Linear control design for guaranteed stability of uncertain linear systems
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1986-01-01
In this paper, a linear control design algorithm based on the elemental perturbation bounds developed recently is presented for a simple second order linear uncertain system satisfying matching conditions. The proposed method is compared with Guaranteed Cost Control (GCC), Multistep Guaranteed Cost Control (MGCC) and the Matching Condition (MC) methods and is shown to give guaranteed stability with lesser values for the control gains than some of the existing methods for the example considered.
Design And Analysis Of Linear Control Systems
NASA Technical Reports Server (NTRS)
Jamison, John W.
1991-01-01
Package of five computer programs developed to assist in design and analysis of linear control systems by use of root-locus and frequency-response methods. Package written in FORTRAN (BODE, TPEAK) and BASIC (LOCUS, KTUNE, and POLYROOT).
Controller design approach based on linear programming.
Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa
2013-11-01
This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor.
Robust Control Design via Linear Programming
NASA Technical Reports Server (NTRS)
Keel, L. H.; Bhattacharyya, S. P.
1998-01-01
This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.
Reaction Wheel Control Design Using Linear Quadratic Controller
NASA Astrophysics Data System (ADS)
Nubli Muhamad, Nur; Susanto, Erwin; Syihabuddin, Budi; Prasetya Dwi Wibawa, Ig.
2016-01-01
This paper studies the design of active attitude control system of a nanosatellite in a single axis. In this paper, we consider dc motor based reaction wheel as an actuator, because of its pointing accuracy. However, the power consumption of the dc motor is often relatively large and needed to be optimized. Linear quadratic controller is supposed to have an ability to minimize power consumption and able to enhance the system performance. To show the advantage of this method, simulation result of attitude response, state trajectory, and trajectory of DC motor voltage are presented.
A sequential linear optimization approach for controller design
NASA Technical Reports Server (NTRS)
Horta, L. G.; Juang, J.-N.; Junkins, J. L.
1985-01-01
A linear optimization approach with a simple real arithmetic algorithm is presented for reliable controller design and vibration suppression of flexible structures. Using first order sensitivity of the system eigenvalues with respect to the design parameters in conjunction with a continuation procedure, the method converts a nonlinear optimization problem into a maximization problem with linear inequality constraints. The method of linear programming is then applied to solve the converted linear optimization problem. The general efficiency of the linear programming approach allows the method to handle structural optimization problems with a large number of inequality constraints on the design vector. The method is demonstrated using a truss beam finite element model for the optimal sizing and placement of active/passive-structural members for damping augmentation. Results using both the sequential linear optimization approach and nonlinear optimization are presented and compared. The insensitivity to initial conditions of the linear optimization approach is also demonstrated.
Control design based on a linear state function observer
NASA Technical Reports Server (NTRS)
Su, Tzu-Jeng; Craig, Roy R., Jr.
1992-01-01
An approach to the design of low-order controllers for large scale systems is proposed. The method is derived from the theory of linear state function observers. First, the realization of a state feedback control law is interpreted as the observation of a linear function of the state vector. The linear state function to be reconstructed is the given control law. Then, based on the derivation for linear state function observers, the observer design is formulated as a parameter optimization problem. The optimization objective is to generate a matrix that is close to the given feedback gain matrix. Based on that matrix, the form of the observer and a new control law can be determined. A four-disk system and a lightly damped beam are presented as examples to demonstrate the applicability and efficacy of the proposed method.
Powerful tool for design analysis of linear control systems
Maddux, Jr, A S
1982-05-10
The methods for designing linear controls for electronic or mechanical systems have been understood and put to practice. What has not been readily available to engineers, however, is a practical, quick and inexpensive method for analyzing these linear control (feedback) systems once they have been designed into the electronic or mechanical hardware. Now, the PET, manufactured by Commodore Business Machines (CBM), operating with several peripherals via the IEEE 488 Bus, brings to the engineer for about $4000 a complete set of office tools for analyzing these system designs.
Non-contact electromagnetic exciter design with linear control method
NASA Astrophysics Data System (ADS)
Wang, Lin; Xiong, Xianzhi; Xu, Hua
2017-01-01
A non-contact type force actuator is necessary for studying the dynamic performance of a high-speed spindle system owing to its high-speed operating conditions. A non-contact electromagnetic exciter is designed for identifying the dynamic coefficients of journal bearings in high-speed grinding spindles. A linear force control method is developed based on PID controller. The influence of amplitude and frequency of current, misalignment and rotational speed on magnetic field and excitation force is investigated based on two-dimensional finite element analysis. The electromagnetic excitation force is measured with the auxiliary coils and calibrated by load cells. The design is validated by the experimental results. Theoretical and experimental investigations show that the proposed design can accurately generate linear excitation force with sufficiently large amplitude and higher signal to noise ratio. Moreover, the fluctuations in force amplitude are reduced to a greater extent with the designed linear control method even when the air gap changes due to the rotor vibration at high-speed conditions. Besides, it is possible to apply various types of excitations: constant, synchronous, and non-synchronous excitation forces based on the proposed linear control method. This exciter can be used as linear-force exciting and controlling system for dynamic performance study of different high-speed rotor-bearing systems.
Linear tracking systems with applications to aircraft control system design
NASA Technical Reports Server (NTRS)
Lee, W. H.; Athans, M.; Castanon, D.; Bacchioloni, F.
1977-01-01
A class of optimal linear time invariant tracking systems, both in continuous time and discrete time, of which the number of inputs (which are restricted to be step functions) is equal to the number of system outputs, is studied. Along with derivation of equations and design procedures, two discretization schemes are presented, constraining either the control or its time derivative, to be a constant over each sampling period. Descriptions are given for the linearized model of the F-8C aircraft longitudinal dynamics, and the C* handling qualities criterion, which then serve as an illustration of the applications of these linear tracking designs. A suboptimal reduced state design is also presented. Numerical results are given for both the continuous time and discrete time designs.
Design and performance of the Stanford Linear Collider Control System
Melen, R.E.
1984-10-01
The success of the Stanford Linear Collider (SLC) will be dependent upon the implementation of a very large advanced computer-based instrumentation and control system. This paper describes the architectural design of this system as well as a critique of its performance. This critique is based on experience obtained from its use in the control and monitoring of 1/3 of the SLAC linac and in support of an expensive experimental machine physics experimental program. 11 references, 3 figures.
Linear parameter varying representations for nonlinear control design
NASA Astrophysics Data System (ADS)
Carter, Lance Huntington
Linear parameter varying (LPV) systems are investigated as a framework for gain-scheduled control design and optimal hybrid control. An LPV system is defined as a linear system whose dynamics depend upon an a priori unknown but measurable exogenous parameter. A gain-scheduled autopilot design is presented for a bank-to-turn (BTT) missile. The method is novel in that the gain-scheduled design does not involve linearizations about operating points. Instead, the missile dynamics are brought to LPV form via a state transformation. This idea is applied to the design of a coupled longitudinal/lateral BTT missile autopilot. The pitch and yaw/roll dynamics are separately transformed to LPV form, where the cross axis states are treated as "exogenous" parameters. These are actually endogenous variables, so such a plant is called "quasi-LPV." Once in quasi-LPV form, a family of robust controllers using mu synthesis is designed for both the pitch and yaw/roll channels, using angle-of-attack and roll rate as the scheduling variables. The closed-loop time response is simulated using the original nonlinear model and also using perturbed aerodynamic coefficients. Modeling and control of engine idle speed is investigated using LPV methods. It is shown how generalized discrete nonlinear systems may be transformed into quasi-LPV form. A discrete nonlinear engine model is developed and expressed in quasi-LPV form with engine speed as the scheduling variable. An example control design is presented using linear quadratic methods. Simulations are shown comparing the LPV based controller performance to that using PID control. LPV representations are also shown to provide a setting for hybrid systems. A hybrid system is characterized by control inputs consisting of both analog signals and discrete actions. A solution is derived for the optimal control of hybrid systems with generalized cost functions. This is shown to be computationally intensive, so a suboptimal strategy is proposed that
A decentralized linear quadratic control design method for flexible structures
NASA Technical Reports Server (NTRS)
Su, Tzu-Jeng; Craig, Roy R., Jr.
1990-01-01
A decentralized suboptimal linear quadratic control design procedure which combines substructural synthesis, model reduction, decentralized control design, subcontroller synthesis, and controller reduction is proposed for the design of reduced-order controllers for flexible structures. The procedure starts with a definition of the continuum structure to be controlled. An evaluation model of finite dimension is obtained by the finite element method. Then, the finite element model is decomposed into several substructures by using a natural decomposition called substructuring decomposition. Each substructure, at this point, still has too large a dimension and must be reduced to a size that is Riccati-solvable. Model reduction of each substructure can be performed by using any existing model reduction method, e.g., modal truncation, balanced reduction, Krylov model reduction, or mixed-mode method. Then, based on the reduced substructure model, a subcontroller is designed by an LQ optimal control method for each substructure independently. After all subcontrollers are designed, a controller synthesis method called substructural controller synthesis is employed to synthesize all subcontrollers into a global controller. The assembling scheme used is the same as that employed for the structure matrices. Finally, a controller reduction scheme, called the equivalent impulse response energy controller (EIREC) reduction algorithm, is used to reduce the global controller to a reasonable size for implementation. The EIREC reduced controller preserves the impulse response energy of the full-order controller and has the property of matching low-frequency moments and low-frequency power moments. An advantage of the substructural controller synthesis method is that it relieves the computational burden associated with dimensionality. Besides that, the SCS design scheme is also a highly adaptable controller synthesis method for structures with varying configuration, or varying mass
PID controller design for trailer suspension based on linear model
NASA Astrophysics Data System (ADS)
Kushairi, S.; Omar, A. R.; Schmidt, R.; Isa, A. A. Mat; Hudha, K.; Azizan, M. A.
2015-05-01
A quarter of an active trailer suspension system having the characteristics of a double wishbone type was modeled as a complex multi-body dynamic system in MSC.ADAMS. Due to the complexity of the model, a linearized version is considered in this paper. A model reduction technique is applied to the linear model, resulting in a reduced-order model. Based on this simplified model, a Proportional-Integral-Derivative (PID) controller was designed in MATLAB/Simulink environment; primarily to reduce excessive roll motions and thus improving the ride comfort. Simulation results show that the output signal closely imitates the input signal in multiple cases - demonstrating the effectiveness of the controller.
Control design for robust stability in linear regulators: Application to aerospace flight control
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1986-01-01
Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.
Linear time-invariant controller design for two-channel decentralized control systems
NASA Technical Reports Server (NTRS)
Desoer, Charles A.; Gundes, A. Nazli
1987-01-01
This paper analyzes a linear time-invariant two-channel decentralized control system with a 2 x 2 strictly proper plant. It presents an algorithm for the algebraic design of a class of decentralized compensators which stabilize the given plant.
Multi Objective Controller Design for Linear System via Optimal Interpolation
NASA Technical Reports Server (NTRS)
Ozbay, Hitay
1996-01-01
We propose a methodology for the design of a controller which satisfies a set of closed-loop objectives simultaneously. The set of objectives consists of: (1) pole placement, (2) decoupled command tracking of step inputs at steady-state, and (3) minimization of step response transients with respect to envelope specifications. We first obtain a characterization of all controllers placing the closed-loop poles in a prescribed region of the complex plane. In this characterization, the free parameter matrix Q(s) is to be determined to attain objectives (2) and (3). Objective (2) is expressed as determining a Pareto optimal solution to a vector valued optimization problem. The solution of this problem is obtained by transforming it to a scalar convex optimization problem. This solution determines Q(O) and the remaining freedom in choosing Q(s) is used to satisfy objective (3). We write Q(s) = (l/v(s))bar-Q(s) for a prescribed polynomial v(s). Bar-Q(s) is a polynomial matrix which is arbitrary except that Q(O) and the order of bar-Q(s) are fixed. Obeying these constraints bar-Q(s) is now to be 'shaped' to minimize the step response characteristics of specific input/output pairs according to the maximum envelope violations. This problem is expressed as a vector valued optimization problem using the concept of Pareto optimality. We then investigate a scalar optimization problem associated with this vector valued problem and show that it is convex. The organization of the report is as follows. The next section includes some definitions and preliminary lemmas. We then give the problem statement which is followed by a section including a detailed development of the design procedure. We then consider an aircraft control example. The last section gives some concluding remarks. The Appendix includes the proofs of technical lemmas, printouts of computer programs, and figures.
2007-08-01
Advanced non- linear control algorithms applied to design highly maneuverable Autonomous Underwater Vehicles (AUVs) Vladimir Djapic, Jay A. Farrell...hierarchical such that an ”inner loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a...library of ”outer-loop” non- linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner
Controller Design for Linear Stochastic Systems with Uncertain Parameters.
1985-03-01
example may be designed on a numerical basis. Also, the equivalence of this solution to the minimax solution may be analyzed numerically . Finally, in...must be such that Equation (3a) has a unique solution that is sample-path continuous, c) w must be such that the cost function, (5), is well-defined...problem can be reformulated as an optimization problem with equality constraints. 3.3. Problem Redefinition and Solution The system equations , (3
Enhanced approach to PD control design for linear time-invariant descriptor systems
NASA Astrophysics Data System (ADS)
Filasová, Anna; Krokavec, Dušan
2017-01-01
Enhanced approaches to PD controller design, adjusted for linear time-invariant descriptor systems, are proposed in the paper. Presented in the sense of the second Lyapunov method, an associated structure of linear matrix inequalities is outlined to possess the regular closed-loop system dynamic properties. A simulation example, subject to the state and output PD control, demonstrates the effiectiveness of the proposed form of the design technique.
NASA Technical Reports Server (NTRS)
Jamison, J. W.
1994-01-01
CFORM was developed by the Kennedy Space Center Robotics Lab to assist in linear control system design and analysis using closed form and transient response mechanisms. The program computes the closed form solution and transient response of a linear (constant coefficient) differential equation. CFORM allows a choice of three input functions: the Unit Step (a unit change in displacement); the Ramp function (step velocity); and the Parabolic function (step acceleration). It is only accurate in cases where the differential equation has distinct roots, and does not handle the case for roots at the origin (s=0). Initial conditions must be zero. Differential equations may be input to CFORM in two forms - polynomial and product of factors. In some linear control analyses, it may be more appropriate to use a related program, Linear Control System Design and Analysis (KSC-11376), which uses root locus and frequency response methods. CFORM was written in VAX FORTRAN for a VAX 11/780 under VAX VMS 4.7. It has a central memory requirement of 30K. CFORM was developed in 1987.
NASA Astrophysics Data System (ADS)
Theodore, Zachary B.
A robust proportional-integral (PI) controller was synthesized for the F-16 VISTA (Variable stability In-flight Simulator Test Aircraft) using a linear matrix inequality (LMI) approach, with the goal of eventually designing and implementing a linear parameter-varying PI controller on high performance aircraft. The combination of classical and modern control theory provides theoretically guaranteed stability and performance throughout the flight envelope and ease of implementation due to the simplicity of the PI controller structure. The controller is designed by solving a set of LMIs with pole placement constraints. This closed-loop system was simulated in MATLAB/Simulink to analyze the performance of the controller. A robust Hinfinity controller was also developed to compare performance with PI controller. The simulation results showed stability, albeit with poor performance compared to the Hinfinity controlle.
Central suboptimal H ∞ controller design for linear time-varying systems with unknown parameters
NASA Astrophysics Data System (ADS)
Basin, Michael V.; Soto, Pedro; Calderon-Alvarez, Dario
2011-05-01
This article presents the central finite-dimensional H ∞ controller for linear time-varying systems with unknown parameters, that is suboptimal for a given threshold γ with respect to a modified Bolza-Meyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the previously obtained results, this article reduces the original H ∞ controller problem to the corresponding H 2 controller problem, using the technique proposed in Doyle et al. [Doyle, J.C., Glover, K., Khargonekar, P.P., and Francis, B.A. (1989), 'State-space Solutions to Standard H 2 and H Infinity Control Problems', IEEE Transactions Automatic Control, 34, 831-847]. This article yields the central suboptimal H ∞ controller for linear systems with unknown parameters in a closed finite-dimensional form, based on the corresponding H 2 controller obtained in Basin and Calderon-Alvarez [Basin, M.V., and Calderon-Alvarez, D. (2008), 'Optimal LQG Controller for Linear Systems with Unknown Parameters', Journal of The Franklin Institute, 345, 293-302]. Numerical simulations are conducted to verify performance of the designed central suboptimal controller for uncertain linear systems with unknown parameters against the conventional central suboptimal H ∞ controller for linear systems with exactly known parameter values.
ORACLS: A system for linear-quadratic-Gaussian control law design
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1978-01-01
A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.
Design of Linear Control System for Wind Turbine Blade Fatigue Testing
NASA Astrophysics Data System (ADS)
Toft, Anders; Roe-Poulsen, Bjarke; Christiansen, Rasmus; Knudsen, Torben
2016-09-01
This paper proposes a linear method for wind turbine blade fatigue testing at Siemens Wind Power. The setup consists of a blade, an actuator (motor and load mass) that acts on the blade with a sinusoidal moment, and a distribution of strain gauges to measure the blade flexure. Based on the frequency of the sinusoidal input, the blade will start oscillating with a given gain, hence the objective of the fatigue test is to make the blade oscillate with a controlled amplitude. The system currently in use is based on frequency control, which involves some non-linearities that make the system difficult to control. To make a linear controller, a different approach has been chosen, namely making a controller which is not regulating on the input frequency, but on the input amplitude. A non-linear mechanical model for the blade and the motor has been constructed. This model has been simplified based on the desired output, namely the amplitude of the blade. Furthermore, the model has been linearised to make it suitable for linear analysis and control design methods. The controller is designed based on a simplified and linearised model, and its gain parameter determined using pole placement. The model variants have been simulated in the MATLAB toolbox Simulink, which shows that the controller design based on the simple model performs adequately with the non-linear model. Moreover, the developed controller solves the robustness issue found in the existent solution and also reduces the needed energy for actuation as it always operates at the blade eigenfrequency.
Robustness in linear quadratic feedback design with application to an aircraft control problem
NASA Technical Reports Server (NTRS)
Patel, R. V.; Sridhar, B.; Toda, M.
1977-01-01
Some new results concerning robustness and asymptotic properties of error bounds of a linear quadratic feedback design are applied to an aircraft control problem. An autopilot for the flare control of the Augmentor Wing Jet STOL Research Aircraft (AWJSRA) is designed based on Linear Quadratic (LQ) theory and the results developed in this paper. The variation of the error bounds to changes in the weighting matrices in the LQ design is studied by computer simulations, and appropriate weighting matrices are chosen to obtain a reasonable error bound for variations in the system matrix and at the same time meet the practical constraints for the flare maneuver of the AWJSRA. Results from the computer simulation of a satisfactory autopilot design for the flare control of the AWJSRA are presented.
Control and actuator design for a precision magnetic suspension linear bearing
NASA Astrophysics Data System (ADS)
Trumper, David L.; Queen, Michael A.
1992-07-01
In optical systems, where the positions of such components as mirrors must be controlled in six degrees of freedom (DOFs), magnetic bearings can impart forces and torques to the suspended component without rigidly constraining its DOFs, and obviate the complex flexures typical of conventional designs. Attention is here given to a magnetically suspended linear bearing employing variable-reluctance actuators to control three rotational and two translational DOFs, as well as to a linear motor charged with control of the sixth DOF. Applicability to vibration isolation and optical line-of-sight stabilization are noted.
Space shuttle active-pogo-suppressor control design using linear quadratic regulator techniques
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Lorenz, C. F.
1979-01-01
Two methods of active pogo suppression (stabilization) for the space shuttle vehicle were studied analytically. The basis for both approaches was the linear quadratic regulator, state space technique. The first approach minimized root-mean-square pump inlet pressure by using either fullstate feedback, partial-state feedback, or output feedback with a Kalman filter. The second approach increased the modal damping associated with the critical structural modes by using either full-state feedback or reconstructed state feedback. A number of implementable controls were found by both approaches. The designs were analyzed with respect to sensitivity, complexity, and controller energy requirements, as well as controller performance. Practical controllers resulting from the two design approaches tended to use pressure and flow as feedback variables for the minimum-rms method and structural accelerations or velocities for the modal control method. Both approaches are suitable for the design of active pogo-suppression controllers.
NASA Technical Reports Server (NTRS)
Turso, James A.; Litt, Jonathan S.
2004-01-01
A method for accommodating engine deterioration via a scheduled Linear Parameter Varying Quadratic Lyapunov Function (LPVQLF)-Based controller is presented. The LPVQLF design methodology provides a means for developing unconditionally stable, robust control of Linear Parameter Varying (LPV) systems. The controller is scheduled on the Engine Deterioration Index, a function of estimated parameters that relate to engine health, and is computed using a multilayer feedforward neural network. Acceptable thrust response and tight control of exhaust gas temperature (EGT) is accomplished by adjusting the performance weights on these parameters for different levels of engine degradation. Nonlinear simulations demonstrate that the controller achieves specified performance objectives while being robust to engine deterioration as well as engine-to-engine variations.
Hand, M. M.
1999-07-30
Variable-speed, horizontal axis wind turbines use blade-pitch control to meet specified objectives for three regions of operation. This paper focuses on controller design for the constant power production regime. A simple, rigid, non-linear turbine model was used to systematically perform trade-off studies between two performance metrics. Minimization of both the deviation of the rotor speed from the desired speed and the motion of the actuator is desired. The robust nature of the proportional-integral-derivative (PID) controller is illustrated, and optimal operating conditions are determined. Because numerous simulation runs may be completed in a short time, the relationship of the two opposing metrics is easily visualized. Traditional controller design generally consists of linearizing a model about an operating point. This step was taken for two different operating points, and the systematic design approach was used. A comparison of the optimal regions selected using the n on-linear model and the two linear models shows similarities. The linearization point selection does, however, affect the turbine performance slightly. Exploitation of the simplicity of the model allows surfaces consisting of operation under a wide range of gain values to be created. This methodology provides a means of visually observing turbine performance based upon the two metrics chosen for this study. Design of a PID controller is simplified, and it is possible to ascertain the best possible combination of controller parameters. The wide, flat surfaces indicate that a PID controller is very robust in this variable-speed wind turbine application.
On stochastic control system design methods for weakly coupled large scale linear systems.
NASA Technical Reports Server (NTRS)
Kwong, R.; Chong, C.-Y.; Athans, M.
1972-01-01
This paper considers the problem of decentralized control of two weakly coupled linear stochastic systems, using quadratic performance indices. The basic idea is to have each controller control independently his own system, based upon noisy measurements of his own output. To compensate for the effects of weak coupling upon the resultant performance, fake white plant noise is introduced to each system. The appropriate intensity of the fake plant noise is obtained through the solution of an off-line deterministic matrix optimal control problem. The effects of this design method upon the overall coupled system performance are analyzed as a function of the degree of intersystem coupling.
Robust control design for a wheel loader using Hinfinity and feedback linearization based methods.
Fales, Roger; Kelkar, Atul
2009-07-01
The heavy equipment industry is building more and more equipment with electro-hydraulic control systems. The existing industry practices for the design of control systems in construction machines primarily rely on classical designs coupled with ad-hoc synthesis procedures. Such practices produce desirable results, but lack a systematic procedure to account for invariably present plant uncertainties in the design process as well as coupled dynamics of the multi-input multi-output (MIMO) configuration. In this paper, two H(infinity) based robust control designs are presented for an automatic bucket leveling mechanism of a wheel loader. In one case, the controller is designed for the base plant model. In another case, the controller is designed for the plant with a feedback linearization control law applied yielding improved stability robustness. A MIMO nonlinear model for an electro-hydraulically actuated wheel loader linkage is considered. The robustness of the controller designs are validated by using analysis and by simulation using a complete nonlinear model of the wheel loader linkage and hydraulic system.
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1975-01-01
A digital computer program (ORACLS) for implementing the optimal regulator theory approach to the design of controllers for linear time-invariant systems is described. The user-oriented program employs the latest numerical techniques and is applicable to both the digital and continuous control problems.
Eco-inspired robust control design for linear dynamical systems with applications
NASA Astrophysics Data System (ADS)
Devarakonda, Nagini
Recently, the idea of using Ecological Sign Stability approach for designing robust controllers for engineering systems has attracted attention with promising results. In this work, continued research on this topic is presented. It is well known that, in the field of control systems, key to a good controller design is the choice of the appropriate nominal system. Since it is assumed that the perturbations are about this nominal, the extent of allowed perturbation to maintain the stability and/or performance very much depends on this 'nominal' system. Therefore, it is evident that this nominal system must have superior robustness properties. Incorporating certain robustness measures proposed in the literature, control design techniques have been realized in state space framework. However, the variety of controllers in state space framework is not as large as that of robust control design methods in frequency domain. Even these very few methods tend to be complex and demand some specific structure to the real parameter uncertainty (such as matching conditions). Overall, the success of all these methods for application to complex aerospace systems is still a subject of debate. Hence, there is still significant interest in designing robust controllers which can perform better than the existing controllers. Addressing these issues, current research proposes that the stability robustness measures for parameter perturbation are considerably improved if the 'nominal' system is taken (or driven) to be a 'sign stable' system. Motivated by this observation, a new method for designing a robust controller for linear uncertain state space systems is proposed. The novelty of this research lies in the incorporation of ecological principles in order to design robust controllers for engineering systems. It is observed that an ecological perspective gives better understanding of the dynamics of the open and closed loop system (nominal) matrices. One of the attractive features of this
Controlling the wave propagation through the medium designed by linear coordinate transformation
NASA Astrophysics Data System (ADS)
Wu, Yicheng; He, Chengdong; Wang, Yuzhuo; Liu, Xuan; Zhou, Jing
2015-01-01
Based on the principle of transformation optics, we propose to control the wave propagating direction through the homogenous anisotropic medium designed by linear coordinate transformation. The material parameters of the medium are derived from the linear coordinate transformation applied. Keeping the space area unchanged during the linear transformation, the polarization-dependent wave control through a non-magnetic homogeneous medium can be realized. Beam benders, polarization splitter, and object illusion devices are designed, which have application prospects in micro-optics and nano-optics. The simulation results demonstrate the feasibilities and the flexibilities of the method and the properties of these devices. Design details and full-wave simulation results are provided. The work in this paper comprehensively applies the fundamental theories of electromagnetism and mathematics. The method of obtaining a new solution of the Maxwell equations in a medium from a vacuum plane wave solution and a linear coordinate transformation is introduced. These have a pedagogical value and are methodologically and motivationally appropriate for physics students and teachers at the undergraduate and graduate levels.
An iterative approach to the optimal co-design of linear control systems
NASA Astrophysics Data System (ADS)
Jiang, Yu; Wang, Yebin; Bortoff, Scott A.; Jiang, Zhong-Ping
2016-04-01
This paper investigates the optimal co-design of both physical plants and control policies for a class of continuous-time linear control systems. The optimal co-design of a specific linear control system is commonly formulated as a nonlinear non-convex optimisation problem (NNOP), and solved by using iterative techniques, where the plant parameters and the control policy are updated iteratively and alternately. This paper proposes a novel iterative approach to solve the NNOP, where the plant parameters are updated by solving a standard semi-definite programming problem, with non-convexity no longer involved. The proposed system design is generally less conservative in terms of the system performance compared to the conventional system-equivalence-based design, albeit the range of applicability is slightly reduced. A practical optimisation algorithm is proposed to compute a sub-optimal solution ensuring the system stability, and the convergence of the algorithm is established. The effectiveness of the proposed algorithm is illustrated by its application to the optimal co-design of a physical load positioning system.
2007-10-01
Design and initial in-water testing of advanced non- linear control algorithms onto an Unmanned Underwater Vehicle (UUV) Vladimir Djapic Unmanned...attitude or translating in a direction different from that of the surface. Non- linear controller that compensates for non-linear forces (such as drag...loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate ”outer-loop” non
PID controller design for output PDFs of stochastic systems using linear matrix inequalities.
Guo, Lei; Wang, Hong
2005-02-01
This paper presents a pseudo proportional-integral-derivative (PID) tracking control strategy for general non-Gaussian stochastic systems based on a linear B-spline model for the output probability density functions (PDFs). The objective is to control the conditional PDFs of the system output to follow a given target function. Different from existing methods, the control structure (i.e., the PID) is imposed before the output PDF controller design. Following the linear B-spline approximation on the measured output PDFs, the concerned problem is transferred into the tracking of given weights which correspond to the desired PDF. For systems with or without model uncertainties, it is shown that the solvability can be casted into a group of matrix inequalities. Furthermore, an improved controller design procedure based on the convex optimization is proposed which can guarantee the required tracking convergence with an enhanced robustness. Simulations are given to demonstrate the efficiency of the proposed approach and encouraging results have been obtained.
Output-feedback sampled-data control design for linear parameter-varying systems with delay
NASA Astrophysics Data System (ADS)
Ramezanifar, Amin; Mohammadpour, Javad; Grigoriadis, Karolos M.
2014-12-01
In this paper, we address the sampled-data output-feedback control design problem for continuous-time linear parameter-varying systems with time-varying delay in the system states. Due to the combination of the plant's continuous-time dynamics and the controller's discrete-time dynamics connected through A/D and D/A converter devices, the closed-loop system is a hybrid system. In order to analyse this hybrid system from stability and performance perspectives we use the input-delay approach to map the closed-loop system into the continuous-time domain with delay in the states. This results in a closed-loop system containing two types of delays, the system internal delay and the one imposed by the mapping. Next, we use delay-dependent conditions for analysis of stability and ?-norm performance which result in a sampled-data control synthesis procedure. The proposed output-feedback sampled-data controller is obtained based on the solution to a linear matrix inequality optimisation problem using a set of appropriately defined slack variables. A numerical example of a milling machine is presented to demonstrate the viability of the proposed sampled-data control design method to satisfy the stability and performance objectives even with a varying sampling rate.
Linear control of a boiler-turbine unit: analysis and design.
Tan, Wen; Fang, Fang; Tian, Liang; Fu, Caifen; Liu, Jizhen
2008-04-01
Linear control of a boiler-turbine unit is discussed in this paper. Based on the nonlinear model of the unit, this paper analyzes the nonlinearity of the unit, and selects the appropriate operating points so that the linear controller can achieve wide-range performance. Simulation and experimental results at the No. 4 Unit at the Dalate Power Plant show that the linear controller can achieve the desired performance under a specific range of load variations.
NASA Astrophysics Data System (ADS)
Humphreys, D. A.; Ferron, J. R.; Leuer, J. A.; Walker, M. L.; Welander, A. S.
2003-10-01
Linear, perturbed equilibrium plasma response models can accurately represent the experimental response of tokamak plasmas to applied fields [A. Coutlis, et al., Nucl. Fusion 39, 663 (1999)]. However, agreement between experiment and model is much better when average flux over the plasma, rather than at each fluid element, is conserved [P. Vyas, et al., Nucl. Fusion 38, 1043 (1998)]. The close experimental agreement of average flux-conserving models is consistent with approximating field penetration effects produced by finite plasma resistivity, particularly in the edge region. We report on the development of nonrigid linear plasma response models which include finite local plasma resistivity in order to more accurately represent the dynamic response due to this field penetration. Such response models are expected to be important for designing profile control algorithms in advanced tokamaks. Accounting for finite plasma resistivity is also important in designing multivariable integrated controllers which must simultaneously regulate plasma shape and plasma current. Consequences of including resisitivity will be illustrated and comparisons with DIII-D experimental plasma responses will be made.
Lemaire, Edward D; Samadi, Reza; Goudreau, Louis; Kofman, Jonathan
2013-01-01
A linear piston hydraulic angular-velocity-based control knee joint was designed for people with knee-extensor weakness to engage knee-flexion resistance when knee-flexion angular velocity reaches a preset threshold, such as during a stumble, but to otherwise allow free knee motion. During mechanical testing at the lowest angular-velocity threshold, the device engaged within 2 degrees knee flexion and resisted moment loads of over 150 Nm. The device completed 400,000 loading cycles without mechanical failure or wear that would affect function. Gait patterns of nondisabled participants were similar to normal at walking speeds that produced below-threshold knee angular velocities. Fast walking speeds, employed purposely to attain the angular-velocity threshold and cause knee-flexion resistance, reduced maximum knee flexion by approximately 25 degrees but did not lead to unsafe gait patterns in foot ground clearance during swing. In knee collapse tests, the device successfully engaged knee-flexion resistance and stopped knee flexion with peak knee moments of up to 235.6 Nm. The outcomes from this study support the potential for the linear piston hydraulic knee joint in knee and knee-ankle-foot orthoses for people with lower-limb weakness.
The design and control of linear bidirectional stepping motors - Application to machine tools
NASA Astrophysics Data System (ADS)
Petrizza, N.
Theoretical modeling and the results of operation of a model linear stepping motor for producing rapid in-plane translation in machining operations are presented. The theory of linear induction motors and their current implementation in the stepping mode are reviewed. A finite element method is developed for optimizing the contact stud shape through calculation of the magnetic fields and forces the motor experiences in static condition. An investigation into the characteristics of the air cushion which inhibits the motor from contacting the base is reported. Direct control with a microprocessor is described, including programming with an acceleration period at the beginning and deceleration at the end of each motion using circular and linear interpolations to obtain linear and circular motor displacements in the plane. Comparisons between linear step motors with variable reluctance and hybrid motors are made.
NASA Technical Reports Server (NTRS)
Mattern, Duane; Ouzts, Peter
1991-01-01
The implementation of multi-variable control systems on turbofan engines requires the use of limit protection to maintain safe engine operation. Since a turbofan engine typically encounters limits during transient operation, the use of a limit protection scheme that modifies the feedback loop may void the desired 'guarantees' associated with linear multi-variable control design methods, necessitating considerable simulation to validate the control with limit protection. An alternative control design structure is proposed that maintains the desired linear feedback properties when certain safety limits are encountered by moving the limit protection scheme outside of the feedback loop. This proposed structure is compared to a structure with a limit protection scheme that modifies the feedback loop properties. The two design structures are compared using both linear and nonlinear simulations. The evaluation emphasizes responses where the fan surge margin limit is encountered.
NASA Technical Reports Server (NTRS)
Mattern, Duane; Ouzts, Peter
1991-01-01
The implementation of multi-variable control systems on turbofan engines requires the use of limit protection to maintain safe engine operation. Since a turbofan engine typically encounters limits during transient operation, the use of a limit protection scheme that modifies the feedback loop may void the desired 'guarantees' associated with linear multi-variable control design methods, necessitating considerable simulation to validate the control with limited protection. An alternative control design structure is proposed that maintains the desired linear feedback properties when certain safety limits are encountered by moving the limit protection scheme outside the feedback loop. This proposed structure is compared to a structure with a limit protection scheme that modifies the feedback loop properties. The two design structures are compared using both linear and nonlinear simulations. The evaluation emphasizes responses where the fan surge margin limit is encountered.
NASA Technical Reports Server (NTRS)
Slater, G. L.; Shelley, Stuart; Jacobson, Mark
1993-01-01
In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.
1979-12-01
OPTIMAL LINEAR CONTROL C.A. HARVEY M.G. SAFO NOV G. STEIN J.C. DOYLE HONEYWELL SYSTEMS & RESEARCH CENTER j 2600 RIDGWAY PARKWAY j [ MINNEAPOLIS...RECIPIENT’S CAT ALC-’ W.IMIJUff’? * J~’ CR2 15-238-4F TP P EI)ŕll * (~ Optimal Linear Control ~iOGRPR UBA m a M.G Lnar o Con_ _ _ _ _ _ R PORT__ _ _ I RE...Characterizations of optimal linear controls have been derived, from which guides for selecting the structure of the control system and the weights in
AESOP: A computer-aided design program for linear multivariable control systems
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L. C.
1982-01-01
An interactive computer program (AESOP) which solves quadratic optimal control and is discussed. The program can also be used to perform system analysis calculations such as transient and frequency responses, controllability, observability, etc., in support of the control and filter design computations.
NASA Technical Reports Server (NTRS)
Teneketzis, D.; Sandell, N. R., Jr.
1976-01-01
This paper develops a hierarchically-structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems. It is proved that the controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short period modes of the longitudinal dynamics of the F-8 aircraft.
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1992-01-01
The aspect of controller design for improving the ride quality of aircraft in terms of damping ratio and natural frequency specifications on the short period dynamics is addressed. The controller is designed to be robust with respect to uncertainties in the real parameters of the control design model such as uncertainties in the dimensional stability derivatives, imperfections in actuator/sensor locations and possibly variations in flight conditions, etc. The design is based on a new robust root clustering theory developed by the author by extending the nominal root clustering theory of Gutman and Jury to perturbed matrices. The proposed methodology allows to get an explicit relationship between the parameters of the root clustering region and the uncertainty radius of the parameter space. The current literature available for robust stability becomes a special case of this unified theory. The bounds derived on the parameter perturbation for robust root clustering are then used in selecting the robust controller.
