{"title":"A New Procedure to Account for Performance Interaction in Multivariable Systems","authors":"W. Feng, M. Grimble","doi":"10.23919/ACC.1989.4790385","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790385","url":null,"abstract":"Some new results in linear multivariable systems interaction analysis are reported in this paper. Using a newly proposed performance interaction measure which can be applied to the transient state as well as to the steady state, a systematic procedure to reduce interaction is presented which efffectively improves closed-loop performance and at the same time adjusts system stability robustness. The analysis and design procedure is based on the matrix singular value decomposition and the polar decomposition of a transfer-function matrix.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"105 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126134037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Multivariable Control of a Furnace: LQS Versus GMC","authors":"B. Surgenor, T. Hesketh","doi":"10.23919/ACC.1989.4790422","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790422","url":null,"abstract":"A simulation study of the multivariable control of an industrial furnace has been conducted. The performance of an optimal Linear Quadratic Servo (LQS) has been contrasted with that of a trajectory oriented Generic Model Controller (GMC). The design procedure for each controller is documented. The GMC design was found to provide superior decoupling. The LQS design provided more precise control over the final response characteristic. Both designs were found to be equally robust in the face of model coefficient errors and unmeasured disturbances.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"51 349 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126151520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Uncertainties in Sampled Data Systems","authors":"E. Bai, S. Dasgupta","doi":"10.23919/ACC.1989.4790415","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790415","url":null,"abstract":"The contributions of this paper are threefold. We first explore the differences in uncertainty representations and control designs between continuous time systems and discrete time systems, particularly the high frequency interpretation does not work for discrete time systems. It is shown that uncertainties appeared in sampled data systems may be highly structured, however they do not fall into any category which is currently available in the literature. Secondly, we define a measure on these uncertainties which confines a neighborhood to the nominal model in terms of frequency content, and then we propose a control design method which guarantees the stability of the closed loop system in the face of uncertainties. Last, we consider a generalization of a classical continuous time approach in representing the multiplicative uncertainty to sampled data systems by using a slightly modified sampler and present a method to calculate a frequency bound on the uncertainty in sampled data systems.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128156967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Design Criteria, Product Specifications and Development Program for Automated E.M.S. Optimization using an Embedded Expert System","authors":"R. R. Goforth, Rodney E. Tolander","doi":"10.1109/ACC.1989.4173241","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173241","url":null,"abstract":"It was necessary to establish design criteria and specifications for an extended computer application of a database system used in the semi-automated preparation of job specifications and bid proposals for retrofitting Energy Management Systems (EMS) to existing buildings. The objectives of extending this application are the inclusion of an embedded expert system, simple expandability of the existing database, and use of simulations to calculate improvements in energy use. This extended computer application allows non-technical personnel to complete routine design and job-costing tasks without requiring consultation with engineering and technical staff.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128683119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Two-Time Scale Stabilization of a Flexible Arm With Output Feedback","authors":"B. Siciliano, A. Calise, J. Prasad","doi":"10.23919/ACC.1989.4790588","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790588","url":null,"abstract":"This paper presents an approach to designing a control system with output feedback for a lightweight flexible arm. A two-time scale dynamic model is obtained, which allows the adoption of a composite control strategy. First a slow control can be designed for the slow (rigid) subsystem, then a fast stabilising control for the fast (flexible) subsystem. The problem of the lack of full state measurements concerned with the fast control design is solved. An output feedback low order dynamic compensator is designed, whose optimal gains are computed via a convergent numerical algorithm. Also, a more robust design can be achieved if a loop transfer recovery procedure is introduced. The design procedure is finally tested by means of nonlinear simulation results for the flexible arm.