inputs

Directory of Open Access Journals (Sweden)

M. Mahmodi Kaleybar

2014-06-01

Full Text Available In this paper, improved conditions for the synthesis of static state-feedback controller are derived to stabilize networked control systems (NCSs subject to actuator saturation. Both of the data packet latency and dropout which deteriorate the performance of the closed-loop system are considered in the NCS model via variable delays. Two different techniques are employed to incorporate actuator saturation in the system description. Utilizing Lyapunov-Krasovskii Theorem, delay-dependent conditions are obtained in terms of linear matrix inequalities (LMIs to determine the static feedback gain. Moreover, an optimization problem is formulated in order to find the less conservative estimate for the region of attraction corresponding to different maximum allowable delays. Numerical examples are introduced to demonstrate the effectiveness and advantages of the proposed schemes.

Plasma control system upgrade and increased plasma stability in NSTX

Energy Technology Data Exchange (ETDEWEB)

Mastrovito, D., E-mail: dmastrovito@pppl.go [Princeton Plasma Physics Laboratory, P.O. Box 451 Princeton, NJ 08543 (United States); Gates, D.; Gerhard, S.; Lawson, J.; Ludescher-Furth, C.; Marsala, R. [Princeton Plasma Physics Laboratory, P.O. Box 451 Princeton, NJ 08543 (United States)

2010-07-15

Plasma control on the National Spherical Torus Experiment (NSTX) was previously accomplished using eight 333 MHz G4 processors built by Sky computers. Several planned improvements and additional control algorithms required significant upgrades to our real-time control computers and real-time data acquisition infrastructure. Several in-house modules have been designed and implemented including: the digital time stamp module (DITS) and for digital/analog front panel data port (FPDP) output, the FPDP output module digital/analog (FOMD/A). Standard Linux based Intel computers perform the real-time control tasks and InfiniBand as been employed for communication between a user-accessible 'host' server and the real-time computer. In addition to several independent real-time processes the General Atomics developed PCS (Bell (2006) ) system infrastructure continues to be used on NSTX. While maintaining previous functionality, improvements in the control system software include: an RWM feedback algorithm, beta feedback NBI control, more comprehensive error logging and trapping, more user-friendly interface, more complete archiving and restoring functionality, and better status reporting and diagnostic tools. Once completed, we succeeded in increasing overall plasma stability and decreasing control system latency by several times.

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

African Journals Online (AJOL)

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

Feedback Control of MEMS to Atoms

CERN Document Server

Shapiro, Benjamin

2012-01-01

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

Stabilization of third-order bilinear systems using constant controls

Directory of Open Access Journals (Sweden)

A. E. Golubev

2014-01-01

Full Text Available This paper deals with the zero equilibrium stabilization for dynamical systems that have control input singularities. A dynamical system with scalar control input is called nonregular if the coefficient of input becomes null on a subset of the phase space that contains the origin. One of the classes of nonregular dynamical systems is represented by bilinear systems. In case of second-order bilinear systems the necessary and sufficient conditions for the zero equilibrium stabilizability are known in the literature. However, in general case the stabilization problem in the presence of control input singularities has not been solved yet.In this note we solve the problem of the zero equilibrium stabilization for the third-order bilinear dynamical systems given in a canonical form. The solution is found in the class of constant controls. The necessary and sufficient conditions are obtained for the zero equilibrium stabilizability of the bilinear systems in question.The dependence of the zero equilibrium stabilizability on system parameter values is analyzed. The general criteria of stabilizability by means of constant controls are given for the bilinear systems in question. In case when all the system parameters have nonzero values the necessary and sufficient stabilizability conditions are proved. The case when some of the parameters are equal to zero is also considered.Further research can be focused on extending the obtained results to a higher-order case of bilinear and affine dynamical systems. The solution of the considered stabilization problem should also be found not only within constant controls but also in a class of state feedbacks, particularly, in the case when stabilizing constant control does not exist.One of the potential application areas for the obtained theoretical results is automatic control of technical plants like unmanned aerial vehicles and mobile robots.