Output feedback non-linear decoupled control synthesis and observer design for manoeuvring aircraft
NASA Technical Reports Server (NTRS)
Singh, S. N.; Schy, A. A.
1980-01-01
A study of the applicability of nonlinear decoupling theory to the design of control systems using output feedback for maneuvering aircraft is presented. The response variables chosen for decoupled control were angular velocity components along roll, pitch, and yaw axes, angle of attack (p), and angle of sideslip, using aileron, rudder, and elevator controls. An observer design for a class of nonlinear systems was presented and this method was used to estimate angle of attack and sideslip; an approximate observer was obtained by neglecting derivatives of p and aileron deflection angles and it was used in a simulation study. A simulation study showed that precise rapid combined lateral and longitudinal maneuvers can be performed; it was also demonstrated that a bank-angle-command outer loop could be designed for precise bank angles changes and simultaneous large lift maneuvers.
Application of a robust linear control design to a truss structure with nonlinear joints
NASA Technical Reports Server (NTRS)
Webster, Mark; Vander Velde, Wallace
1991-01-01
An efficient nonlinear equivalent beam finite-element method for the application of a full state feedback design is described, which is robust to plant uncertainties to a beamlike truss structure with nonlinear elements. The method may be extended to model nonlinear structures with other types of control systems, such as model-based compensators.
NASA Technical Reports Server (NTRS)
Sain, M. K.; Antsaklis, P. J.; Gejji, R. R.; Wyman, B. F.; Peczkowski, J. L.
1981-01-01
Zames (1981) has observed that there is, in general, no 'separation principle' to guarantee optimality of a division between control law design and filtering of plant uncertainty. Peczkowski and Sain (1978) have solved a model matching problem using transfer functions. Taking into consideration this investigation, Peczkowski et al. (1979) proposed the Total Synthesis Problem (TSP), wherein both the command/output-response and command/control-response are to be synthesized, subject to the plant constraint. The TSP concept can be subdivided into a Nominal Design Problem (NDP), which is not dependent upon specific controller structures, and a Feedback Synthesis Problem (FSP), which is. Gejji (1980) found that NDP was characterized in terms of the plant structural matrices and a single, 'good' transfer function matrix. Sain et al. (1981) have extended this NDP work. The present investigation is concerned with a study of FSP for the unity feedback case. NDP, together with feedback synthesis, is understood as a Total Synthesis Problem.
NASA Astrophysics Data System (ADS)
Urushihara, Shiro; Kamano, Takuya; Yura, Satoshi; Yasuno, Takashi; Suzuki, Takayuki
One of fundamental problems in the factory automation is how to obtain linear motion. Linear motors produce directly the linear motion force without a motion-transform mechanism. Linear d.c. motors (LDMs) have excellent performance and controllability. However, the dynamics of small-sized LDMs is adversely affected by the dead-band due to the friction between brushes and commutators. In this paper, it is described that the design of the two-degree-of-freedom positioning system with a LDM using model reference type sliding mode controller (SMC). The proposed positioning system consists of a fixed gain feedforward controller and a SMC used as a feedback controller. The objective of the SMC is to repress the influence of nonlinear characteristics (the dead-band and parameter variations etc.). The tracking performance can be improved as the fixed gain feedforward controller makes a dynamic inverse system in the feedforward path. The effectiveness of the proposed system for improvement of the tracking performance is demonstrated by experimental results.
1985-12-01
schemes involving more general perturbations. Also Desoer et al [8] have established conditions for stability robustness of linear multivarible...address regulators with quadratic performance indices. Desoer et al [8] have established conditions for stability robust- ness of linear...p. 45-46. 8. Desoer , C.A., Callier, F.M. and Chan, W.S., "Robustness of Stability Conditions for Linear Time Invariant Feedback Systems," IEEE
da Fonseca Neto, João Viana; Abreu, Ivanildo Silva; da Silva, Fábio Nogueira
2010-04-01
Toward the synthesis of state-space controllers, a neural-genetic model based on the linear quadratic regulator design for the eigenstructure assignment of multivariable dynamic systems is presented. The neural-genetic model represents a fusion of a genetic algorithm and a recurrent neural network (RNN) to perform the selection of the weighting matrices and the algebraic Riccati equation solution, respectively. A fourth-order electric circuit model is used to evaluate the convergence of the computational intelligence paradigms and the control design method performance. The genetic search convergence evaluation is performed in terms of the fitness function statistics and the RNN convergence, which is evaluated by landscapes of the energy and norm, as a function of the parameter deviations. The control problem solution is evaluated in the time and frequency domains by the impulse response, singular values, and modal analysis.
NASA Technical Reports Server (NTRS)
Patel, R. V.; Toda, M.; Sridhar, B.
1977-01-01
The paper deals with the problem of expressing the robustness (stability) property of a linear quadratic state feedback (LQSF) design quantitatively in terms of bounds on the perturbations (modeling errors or parameter variations) in the system matrices so that the closed-loop system remains stable. Nonlinear time-varying and linear time-invariant perturbations are considered. The only computation required in obtaining a measure of the robustness of an LQSF design is to determine the eigenvalues of two symmetric matrices determined when solving the algebraic Riccati equation corresponding to the LQSF design problem. Results are applied to a complex dynamic system consisting of the flare control of a STOL aircraft. The design of the flare control is formulated as an LQSF tracking problem.
NASA Astrophysics Data System (ADS)
Mahmoodi Nia, Payam; Sipahi, Rifat
2013-07-01
One of the critical parameters that can deteriorate the effectiveness of active vibration control (AVC) is the delay in sensors. Especially, in remote sensing where delays are large, and in high-speed applications with even small delays, instability can be inevitable. This paper presents algebraic approaches to design controllers in order to achieve stability regardless of the amount of delays for AVC applications modeled by linear time-invariant systems with "multiple" constant delays. The approaches are based on a nonconservative framework, and can identify the regions in the controller gain space where delay-independent stability (DIS) is achievable. With these controllers, we demonstrate via simulations that vibration suppression, within certain excitation frequency bands, can be improved or be as effective as those in AVC applications without delays.
NASA Technical Reports Server (NTRS)
Melcher, Kevin J.
1997-01-01
The NASA Lewis Research Center is developing analytical methods and software tools to create a bridge between the controls and computational fluid dynamics (CFD) disciplines. Traditionally, control design engineers have used coarse nonlinear simulations to generate information for the design of new propulsion system controls. However, such traditional methods are not adequate for modeling the propulsion systems of complex, high-speed vehicles like the High Speed Civil Transport. To properly model the relevant flow physics of high-speed propulsion systems, one must use simulations based on CFD methods. Such CFD simulations have become useful tools for engineers that are designing propulsion system components. The analysis techniques and software being developed as part of this effort are an attempt to evolve CFD into a useful tool for control design as well. One major aspect of this research is the generation of linear models from steady-state CFD results. CFD simulations, often used during the design of high-speed inlets, yield high resolution operating point data. Under a NASA grant, the University of Akron has developed analytical techniques and software tools that use these data to generate linear models for control design. The resulting linear models have the same number of states as the original CFD simulation, so they are still very large and computationally cumbersome. Model reduction techniques have been successfully applied to reduce these large linear models by several orders of magnitude without significantly changing the dynamic response. The result is an accurate, easy to use, low-order linear model that takes less time to generate than those generated by traditional means. The development of methods for generating low-order linear models from steady-state CFD is most complete at the one-dimensional level, where software is available to generate models with different kinds of input and output variables. One-dimensional methods have been extended
Linear Controllers for Turbulent Boundary Layers
NASA Astrophysics Data System (ADS)
Lim, Junwoo; Kim, John; Kang, Sung-Moon; Speyer, Jason
2000-11-01
Several recent studies have shown that controllers based on a linear system theory work surprisingly well in turbulent flows, suggesting that a linear mechanism may play an important role even in turbulent flows. It has been also shown that non-normality of the linearized Navier-Stokes equations is an essential characteristic in the regeneration of near-wall turbulence structures in turbulent boundary layers. A few controllers designed to reduce the role of different linear mechanisms, including that to minimize the non-normality of the linearized Navier-Stokes equations, have been developed and applied to a low Reynolds nubmer turbulent channel flow. A reduced-order model containing the most controllable and observables modes is derived for each system. Other existing control schemes, such as Choi et al's opposition control, have been examined from the point of a linear system control. Further discussion on controller design, such as choice of cost function and other control parameters, will be presented.
Non-Linear Control Allocation Using Piecewise Linear Functions
2003-08-01
A novel method is presented for the solution of the non- linear control allocation problem. Historically, control allocation has been performed by... linear control allocation problem to be cast as a piecewise linear program. The piecewise linear program is ultimately cast as a mixed-integer linear...piecewise linear control allocation method is shown to be markedly improved when compared to the performance of a more traditional control allocation approach that assumes linearity.
Linear control of the flywheel inverted pendulum.
Olivares, Manuel; Albertos, Pedro
2014-09-01
The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated systems usually require nonlinear controllers, the easy tuning and understanding of linear controllers make them more attractive for designers and final users. In a recent paper, a simple PID controller was proposed by the authors, leading to an internally unstable controlled plant. To achieve global stability, two options are developed here: first by introducing an internal stabilizing controller and second by replacing the PID controller by an observer-based state feedback control. Simulation and experimental results show the effectiveness of the design.
NASA Astrophysics Data System (ADS)
GASPARETTO, A.
2001-02-01
Vibration control of flexible link mechanisms with more than two flexible links is still an open question, mainly because defining a model that is adequate for the designing of a controller is a rather difficult task. In this work, an accurate dynamic non-linear model of a flexible-link planar mechanism is presented. In order to bring the system into a form that is suitable for the design of a vibration controller, the model is then linearized about an operating point, so as to achieve a linear model of the system in the standard state-space form of system theory. The linear model obtained, which is valid for whatever planar mechanism with any number of flexible link, is then applied to a four-bar planar linkage. Extensive simulation is carried out, aimed at comparing the system dynamic evolution, both in the open- and in the closed-loop case, using the non-linear model and the linearized one. The results prove that the error made by using the linearized system instead of the non-linear one is small. Therefore, it can be concluded that the model proposed in this work can constitute an effective basis for designing and testing many types of vibration controllers for flexible planar mechanisms.
Linear Hereditary Control Systems,
Relationships between external and internal models for systems with time lags are discussed. The use of various canonical forms for the models in solving optimal control problems is considered. (Author)
Manipulator control by exact linearization
NASA Technical Reports Server (NTRS)
Kruetz, K.
1987-01-01
Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.
Gain optimization with non-linear controls
NASA Technical Reports Server (NTRS)
Slater, G. L.; Kandadai, R. D.
1984-01-01
An algorithm has been developed for the analysis and design of controls for non-linear systems. The technical approach is to use statistical linearization to model the non-linear dynamics of a system by a quasi-Gaussian model. A covariance analysis is performed to determine the behavior of the dynamical system and a quadratic cost function. Expressions for the cost function and its derivatives are determined so that numerical optimization techniques can be applied to determine optimal feedback laws. The primary application for this paper is centered about the design of controls for nominally linear systems but where the controls are saturated or limited by fixed constraints. The analysis is general, however, and numerical computation requires only that the specific non-linearity be considered in the analysis.
NASA Technical Reports Server (NTRS)
Pfeil, W. H.; Athans, M.; Spang, H. A., III
1986-01-01
The design of scalar and multi-variable feedback control systems for the GE T700 turboshaft engine coupled to a helicopter rotor system is examined. A series of linearized models are presented and analyzed. Robustness and performance specifications are posed in the frequency domain. The linear-quadratic-Gaussian with loop-transfer-recovery (LQG/LTR) methodology is used to obtain a sequence of three feedback designs. Even in the single-input/single-output case, comparison of the current control system with that derived from the LQG/LTR approach shows significant performance improvement. The multi-variable designs, evaluated using linear and nonlinear simulations, show even more potential for performance improvement.
NASA Technical Reports Server (NTRS)
Rodriguez, A. A.; Athans, M.
1986-01-01
Guidelines for developing a multivariable centralized automatic flight control system (AFCS) for a twin lift helicopter system (TLHS) are presented. Singular value ideas are used to formulate performance and stability robustness specifications. A linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) design is obtained and evaluated.
NASA Technical Reports Server (NTRS)
Chung, W. W.; Mcneill, W. E.; Stortz, M. W.
1993-01-01
The nonlinear inverse transformation flight control system design method is applied to the Lockheed Ft. Worth Company's E-7D short takeoff and vertical land (STOVL) supersonic fighter/attack aircraft design with a modified General Electric F110 engine which has augmented propulsive lift capability. The system is fully augmented to provide flight path control and velocity control, and rate command attitude hold for angular axes during the transition and hover operations. In cruise mode, the flight control system is configured to provide direct thrust command, rate command attitude hold for pitch and roll axes, and sideslip command with turn coordination. A control selector based on the nonlinear inverse transformation method is designed specifically to be compatible with the propulsion system's physical configuration which has a two dimensional convergent-divergent aft nozzle, a vectorable ventral nozzle, and a thrust augmented ejector. The nonlinear inverse transformation is used to determine the propulsive forces and nozzle deflections, which in combination with the aerodynamic forces and moments (including propulsive induced contributions), and gravitational force, are required to achieve the longitudinal and vertical acceleration commands. The longitudinal control axes are fully decoupled within the propulsion system's performance envelope. A piloted motion-base flight simulation was conducted on the Vertical Motion Simulator (VMS) at NASA Ames Research Center to examine the handling qualities of this design. Based on results of the simulation, refinements to the control system have been made and will also be covered in the report.
NASA Astrophysics Data System (ADS)
Chavarette, Fábio Roberto; Balthazar, José Manoel; Peruzzi, Nelson José; Rafikov, Marat
2009-03-01
The Fitzhugh-Nagumo (FH) mathematical model is considered a simplification of the Hodgkin-Huxley (HH) model. This paper analyzes the non-linear dynamics of the Fitzhugh-Nagumo (FN) mathematical model, and still presents some modifications in the governing equations of the system in order to transform it into a non-ideal one (taking into account that an energy source has limited power supply). We also developed an optimal linear control design and used Sinhas's theory for the membrane's action potential in order to stabilize the variation of this potential.
Linear stochastic optimal control and estimation
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, F. K. B.
1976-01-01
Digital program has been written to solve the LSOCE problem by using a time-domain formulation. LSOCE problem is defined as that of designing controls for linear time-invariant system which is disturbed by white noise in such a way as to minimize quadratic performance index.
Design of Linear Quadratic Regulators and Kalman Filters
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L.
1986-01-01
AESOP solves problems associated with design of controls and state estimators for linear time-invariant systems. Systems considered are modeled in state-variable form by set of linear differential and algebraic equations with constant coefficients. Two key problems solved by AESOP are linear quadratic regulator (LQR) design problem and steady-state Kalman filter design problem. AESOP is interactive. User solves design problems and analyzes solutions in single interactive session. Both numerical and graphical information available to user during the session.
Linear stochastic optimal control and estimation problem
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, F. K. B.
1980-01-01
Problem involves design of controls for linear time-invariant system disturbed by white noise. Solution is Kalman filter coupled through set of optimal regulator gains to produce desired control signal. Key to solution is solving matrix Riccati differential equation. LSOCE effectively solves problem for wide range of practical applications. Program is written in FORTRAN IV for batch execution and has been implemented on IBM 360.
Robust Control Design for Flight Control
1989-07-01
to achieve desired performance over the full flight envelope when linear feedback is employed. Exact linearization methods [48] provide means for...designing nonlinear feedback laws which satisfy these requirements. However, exact linearization is not always compatible with control authority...specific situations. The most promising approaches appear to be those associated with methods of exact linearization . This procedure is based on some
Linear Parameter Varying Control for Actuator Failure
NASA Technical Reports Server (NTRS)
Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine; Bushnell, Dennis M. (Technical Monitor)
2002-01-01
A robust linear parameter varying (LPV) control synthesis is carried out for an HiMAT vehicle subject to loss of control effectiveness. The scheduling parameter is selected to be a function of the estimates of the control effectiveness factors. The estimates are provided on-line by a two-stage Kalman estimator. The inherent conservatism of the LPV design is reducing through the use of a scaling factor on the uncertainty block that represents the estimation errors of the effectiveness factors. Simulations of the controlled system with the on-line estimator show that a superior fault-tolerance can be achieved.
Linear quadratic optimal control for symmetric systems
NASA Technical Reports Server (NTRS)
Lewis, J. H.; Martin, C. F.
1983-01-01
Special symmetries are present in many control problems. This paper addresses the problem of determining linear-quadratic optimal control problems whose solutions preserve the symmetry of the initial linear control system.
Linear control theory for gene network modeling.
Shin, Yong-Jun; Bleris, Leonidas
2010-09-16
Systems biology is an interdisciplinary field that aims at understanding complex interactions in cells. Here we demonstrate that linear control theory can provide valuable insight and practical tools for the characterization of complex biological networks. We provide the foundation for such analyses through the study of several case studies including cascade and parallel forms, feedback and feedforward loops. We reproduce experimental results and provide rational analysis of the observed behavior. We demonstrate that methods such as the transfer function (frequency domain) and linear state-space (time domain) can be used to predict reliably the properties and transient behavior of complex network topologies and point to specific design strategies for synthetic networks.
NASA Technical Reports Server (NTRS)
Frisch, Harold P.
1987-01-01
Control-theory design package, Optimal Regulator Algorithms for Control of Linear Systems (ORACLS), developed to aid in design of controllers and optimal filters for systems modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, Linear-Quadratic-Gaussian (LQG) problem, most widely accepted method of determining optimal control policy. Provides for solution to time-in-variant continuous or discrete LQG problems. Attractive to control-system designer providing rigorous tool for dealing with multi-input and multi-output dynamic systems in continuous and discrete form. CDO version written in FORTRAN IV. VAX version written in FORTRAN 77.
Controllability of non-linear biochemical systems.
Ervadi-Radhakrishnan, Anandhi; Voit, Eberhard O
2005-07-01
Mathematical methods of biochemical pathway analysis are rapidly maturing to a point where it is possible to provide objective rationale for the natural design of metabolic systems and where it is becoming feasible to manipulate these systems based on model predictions, for instance, with the goal of optimizing the yield of a desired microbial product. So far, theory-based metabolic optimization techniques have mostly been applied to steady-state conditions or the minimization of transition time, using either linear stoichiometric models or fully kinetic models within biochemical systems theory (BST). This article addresses the related problem of controllability, where the task is to steer a non-linear biochemical system, within a given time period, from an initial state to some target state, which may or may not be a steady state. For this purpose, BST models in S-system form are transformed into affine non-linear control systems, which are subjected to an exact feedback linearization that permits controllability through independent variables. The method is exemplified with a small glycolytic-glycogenolytic pathway that had been analyzed previously by several other authors in different contexts.
Feedback linearization for control of air breathing engines
NASA Technical Reports Server (NTRS)
Phillips, Stephen; Mattern, Duane
1991-01-01
The method of feedback linearization for control of the nonlinear nozzle and compressor components of an air breathing engine is presented. This method overcomes the need for a large number of scheduling variables and operating points to accurately model highly nonlinear plants. Feedback linearization also results in linear closed loop system performance simplifying subsequent control design. Feedback linearization is used for the nonlinear partial engine model and performance is verified through simulation.
Designing Genetic Feedback Controllers.
Harris, Andreas W K; Dolan, James A; Kelly, Ciarán L; Anderson, James; Papachristodoulou, Antonis
2015-08-01
By incorporating feedback around systems we wish to manipulate, it is possible to improve their performance and robustness properties to meet pre-specified design objectives. For decades control engineers have been successfully implementing feedback controllers for complex mechanical and electrical systems such as aircraft and sports cars. Natural biological systems use feedback extensively for regulation and adaptation but apart from the most basic designs, there is no systematic framework for designing feedback controllers in Synthetic Biology. In this paper we describe how classical approaches from linear control theory can be used to close the loop. This includes the design of genetic circuits using feedback control and the presentation of a biological phase lag controller.
2007-10-01
controllable speeds, the ability to maintain a set distance and attitude ( pitch and roll ) relative to some surface for optimal sensor (both sonar and...bottom by adjusting its pitch and roll based on the information coming from the sonar sensor. Another task for the vehicle was to track a line along...are the roll , pitch , and yaw backstepping terms, Θbs. For attitude control, based on eqn. (2), we define the signal ωoc = Ω −1 ( −KΘΘ̃ + Θ̇c −Θbs
Linear control of oscillator and amplifier flows*
NASA Astrophysics Data System (ADS)
Schmid, Peter J.; Sipp, Denis
2016-08-01
Linear control applied to fluid systems near an equilibrium point has important applications for many flows of industrial or fundamental interest. In this article we give an exposition of tools and approaches for the design of control strategies for globally stable or unstable flows. For unstable oscillator flows a feedback configuration and a model-based approach is proposed, while for stable noise-amplifier flows a feedforward setup and an approach based on system identification is advocated. Model reduction and robustness issues are addressed for the oscillator case; statistical learning techniques are emphasized for the amplifier case. Effective suppression of global and convective instabilities could be demonstrated for either case, even though the system-identification approach results in a superior robustness to off-design conditions.
Robot arm force control through system linearization by nonlinear feedback
NASA Technical Reports Server (NTRS)
Tarn, T. J.; Bejczy, A. K.; Yun, Xiaoping
1988-01-01
Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.
Linearization of Attitude-Control Error Dynamics
NASA Technical Reports Server (NTRS)
Bach, Ralph; Paielli, Russell
1993-01-01
Direction cosines and quaternions are useful for representing rigid-body attitude because they exhibit no kinematic singularities. Each utilizes more variables than the minimum three degrees of freedom required to specify attitude. Therefore, application of a nonlinear inversion procedure to either formulation introduces singularities. Furthermore, in designing an attitude-control system, it is not appropriate to express attitude error as a difference of direction cosines (or quaternions). One should employ a measure of attitude error that not only is minimal but preserves orthogonal rotation properties as well. This note applies an inversion procedure to an appropriate measure of attitude error, so that the singularity occurs when the error reaches +/- 180 deg. This approach leads to the realization of a new model-follower attitude-control system that exhibits exact linear attitude-error dynamics.
Linear adaptive control of a single-tether system
NASA Technical Reports Server (NTRS)
Greene, M. E.; Carter, J. T.; Walls, J. L.
1992-01-01
A control law for a single-tether orbiting satellite system based on a reduced order linear adaptive control technique is presented. The main advantages of this technique are its design simplicity and the facts that specific system parameters and model linearization are not required when designing the controller. Two controllers are developed: one which uses only tension in the tether as control actuation and one which uses both tension and in-plane thrusters as control actuation. Both a sixth-order nonlinear and an 11th-order bead model of a tethered satellite system are used for simulation purposes, demonstrating the ability of the controller to manage an uncertain system. Retrieval and stationkeeping results using these nonlinear models and the linear adaptive controller demonstrate the feasibility of the method. The robustness of the controller with respect to parameter uncertainties is also demonstrated by changing the nonlinear model and parameters within the model without redesigning the controller.
Parametric approach to linear induction accelerator design
Bresie, D.A.; Andrews, J.A.; Ingram, S.W. . Center for Electromechanics)
1991-01-01
Past work on the design of linear induction accelerators has centered on the development of computer codes to analyze accelerator designs, using the current filament method. While these filament models are a very valuable tool for evaluating the performance of an induction launcher design, they provide little insight into the selection of dimensions, materials, and operation points for accelerators with interesting performance. Described in this paper is a parametric approach to defining effective accelerator designs. This method uses a computer optimization routine to iteratively seek out effective designs. The optimization routine is forced to search within a parameter space restricted to interesting and realistic parameters such as size, weight, voltage, and temperature rises. A filament model is used as the filter for the optimizer. Several linear induction accelerators have been designed using this method. The accelerators designed all used a switched capacitor power supply. While the run time of this code on The University of Texas' CRAY XMP-24 computer is moderately long, the resulting designs have good predicted performance. With realistic power supplies and materials, accelerator efficiencies in the 20 to 40% range were easily obtained. This paper describes the effect of armature diameter, length-to-diameter ratio, and weight, as well as other parameters, on the optimum accelerator design.
Linear optimal control of tokamak fusion devices
Kessel, C.E.; Firestone, M.A.; Conn, R.W.
1989-05-01
The control of plasma position, shape and current in a tokamak fusion reactor is examined using linear optimal control. These advanced tokamaks are characterized by non up-down symmetric coils and structure, thick structure surrounding the plasma, eddy currents, shaped plasmas, superconducting coils, vertically unstable plasmas, and hybrid function coils providing ohmic heating, vertical field, radial field, and shaping field. Models of the electromagnetic environment in a tokamak are derived and used to construct control gains that are tested in nonlinear simulations with initial perturbations. The issues of applying linear optimal control to advanced tokamaks are addressed, including complex equilibrium control, choice of cost functional weights, the coil voltage limit, discrete control, and order reduction. Results indicate that the linear optimal control is a feasible technique for controlling advanced tokamaks where the more common classical control will be severely strained or will not work. 28 refs., 13 figs.
Exact Linearization For Control Of Robots
NASA Technical Reports Server (NTRS)
Kreutz, Kenneth K.
1990-01-01
Equivalence of several theoretical approaches discussed. Report comments on application of geometric control theory (GCT), resolved-acceleration control (RAC), operational-space control (OSC), and nonlinear-decoupling theory (NDT) to remote manipulator consisting of multiple rigid links. Principal concern, search for nonlinear feedback law making end effector behave, for purposes of control, as though its dynamics linear and decoupled.
Switched linear model predictive controllers for periodic exogenous signals
NASA Astrophysics Data System (ADS)
Wang, Liuping; Gawthrop, Peter; Owens, David. H.; Rogers, Eric
2010-04-01
This article develops switched linear controllers for periodic exogenous signals using the framework of a continuous-time model predictive control. In this framework, the control signal is generated by an algorithm that uses receding horizon control principle with an on-line optimisation scheme that permits inclusion of operational constraints. Unlike traditional repetitive controllers, applying this method in the form of switched linear controllers ensures bumpless transfer from one controller to another. Simulation studies are included to demonstrate the efficacy of the design with or without hard constraints.
SLAC linear collider conceptual design report
Not Available
1980-06-01
The linear collider system is described in detail, including the transport system, the collider lattice, final focusing system, positron production, beam damping and compression, high current electron source, instrumentation and control, and the beam luminosity. The experimental facilities and the experimental uses are discussed along with the construction schedule and estimated costs. Appendices include a discussion of space charge effects in the linear accelerator, emittance growth in the collider, the final focus system, beam-beam instabilities and pinch effects, and detector backgrounds. (GHT)
Stochastic Linear Quadratic Optimal Control Problems
Chen, S.; Yong, J.
2001-07-01
This paper is concerned with the stochastic linear quadratic optimal control problem (LQ problem, for short) for which the coefficients are allowed to be random and the cost functional is allowed to have a negative weight on the square of the control variable. Some intrinsic relations among the LQ problem, the stochastic maximum principle, and the (linear) forward-backward stochastic differential equations are established. Some results involving Riccati equation are discussed as well.
control design technique is applied to the design of disturbance state models for two different disturbances and to the design of the composite state ... observers necessary for implementation of the compensator. The performance of each of the compensators in reducing disturbance effects in the plant output is investigated. (Author)
A free lunch in linearized experimental design?
NASA Astrophysics Data System (ADS)
Coles, D.; Curtis, A.
2009-12-01
The No Free Lunch (NFL) theorems state that no single optimization algorithm is ideally suited for all objective functions and, conversely, that no single objective function is ideally suited for all optimization algorithms (Wolpert and Macready, 1997). It is therefore of limited use to report the performance of a particular algorithm with respect to a particular objective function because the results cannot be safely extrapolated to other algorithms or objective functions. We examine the influence of the NFL theorems on linearized statistical experimental design (SED). We are aware of no publication that compares multiple design criteria in combination with multiple design algorithms. We examine four design algorithms in concert with three design objective functions to assess their interdependency. As a foundation for the study, we consider experimental designs for fitting ellipses to data, a problem pertinent, for example, to the study of transverse isotropy in a variety of disciplines. Surprisingly, we find that the quality of optimized experiments, and the computational efficiency of their optimization, is generally independent of the criterion-algorithm pairing. This is promising for linearized SED. While the NFL theorems must generally be true, the criterion-algorithm pairings we investigated are fairly robust to the theorems, indicating that we need not account for independency when choosing design algorithms and criteria from the set examined here. However, particular design algorithms do show patterns of performance, irrespective of the design criterion, and from this we establish a rough guideline for choosing from the examined algorithms for other design problems. As a by-product of our study we demonstrate that SED is subject to the principle of diminishing returns. That is, we see that the value of experimental design decreases with survey size, a fact that must be considered when deciding whether or not to design an experiment at all. Another outcome
Feedback linearization application for LLRF control system
Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.
1998-12-31
The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.
On manipulator control by exact linearization
NASA Technical Reports Server (NTRS)
Kreutz, Kenneth
1989-01-01
Comments are given on the application to rigid-link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory, and the essential unity of these techniques for externally linearizing and decoupling end-effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid-link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.
Linearizing feedforward/feedback attitude control
NASA Technical Reports Server (NTRS)
Paielli, Russell A.; Bach, Ralph E.
1991-01-01
An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.
Fuzzy control for linear plants with uncertain output backlashes.
Tao, C W
2002-01-01
In this correspondence, a new approach to design a fuzzy controller for systems with uncertain output backlash to have good tracking performance is presented. Without using a compensation mechanism or a backlash inverse, the fuzzy control mechanism is designed to implicitly compensate the delay effect arising from an uncertain output backlash and to make the output backlash system stable without limit cycles. Also, the proposed fuzzy controller is presented to be insensitive to the variations of the backlash and system plant parameters. Moreover, the proposed approach is extended to design a fuzzy controller for a two-input two-output (TITO) linear plant with output backlash. The effectiveness of the designed fuzzy controller is illustrated by the simulation results on linear, low-order, nonlinear plants and the experimental results on an amplifier-motor system with a gear train.
Linear predictive control with state variable constraints
NASA Astrophysics Data System (ADS)
Bdirina, K.; Djoudi, D.; Lagoun, M.
2012-11-01
While linear model predictive control is popular since the 70s of the past century, the 90s have witnessed a steadily increasing attention from control theoretists as well as control practitioners in the area of model predictive control (MPC). The practical interest is driven by the fact that today's processes need to be operated under tighter performance specifications. At the same time more and more constraints, stemming for example from environmental and safety considerations, need to besatisfied. Often these demands can only be met when process constraints are explicitly considered in the controller. Predictive control with constraints appears to be a well suited approach for this kind of problems. In this paper the basic principle of MPC with constraints is reviewed and some of the theoretical, computational, and implementation aspects of MPC are discussed. Furthermore the MPC with constraints was applied to linear example.
Linear, Parameter-Varying Control of Aeroservoelastic Systems
NASA Astrophysics Data System (ADS)
Moreno Chicunque, Claudia Patricia
Modern aircraft designers are adopting light-weight, high-aspect ratio flexible wings to improve performance and reduce operation costs. A technical challenge associated with these designs is that the large deformations in flight of the wings lead to adverse interactions between the aircraft aerodynamic forces and structural forces. These adverse interactions produce excessive vibrations that can degrade flying qualities and may result in severe structural damages or catastrophic failure. This dissertation is focused on the application of multivariable robust control techniques for suppression of these adverse interactions in flexible aircraft. Here, the aircraft coupled nonlinear equations of motion are represented in the linear, parameter-varying framework. These equations account for the coupled aerodynamics, rigid body dynamics, and deformable body dynamics of the aircraft. Unfortunately, the inclusion of this coupled dynamics results in high-order models that increase the computational complexity of linear, parameter-varying control techniques. This dissertation addresses three key technologies for linear, parameter-varying control of flexible aircraft: (i) linear, parameter-varying model reduction; (ii) selection of actuators and sensors for vibration suppression; and (iii) design of linear, parameter-varying controllers for vibration suppression. All of these three technologies are applied to an experimental research platform located at the University of Minnesota. The objective of this dissertation is to provide to the flight control community with a set of design methodologies to safely exploit the benefits of light-weight flexible aircraft.
NASA Astrophysics Data System (ADS)
Zheng, Jigui; Huang, Yuping; Wu, Hongxing; Zheng, Ping
2016-07-01
Transverse-flux with high efficiency has been applied in Stirling engine and permanent magnet synchronous linear generator system, however it is restricted for large application because of low and complex process. A novel type of cylindrical, non-overlapping, transverse-flux, and permanent-magnet linear motor(TFPLM) is investigated, furthermore, a high power factor and less process complexity structure research is developed. The impact of magnetic leakage factor on power factor is discussed, by using the Finite Element Analysis(FEA) model of stirling engine and TFPLM, an optimization method for electro-magnetic design of TFPLM is proposed based on magnetic leakage factor. The relation between power factor and structure parameter is investigated, and a structure parameter optimization method is proposed taking power factor maximum as a goal. At last, the test bench is founded, starting experimental and generating experimental are performed, and a good agreement of simulation and experimental is achieved. The power factor is improved and the process complexity is decreased. This research provides the instruction to design high-power factor permanent-magnet linear generator.
International linear collider reference design report
Aarons, G.
2007-06-22
The International Linear Collider will give physicists a new cosmic doorway to explore energy regimes beyond the reach of today's accelerators. A proposed electron-positron collider, the ILC will complement the Large Hadron Collider, a proton-proton collider at the European Center for Nuclear Research (CERN) in Geneva, Switzerland, together unlocking some of the deepest mysteries in the universe. With LHC discoveries pointing the way, the ILC -- a true precision machine -- will provide the missing pieces of the puzzle. Consisting of two linear accelerators that face each other, the ILC will hurl some 10 billion electrons and their anti-particles, positrons, toward each other at nearly the speed of light. Superconducting accelerator cavities operating at temperatures near absolute zero give the particles more and more energy until they smash in a blazing crossfire at the centre of the machine. Stretching approximately 35 kilometres in length, the beams collide 14,000 times every second at extremely high energies -- 500 billion-electron-volts (GeV). Each spectacular collision creates an array of new particles that could answer some of the most fundamental questions of all time. The current baseline design allows for an upgrade to a 50-kilometre, 1 trillion-electron-volt (TeV) machine during the second stage of the project. This reference design provides the first detailed technical snapshot of the proposed future electron-positron collider, defining in detail the technical parameters and components that make up each section of the 31-kilometer long accelerator. The report will guide the development of the worldwide R&D program, motivate international industrial studies and serve as the basis for the final engineering design needed to make an official project proposal later this decade.
Computer-aided-analysis of linear control system robustness
NASA Technical Reports Server (NTRS)
Stengel, Robert F.; Ray, Laura R.
1990-01-01
Stochastic robustness is a simple technique used to estimate the stability and performance robustness of linear, time-invariant systems. The use of high-speed graphics workstations and control system design software in stochastic robustness analysis is discussed and demonstrated. It is shown that stochastic robustness makes good use of modern computational and graphic tools, and it is easily implemented using commercial control system design and analysis software.
NASA Technical Reports Server (NTRS)
1978-01-01
Information used in the evaluation of design of Solar Control's solar heating and cooling system controller and the Solarstat is given. Some of the information includes system performance specifications, design data brochures, and detailed design drawings.
Controlling a Linear Process in Turbulent Channel Flow
NASA Astrophysics Data System (ADS)
Lim, Junwoo; Kim, John
1999-11-01
Recent studies have shown that controllers developed based on a linear system theory work surprisingly well in reducing the viscous drag in turbulent boundary layers, suggesting that the essential dynamics of near-wall turbulence may well be approximated by the linearized model. Of particular interest is the linear process due to the coupling term between the wall-normal velocity and wall-normal vorticity terms in the linearized Navier-Stokes (N-S) equations, which enhances non-normality of the linearized system. This linear process is investigated through numerical simulations of a turbulent channel flow. It is shown that the linear coupling term plays an important role in fully turbulent -- and hence, nonlinear -- flows. Near-wall turbulence is shown to decay in the absence of the linear coupling term. The fact that the coupling term plays an essential role in maintaining near-wall turbulence suggests that an effective control algorithm for the drag reduction in turbulent flows should be aimed at reducing the effect of the coupling term in the wall region. Designing a control algorithm that directly accounts for the coupling term in a cost to be minimized will be discussed.
Optimal Regulator Algorithms For The Control Of Linear Systems (ORACLS)
NASA Technical Reports Server (NTRS)
Frisch, Harold P.
