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Strong Lyapunov Functions for Linear Time-Varying Systems Under Persistency of Excitation
Linear time-varying differential equations that arise in the study of model reference adaptive identification problems are studied in both the continuous-time and the discrete-time frameworks. The original contribution of the article is to present two new strong Lyapunov functions (e.g., Lyapunov functions with negative definite derivative), assessing global uniform asymptotic stability properties...Show More
Further Developments in State Estimation and Parameter Identification for Efficiency Optimization of Induction Motor Operations
Angelo Accetta;Marcello Pucci;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli
2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)
Year: 2024 | Conference Paper |
This paper aims, for the first time in the literature, at presenting experimental results, within a suitably devised testing IM (Induction Motor) drive set-up, of the recently designed, theoretically-based, global adaptive IM-observer that exponentially recovers, on the basis of the rotor speed and stator current/voltage measurements, the rotor flux and load torque by achieving an arbitrary rate o...Show More
Linear Output Regulation for Unknown Stable Systems With Uncertain Minimum-Phase Actuators
Consider a linear stable system—described by the transfer function $P(s)$ of unknown parameters, unknown order, and unknown relative degree—under a linear exosystem generating biased multisinusoidal references and/or disturbances with at most $q$ different known frequencies $\omega _{i}$, $i=1,\ldots,q$. It has been recently established that a linear regulator with minimal order $(2q+1)$ exists un...Show More
An Enhanced Feedback Adaptive Observer for Nonlinear Systems With Lack of Persistency of Excitation
The design of exponentially convergent adaptive observers is addressed for linear observable systems which are perturbed by linearly parameterized nonlinearities depending on measured signals (inputs and outputs). When there is a lack of persistency of excitation a new robust adaptive observer is presented, which performs an additional feedback depending on the kernel of the Gramian of the regress...Show More
Hybrid Adaptive Output Feedback Tracking for Stable Systems With Unknown Input Constraints
The problem of global output tracking is addressed for stable minimum phase systems, with constant uncertain parameters and constant disturbances belonging to a known compact set, in the presence of input constraints such as amplitude saturation. The relative degree, the system order, and the sign of the high frequency gain are assumed to be known. A hybrid adaptive output feedback control is desi...Show More
Nonlinear Robust Coordinated PSS-AVR Control for a Synchronous Generator Connected to an Infinite Bus
Cristiano Maria Verrelli;Riccardo Marino;Patrizio Tomei;Gilney Damm
The transient stabilization and voltage regulation problem for a synchronous generator connected to an infinite bus is addressed, in this article, in the presence of all uncertain physical parameters. First, new interpretations for the desensitized four loops regulator, here referred to as robust coordinated power system stabilizer and automatic voltage regulator (PSS-AVR) are derived in terms of ...Show More
Nonanticipating Lyapunov Functions for Persistently Excited Nonlinear Systems
Persistently excited nonlinear time-varying systems are considered in this paper. Two new quadratic, time-varying, Lyapunov functions are presented, whose time-varying matrices-solutions to suitable linear time-varying matrix differential equations-are causal (nonanticipating) and, thus, differently from related results in the literature, available at runtime. They allow for directly addressing an...Show More
Learning Position Controls for Hybrid Step Motors: From Current-Fed to Full-Order Models
Valerio Salis;Nicolas Chiappinelli;Alessandro Costabeber;Pericle Zanchetta;Stefano Bifaretti;Patrizio Tomei;Cristiano Maria Verrelli
The experimental comparison of two different global learning position controls (namely, “adaptive learning” and “repetitive learning” controls) for hybrid step motors performing repetitive tasks has been recently presented in the literature. Related benefits and drawbacks have been successfully analyzed on the same robotic application. However, the design of the two aforementioned learning control...Show More
Hybrid Adaptive Multi-Sinusoidal Disturbance Cancellation
A stable, single-input, single-output linear system is considered whose input is affected by biased multi-sinusoidal disturbances with uncertain frequencies belonging to a given range, unknown phases and amplitudes. The problem of exponential disturbance rejection by output feedback from any initial condition is addressed and solved. The knowledge of the sign of the real part (or the imaginary par...Show More
Hybrid adaptive compensators for multi-sinusoidal disturbance rejection
2016 European Control Conference (ECC)
Year: 2016 | Conference Paper |
The problem of rejecting biased multi-sinusoidal disturbances with frequencies in a given range, acting on an uncertain stable linear system is addressed. Assuming that the system uncertainty allows to design an output feedback linear compensator when the disturbance frequencies are known, an exponentially convergent adaptive observer is proposed to update the compensator parameters when the distu...Show More
In this paper we show that, when the rotor position is not measured in (nonsalient-pole surface) PMSMs with unknown constant load torque and stator resistance (with the rotor speed being available along with the stator currents), it is possible to guarantee exponential rotor position tracking and - mainly - regulation without resorting to persistency of excitation conditions which involve a non-de...Show More
Synchronization control of DC motors through adaptive disturbance cancellation techniques
Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale
2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)
Year: 2016 | Conference Paper |
Cited by: Papers (3)
We address the master-slave synchronization control problem for a current-fed DC motor with uncertain parameters: an exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, frequency, phase, is to be tracked without assuming its foreknowledge. An innovative use of adaptive disturbance cancellation techniques allows to obtai...Show More
Synchronization control of permanent magnets synchronous motors through adaptive disturbance cancellation
