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Decision and Control, 1986 25th IEEE Conference on

Date 10-12 Dec. 1986

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Displaying Results 1 - 25 of 516
  • [Front matter]

    Publication Year: 1986 , Page(s): c1
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    Freely Available from IEEE
  • Foreword

    Publication Year: 1986 , Page(s): i
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    Freely Available from IEEE
  • Design of H-optimal robust controllers: Stability, asymptotic regulation and disturbance rejection

    Publication Year: 1986 , Page(s): 1 - 6
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    This paper introduces a new synthesis method, based on a computation method for solving a H??-optimization problem1 and a new technique of "j-axis shifting" for designing a H optimal robust controller for the SISO system. With this method, we can optimize the excess stability margin under the requirement that all poles of the nominal closed loop system (cl-system) be located at the left of the j-axis with a required distance d and ensure asymptotic regulation and disturbance rejection for a class of system input and disturbance if the plant perturbation does not exceed the excess stability margin. Another advantage is that there are no constraints to the poles and zeros of the plant when using this method. View full abstract»

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  • Spectral factorizaton using analytic interpolation theory

    Publication Year: 1986 , Page(s): 7 - 11
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    In this paper, we present a novel spectral factorization algorithm based on linear fractional transformations and the Nevanlinna-Pick interpolation theory. The algorithm is recursive and depends on a choice of points (zk, k=1, 2, ...), inside the unit disk. A mild condition on the distribution of the zk's ensures convergence of the algorithm. The algorithm is quite flexible and convergence can be controlled by the selection of zK's. View full abstract»

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  • Industrial control system design using H optimization

    Publication Year: 1986 , Page(s): 12 - 13
    Cited by:  Papers (2)
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    In this short paper we report the initial findings of an investigation into the usefulness of H design for industrial applications. View full abstract»

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  • A note on the order of l1 optimal compensators

    Publication Year: 1986 , Page(s): 14 - 15
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    Recently, Dahleh and Pearson [1] showed that when an l1 optimal compensator for a digital single-input, single-output, time-invariant plant exists, it is rational if the plant itself is. In this note, we give an example of a one-parameter family of first order plants where the order of the optimal compensator can be arbitrarily large. However, computational experience suggests that nearly optimal controllers of reasonable degree usually exist. View full abstract»

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  • The quantitative design of robust multivariable control systems

    Publication Year: 1986 , Page(s): 16 - 24
    Cited by:  Papers (1)
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    By a systematic use of the theory of non-negative matrices, and the associated theory of M-matrices, it is possible to derive measures of robustness which overcome the undue conservatism inherent in the use of singular values as measures of robustness. Using these ideas, it is shown that for nominal diagonal closed loop transfer matrices, the controller which maximizes robustness is the one that minimizes the Perron root (maximum eigenvalue) of a certain non-negative matrix. From this, a simple criterion for robustness based on the maximum magnification Mp of the closed loop transmission functions and the Perron root of the uncertainty matrix is derived. This is then used to give a design scheme for simultaneous stability and performance robustness. That is to say, the final control scheme guarantees satisfaction of given performance bounds in the face of any given plant uncertainty. View full abstract»

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  • Synthesis of a closed loop transfer function with aid of finite Hilbert transforms

    Publication Year: 1986 , Page(s): 25 - 30
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    The objective of satisfying assigned performance tolerances over given ranges of plant uncertainty and external disturbances is achieved by synthesis of the closed-loop transmission function L(??) along frequency dependent, boundaries ??(??n) within the Nichols chart. The corresponding frequency bandlimited equations are recognized as those of Carleman. Their solutions are given by closed form expressions involving finite Hilbert integrals. Some numerical examples of such solutions are then presented. View full abstract»

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  • Controlled differential inclusions and stabilization of uncertain dynamical systems

    Publication Year: 1986 , Page(s): 31 - 33
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    Deterministic design of stabilizing feedback controls for a class of uncertain dynamical systems is considered. Adopting a problem formulation based on differential inclusions (encompassing all possible realizations of uncertainty), a class of generalized feedback controls is described (with practical analogues in the form of discontinuous feedbacks) which guarantees (a) global uniform asymptotic stability of the zero state and (b) ultimate attainment of prescribed model behaviour. View full abstract»