1990-01-01
Control theory design package offers engineer full range of subroutines to manipulate and solve Linear-Quadratic-Gaussian types of problems. ORACLS is rigorous tool, intended for multi-input and multi-output dynamic systems in both continuous and discrete form. Written in FORTRAN.
Distributed control using linear momentum exchange devices
NASA Technical Reports Server (NTRS)
Sharkey, J. P.; Waites, Henry; Doane, G. B., III
1987-01-01
MSFC has successfully employed the use of the Vibrational Control of Space Structures (VCOSS) Linear Momentum Exchange Devices (LMEDs), which was an outgrowth of the Air Force Wright Aeronautical Laboratory (AFWAL) program, in a distributed control experiment. The control experiment was conducted in MSFC's Ground Facility for Large Space Structures Control Verification (GF/LSSCV). The GF/LSSCV's test article was well suited for this experiment in that the LMED could be judiciously placed on the ASTROMAST. The LMED placements were such that vibrational mode information could be extracted from the accelerometers on the LMED. The LMED accelerometer information was processed by the control algorithms so that the LMED masses could be accelerated to produce forces which would dampen the vibrational modes of interest. Experimental results are presented showing the LMED's capabilities.
Design and investigation of a linear smart actuator
NASA Astrophysics Data System (ADS)
Krishna Chaitanya, S.; Dhanalakshmi, K.
2015-04-01
Motors are nearly the sole constituents for actuation and driving applications, but there exist cases where their use proves to be impractical. Shape memory alloy (SMA), then revolutionized the actuator technology, thereby opening the door for new ideas and designs and with it what seemed unfeasible in the past have now become challenging. Many conventional actuators and sensors could be substituted with SMA, obtaining advantages in terms of reduction of weight, dimensions and its cost. SMAs are a group of metallic materials that revert to a predefined shape via phase transformation induced by a thermal procedure. Unlike metals that exhibit thermal expansion, SMA exhibits contraction when heated, which is larger by a hundredfold and exerts tremendous force for its small size. The focus of this work is to realize SMA wire as actuator which finds suitable applications (space, aerospace, biomechanics, etc.) where minimizing space, weight and cost are prime objectives. The accomplishments reported in this paper represent a significant development in the design of SMA actuator configurations for linear actuation. Report on design, fabrication and characterisation of the proposed system is presented. The design took advantage of converting the small linear displacement of the SMA wire into a large linear elastic motion under the influence of biasing element. From the results with control it is aspired that with further improvements on the design, the actuator can be utilized in enabling practical SMA technologies for potential robotic and commercial applications.
NASA Astrophysics Data System (ADS)
Komatsu, Kazuo; Takata, Hitoshi
2012-11-01
In this paper, we consider an observer design by using a formal linearization based on Fourier expansion for nonlinear dynamic and measurement systems. A non-linear dynamic system is given by a nonlinear ordinary differential equation, and a measurement sysetm is done by a nonlinear equation. Defining a linearization function which consists of the trigonometric functions considered up to the higher-order, a nonlinear dynamic system is transformed into an augmented linear one with respect to this linearization function by using Fourier expansion. Introducing an augmented measurement vector which consists of polynomials of measurement data, a measurement equation is transformed into an augmented linear one with respect to the linearization function in the same way. To these augmented linearized systems, a linear estimation theory is applied to design a new non-linear observer.
Stochastic Optimal Control and Linear Programming Approach
Buckdahn, R.; Goreac, D.; Quincampoix, M.
2011-04-15
We study a classical stochastic optimal control problem with constraints and discounted payoff in an infinite horizon setting. The main result of the present paper lies in the fact that this optimal control problem is shown to have the same value as a linear optimization problem stated on some appropriate space of probability measures. This enables one to derive a dual formulation that appears to be strongly connected to the notion of (viscosity sub) solution to a suitable Hamilton-Jacobi-Bellman equation. We also discuss relation with long-time average problems.
Colorized linear CCD data acquisition system with automatic exposure control
NASA Astrophysics Data System (ADS)
Li, Xiaofan; Sui, Xiubao
2014-11-01
Colorized linear cameras deliver superb color fidelity at the fastest line rates in the industrial inspection. It's RGB trilinear sensor eliminates image artifacts by placing a separate row of pixels for each color on a single sensor. It's advanced design minimizes distance between rows to minimize image artifacts due to synchronization. In this paper, the high-speed colorized linear CCD data acquisition system was designed take advantages of the linear CCD sensor μpd3728. The hardware and software design of the system based on FPGA is introduced and the design of the functional modules is performed. The all system is composed of CCD driver module, data buffering module, data processing module and computer interface module. The image data was transferred to computer by Camera link interface. The system which automatically adjusts the exposure time of linear CCD, is realized with a new method. The integral time of CCD can be controlled by the program. The method can automatically adjust the integration time for different illumination intensity under controlling of FPGA, and respond quickly to brightness changes. The data acquisition system is also offering programmable gains and offsets for each color. The quality of image can be improved after calibration in FPGA. The design has high expansibility and application value. It can be used in many application situations.
State feedback control of switched linear systems: An LMI approach
NASA Astrophysics Data System (ADS)
Montagner, V. F.; Leite, V. J. S.; Oliveira, R. C. L. F.; Peres, P. L. D.
2006-10-01
This paper addresses the problem of state feedback control of continuous-time switched linear systems with arbitrary switching rules. A quadratic Lyapunov function with a common matrix is used to derive a stabilizing switching control strategy that guarantees: (i) the assignment of all the eigenvalues of each linear subsystem inside a chosen circle in the left-hand half of the complex plane; (ii) a minimum disturbance attenuation level for the closed-loop switched system. The proposed design conditions are given in terms of linear matrix inequalities that encompass previous results based on quadratic stability conditions with fixed control gains. Although the quadratic stability based on a fixed Lyapunov matrix has been widely used in robust control design, the use of this condition to provide a convex design method for switching feedback gains has not been fully investigated. Numerical examples show that the switching control strategy can cope with more stringent design specifications than the fixed gain strategy, being useful to improve the performance of this class of systems.
Nutrient Control Design Manual
The Nutrient Control Design Manual will present an extensive state-of-the-technology review of the engineering design and operation of nitrogen and phosphorous control technologies and techniques applied at municipal wastewater treatment plants (WWTPs). This manual will present ...
Chaves, Eric N; Coelho, Ernane A A; Carvalho, Henrique T M; Freitas, Luiz C G; Júnior, João B V; Freitas, Luiz C
2016-09-01
This paper presents the design of a controller based on Internal Model Control (IMC) applied to a grid-connected single-phase PWM inverter. The mathematical modeling of the inverter and the LCL output filter, used to project the 1-DOF IMC controller, is presented and the decoupling of grid voltage by a Feedforward strategy is analyzed. A Proportional - Resonant Controller (P+Res) was used for the control of the same plant in the running of experimental results, thus moving towards the discussion of differences regarding IMC and P+Res performances, which arrived at the evaluation of the proposed control strategy. The results are presented for typical conditions, for weak-grid and for non-linear local load, in order to verify the behavior of the controller against such situations.
Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann
2003-05-01
The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.
Herrmann, Guido; Turner, Matthew C; Postlethwaite, Ian
2007-03-01
This paper presents a conditioning scheme for a linear control system which is enhanced by a neural network (NN) controller and subjected to a control signal amplitude limit. The NN controller improves the performance of the linear control system by directly estimating an actuator-matched, unmodeled, nonlinear disturbance, in closed-loop, and compensating for it. As disturbances are generally known to be bounded, the nominal NN-control element is modified to keep its output below the disturbance bound. The linear control element is conditioned by an antiwindup (AW) compensator which ensures performance close to the nominal controller and swift recovery from saturation. For this, the AW compensator proposed is of low order, designed using convex linear matrix inequalities (LMIs) optimization.
Passive dynamic controllers for non-linear mechanical systems
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.
1991-01-01
A methodology for model-independent controller design for controlling large angular motion of multi-body dynamic systems is outlined.The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system, and at the same time suppress the vibrations due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameters, even if the controlled system is non-linear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach applied to a flexible six-degree-of-freedom manipulator.
NASA Technical Reports Server (NTRS)
Fleming, P.
1985-01-01
A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.
Linearized flexibility models in multibody dynamics and control
NASA Technical Reports Server (NTRS)
Cimino, William W.
1989-01-01
Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.
Application of linear gauss pseudospectral method in model predictive control
NASA Astrophysics Data System (ADS)
Yang, Liang; Zhou, Hao; Chen, Wanchun
2014-03-01
This paper presents a model predictive control(MPC) method aimed at solving the nonlinear optimal control problem with hard terminal constraints and quadratic performance index. The method combines the philosophies of the nonlinear approximation model predictive control, linear quadrature optimal control and Gauss Pseudospectral method. The current control is obtained by successively solving linear algebraic equations transferred from the original problem via linearization and the Gauss Pseudospectral method. It is not only of high computational efficiency since it does not need to solve nonlinear programming problem, but also of high accuracy though there are a few discrete points. Therefore, this method is suitable for on-board applications. A design of terminal impact with a specified direction is carried out to evaluate the performance of this method. Augmented PN guidance law in the three-dimensional coordinate system is applied to produce the initial guess. And various cases for target with straight-line movements are employed to demonstrate the applicability in different impact angles. Moreover, performance of the proposed method is also assessed by comparison with other guidance laws. Simulation results indicate that this method is not only of high computational efficiency and accuracy, but also applicable in the framework of guidance design.
Linear quadratic servo control of a reusable rocket engine
NASA Technical Reports Server (NTRS)
Musgrave, Jeffrey L.
1991-01-01
A design method for a servo compensator is developed in the frequency domain using singular values. The method is applied to a reusable rocket engine. An intelligent control system for reusable rocket engines was proposed which includes a diagnostic system, a control system, and an intelligent coordinator which determines engine control strategies based on the identified failure modes. The method provides a means of generating various linear multivariable controllers capable of meeting performance and robustness specifications and accommodating failure modes identified by the diagnostic system. Command following with set point control is necessary for engine operation. A Kalman filter reconstructs the state while loop transfer recovery recovers the required degree of robustness while maintaining satisfactory rejection of sensor noise from the command error. The approach is applied to the design of a controller for a rocket engine satisfying performance constraints in the frequency domain. Simulation results demonstrate the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation.
A linear quadratic tracker for Control Moment Gyro based attitude control of the Space Station
NASA Technical Reports Server (NTRS)
Kaidy, J. T.
1986-01-01
The paper discusses a design for an attitude control system for the Space Station which produces fast response, with minimal overshoot and cross-coupling with the use of Control Moment Gyros (CMG). The rigid body equations of motion are linearized and discretized and a Linear Quadratic Regulator (LQR) design and analysis study is performed. The resulting design is then modified such that integral and differential terms are added to the state equations to enhance response characteristics. Methods for reduction of computation time through channelization are discussed as well as the reduction of initial torque requirements.
Recursive Deadbeat Controller Design
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Phan, Minh Q.
1997-01-01
This paper presents a recursive algorithm for a deadbeat predictive controller design. The method combines together the concepts of system identification and deadbeat controller designs. It starts with the multi-step output prediction equation and derives the control force in terms of past input and output time histories. The formulation thus derived satisfies simultaneously system identification and deadbeat controller design requirements. As soon as the coefficient matrices are identified satisfying the output prediction equation, no further work is required to compute the deadbeat control gain matrices. The method can be implemented recursively just as any typical recursive system identification techniques.
Computational Aspects of Realization & Design Algorithms in Linear Systems Theory.
NASA Astrophysics Data System (ADS)
Tsui, Chia-Chi
Realization and design problems are two major problems in linear time-invariant systems control theory and have been solved theoretically. However, little is understood about their numerical properties. Due to the large scale of the problem and the finite precision of computer computation, it is very important and is the purpose of this study to investigate the computational reliability and efficiency of the algorithms for these two problems. In this dissertation, a reliable algorithm to achieve canonical form realization via Hankel matrix is developed. A comparative study of three general realization algorithms, for both numerical reliability and efficiency, shows that the proposed algorithm (via Hankel matrix) is the most preferable one among the three. The design problems, such as the state feedback design for pole placement, the state observer design, and the low order single and multi-functional observer design, have been solved by using canonical form systems matrices. In this dissertation, a set of algorithms for solving these three design problems is developed and analysed. These algorithms are based on Hessenberg form systems matrices which are numerically more reliable to compute than the canonical form systems matrices.
Methodological development of fuzzy-logic controllers from multivariable linear control.
Tso, S K; Fung, Y H
1997-01-01
It is the function of the design of a fuzzy-logic controller to determine the universes of discourse of the antecedents and the consequents, number of membership labels, distribution and shape of membership functions, rule formulation, etc. Much of the information is usually extracted from expert knowledge, operator experience, or heuristic thinking. It is hence difficult to mechanize the first-stage design of fuzzy-logic controllers using linguistic labels whose performance is no worse than that of conventional multivariable linear controllers such as state-feedback controllers, PID controllers, etc. In this paper, an original systematic seven-step linear-to-fuzzy (LIN2FUZ) algorithm is proposed for generating the labels, universes of discourse of the antecedents and the consequents, and fuzzy rules of ;basically linear' fuzzy-logic controllers, given the reference design of available conventional multivariable linear controllers. The functionally equivalent fuzzy-logic controllers can thus provide the sound basis for the further development to achieve performance beyond the capability or the conventional controllers. The validity and effectiveness of the proposed LIN2FUZ algorithm are demonstrated by a four-input one-output inverted pendulum system.
The new control system of the Saclay Linear Accelerator
Gournay, J.F.; Garreau, F.; Giraud, A.; Gourcy, G.; Rouault, J.
1985-10-01
A new control system for the Saclay Linear Accelerator is now being designed. The computer control architecture is based on 3 dedicated VME crates with MC68000 micro-processors : one crate with a disk-based operating system will run the high level application programs and the data base management facilities, another one will manage the man-machine communications and the third one will interface the system to the linac equipments. Communications between the VME microcomputers will be done through 16 bit parallel links. The software is modular and organized in specific layers, the data base is fully distributed. About 90% of the code is written in Fortran.
Extensibility of a linear rapid robust design methodology
NASA Astrophysics Data System (ADS)
Steinfeldt, Bradley A.; Braun, Robert D.
2016-05-01
The extensibility of a linear rapid robust design methodology is examined. This analysis is approached from a computational cost and accuracy perspective. The sensitivity of the solution's computational cost is examined by analysing effects such as the number of design variables, nonlinearity of the CAs, and nonlinearity of the response in addition to several potential complexity metrics. Relative to traditional robust design methods, the linear rapid robust design methodology scaled better with the size of the problem and had performance that exceeded the traditional techniques examined. The accuracy of applying a method with linear fundamentals to nonlinear problems was examined. It is observed that if the magnitude of nonlinearity is less than 1000 times that of the nominal linear response, the error associated with applying successive linearization will result in ? errors in the response less than 10% compared to the full nonlinear error.
On control and synchronization in chaotic and hyperchaotic systems via linear feedback control
NASA Astrophysics Data System (ADS)
Rafikov, Marat; Balthazar, José Manoel
2008-09-01
This paper presents the control and synchronization of chaos by designing linear feedback controllers. The linear feedback control problem for nonlinear systems has been formulated under optimal control theory viewpoint. Asymptotic stability of the closed-loop nonlinear system is guaranteed by means of a Lyapunov function which can clearly be seen to be the solution of the Hamilton-Jacobi-Bellman equation thus guaranteeing both stability and optimality. The formulated theorem expresses explicitly the form of minimized functional and gives the sufficient conditions that allow using the linear feedback control for nonlinear system. The numerical simulations were provided in order to show the effectiveness of this method for the control of the chaotic Rössler system and synchronization of the hyperchaotic Rössler system.
Design of multivariable controllers for robot manipulators
NASA Technical Reports Server (NTRS)
Seraji, H.
1986-01-01
The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.
High Accuracy Attitude Control of a Spacecraft Using Feedback Linearization
1992-05-01
and Spacecraft Body from Gyro Measurements ......... .................................. 119 D.2 An Approximation to Exact Linearization using IPSRU...31 2-4 Attitude Determination and Control System Architecture ................. 33 3-1 Exact Linearization Using Nonlinear Feedback...though basic techniques were adapted from recent references on the use of exact linearization (such as [8] and [27]), the specific control approach
Wilson, David G [Tijeras, NM; Robinett, III, Rush D.
2012-02-21
A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.
Comparison of two approaches to linear collider design
Schnell, W.
1987-11-01
This paper reviews linear collider parameters. It aims at analyzing two specific design approachs - the ones for CLIC at CERN and for a TeV linear collider at SLAC - which appear to lead into remarkably different directions although they start from the same premises and try to respect the same boundary conditions. 19 refs.
Nutrient Control Design Manual
The purpose of this EPA design manual is to provide updated, state‐of‐the‐technology design guidance on nitrogen and phosphorus control at municipal Wastewater Treatment Plants (WWTPs). Similar to previous EPA manuals, this manual contains extensive information on the principles ...
A User’s Manual for Interactive Linear Control Programs on IBM/3033.
1982-12-01
There existed a need for an interactive program that would provide the user assistance it solving applications of linear control theory. The linear ...analysis, design and simulation of a broad class of linear control problems. LINCON consists of two groups: matrix manipulation, transfer function and... control program (LINCON) and its user’s guide satisfy this need. A series of ten interactive programs are presented which permit the user to carry out
From linear to nonlinear control means: a practical progression.
Gao, Zhiqiang
2002-04-01
With the rapid advance of digital control hardware, it is time to take the simple but effective proportional-integral-derivative (PID) control technology to the next level of performance and robustness. For this purpose, a nonlinear PID and active disturbance rejection framework are introduced in this paper. It complements the existing theory in that (1) it actively and systematically explores the use of nonlinear control mechanisms for better performance, even for linear plants; (2) it represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity. Stability analysis, as well as software/hardware test results, are presented. It is evident that the proposed framework lends itself well in seeking innovative solutions to practical problems while maintaining the simplicity and the intuitiveness of the existing technology.
Design and optimization of a modal- independent linear ultrasonic motor.
Zhou, Shengli; Yao, Zhiyuan
2014-03-01
To simplify the design of the linear ultrasonic motor (LUSM) and improve its output performance, a method of modal decoupling for LUSMs is proposed in this paper. The specific embodiment of this method is decoupling of the traditional LUSM stator's complex vibration into two simple vibrations, with each vibration implemented by one vibrator. Because the two vibrators are designed independently, their frequencies can be tuned independently and frequency consistency is easy to achieve. Thus, the method can simplify the design of the LUSM. Based on this method, a prototype modal- independent LUSM is designed and fabricated. The motor reaches its maximum thrust force of 47 N, maximum unloaded speed of 0.43 m/s, and maximum power of 7.85 W at applied voltage of 200 Vpp. The motor's structure is then optimized by controlling the difference between the two vibrators' resonance frequencies to reach larger output speed, thrust, and power. The optimized results show that when the frequency difference is 73 Hz, the output force, speed, and power reach their maximum values. At the input voltage of 200 Vpp, the motor reaches its maximum thrust force of 64.2 N, maximum unloaded speed of 0.76 m/s, maximum power of 17.4 W, maximum thrust-weight ratio of 23.7, and maximum efficiency of 39.6%.
NASA Technical Reports Server (NTRS)
Gettman, Chang-Ching L.; Adams, Neil; Bedrossian, Nazareth; Valavani, Lena
1993-01-01
This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.
Singular linear quadratic control problem for systems with linear and constant delay
NASA Astrophysics Data System (ADS)
Sesekin, A. N.; Andreeva, I. Yu.; Shlyakhov, A. S.
2016-12-01
This article is devoted to the singular linear-quadratic optimization problem on the trajectories of the linear non-autonomous system of differential equations with linear and constant delay. It should be noted that such task does not solve the class of integrable controls, so to ensure the existence of a solution is needed to expand the class of controls to include the control impulse components. For the problem under consideration, we have built program control containing impulse components in the initial and final moments time. This is done under certain assumptions on the functional and the right side of the control system.
Two level optimization of a redundant linear control system
NASA Technical Reports Server (NTRS)
Martin, C. F.; Harding, R. S.
1975-01-01
A linear system with two sets of controls, one primary and the other redundant, is considered. A two level optimization procedure is used to control the system and to maintain maximal availability of the primary control.
NASA Astrophysics Data System (ADS)
Li, Kunpeng
2017-01-01
The compatibility problem between rapidity and overshooting in the traditional predictive current control structure is inevitable and difficult to solve by reason of using PI controller. A novel predictive current control (PCC) algorithm for permanent magnet synchronous motor (PMSM) based on linear active disturbance rejection control (LADRC) is presented in this paper. In order to displace PI controller, the LADRC strategy which consisted of linear state error feedback (LSEF) control algorithm and linear extended state observer (LESO), is designed based on the mathematic model of PMSM. The purpose of LSEF is to make sure fast response to load mutation and system uncertainties, and LESO is designed to estimate the uncertain disturbances. The principal structures of the proposed system are speed outer loop based on LADRC and current inner loop based on predictive current control. Especially, the instruction value of qaxis current in inner loop is derived from the control quantity which is designed in speed outer loop. The simulation is carried out in Matlab/Simulink software, and the results illustrate that the dynamic and static performances of proposed system are satisfied. Moreover the robust against model parameters mismatch is enhanced obviously.
String Stability of a Linear Formation Flight Control System
NASA Technical Reports Server (NTRS)
Allen, Michael J.; Ryan, Jack; Hanson, Curtis E.; Parle, James F.
2002-01-01
String stability analysis of an autonomous formation flight system was performed using linear and nonlinear simulations. String stability is a measure of how position errors propagate from one vehicle to another in a cascaded system. In the formation flight system considered here, each i(sup th) aircraft uses information from itself and the preceding ((i-1)(sup th)) aircraft to track a commanded relative position. A possible solution for meeting performance requirements with such a system is to allow string instability. This paper explores two results of string instability and outlines analysis techniques for string unstable systems. The three analysis techniques presented here are: linear, nonlinear formation performance, and ride quality. The linear technique was developed from a worst-case scenario and could be applied to the design of a string unstable controller. The nonlinear formation performance and ride quality analysis techniques both use nonlinear formation simulation. Three of the four formation-controller gain-sets analyzed in this paper were limited more by ride quality than by performance. Formations of up to seven aircraft in a cascaded formation could be used in the presence of light gusts with this string unstable system.
Linear, multivariable robust control with a mu perspective
NASA Technical Reports Server (NTRS)
Packard, Andy; Doyle, John; Balas, Gary
1993-01-01
The structured singular value is a linear algebra tool developed to study a particular class of matrix perturbation problems arising in robust feedback control of multivariable systems. These perturbations are called linear fractional, and are a natural way to model many types of uncertainty in linear systems, including state-space parameter uncertainty, multiplicative and additive unmodeled dynamics uncertainty, and coprime factor and gap metric uncertainty. The structured singular value theory provides a natural extension of classical SISO robustness measures and concepts to MIMO systems. The structured singular value analysis, coupled with approximate synthesis methods, make it possible to study the tradeoff between performance and uncertainty that occurs in all feedback systems. In MIMO systems, the complexity of the spatial interactions in the loop gains make it difficult to heuristically quantify the tradeoffs that must occur. This paper examines the role played by the structured singular value (and its computable bounds) in answering these questions, as well as its role in the general robust, multivariable control analysis and design problem.
2002 Controls Design Challenge
NASA Technical Reports Server (NTRS)
Hess, Ronald A.; Vetter, T. K.; Wells, S. R.
2002-01-01
This document is intended to provide the specifications and requirements for a flight control system design challenge. The response to the challenge will involve documenting whether the particular design has met the stated requirements through analysis and computer simulation. The response should be written in the general format of a technical publication with corresponding length limits, e.g., an approximate maximum length of 45 units, with each full-size figure and double-spaced typewritten page constituting one unit.
Distributed Control of Uncertain Systems using Superpositions of Linear operators
Sanger, Terence D.
2011-01-01
Control in the natural environment is difficult in part because of uncertainty in the effect of actions. Uncertainty can be due to added motor or sensory noise, unmodeled dynamics, or quantization of sensory feedback. Biological systems are faced with further difficulties, since control must be performed by networks of cooperating neurons and neural subsystems. Here, we propose a new mathematical framework for modeling and simulation of distributed control systems operating in an uncertain environment. Stochastic Differential Operators can be derived from the stochastic differential equation describing a system, and they map the current state density into the differential of the state density. Unlike discrete-time Markov update operators, stochastic differential operators combine linearly for a large class of linear and nonlinear systems, and therefore the combined effects of multiple controllable and uncontrollable subsystems can be predicted. Design using these operators yields systems whose statistical behavior can be specified throughout state space. The relationship to Bayesian estimation and discrete-time Markov processes is described. PMID:21521040
Distributed control of uncertain systems using superpositions of linear operators.
Sanger, Terence D
2011-08-01
Control in the natural environment is difficult in part because of uncertainty in the effect of actions. Uncertainty can be due to added motor or sensory noise, unmodeled dynamics, or quantization of sensory feedback. Biological systems are faced with further difficulties, since control must be performed by networks of cooperating neurons and neural subsystems. Here, we propose a new mathematical framework for modeling and simulation of distributed control systems operating in an uncertain environment. Stochastic differential operators can be derived from the stochastic differential equation describing a system, and they map the current state density into the differential of the state density. Unlike discrete-time Markov update operators, stochastic differential operators combine linearly for a large class of linear and nonlinear systems, and therefore the combined effects of multiple controllable and uncontrollable subsystems can be predicted. Design using these operators yields systems whose statistical behavior can be specified throughout state-space. The relationship to Bayesian estimation and discrete-time Markov processes is described.
Robust fault detection observer design for linear uncertain systems
NASA Astrophysics Data System (ADS)
Wei, Xiukun; Verhaegen, Michel
2011-01-01
This article addresses the fault detection observer design issue for linear time invariant (LTI) systems with additive or multiplicative uncertainties, which are also subject to unknown disturbances. The observer design is investigated under the ℋ∞/ℋ- index framework using the generalised KYP lemma in the finite-frequency domain. Sufficient conditions for the existence of such a fault detection observer are given in terms of linear matrix inequalities (LMIs). The threshold design issue is discussed and a method for estimating the worst undetectable fault size is proposed. The effectiveness of the proposed algorithms is illustrated by numerical simulation examples.
On Decay Estimates of Solutions to One-dimensional Linear Parabolic Feedback Control Systems
NASA Astrophysics Data System (ADS)
Nambu, Takao
In feedback stabilization for linear parabolic systems,a control scheme is designed so that the “state” of the system decays with a designated decay rate as t → ∞. An arbitrary linear functional of the state, which is subordinate to the state, also decays at least with the same decay rate. We study in the paper a class of linear parabolic systems of one dimension, and construct a specific control scheme such that a nontrivial linear functional decays exactly faster than the state.
Linear regulator design for stochastic systems by a multiple time scales method
NASA Technical Reports Server (NTRS)
Teneketzis, D.; Sandell, N. R., Jr.
1976-01-01
A hierarchically-structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems is considered. The controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short period modes of the longitudinal dynamics of the F-8 aircraft.
Numerical methods for control optimization in linear systems
NASA Astrophysics Data System (ADS)
Tyatyushkin, A. I.
2015-05-01
Numerical methods are considered for solving optimal control problems in linear systems, namely, terminal control problems with control and phase constraints and time-optimal control problems. Several algorithms with various computer storage requirements are proposed for solving these problems. The algorithms are intended for finding an optimal control in linear systems having certain features, for example, when the reachable set of a system has flat faces.
A piecewise linear approximation scheme for hereditary optimal control problems
NASA Technical Reports Server (NTRS)
Cliff, E. M.; Burns, J. A.
1977-01-01
An approximation scheme based on 'piecewise linear' approximations of L2 spaces is employed to formulate a numerical method for solving quadratic optimal control problems governed by linear retarded functional differential equations. This piecewise linear method is an extension of the so called averaging technique. It is shown that the Riccati equation for the linear approximation is solved by simple transformation of the averaging solution. Thus, the computational requirements are essentially the same. Numerical results are given.
Design Techniques for Uniform-DFT, Linear Phase Filter Banks
NASA Technical Reports Server (NTRS)
Sun, Honglin; DeLeon, Phillip
1999-01-01
Uniform-DFT filter banks are an important class of filter banks and their theory is well known. One notable characteristic is their very efficient implementation when using polyphase filters and the FFT. Separately, linear phase filter banks, i.e. filter banks in which the analysis filters have a linear phase are also an important class of filter banks and desired in many applications. Unfortunately, it has been proved that one cannot design critically-sampled, uniform-DFT, linear phase filter banks and achieve perfect reconstruction. In this paper, we present a least-squares solution to this problem and in addition prove that oversampled, uniform-DFT, linear phase filter banks (which are also useful in many applications) can be constructed for perfect reconstruction. Design examples are included illustrate the methods.
Optimization-based controller design for rotorcraft
NASA Technical Reports Server (NTRS)
Tsing, N.-K.; Fan, M. K. H.; Barlow, J.; Tits, A. L.; Tischler, M. B.
1993-01-01
An optimization-based methodology for linear control system design is outlined by considering the design of a controller for a UH-60 rotorcraft in hover. A wide range of design specifications is taken into account: internal stability, decoupling between longitudinal and lateral motions, handling qualities, and rejection of windgusts. These specifications are investigated while taking into account physical limitations in the swashplate displacements and rates of displacement. The methodology crucially relies on user-machine interaction for tradeoff exploration.
Singular linear-quadratic control problem for systems with linear delay
Sesekin, A. N.
2013-12-18
A singular linear-quadratic optimization problem on the trajectories of non-autonomous linear differential equations with linear delay is considered. The peculiarity of this problem is the fact that this problem has no solution in the class of integrable controls. To ensure the existence of solutions is required to expand the class of controls including controls with impulse components. Dynamical systems with linear delay are used to describe the motion of pantograph from the current collector with electric traction, biology, etc. It should be noted that for practical problems fact singularity criterion of quality is quite commonly occurring, and therefore the study of these problems is surely important. For the problem under discussion optimal programming control contained impulse components at the initial and final moments of time is constructed under certain assumptions on the functional and the right side of the control system.
Switching control of linear systems subject to asymmetric actuator saturation
NASA Astrophysics Data System (ADS)
Yuan, Chengzhi; Wu, Fen
2015-01-01
In this paper, we study the saturation control problem for linear time-invariant (LTI) systems subject to asymmetric actuator saturation under a switching control framework. The LTI plant with asymmetric saturation is first transformed to an equivalent switched linear model with each subsystem subject to symmetric actuator saturation, based on which a dwell-time switching controller augmented with a controller state reset is then developed by using multiple Lyapunov functions. The controller synthesis conditions are formulated as linear matrix inequalities (LMIs), which can be solved efficiently. Simulation results are also included to illustrate the effectiveness and advantages of the proposed approach.
Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Boskovic, Jovan D.
2008-01-01
This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.
Improved LTVMPC design for steering control of autonomous vehicle
NASA Astrophysics Data System (ADS)
Velhal, Shridhar; Thomas, Susy
2017-01-01
An improved linear time varying model predictive control for steering control of autonomous vehicle running on slippery road is presented. Control strategy is designed such that the vehicle will follow the predefined trajectory with highest possible entry speed. In linear time varying model predictive control, nonlinear vehicle model is successively linearized at each sampling instant. This linear time varying model is used to design MPC which will predict the future horizon. By incorporating predicted input horizon in each successive linearization the effectiveness of controller has been improved. The tracking performance using steering with front wheel and braking at four wheels are presented to illustrate the effectiveness of the proposed method.
NASA Technical Reports Server (NTRS)
Allan, Brian; Owens, Lewis
2010-01-01
In support of the Blended-Wing-Body aircraft concept, a new flow control hybrid vane/jet design has been developed for use in a boundary-layer-ingesting (BLI) offset inlet in transonic flows. This inlet flow control is designed to minimize the engine fan-face distortion levels and the first five Fourier harmonic half amplitudes while maximizing the inlet pressure recovery. This concept represents a potentially enabling technology for quieter and more environmentally friendly transport aircraft. An optimum vane design was found by minimizing the engine fan-face distortion, DC60, and the first five Fourier harmonic half amplitudes, while maximizing the total pressure recovery. The optimal vane design was then used in a BLI inlet wind tunnel experiment at NASA Langley's 0.3-meter transonic cryogenic tunnel. The experimental results demonstrated an 80-percent decrease in DPCPavg, the reduction in the circumferential distortion levels, at an inlet mass flow rate corresponding to the middle of the operational range at the cruise condition. Even though the vanes were designed at a single inlet mass flow rate, they performed very well over the entire inlet mass flow range tested in the wind tunnel experiment with the addition of a small amount of jet flow control. While the circumferential distortion was decreased, the radial distortion on the outer rings at the aerodynamic interface plane (AIP) increased. This was a result of the large boundary layer being distributed from the bottom of the AIP in the baseline case to the outer edges of the AIP when using the vortex generator (VG) vane flow control. Experimental results, as already mentioned, showed an 80-percent reduction of DPCPavg, the circumferential distortion level at the engine fan-face. The hybrid approach leverages strengths of vane and jet flow control devices, increasing inlet performance over a broader operational range with significant reduction in mass flow requirements. Minimal distortion level requirements
H(2)- and H(infinity)-design tools for linear time-invariant systems
NASA Technical Reports Server (NTRS)
Ly, Uy-Loi
1989-01-01
Recent advances in optimal control have brought design techniques based on optimization of H(2) and H(infinity) norm criteria, closer to be attractive alternatives to single-loop design methods for linear time-variant systems. Significant steps forward in this technology are the deeper understanding of performance and robustness issues of these design procedures and means to perform design trade-offs. However acceptance of the technology is hindered by the lack of convenient design tools to exercise these powerful multivariable techniques, while still allowing single-loop design formulation. Presented is a unique computer tool for designing arbitrary low-order linear time-invarient controllers than encompasses both performance and robustness issues via the familiar H(2) and H(infinity) norm optimization. Application to disturbance rejection design for a commercial transport is demonstrated.
Stochastic robustness of linear control systems
NASA Technical Reports Server (NTRS)
Stengel, Robert F.; Ryan, Laura E.
1990-01-01
A simple numerical procedure for estimating the stochastic robustness of a linear, time-invariant system is described. Monte Carlo evaluation of the system's eigenvalues allows the probability of instability and the related stochastic root locus to be estimated. This definition of robustness is an alternative to existing deterministic definitions that address both structured and unstructured parameter variations directly. This analysis approach treats not only Gaussian parameter uncertainties but non-Gaussian cases, including uncertain-but-bounded variations. Trivial extensions of the procedure admit alternate discriminants to be considered. Thus, the probabilities that stipulated degrees of instability will be exceeded or that closed-loop roots will leave desirable regions also can be estimated. Results are particularly amenable to graphical presentation.
Optimal Discounted Linear Control of the Wiener Process.
1979-09-01
1r~~ ~~ • 7 ~O—AO7 8 ~87 BROWN UNIV PROVIDENCE R I LEFSCHETZ CENTER FOR DYNAM— ETC F/s IUt I OPTIMAL DISCOUNTED LINEAR CONTROL OF THE WIENER...4I • —~~~~~ A — --a -I’ p.posa-ra- 79~~ 124 9 OPTIMAL DISCOU NTED LINEAR CONTROL OF THE WIENER PROCESS~ by -J loannis Kara t:as Lefsche tz Center for...DISCOUNTED LINEAR CONTROL OF THE WIENER PROCESS~ loannis Karat zas ABSTRACT The following stochastic control problem is considered
Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig
NASA Astrophysics Data System (ADS)
Pagano, Stefano; Russo, Riccardo; Strano, Salvatore; Terzo, Mario
2013-02-01
This paper investigates the modelling, parameter identification and control of an unidirectional hydraulically actuated seismic isolator test rig. The plant is characterized by non-linearities such as the valve dead zone and frictions. A non-linear model is derived and then employed for parameter identification. The results concerning the model validation are illustrated and they fully confirm the effectiveness of the proposed model. The testing procedure of the isolation systems is based on the definition of a target displacement time history of the sliding table and, consequently, the precision of the table positioning is of primary importance. In order to minimize the test rig tracking error, a suitable control system has to be adopted. The system non-linearities highly limit the performances of the classical linear control and a non-linear one is therefore adopted. The test rig mathematical model is employed for a non-linear control design that minimizes the error between the target table position and the current one. The controller synthesis is made by taking no specimen into account. The proposed approach consists of a non-linear optimal control based on the state-dependent Riccati equation (SDRE). Numerical simulations have been performed in order to evaluate the soundness of the designed control with and without the specimen under test. The results confirm that the performances of the proposed non-linear controller are not invalidated because of the presence of the specimen.