C. M. Verrelli;P. Tomei;S. Bifaretti;A. Lidozzi;F. Crescimbini;M. Tiberti;D. Diaferia
2016 IEEE Symposium on Sensorless Control for Electrical Drives (SLED)
Year: 2016 | Conference Paper |
A master-slave synchronization control problem is addressed for current-fed permanent magnets synchronous machines with uncertain parameters and no speed sensor. An exogenous rotor position reference signal, which belongs to the class of biased sinusoidal signals with uncertain bias, amplitude, angular frequency, phase, is to be tracked without assuming its foreknowledge. An innovative output feed...Show More
Position estimation for permanent magnets synchronous machines in pump-fan and generating applications
S. Bifaretti;A. Lidozzi;L. Solero;M. Tiberti;P. Tomei;C. M. Verrelli
2016 IEEE Symposium on Sensorless Control for Electrical Drives (SLED)
Year: 2016 | Conference Paper |
Cited by: Papers (4)
The position estimation problem is addressed for (nonsalient-pole surface) permanent magnets synchronous machines. Rotor speed and stator currents/voltages measurements are assumed to be available for feedback. Two novel adaptive observers are compared and experimental results concerning pump-fan and generating applications are provided.Show More
The design of a local adaptive output feedback compensator is addressed to reject biased multiple sinusoidal disturbances of unknown amplitude, phase and frequency, acting on an unknown stable single-input single-output linear or nonlinear system. Sufficient conditions on the phase uncertainty of the system transfer function at the frequencies contained in the disturbance are provided, which lead ...Show More
Linear Repetitive Learning Controls for Robotic Manipulators by Padé Approximants
Cristiano Maria Verrelli;Salvatore Pirozzi;Patrizio Tomei;Ciro Natale
The aim of this brief is to present the use of [m, m]-Padé approximants in the implementation of repetitive learning controls for the asymptotic joint position tracking of robotic manipulators with uncertain dynamics and periodic position reference signals (with known period). The resulting linear learning controls, which are derived through a detailed stability proof (involving the use of a suita...Show More
Output Regulation for Unknown Stable Linear Systems
The regulation problem is addressed for single-input, single-output, linear unknown stable systems P(s), of unknown order, with exosystems generating biased multi-sinusoidal references and/or disturbances containing at most q known frequencies ωi, 1 ≤ i ≤ q. Sufficient conditions are presented which require the knowledge of sign[P(0)] and either sign{Re[P(jωi)]} or sign{Im[P(jωi)]}, 1 ≤ i ≤ q. The...Show More
The aim of this paper is to show the existence of a local solution to the output tracking problem for uncertain linear systems in which the output reference signal is periodic with known period. An output-feedback adaptive learning control is designed which relies on the Fourier approximation theory and on two adaptive observers. It guarantees, under suitable conditions, exponential output trackin...Show More
This paper addresses the problem of estimating on-line the unknown period of a periodic signal: this is a crucial problem in the design of learning and synchronizing controls, in fault detection and for the attenuation of periodic disturbances. Given a measurable continuous, bounded periodic signal, with non-zero first harmonic in its Fourier series expansion, a dynamic algorithm is proposed which...Show More
Robust Adaptive Compensation of Periodic Disturbances With Unknown Frequency
Single-input, single-output known stable linear systems with no zeros on the imaginary axis are considered. They are affected by disturbances which are matched by the control input. An indirect adaptive output feedback compensator is designed to attenuate the effects of continuous periodic disturbances with unknown frequency. The compensator contains an adaptive internal model which rejects a fixe...Show More
On-Line Identification of Winding Resistances and Load Torque in Induction Machines
Cristiano Maria Verrelli;Alberto Savoia;Michele Mengoni;Riccardo Marino;Patrizio Tomei;Luca Zarri
Rotor and stator resistances along with load torque are typically uncertain quantities in induction machines. The machine heating makes the winding resistances vary during operation whereas the load torque strictly depends on the application. All those variables need to be on-line estimated to improve the drive performances and in particular to minimize the power loss at steady state. A new adapti...Show More
An indirect adaptive output feedback compensator is designed to attenuate the effects of periodic disturbances with unknown frequency on a known stable linear system with no zeros on the imaginary axis. The compensator contains an adaptive internal model which rejects a fixed number of harmonics in the Fourier series expansion of the periodic disturbance. It also contains an independent frequency ...Show More
Global Adaptive Regulation of Uncertain Nonlinear Systems in Output Feedback Form
Minimum phase uncertain nonlinear systems in output feedback form are considered: they are subject to disturbances and/or uncertainties and are required to track reference signals. Both disturbances and references are generated by an exosystem whose model and order are uncertain. Assuming that the regulator problem has a solution, but with no a priori assumption on the required control input (e.g....Show More
Experimental Heart Rate Regulation in Cycle-Ergometer Exercises
Michele Paradiso;Stefano Pietrosanti;Stefano Scalzi;Patrizio Tomei;Cristiano Maria Verrelli
The heart rate can be effectively used as a measure of the exercise intensity during long duration cycle-ergometer exercises: precisely controlling the heart rate (HR) becomes crucial especially for athletes or patients with cardiovascular/obesity problems. The aim of this letter is to experimentally show how the nonlocal and nonswitching nonlinear control that has been recently proposed in the li...Show More
Output regulation for linear systems with unknown exosystem order
2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
Year: 2012 | Conference Paper |
The regulator problem is considered for linear systems when the linear exosystem which generates the disturbances to be rejected and/or the reference signals to be tracked is unknown, that is both its order 2r + 1 and its parameters {ω1, ..., ωr} are unknown. The proposed regulator makes use of two observers and contains an adaptive internal model which adapts m internal parameters on the basis of...Show More
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