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Control Systems Magazine, IEEE

Issue 6 • Date Dec. 1988

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  • Survey of model-based failure detection and isolation in complex plants

    Page(s): 3 - 11
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1090 KB)  

    Techniques to detect and isolate failures in complex technological systems, such as sensor biases, actuator malfunctions, leaks, and equipment deterioration are surveyed. The methods are based on analytical redundancy afforded by a mathematical model of the system. The main components of such techniques are residual generation using the model, signature generation by statistical testing, and signature analysis. Model-structural conditions for failure isolation are introduced together with transformation methods to implement them. Sensitivity and robustness considerations are presented, and a design framework based on model redundancy is proposed.<> View full abstract»

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  • Putting physics in control-the example of robotics

    Page(s): 12 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (611 KB)  

    It is argued that scalar summarizing properties, such as energy conservation or entropy production, often can be used effectively in the design of controllers for multi-input nonlinear physical systems. For instance, the conservation of total mechanical energy allows one to show simply the stability of simple proportional-derivative position controllers for robot manipulators, and it can also be systematically used to design trajectory controllers for these systems. Similarly, explicitly accounting for dissipative dynamics makes possible the use of the intrinsically stabilizing nature of certain disturbance terms such as viscous friction. Related approaches also can be of use in addressing problems of robustness to high-frequency unmodeled dynamics. The development points toward a more 'handcrafted,' physically motivated approach to nonlinear control system design.<> View full abstract»

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Aims & Scope

This Magazine ceased publication in 1990. The current retitled publication is IEEE Control Systems.

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