Design Of Feedforward Controllers For Multivariable Plants
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1989-01-01
Controllers based on simple low-order transfer functions. Mathematical criteria derived for design of feedforward controllers for class of multiple-input/multiple-output linear plants. Represented by simple low-order transfer functions, obtained without reconstruction of states of commands and disturbances. Enables plant to track command while remaining unresponsive to disturbance in steady state. Feedback controller added independently to stabilize plant or to make control system less susceptible to variations in parameters of plant.
Design considerations for a laser-plasma linear collider
Schroeder, C. B.; Esarey, E.; Geddes, C. G. R.; Toth, Cs.; Leemans, W. P.
2008-08-01
Design considerations for a next-generation electron-positron linear collider based on laser-plasma-accelerators are discussed. Several of the advantages and challenges of laser-plasma based accelerator technology are addressed. An example of the parameters for a 1 TeV laser-plasma based collider is presented.
Design considerations for a laser-plasma linear collider
Schroeder, C. B.; Esarey, E.; Geddes, C. G. R.; Toth, Cs.; Leemans, W. P.
2009-01-22
Design considerations for a next-generation electron-positron linear collider based on laser-plasma-accelerators are discussed. Several of the advantages and challenges of laser-plasma-based accelerator technology are addressed. An example of the parameters for a 1 TeV laser-plasma-based collider is presented.
NASA Astrophysics Data System (ADS)
Wang, Gang; Wang, Chaoli; Du, Qinghui; Cai, Xuan
2016-10-01
In this paper, we address the output consensus problem of tracking a desired trajectory for a group of second-order agents on a directed graph with a fixed topology. Each agent is modelled by a second-order non-linear system with unknown non-linear dynamics and unknown non-linear control gains. Only a subset of the agents is given access to the desired trajectory information directly. A distributed adaptive consensus protocol driving all agents to track the desired trajectory is presented using the backstepping technique and approximation technique of Fourier series (FSs). The FS structure is taken not only for tracking the non-linear dynamics but also the unknown portion in the controller design procedure, which can avoid virtual controllers containing the uncertain terms. Stability analysis and parameter convergence of the proposed algorithm are conducted based on the Lyapunov theory and the algebraic graph theory. It is also demonstrated that arbitrary small tracking errors can be achieved by appropriately choosing design parameters. Though the proposed work is applicable for second-order non-linear systems containing unknown non-linear control gains, the proposed controller design can be easily extended to higher-order non-linear systems containing unknown non-linear control gains. Simulation results show the effectiveness of the proposed schemes.
All covariance controllers for linear discrete-time systems
NASA Technical Reports Server (NTRS)
Hsieh, Chen; Skelton, Robert E.
1990-01-01
The set of covariances that a linear discrete-time plant with a specified-order controller can have is characterized. The controllers that assign such covariances to any linear discrete-time system are given explicitly in closed form. The freedom in these covariance controllers is explicit and is parameterized by two orthogonal matrices. By appropriately choosing these free parameters, additional system objectives can be achieved without altering the state covariance, and the stability of the closed-loop system is guaranteed.
Asymptotic Linearity of Optimal Control Modification Adaptive Law with Analytical Stability Margins
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.
2010-01-01
Optimal control modification has been developed to improve robustness to model-reference adaptive control. For systems with linear matched uncertainty, optimal control modification adaptive law can be shown by a singular perturbation argument to possess an outer solution that exhibits a linear asymptotic property. Analytical expressions of phase and time delay margins for the outer solution can be obtained. Using the gradient projection operator, a free design parameter of the adaptive law can be selected to satisfy stability margins.
Asymptotically optimal feedback control for a system of linear oscillators
NASA Astrophysics Data System (ADS)
Ovseevich, Alexander; Fedorov, Aleksey
2013-12-01
We consider problem of damping of an arbitrary number of linear oscillators under common bounded control. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the ratio of motion time to zero with this control to the minimum one is close to 1, if the initial energy of the system is large.
Control of Linear Systems Over Commutative Normed Algebras with Applications.
1987-02-01
Identify by block number) System Theory, Linear Systems, Control, Systems with Time Delays, Time - Varying Systems, State- Space Models, Pole...modes for the class of linear time -varying systems. These concepts are defined in terms of a noncommutative factorization of opera- tor polynomials...classes of complex linear systems, including systems with time delays, systems with unknown parameters and time -varying systems. In the work on
Optimal Stationary Linear Control of the Wiener Process.
1980-02-29
OPTIMAL STATIONARY LINEAR CONTROL OF THE WIENER PROCESS. (U) FES 80 V E BENES. I KARATZAS AFOSR-76-3063 UNCLASSIFIED AFOSR -TR-8O-0338 NL...mElllllllllll mhmmmmmmmmm mmmmmmmr( EFOSR-TR- 2 0-0S8 0 3 OPTIMAL STATIONARY LINEAR CONTROL OF THE WIENER PROCESS by LEVEL CVACLAV E. BENES Bell Telephone...or " DIst. special D U L I. F UNCLASSIFIED _ _ _ , ,_I_ _ _ _ _ _. OPTIMAL STATIONARY LINEAR CONTROL OF TIlE WIENER PROCESS V’aclav E. Benes and
NASA Technical Reports Server (NTRS)
Patt, P. J.
1985-01-01
The design of a coaxial linear magnetic spring which incorporates a linear motor to control axial motion and overcome system damping is presented, and the results of static and dynamic tests are reported. The system has nominal stiffness 25,000 N/m and is designed to oscillate a 900-g component over a 4.6-mm stroke in a Stirling-cycle cryogenic refrigerator being developed for long-service (5-10-yr) space applications (Stolfi et al., 1983). Mosaics of 10 radially magnetized high-coercivity SmCO5 segments enclosed in Ti cans are employed, and the device is found to have quality factor 70-100, corresponding to energy-storage efficiency 91-94 percent. Drawings, diagrams, and graphs are provided.
Optimal control for perfect state transfer in linear quantum memory
NASA Astrophysics Data System (ADS)
Nakao, Hideaki; Yamamoto, Naoki
2017-03-01
A quantum memory is a system that enables transfer, storage, and retrieval of optical quantum states by ON/OFF switching of the control signal in each stage of the memory. In particular, it is known that, for perfect transfer of a single-photon state, appropriate shaping of the input pulse is required. However, in general, such a desirable pulse shape has a complicated form, which would be hard to generate in practice. In this paper, for a wide class of linear quantum memory systems, we develop a method that reduces the complexity of the input pulse shape of a single photon while maintaining the perfect state transfer. The key idea is twofold; (i) the control signal is allowed to vary continuously in time to introduce an additional degree of freedom, and then (ii) an optimal control problem is formulated to design a simple-formed input pulse and the corresponding control signal. Numerical simulations are conducted for Λ-type atomic media and networked atomic ensembles, to show the effectiveness of the proposed method.
NASA Technical Reports Server (NTRS)
Young, G.
1982-01-01
A design methodology capable of dealing with nonlinear systems, such as a controlled ecological life support system (CELSS), containing parameter uncertainty is discussed. The methodology was applied to the design of discrete time nonlinear controllers. The nonlinear controllers can be used to control either linear or nonlinear systems. Several controller strategies are presented to illustrate the design procedure.
Persad, A; Chopda, V R; Rathore, A S; Gomes, J
2013-02-01
A decoupled input-output linearizing controller (DIOLC) was designed as an alternative advanced control strategy for controlling bioprocesses. Simulation studies of its implementation were carried out to control ethanol and biomass production in Saccharomyces cerevisiae and its performance was compared to that of a proportional-integral-derivative (PID) controller with parameters tuned according to a linear schedule. The overall performance of the DIOLC was better in the test experiments requiring the controllers to respond accurately to simultaneous changes in the trajectories of the substrate and dissolved oxygen concentration. It also exhibited better performance in perturbation experiments of the most significant parameters q (S,max), q (O2,max), and k ( s ), determined through a statistical design of experiments involving 730 simulations. DIOLC exhibited a superior ability of constraining the process when implemented in extreme metabolic regimes of high oxygen demand for maximizing biomass concentration and low oxygen demand for maximizing ethanol concentration.
Adaptive control design for hysteretic smart systems
NASA Astrophysics Data System (ADS)
Fan, Xiang; Smith, Ralph C.
2009-03-01
Ferroelectric and ferromagnetic actuators are being considered for a range of industrial, aerospace, aeronautic and biomedical applications due to their unique transduction capabilities. However, they also exhibit hysteretic and nonlinear behavior that must be accommodated in models and control designs. If uncompensated, these effects can yield reduced system performance and, in the worst case, can produce unpredictable behavior of the control system. One technique for control design is to approximately linearize the actuator dynamics using an adaptive inverse compensator that is also able to accommodate model uncertainties and error introduced by the inverse algorithm. This paper describes the design of an adaptive inverse control technique based on the homogenized energy model for hysteresis. The resulting inverse filter is incorporated in an L1 control theory to provide a robust control algorithm capable of providing high speed, high accuracy tracking in the presence of actuator hysteresis and nonlinearities. Properties of the control design are illustrated through numerical examples.
Sequential design of linear quadratic state regulators via the optimal root-locus techniques
NASA Technical Reports Server (NTRS)
Shieh, L. S.; Dib, H. M.; Yates, R. E.
1988-01-01
The use of well-known root-locus techniques for sequentially finding the weighting matrices and the linear quadratic state regulators of multivariable control systems in the frequency domain is considered. This sequential design method permits the retention of some stable open-loop poles and the associated eigenvectors in the closed-loop system; it also allows some optimal closed-loop poles to be placed in a specific region of the complex plane. In addition, it provides a design procedure for determining the weighting matrices and linear quadratic state regulators for the optimal control of multivariable systems in the frequency domain.
Linear Test Bed. Volume 2: Test Bed No. 2. [linear aerospike test bed for thrust vector control
NASA Technical Reports Server (NTRS)
1974-01-01
Test bed No. 2 consists of 10 combustors welded in banks of 5 to 2 symmetrical tubular nozzle assemblies, an upper stationary thrust frame, a lower thrust frame which can be hinged, a power package, a triaxial combustion wave ignition system, a pneumatic control system, pneumatically actuated propellant valves, a purge and drain system, and an electrical control system. The power package consists of the Mark 29-F fuel turbopump, the Mark 29-0 oxidizer turbopump, a gas generator assembly, and propellant ducting. The system, designated as a linear aerospike system, was designed to demonstrate the feasibility of the concept and to explore technology related to thrust vector control, thrust vector optimization, improved sequencing and control, and advanced ignition systems. The propellants are liquid oxygen/liquid hydrogen. The system was designed to operate at 1200-psia chamber pressure at an engine mixture ratio of 5.5. With 10 combustors, the sea level thrust is 95,000 pounds.
Asynchronous switching output feedback control of discrete-time switched linear systems
NASA Astrophysics Data System (ADS)
Yuan, Chengzhi; Wu, Fen
2015-09-01
In this paper, the problem of dynamic output-feedback control synthesis is addressed for discrete-time switched linear systems under asynchronous switching. The proposed hybrid controller consists of a standard dynamic output-feedback switching control law and an impulsive reset law induced by controller state jumps. Using the average dwell time technique incorporating with multiple quadratic Lyapunov functions, the switching control synthesis conditions for asymptotic stability with guaranteed weighted ℓ2-gain performance are derived as a set of linear matrix inequalities (LMIs). The proposed hybrid synthesis scheme advances existing design methods for output-feedback asynchronous switching control of switched linear systems in two important aspects: LMI formulation of the synthesis problem; and arbitrary order of the controller state. A numerical example is used to illustrate the effectiveness and advantages of the proposed design technique.
Gu, Yun; Wang, Yao; Yu, Tian-Yang; Liang, Yong-Min; Xu, Peng-Fei
2014-12-15
The development of a direct vinylogous Michael addition of linear nucleophilic substrates is a long-standing challenge because of the poor reactivity and the considerable difficulty in controlling regioselectivity. By employing a rationally designed multifunctional supramolecular iminium catalysis strategy, the first direct vinylogous Michael addition of unmodified linear substrates to α,β-unsaturated aldehydes, to afford chiral 1,7-dioxo compounds with good yields and excellent regio- as well as enantioselectivity, has been developed.
Elastic robot control - Nonlinear inversion and linear stabilization
NASA Technical Reports Server (NTRS)
Singh, S. N.; Schy, A. A.
1986-01-01
An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).
Spacecraft flight control with the new phase space control law and optimal linear jet select
NASA Technical Reports Server (NTRS)
Bergmann, E. V.; Croopnick, S. R.; Turkovich, J. J.; Work, C. C.
1977-01-01
An autopilot designed for rotation and translation control of a rigid spacecraft is described. The autopilot uses reaction control jets as control effectors and incorporates a six-dimensional phase space control law as well as a linear programming algorithm for jet selection. The interaction of the control law and jet selection was investigated and a recommended configuration proposed. By means of a simulation procedure the new autopilot was compared with an existing system and was found to be superior in terms of core memory, central processing unit time, firings, and propellant consumption. But it is thought that the cycle time required to perform the jet selection computations might render the new autopilot unsuitable for existing flight computer applications, without modifications. The new autopilot is capable of maintaining attitude control in the presence of a large number of jet failures.
On the design and implementation of linear differential microphone arrays.
Chen, Jingdong; Benesty, Jacob; Pan, Chao
2014-12-01
Differential microphone array (DMA), a particular kind of sensor array that is responsive to the differential sound pressure field, has a broad range of applications in sound recording, noise reduction, signal separation, dereverberation, etc. Traditionally, an Nth-order DMA is formed by combining, in a linear manner, the outputs of a number of DMAs up to (including) the order of N - 1. This method, though simple and easy to implement, suffers from a number of drawbacks and practical limitations. This paper presents an approach to the design of linear DMAs. The proposed technique first transforms the microphone array signals into the short-time Fourier transform (STFT) domain and then converts the DMA beamforming design to simple linear systems to solve. It is shown that this approach is much more flexible as compared to the traditional methods in the design of different directivity patterns. Methods are also presented to deal with the white noise amplification problem that is considered to be the biggest hurdle for DMAs, particularly higher-order implementations.
Steady-state decoupling and design of linear multivariable systems
NASA Technical Reports Server (NTRS)
Thaler, G. J.
1974-01-01
A constructive criterion for decoupling the steady states of a linear time-invariant multivariable system is presented. This criterion consists of a set of inequalities which, when satisfied, will cause the steady states of a system to be decoupled. Stability analysis and a new design technique for such systems are given. A new and simple connection between single-loop and multivariable cases is found. These results are then applied to the compensation design for NASA STOL C-8A aircraft. Both steady-state decoupling and stability are justified through computer simulations.
Linear-constraint wavefront control for exoplanet coronagraphic imaging systems
NASA Astrophysics Data System (ADS)
Sun, He; Eldorado Riggs, A. J.; Kasdin, N. Jeremy; Vanderbei, Robert J.; Groff, Tyler Dean
2017-01-01
A coronagraph is a leading technology for achieving high-contrast imaging of exoplanets in a space telescope. It uses a system of several masks to modify the diffraction and achieve extremely high contrast in the image plane around target stars. However, coronagraphic imaging systems are very sensitive to optical aberrations, so wavefront correction using deformable mirrors (DMs) is necessary to avoid contrast degradation in the image plane. Electric field conjugation (EFC) and Stroke minimization (SM) are two primary high-contrast wavefront controllers explored in the past decade. EFC minimizes the average contrast in the search areas while regularizing the strength of the control inputs. Stroke minimization calculates the minimum DM commands under the constraint that a target average contrast is achieved. Recently in the High Contrast Imaging Lab at Princeton University (HCIL), a new linear-constraint wavefront controller based on stroke minimization was developed and demonstrated using numerical simulation. Instead of only constraining the average contrast over the entire search area, the new controller constrains the electric field of each single pixel using linear programming, which could led to significant increases in speed of the wavefront correction and also create more uniform dark holes. As a follow-up of this work, another linear-constraint controller modified from EFC is demonstrated theoretically and numerically and the lab verification of the linear-constraint controllers is reported. Based on the simulation and lab results, the pros and cons of linear-constraint controllers are carefully compared with EFC and stroke minimization.
Application of linear programming techniques for controlling linear dynamic plants in real time
NASA Astrophysics Data System (ADS)
Gabasov, R.; Kirillova, F. M.; Ha, Vo Thi Thanh
2016-03-01
The problem of controlling a linear dynamic plant in real time given its nondeterministic model and imperfect measurements of the inputs and outputs is considered. The concepts of current distributions of the initial state and disturbance parameters are introduced. The method for the implementation of disclosable loop using the separation principle is described. The optimal control problem under uncertainty conditions is reduced to the problems of optimal observation, optimal identification, and optimal control of the deterministic system. To extend the domain where a solution to the optimal control problem under uncertainty exists, a two-stage optimal control method is proposed. Results are illustrated using a dynamic plant of the fourth order.
LQR-Based Optimal Distributed Cooperative Design for Linear Discrete-Time Multiagent Systems.
Zhang, Huaguang; Feng, Tao; Liang, Hongjing; Luo, Yanhong
2017-03-01
In this paper, a novel linear quadratic regulator (LQR)-based optimal distributed cooperative design method is developed for synchronization control of general linear discrete-time multiagent systems on a fixed, directed graph. Sufficient conditions are derived for synchronization, which restrict the graph eigenvalues into a bounded circular region in the complex plane. The synchronizing speed issue is also considered, and it turns out that the synchronizing region reduces as the synchronizing speed becomes faster. To obtain more desirable synchronizing capacity, the weighting matrices are selected by sufficiently utilizing the guaranteed gain margin of the optimal regulators. Based on the developed LQR-based cooperative design framework, an approximate dynamic programming technique is successfully introduced to overcome the (partially or completely) model-free cooperative design for linear multiagent systems. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design methods.
Finite time control of uncertain networked switched linear systems with quantizations
NASA Astrophysics Data System (ADS)
Chen, Xiaoling; Zhou, Guopeng; Tian, Fengxia; Liu, Hao
2017-01-01
This paper is concerned with the finite-time control problem for uncertain networked switched linear systems with both state and control input quantizations. By employing average well dwell time (ADT) and Lyapunov-like function method, a feedback controller is designed to guarantee that the dynamic augment closed-loop system is finite-time boundedness. Then based on this, some sufficient conditions which ensure the finite-time boundedness of networked switched systems are derived in terms of linear matrix inequalities. Finally, a numerical example is given to illustrate the effectiveness of the proposed design approach.
Design and Analysis of Tubular Permanent Magnet Linear Wave Generator
Si, Jikai; Feng, Haichao; Su, Peng; Zhang, Lufeng
2014-01-01
Due to the lack of mature design program for the tubular permanent magnet linear wave generator (TPMLWG) and poor sinusoidal characteristics of the air gap flux density for the traditional surface-mounted TPMLWG, a design method and a new secondary structure of TPMLWG are proposed. An equivalent mathematical model of TPMLWG is established to adopt the transformation relationship between the linear velocity of permanent magnet rotary generator and the operating speed of TPMLWG, to determine the structure parameters of the TPMLWG. The new secondary structure of the TPMLWG contains surface-mounted permanent magnets and the interior permanent magnets, which form a series-parallel hybrid magnetic circuit, and their reasonable structure parameters are designed to get the optimum pole-arc coefficient. The electromagnetic field and temperature field of TPMLWG are analyzed using finite element method. It can be included that the sinusoidal characteristics of air gap flux density of the new secondary structure TPMLWG are improved, the cogging force as well as mechanical vibration is reduced in the process of operation, and the stable temperature rise of generator meets the design requirements when adopting the new secondary structure of the TPMLWG. PMID:25050388
Dynamic manipulation of asymmetric forebody vortices to achieve linear control
NASA Astrophysics Data System (ADS)
Lee, Richard
forebody. The findings in the water tunnel also suggest that the 'stacked' arrangement of the vortices for a slender forebody may be responsible for the finding that yawing moment and side force with blowing are no greater than the baseline magnitudes. The research indicates that the dynamic manipulation scheme using forward blowing, either below or above the reversal threshold, is a viable and attractive means of obtaining linear yaw control of an aircraft-like configuration. Considerably more test data are still required, however, to better define the design space and to reduce technical risk. (Abstract shortened by UMI.)
Robustness with observers. [linear optimal feedback control systems
NASA Technical Reports Server (NTRS)
Doyle, J. C.; Stein, G.
1979-01-01
The paper describes an adjustment procedure for observer-based linear control systems which asymptotically achieves the same loop transfer functions (and hence the same relative stability, robustness, and disturbance rejection properties) as full-state feedback control implementations. Full-state loop-transfer properties can be recovered asymptotically if the plant is minimum phase; this occurs at the expense of noise performance.
The design of linear algebra libraries for high performance computers
Dongarra, J.J. |; Walker, D.W.
1993-08-01
This paper discusses the design of linear algebra libraries for high performance computers. Particular emphasis is placed on the development of scalable algorithms for MIMD distributed memory concurrent computers. A brief description of the EISPACK, LINPACK, and LAPACK libraries is given, followed by an outline of ScaLAPACK, which is a distributed memory version of LAPACK currently under development. The importance of block-partitioned algorithms in reducing the frequency of data movement between different levels of hierarchical memory is stressed. The use of such algorithms helps reduce the message startup costs on distributed memory concurrent computers. Other key ideas in our approach are the use of distributed versions of the Level 3 Basic Linear Algebra Subprograms (BLAS) as computational building blocks, and the use of Basic Linear Algebra Communication Subprograms (BLACS) as communication building blocks. Together the distributed BLAS and the BLACS can be used to construct higher-level algorithms, and hide many details of the parallelism from the application developer. The block-cyclic data distribution is described, and adopted as a good way of distributing block-partitioned matrices. Block-partitioned versions of the Cholesky and LU factorizations are presented, and optimization issues associated with the implementation of the LU factorization algorithm on distributed memory concurrent computers are discussed, together with its performance on the Intel Delta system. Finally, approaches to the design of library interfaces are reviewed.
Design and analysis of linear cascade DNA hybridization chain reactions using DNA hairpins
NASA Astrophysics Data System (ADS)
Bui, Hieu; Garg, Sudhanshu; Miao, Vincent; Song, Tianqi; Mokhtar, Reem; Reif, John
2017-01-01
DNA self-assembly has been employed non-conventionally to construct nanoscale structures and dynamic nanoscale machines. The technique of hybridization chain reactions by triggered self-assembly has been shown to form various interesting nanoscale structures ranging from simple linear DNA oligomers to dendritic DNA structures. Inspired by earlier triggered self-assembly works, we present a system for controlled self-assembly of linear cascade DNA hybridization chain reactions using nine distinct DNA hairpins. NUPACK is employed to assist in designing DNA sequences and Matlab has been used to simulate DNA hairpin interactions. Gel electrophoresis and ensemble fluorescence reaction kinetics data indicate strong evidence of linear cascade DNA hybridization chain reactions. The half-time completion of the proposed linear cascade reactions indicates a linear dependency on the number of hairpins.
Use of probabilistic weights to enhance linear regression myoelectric control
NASA Astrophysics Data System (ADS)
Smith, Lauren H.; Kuiken, Todd A.; Hargrove, Levi J.
2015-12-01
Objective. Clinically available prostheses for transradial amputees do not allow simultaneous myoelectric control of degrees of freedom (DOFs). Linear regression methods can provide simultaneous myoelectric control, but frequently also result in difficulty with isolating individual DOFs when desired. This study evaluated the potential of using probabilistic estimates of categories of gross prosthesis movement, which are commonly used in classification-based myoelectric control, to enhance linear regression myoelectric control. Approach. Gaussian models were fit to electromyogram (EMG) feature distributions for three movement classes at each DOF (no movement, or movement in either direction) and used to weight the output of linear regression models by the probability that the user intended the movement. Eight able-bodied and two transradial amputee subjects worked in a virtual Fitts’ law task to evaluate differences in controllability between linear regression and probability-weighted regression for an intramuscular EMG-based three-DOF wrist and hand system. Main results. Real-time and offline analyses in able-bodied subjects demonstrated that probability weighting improved performance during single-DOF tasks (p < 0.05) by preventing extraneous movement at additional DOFs. Similar results were seen in experiments with two transradial amputees. Though goodness-of-fit evaluations suggested that the EMG feature distributions showed some deviations from the Gaussian, equal-covariance assumptions used in this experiment, the assumptions were sufficiently met to provide improved performance compared to linear regression control. Significance. Use of probability weights can improve the ability to isolate individual during linear regression myoelectric control, while maintaining the ability to simultaneously control multiple DOFs.
Note on the SC Linear Collider TESLA Cavity Design
NASA Astrophysics Data System (ADS)
Sekutowicz, J.; Proch, D.; Tang, C.
1997-05-01
The experience we have gained over the last few years from experiments with superconducting cavities for the TESLA test facility justifies a revision of the design decided almost five years ago. The proposed new design takes advantage of the high quality factor Q0 > 10^10 and the low electron emission as demonstrated by some tested cavities. The main aim of the new design is to simplify the production and preparation of sc cavities and thus to reduce the cost of the linear collider. The new cavity shape has an enlarged iris diameter with the following advantages: significant lower loss factors, simplified and less expensive scheme for the HOM damping, suitability of hydroforming and higher stability of the field profile.
Improved control using PFC and modified linear quadratic regulator for a kind of nonlinear systems
NASA Astrophysics Data System (ADS)
Zhang, Ridong; Lu, Renquan; Wang, Shuqing
2016-04-01
This paper describes the combination design of predictive functional control (PFC) and optimal linear quadratic (LQ) method for a kind of nonlinear process with output feedback coupling. In many existing control methods for this kind of nonlinear systems, the nonlinear part is either ignored or represented as a rough linear one when corresponding predictive control methods are designed. However, by assuming that the nonlinearity can be ignored or simplified to a linear time-varying part may not lead to the good control performance of subsequent linear control designs. The paper is a further investigation on this kind of systems, in which a procedure of PFC plus a modified optimal LQ control is developed. With respect to the proposed control strategy and the corresponding processes, the closed-loop performance is improved concerning tracking ability and disturbance rejection compared with previous predictive control methods. In addition, the proposed control is easy to implement as it selects a simple structure and a modification of the classical control scheme.
NASA Astrophysics Data System (ADS)
Chen, Jinli; Li, Donghai; Sun, Xianfang
2006-11-01
A dynamic feedback linearization control approach is designed in this paper for the pitch angle trajectory control and vibration suppression of a flexible spacecraft. Using the extended state observer, the pitch rate and entire unknown dynamics can be estimated, so only pitch angle is needed to measure in the feedback linearization control. The expression of the control law is simple, and few observer parameters need to be tuned. These all reduce the engineering difficulty greatly. The design of this control law does not depend on elastic modes included in the spacecraft model. Simulation results are presented to show that, the control law designed can ensure that pitch angle maneuver to its target precisely and smoothly, and elastic vibration is suppressed effectively.
Design and characterization of a linear Hencken-type burner.
Campbell, M F; Bohlin, G A; Schrader, P E; Bambha, R P; Kliewer, C J; Johansson, K O; Michelsen, H A
2016-11-01
We have designed and constructed a Hencken-type burner that produces a 38-mm-long linear laminar partially premixed co-flow diffusion flame. This burner was designed to produce a linear flame for studies of soot chemistry, combining the benefit of the conventional Hencken burner's laminar flames with the advantage of the slot burner's geometry for optical measurements requiring a long interaction distance. It is suitable for measurements using optical imaging diagnostics, line-of-sight optical techniques, or off-axis optical-scattering methods requiring either a long or short path length through the flame. This paper presents details of the design and operation of this new burner. We also provide characterization information for flames produced by this burner, including relative flow-field velocities obtained using hot-wire anemometry, temperatures along the centerline extracted using direct one-dimensional coherent Raman imaging, soot volume fractions along the centerline obtained using laser-induced incandescence and laser extinction, and transmission electron microscopy images of soot thermophoretically sampled from the flame.
Design and characterization of a linear Hencken-type burner
NASA Astrophysics Data System (ADS)
Campbell, M. F.; Bohlin, G. A.; Schrader, P. E.; Bambha, R. P.; Kliewer, C. J.; Johansson, K. O.; Michelsen, H. A.
2016-11-01
We have designed and constructed a Hencken-type burner that produces a 38-mm-long linear laminar partially premixed co-flow diffusion flame. This burner was designed to produce a linear flame for studies of soot chemistry, combining the benefit of the conventional Hencken burner's laminar flames with the advantage of the slot burner's geometry for optical measurements requiring a long interaction distance. It is suitable for measurements using optical imaging diagnostics, line-of-sight optical techniques, or off-axis optical-scattering methods requiring either a long or short path length through the flame. This paper presents details of the design and operation of this new burner. We also provide characterization information for flames produced by this burner, including relative flow-field velocities obtained using hot-wire anemometry, temperatures along the centerline extracted using direct one-dimensional coherent Raman imaging, soot volume fractions along the centerline obtained using laser-induced incandescence and laser extinction, and transmission electron microscopy images of soot thermophoretically sampled from the flame.
Stabilization of linear distributed control systems with unbounded delay
NASA Astrophysics Data System (ADS)
Henríquez, Hernán R.; Hernández M., Eduardo
2005-07-01
In this paper we study the asymptotic stabilization of linear distributed parameter control systems with unbounded delay. Assuming that the semigroup of operators associated with the uncontrolled and nondelayed equation is compact and that the phase space is a uniform fading memory space, we characterize those systems that can be stabilized using a feedback control. As consequence we conclude that every system of this type is stabilizable with an appropriated finite dimensional control.
Beam Dynamics Design and Simulation in Ion Linear Accelerators (
Ostroumov, Peter N.; Asseev, Vladislav N.; Mustapha, and Brahim
2006-08-01
Orginally, the ray tracing code TRACK has been developed to fulfill the many special requirements for the Rare Isotope Accelerator Facility known as RIA. Since no available beam-dynamics code met all the necessary requirements, modifications to the code TRACK were introduced to allow end-to-end (from the ion souce to the production target) simulations of the RIA machine, TRACK is a general beam-dynamics code and can be applied for the design, commissioning and operation of modern ion linear accelerators and beam transport systems.
Error control of iterative linear solvers for integrated groundwater models.
Dixon, Matthew F; Bai, Zhaojun; Brush, Charles F; Chung, Francis I; Dogrul, Emin C; Kadir, Tariq N
2011-01-01
An open problem that arises when using modern iterative linear solvers, such as the preconditioned conjugate gradient method or Generalized Minimum RESidual (GMRES) method, is how to choose the residual tolerance in the linear solver to be consistent with the tolerance on the solution error. This problem is especially acute for integrated groundwater models, which are implicitly coupled to another model, such as surface water models, and resolve both multiple scales of flow and temporal interaction terms, giving rise to linear systems with variable scaling. This article uses the theory of "forward error bound estimation" to explain the correspondence between the residual error in the preconditioned linear system and the solution error. Using examples of linear systems from models developed by the US Geological Survey and the California State Department of Water Resources, we observe that this error bound guides the choice of a practical measure for controlling the error in linear systems. We implemented a preconditioned GMRES algorithm and benchmarked it against the Successive Over-Relaxation (SOR) method, the most widely known iterative solver for nonsymmetric coefficient matrices. With forward error control, GMRES can easily replace the SOR method in legacy groundwater modeling packages, resulting in the overall simulation speedups as large as 7.74×. This research is expected to broadly impact groundwater modelers through the demonstration of a practical and general approach for setting the residual tolerance in line with the solution error tolerance and presentation of GMRES performance benchmarking results.
Integrated control-structure design
NASA Technical Reports Server (NTRS)
Hunziker, K. Scott; Kraft, Raymond H.; Bossi, Joseph A.
1991-01-01
A new approach for the design and control of flexible space structures is described. The approach integrates the structure and controller design processes thereby providing extra opportunities for avoiding some of the disastrous effects of control-structures interaction and for discovering new, unexpected avenues of future structural design. A control formulation based on Boyd's implementation of Youla parameterization is employed. Control design parameters are coupled with structural design variables to produce a set of integrated-design variables which are selected through optimization-based methodology. A performance index reflecting spacecraft mission goals and constraints is formulated and optimized with respect to the integrated design variables. Initial studies have been concerned with achieving mission requirements with a lighter, more flexible space structure. Details of the formulation of the integrated-design approach are presented and results are given from a study involving the integrated redesign of a flexible geostationary platform.
Attitude control with realization of linear error dynamics
NASA Technical Reports Server (NTRS)
Paielli, Russell A.; Bach, Ralph E.
1993-01-01
An attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.
Neighboring extremal guidance for systems with a piecewise linear control
NASA Technical Reports Server (NTRS)
Hull, David G.; Helfrich, Clifford E.
1991-01-01
The neighboring extremal feedback control law is developed for systems with a piecewise linear control for the case where the optimal control is obtained by nonlinear programming techniques. To develop the control perturbation for a given deviation from the nominal path, the second variation is minimized subject to the constraint that the final conditions be satisfied. This process leads to a feedback relationship between the control perturbation and the measured deviation from the nominal state. A simple example, the lunar launch problem, is used to demonstrate the validity of the guidance law. For model errors on the order of 5 percent, the results indicate that 5 percent errors occur in the final conditions.
Konishi, Keiji; Takeuchi, Masashi; Shimizu, Tsuyoshi
2011-06-01
Elimination and control of nonlinear phenomena in excitable media are important for academic interests and practical applications. This paper provides a systematic procedure to design external forces for eliminating a traveling wave in a one-dimensional piecewise linear FitzHugh-Nagumo model. This procedure allows us to design nonfeedback and feedback control systems. The feedback control systems are designed using classical control theory. Furthermore, this procedure is extended to a two-dimensional model and verified using numerical simulation.
Linear-Parameter-Varying Antiwindup Compensation for Enhanced Flight Control Performance
NASA Technical Reports Server (NTRS)
Lu, Bei; Wu, Fen; Kim, Sung Wan
2005-01-01
Actuator saturation is one of the major issues of flight control in the high angle-of-attack region. This paper presents a saturation control scheme for linear parameter varyjing (LPV) systems from an antiwindup control perspective. The proposed control approach is advantageous from the implementation standpoint because it can be thought of as an augmented control algorithm to the existing control system. Moreover, the synthesis condition for an antiwindup compensator is formulated as a linear matrix inequality (LMI) optimization problem and can be solved efficiently. We have applied te LPV antiwindup controller to an F-16 longitudinal autopilot control system design and compared it with the thrust vectoring control scheme. The nonlinear simulations show that an LPV antiwindup controller improves flight quality and offers advantages over thrust vectoring in a high angle-of-attack region.
Hybrid state-space self-tuning control of uncertain linear systems
NASA Technical Reports Server (NTRS)
Shieh, L. S.; Wang, Y. J.; Sunkel, J. W.
1993-01-01
The paper presents a hybrid state-space self-tuner using a new dual-rate sampling scheme for digital adaptive control of continuous-time uncertain linear systems. A state-space-based recursive least-squares algorithm, together with a variable forgetting factor, is used for direct estimations of both the equivalent discrete-time uncertain linear system parameters and the associated discrete-time state of a continuous-time uncertain linear system from the sampled input and output data. An analogue optimal regional pole-placement design method is used for designing an optimal observer-based analogue controller. A suboptimal observer-based digital controller is then designed from the designed analogue controller using digital redesign technique. To enhance the robustness of parameter identification and state estimation algorithms, a dynamic bound for a class of uncertain bilinear parameters and a fast-rate digital controller are developed at each fast-sampling period. Also, to accommodate computation loads and computation delay for developing the advanced hybrid self-tuner, the designed analogue controller and observer gains are both updated at each slow-sampling period. This control technique has been successfully applied to benchmark control problems.
NASA Technical Reports Server (NTRS)
Fleming, P.
1983-01-01
A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a nonlinear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer. One concerns helicopter longitudinal dynamics and the other the flight dynamics of an aerodynamically unstable aircraft.
Multi-mode sliding mode control for precision linear stage based on fixed or floating stator
NASA Astrophysics Data System (ADS)
Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei
2016-02-01
This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.
Nonlinear systems approach to control system design
NASA Technical Reports Server (NTRS)
Meyer, G.
1984-01-01
Consider some of the control system design methods for plants with nonlinear dynamics. If the nonlinearity is weak relative to the size of the operating region, then the linear methods apply directly. Fixed-gain design may be feasible even for significant nonlinearities. It may be possible to find a single gain which provides adequate control of the linear models at several perturbation points. If the nonlinearity is restricted to a sector, that fact may be used to obtain a fixed-gain controller. Otherwise, a gain may have to be associated with each perturbation point Pi. A gain schedule K(p(v)) is obtained by connecting the perturbation points by a function, say p(v), of the scheduling parameter v (i.e., speed). When the scheduling parameter must be multidimensional, this approach is difficult; the objective is to develop an easier procedure.