Pigeons (C. livia Follow Their Head during Turning Flight: Head Stabilization Underlies the Visual Control of Flight

Directory of Open Access Journals (Sweden)

Ivo G. Ros

2017-12-01

Full Text Available Similar flight control principles operate across insect and vertebrate fliers. These principles indicate that robust solutions have evolved to meet complex behavioral challenges. Following from studies of visual and cervical feedback control of flight in insects, we investigate the role of head stabilization in providing feedback cues for controlling turning flight in pigeons. Based on previous observations that the eyes of pigeons remain at relatively fixed orientations within the head during flight, we test potential sensory control inputs derived from head and body movements during 90° aerial turns. We observe that periods of angular head stabilization alternate with rapid head repositioning movements (head saccades, and confirm that control of head motion is decoupled from aerodynamic and inertial forces acting on the bird's continuously rotating body during turning flapping flight. Visual cues inferred from head saccades correlate with changes in flight trajectory; whereas the magnitude of neck bending predicts angular changes in body position. The control of head motion to stabilize a pigeon's gaze may therefore facilitate extraction of important motion cues, in addition to offering mechanisms for controlling body and wing movements. Strong similarities between the sensory flight control of birds and insects may also inspire novel designs of robust controllers for human-engineered autonomous aerial vehicles.

A simple toroidal shell model for the study of feedback stabilization of resistive wall modes in a tokamak plasma

International Nuclear Information System (INIS)

Jhang, Hogun

2008-01-01

A study is conducted on the feedback stabilization of resistive wall modes (RWMs) in a tokamak plasma using a toroidal shell model. An analytically tractable form of the RWM dispersion relation is derived in the presence of a set of discrete feedback coil currents. A parametric study is carried out to optimize the feedback system configuration. It is shown that the total toroidal angle of a resistive wall spanned by the feedback coils and the poloidal angular extent of a feedback coil are crucial parameters to determine the efficacy of the feedback system

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

Science.gov (United States)

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

2014-01-01

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

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

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

Controlling Unknown Saddle Type Steady States of Dynamical Systems with Latency in the Feedback Loop

DEFF Research Database (Denmark)

Tamasevicius, Arunas; Bumeliene, Skaidra; Tamaseviciute, Elena

2009-01-01

We suggest an adaptive control technique for stabilizing saddle type unstable steady states of dynamical systems. The controller is composed of an unstable and a stable high-pass filters operating in parallel. The mathematical model is considered analytically and numerically. The conjoint...... controller is sufficiently robust to time latencies in the feedback loop. In addition, it is not sensitive to the damping parameters of the system and is relatively fast. Experiments have been performed using a simplified version of the electronic Young-Silva circuit imitating behavior of the Duffing...

Projective Synchronization of Chaotic Discrete Dynamical Systems via Linear State Error Feedback Control

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.

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

Science.gov (United States)

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

2015-10-01

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

Robust state feedback controller design of STATCOM using chaotic optimization algorithm

Directory of Open Access Journals (Sweden)

Safari Amin

2010-01-01

Full Text Available In this paper, a new design technique for the design of robust state feedback controller for static synchronous compensator (STATCOM using Chaotic Optimization Algorithm (COA is presented. The design is formulated as an optimization problem which is solved by the COA. Since chaotic planning enjoys reliability, ergodicity and stochastic feature, the proposed technique presents chaos mapping using Lozi map chaotic sequences which increases its convergence rate. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results reveal that the proposed controller has an excellent capability in damping power system low frequency oscillations and enhances greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions shows that the phase based controller is superior compare to the magnitude based controller.

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Science.gov (United States)

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

2008-01-01

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

Cross-Layer Adaptive Feedback Scheduling of Wireless Control Systems

Directory of Open Access Journals (Sweden)

Jinxiang Dong

2008-07-01

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

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

Science.gov (United States)

Zhu, Linhe; Zhao, Hongyong; Wang, Xiaoming

2015-05-01

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

Minimal-Inversion Feedforward-And-Feedback Control System

Science.gov (United States)

Seraji, Homayoun

1990-01-01

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

Optimal centralized and decentralized velocity feedback control on a beam

International Nuclear Information System (INIS)

Engels, W P; Elliott, S J

2008-01-01

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

Local and global stability for Lotka-Volterra systems with distributed delays and instantaneous negative feedbacks

Science.gov (United States)

Faria, Teresa; Oliveira, José J.

This paper addresses the local and global stability of n-dimensional Lotka-Volterra systems with distributed delays and instantaneous negative feedbacks. Necessary and sufficient conditions for local stability independent of the choice of the delay functions are given, by imposing a weak nondelayed diagonal dominance which cancels the delayed competition effect. The global asymptotic stability of positive equilibria is established under conditions slightly stronger than the ones required for the linear stability. For the case of monotone interactions, however, sharper conditions are presented. This paper generalizes known results for discrete delays to systems with distributed delays. Several applications illustrate the results.