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  • Dynamic compensator design for robust stability of linear uncertain systems

    Publication Year: 1986 , Page(s): 34 - 36
    Cited by:  Papers (3)
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    This paper presents a robust linear dynamic compensator design algorithm for linear uncertain systems whose parameters vary within given bounded sets. The algorithm explicitly incorporates the structure of the uncertainty into the design procedure and utilizes the elemental perturbation bounds developed recently. The special cases of linear state feedback and measurement feedback controllers are considered and the relative trade offs are discussed. The design algorithm is illustrated with the help of a simple example. View full abstract»

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  • Robustness optimization in adaptive control systems under nonlinear time-varying unmodeled dynamics

    Publication Year: 1986 , Page(s): 37 - 38
    Cited by:  Papers (1)
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    A new robust stability criterion will be derived for analyzing the robustness of adaptive control systems under nonlinear time-varying model errors, based on the concept of the excess robustness of adaptive systems and the theory of minimum H?? norm. View full abstract»

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  • Modeling and control challenges in power electronics

    Publication Year: 1986 , Page(s): 39 - 45
    Cited by:  Papers (11)
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    The paper reviews some of the typical features and problems associated with modeling and control of power electronic circuits, and highlights various questions in power electronics that may be usefully examined from the viewpoint of control theory. View full abstract»

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  • Nonlinear control laws for switching power converters

    Publication Year: 1986 , Page(s): 46 - 53
    Cited by:  Papers (20)
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    Nonlinear control laws for switching power converters are explored, using an up-down converter as a vehicle. A nonlinear change of variables is used to transform the usual state-space description into one that is more amenable to design of a sliding mode control. Results of numerical simulations and of a microprocessor implementation based on look-up tables are presented. View full abstract»

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  • Theory of power-electronic ac motor control for modeling, estimation and control and/or analysis

    Publication Year: 1986 , Page(s): 54 - 61
    Cited by:  Papers (3)
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    The theoretical considerations of nonlinear control for power electronic ac motors are given and the related problems of modeling, estimation, analysis are discussed. The control method so called 'field oriented control' or 'vector control' is revised and new control methods which linearize the characteristics of ac motors are proposed. The circuit theoretical consideration is also given to grasp the specific nonlinear structures of ac motors by introducing equivalent circuit models. View full abstract»

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  • H optimal control of a synchronous turbo-generator

    Publication Year: 1986 , Page(s): 62 - 65
    Cited by:  Papers (4)
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    The aim of this paper is to investigate the use of H optimal control methods in improving the performance of synchronous turbo-generators. Our study is based on a single machine infinite bus system. The approach is to use an H controller in addition to the automatic voltage regulator (AVR) and speed governor which are fitted as standard equipment on most large turbo-generator sets. The results compare favourably with those obtained using other multivariable design methodologies much as linear quadratic optimal control. View full abstract»

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  • Model of the electrode position controller system of an electric arc furnace: An application

    Publication Year: 1986 , Page(s): 66 - 67
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    A simplyfied model of the electrode position control system applied to the electric arc furnaces of 150 TM/year is introduced. A 7th order non-linear model was obtained. Validation model was done with operation data. A comparison with an identificated model is done. Recursive Maximum Likelihood Identification method is employed using data operation. The model selected was the identificated one which corresponds to a system order na=7 and input order nb=1. View full abstract»

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  • Adaptive computed torque control for rigid link manipulators

    Publication Year: 1986 , Page(s): 68 - 73
    Cited by:  Papers (4)
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    In this paper we shall examine the adaptive control of rigid link manipulator systems. We give a parameterization of a genereal rigid body which yields dynamic equations that are linear in the unknown parameters. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques. View full abstract»

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  • Learning control scheme for a class of robot systems with elasticity