The International Linear Collider Technical Design Report - Volume 2: Physics
Baer, Howard; Barklow, Tim; Fujii, Keisuke; Gao, Yuanning; Hoang, Andre; Kanemura, Shinya; List, Jenny; Logan, Heather E.; Nomerotski, Andrei; Perelstein, Maxim; Peskin, Michael E.; Pöschl, Roman; Reuter, Jürgen; Riemann, Sabine; Savoy-Navarro, Aurore; Tait, Tim P.; Yu, Jaehoon
2013-06-26
The International Linear Collider Technical Design Report (TDR) describes in four volumes the physics case and the design of a 500 GeV centre-of-mass energy linear electron-positron collider based on superconducting radio-frequency technology using Niobium cavities as the accelerating structures. The accelerator can be extended to 1 TeV and also run as a Higgs factory at around 250 GeV and on the Z0 pole. A comprehensive value estimate of the accelerator is give, together with associated uncertainties. It is shown that no significant technical issues remain to be solved. Once a site is selected and the necessary site-dependent engineering is carried out, construction can begin immediately. The TDR also gives baseline documentation for two high-performance detectors that can share the ILC luminosity by being moved into and out of the beam line in a "push-pull" configuration. These detectors, ILD and SiD, are described in detail. They form the basis for a world-class experimental programme that promises to increase significantly our understanding of the fundamental processes that govern the evolution of the Universe.
The International Linear Collider Technical Design Report - Volume 4: Detectors
Behnke, Ties
2013-06-26
The International Linear Collider Technical Design Report (TDR) describes in four volumes the physics case and the design of a 500 GeV centre-of-mass energy linear electron-positron collider based on superconducting radio-frequency technology using Niobium cavities as the accelerating structures. The accelerator can be extended to 1 TeV and also run as a Higgs factory at around 250 GeV and on the Z0 pole. A comprehensive value estimate of the accelerator is give, together with associated uncertainties. It is shown that no significant technical issues remain to be solved. Once a site is selected and the necessary site-dependent engineering is carried out, construction can begin immediately. The TDR also gives baseline documentation for two high-performance detectors that can share the ILC luminosity by being moved into and out of the beam line in a "push-pull" configuration. These detectors, ILD and SiD, are described in detail. They form the basis for a world-class experimental programme that promises to increase significantly our understanding of the fundamental processes that govern the evolution of the Universe.
Alternative methods for the design of jet engine control systems
NASA Technical Reports Server (NTRS)
Sain, M. K.; Leake, R. J.; Basso, R.; Gejji, R.; Maloney, A.; Seshadri, V.
1976-01-01
Various alternatives to linear quadratic design methods for jet engine control systems are discussed. The main alternatives are classified into two broad categories: nonlinear global mathematical programming methods and linear local multivariable frequency domain methods. Specific studies within these categories include model reduction, the eigenvalue locus method, the inverse Nyquist method, polynomial design, dynamic programming, and conjugate gradient approaches.
Tunneling control using classical non-linear oscillator
Kar, Susmita; Bhattacharyya, S. P.
2014-04-24
A quantum particle is placed in symmetric double well potential which is coupled to a classical non-linear oscillator via a coupling function. With different spatial symmetry of the coupling and under various controlling fashions, the tunneling of the quantum particle can be enhanced or suppressed, or totally destroyed.
Coherent-control of linear signals: Frequency-domain analysis
NASA Astrophysics Data System (ADS)
Mukamel, Shaul
2013-10-01
The dependence of various types of linear signals on the phase profile of broadband optical pulses is examined using fundamental time translation invariance symmetry of multipoint correlation functions. The frequency-domain wave-mixing analysis presented here unifies several arguments made earlier with respect to the conditions whereby coherent control schemes may be used.
Active Control of Linear Periodic System with Two Unstable Modes.
1982-12-01
tV;;;.~II.~9 - B ~ZV ~- p1 . ,,~ >. ~ ACTIVE CONTROL OF LINEAR PERIODIC SYSTEM WITH TWO UNSTABLE MODES THESIS by Gregory E. Myers, B.S.E. 2nd Lt...PERIODIC SYSTEM WITH TWO UNSTABLE MODES THESIS Presented to the Faculty of the School of Engineering of the Air Force Institute of Technology Air University...December 1982 Approved for public release; distribution unlimited -ow PREFACE This thesis is a continuation of the work done by Yeakel in the control of
A non-linear UAV altitude PSO-PD control
NASA Astrophysics Data System (ADS)
Orlando, Calogero
2015-12-01
In this work, a nonlinear model based approach is presented for the altitude stabilization of a hexarotor unmanned aerial vehicle (UAV). The mathematical model and control of the hexacopter airframe is presented. To stabilize the system along the vertical direction, a Proportional Derivative (PD) control is taken into account. A particle swarm optimization (PSO) approach is used in this paper to select the optimal parameters of the control algorithm taking into account different objective functions. Simulation sets are performed to carry out the results for the non-linear system to show how the PSO tuned PD controller leads to zero the error of the position along Z earth direction.
Ramírez-Neria, M; Sira-Ramírez, H; Garrido-Moctezuma, R; Luviano-Juárez, A
2014-07-01
An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented.
Linear control of neuronal spike timing using phase response curves.
Stigen, Tyler; Danzl, Per; Moehlis, Jeff; Netoff, Theoden
2009-01-01
We propose a simple, robust, linear method to control the spike timing of a periodically firing neuron. The control scheme uses the neuron's phase response curve to identify an area of optimal sensitivity for the chosen stimulation parameters. The spike advance as a function of current pulse amplitude is characterized at the optimal phase and a linear least-squares regression is fit to the data. The inverted regression is used as the control function for this method. The efficacy of this method is demonstrated through numerical simulations of a Hodgkin-Huxley style neuron model as well as in real neurons from rat hippocampal slice preparations. The study shows a proof of concept for the application of a linear control scheme to control neuron spike timing in-vitro. This study was done on an individual cell level, but translation to a tissue or network level is possible. Control schemes of this type could be implemented in a closed loop implantable device to treat neuromotor disorders involving pathologically neuronal activity such as epilepsy or Parkinson's disease.
Digital program for solving the linear stochastic optimal control and estimation problem
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, B.
1975-01-01
A computer program is described which solves the linear stochastic optimal control and estimation (LSOCE) problem by using a time-domain formulation. The LSOCE problem is defined as that of designing controls for a linear time-invariant system which is disturbed by white noise in such a way as to minimize a performance index which is quadratic in state and control variables. The LSOCE problem and solution are outlined; brief descriptions are given of the solution algorithms, and complete descriptions of each subroutine, including usage information and digital listings, are provided. A test case is included, as well as information on the IBM 7090-7094 DCS time and storage requirements.
Fault-tolerant control for a class of non-linear systems with dead-zone
NASA Astrophysics Data System (ADS)
Chen, Mou; Jiang, Bin; Guo, William W.
2016-05-01
In this paper, a fault-tolerant control scheme is proposed for a class of single-input and single-output non-linear systems with the unknown time-varying system fault and the dead-zone. The non-linear state observer is designed for the non-linear system using differential mean value theorem, and the non-linear fault estimator that estimates the unknown time-varying system fault is developed. On the basis of the designed fault estimator, the observer-based fault-tolerant tracking control is then developed using the backstepping technique for non-linear systems with the dead-zone. The stability of the whole closed-loop system is rigorously proved via Lyapunov analysis and the satisfactory tracking control performance is guaranteed in the presence of the unknown time-varying system fault and the dead-zone. Numerical simulation results are presented to illustrate the effectiveness of the proposed backstepping fault-tolerant control scheme for non-linear systems.
Control methods to improve non-linear HVAC system operations
NASA Astrophysics Data System (ADS)
Phalak, Kaustubh Pradeep
The change of weather conditions and occupancy schedules makes heating ventilating and air-conditioning (HVAC) systems heavily dynamic. The mass and thermal inertia, nonlinear characteristics and interactions in HVAC systems make the control more complicated. As a result, some conventional control methods often cannot provide desired control performance under variable operating conditions. The purpose of this study is to develop control methods to improve the control performance of HVAC systems. This study focuses on optimizing the airflow-pressure control method of air side economizers, identifying robust building pressurization controls, developing a control method to control outdoor air and building pressure in absence of flow and pressure sensors, stabilizing the cooling coil valve operation and, return fan speed control. The improvements can be achieved by identifying and selecting a method with relatively linear performance characteristics out of the available options, applying fans rather than dampers to control building pressure, and improving the controller's stability range using cascade control method. A steady state nonlinear network model, for an air handling unit (AHU), air distribution system and conditioned space, is applied to analyze the system control performance of air-side economizers and building pressurization. The study shows that traditional controls with completely interlinked outdoor air, recirculated air, relief air dampers have the best control performance. The decoupled relief damper control may result in negative building static pressure at lower outdoor airflow ratio and excessively positive building static pressure at higher outdoor airflow ratio. On the other hand, return fan speed control has a better controllability on building pressurization. In absence of flow and pressure sensors fixed interlinked damper and linear return fan speed tracking control can maintain constant outside air ratio and positive building pressure. The
Fluid loss control differences of crosslinked and linear fracturing fluids
Zigrye, J.L.; Whitfill, D.L.; Sievert, J.A.
1983-01-01
Three fracturing fluids--a crosslinked guar, a delayed hydrating guar, and a linear guar--were tested for fluid loss control at set time intervals while being conditioned in a heated, pressurized flow loop. Each fluid was tested with 3 different fluid loss additive systems: diesel, silica flour, and a combination of diesel and silica flour. The crosslinked system was tested also with 2 additional fluid loss additive systems. These fluids were diesel plus an anionic surfactant and the combination of diesel/silica flour plus the anionic surfactant. These tests show that the fluid loss of crosslinked fracturing fluids is best controlled by using diesel in combination with a surfactant or a properly sized particulate material. The fluid loss of linear fluids is controlled best with particulate additives.
Shielding design for multiple-energy linear accelerators.
Barish, Robert J
2014-05-01
The introduction of medical linear accelerators (linacs) capable of producing three different x-ray energies has complicated the process of designing shielding for these units. The conventional approach for the previous generation of dual-energy linacs relied on the addition of some amount of supplementary shielding to that calculated for the higher-energy beam, where the amount of that supplement followed the historical "two-source" rule, also known as the "add one HVL rule," a practice derived from other two-source shielding considerations. The author describes an iterative approach that calculates shielding requirements accurately for any number of multiple beam energies assuming the workload at each energy can be specified at the outset. This method is particularly useful when considering the requirements for possible modifications to an existing vault when new equipment is to be installed as a replacement for a previous unit.
Automatic control design procedures for restructurable aircraft control
NASA Technical Reports Server (NTRS)
Looze, D. P.; Krolewski, S.; Weiss, J.; Barrett, N.; Eterno, J.
1985-01-01
A simple, reliable automatic redesign procedure for restructurable control is discussed. This procedure is based on Linear Quadratic (LQ) design methodologies. It employs a robust control system design for the unfailed aircraft to minimize the effects of failed surfaces and to extend the time available for restructuring the Flight Control System. The procedure uses the LQ design parameters for the unfailed system as a basis for choosing the design parameters of the failed system. This philosophy alloys the engineering trade-offs that were present in the nominal design to the inherited by the restructurable design. In particular, it alloys bandwidth limitations and performance trade-offs to be incorporated in the redesigned system. The procedure also has several other desirable features. It effectively redistributes authority among the available control effectors to maximize the system performance subject to actuator limitations and constraints. It provides a graceful performance degradation as the amount of control authority lessens. When given the parameters of the unfailed aircraft, the automatic redesign procedure reproduces the nominal control system design.
NASA Astrophysics Data System (ADS)
Jiao, Zongxia; Wang, Tianyi; Yan, Liang
2016-12-01
A linear oscillating motor is an electromagnetic actuator that can achieve short-stroke reciprocating movement directly without auxiliary transmission mechanisms. It has been widely used in linear pump applications as the source of power and motion. However, because of the demand of high power density in a linear actuation system, the performance of linear oscillating motors has been the focus of studies and deserves further research for high power density. In this paper, a general framework of linear oscillating motor design and optimization is addressed in detail, including the electromagnetic, dynamics, and thermal aspects. First, the electromagnetic and dynamics characteristics are modeled to reveal the principle for optimization. Then, optimization and analysis on magnetic structure, resonant system, and thermal features are conducted, which provide the foundation for prototype development. Finally, experimental results are provided for validation. As a whole, this process offers complete guidance for high power density linear oscillating motors in linear pump applications.
Model-free adaptive fractional order control of stable linear time-varying systems.
Yakoub, Z; Amairi, M; Chetoui, M; Saidi, B; Aoun, M
2017-03-01
This paper presents a new model-free adaptive fractional order control approach for linear time-varying systems. An online algorithm is proposed to determine some frequency characteristics using a selective filtering and to design a fractional PID controller based on the numerical optimization of the frequency-domain criterion. When the system parameters are time-varying, the controller is updated to keep the same desired performances. The main advantage of the proposed approach is that the controller design depends only on the measured input and output signals of the process. The effectiveness of the proposed method is assessed through a numerical example.
Optimal design of linear and non-linear dynamic vibration absorbers
NASA Astrophysics Data System (ADS)
Jordanov, I. N.; Cheshankov, B. I.
1988-05-01
An efficient numerical method is applied to obtain optimal parameters for both linear and non-linear damped dynamic vibration absorbers. The minimization of the vibration response has been carried out for damped as well as undamped force excited primary systems with linear and non-linear spring characteristics. Comparison is made with the optimum absorber parameters that are determined by using Den Hartog's classical results in the linear case. Six optimization criteria by which the response is minimized over narrow and broad frequency bands are examined. Pareto optimal solutions of the multi-objective decision making problem are obtained.
Linear Time Invariant Models for Integrated Flight and Rotor Control
NASA Astrophysics Data System (ADS)
Olcer, Fahri Ersel
2011-12-01
Recent developments on individual blade control (IBC) and physics based reduced order models of various on-blade control (OBC) actuation concepts are opening up opportunities to explore innovative rotor control strategies for improved rotor aerodynamic performance, reduced vibration and BVI noise, and improved rotor stability, etc. Further, recent developments in computationally efficient algorithms for the extraction of Linear Time Invariant (LTI) models are providing a convenient framework for exploring integrated flight and rotor control, while accounting for the important couplings that exist between body and low frequency rotor response and high frequency rotor response. Formulation of linear time invariant (LTI) models of a nonlinear system about a periodic equilibrium using the harmonic domain representation of LTI model states has been studied in the literature. This thesis presents an alternative method and a computationally efficient scheme for implementation of the developed method for extraction of linear time invariant (LTI) models from a helicopter nonlinear model in forward flight. The fidelity of the extracted LTI models is evaluated using response comparisons between the extracted LTI models and the nonlinear model in both time and frequency domains. Moreover, the fidelity of stability properties is studied through the eigenvalue and eigenvector comparisons between LTI and LTP models by making use of the Floquet Transition Matrix. For time domain evaluations, individual blade control (IBC) and On-Blade Control (OBC) inputs that have been tried in the literature for vibration and noise control studies are used. For frequency domain evaluations, frequency sweep inputs are used to obtain frequency responses of fixed system hub loads to a single blade IBC input. The evaluation results demonstrate the fidelity of the extracted LTI models, and thus, establish the validity of the LTI model extraction process for use in integrated flight and rotor control
Modular design attitude control system
NASA Technical Reports Server (NTRS)
Chichester, F. D.
1982-01-01
A hybrid multilevel linear quadratic regulator (ML-LQR) approach was developed and applied to the attitude control of models of the rotational dynamics of a prototype flexible spacecraft and of a typical space platform. Three axis rigid body flexible suspension models were developed for both the spacecraft and the space platform utilizing augmented body methods. Models of the spacecraft with hybrid ML-LQR attitude control and with LQR attitude control were simulated and their response with the two different types of control were compared.
Stability of linear dynamic systems over the packet erasure channel: a co-design approach
NASA Astrophysics Data System (ADS)
Farhadi, Alireza
2015-12-01
This paper is concerned with the stability of linear time-invariant dynamic systems over the packet erasure channel subject to minimum bit rate constraint when an encoder and a decoder are unaware of the control signal. This assumption results in co-designing the encoder, decoder and controller. The encoder, decoder, controller and conditions relating transmission rate to packet erasure probability and eigenvalues of the system matrix A are presented for almost sure asymptotic stability of linear time-invariant dynamic systems over the packet erasure channel with feedback acknowledgment. When the eigenvalues of the system matrix A are real valued, it is shown that the obtained condition for stability is tight. Simulation result illustrates the satisfactory performance of the proposed encoder, decoder and controller for almost sure asymptotic stability.
Brunton, Steven L; Brunton, Bingni W; Proctor, Joshua L; Kutz, J Nathan
2016-01-01
In this wIn this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control.ork, we explore finite
Aircraft digital control design methods
NASA Technical Reports Server (NTRS)
Powell, J. D.; Parsons, E.; Tashker, M. G.
1976-01-01
Variations in design methods for aircraft digital flight control are evaluated and compared. The methods fall into two categories; those where the design is done in the continuous domain (or s plane) and those where the design is done in the discrete domain (or z plane). Design method fidelity is evaluated by examining closed loop root movement and the frequency response of the discretely controlled continuous aircraft. It was found that all methods provided acceptable performance for sample rates greater than 10 cps except the uncompensated s plane design method which was acceptable above 20 cps. A design procedure based on optimal control methods was proposed that provided the best fidelity at very slow sample rates and required no design iterations for changing sample rates.
Control design and simulation of systems modeled using ADAMS
NASA Technical Reports Server (NTRS)
Sohoni, Vikram N.
1989-01-01
A technique for control design and simulation using the ADAMS software and a control design software package is presented. For design of control systems ADAMS generates a minimum realization linear time invariant (LTI), state space representation of multi-body models. This LTI representation can be produced in formats for input to several commercial control design packages. The user can exercise various design strategies in the control design software to arrive at a suitable compensator. The resulting closed loop model can then be simulated using ADAMS. This procedure is illustrated with two examples.
Teaching medical device design using design control.
May-Newman, Karen; Cornwall, G Bryan
2012-01-01
The design of medical devices requires an understanding of a large number of factors, many of which are difficult to teach in the traditional educational format. This subject benefits from using a challenge-based learning approach, which provides focused design challenges requiring students to understand important factors in the context of a specific device. A course was designed at San Diego State University (CA, USA) that applied challenge-based learning through in-depth design challenges in cardiovascular and orthopedic medicine, and provided an immersive field, needs-finding experience to increase student engagement in the process of knowledge acquisition. The principles of US FDA 'design control' were used to structure the students' problem-solving approach, and provide a format for the design documentation, which was the basis of grading. Students utilized a combination of lecture materials, industry guest expertise, texts and readings, and internet-based searches to develop their understanding of the problem and design their solutions. The course was successful in providing a greatly increased knowledge base and competence of medical device design than students possessed upon entering the course.
Linear and Nonlinear Schemes Applied to Pitch Control of Wind Turbines
Yang, Geng
2014-01-01
Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters. PMID:25295299
Linear and nonlinear schemes applied to pitch control of wind turbines.
Geng, Hua; Yang, Geng
2014-01-01
Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters.
Brunton, Steven L.; Brunton, Bingni W.; Proctor, Joshua L.; Kutz, J. Nathan
2016-01-01
In this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control. PMID:26919740
Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum
NASA Astrophysics Data System (ADS)
Lima, Byron; Cajo, Ricardo; Huilcapi, Víctor; Agila, Wilton
2017-01-01
The rotary inverted pendulum (RIP) is a problem difficult to control, several studies have been conducted where different control techniques have been applied. Literature reports that, although problem is nonlinear, classical PID controllers presents appropriate performances when applied to the system. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. The control algorithms are evaluated in the RIP system, using indices of performance and power consumption, which allow the categorization of control strategies according to their performance. This article also presents the modeling system, which has been estimated some of the parameters involved in the RIP system, using computer-aided design tools (CAD) and experimental methods or techniques proposed by several authors attended. The results indicate a better performance of the nonlinear controller with an increase in the robustness and faster response than the linear controller.
Modular design attitude control system
NASA Technical Reports Server (NTRS)
Chichester, F. D.
1984-01-01
A sequence of single axismodels and a series of reduced state linear observers of minimum order are used to reconstruct inaccessible variables pertaining to the modular attitude control of a rigid body flexible suspension model of a flexible spacecraft. The single axis models consist of two, three, four, and five rigid bodies, each interconnected by a flexible shaft passing through the mass centers of the bodies. Modal damping is added to each model. Reduced state linear observers are developed for synthesizing the inaccessible modal state variables for each modal model.
Lyapunov-based control designs for flexible-link manipulators
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Time optimal controls of the linear Fitzhugh-Nagumo equation with pointwise control constraints.
Kunisch, Karl; Wang, Lijuan
2012-11-01
Time optimal control governed by the internally controlled linear Fitzhugh-Nagumo equation with pointwise control constraint is considered. Making use of Ekeland's variational principle, we obtain Pontryagin's maximum principle for a time optimal control problem. Using the maximum principle, the bang-bang property of the optimal controls is established under appropriate assumptions.
Time optimal controls of the linear Fitzhugh–Nagumo equation with pointwise control constraints
Kunisch, Karl; Wang, Lijuan
2012-01-01
Time optimal control governed by the internally controlled linear Fitzhugh–Nagumo equation with pointwise control constraint is considered. Making use of Ekeland’s variational principle, we obtain Pontryagin’s maximum principle for a time optimal control problem. Using the maximum principle, the bang–bang property of the optimal controls is established under appropriate assumptions. PMID:23576818
NASA Technical Reports Server (NTRS)
Becus, G. A.; Lui, C. Y.; Venkayya, V. B.; Tischler, V. A.
1987-01-01
A method for simultaneous structural and control design of large flexible space structures (LFSS) to reduce vibration generated by disturbances is presented. Desired natural frequencies and damping ratios for the closed loop system are achieved by using a combination of linear quadratic regulator (LQR) synthesis and numerical optimization techniques. The state and control weighing matrices (Q and R) are expressed in terms of structural parameters such as mass and stiffness. The design parameters are selected by numerical optimization so as to minimize the weight of the structure and to achieve the desired closed-loop eigenvalues. An illustrative example of the design of a two bar truss is presented.
Receiver-exciter controller design
NASA Technical Reports Server (NTRS)
Jansma, P. A.
1982-01-01
A description of the general design of both the block 3 and block 4 receiver-exciter controllers for the Deep Space Network (DSN) Mark IV-A System is presented along with the design approach. The controllers are designed to enable the receiver-exciter subsystem (RCV) to be configured, calibrated, initialized and operated from a central location via high level instructions. The RECs are designed to be operated under the control of the DMC subsystem. The instructions are in the form of standard subsystem blocks (SSBs) received via the local area network (LAN). The centralized control provided by RECs and other DSCC controllers in Mark IV-A is intended to reduce DSN operations costs from the Mark III era.
Modulation linearization of a frequency-modulated voltage controlled oscillator, part 3
NASA Technical Reports Server (NTRS)
Honnell, M. A.
1975-01-01
An analysis is presented for the voltage versus frequency characteristics of a varactor modulated VHF voltage controlled oscillator in which the frequency deviation is linearized by using the nonlinear characteristics of a field effect transistor as a signal amplifier. The equations developed are used to calculate the oscillator output frequency in terms of pertinent circuit parameters. It is shown that the nonlinearity exponent of the FET has a pronounced influence on frequency deviation linearity, whereas the junction exponent of the varactor controls total frequency deviation for a given input signal. A design example for a 250 MHz frequency modulated oscillator is presented.
NASA Astrophysics Data System (ADS)
Zhang, Xu; Lin, Yan
2014-02-01
We investigate the problem of global stabilisation by linear output feedback for a class of uncertain nonlinear systems with zero-dynamics. Compared with the previous works, new dilation-based assumptions are introduced that allow the system nonlinearities and its bounding functions to be coupled with all the states. The nonlinear systems of this paper can be considered as an extended form of some low triangular and feedforward systems. Dynamic gain scaling technique is applied to the controller design and stability analysis. It is proved that with a unifying linear controller structure and flexible adaptive laws for the observer gain, global stabilisation of the nonlinear systems can be achieved.
Integrated controls design optimization
Lou, Xinsheng; Neuschaefer, Carl H.
2015-09-01
A control system (207) for optimizing a chemical looping process of a power plant includes an optimizer (420), an income algorithm (230) and a cost algorithm (225) and a chemical looping process models. The process models are used to predict the process outputs from process input variables. Some of the process in puts and output variables are related to the income of the plant; and some others are related to the cost of the plant operations. The income algorithm (230) provides an income input to the optimizer (420) based on a plurality of input parameters (215) of the power plant. The cost algorithm (225) provides a cost input to the optimizer (420) based on a plurality of output parameters (220) of the power plant. The optimizer (420) determines an optimized operating parameter solution based on at least one of the income input and the cost input, and supplies the optimized operating parameter solution to the power plant.
Linear Parameter Varying Control Synthesis for Actuator Failure, Based on Estimated Parameter
NASA Technical Reports Server (NTRS)
Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine
2002-01-01
The design of a linear parameter varying (LPV) controller for an aircraft at actuator failure cases is presented. The controller synthesis for actuator failure cases is formulated into linear matrix inequality (LMI) optimizations based on an estimated failure parameter with pre-defined estimation error bounds. The inherent conservatism of an LPV control synthesis methodology is reduced using a scaling factor on the uncertainty block which represents estimated parameter uncertainties. The fault parameter is estimated using the two-stage Kalman filter. The simulation results of the designed LPV controller for a HiMXT (Highly Maneuverable Aircraft Technology) vehicle with the on-line estimator show that the desired performance and robustness objectives are achieved for actuator failure cases.
Linearized aerodynamic and control law models of the X-29A airplane and comparison with flight data
NASA Technical Reports Server (NTRS)
Bosworth, John T.
1992-01-01
Flight control system design and analysis for aircraft rely on mathematical models of the vehicle dynamics. In addition to a six degree of freedom nonlinear simulation, the X-29A flight controls group developed a set of programs that calculate linear perturbation models throughout the X-29A flight envelope. The models include the aerodynamics as well as flight control system dynamics and were used for stability, controllability, and handling qualities analysis. These linear models were compared to flight test results to help provide a safe flight envelope expansion. A description is given of the linear models at three flight conditions and two flight control system modes. The models are presented with a level of detail that would allow the reader to reproduce the linear results if desired. Comparison between the response of the linear model and flight measured responses are presented to demonstrate the strengths and weaknesses of the linear models' ability to predict flight dynamics.
NASA Astrophysics Data System (ADS)
Minihan, T. P.; Lei, S.; Sun, G.; Palazzolo, A.; Kascak, A. F.; Calvert, T.
2003-06-01
Conventional use of magnetic bearings relies on a zero reference to keep the rotor centered in the radial and axial axes. This paper compares different control methods developed for the alternate control task of tracking an axial dynamic target. Controllers based on fuzzy logic, sliding mode, and direct linearization were designed to meet this task. Performance criteria, such as maximum axial displacement, minimum phase lag and I2R power losses were compared for each controller. The large motion, tracking problem for a rotor has utility in applications where dynamic seal clearances are required. This has a variety of potential applications in turbo-machinery, such as active stall control.
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (CDC VERSION)
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (DEC VAX VERSION)
NASA Technical Reports Server (NTRS)
Frisch, H.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
Hybrid Invariance and Stability of a Feedback Linearizing Controller for Powered Prostheses
Martin, Anne E.; Gregg, Robert D.
2015-01-01
The development of powered lower-limb prostheses has the potential to significantly improve amputees’ quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the actuated degrees of freedom using output functions to be zeroed, and the required torques are calculated using feedback linearization. Previous work showed that an HZD-like prosthesis controller can successfully control the stance period of gait. This paper shows that an HZD-based prosthesis controller can be used for the entire gait cycle and that feedback linearization can be performed using only information measured with on-board sensors. An analytic metric for orbital stability of a two-step periodic gait is developed. The results are illustrated in simulation. PMID:26604427
A Non-Linear Approach to Spacecraft Trajectory Control in the Vicinity of a Libration Point
NASA Technical Reports Server (NTRS)
Luquette, Richard J.; Sanner, Robert M.
2001-01-01
An expanding interest in mission design strategies that exploit libration point regions demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. This paper discusses the development of a non-linear, station-keeping, control algorithm for trajectories in the vicinity of a libration point. The control law guarantees exponential convergence, based on a Lyaponov analysis. Controller performance is evaluated using FreeFlyer(R) and MATLAB(R) for a spacecraft stationed near the L2 libration point in the Earth-Moon system, tracking a pre-defined reference trajectory. Evaluation metrics are fuel usage and tracking accuracy. Simulation results are compared with a linear-based controller for a spacecraft tracking the same reference trajectory. Although the analysis is framed in the context of station-keeping, the control algorithm is equally applicable to a formation flying problem with an appropriate definition of the reference trajectory.
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L. C.
1984-01-01
AESOP is a computer program for use in designing feedback controls and state estimators for linear multivariable systems. AESOP is meant to be used in an interactive manner. Each design task that the program performs is assigned a "function" number. The user accesses these functions either (1) by inputting a list of desired function numbers or (2) by inputting a single function number. In the latter case the choice of the function will in general depend on the results obtained by the previously executed function. The most important of the AESOP functions are those that design,linear quadratic regulators and Kalman filters. The user interacts with the program when using these design functions by inputting design weighting parameters and by viewing graphic displays of designed system responses. Supporting functions are provided that obtain system transient and frequency responses, transfer functions, and covariance matrices. The program can also compute open-loop system information such as stability (eigenvalues), eigenvectors, controllability, and observability. The program is written in ANSI-66 FORTRAN for use on an IBM 3033 using TSS 370. Descriptions of all subroutines and results of two test cases are included in the appendixes.
Robust and reconfigurable flight control system design
NASA Astrophysics Data System (ADS)
Siwakosit, Wichai
2001-07-01
A reconfigurable flight control system is a control system which can automatically adapt itself to maintain the performance of a damaged aircraft to be as close as possible to that of the normal or undamaged one. This research focuses mainly on Multi-Input, Multi-Output (MIMO) reconfigurable flight control for an aircraft with damaged actuator(s) which may greatly affect the performance and control of the aircraft, and also pose a challenging flight control problem. The foundation of the control system is a baseline controller and an adaptive module which constitutes a reconfigurable part. The baseline controller ensures that the aircraft has acceptable performance and handling qualities throughout the flight envelope. The combination of a Quantitative Feedback Theory (QFT) Pre-Design Technique (PDT) and a Reduced-order, Linear, Dynamic Inversion (RLDI) control strategy yields a flight control system with good tracking performance and handling qualities with no Pilot Induced Oscillation (PIO) tendencies throughout the designated set of flight conditions. In addition, the system is highly immune to large uncertainties in the aircraft dynamics. The modified filtered-ɛ adaptive algorithm is developed and utilized in the adaptive module of the system. This adaptive algorithm performs well with MIMO system with the added advantage of not having to pre-identify the dynamics of the damaged aircraft, provided that the conditions of reconfigurability are met. An example of the proposed control system with the NASA F-18 HARV vehicle model and a damaged actuator demonstrates the effectiveness of the concept.
Output feedback control of linear fractional transformation systems subject to actuator saturation
NASA Astrophysics Data System (ADS)
Ban, Xiaojun; Wu, Fen
2016-11-01
In this paper, the control problem for a class of linear parameter varying (LPV) plant subject to actuator saturation is investigated. For the saturated LPV plant depending on the scheduling parameters in linear fractional transformation (LFT) fashion, a gain-scheduled output feedback controller in the LFT form is designed to guarantee the stability of the closed-loop LPV system and provide optimised disturbance/error attenuation performance. By using the congruent transformation, the synthesis condition is formulated as a convex optimisation problem in terms of a finite number of LMIs for which efficient optimisation techniques are available. The nonlinear inverted pendulum problem is employed to demonstrate the effectiveness of the proposed approach. Moreover, the comparison between our LPV saturated approach with an existing linear saturated method reveals the advantage of the LPV controller when handling nonlinear plants.
A method for linearizing a nonlinear system with six state variables and three control variables
NASA Technical Reports Server (NTRS)
Hsia, W. S.
1986-01-01
A nonlinear system governed by x = f(x,u) with six state variables and three control variables is considered in this project. A set of transformations from (x,u) - space to (z,v) - space is defined such that the linear tangent model is independent of the operating point in the z-space. Therefore, it is possible to design a control law satisfying all operating points in the transformed space. An algorithm to construct the above transformations and to obtain the associated linearized system is described in this report. This method is applied to a rigid body using pole placement for the control law. Results are verified by numerical simulation. Closed loop poles in x-space using traditional local linearization are compared with those pole placements in the z-space.
The design of digital-adaptive controllers for VTOL aircraft
NASA Technical Reports Server (NTRS)
Stengel, R. F.; Broussard, J. R.; Berry, P. W.
1976-01-01
Design procedures for VTOL automatic control systems have been developed and are presented. Using linear-optimal estimation and control techniques as a starting point, digital-adaptive control laws have been designed for the VALT Research Aircraft, a tandem-rotor helicopter which is equipped for fully automatic flight in terminal area operations. These control laws are designed to interface with velocity-command and attitude-command guidance logic, which could be used in short-haul VTOL operations. Developments reported here include new algorithms for designing non-zero-set-point digital regulators, design procedures for rate-limited systems, and algorithms for dynamic control trim setting.
CONDUIT: Control Designer's Unified Interface
NASA Technical Reports Server (NTRS)
Levine, William S.; Tischler, Mark B.
1999-01-01
CONDUIT, which stands for control designer's unified interface, is a computer software package. Its purpose is to assist a human control system designer in designing control systems for aircraft. At the present time CONDUIT is being used by most of the major U. S. rotorcraft and fixed-wing aircraft manufacturers to assist in the design of stability and control augmentation systems. Work is also continuing on the development of additional features for CONDUIT, including tools for analyzing the sensitivity of solutions, and on further enhancements to the basic package. The purpose of this paper is to describe CONDUIT, its operation, and the sensitivity tools that are being developed for inclusion in the next release of the package.
Design of a biochemical circuit motif for learning linear functions
Lakin, Matthew R.; Minnich, Amanda; Lane, Terran; Stefanovic, Darko
2014-01-01
Learning and adaptive behaviour are fundamental biological processes. A key goal in the field of bioengineering is to develop biochemical circuit architectures with the ability to adapt to dynamic chemical environments. Here, we present a novel design for a biomolecular circuit capable of supervised learning of linear functions, using a model based on chemical reactions catalysed by DNAzymes. To achieve this, we propose a novel mechanism of maintaining and modifying internal state in biochemical systems, thereby advancing the state of the art in biomolecular circuit architecture. We use simulations to demonstrate that the circuit is capable of learning behaviour and assess its asymptotic learning performance, scalability and robustness to noise. Such circuits show great potential for building autonomous in vivo nanomedical devices. While such a biochemical system can tell us a great deal about the fundamentals of learning in living systems and may have broad applications in biomedicine (e.g. autonomous and adaptive drugs), it also offers some intriguing challenges and surprising behaviours from a machine learning perspective. PMID:25401175
Design of a biochemical circuit motif for learning linear functions.
Lakin, Matthew R; Minnich, Amanda; Lane, Terran; Stefanovic, Darko
2014-12-06
Learning and adaptive behaviour are fundamental biological processes. A key goal in the field of bioengineering is to develop biochemical circuit architectures with the ability to adapt to dynamic chemical environments. Here, we present a novel design for a biomolecular circuit capable of supervised learning of linear functions, using a model based on chemical reactions catalysed by DNAzymes. To achieve this, we propose a novel mechanism of maintaining and modifying internal state in biochemical systems, thereby advancing the state of the art in biomolecular circuit architecture. We use simulations to demonstrate that the circuit is capable of learning behaviour and assess its asymptotic learning performance, scalability and robustness to noise. Such circuits show great potential for building autonomous in vivo nanomedical devices. While such a biochemical system can tell us a great deal about the fundamentals of learning in living systems and may have broad applications in biomedicine (e.g. autonomous and adaptive drugs), it also offers some intriguing challenges and surprising behaviours from a machine learning perspective.
Bimanual coordination as task-dependent linear control policies.
Diedrichsen, Jörn; Dowling, Noreen
2009-06-01
When we perform actions with two hands in everyday life, coordination has to change very quickly depending on task goals. Here, we study these task-dependent changes using a bimanual reaching task in which participants move two separate cursors to two visual targets, or move a single cursor, displayed at the average position of the two hands, to a single target. During the movement, one of the hands is perturbed in a random direction using a viscous curl field. We have previously shown that feedback control, the structure of noise, and adaptation change between these two tasks as predicted by optimal control theory: feedback control is independent when the hands control two cursors, but becomes dependent when they move one cursor together. The same changes are observed even on trials in which no visual feedback about the cursor position is given. One assumption in this model is that coordinative motor commands can be described as a linear function of the state of the left and right hands. Here we test the assumption by studying the feedback corrections for 25 combinations of force fields applied to the two hands. Our study shows that feedback gains are constant across all levels of force fields strength, providing strong evidence that intermanual coordination for this task can accurately be explained by optimal task-dependent linear feedback gains.