Stabilizing operation point technique based on the tunable distributed feedback laser for interferometric sensors

Science.gov (United States)

Mao, Xuefeng; Zhou, Xinlei; Yu, Qingxu

2016-02-01

We describe a stabilizing operation point technique based on the tunable Distributed Feedback (DFB) laser for quadrature demodulation of interferometric sensors. By introducing automatic lock quadrature point and wavelength periodically tuning compensation into an interferometric system, the operation point of interferometric system is stabilized when the system suffers various environmental perturbations. To demonstrate the feasibility of this stabilizing operation point technique, experiments have been performed using a tunable-DFB-laser as light source to interrogate an extrinsic Fabry-Perot interferometric vibration sensor and a diaphragm-based acoustic sensor. Experimental results show that good tracing of Q-point was effectively realized.

Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation.

Science.gov (United States)

Nataraj, Raviraj; Audu, Musa L; Triolo, Ronald J

2012-05-06

The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM) acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI). In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS), and the resulting joint kinematics and COM acceleration data was analyzed. Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its superior robustness and small number of inputs required.

Tutorial on beam-based feedback systems for linacs

International Nuclear Information System (INIS)

Hendrickson, L.; Allison, S.; Gromme, T.; Grossberg, P.; Himel, T.; Krauter, K.; MacKenzie, R.; Ross, M.; Sass, R.; Shoaee, H.

1994-08-01

A generalized fast feedback system stabilizes beams in the SLC. It performs measurements and modifies actuator settings to control beam states such as position, angle, energy and intensity on a pulse to pulse basis. An adaptive cascade feature allows communication between a series of linac loops, avoiding overcorrection problems. The system is based on the state space formalism of digital control theory. Due to the database-driven design, new loops are added without requiring software modifications. Recent enhancements support the monitoring and control of nonlinear states such as beam phase using excitation techniques. In over three years of operation, the feedback system has grown from its original eight loops to more than fifty loops, and it has been invaluable in stabilizing the machine

Stability and control of resistive wall modes in high beta, low rotation DIII-D plasmas

International Nuclear Information System (INIS)

Garofalo, A.M.; Jackson, G.L.; Haye, R.J. La; Okabayashi, M.; Reimerdes, H.; Strait, E.J.; Ferron, J.R.; Groebner, R.J.; In, Y.; Lanctot, M.J.; Matsunaga, G.; Navratil, G.A.; Solomon, W.M.; Takahashi, H.; Takechi, M.; Turnbull, A.D.

2007-01-01

Recent high-β DIII-D (Luxon J.L. 2002 Nucl. Fusion 42 64) experiments with the new capability of balanced neutral beam injection show that the resistive wall mode (RWM) remains stable when the plasma rotation is lowered to a fraction of a per cent of the Alfven frequency by reducing the injection of angular momentum in discharges with minimized magnetic field errors. Previous DIII-D experiments yielded a high plasma rotation threshold (of order a few per cent of the Alfven frequency) for RWM stabilization when resonant magnetic braking was applied to lower the plasma rotation. We propose that the previously observed rotation threshold can be explained as the entrance into a forbidden band of rotation that results from torque balance including the resonant field amplification by the stable RWM. Resonant braking can also occur naturally in a plasma subject to magnetic instabilities with a zero frequency component, such as edge localized modes. In DIII-D, robust RWM stabilization can be achieved using simultaneous feedback control of the two sets of non-axisymmetric coils. Slow feedback control of the external coils is used for dynamic error field correction; fast feedback control of the internal non-axisymmetric coils provides RWM stabilization during transient periods of low rotation. This method of active control of the n = 1 RWM has opened access to new regimes of high performance in DIII-D. Very high plasma pressure combined with elevated q min for high bootstrap current fraction, and internal transport barriers for high energy confinement, are sustained for almost 2 s, or 10 energy confinement times, suggesting a possible path to high fusion performance, steady-state tokamak scenarios

Feedback linearizing control of a MIMO power system

Science.gov (United States)

Ilyes, Laszlo

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

Achievement of radiative feedback control for long-pulse operation on EAST

Science.gov (United States)

Wu, K.; Yuan, Q. P.; Xiao, B. J.; Wang, L.; Duan, Y. M.; Chen, J. B.; Zheng, X. W.; Liu, X. J.; Zhang, B.; Xu, J. C.; Luo, Z. P.; Zang, Q.; Li, Y. Y.; Feng, W.; Wu, J. H.; Yang, Z. S.; Zhang, L.; Luo, G.-N.; Gong, X. Z.; Hu, L. Q.; Hu, J. S.; Li, J.