    Publication Year: 1986 , Page(s): 74 - 79
    Cited by:  Papers (9)
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    A new type of iterative learning control scheme is proposed for robot manipulators composed of rigid links and driven by actuators through transmissions with elasticity. This method is based on the learning scheme called "betterment process" for operation of a mechanical robot in a sense that it betters the next operation of a robot by using previous operation's data. In the first stage, a betterment process for the rigid link subsystem is employed in order to realize a desired motion pattern by regarding the interconnected terms with the other drive subsystem of actuators as hypothetical inputs. In the second stage, another betterment process is employed to make the hypothetical inputs in terms of the control torques for actuators. The convergence of this "2-stage betterment process" to the desired motion trajectory is assured under some reasonable conditions. To show the effectiveness of the proposed learning scheme, some partial results on practical applications of this method for an actual robot manipulator, together with numerical results by computer simulation, are given. View full abstract»

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  • Robot manipulator control by accelaration feedback: Stability, design and performance issues

    Publication Year: 1986 , Page(s): 80 - 85
    Cited by:  Papers (12)
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    The acceleration feedback control law is shown to be stable. Stability is proven using a Lyapunov approach under rigid body and LQ assumptions. Under LQ assumptions, the control law can be designed to be joint coordinate decoupled, allowing for a simple, inexpensive servo mechanism implementation. Under rigid body assumptions, the high gain feedback can be increased without bound, causing a decrease of the bounds on the steady state error towards zero. However under non-rigid body assumptions and with high frequency unstructured uncertainties, the high gain feedback must be frequency weighted. A linearized frequency domain analysis shows that there is no gain margin, and only a maximum 180 degrees of phase margin. Frequency weighting of the high gain feedback provides the means with which gain and phase margins can be achieved and robustness enhanced. The inherent penalty is that high gain feedback must be traded-off against the system bandwidth. Translated into practical terms, steady state error performance must be traded-off against manipulator response time due to the necessary frequency weighting of the high gain feedback. View full abstract»

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  • Output feedback control of a flexible robot arm

    Publication Year: 1986 , Page(s): 86 - 90
    Cited by:  Papers (3)
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    In this paper, a method is proposed to control a flexible robot arm by using a special output feedback control law based on the truncated model. The proposed method is simple and easy to implement, it is robust to modal truncation and to parameter variation. Numerical simulation shows that the performance of the arm is satisfactory. View full abstract»

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  • Model reference adaptive control of a link flexible arm

    Publication Year: 1986 , Page(s): 91 - 95
    Cited by:  Papers (23)
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    Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model is chosen from the linearized model of the system as optimally controlled. The nominal trajectory is commanded to the system by means of a dynamic filter. Simulation results for the prototype in the laboratory show the improvements obtained with the outer adaptive feed-back loop with respect to a pure optimal control regulator. Robustness is finally tested by varying the nominal payload mass. View full abstract»

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  • Kinematic control and obstacle avoidance for redundant manipulators

    Publication Year: 1986 , Page(s): 96 - 97
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    This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work space and simultaneously avoid the kinematically singular configurations throughout the trajectory. View full abstract»

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  • A trial on automatic synthesis of feedback control rule for a two links manipulator

    Publication Year: 1986 , Page(s): 98 - 99
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    In this short paper, we report a fundamental trial to determine a bang-bang feedback rule for a two links manipulator by using searching technique with experimental trials and errors. Our trial is done under the following situation. (i) The system equation of the manipulator system is entirely unknown. (ii) The input of the manipulator system (the input voltage of the motors) are restricted to a bang-bang type. (and the smallest width of input pulse is given previously.) The purpose of our trial is to get a feedback rule of time optimal control automatically by using heuristic algorithm. View full abstract»

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  • Central tendency pole assignment

    Publication Year: 1986 , Page(s): 100 - 105
    Cited by:  Papers (2)
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    In adaptive control, there is a range of possibilities between the two extremes of applying the Certainty Equivalence Principle, which can only hold asymptotically, and Dual Control, which is not a practical proposition for on-line schemes. Here it is proposed that adaptive controllers be designed using Measures of Central Tendency of the a posteriori probability function of the control signal conditioned on knowledge of the plant, with particular attention focused on adaptive pole assignment. View full abstract»

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  • Adaptive pole assignment by state feedback

    Publication Year: 1986 , Page(s): 106 - 108
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    An algorithm for adaptive pole placement for a restricted class of systems is proposed. The asymptotic properties of the algorithm are analysed by studying the invariant points and the asymptotic active part of the state space. A weak form of self-tuning is derived. View full abstract»

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