Spacecraft Design Thermal Control Subsystem
NASA Technical Reports Server (NTRS)
Miyake, Robert N.
2003-01-01
This slide presentation reviews the functions of the thermal control subsystem engineers in the design of spacecraft. The goal of the thermal control subsystem that will be used in a spacecraft is to maintain the temperature of all spacecraft components, subsystems, and all the flight systems within specified limits for all flight modes from launch to the end of the mission. For most thermal control subsystems the mass, power and control and sensing systems must be kept below 10% of the total flight system resources. This means that the thermal control engineer is involved in all other flight systems designs. The two concepts of thermal control, passive and active are reviewed and the use of thermal modeling tools are explained. The testing of the thermal control is also reviewed.
Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna
NASA Technical Reports Server (NTRS)
Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.
1994-01-01
The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.
NASA Technical Reports Server (NTRS)
Gettman, Chang-Ching LO
1993-01-01
This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.
Control And Containment Design Report
his work plan (571-pages) is called the “SWMU-3-1 and 3-4 Control and Containment Design Report” was written to be in compliance with new FEMA requirements that the design must not create any positive change in the 100 year flood elevation.
Feedback Control Systems Loop Shaping Design with Practical Considerations
NASA Technical Reports Server (NTRS)
Kopsakis, George
2007-01-01
This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.
Analysis and Design Methods for Nonlinear Control Systems
1990-03-01
entitled "Design of Nonlinear PID Controllers ." In this paper it is demonstrated that the extended linearization approach can be applied to standard...Sciences and Systems, Baltimore, Maryland, pp. 675-680, 1987. [3] WJ. Rugh, "Design of Nonlinear PID Controllers ," AIChE Journa Vol. 33, No. 10, pp. 1738
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2012 CFR
2012-01-01
... shall establish measures for the identification and control of design interfaces and for coordination... revision of documents involving design interfaces. The design control measures must provide for...
Linear Quadratic Tracking Design for a Generic Transport Aircraft with Structural Load Constraints
NASA Technical Reports Server (NTRS)
Burken, John J.; Frost, Susan A.; Taylor, Brian R.
2011-01-01
When designing control laws for systems with constraints added to the tracking performance, control allocation methods can be utilized. Control allocations methods are used when there are more command inputs than controlled variables. Constraints that require allocators are such task as; surface saturation limits, structural load limits, drag reduction constraints or actuator failures. Most transport aircraft have many actuated surfaces compared to the three controlled variables (such as angle of attack, roll rate & angle of side slip). To distribute the control effort among the redundant set of actuators a fixed mixer approach can be utilized or online control allocation techniques. The benefit of an online allocator is that constraints can be considered in the design whereas the fixed mixer cannot. However, an online control allocator mixer has a disadvantage of not guaranteeing a surface schedule, which can then produce ill defined loads on the aircraft. The load uncertainty and complexity has prevented some controller designs from using advanced allocation techniques. This paper considers actuator redundancy management for a class of over actuated systems with real-time structural load limits using linear quadratic tracking applied to the generic transport model. A roll maneuver example of an artificial load limit constraint is shown and compared to the same no load limitation maneuver.
Steering of Frequency Standards by the Use of Linear Quadratic Gaussian Control Theory
NASA Technical Reports Server (NTRS)
Koppang, Paul; Leland, Robert
1996-01-01
Linear quadratic Gaussian control is a technique that uses Kalman filtering to estimate a state vector used for input into a control calculation. A control correction is calculated by minimizing a quadratic cost function that is dependent on both the state vector and the control amount. Different penalties, chosen by the designer, are assessed by the controller as the state vector and control amount vary from given optimal values. With this feature controllers can be designed to force the phase and frequency differences between two standards to zero either more or less aggressively depending on the application. Data will be used to show how using different parameters in the cost function analysis affects the steering and the stability of the frequency standards.
Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems
NASA Astrophysics Data System (ADS)
Nguyen, Chuong Hoang; Leonessa, Alexander
2017-02-01
In this paper, the problem of characterizing adaptive output feedback control laws for a general class of unknown MIMO linear systems is considered. Specifically, the presented control approach relies on three components, i.e., a predictor, a reference model and a controller. The predictor is designed to predict the system's output with arbitrary accuracy, for any admissible control input. Subsequently, a full state feedback control law is designed to control the predictor output to approach the reference system, while the reference system tracks the desired trajectory. Ultimately, the control objective of driving the actual system output to track the desired trajectories is achieved by showing that the system output, the predictor output and the reference system trajectories all converge to each other.
Networked Robust Predictive Control Systems Design with Packet Loss
NASA Astrophysics Data System (ADS)
Nguyen, Quang T.; Veselý, Vojtech; Kozáková, Alena; Pakshin, Pavel
2014-01-01
The paper addresses problem of designing a robust output feedback model predictive control for uncertain linear systems over networks with packet-loss. The packet-loss process is arbitrary and bounded by the control horizon of model predictive control. Networked predictive control systems with packet loss are modeled as switched linear systems. This enables us to apply the theory of switched systems to establish the stability condition. The stabilizing controller design is based on sufficient robust stability conditions formulated as a solution of bilinear matrix inequality. Finally, a benchmark numerical example-double integrator is given to illustrate the effectiveness of the proposed method.
Linear quadratic optimal controller for cable-driven parallel robots
NASA Astrophysics Data System (ADS)
Abdolshah, Saeed; Shojaei Barjuei, Erfan
2015-12-01
In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large work-space, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional- integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.
Observer-based robust-H-infinity control laws for uncertain linear systems
NASA Technical Reports Server (NTRS)
Shieh, Leang S.; Sunkel, J. W.; Wang, Yeih J.
1991-01-01
Based on the algebraic Riccati equation approach, this paper presents a simple and flexible method for designing observer-based robust-H-infinity control laws for linear systems with structured parameter uncertainty. The observer-based robust-H-infinity output-feedback control law, obtained by solving three augmented algebraic Riccati equations, provides both robust stability and disturbance attenuation with H-infinity-norm bound for the closed-loop uncertain linear system. Several tuning parameters are embedded into the augmented algebraic Riccati equations so that flexibility in finding the symmetric positive-definite solutions (and hence, the robust-H-infinity control laws) is significantly increased. A benchmark problem associated with a mass-spring system, which approximates the dynamics of a flexible structure, is used to illustrate the design methodologies, and simulation results are presented.
Fluid loss control differences of crosslinked and linear fracturing fluids
Zigrye, J.L.; Sievert, J.A.; Whitfill, D.L.
1983-10-01
Three fracturing fluids-a cross-linked guar, a delayed hydrating guar and a linear guar-were tested for fluid loss control at set time intervals while being conditioned in a heated, pressurized flow loop. Each fluid was tested with three different fluid loss additive systems: diesel, silica flour, and a combination of diesel and silica flour. The cross-linked system was also tested with two additional fluid loss additive systems. They were diesel plus an anionic surfactant and the combination of diesel/silica flour plus the anionic surfactant. These tests show that the fluid loss of cross-linked fracturing fluids is best controlled by using diesel in combination with a surfactant or a properly sized particulate material. The fluid loss of linear fluids is controlled best with particulate additives. Therefore, it is important to take into account the type of fracturing fluid that is being used for a particular job when planning which fluid loss additives to use.
Linear optimal control of continuous time chaotic systems.
Merat, Kaveh; Abbaszadeh Chekan, Jafar; Salarieh, Hassan; Alasty, Aria
2014-07-01
In this research study, chaos control of continuous time systems has been performed by using dynamic programming technique. In the first step by crossing the response orbits with a selected Poincare section and subsequently applying linear regression method, the continuous time system is converted to a discrete type. Then, by solving the Riccati equation a sub-optimal algorithm has been devised for the obtained discrete chaotic systems. In the next step, by implementing the acquired algorithm on the quantized continuous time system, the chaos has been suppressed in the Rossler and AFM systems as some case studies.
Modelling human balance using switched systems with linear feedback control
Kowalczyk, Piotr; Glendinning, Paul; Brown, Martin; Medrano-Cerda, Gustavo; Dallali, Houman; Shapiro, Jonathan
2012-01-01
We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations. PMID:21697168
NASA Astrophysics Data System (ADS)
Wang, Ronghao; Xing, Jianchun; Li, Juelong; Xiang, Zhengrong
2016-10-01
This paper studies the problem of stabilising a sampled-data switched linear system by quantised feedback asynchronously switched controllers. The idea of a quantised feedback asynchronously switched control strategy originates in earlier work reflecting actual system characteristic of switching and quantising, respectively. A quantised scheme is designed depending on switching time using dynamic quantiser. When sampling time, system switching time and controller switching time are all not uniform, the proposed switching controllers guarantee the system to be finite-time stable by a piecewise Lyapunov function and the average dwell-time method. Simulation examples are provided to show the effectiveness of the developed results.
van Solingen, Edwin; Fleming, Paul A.; Scholbrock, Andrew; van Wingerden, Jan-Willem
2015-04-17
This paper presents the results of field tests using linear individual pitch control (LIPC) on the two-bladed Controls Advanced Research Turbine 2 (CART2) at the National Renewable Energy Laboratory (NREL). LIPC has recently been introduced as an alternative to the conventional individual pitch control (IPC) strategy for two-bladed wind turbines. The main advantage of LIPC over conventional IPC is that it requires, at most, only two feedback loops to potentially reduce the periodic blade loads. In previous work, LIPC was designed to implement blade pitch angles at a fixed frequency (e.g., the once-per-revolution (1P) frequency), which made it only applicable in above-rated wind turbine operating conditions. In this study, LIPC is extended to below-rated operating conditions by gain scheduling the controller on the rotor speed. With this extension, LIPC and conventional IPC are successfully applied to the NREL CART2 wind turbine. Lastly, the field-test results obtained during the measurement campaign indicate that LIPC significantly reduces the wind turbine loads for both below-rated and above-rated operation.
van Solingen, Edwin; Fleming, Paul A.; Scholbrock, Andrew; ...
2015-04-17
This paper presents the results of field tests using linear individual pitch control (LIPC) on the two-bladed Controls Advanced Research Turbine 2 (CART2) at the National Renewable Energy Laboratory (NREL). LIPC has recently been introduced as an alternative to the conventional individual pitch control (IPC) strategy for two-bladed wind turbines. The main advantage of LIPC over conventional IPC is that it requires, at most, only two feedback loops to potentially reduce the periodic blade loads. In previous work, LIPC was designed to implement blade pitch angles at a fixed frequency (e.g., the once-per-revolution (1P) frequency), which made it only applicablemore » in above-rated wind turbine operating conditions. In this study, LIPC is extended to below-rated operating conditions by gain scheduling the controller on the rotor speed. With this extension, LIPC and conventional IPC are successfully applied to the NREL CART2 wind turbine. Lastly, the field-test results obtained during the measurement campaign indicate that LIPC significantly reduces the wind turbine loads for both below-rated and above-rated operation.« less
Sliding Mode Control Applied to Reconfigurable Flight Control Design
NASA Technical Reports Server (NTRS)
Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)
2002-01-01
Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.
Time-delay control of a magnetic levitated linear positioning system
NASA Technical Reports Server (NTRS)
Tarn, J. H.; Juang, K. Y.; Lin, C. E.
1994-01-01
In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.
Application of Design Methodologies for Feedback Compensation Associated with Linear Systems
NASA Technical Reports Server (NTRS)
Smith, Monty J.
1996-01-01
The work that follows is concerned with the application of design methodologies for feedback compensation associated with linear systems. In general, the intent is to provide a well behaved closed loop system in terms of stability and robustness (internal signals remain bounded with a certain amount of uncertainty) and simultaneously achieve an acceptable level of performance. The approach here has been to convert the closed loop system and control synthesis problem into the interpolation setting. The interpolation formulation then serves as our mathematical representation of the design process. Lifting techniques have been used to solve the corresponding interpolation and control synthesis problems. Several applications using this multiobjective design methodology have been included to show the effectiveness of these techniques. In particular, the mixed H 2-H performance criteria with algorithm has been used on several examples including an F-18 HARV (High Angle of Attack Research Vehicle) for sensitivity performance.
NASA Technical Reports Server (NTRS)
Young, J. W.; Hamer, H. A.; Johnson, K. G.
1984-01-01
A decoupled-control analysis was performed for a large flexible space antenna. Control involved commanding changes in the rigid-body modes or nulling disturbances in the flexible modes. The study provides parametric-type data which could be useful in the final design of a large space antenna control system. Results are presented to illustrate the effect on control requirements of (1) the number of modes controlled; (2) the number, type, and location of control actuators; and (3) variations in the closed-loop dynamics of the control system. Comparisons are given between the decoupled-control results and those obtained by using a linear quadratic regulator approach. Time history responses are presented to illustrate the effects of the control procedures.
Dual adaptive control: Design principles and applications
NASA Technical Reports Server (NTRS)
Mookerjee, Purusottam
1988-01-01
The design of an actively adaptive dual controller based on an approximation of the stochastic dynamic programming equation for a multi-step horizon is presented. A dual controller that can enhance identification of the system while controlling it at the same time is derived for multi-dimensional problems. This dual controller uses sensitivity functions of the expected future cost with respect to the parameter uncertainties. A passively adaptive cautious controller and the actively adaptive dual controller are examined. In many instances, the cautious controller is seen to turn off while the latter avoids the turn-off of the control and the slow convergence of the parameter estimates, characteristic of the cautious controller. The algorithms have been applied to a multi-variable static model which represents a simplified linear version of the relationship between the vibration output and the higher harmonic control input for a helicopter. Monte Carlo comparisons based on parametric and nonparametric statistical analysis indicate the superiority of the dual controller over the baseline controller.
Prakash, J; Srinivasan, K
2009-07-01
In this paper, the authors have represented the nonlinear system as a family of local linear state space models, local PID controllers have been designed on the basis of linear models, and the weighted sum of the output from the local PID controllers (Nonlinear PID controller) has been used to control the nonlinear process. Further, Nonlinear Model Predictive Controller using the family of local linear state space models (F-NMPC) has been developed. The effectiveness of the proposed control schemes has been demonstrated on a CSTR process, which exhibits dynamic nonlinearity.
Shao, Xingling; Wang, Honglun
2015-01-01
This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy.
Decentralized control of the COFS-I Mast using linear dc motors
NASA Technical Reports Server (NTRS)
Lindner, Douglas K.; Celano, Tom; Ide, Eric
1989-01-01
Consideration is given to a decentralized control design for vibration suppression in the COFS-I Mast using linear dc motors for actuators. The decentralized control design is based results from power systems using root locus techniques that are not well known. The approach is effective because the loop gain is low due to low actuator authority. The frequency-dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the the stroke length of the actuator, its effectiveness is limited.
Feasibility of Decentralized Linear-Quadratic-Gaussian Control of Autonomous Distributed Spacecraft
NASA Technical Reports Server (NTRS)
Carpenter, J. Russell
1999-01-01
A distributed satellite formation, modeled as an arbitrary number of fully connected nodes in a network, could be controlled using a decentralized controller framework that distributes operations in parallel over the network. For such problems, a solution that minimizes data transmission requirements, in the context of linear-quadratic-Gaussian (LQG) control theory, was given by Speyer. This approach is advantageous because it is non-hierarchical, detected failures gracefully degrade system performance, fewer local computations are required than for a centralized controller, and it is optimal with respect to the standard LQG cost function. Disadvantages of the approach are the need for a fully connected communications network, the total operations performed over all the nodes are greater than for a centralized controller, and the approach is formulated for linear time-invariant systems. To investigate the feasibility of the decentralized approach to satellite formation flying, a simple centralized LQG design for a spacecraft orbit control problem is adapted to the decentralized framework. The simple design uses a fixed reference trajectory (an equatorial, Keplerian, circular orbit), and by appropriate choice of coordinates and measurements is formulated as a linear time-invariant system.
A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control
NASA Technical Reports Server (NTRS)
Garg, Sanjay; Watts, Stephen R.
1995-01-01
This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.
Computational models of signalling networks for non-linear control.
Fuente, Luis A; Lones, Michael A; Turner, Alexander P; Stepney, Susan; Caves, Leo S; Tyrrell, Andy M
2013-05-01
Artificial signalling networks (ASNs) are a computational approach inspired by the signalling processes inside cells that decode outside environmental information. Using evolutionary algorithms to induce complex behaviours, we show how chaotic dynamics in a conservative dynamical system can be controlled. Such dynamics are of particular interest as they mimic the inherent complexity of non-linear physical systems in the real world. Considering the main biological interpretations of cellular signalling, in which complex behaviours and robust cellular responses emerge from the interaction of multiple pathways, we introduce two ASN representations: a stand-alone ASN and a coupled ASN. In particular we note how sophisticated cellular communication mechanisms can lead to effective controllers, where complicated problems can be divided into smaller and independent tasks.
The synthesis of optimal controls for linear, time-optimal problems with retarded controls.
NASA Technical Reports Server (NTRS)
Banks, H. T.; Jacobs, M. Q.; Latina, M. R.
1971-01-01
Optimization problems involving linear systems with retardations in the controls are studied in a systematic way. Some physical motivation for the problems is discussed. The topics covered are: controllability, existence and uniqueness of the optimal control, sufficient conditions, techniques of synthesis, and dynamic programming. A number of solved examples are presented.
Linear optimum trim solution for aircraft with three longitudinal control effectors
NASA Technical Reports Server (NTRS)
Goodrich, Kenneth H.; Sliwa, Steven M.
1987-01-01
A simple and fast linear optimum method for trimming aircraft with a combination of three longitudinal aerodynamic or propulsive control effectors is developed, with application to preliminary design or in-flight scheduling. A Lagrangian formulation is used to determine the longitudinal load distribution which minimizes trim drag. Trim drag results obtained with the linear optimum method are similar to those obtained with a nonlinear optimum method, and significant trim drag reductions are found using either optimum method, in comparison with results obtained using various ad hoc methods.
An framework for robust flight control design using constrained optimization
NASA Technical Reports Server (NTRS)
Palazoglu, A.; Yousefpor, M.; Hess, R. A.
1992-01-01
An analytical framework is described for the design of feedback control systems to meet specified performance criteria in the presence of structured and unstructured uncertainty. Attention is focused upon the linear time invariant, single-input, single-output problem for the purposes of exposition. The framework provides for control of the degree of the stabilizing compensator or controller.
On optimal control of linear systems in the presence of multiplicative noise
NASA Technical Reports Server (NTRS)
Joshi, S. M.
1976-01-01
This correspondence considers the problem of optimal regulator design for discrete time linear systems subjected to white state-dependent and control-dependent noise in addition to additive white noise in the input and the observations. A pseudo-deterministic problem is first defined in which multiplicative and additive input disturbances are present, but noise-free measurements of the complete state vector are available. This problem is solved via discrete dynamic programming. Next is formulated the problem in which the number of measurements is less than that of the state variables and the measurements are contaminated with state-dependent noise. The inseparability of control and estimation is brought into focus, and an 'enforced separation' solution is obtained via heuristic reasoning in which the control gains are shown to be the same as those in the pseudo-deterministic problem. An optimal linear state estimator is given in order to implement the controller.
A fail-safe, bi-linear liquid spring controllable magnetorheological fluid damper
NASA Astrophysics Data System (ADS)
Maus, Nicholas; Gordaninejad, Faramarz
2014-04-01
The goal of this study is to demonstrate the feasibility of a fail-safe, bi-linear spring controllable magnetorheological fluid damper (BLS-CMRD). This research introduces a new device with independently pre-set spring forces in compression and rebound combined with a controllable MR fluid damping. In this work, a BLS-CMRD is designed, fabricated, tested and evaluated. Experiments are performed for sinusoidal displacements in the quasistatic and dynamic ranges to evaluate the performance of the BLS-CMRD under different magnetic fields. The experimental results prove that the device reacts with significantly different spring forces from the compression to rebound regions, while providing passive viscous and controllable MR fluid damping. With this first of a kind system it is demonstrated that the utility of a bi-linear liquid spring can be combined with the reliability of passive viscous fluid damping and the capabilities of controllable MR fluid damping into one compact and versatile device.
NASA Astrophysics Data System (ADS)
Huang, Congzhi; Sira-Ramírez, Hebertt
2015-12-01
A flatness-based active disturbance rejection control approach is proposed to deal with the linear systems with unknown time-varying coefficients and external disturbances. By selecting appropriate nominal values for the parameters of the system, all the deviation between the nominal and actual dynamics of the controlled process, as well as all the external disturbances can be viewed as a total disturbance. Based on the accurately estimated total disturbance with the aid of the proposed extended state observer, a linear proportional derivative feedback control law taking into account the derivatives of the desired output is designed to eliminate the effect of the total disturbance on the system performance. Finally, the load frequency control problem of a single-area power system with non-reheated unit is employed as an illustrative example to demonstrate the effectiveness of the proposed approach.
International Linear Collider Technical Design Report (Volumes 1 through 4)
Harrison M.
2013-03-27
The design report consists of four volumes: Volume 1, Executive Summary; Volume 2, Physics; Volume 3, Accelerator (Part I, R and D in the Technical Design Phase, and Part II, Baseline Design); and Volume 4, Detectors.
NASA Technical Reports Server (NTRS)
Hanks, Brantley R.; Skelton, Robert E.
1991-01-01
Vibration in modern structural and mechanical systems can be reduced in amplitude by increasing stiffness, redistributing stiffness and mass, and/or adding damping if design techniques are available to do so. Linear Quadratic Regulator (LQR) theory in modern multivariable control design, attacks the general dissipative elastic system design problem in a global formulation. The optimal design, however, allows electronic connections and phase relations which are not physically practical or possible in passive structural-mechanical devices. The restriction of LQR solutions (to the Algebraic Riccati Equation) to design spaces which can be implemented as passive structural members and/or dampers is addressed. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical system. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist.
Nonlinear control of linear parameter varying systems with applications to hypersonic vehicles
NASA Astrophysics Data System (ADS)
Wilcox, Zachary Donald
The focus of this dissertation is to design a controller for linear parameter varying (LPV) systems, apply it specifically to air-breathing hypersonic vehicles, and examine the interplay between control performance and the structural dynamics design. Specifically a Lyapunov-based continuous robust controller is developed that yields exponential tracking of a reference model, despite the presence of bounded, nonvanishing disturbances. The hypersonic vehicle has time varying parameters, specifically temperature profiles, and its dynamics can be reduced to an LPV system with additive disturbances. Since the HSV can be modeled as an LPV system the proposed control design is directly applicable. The control performance is directly examined through simulations. A wide variety of applications exist that can be effectively modeled as LPV systems. In particular, flight systems have historically been modeled as LPV systems and associated control tools have been applied such as gain-scheduling, linear matrix inequalities (LMIs), linear fractional transformations (LFT), and mu-types. However, as the type of flight environments and trajectories become more demanding, the traditional LPV controllers may no longer be sufficient. In particular, hypersonic flight vehicles (HSVs) present an inherently difficult problem because of the nonlinear aerothermoelastic coupling effects in the dynamics. HSV flight conditions produce temperature variations that can alter both the structural dynamics and flight dynamics. Starting with the full nonlinear dynamics, the aerothermoelastic effects are modeled by a temperature dependent, parameter varying state-space representation with added disturbances. The model includes an uncertain parameter varying state matrix, an uncertain parameter varying non-square (column deficient) input matrix, and an additive bounded disturbance. In this dissertation, a robust dynamic controller is formulated for a uncertain and disturbed LPV system. The developed
NASA Technical Reports Server (NTRS)
Nguyen, Nhan
2013-01-01
This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.
Linear-parameter-varying gain-scheduled control of aerospace systems
NASA Astrophysics Data System (ADS)
Barker, Jeffrey Michael
The dynamics of many aerospace systems vary significantly as a function of flight condition. Robust control provides methods of guaranteeing performance and stability goals across flight conditions. In mu-syntthesis, changes to the dynamical system are primarily treated as uncertainty. This method has been successfully applied to many control problems, and here is applied to flutter control. More recently, two techniques for generating robust gain-scheduled controller have been developed. Linear fractional transformation (LFT) gain-scheduled control is an extension of mu-synthesis in which the plant and controller are explicit functions of parameters measurable in real-time. This LFT gain-scheduled control technique is applied to the Benchmark Active Control Technology (BACT) wing, and compared with mu-synthesis control. Linear parameter-varying (LPV) gain-scheduled control is an extension of Hinfinity control to parameter varying systems. LPV gain-scheduled control directly incorporates bounds on the rate of change of the scheduling parameters, and often reduces conservatism inherent in LFT gain-scheduled control. Gain-scheduled LPV control of the BACT wing compares very favorably with the LFT controller. Gain-scheduled LPV controllers are generated for the lateral-directional and longitudinal axes of the Innovative Control Effectors (ICE) aircraft and implemented in nonlinear simulations and real-time piloted nonlinear simulations. Cooper-Harper and pilot-induced oscillation ratings were obtained for an initial design, a reference aircraft and a redesign. Piloted simulation results for the initial LPV gain-scheduled control of the ICE aircraft are compared with results for a conventional fighter aircraft in discrete pitch and roll angle tracking tasks. The results for the redesigned controller are significantly better than both the previous LPV controller and the conventional aircraft.
Evolutionary Design of Controlled Structures
NASA Technical Reports Server (NTRS)
Masters, Brett P.; Crawley, Edward F.
1997-01-01
Basic physical concepts of structural delay and transmissibility are provided for simple rod and beam structures. Investigations show the sensitivity of these concepts to differing controlled-structures variables, and to rational system modeling effects. An evolutionary controls/structures design method is developed. The basis of the method is an accurate model formulation for dynamic compensator optimization and Genetic Algorithm based updating of sensor/actuator placement and structural attributes. One and three dimensional examples from the literature are used to validate the method. Frequency domain interpretation of these controlled structure systems provide physical insight as to how the objective is optimized and consequently what is important in the objective. Several disturbance rejection type controls-structures systems are optimized for a stellar interferometer spacecraft application. The interferometric designs include closed loop tracking optics. Designs are generated for differing structural aspect ratios, differing disturbance attributes, and differing sensor selections. Physical limitations in achieving performance are given in terms of average system transfer function gains and system phase loss. A spacecraft-like optical interferometry system is investigated experimentally over several different optimized controlled structures configurations. Configurations represent common and not-so-common approaches to mitigating pathlength errors induced by disturbances of two different spectra. Results show that an optimized controlled structure for low frequency broadband disturbances achieves modest performance gains over a mass equivalent regular structure, while an optimized structure for high frequency narrow band disturbances is four times better in terms of root-mean-square pathlength. These results are predictable given the nature of the physical system and the optimization design variables. Fundamental limits on controlled performance are discussed
Aerodynamic design via control theory
NASA Technical Reports Server (NTRS)
Jameson, Antony
1988-01-01
The question of how to modify aerodynamic design in order to improve performance is addressed. Representative examples are given to demonstrate the computational feasibility of using control theory for such a purpose. An introduction and historical survey of the subject is included.
Cockpit control system conceptual design
NASA Technical Reports Server (NTRS)
Meholic, Greg; Brown, Rhonda; Hall, Melissa; Harvey, Robert; Singer, Michael; Tella, Gustavo
1993-01-01
The purpose of this project was to provide a means for operating the ailerons, elevator, elevator trim, rudder, nosewheel steering, and brakes in the Triton primary flight trainer. The main design goals under consideration were to illustrate system and subsystem integration, control function ability, and producibility. Weight and maintenance goals were addressed.
Edge enhancement control in linear arrays of ungated field emitters
NASA Astrophysics Data System (ADS)
Harris, J. R.; Jensen, K. L.; Shiffler, D. A.
2016-01-01
In arrays of ungated field emitters, the field enhancement factor of each emitter decreases as the distance between the emitters decreases, an effect known as screening. At the edge of these arrays, emitters experience reduced screening, leading to higher field enhancement factors than emitters at the array center, causing nonuniform emission across the array. Here, we consider this effect in linear arrays of ungated field emitters spaced at distances comparable to their heights, which is the regime that generally maximizes their average current density. A Line Charge Model is used to assess the degree to which these edge effects propagate into the array interior, and to study the impact of varying the height, location, and tip radius of emitters at the ends of an array on the edge enhancement. It is shown that each of these techniques can accomplish this edge enhancement control, but each has advantages and disadvantages that will be discussed.
Automated control of linear constricted plasma source array
Anders, Andre; Maschwitz, Peter A.
2000-01-01
An apparatus and method for controlling an array of constricted glow discharge chambers are disclosed. More particularly a linear array of constricted glow plasma sources whose polarity and geometry are set so that the contamination and energy of the ions discharged from the sources are minimized. The several sources can be mounted in parallel and in series to provide a sustained ultra low source of ions in a plasma with contamination below practical detection limits. The quality of film along deposition "tracks" opposite the plasma sources can be measured and compared to desired absolute or relative values by optical and/or electrical sensors. Plasma quality can then be adjusted by adjusting the power current values, gas feed pressure/flow, gas mixtures or a combination of some or all of these to improve the match between the measured values and the desired values.
Application of orthogonal eigenstructure control to flight control design
NASA Astrophysics Data System (ADS)
Rastgaar Aagaah, M. A.; Ahmadian, M.; Southward, S. C.
2008-03-01
Orthogonal eigenstructure control is used for designing a control law that decouples the dynamic modes of a flying vehicle. Orthogonal eigenstructure control is a feedback control method for linear time invariant multi-input multi-output systems. This method has been recently developed by authors. The advantage of this control method over eigenstructure assignment methods is that there is no need for defining the closed-loop poles or shaping the closed-loop eigenvectors. This method eliminates the error due to the difference between achievable and desirable eigenvectors, by finding vectors orthogonal to the open-loop eigenvectors within the achievable eigenvectors set and replacing the open-loop eigenvectors with them. This method is also applicable to the systems with non-collocated actuators and sensors. Application of this method for designing a flight control law for the lateral directional dynamics of an F-18 HARV is presented, and compared to the results of an eigenstructure assignment method. In this case study, the actuators and sensors are not collocated. It is shown that the application of the orthogonal eigenstructure control results in a more significant dynamic modes decoupling in comparison to the application of the eigenstructure assignment technique.
NASA Astrophysics Data System (ADS)
Hladowski, Lukasz; Galkowski, Krzysztof; Cai, Zhonglun; Rogers, Eric; Freeman, Chris T.; Lewin, Paul L.
2011-07-01
In this article a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous consideration of both trial-to-trial error convergence and along the trial performance, resulting in design algorithms that can be computed using linear matrix inequalities (LMIs). Finally, the control laws are experimentally verified on a gantry robot that replicates a pick and place operation commonly found in a number of applications to which iterative learning control is applicable.
Carleman Estimates and Controllability of Linear Stochastic Heat Equations
Barbu, V.; Rascanu, A.; E-mail: barbu@uaic.ro,rascanu@uaic.ro; Tessitore, G.
2003-03-12
This work is concerned with Carleman inequalities and controllability properties for the following stochastic linear heat equation (with Dirichlet boundary conditions in the bounded domain D subset of R{sup d} and multiplicative noise):d{sub t}y{sup u}-{delta}y{sup u}+ay{sup u}dt = f dt+1{sup D{sup 0}}u dt+by d{beta}{sub t} in ]0,T]xD, y{sup u}=0 on ]0,T]x{partial_derivative}D, y{sup u}(0)=y{sub 0} in D, and for the corresponding backward dual equation:d{sub t}p{sup v}+{delta}p{sup v}dt-ap{sup v}dt+bk{sup v}dt 1{sub D{sub 0}}v dt+k{sup v}d{beta}{sub t} in [0,T[xD, p{sup v}=0 on [0,T[x{partial_derivative}D, p{sup v}(T)={eta} in D. We prove the null controllability of the backward equation and obtain partial results for the controllability of the forward equation.
Automated design and optimization of flexible booster autopilots via linear programming, volume 1
NASA Technical Reports Server (NTRS)
Hauser, F. D.
1972-01-01
A nonlinear programming technique was developed for the automated design and optimization of autopilots for large flexible launch vehicles. This technique, which resulted in the COEBRA program, uses the iterative application of linear programming. The method deals directly with the three main requirements of booster autopilot design: to provide (1) good response to guidance commands; (2) response to external disturbances (e.g. wind) to minimize structural bending moment loads and trajectory dispersions; and (3) stability with specified tolerances on the vehicle and flight control system parameters. The method is applicable to very high order systems (30th and greater per flight condition). Examples are provided that demonstrate the successful application of the employed algorithm to the design of autopilots for both single and multiple flight conditions.
Computational methods of robust controller design for aerodynamic flutter suppression
NASA Technical Reports Server (NTRS)
Anderson, L. R.
1981-01-01
The development of Riccati iteration, a tool for the design and analysis of linear control systems is examined. First, Riccati iteration is applied to the problem of pole placement and order reduction in two-time scale control systems. Order reduction, yielding a good approximation to the original system, is demonstrated using a 16th order linear model of a turbofan engine. Next, a numerical method for solving the Riccati equation is presented and demonstrated for a set of eighth order random examples. A literature review of robust controller design methods follows which includes a number of methods for reducing the trajectory and performance index sensitivity in linear regulators. Lastly, robust controller design for large parameter variations is discussed.
Neural network application to aircraft control system design
NASA Technical Reports Server (NTRS)
Troudet, Terry; Garg, Sanjay; Merrill, Walter C.
1991-01-01
The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.
LCAP2 (Linear Controls Analysis Program). Volume 3. Source Code Description.
1983-11-15
The computer program LCAP2 (Linear Controls Analysis Program) provides the analyst with the capability to numerically perform classical linear ... control analysis techniques such as transfer function manipulation, transfer function evaluation, frequency response, root locus, time response and sampled
LCAP2 (Linear Controls Analysis Program). Volume 2. Interactive LCAP2 User’s Guide.
1983-11-15
The computer program LCAP2 (Linear Controls Analysis Program) provides the analyst with the capability to numerically perform classical linear ... control analysis techniques such as transfer function manuipulation, transfer function evaluation, frequency response, root locus, time response and sampled
LCAP2 (Linear Control Analysis Program). Volume 1. Batch LCAP2 User’s Guide.
1983-11-15
The computer program LCAP2 (Linear Controls Analysis Program) provides the analyst with the capability to numerically perform classical linear ... control analysis techniques such as transfer function manipulation, transfer function evaluation, frequency response, root locus, time response and sampled
Distributed consensus observer-based H∞ control for linear systems with sensor and actuator networks
NASA Astrophysics Data System (ADS)
Wang, Hong-Du; Wu, Huai-Ning
2015-04-01
This paper proposed a distributed consensus observer (DCO) based H∞ control method for a class of linear time-invariant (LTI) continuous systems with a sensor and actuator network (SAN). The communication topology of the SAN under consideration is represented by a directed graph, in which the sensor nodes are not able to acquire all the control inputs applied to the target system from the actuator nodes. To overcome this difficulty, a set of novel DCOs embedded in the sensor nodes and a set of DCO-based controllers embedded in the actuator nodes are initially constructed to estimate and control the state of the target system in a fully distributed way, respectively. The constructed DCOs take full advantage of their consensus property and replace the unavailable control inputs with the approximate ones computed on the basis of the state estimates of the underlying sensor node and its neighboring sensor nodes. Subsequently, a design method of DCO-based H∞ control is proposed in terms of bilinear matrix inequality (BMI) to ensure that the closed-loop system is exponentially stable while satisfying a prescribed overall H∞ performance of disturbance attenuation. Moreover, in order to make attenuation level as small as possible, a suboptimal H∞ control design problem is formulated as a BMI optimization problem, and a modified path-following method is provided for solving this problem by using the existing linear matrix inequality (LMI) optimization techniques. Finally, simulation results demonstrate the effectiveness of the proposed method.
Yang, Tong; Zhu, Jun; Jin, Guofan
2014-02-10
In this paper, a design method based on a construction and iteration process is proposed for designing freeform imaging systems with linear field-of-view (FOV). The surface contours of the desired freeform surfaces in the tangential plane are firstly designed to control the tangential rays of multiple field angles and different pupil coordinates. Then, the image quality is improved with an iterative process. The design result can be taken as a good starting point for further optimization. A freeform off-axis scanning system is designed as an example of the proposed method. The convergence ability of the construction and iteration process to design a freeform system from initial planes is validated. The MTF of the design result is close to the diffraction limit and the scanning error is less than 1 μm. This result proves that good image quality and scanning linearity were achieved.