2018-05-01

The active feedback control of radiated power to prevent divertor target plates overheating during long-pulse operation has been developed and implemented on EAST. The radiation control algorithm, with impurity seeding via a supersonic molecular beam injection (SMBI) system, has shown great success in both reliability and stability. By seeding a sequence of short neon (Ne) impurity pulses with the SMBI from the outer mid-plane, the radiated power of the bulk plasma can be well controlled, and the duration of radiative control (feedforward and feedback) is 4.5 s during a discharge of 10 s. Reliable control of the total radiated power of bulk plasma has been successfully achieved in long-pulse upper single null (USN) discharges with a tungsten divertor. The achieved control range of {{f}rad} is 20%–30% in L-mode regimes and 18%–36% in H-mode regimes. The temperature of the divertor target plates was maintained at a low level during the radiative control phase. The peak particle flux on the divertor target was decreased by feedforward Ne injection in the L-mode discharges, while the Ne pulses from the SMBI had no influence on the peak particle flux because of the very small injecting volume. It is shown that although the radiated power increased, no serious reduction of plasma-stored energy or confinement was observed during the control phase. The success of the radiation control algorithm and current experiments in radiated power control represents a significant advance for steady-state divertor radiation and heat flux control on EAST for near-future long-pulse operation.

Dynamic axial stabilization of counterpropagating beam-traps with feedback control

DEFF Research Database (Denmark)

Tauro, Sandeep; Bañas, Andrew Rafael; Palima, Darwin

2010-01-01

Optical trapping in a counter-propagating (CP) beam-geometry provides unique advantages in terms of working distance, aberration requirements and intensity hotspots. However, its axial performance is governed by the wave propagation of the opposing beams, which can limit the practical geometries....... Advanced implementation of this feedback-driven approach can help make CP-trapping resistant to a host of perturbations such as laser fluctuations, mechanical vibrations and other distortions emphasizing its experimental versatility....

Fuzzy Logic Controller Stability Analysis Using a Satisfiability Modulo Theories Approach

Science.gov (United States)

Arnett, Timothy; Cook, Brandon; Clark, Matthew A.; Rattan, Kuldip

2017-01-01

While many widely accepted methods and techniques exist for validation and verification of traditional controllers, at this time no solutions have been accepted for Fuzzy Logic Controllers (FLCs). Due to the highly nonlinear nature of such systems, and the fact that developing a valid FLC does not require a mathematical model of the system, it is quite difficult to use conventional techniques to prove controller stability. Since safety-critical systems must be tested and verified to work as expected for all possible circumstances, the fact that FLC controllers cannot be tested to achieve such requirements poses limitations on the applications for such technology. Therefore, alternative methods for verification and validation of FLCs needs to be explored. In this study, a novel approach using formal verification methods to ensure the stability of a FLC is proposed. Main research challenges include specification of requirements for a complex system, conversion of a traditional FLC to a piecewise polynomial representation, and using a formal verification tool in a nonlinear solution space. Using the proposed architecture, the Fuzzy Logic Controller was found to always generate negative feedback, but inconclusive for Lyapunov stability.

Vibration isolation using nonlinear damping implemented by a feedback-controlled MR damper

International Nuclear Information System (INIS)

Ho, C; Lang, Z Q; Billings, S A; Sapiński, B

2013-01-01

The main problem of using a conventional linear damper on a vibration isolation system is that the reduction of the resonant peak in many cases inevitably results in the degradation of the high-frequency transmissibility. Instead of using active control methods which normally depend on the model of the controlled plant and where unmodelled dynamics may induce stability concerns, recent studies have revealed that optimal vibration isolation over a wide frequency range can be achieved by using nonlinear damping. The present study is concerned with the realization of the ideal nonlinear damping characteristic using a feedback-controlled MR damper. Both simulation and experimental studies are conducted to demonstrate the advantages of the simple but effective vibration control strategy. This research work has significant implications for the effective use of MR dampers in the vibration control of a wide range of engineering systems. (paper)