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129576341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Stochastic Pole Placement Control of Robot Manipulators using an Extended Kalman Filter","authors":"C. J. Munshi, A. Mahalanabis, K. Y. Lee","doi":"10.1109/ACC.1989.4173595","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173595","url":null,"abstract":"A stochastic system model is controlled using a pole placement perturbation technique. An extended Kalman filter provides the controller with state estimates. The identification and control scheme is tested for its ability to manipulate the simulated robot's end-effector along given trajectories, and under various adverse conditions. Comparisons are made with the responses of the system when the controller is given the true states and when, in addition, the noise terms are removed.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127054356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"On-Line Parameter Identification Algorithm for Distributed Parameter Plug Flow Systems","authors":"R. Fischl, T. Jurand, J. Helferty","doi":"10.1109/ACC.1989.4173570","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173570","url":null,"abstract":"This paper presents a sequential parameter identification algorithm for estimating the time delays and time constants of distributed parameter plug flow processes which use fluid as a heat transport medium such as heat exchangers. The dynamics of these processes can be modeled by first order hyperbolic partial differential equations. The parameter identification problem is put into the general framework of a nonlinear identification problem which is solved by a Nonlinear Recursive Least Square (NRLS) algorithm. The NRLS algorithm is applied to estimate the thermal time constants and transit times of solar collectors using fluid as heat transport medium. Different implementations of the parameter identification algorithm are presented including the estimation of the parameters of different models of the collector namely the first order One Temperature Plug Flow (OTPF) and the second order Two Temperature Plug Flow (TTPF) models.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127271255","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Qualitative Simulation for Process Modeling and Control","authors":"D. Molle, T. Edgar","doi":"10.1109/ACC.1989.4173419","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173419","url":null,"abstract":"Qualitative simulation is a promising technique for analyzing dynamic systems with incomplete knowledge. The QSIM algorithm provides a framework for constructing qualitative versions of process models normally represented by ordinary differential equations. In this work, a qualitative model is developed for a first-order system with a PI controller without precise knowledge of the process or controller parameters. Simulation of the qualitative model yields all of the solutions to the system equations. In developing the qualitative model, a necessary condition for the occurrence of oscillatory behavior is identified. Initializations that cannot exhibit oscillatory behaviors produce a finite set of behaviors. When the phase space behavior of the oscillatory behaviors is properly constrained, these initializations produce an infinite but comprehensible set of asymptotically stable behaviors. While the predictions include all possible behaviors of the real system, a class of spurious behaviors has been identified. When limited numerical information is included in the model, the number of predictions is significantly reduced.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127407705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Steady-state kalman filtering with an H∞ error bound","authors":"D. Bernstein, W. Haddad","doi":"10.1109/ACC.1989.4173324","DOIUrl":"https://doi.org/10.1109/ACC.1989.4173324","url":null,"abstract":"An estimator design problem is considered which involves both L<sub>2</sub> (least squares) and H<sub>∞</sub> (worst-case frequency-domain) aspects. Specifically, the goal of the problem is to minimize an L<sub>2</sub> state-estimation error criterion subject to a prespecified H<sub>∞</sub> constraint on the state-estimation error. The H<sub>∞</sub> estimation-error constraint is embedded within the optimization process by replacing the covariance Lyapunov equation by a Riccati equation whose solution leads to an upper bound on the L<sub>2</sub> state-estimation error. The principal result is a sufficient condition for characterizing fixed-order (i.e., full- and reduced-order) estimator with bounded L<sub>2</sub> and H<sub>∞</sub> estimation error. The sufficient condition involves a system of modified Riccati equations coupled by an oblique projection, i.e., idempotent matrix. When the H<sub>∞</sub> constraint is absent, the sufficient condition specializes to the L<sub>2</sub> state-estimation result given in [2]. The full version of this paper can be found in [10].","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127348650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Problems in Implementing Distributed Control","authors":"Umit Osguner","doi":"10.23919/ACC.1989.4790201","DOIUrl":"https://doi.org/10.23919/ACC.1989.4790201","url":null,"abstract":"Design of controllers for decentralised have been considered by many researchers who have assumed that implementation of these controllers would not provide any additional problems. In this paper a number of different implementation configurations are considered. It is shown that different closed-loop dynamics may result, based on sampling rates, connection topologies and communication traffic. An expanded state-space based transition matrix is advocated for further analysis of stability and optimality issues.","PeriodicalId":383719,"journal":{"name":"1989 American Control Conference","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1989-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127354318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}