NASA Astrophysics Data System (ADS)
Ripamonti, Francesco; Orsini, Lorenzo; Resta, Ferruccio
2015-04-01
Non-linear behavior is present in many mechanical system operating conditions. In these cases, a common engineering practice is to linearize the equation of motion around a particular operating point, and to design a linear controller. The main disadvantage is that the stability properties and validity of the controller are local. In order to improve the controller performance, non-linear control techniques represent a very attractive solution for many smart structures. The aim of this paper is to compare non-linear model-based and non-model-based control techniques. In particular the model-based sliding-mode-control (SMC) technique is considered because of its easy implementation and the strong robustness of the controller even under heavy model uncertainties. Among the non-model-based control techniques, the fuzzy control (FC), allowing designing the controller according to if-then rules, has been considered. It defines the controller without a system reference model, offering many advantages such as an intrinsic robustness. These techniques have been tested on the pendulum nonlinear system.
Modern digital flight control system design for VTOL aircraft
NASA Technical Reports Server (NTRS)
Broussard, J. R.; Berry, P. W.; Stengel, R. F.
1979-01-01
Methods for and results from the design and evaluation of a digital flight control system (DFCS) for a CH-47B helicopter are presented. The DFCS employed proportional-integral control logic to provide rapid, precise response to automatic or manual guidance commands while following conventional or spiral-descent approach paths. It contained altitude- and velocity-command modes, and it adapted to varying flight conditions through gain scheduling. Extensive use was made of linear systems analysis techniques. The DFCS was designed, using linear-optimal estimation and control theory, and the effects of gain scheduling are assessed by examination of closed-loop eigenvalues and time responses.
Helicopter flight control compensator design
NASA Astrophysics Data System (ADS)
Yaici, Malika; Hariche, Kamel; Clarke, Tim
2017-01-01
In a precedent paper a design process is described to achieve eigenstructure assignment using block poles. Systems described in state space equations are transformed to systems in matrix fractions description (MFD) and its desired eigenstructure is transformed to a desired latent structure, which is used to construct desired block poles. In this paper, the proposed design method is applied for attitude stabilization of a Lynx helicopter in hover. An input-output feedback configuration has been chosen for more generality, and to validate the results the output responses are compared to state and output feedback control responses.
Quantum optimal control theory in the linear response formalism
Castro, Alberto; Tokatly, I. V.
2011-09-15
Quantum optimal control theory (QOCT) aims at finding an external field that drives a quantum system in such a way that optimally achieves some predefined target. In practice, this normally means optimizing the value of some observable, a so-called merit function. In consequence, a key part of the theory is a set of equations, which provides the gradient of the merit function with respect to parameters that control the shape of the driving field. We show that these equations can be straightforwardly derived using the standard linear response theory, only requiring a minor generalization: the unperturbed Hamiltonian is allowed to be time dependent. As a result, the aforementioned gradients are identified with certain response functions. This identification leads to a natural reformulation of QOCT in terms of the Keldysh contour formalism of the quantum many-body theory. In particular, the gradients of the merit function can be calculated using the diagrammatic technique for nonequilibrium Green's functions, which should be helpful in the application of QOCT to computationally difficult many-electron problems.
2011-04-01
Comparison of Performance Effectiveness of Linear Control Algorithms Developed for a Simplified Ground Vehicle Suspension System by Ross... Linear Control Algorithms Developed for a Simplified Ground Vehicle Suspension System Ross Brown Motile Robotics, Inc, research contractor at U.S... Linear Control Algorithms Developed for a Simplified Ground Vehicle Suspension System 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT
Linear Approximation to Optimal Control Allocation for Rocket Nozzles with Elliptical Constraints
NASA Technical Reports Server (NTRS)
Orr, Jeb S.; Wall, Johnm W.
2011-01-01
In this paper we present a straightforward technique for assessing and realizing the maximum control moment effectiveness for a launch vehicle with multiple constrained rocket nozzles, where elliptical deflection limits in gimbal axes are expressed as an ensemble of independent quadratic constraints. A direct method of determining an approximating ellipsoid that inscribes the set of attainable angular accelerations is derived. In the case of a parameterized linear generalized inverse, the geometry of the attainable set is computationally expensive to obtain but can be approximated to a high degree of accuracy with the proposed method. A linear inverse can then be optimized to maximize the volume of the true attainable set by maximizing the volume of the approximating ellipsoid. The use of a linear inverse does not preclude the use of linear methods for stability analysis and control design, preferred in practice for assessing the stability characteristics of the inertial and servoelastic coupling appearing in large boosters. The present techniques are demonstrated via application to the control allocation scheme for a concept heavy-lift launch vehicle.
A new look at the robust control of discrete-time Markov jump linear systems
NASA Astrophysics Data System (ADS)
Todorov, M. G.; Fragoso, M. D.
2016-03-01
In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.
Developing a (Non-Linear) Practice of Design Thinking
ERIC Educational Resources Information Center
Teal, Randall
2010-01-01
Design thinking can be a powerful way to engage the world, allowing interactive understandings that are both analytic and experiential. When fully functioning, design thinking necessarily calls upon faculties often considered a-rational, a-causal and a-logical. Unfortunately, such faculties often give rise to academic suspicion. That is to say,…
Analog Pre-Distortion Linearizer Using Self Base Bias Controlled Amplifier
NASA Astrophysics Data System (ADS)
Shinjo, Shintaro; Mori, Kazutomi; Yamada, Keiki; Suematsu, Noriharu; Shimozawa, Mitsuhiro
An analog pre-distortion linearizer employing a radio frequency (RF) transistor with a self base bias control circuit is proposed. The self base bias control circuit extracts the envelope from the modulated input RF signal of the RF transistor and automatically controls its base current according to the extracted envelope. As a result, the proposed linearizer realizes positive gain deviation at high input power level. By adding a resistor between the RF transistor and the self base bias control circuit, the negative gain deviation can be derived. The design of the proposed lineaizer is described with taking the envelope frequency response of the self base bias control circuit into consideration. The fabricated linearizer achieves the adjacent channel power leakage ratio (ACLR) improvement of 8.1dB for a 2GHz-band, 10W-class GaAs FET high-power amplifier (HPA) with negative gain deviation for W-CDMA base stations. It also achieves the ACLR improvement of 8.3dB for a LDMOS HPA with positive gain deviation for the same application.
Non-linear control of the ''clam'' wave energy device. Final report
Not Available
1983-09-01
A promising wave energy device being currently investigated is the ''clam'' device. The clam extracts energy by pumping air through a specially designed (Wells) turbine. Although operation of the Wells turbine does not require a rectified air flow, some additional control will be necessary to optimize the phase of the clam motion for good efficiencies. An examination of the equation of motion in the time domain suggests the possibility of non-linear phase control by mechanical, power take-off, or pneumatic latching. Latching can be shown to increase the efficiency of the device in the longer wavelengths of the wave spectrum, i.e. those of high incident wave power.
Iterative LQG Controller Design Through Closed-Loop Identification
NASA Technical Reports Server (NTRS)
Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.
1996-01-01
This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.
Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters
NASA Technical Reports Server (NTRS)
Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith
2015-01-01
Principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters is presented. Both the vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has three main aspects: It summarizes key RCS control System design principles from the Space Shuttle and Space Station programs, it demonstrates a new approach to develop a linear model of a phase plane control system using describing functions, and applies each of these to the initial development of the NASA's next generation of upper stage vehicles. Topics addressed include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and automaneuver logic.
AN INTRODUCTION TO THE APPLICATION OF DYNAMIC PROGRAMMING TO LINEAR CONTROL SYSTEMS
DYNAMIC PROGRAMMING APPLIED TO OPTIMIZE LINEAR CONTROL SYSTEMS WITH QUADRATIC PERFORMANCE MEASURES. MATHEMATICAL METHODS WHICH MAY BE APPLIED TO SPACE VEHICLE AND RELATED GUIDANCE AND CONTROL PROBLEMS.
The International Linear Collider Technical Design Report - Volume 3.II: Accelerator Baseline Design
Adolphsen, Chris
2013-06-26
The International Linear Collider Technical Design Report (TDR) describes in four volumes the physics case and the design of a 500 GeV centre-of-mass energy linear electron-positron collider based on superconducting radio-frequency technology using Niobium cavities as the accelerating structures. The accelerator can be extended to 1 TeV and also run as a Higgs factory at around 250 GeV and on the Z0 pole. A comprehensive value estimate of the accelerator is give, together with associated uncertainties. It is shown that no significant technical issues remain to be solved. Once a site is selected and the necessary site-dependent engineering is carried out, construction can begin immediately. The TDR also gives baseline documentation for two high-performance detectors that can share the ILC luminosity by being moved into and out of the beam line in a "push-pull" configuration. These detectors, ILD and SiD, are described in detail. They form the basis for a world-class experimental programme that promises to increase significantly our understanding of the fundamental processes that govern the evolution of the Universe.
Adolphsen, Chris
2013-06-26
The International Linear Collider Technical Design Report (TDR) describes in four volumes the physics case and the design of a 500 GeV centre-of-mass energy linear electron-positron collider based on superconducting radio-frequency technology using Niobium cavities as the accelerating structures. The accelerator can be extended to 1 TeV and also run as a Higgs factory at around 250 GeV and on the Z0 pole. A comprehensive value estimate of the accelerator is give, together with associated uncertainties. It is shown that no significant technical issues remain to be solved. Once a site is selected and the necessary site-dependent engineering is carried out, construction can begin immediately. The TDR also gives baseline documentation for two high-performance detectors that can share the ILC luminosity by being moved into and out of the beam line in a "push-pull" configuration. These detectors, ILD and SiD, are described in detail. They form the basis for a world-class experimental programme that promises to increase significantly our understanding of the fundamental processes that govern the evolution of the Universe.
Weeden, George S; Wang, Nien-Hwa Linda
2017-04-14
Simulated Moving Bed (SMB) systems with linear adsorption isotherms have been used for many different separations, including large-scale sugar separations. While SMBs are much more efficient than batch operations, they are not widely used for large-scale production because there are two key barriers. The methods for design, optimization, and scale-up are complex for non-ideal systems. The Speedy Standing Wave Design (SSWD) is developed here to reduce these barriers. The productivity (PR) and the solvent efficiency (F/D) are explicitly related to seven material properties and 13 design parameters. For diffusion-controlled systems, the maximum PR or F/D is controlled by two key dimensionless material properties, the selectivity (α) and the effective diffusivity ratio (η), and two key dimensionless design parameters, the ratios of step time/diffusion time and pressure-limited convection time/diffusion time. The optimum column configuration for maximum PR or F/D is controlled by the weighted diffusivity ratio (η/α(2)). In general, high α and low η/α(2) favor high PR and F/D. The productivity is proportional to the ratio of the feed concentration to the diffusion time. Small particles and high diffusivities favor high productivity, but do not affect solvent efficiency. Simple scaling rules are derived from the two key dimensionless design parameters. The separation of acetic acid from glucose in biomass hydrolysate is used as an example to show how the productivity and the solvent efficiency are affected by the key dimensionless material and design parameters. Ten design parameters are optimized for maximum PR or minimum cost in one minute on a laptop computer. If the material properties are the same for different particle sizes and the dimensionless groups are kept constant, then lab-scale testing consumes less materials and can be done four times faster using particles with half the particle size.
ERIC Educational Resources Information Center
Li, Yuan H.; Yang, Yu N.; Tompkins, Leroy J.; Modarresi, Shahpar
2005-01-01
The statistical technique, "Zero-One Linear Programming," that has successfully been used to create multiple tests with similar characteristics (e.g., item difficulties, test information and test specifications) in the area of educational measurement, was deemed to be a suitable method for creating multiple sets of matched samples to be…
Advanced Control Considerations for Turbofan Engine Design
NASA Technical Reports Server (NTRS)
Connolly, Joseph W.; Csank, Jeffrey T.; Chicatelli, Amy
2016-01-01
This paper covers the application of a model-based engine control (MBEC) methodology featuring a self tuning on-board model for an aircraft turbofan engine simulation. The nonlinear engine model is capable of modeling realistic engine performance, allowing for a verification of the advanced control methodology over a wide range of operating points and life cycle conditions. The on-board model is a piece-wise linear model derived from the nonlinear engine model and updated using an optimal tuner Kalman Filter estimation routine, which enables the on-board model to self-tune to account for engine performance variations. MBEC is used here to show how advanced control architectures can improve efficiency during the design phase of a turbofan engine by reducing conservative operability margins. The operability margins that can be reduced, such as stall margin, can expand the engine design space and offer potential for efficiency improvements. Application of MBEC architecture to a nonlinear engine simulation is shown to reduce the thrust specific fuel consumption by approximately 1% over the baseline design, while maintaining safe operation of the engine across the flight envelope.
BBU design of linear induction accelerator cells for radiography application
Shang, C.C.; Chen, Y.J.; Gaporaso, G.J.; Houck, T.L.; Molau, N.E.; Focklen, J.; Gregory, S.
1997-05-06
There is an ongoing effort to develop accelerating modules for high-current electron accelerators for advanced radiography application. Accelerating modules with low beam-cavity coupling impedances along with gap designs with acceptable field stresses comprise a set of fundamental design criteria. We examine improved cell designs which have been developed for accelerator application in several radiographic operating regimes. We evaluate interaction impedances, analyze the effects of beam structure coupling on beam dynamics (beam break-up instability and corkscrew motion). We also provide estimates of coupling through interesting new high-gradient insulators and evaluate their potential future application in induction cells.
Rigatos, Gerasimos G
2016-06-01
It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.
NASA Technical Reports Server (NTRS)
Frost, Susan A.; Bodson, Marc; Acosta, Diana M.
2009-01-01
The Next Generation (NextGen) transport aircraft configurations being investigated as part of the NASA Aeronautics Subsonic Fixed Wing Project have more control surfaces, or control effectors, than existing transport aircraft configurations. Conventional flight control is achieved through two symmetric elevators, two antisymmetric ailerons, and a rudder. The five effectors, reduced to three command variables, produce moments along the three main axes of the aircraft and enable the pilot to control the attitude and flight path of the aircraft. The NextGen aircraft will have additional redundant control effectors to control the three moments, creating a situation where the aircraft is over-actuated and where a simple relationship does not exist anymore between the required effector deflections and the desired moments. NextGen flight controllers will incorporate control allocation algorithms to determine the optimal effector commands and attain the desired moments, taking into account the effector limits. Approaches to solving the problem using linear programming and quadratic programming algorithms have been proposed and tested. It is of great interest to understand their relative advantages and disadvantages and how design parameters may affect their properties. In this paper, we investigate the sensitivity of the effector commands with respect to the desired moments and show on some examples that the solutions provided using the l2 norm of quadratic programming are less sensitive than those using the l1 norm of linear programming.
A study of nonlinear flight control system designs
NASA Astrophysics Data System (ADS)
Tian, Lijun
This thesis discusses both normal aircraft flight control where the control surfaces are the primary effectors, and unconventional emergency flight control by engines only. It has long been realized that nonlinearity in aircraft dynamics is a prominent consideration in design of high-performance conventional flight control systems. The engine-only flight control problem also faces strong nonlinearity, although due to different reasons. A nonlinear predictive control method and an approximate receding-horizon control method are used for normal and engine-only flight control system designs for an F-18 aircraft. The comparison of the performance with that of linear flight controllers provides some insight into when nonlinear controllers may render a much improved performance. The concept of nonlinear flight control system design is extended to output tracking control problem. The capability of the nonlinear controller to stabilize the aircraft and accomplish output tracking control for non-minimum phase system is successfully demonstrated. Numerical simulation results of longitudinal motion based on two typical flight conditions for an F-18 aircraft is presented to illustrate some of these aspects. It is suggested in this thesis that nonlinear flight control system design, particularly the engine-only controller design and output tracking control design for non-minimum phase system by using a nonlinear method is more effective for the highly nonlinear environment. The recently developed continuous-time predictive control approach and an approximate receding-horizon control method are shown to be effective methods in the situation while the conventional linear or popular nonlinear control designs are either ineffective or inapplicable.
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2011 CFR
2011-04-01
... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2014 CFR
2014-04-01
... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2012 CFR
2012-04-01
... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2013 CFR
2013-04-01
... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
Design and performance testing of an ultrasonic linear motor with dual piezoelectric actuators.
Smithmaitrie, Pruittikorn; Suybangdum, Panumas; Laoratanakul, Pitak; Muensit, Nantakan
2012-05-01
In this work, design and performance testing of an ultrasonic linear motor with dual piezoelectric actuator patches are studied. The motor system consists of a linear stator, a pre-load weight, and two piezoelectric actuator patches. The piezoelectric actuators are bonded with the linear elastic stator at specific locations. The stator generates propagating waves when the piezoelectric actuators are subjected to harmonic excitations. Vibration characteristics of the linear stator are analyzed and compared with finite element and experimental results. The analytical, finite element, and experimental results show agreement. In the experiments, performance of the ultrasonic linear motor is tested. Relationships between velocity and pre-load weight, velocity and applied voltage, driving force and applied voltage, and velocity and driving force are reported. The design of the dual piezoelectric actuators yields a simpler structure with a smaller number of actuators and lower stator stiffness compared with a conventional design of an ultrasonic linear motor with fully laminated piezoelectric actuators.
Adaptive vision-based control of an unmanned aerial vehicle without linear velocity measurements.
Jabbari Asl, Hamed; Yoon, Jungwon
2016-11-01
In this paper, an image-based visual servo controller is designed for an unmanned aerial vehicle. The main objective is to use flow of image features as the velocity cue to compensate for the low quality of linear velocity information obtained from accelerometers. Nonlinear observers are designed to estimate this flow. The proposed controller is bounded, which can help to keep the target points in the field of view of the camera. The main advantages over the previous full dynamic observer-based methods are that, the controller is robust with respect to unknown image depth, and also no yaw information is required. The complete stability analysis is presented and asymptotic convergence of the error signals is guaranteed. Simulation results show the effectiveness of the proposed approach.
NASA Technical Reports Server (NTRS)
Antoniewicz, Robert F.; Duke, Eugene L.; Menon, P. K. A.
1991-01-01
The design of nonlinear controllers has relied on the use of detailed aerodynamic and engine models that must be associated with the control law in the flight system implementation. Many of these controllers were applied to vehicle flight path control problems and have attempted to combine both inner- and outer-loop control functions in a single controller. An approach to the nonlinear trajectory control problem is presented. This approach uses linearizing transformations with measurement feedback to eliminate the need for detailed aircraft models in outer-loop control applications. By applying this approach and separating the inner-loop and outer-loop functions two things were achieved: (1) the need for incorporating detailed aerodynamic models in the controller is obviated; and (2) the controller is more easily incorporated into existing aircraft flight control systems. An implementation of the controller is discussed, and this controller is tested on a six degree-of-freedom F-15 simulation and in flight on an F-15 aircraft. Simulation data are presented which validates this approach over a large portion of the F-15 flight envelope. Proof of this concept is provided by flight-test data that closely matches simulation results. Flight-test data are also presented.
NASA Astrophysics Data System (ADS)
Huang, Yiqing; Sun, Changyin; Qian, Chengshan; Wang, Li
2015-12-01
This paper deals with the problem of linear parameter varying (LPV) switching attitude control for a near space hypersonic vehicle (NSHV) with parametric uncertainties. First, due to the enormous complexity of the NSHV nonlinear attitude dynamics, a slow-fast loop polytopic LPV attitude model is developed by using Jacobian linearisation and the tensor product model transformation approach. Second, for the purpose of less conservative attitude controller design, the flight envelope is divided into four subregions. For each parameter subregion, slow-loop and fast-loop LPV controllers are designed. By the defined switching character function, these slow-fast loop LPV controllers are then switched in order to guarantee the closed-loop NSHV system to be asymptotically stable and satisfy a specified tracking performance criterion. The condition of LPV switching attitude controller synthesis is given in terms of linear matrix inequalities, which can be readily solved via standard numerical software, and the robust stability analysis of the closed-loop NSHV system is verified based on multiple Lypapunov functions. Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.
NASA Astrophysics Data System (ADS)
Egron, Sylvain; Lajoie, Charles-Philippe; Leboulleux, Lucie; N'Diaye, Mamadou; Pueyo, Laurent; Choquet, Élodie; Perrin, Marshall D.; Ygouf, Marie; Michau, Vincent; Bonnefois, Aurélie; Fusco, Thierry; Escolle, Clément; Ferrari, Marc; Hugot, Emmanuel; Soummer, Rémi
2016-07-01
The James Webb Space Telescope (JWST) Optical Simulation Testbed (JOST) is a tabletop experiment designed to study wavefront sensing and control for a segmented space telescope, including both commissioning and maintenance activities. JOST is complementary to existing testbeds for JWST (e.g. the Ball Aerospace Testbed Telescope TBT) given its compact scale and flexibility, ease of use, and colocation at the JWST Science and Operations Center. The design of JOST reproduces the physics of JWST's three-mirror anastigmat (TMA) using three custom aspheric lenses. It provides similar quality image as JWST (80% Strehl ratio) over a field equivalent to a NIRCam module, but at 633 nm. An Iris AO segmented mirror stands for the segmented primary mirror of JWST. Actuators allow us to control (1) the 18 segments of the segmented mirror in piston, tip, tilt and (2) the second lens, which stands for the secondary mirror, in tip, tilt and x, y, z positions. We present the full linear control alignment infrastructure developed for JOST, with an emphasis on multi-field wavefront sensing and control. Our implementation of the Wavefront Sensing (WFS) algorithms using phase diversity is experimentally tested. The wavefront control (WFC) algorithms, which rely on a linear model for optical aberrations induced by small misalignments of the three lenses, are tested and validated on simulations.
Scheduled Controller Design of Congestion Control Considering Network Resource Constraints
NASA Astrophysics Data System (ADS)
Naito, Hiroyuki; Azuma, Takehito; Fujita, Masayuki
In this paper, we consider a dynamical model of computer networks and derive a synthesis method for congestion control. First, we show a model of TCP/AQM (Transmission Control Protocol/Active Queue Management) as a dynamical model of computer networks. The dynamical model of TCP/AQM networks consists of models of TCP window size, queue length and AQM mechanisms. Second, we propose to describe the dynamical model of TCP/AQM networks as linear systems with self-scheduling parameters, which also depend on information delay. Here we focus on the constraints on the maximum queue length and TCP window-size, which are the network resources in TCP/AQM networks. We derive TCP/AQM networks as the LPV system (linear parameter varying system) with information delay and self-scheduling parameter. We design a memoryless state feedback controller of the LPV system based on a gain-scheduling method. Finally, the effectiveness of the proposed method is evaluated by using MATLAB and the well-known ns-2 (Network Simulator Ver.2) simulator.
A user oriented microcomputer facility for designing linear quadratic Gaussian feedback compensators
NASA Technical Reports Server (NTRS)
Houpt, P. K.; Wahid, J.; Johnson, T. L.; Ward, S. A.
1978-01-01
A laboratory design facility for digital microprocessor implementation of linear-quadratic-Gaussian feedback compensators is described. Outputs from user interactive programs for solving infinite time horizon LQ regulator and Kalman filter problems were conditioned for implementation on the laboratory microcomputer system. The software consisted of two parts: an offline high-level program for solving the LQ Ricatti equations and generating associated feedback and filter gains and a cross compiler/macro assembler which generates object code for the target microprocessor system. A PDP 11/70 with a UNIX operating system was used for all high level program and data management, and the target microprocessor system is an Intel MDS (8080-based processor). Application to the control of a two dimensional inverted pendulum is presented and issues in expanding the design/prototyping system to other target machine architectures are discussed.
Robust control for snake maneuver design of missile
NASA Astrophysics Data System (ADS)
Kun, Ya; Chen, Xin; Li, Chuntao
2017-01-01
For the performance of missile with high Mach number and strongly nonlinear dynamics, this paper uses robust control to design maneuver controller. Robust servomechanism linear quadratic regulator (RSLQR) control is used to form the inner loop and proportional-plus-integral (PI) control is used to provide yawing tracking with no error. Contrast simulations under three types of deviation have been done to confirm robustness of the RSLQR-plus-PI control. Simulation results shows that RSLQR-plus-PI control would resist the disturbance and maintain the properties of the controller, guarantee the robustness and stability of missile more effectively than pure PI control.
A Non-Linear Approach to Spacecraft Formation Control in the Vicinity of a Collinear Libration Point
NASA Technical Reports Server (NTRS)
Luquette, Richard J.; Sanner, Robert M.; Bauer, Frank H. (Technical Monitor)
2001-01-01
An expanding interest in mission design strategies that exploit libration point regions, demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. Linear control strategies have been developed for station-keeping. However, their region of stability is bounded by the assumptions required for linearizing the governing equations of motion. For example, reference [I] discusses the development of a linear control design for maintaining a halo orbit about the Earth-Moon L2 libration point. Trial runs indicated the trajectory was unstable for starting points exceeding 45,000 km from the L2 point. Also, there was significant growth in the control effort required to maintain the orbit as the nominal radius increased. This result is a consequence of the increased influence of the system non-linearities, as the trajectory deviated from the linearization point, L2. As an alternative, this paper presents the development of a non-linear control strategy, based on a Hamiltonian formulation of the equations of motion. The control strategy is applied to the problem of formation maintenance, rather than simple station
The linear boom actuator designed for the Galileo spacecraft
NASA Technical Reports Server (NTRS)
Koch, E. F.
1983-01-01
Because the linear boom actuator is to be used on a flight spacecraft, as opposed to a ground based application, there is a comprehensive set of requirements. First, of course, the actuator must be capable of positioning and holding the load. Initially the load as predicted to be 4448 N (1000 lb) but with subsequent spacecraft configuration changes the load has been greatly reduced to a constant tensile pull of 1477 N (332 lb) due to centrifugal force. Lesser compressive loads of 1317 N (296 centrifugal lb) may be experienced during launch and deployment. This actuator must have the maximum redundancy possible. Life requirements were defined by the 10.16 to 15.24 cm (4 to 6 in.) total liner travel expected during the five-year flight duration. Liner range required of the actuator was set at plus and minus 5.08 cm to accommodate configuration changes.
NASA Astrophysics Data System (ADS)
Zhang, Ruikun; Hou, Zhongsheng; Ji, Honghai; Yin, Chenkun
2016-04-01
In this paper, an adaptive iterative learning control scheme is proposed for a class of non-linearly parameterised systems with unknown time-varying parameters and input saturations. By incorporating a saturation function, a new iterative learning control mechanism is presented which includes a feedback term and a parameter updating term. Through the use of parameter separation technique, the non-linear parameters are separated from the non-linear function and then a saturated difference updating law is designed in iteration domain by combining the unknown parametric term of the local Lipschitz continuous function and the unknown time-varying gain into an unknown time-varying function. The analysis of convergence is based on a time-weighted Lyapunov-Krasovskii-like composite energy function which consists of time-weighted input, state and parameter estimation information. The proposed learning control mechanism warrants a L2[0, T] convergence of the tracking error sequence along the iteration axis. Simulation results are provided to illustrate the effectiveness of the adaptive iterative learning control scheme.
Linear design considerations for TO-10 candidate experiment
Atchison, Walter A; Rousculp, Christopher L
2011-01-12
As part of the LANL/VNIIEF collaboration a high velocity cylindrical liner driven Hugoniot experiment is being designed to be driven by a VNIEF Disk Explosive Magnetic (flux compression) Generator (DEMG). Several variations in drive current and liner thickness have been proposed. This presentation will describe the LANL 1D and 2D simulations used to evaluate those designs. The presentation will also propose an analysis technique to assess a high current drive systems ability to stably and optimally drive a cylindrical aluminum liner for this type of experiment.
Application of Piecewise Linear Control Allocation to Reusable Launch Vehicle Guidance and Control
2006-02-01
Reklaitis , et.al. [7]. Without loss of generality, we begin by considering a single variable function, f(x), defined on an interval, [a, b]. Begin by...Piecewise Linear Functions,” Journal of Guidance, Control, and Dynamics, vol. 27, no. 6, pp. 1017–1027, Nov./Dec. 2004. [7] G. Reklaitis , A. Ravindran
NASA Astrophysics Data System (ADS)
Kun, David William
Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known dynamic equations. Second, the final control law is valid in a larger region of operation, including far from the equilibrium states. And third, the procedure is largely methodical, requiring less expertise with gain tuning, which can be arduous for a novice engineer. Considering these facts, this thesis proposes a nonlinear controller design method that combines the advantages of adaptive robust control (ARC) with the powerful design tools of linear matrix inequalities (LMI). The ARC-LMI controller is designed with a discontinuous projection-based adaptation law, and guarantees a prescribed transient and steady state tracking performance for uncertain systems in the presence of matched disturbances. The norm of the tracking error is bounded by a known function that depends on the controller design parameters in a known form. Furthermore, the LMI-based part of the controller ensures the stability of the system while overcoming polytopic uncertainties, and minimizes the control effort. This can reduce the number of parameters that require adaptation, and helps to avoid control input saturation. These desirable characteristics make the ARC-LMI control algorithm well suited for the quadrotor UAS, which may have unknown parameters and may encounter external
Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters
NASA Technical Reports Server (NTRS)
Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith
2016-01-01
Basic principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters are presented. Both vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has two main aspects: It summarizes key RCS design principles from earlier NASA vehicles, notably the Space Shuttle and Space Station programs, and introduces advances in the linear modelling and analyses of a phase plane control system derived in the initial development of the NASA's next upper stage vehicle, the Exploration Upper Stage (EUS). Topics include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and RCS rotational maneuver logic.
Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy.
Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali
Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures.
[Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy].
Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali
Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures.
Control of nonlinear processes by using linear model predictive control algorithms.
Gu, Bingfeng; Gupta, Yash P
2008-04-01
Most chemical processes are inherently nonlinear. However, because of their simplicity, linear control algorithms have been used for the control of nonlinear processes. In this study, the use of the dynamic matrix control algorithm and a simplified model predictive control algorithm for control of a bench-scale pH neutralization process is investigated. The nonlinearity is handled by dividing the operating region into sub-regions and by switching the controller model as the process moves from one sub-region to another. A simple modification for model predictive control algorithms is presented to handle the switching. The simulation and experimental results show that the modification can provide a significant improvement in the control of nonlinear processes.
Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control
Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.
1997-01-01
One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.
Control Law Design in a Computational Aeroelasticity Environment
NASA Technical Reports Server (NTRS)
Newsom, Jerry R.; Robertshaw, Harry H.; Kapania, Rakesh K.
2003-01-01
A methodology for designing active control laws in a computational aeroelasticity environment is given. The methodology involves employing a systems identification technique to develop an explicit state-space model for control law design from the output of a computational aeroelasticity code. The particular computational aeroelasticity code employed in this paper solves the transonic small disturbance aerodynamic equation using a time-accurate, finite-difference scheme. Linear structural dynamics equations are integrated simultaneously with the computational fluid dynamics equations to determine the time responses of the structure. These structural responses are employed as the input to a modern systems identification technique that determines the Markov parameters of an "equivalent linear system". The Eigensystem Realization Algorithm is then employed to develop an explicit state-space model of the equivalent linear system. The Linear Quadratic Guassian control law design technique is employed to design a control law. The computational aeroelasticity code is modified to accept control laws and perform closed-loop simulations. Flutter control of a rectangular wing model is chosen to demonstrate the methodology. Various cases are used to illustrate the usefulness of the methodology as the nonlinearity of the aeroelastic system is increased through increased angle-of-attack changes.
Non-linear analysis in Light Water Reactor design
Rashid, Y.R.; Sharabi, M.N.; Nickell, R.E.; Esztergar, E.P.; Jones, J.W.
1980-03-01
The results obtained from a scoping study sponsored by the US Department of Energy (DOE) under the Light Water Reactor (LWR) Safety Technology Program at Sandia National Laboratories are presented. Basically, this project calls for the examination of the hypothesis that the use of nonlinear analysis methods in the design of LWR systems and components of interest include such items as: the reactor vessel, vessel internals, nozzles and penetrations, component support structures, and containment structures. Piping systems are excluded because they are being addressed by a separate study. Essentially, the findings were that nonlinear analysis methods are beneficial to LWR design from a technical point of view. However, the costs needed to implement these methods are the roadblock to readily adopting them. In this sense, a cost-benefit type of analysis must be made on the various topics identified by these studies and priorities must be established. This document is the complete report by ANATECH International Corporation.
Minimax design of vibration absorbers for linear damped systems
NASA Astrophysics Data System (ADS)
Brown, Brandon; Singh, Tarunraj
2011-05-01
This paper addresses the issue of design of a passive vibration absorber in the presence of uncertainties in the forcing frequency. A minimax problem is formulated to determine the parameters of a vibration absorber which minimize the maximum motion of the primary mass over the domain of the forcing frequency. The limiting solutions corresponding to the forcing frequency being unrestricted and to that where the forcing frequency is known exactly, are shown to match those available in the literature. The transition of the optimal vibration absorber parameters between the extreme two cases is presented and the solutions are generalized by permitting the mass ratio of the absorber mass and the primary mass to be design parameters. For the specific case where the primary system is undamped, detailed analysis is presented to determine the transition of the optimal vibration absorber parameters between three distinct domains of solutions.
Who Needs Linear Equating under the NEAT Design?
ERIC Educational Resources Information Center
Maris, Gunter; Schmittmann, Verena D.; Borsboom, Denny
2010-01-01
Test equating under the NEAT design is, at best, a necessary evil. At bottom, the procedure aims to reach a conclusion on what a tested person would have done, if he or she were administered a set of items that were in fact never administered. It is not possible to infer such a conclusion from the data, because one simply has not made the required…
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (CDC VERSION)
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (DEC VAX VERSION)
NASA Technical Reports Server (NTRS)
Frisch, H.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
Stable adaptive control using new critic designs
NASA Astrophysics Data System (ADS)
Werbos, Paul J.
1999-03-01
Classical adaptive control proves total-system stability for control of linear plants, but only for plants meeting very restrictive assumptions. Approximate Dynamic Programming (ADP) has the potential, in principle, to ensure stability without such tight restrictions. It also offers nonlinear and neural extensions for optimal control, with empirically supported links to what is seen in the brain. However, the relevant ADP methods in use today--TD, HDP, DHP, GDHP--and the Galerkin-based versions of these all have serious limitations when used here as parallel distributed real-time learning systems; either they do not possess quadratic unconditional stability (to be defined) or they lead to incorrect results in the stochastic case. (ADAC or Q- learning designs do not help.) After explaining these conclusions, this paper describes new ADP designs which overcome these limitations. It also addresses the Generalized Moving Target problem, a common family of static optimization problems, and describes a way to stabilize large-scale economic equilibrium models, such as the old long-term energy mode of DOE.
NASA Astrophysics Data System (ADS)
Pu, Zhiqiang; Tan, Xiangmin; Fan, Guoliang; Yi, Jianqiang
2014-08-01
Flexible air-breathing hypersonic vehicles feature significant uncertainties which pose huge challenges to robust controller designs. In this paper, four major categories of uncertainties are analyzed, that is, uncertainties associated with flexible effects, aerodynamic parameter variations, external environmental disturbances, and control-oriented modeling errors. A uniform nonlinear uncertainty model is explored for the first three uncertainties which lumps all uncertainties together and consequently is beneficial for controller synthesis. The fourth uncertainty is additionally considered in stability analysis. Based on these analyses, the starting point of the control design is to decompose the vehicle dynamics into five functional subsystems. Then a robust trajectory linearization control (TLC) scheme consisting of five robust subsystem controllers is proposed. In each subsystem controller, TLC is combined with the extended state observer (ESO) technique for uncertainty compensation. The stability of the overall closed-loop system with the four aforementioned uncertainties and additional singular perturbations is analyzed. Particularly, the stability of nonlinear ESO is also discussed from a Liénard system perspective. At last, simulations demonstrate the great control performance and the uncertainty rejection ability of the robust scheme.
Linear signal noise summer accurately determines and controls S/N ratio
NASA Technical Reports Server (NTRS)
Sundry, J. L.
1966-01-01
Linear signal noise summer precisely controls the relative power levels of signal and noise, and mixes them linearly in accurately known ratios. The S/N ratio accuracy and stability are greatly improved by this technique and are attained simultaneously.
Fuzzy virtual reference model sensorless tracking control for linear induction motors.
Hung, Cheng-Yao; Liu, Peter; Lian, Kuang-Yow
2013-06-01
This paper introduces a fuzzy virtual reference model (FVRM) synthesis method for linear induction motor (LIM) speed sensorless tracking control. First, we represent the LIM as a Takagi-Sugeno fuzzy model. Second, we estimate the immeasurable mover speed and secondary flux by a fuzzy observer. Third, to convert the speed tracking control into a stabilization problem, we define the internal desired states for state tracking via an FVRM. Finally, by solving a set of linear matrix inequalities (LMIs), we obtain the observer gains and the control gains where exponential convergence is guaranteed. The contributions of the approach in this paper are threefold: 1) simplified approach--speed tracking problem converted into stabilization problem; 2) omit need of actual reference model--FVRM generates internal desired states; and 3) unification of controller and observer design--control objectives are formulated into an LMI problem where powerful numerical toolboxes solve controller and observer gains. Finally, experiments are carried out to verify the theoretical results and show satisfactory performance both in transient response and robustness.