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

Science.gov (United States)

Qin, Shunda; Ge, Hongxia; Cheng, Rongjun

2018-02-01

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

Generalized Momentum Control of the Spin-Stabilized Magnetospheric Multiscale Formation

Science.gov (United States)

Queen, Steven Z.; Shah, Neerav; Benegalrao, Suyog S.; Blackman, Kathie

2015-01-01

The Magnetospheric Multiscale (MMS) mission consists of four identically instrumented, spin-stabilized observatories elliptically orbiting the Earth in a tetrahedron formation. The on-board attitude control system adjusts the angular momentum of the system using a generalized thruster-actuated control system that simultaneously manages precession, nutation and spin. Originally developed using Lyapunov control-theory with rate-feedback, a published algorithm has been augmented to provide a balanced attitude/rate response using a single weighting parameter. This approach overcomes an orientation sign-ambiguity in the existing formulation, and also allows for a smoothly tuned-response applicable to both a compact/agile spacecraft, as well as one with large articulating appendages.

A new strategy for transient stability using augmented generator control and local dynamic braking

Energy Technology Data Exchange (ETDEWEB)

Dorsey, J; Jiang, H; Habetler, T [Georgia Inst. of Tech., Atlanta, GA (United States); Qu, Z [University of Central Florida, Orlando, FL (United States)

1994-12-31

A decentralized automatic control strategy for significantly improving the transient stability of a large power system is introduced. The strategy combines local dynamic braking and a straightforward augmentation of the existing turbine / governor control system that uses only local feedback. The brake resistor, which employs thick film, metal oxide technology, has no inductance and is of very low resistance, allowing its use during fault to show a generator`s acceleration. Simulation results using the 39 Bus New England system show that the strategy dramatically increases the global stability of a power system. (author) 15 refs., 7 figs., 1 tab.

Carrier-envelope phase stabilization and control using a transmission grating compressor and an AOPDF.

Science.gov (United States)

Canova, Lorenzo; Chen, Xiaowei; Trisorio, Alexandre; Jullien, Aurélie; Assion, Andreas; Tempea, Gabriel; Forget, Nicolas; Oksenhendler, Thomas; Lopez-Martens, Rodrigo

2009-05-01

Carrier-envelope phase (CEP) stabilization of a femtosecond chirped-pulse amplification system featuring a compact transmission grating compressor is demonstrated. The system includes two amplification stages and routinely generates phase-stable (approximately 250 mrad rms) 2 mJ, 25 fs pulses at 1 kHz. Minimizing the optical pathway in the compressor enables phase stabilization without feedback control of the grating separation or beam pointing. We also demonstrate for the first time to the best of our knowledge, out-of-loop control of the CEP using an acousto-optic programmable dispersive filter inside the laser chain.

FEEDBACK AND LOGISTICS CONTROLLING

Directory of Open Access Journals (Sweden)

Mehesne Berek Szilvia

2015-07-01

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

Influence of Electrotactile Tongue Feedback on Controlling Upright Stance during Rotational and/or Translational Sway-referencing with Galvanic Vestibular Stimulation

Science.gov (United States)

Wood, Scott J.; Tyler, Mitchell E.; Bach-y-Rita, Paul; MacDougall, Hamish G.; Moore, Steven T.; Stallings, Valerie L.; Paloski, William H.; Black, F. Owen

2007-01-01

Integration of multi-sensory inputs to detect tilts relative to gravity is critical for sensorimotor control of upright orientation. Displaying body orientation using electrotactile feedback to the tongue has been developed by Bach-y-Rita and colleagues as a sensory aid to maintain upright stance with impaired vestibular feedback. MacDougall et al. (2006) recently demonstrated that unpredictably varying Galvanic vestibular stimulation (GVS) significantly increased anterior-posterior (AP) sway during rotational sway referencing with eyes closed. The purpose of this study was to assess the influence of electrotactile feedback on postural control performance with pseudorandom binaural bipolar GVS. Postural equilibrium was measured with a computerized hydraulic platform in 10 healthy adults (6M, 4F, 24-65 y). Tactile feedback (TF) of pitch and roll body orientation was derived from a two-axis linear accelerometer mounted on a torso belt and displayed on a 144-point electrotactile array held against the anterior dorsal tongue (BrainPort, Wicab, Inc., Middleton, WI). Subjects were trained to use TF by voluntarily swaying to draw figures on their tongue, both with and without GVS. Subjects were required to keep the intraoral display in their mouths on all trials, including those that did not provide TF. Subjects performed 24 randomized trials (20 s duration with eyes closed) including four support surface conditions (fixed, rotational sway-referenced, translating the support surface proportional to AP sway, and combined rotational-translational sway-referencing), each repeated twice with and without GVS, and with combined GVS and TF. Postural performance was assessed using deviations from upright (peak-to-peak and RMS sway) and convergence toward stability limits (time and distance to base of support boundaries). Postural stability was impaired with GVS in all platform conditions, with larger decrements in performance during trials with rotation sway

Stabilising falling liquid film flows using feedback control

Energy Technology Data Exchange (ETDEWEB)

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

2016-01-15

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

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

Science.gov (United States)

Wang, Yunong; Cheng, Rongjun; Ge, Hongxia

2017-08-01

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

Adaptive neural networks control for camera stabilization with active suspension system

Directory of Open Access Journals (Sweden)

Feng Zhao

2015-08-01

Full Text Available The camera always suffers from image instability on the moving vehicle due to unintentional vibrations caused by road roughness. This article presents an adaptive neural network approach mixed with linear quadratic regulator control for a quarter-car active suspension system to stabilize the image captured area of the camera. An active suspension system provides extra force through the actuator which allows it to suppress vertical vibration of sprung mass. First, to deal with the road disturbance and the system uncertainties, radial basis function neural network is proposed to construct the map between the state error and the compensation component, which can correct the optimal state-feedback control law. The weights matrix of radial basis function neural network is adaptively tuned online. Then, the closed-loop stability and asymptotic convergence performance is guaranteed by Lyapunov analysis. Finally, the simulation results demonstrate that the proposed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.

Nonlinear Power-Level Control of the MHTGR Only with the Feedback Loop of Helium Temperature

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Zhe Dong

2013-02-01

Full Text Available Power-level control is a crucial technique for the safe, stable and efficient operation of modular high temperature gas-cooled nuclear reactors (MHTGRs, which have strong inherent safety features and high outlet temperatures. The current power-level controllers of the MHTGRs need measurements of both the nuclear power and the helium temperature, which cannot provide satisfactory control performance and can even induce large oscillations when the neutron sensors are in error. In order to improve the fault tolerance of the control system, it is important to develop a power-level control strategy that only requires the helium temperature. The basis for developing this kind of control law is to give a state-observer of the MHTGR a relationship that only needs the measurement of helium temperature. With this in mind, a novel nonlinear state observer which only needs the measurement of helium temperature is proposed. This observer is globally convergent if there is no disturbance, and has the L2 disturbance attenuation performance if the disturbance is nonzero. The separation principle of this observer is also proven, which denotes that this observer can recover the performance of both globally asymptotic stabilizers and L2 disturbance attenuators. Then, a new dynamic output feedback power-level control strategy is established, which is composed of this observer and the well-built static state-feedback power-level control based upon iterative dissipation assignment (IDA-PLC. Finally, numerical simulation results show the high performance and feasibility of this newly-built dynamic output feedback power-level controller.

The fast correction coil feedback control system

International Nuclear Information System (INIS)

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

1989-01-01

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

Composting on Mars or the Moon: II. Temperature feedback control with top-wise introduction of waste material and air

Science.gov (United States)

Finstein, M. S.; Hogan, J. A.; Sager, J. C.; Cowan, R. M.; Strom, P. F.; Janes, H. W. (Principal Investigator)

1999-01-01

Whereas Earth-based composting reactors that effectively control the process are batch operations with bottom-to-top airflow, in extraterrestrial application both the fresh waste and the air need to be introduced from above. Stabilized compost and used air would exit below. This materials flow pattern permits the addition of waste whenever generated, obviating the need for multiple reactors, and the incorporation of a commode in the lid. Top loading in turn dictates top-down aeration, so that the most actively decomposing material (greatest need for heat removal and O2 replenishment) is first encountered. This novel material and aeration pattern was tested in conjunction with temperature feedback process control. Reactor characteristics were: working, volume, 0.15 m3; charge, 2 kg dry biomass per day (comparable to a 3-4 person self-sufficient bioregenerative habitat); retention time, 7 days. Judging from temperature profile, O2 level, air usage, pressure head loss, moisture, and odor, the system was effectively controlled over a 35-day period. Dry matter disappearance averaged 25% (10-42%). The compost product was substantially, though not completely, stabilized. This demonstrates the compatibility of top-wise introduction of waste and air with temperature feedback process control.

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

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T. Ortega-Montiel

2017-01-01

Full Text Available The design and tuning of a simple feedback strategy with delay to stabilize a class of underactuated mechanical systems with dead time are presented. A linear time-invariant (LTI model with time delay of fourth order and a Proportional Retarded (PR controller are considered. The PR controller is shown as an appealing alternative to the application of observer-based controllers. This paper gives a step forward to obtain a better understanding of the effect of output delays and related phenomena in mechatronic systems, making it possible to design resilient control laws under the presence of uncertain time delays in measurements and obtain an acceptable performance without using a derivative action. The Furuta pendulum is a standard two-degrees-of-freedom benchmark example from the class of underactuated mechanical systems. The configuration under study includes an inherent output delay due to wireless communication used to transmit measurements of the pendulum’s angular position. Our approach offers a constructive design and a procedure based on a combination of root loci and Mikhailov methods for the analysis of stability. Experiments over a laboratory platform are reported and a comparison with a standard linear state feedback control law shows the advantages of the proposed scheme.

Nonclassical state generation for linear quantum systems via nonlinear feedback control

International Nuclear Information System (INIS)

Ohki, Kentaro; Tsumura, Koji; Takeuchi, Reiji

2017-01-01

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

Feedback control of edge turbulence in a tokamak

International Nuclear Information System (INIS)

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

1997-01-01

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

Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation

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Nataraj Raviraj

2012-05-01

Full Text Available Abstract Background The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI. Methods In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS, and the resulting joint kinematics and COM acceleration data was analyzed. Results Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Conclusions Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its

How to control chaotic behaviour and population size with proportional feedback

Energy Technology Data Exchange (ETDEWEB)

Liz, Eduardo, E-mail: eliz@dma.uvigo.e [Departamento de Matematica Aplicada II, E.T.S.E. Telecomunicacion, Universidade de Vigo, Campus Marcosende, 36310 Vigo (Spain)

2010-01-18

We study the control of chaos in one-dimensional discrete maps as they often occur in modelling population dynamics. For managing the population, we seek to suppress any possible chaotic behavior, leading the system to a stable equilibrium. In this Letter, we make a rigorous analysis of the proportional feedback method under certain conditions fulfilled by a wide family of maps. We show that it is possible to stabilize the chaotic dynamics towards a globally stable positive equilibrium, that can be chosen among a broad range of possible values. In particular, the size of the population can be enhanced by control in form of population reduction. This paradoxical phenomenon is known as the hydra effect, and it has important implications in the design of strategies in such areas as fishing, pest management, and conservation biology.

How to control chaotic behaviour and population size with proportional feedback

International Nuclear Information System (INIS)

Liz, Eduardo

2010-01-01

We study the control of chaos in one-dimensional discrete maps as they often occur in modelling population dynamics. For managing the population, we seek to suppress any possible chaotic behavior, leading the system to a stable equilibrium. In this Letter, we make a rigorous analysis of the proportional feedback method under certain conditions fulfilled by a wide family of maps. We show that it is possible to stabilize the chaotic dynamics towards a globally stable positive equilibrium, that can be chosen among a broad range of possible values. In particular, the size of the population can be enhanced by control in form of population reduction. This paradoxical phenomenon is known as the hydra effect, and it has important implications in the design of strategies in such areas as fishing, pest management, and conservation biology.

The Effect of Concurrent Visual Feedback on Controlling Swimming Speed

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Szczepan Stefan

2016-03-01

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

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

Science.gov (United States)

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

2009-08-01

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

Quadratic Stabilization of LPV System by an LTI Controller Based on ILMI Algorithm

Directory of Open Access Journals (Sweden)

Wei Xie

2007-01-01

Full Text Available A linear time-invariant (LTI output feedback controller is designed for a linear parameter-varying (LPV control system to achieve quadratic stability. The LPV system includes immeasurable dependent parameters that are assumed to vary in a polytopic space. To solve this control problem, a heuristic algorithm is proposed in the form of an iterative linear matrix inequality (ILMI formulation. Furthermore, an effective method of setting an initial value of the ILMI algorithm is also proposed to increase the probability of getting an admissible solution for the controller design problem.