Euclid NISP thermal control design
NASA Astrophysics Data System (ADS)
Morgante, G.; Maciaszek, T.; Martin, L.; Riva, M.; Bortoletto, F.; Prieto, E.; Bonoli, C.; Corcione, L.; De Caprio, V.; Grupp, F.; Ligori, S.; Trifoglio, M.; Valenziano, L.; Zerbi, F. M.
2012-09-01
In this paper we describe the thermal architecture of the Near Infrared Spectro-Photometer (NISP) on board the Euclid ESA mission. The instrument thermal design is based on the combination of two passive radiators coupled to cold space that, exploiting the beneficial conditions of the L2 thermal environment, provide the temperature references for the main sub-systems. One radiator serves as a 135K heat sink for the opto-mechanical structure and for the front-end cold electronics, while working as an interception stage for the conductive parasitic heat leaks through struts and harness. The second, colder, radiator provides a 95K reference for the instrument detectors. The thermal configuration has to ensure the units optimal operating temperature needed to maximize instrument performance, adopting solutions consistent with the mechanical specifications. At the same time the design has to be compliant with the stringent requirements on thermal stability of the optical and detector units. The periodical perturbation of filter and grism wheel mechanisms together with orbital variations and active loads instabilities make the temperature control one of the most critical issues of the whole design. We report here the general thermal architecture at the end of the Definition Phase, together with the first analysis results and preliminary performance predictions in terms of steady state and transient behavior. This paper is presented on behalf of the Euclid Consortium.
Zeroth-order design report for the next linear collider. Volume 2
Raubenheimer, T.O.
1996-05-01
This Zeroth-Order Design Report (ZDR) for the Next Linear Collider (NLC) has been completed as a feasibility study for a TeV-scale linear collider that incorporates a room-temperature accelerator powered by rf microwaves at 11.424 GHz--similar to that presently used in the SLC, but at four times the rf frequency. The purpose of this study is to examine the complete systems of such a collider, to understand how the parts fit together, and to make certain that every required piece has been included. The ``design`` presented here is not fully engineered in any sense, but to be assured that the NLC can be built, attention has been given to a number of critical components and issues that present special challenges. More engineering and development of a number of mechanical and electrical systems remain to be done, but the conclusion of this study is that indeed the NLC is technically feasible and can be expected to reach the performance levels required to perform research at the TeV energy scale. Volume II covers the following: collimation systems; IP switch and big bend; final focus; the interaction region; multiple bunch issues; control systems; instrumentation; machine protection systems; NLC reliability considerations; NLC conventional facilities. Also included are four appendices on the following topics: An RF power source upgrade to the NLC; a second interaction region for gamma-gamma, gamma-electron; ground motion: theory and measurement; and beam-based feedback: theory and implementation.
Control design for one-sided Lipschitz nonlinear differential inclusions.
Cai, Xiushan; Gao, Hong; Liu, Leipo; Zhang, Wei
2014-03-01
This paper considers stabilization and signal tracking control for one-sided Lipschitz nonlinear differential inclusions (NDIs). Sufficient conditions for exponential stabilization for the closed-loop system are given based on linear matrix inequality theory. Further, the design method is extended to signal tracking control for one-sided Lipschitz NDIs. A control law is designed such that the state of the closed-loop system asymptotically tracks the reference signal. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design technique.
NASA Astrophysics Data System (ADS)
Lin, Jin-Yuan; Lu, Yu-Sheng; Chen, Jian-Shiang
A novel global sliding-mode control (GSMC) scheme with adjustable robustness is presented in this article. The proposed scheme offers a switching function together with unperturbed system dynamics to weigh the contribution from SMC such that all of the closed-loop poles can be located within predefined regions to provide design flexibility, and the robustness of system can thus be adjusted. By this scheme, the maximal control effort and chattering level can be reduced according to designer's specifications directly. Since the switching function can initially be made to equal to zero, the adjustable performance during the entire response can be guaranteed, and the reaching condition is thus lifted. The efficacy of this scheme is demonstrated via successful implementation on a linear variable reluctance motor (LVRM) servo system. Both simulation and experimental studies further demonstrate its feasibility and effectiveness.
Design and analysis of an unconventional permanent magnet linear machine for energy harvesting
NASA Astrophysics Data System (ADS)
Zeng, Peng
This Ph.D. dissertation proposes an unconventional high power density linear electromagnetic kinetic energy harvester, and a high-performance two-stage interface power electronics to maintain maximum power abstraction from the energy source and charge the Li-ion battery load with constant current. The proposed machine architecture is composed of a double-sided flat type silicon steel stator with winding slots, a permanent magnet mover, coil windings, a linear motion guide and an adjustable spring bearing. The unconventional design of the machine is that NdFeB magnet bars in the mover are placed with magnetic fields in horizontal direction instead of vertical direction and the same magnetic poles are facing each other. The derived magnetic equivalent circuit model proves the average air-gap flux density of the novel topology is as high as 0.73 T with 17.7% improvement over that of the conventional topology at the given geometric dimensions of the proof-of-concept machine. Subsequently, the improved output voltage and power are achieved. The dynamic model of the linear generator is also developed, and the analytical equations of output maximum power are derived for the case of driving vibration with amplitude that is equal, smaller and larger than the relative displacement between the mover and the stator of the machine respectively. Furthermore, the finite element analysis (FEA) model has been simulated to prove the derived analytical results and the improved power generation capability. Also, an optimization framework is explored to extend to the multi-Degree-of-Freedom (n-DOF) vibration based linear energy harvesting devices. Moreover, a boost-buck cascaded switch mode converter with current controller is designed to extract the maximum power from the harvester and charge the Li-ion battery with trickle current. Meanwhile, a maximum power point tracking (MPPT) algorithm is proposed and optimized for low frequency driving vibrations. Finally, a proof
Zuo, Shan; Song, Yongduan; Lewis, Frank L; Davoudi, Ali
2017-01-04
This paper studies the output containment control of linear heterogeneous multi-agent systems, where the system dynamics and even the state dimensions can generally be different. Since the states can have different dimensions, standard results from state containment control do not apply. Therefore, the control objective is to guarantee the convergence of the output of each follower to the dynamic convex hull spanned by the outputs of leaders. This can be achieved by making certain output containment errors go to zero asymptotically. Based on this formulation, two different control protocols, namely, full-state feedback and static output-feedback, are designed based on internal model principles. Sufficient local conditions for the existence of the proposed control protocols are developed in terms of stabilizing the local followers' dynamics and satisfying a certain H∞ criterion. Unified design procedures to solve the proposed two control protocols are presented by formulation and solution of certain local state-feedback and static output-feedback problems, respectively. Numerical simulations are given to validate the proposed control protocols.
Dissipative rendering and neural network control system design
NASA Technical Reports Server (NTRS)
Gonzalez, Oscar R.
1995-01-01
Model-based control system designs are limited by the accuracy of the models of the plant, plant uncertainty, and exogenous signals. Although better models can be obtained with system identification, the models and control designs still have limitations. One approach to reduce the dependency on particular models is to design a set of compensators that will guarantee robust stability to a set of plants. Optimization over the compensator parameters can then be used to get the desired performance. Conservativeness of this approach can be reduced by integrating fundamental properties of the plant models. This is the approach of dissipative control design. Dissipative control designs are based on several variations of the Passivity Theorem, which have been proven for nonlinear/linear and continuous-time/discrete-time systems. These theorems depend not on a specific model of a plant, but on its general dissipative properties. Dissipative control design has found wide applicability in flexible space structures and robotic systems that can be configured to be dissipative. Currently, there is ongoing research to improve the performance of dissipative control designs. For aircraft systems that are not dissipative active control may be used to make them dissipative and then a dissipative control design technique can be used. It is also possible that rendering a system dissipative and dissipative control design may be combined into one step. Furthermore, the transformation of a non-dissipative system to dissipative can be done robustly. One sequential design procedure for finite dimensional linear time-invariant systems has been developed. For nonlinear plants that cannot be controlled adequately with a single linear controller, model-based techniques have additional problems. Nonlinear system identification is still a research topic. Lacking analytical models for model-based design, artificial neural network algorithms have recently received considerable attention. Using
Passivity Motivated Controller Design for Flexible Structures
1993-01-18
theoretical approach to the control of systems containing lumped joint flexibility is based on the exact linearization method. for a summary see [4...feedforward compensation (for the exact linearization ) and the feedback stabilization are intertwined and errors in the feedforward may affect the closed loop
Saha, S K; Dutta, R; Choudhury, R; Kar, R; Mandal, D; Ghoshal, S P
2013-01-01
In this paper, opposition-based harmony search has been applied for the optimal design of linear phase FIR filters. RGA, PSO, and DE have also been adopted for the sake of comparison. The original harmony search algorithm is chosen as the parent one, and opposition-based approach is applied. During the initialization, randomly generated population of solutions is chosen, opposite solutions are also considered, and the fitter one is selected as a priori guess. In harmony memory, each such solution passes through memory consideration rule, pitch adjustment rule, and then opposition-based reinitialization generation jumping, which gives the optimum result corresponding to the least error fitness in multidimensional search space of FIR filter design. Incorporation of different control parameters in the basic HS algorithm results in the balancing of exploration and exploitation of search space. Low pass, high pass, band pass, and band stop FIR filters are designed with the proposed OHS and other aforementioned algorithms individually for comparative optimization performance. A comparison of simulation results reveals the optimization efficacy of the OHS over the other optimization techniques for the solution of the multimodal, nondifferentiable, nonlinear, and constrained FIR filter design problems.
Control system design for nano-positioning using piezoelectric actuators
NASA Astrophysics Data System (ADS)
Shan, Jinjun; Liu, Yanfang; Gabbert, Ulrich; Cui, Naigang
2016-02-01
This paper presents a systematic control system design for nano-positioning of a piezoelectric actuator (PEA). PEAs exhibit hysteresis nonlinearity, which can dramatically limit the application and performance of linear feedback control theory. Thus the hysteresis is compensated for based on the Maxwell resistive capacitor (MRC) model first. Then a proportional plus integral (PI) controller and a proportional double integral plus lead compensation (PII&L) controller are designed for the hysteresis-compensated PEA to account for model uncertainty, disturbance, and noise. The robust stability of both controllers is proved. The effectiveness of the proposed control scheme is demonstrated experimentally. Both controllers achieve fast precise positioning. The 2% settling times for the PI controller and the PII&L controller are 1.5 ms and 4.7 ms, respectively. The positioning resolution is upto 1 nm for both controllers.
[The research on linear control of pneumatic artificial muscles used in medical robots].
Lin, Linang-ming; Tian, She-ping; Yan, Guo-zheng
2002-01-01
This paper presents the properties of Pneumatic artificial muscles and its application in medical robots. The linear model construction and minimum predictive error control algorithm for artificial muscles are discussed here too. This paper provides the experimental results of linear adaptive control, which show the control algorithm has certain applicable value.
NASA Technical Reports Server (NTRS)
Milman, Mark H.
1988-01-01
The fundamental control synthesis issue of establishing a priori convergence rates of approximation schemes for feedback controllers for a class of distributed parameter systems is addressed within the context of hereditary schemes. Specifically, a factorization approach is presented for deriving approximations to the optimal feedback gains for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the controls, trajectories and feedback kernels. Two algorithms are derived from the basic approximation scheme, including a fast algorithm, in the time-invariant case. A numerical example is also considered.
NASA Technical Reports Server (NTRS)
Milman, Mark H.
1987-01-01
The fundamental control synthesis issue of establishing a priori convergence rates of approximation schemes for feedback controllers for a class of distributed parameter systems is addressed within the context of hereditary systems. Specifically, a factorization approach is presented for deriving approximations to the optimal feedback gains for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the controls, trajectories and feedback kernels. Two algorithms are derived from the basic approximation scheme, including a fast algorithm, in the time-invariant case. A numerical example is also considered.
Non-linear modelling and control of semi-active suspensions with variable damping
NASA Astrophysics Data System (ADS)
Chen, Huang; Long, Chen; Yuan, Chao-Chun; Jiang, Hao-Bin
2013-10-01
Electro-hydraulic dampers can provide variable damping force that is modulated by varying the command current; furthermore, they offer advantages such as lower power, rapid response, lower cost, and simple hardware. However, accurate characterisation of non-linear f-v properties in pre-yield and force saturation in post-yield is still required. Meanwhile, traditional linear or quarter vehicle models contain various non-linearities. The development of a multi-body dynamics model is very complex, and therefore, SIMPACK was used with suitable improvements for model development and numerical simulations. A semi-active suspension was built based on a belief-desire-intention (BDI)-agent model framework. Vehicle handling dynamics were analysed, and a co-simulation analysis was conducted in SIMPACK and MATLAB to evaluate the BDI-agent controller. The design effectively improved ride comfort, handling stability, and driving safety. A rapid control prototype was built based on dSPACE to conduct a real vehicle test. The test and simulation results were consistent, which verified the simulation.
Feedback stabilization and control of linear neutral systems
NASA Technical Reports Server (NTRS)
Tarn, T. J.; Spong, M. W.; Ito, K.
1982-01-01
The first problem treated here is the realization and stabilization of linear neutral systems with discrete delays. It is shown that any autonomous linear neutral system with discrete delays is zero-state equivalent to an abstract linear system over a local ring of operators. Using the abstract model, the basic existence question for neutral realization is then settled. For general infinite dimensional linear systems, there is no precise analog of the finite dimensional state space isomorphism theorem. Because of this, the notion of spectral minimality must be introduced. For the case of single input-single output systems, realizations are obtained that are both minimal and spectrally minimal. Using the Cruz-Hale theory of stable D-operators, conditions are given that ensure that any poles introduced into the realization are strictly contained in the left half plane and indeed are characterized as characteristic values of the D-operator. The problem of the feedback stabilization of neutral systems is then considered using the abstract model. It is shown that, for neutral systems with commensurable delays and a stable D-operator in the sense of Cruz and Hale, Morses theorem (1976) on pole assignment over a PID implies stabilizability in the reachable case.
Combined linear theory/impact theory method for analysis and design of high speed configurations
NASA Technical Reports Server (NTRS)
Brooke, D.; Vondrasek, D. V.
1980-01-01
Pressure distributions on a wing body at Mach 4.63 are calculated. The combined theory is shown to give improved predictions over either linear theory or impact theory alone. The combined theory is also applied in the inverse design mode to calculate optimum camber slopes at Mach 4.63. Comparisons with optimum camber slopes obtained from unmodified linear theory show large differences. Analysis of the results indicate that the combined theory correctly predicts the effect of thickness on the loading distributions at high Mach numbers, and that finite thickness wings optimized at high Mach numbers using unmodified linear theory will not achieve the minimum drag characteristics for which they are designed.
NASA Astrophysics Data System (ADS)
Sun, Hongfei; Yang, Zhiling; Meng, Bin
2015-05-01
A new tracking-control method for general non-linear systems is proposed. A virtual controller and some command references are introduced to asymptotically stabilise the system of the tracking error dynamics. Then, the actual controller and command references are derived by solving a system of linear algebraic equations. Compared with other tracking-control methods in the literature, the tracking-controller design in this paper is simple because it needs only to solve a system of linear algebraic equations. The boundedness of the tracking controller and command references is guaranteed by the solvability of the terminal value problem (TVP) of an ordinary differential equation. For non-linear systems with minimum-phase properties, the TVP is automatically solvable. A numerical example shows that the tracking-control method is still available for some systems with non-minimum-phase properties. To enhance the robustness of the tracking controller, a non-linear disturbance observer (NDO) is introduced to estimate the disturbance. The combination of the tracking controller and the NDO is applied to the tracking control of an air-breathing hypersonic vehicle.
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2014 CFR
2014-01-01
... 10 Energy 2 2014-01-01 2014-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR... Design control. (a) The licensee, applicant for a license, certificate holder, and applicant for a CoC... shall establish measures for the identification and control of design interfaces and for...
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2013 CFR
2013-01-01
... 10 Energy 2 2013-01-01 2013-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR... Design control. (a) The licensee, applicant for a license, certificate holder, and applicant for a CoC... shall establish measures for the identification and control of design interfaces and for...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2010 CFR
2010-04-01
... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Design controls. 820.30 Section 820.30 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer...
Control design for the SERC experimental testbeds
NASA Technical Reports Server (NTRS)
Jacques, Robert; Blackwood, Gary; Macmartin, Douglas G.; How, Jonathan; Anderson, Eric
1992-01-01
Viewgraphs on control design for the Space Engineering Research Center experimental testbeds are presented. Topics covered include: SISO control design and results; sensor and actuator location; model identification; control design; experimental results; preliminary LAC experimental results; active vibration isolation problem statement; base flexibility coupling into isolation feedback loop; cantilever beam testbed; and closed loop results.
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2010 CFR
2010-01-01
... 10 Energy 2 2010-01-01 2010-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR... Design control. (a) The licensee, applicant for a license, certificate holder, and applicant for a CoC... shall establish measures for the identification and control of design interfaces and for...
Goodworth, Adam D; Paquette, Caroline; Jones, Geoffrey Melvill; Block, Edward W; Fletcher, William A; Hu, Bin; Horak, Fay B
2012-05-01
Linear and angular control of trunk and leg motion during curvilinear navigation was investigated in subjects with cerebellar ataxia and age-matched control subjects. Subjects walked with eyes open around a 1.2-m circle. The relationship of linear to angular motion was quantified by determining the ratios of trunk linear velocity to trunk angular velocity and foot linear position to foot angular position. Errors in walking radius (the ratio of linear to angular motion) also were quantified continuously during the circular walk. Relative variability of linear and angular measures was compared using coefficients of variation (CoV). Patterns of variability were compared using power spectral analysis for the trunk and auto-covariance analysis for the feet. Errors in radius were significantly increased in patients with cerebellar damage as compared to controls. Cerebellar subjects had significantly larger CoV of feet and trunk in angular, but not linear, motion. Control subjects also showed larger CoV in angular compared to linear motion of the feet and trunk. Angular and linear components of stepping differed in that angular, but not linear, foot placement had a negative correlation from one stride to the next. Thus, walking in a circle was associated with more, and a different type of, variability in angular compared to linear motion. Results are consistent with increased difficulty of, and role of the cerebellum in, control of angular trunk and foot motion for curvilinear locomotion.
Model Reduction for Control System Design
NASA Technical Reports Server (NTRS)
Enns, D. F.
1985-01-01
An approach and a technique for effectively obtaining reduced order mathematical models of a given large order model for the purposes of synthesis, analysis and implementation of control systems is developed. This approach involves the use of an error criterion which is the H-infinity norm of a frequency weighted error between the full and reduced order models. The weightings are chosen to take into account the purpose for which the reduced order model is intended. A previously unknown error bound in the H-infinity norm for reduced order models obtained from internally balanced realizations was obtained. This motivated further development of the balancing technique to include the frequency dependent weightings. This resulted in the frequency weighted balanced realization and a new model reduction technique. Two approaches to designing reduced order controllers were developed. The first involves reducing the order of a high order controller with an appropriate weighting. The second involves linear quadratic Gaussian synthesis based on a reduced order model obtained with an appropriate weighting.
Design of a valved moving magnet type linear compressor for a Joule-Thomson cryocooler
NASA Astrophysics Data System (ADS)
Wang, W. W.; Wang, L. Y.; Gan, Z. H.
2014-01-01
For temperatures around 4-6 K, Joule-Thomson (J-T) cryocoolers can achieve a higher efficiency than Stirling or pulse tube cryocoolers thus have been widely used in space. It is crucial for a J-T compressor to obtain a relatively high pressure ratio. With this concept, a valved moving magnet type linear compressor has been designed. This paper describes the design method and component structure of the linear compressor in detail. The electromagnetic force of linear motor, stiffness and stress distribution of flexure springs were calculated based on finite element method (FEM). System resonance was specially considered to achieve a high efficiency, and system vibration and heat dissipation problems were discussed. The design goal of the linear compressor is to achieve an efficiency of 80% and a lifetime longer than 5 years.
Xu, Qingsong
2013-05-01
Limited-angle rotary micropositioning stages are required in precision engineering applications where an ultrahigh-precision rotational motion within a restricted range is needed. This paper presents the design, fabrication, and control of a compliant rotary micropositioning stage dedicated to the said applications. To tackle the challenge of achieving both a large rotational range and a compact size, a new idea of multi-stage compound radial flexure is proposed. A compact rotary stage is devised to deliver an over 10° rotational range while possessing a negligible magnitude of center shift. The stage is driven by a linear voice coil motor and its output motion is measured by laser displacement sensors. Analytical models are derived to facilitate the parametric design, which is validated by conducting finite element analysis. The actuation and sensing issues are addressed to guarantee the stage performance. A prototype is fabricated and a proportional-integral-derivative control is implemented to achieve a precise positioning. Experimental results demonstrate a resolution of 2 μrad over 10° rotational range as well as a low level of center shift of the rotary micropositioning system.
Linear matrix inequalities for analysis and control of linear vector second-order systems
Adegas, Fabiano D.; Stoustrup, Jakob
2014-10-06
Many dynamical systems are modeled as vector second-order differential equations. This paper presents analysis and synthesis conditions in terms of LMI with explicit dependence in the coefficient matrices of vector second-order systems. These conditions benefit from the separation between the Lyapunov matrix and the system matrices by introducing matrix multipliers, which potentially reduce conservativeness in hard control problems. Multipliers facilitate the usage of parameter-dependent Lyapunov functions as certificates of stability of uncertain and time-varying vector second-order systems. The conditions introduced in this work have the potential to increase the practice of analyzing and controlling systems directly in vector second-order form.
NASA Astrophysics Data System (ADS)
Zhou, Bin; Hou, Ming-Zhe; Duan, Guang-Ren
2013-04-01
This article is concerned with L ∞ and L 2 semi-global stabilisation of continuous-time periodic linear systems with bounded controls. Two problems, namely L ∞ semi-global stabilisation with controls having bounded magnitude and L 2 semi-global stabilisation with controls having bounded energy, are solved based on solutions to a class of periodic Lyapunov differential equations (PLDEs) resulting from the problem of minimal energy control with guaranteed convergence rate. Under the assumption that the open-loop system is (asymptotically) null controllable with constrained controls, periodic feedback are established to solve the concerned problems. The proposed PLDE-based approaches possess the advantage that the resulting controllers are easy to implement since the designers need only to solve a linear differential equation. A numerical example is worked out to illustrate the effectiveness of the proposed approach.
Reducing the pressure drag of a D-shaped bluff body using linear feedback control
NASA Astrophysics Data System (ADS)
Dalla Longa, L.; Morgans, A. S.; Dahan, J. A.
2017-01-01
The pressure drag of blunt bluff bodies is highly relevant in many practical applications, including to the aerodynamic drag of road vehicles. This paper presents theory revealing that a mean drag reduction can be achieved by manipulating wake flow fluctuations. A linear feedback control strategy then exploits this idea, targeting attenuation of the spatially integrated base (back face) pressure fluctuations. Large-eddy simulations of the flow over a D-shaped blunt bluff body are used as a test-bed for this control strategy. The flow response to synthetic jet actuation is characterised using system identification, and controller design is via shaping of the frequency response to achieve fluctuation attenuation. The designed controller successfully attenuates integrated base pressure fluctuations, increasing the time-averaged pressure on the body base by 38%. The effect on the flow field is to push the roll-up of vortices further downstream and increase the extent of the recirculation bubble. This control approach uses only body-mounted sensing/actuation and input-output model identification, meaning that it could be applied experimentally.
Design of a novel integrated position sensor based on Hall effects for linear oscillating actuator
NASA Astrophysics Data System (ADS)
Wang, Tianyi; Yan, Liang; Jiao, Zongxia
2015-07-01
Linear oscillating actuator provides linear reciprocate motion directly without other auxiliary components, which is suitable for high integration applications in aerospace industry. Accurate position control is essential for linear oscillating motor and relies on concise measurement of mover position. However, most position measurements are dependent on external complicated sensors, which hinders further integration of linear oscillating actuation system. In this paper, a novel position sensing system for linear oscillating actuator based on Hall effects is proposed to achieve accurate and high integration measurement simultaneously. Axial sensing magnetic field with approximately linear relationship with position is created for direct and convenient measurement. Analytical model of sensing magnetic field is set up for optimization and validated by finite element method and experimental results. Finally, sensing magnets are integrated into motor prototype for experiments. Dynamic position results are tested in experiments and prove to be effective and accurate for position sensing with short-stroke.
Design of a novel integrated position sensor based on Hall effects for linear oscillating actuator.
Wang, Tianyi; Yan, Liang; Jiao, Zongxia
2015-07-01
Linear oscillating actuator provides linear reciprocate motion directly without other auxiliary components, which is suitable for high integration applications in aerospace industry. Accurate position control is essential for linear oscillating motor and relies on concise measurement of mover position. However, most position measurements are dependent on external complicated sensors, which hinders further integration of linear oscillating actuation system. In this paper, a novel position sensing system for linear oscillating actuator based on Hall effects is proposed to achieve accurate and high integration measurement simultaneously. Axial sensing magnetic field with approximately linear relationship with position is created for direct and convenient measurement. Analytical model of sensing magnetic field is set up for optimization and validated by finite element method and experimental results. Finally, sensing magnets are integrated into motor prototype for experiments. Dynamic position results are tested in experiments and prove to be effective and accurate for position sensing with short-stroke.
Dynamic Model Based Vector Control of Linear Induction Motor
2012-05-01
reference frame. In Section III, the basic structure of vector control is introduced. Proportional-Integral ( PI ) control is incorporated into vector...The load mass is then released from the slider. The performed simulation is based on selected PI control gains of Kp = 35 and KI = 75. Fig. 12 shows...controlled separately to maintain a desired flux level in the machine. The force current Isq is proportional to the load which is regulated using a PI
Switching Systems: Controllability and Control Design
2009-04-25
observations motivates the necessity to search for other methods in order to obtain a useful algorithm that might test controllability in the sign...Contributions to the theory of optimal control,” Boletin de la Sociedad Matematica Mexicana, vol. 5, pp. 102–119, 1960. [38] Kellett, Christopher M. and Andrew R
Passive dynamic controllers for non-linear mechanical systems
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.
1992-01-01
The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.
Design of Life Extending Controls Using Nonlinear Parameter Optimization
NASA Technical Reports Server (NTRS)
Lorenzo, Carl F.; Holmes, Michael S.; Ray, Asok
1998-01-01
This report presents the conceptual development of a life extending control system where the objective is to achieve high performance and structural durability of the plant. A life extending controller is designed for a reusable rocket engine via damage mitigation in both the fuel and oxidizer turbines while achieving high performance for transient responses of the combustion chamber pressure and the O2/H2 mixture ratio. This design approach makes use of a combination of linear and nonlinear controller synthesis techniques and also allows adaptation of the life extending controller module to augment a conventional performance controller of a rocket engine. The nonlinear aspect of the design is achieved using nonlinear parameter optimization of a prescribed control structure.
An Empirical Comparison of Five Linear Equating Methods for the NEAT Design
ERIC Educational Resources Information Center
Suh, Youngsuk; Mroch, Andrew A.; Kane, Michael T.; Ripkey, Douglas R.
2009-01-01
In this study, a data base containing the responses of 40,000 candidates to 90 multiple-choice questions was used to mimic data sets for 50-item tests under the "nonequivalent groups with anchor test" (NEAT) design. Using these smaller data sets, we evaluated the performance of five linear equating methods for the NEAT design with five levels of…
NASA Astrophysics Data System (ADS)
Cheng, Yi; Ugrinovskii, V.
2015-08-01
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are described in terms of integral quadratic constraints (IQCs). A consensus-type tracking control protocol is proposed for each system based on its state relative to its neighbours. In addition, a selected set of subsystems is used to control their relative states with respect to the leader. Two methods are proposed for the design of this control protocol. One method uses a coordinate transformation to recast the protocol design problem as a decentralised robust control problem for an auxiliary interconnected large-scale system. Another method is direct; it does not employ coordinate transformation, rather it also allows for more general linear uncertain interactions. Using these methods, sufficient conditions are obtained which guarantee that the system tracks the leader. These conditions guarantee a suboptimal bound on the system consensus and tracking performance. The proposed methods are compared using a simulation example, and their effectiveness is discussed. Also, algorithms are proposed for computing suboptimal controllers.
Smolyanitskiy, A.; Shu, D.; Wong, T.; Experimental Facilities Division; IIT
2005-01-01
We have designed and tested a new digital signal processor (DSP)-based closed-loop feedback controller for a linear actuator system with sub-angstrom resolution and 15-mm travel range. The linear actuator system consists of a laser Doppler encoder with multiple-reflection optics [1], a high-stiffness weak-link mechanism with high driving sensitivity and stability [2], and a Texas Instruments TMS320C40 DSP-based controller for high-performance closed-loop feedback control. In this paper, we discuss the DSP-based controller design, as well as recent test results yielding step sizes below 50 picometers obtained with the atomic force microprobe setup.
Approximation theory for LQG (Linear-Quadratic-Gaussian) optimal control of flexible structures
NASA Technical Reports Server (NTRS)
Gibson, J. S.; Adamian, A.
1988-01-01
An approximation theory is presented for the LQG (Linear-Quadratic-Gaussian) optimal control problem for flexible structures whose distributed models have bounded input and output operators. The main purpose of the theory is to guide the design of finite dimensional compensators that approximate closely the optimal compensator. The optimal LQG problem separates into an optimal linear-quadratic regulator problem and an optimal state estimation problem. The solution of the former problem lies in the solution to an infinite dimensional Riccati operator equation. The approximation scheme approximates the infinite dimensional LQG problem with a sequence of finite dimensional LQG problems defined for a sequence of finite dimensional, usually finite element or modal, approximations of the distributed model of the structure. Two Riccati matrix equations determine the solution to each approximating problem. The finite dimensional equations for numerical approximation are developed, including formulas for converting matrix control and estimator gains to their functional representation to allow comparison of gains based on different orders of approximation. Convergence of the approximating control and estimator gains and of the corresponding finite dimensional compensators is studied. Also, convergence and stability of the closed-loop systems produced with the finite dimensional compensators are discussed. The convergence theory is based on the convergence of the solutions of the finite dimensional Riccati equations to the solutions of the infinite dimensional Riccati equations. A numerical example with a flexible beam, a rotating rigid body, and a lumped mass is given.
Batch LCAP2-Linear Control Analysis, Version 2.0: User’s Manual
1989-01-31
REPORT SSD-TR-89 -48 DIII tILE COP] Batch LCAP2- Linear Control Analysis,oVersion 2.0: User’s Manual E. A. LEE I Vehicle and Control Systems Division...ELEMENT NO. NO. NO. a ACCESSION NO. 11 TITLE (Include Security Classification) Batch LCAP2 - Linear Control Analysis Program, Version 2.0: User’s Manual...block number) I Batch LCAP2 ( Linear Controls Analysis Program) is a FORTRAN program which provides the controls analyst with a set of easy to use
Control Reconfigurability of Linear Time-Invariant Systems
NASA Technical Reports Server (NTRS)
Wu, N. Eva; Zhou, Kemin; Salomon, Gregory
2002-01-01
For any fault-tolerant control method to take effect, sufficient redundancy must exist in the plant (process) to be controlled. This paper is intended to establish a means of measuring the level of redundancy in connection with feedback control by borrowing the notion of the second-order modes. In particular, it is assumed that foreseeable faults of a process are parameterized in the model of the process. The smallest second-order mode is used as a measure of the potentiality of the process to maintain a certain performance through control reconfiguration at the occurrence of the worst faults over a prescribed set in the fault parameter space. This measure is called by the authors a control reconfigurability. The control reconfigurability is calculated for two process models to show its relevance to redundant actuating capabilities in the models.
Design of a candidate flutter suppression control law for DAST ARW-2
NASA Technical Reports Server (NTRS)
Adams, W. M., Jr.; Tiffany, S. H.
1984-01-01
A control law is developed to suppress symmetric flutter for a mathematical model of an aeroelastic research vehicle. An implementable control law is attained by including modified LQC (Linear Quadratic Gaussian) design techniques, controller order reduction, and gain scheduling. An alternate (complementary) design approach is illustrated for one flight condition wherein nongradient-based constrained optimization techniques are applied to maximize controller robustness.
Model reference adaptive control for linear time varying and nonlinear systems
NASA Technical Reports Server (NTRS)
Abida, L.; Kaufman, H.
1982-01-01
Model reference adaptive control is applied to linear time varying systems and to nonlinear systems amenable to virtual linearization. Asymptotic stability is guaranteed even if the perfect model following conditions do not hold, provided that some sufficient conditions are satisfied. Simulations show the scheme to be capable of effectively controlling certain nonlinear systems.
A quasi-linear control theory analysis of timesharing skills
NASA Technical Reports Server (NTRS)
Agarwal, G. C.; Gottlieb, G. L.
1977-01-01
The compliance of the human ankle joint is measured by applying 0 to 50 Hz band-limited gaussian random torques to the foot of a seated human subject. These torques rotate the foot in a plantar-dorsal direction about a horizontal axis at a medial moleolus of the ankle. The applied torques and the resulting angular rotation of the foot are measured, digitized and recorded for off-line processing. Using such a best-fit, second-order model, the effective moment of inertia of the ankle joint, the angular viscosity and the stiffness are calculated. The ankle joint stiffness is shown to be a linear function of the level of tonic muscle contraction, increasing at a rate of 20 to 40 Nm/rad/Kg.m. of active torque. In terms of the muscle physiology, the more muscle fibers that are active, the greater the muscle stiffness. Joint viscosity also increases with activation. Joint stiffness is also a linear function of the joint angle, increasing at a rate of about 0.7 to 1.1 Nm/rad/deg from plantar flexion to dorsiflexion rotation.
Control design variable linking for optimization of structural/control systems
NASA Technical Reports Server (NTRS)
Jin, Ik Min; Schmit, Lucien A.
1993-01-01
A method is presented to integrate the design space of structural/control system optimization problems in the case of linear state feedback control. Conventional structural sizing variables and elements of the feedback gain matrix are both treated as strictly independent design variables in optimization by extending design variable linking concepts to the control gains. Several approximation concepts including new control design variable linking schemes are used to formulate the integrated structural/control optimization problem as a sequence of explicit nonlinear mathematical programming problems. Examples which involve a variety of behavior constraints, including constraints on dynamic stability, damped frequencies, control effort, peak transient displacement, acceleration, and control force limits, are effectively solved by using the method presented.
Design and simulation of a novel impact piezoelectric linear-rotary motor
NASA Astrophysics Data System (ADS)
Han, Liling; Zhao, Yahui; Pan, Chengliang; Yu, Liandong
2016-01-01
This paper presents a novel impact piezoelectric linear-rotary motor which is driven by a single piezoceramic tube with two parts of electrodes. From the inner and outer electrodes, longitudinal displacement of the tube is generated and used to actuate the shaft with linear motion ability. From the grooved helical interdigitated electrodes, torsional displacement is generated and used to actuate the shaft with rotary motion ability. Working principle and structural design of the motor are introduced and quasi-static longitudinal and torsional displacements of the tube are estimated. With established kinematics model of the motor, the working behaviors of the motor are investigated numerically with MATLAB/Simulink software. The stepping characteristics of the linear and rotary motions are analyzed, compared, and discussed. With optimized material selection, structural design, and driving parameters, the proposed linear-rotary motor will provide remarkable performances as a miniaturized multi-degree driving device for complex positioning and manipulation applications.
Design and optimization of Compact Linear Collider main linac accelerating structure
NASA Astrophysics Data System (ADS)
Zha, Hao; Grudiev, Alexej
2016-11-01
The Compact Linear Collider (CLIC) main linac uses waveguide damped structure as its baseline design. The current baseline structure design written in the CLIC Conceptual Design Report is named "CLIC-G." Recent activities on the CLIC-G design including high power tests on structure prototypes and the study of machining cost assessment had raised the need of reoptimizing the structure design to minimize the machining cost and the pulse surface temperature rise. This work presents optimization of the structure geometry, high-order-mode (HOM) damping loads and the design of a HOM-free power splitter for the input coupler. Compared to the current baseline design CLIC-G, the new structure design reduced the pulse surface temperature rise, input power and manufacturing cost and achieves better suppression to the long range transverse wakefield. Cell disks and damping loads for the new structure design are also more compact than those of the CLIC-G design.
Multivariable Control System Design for a Submarine,
1984-05-01
Open Loop Singular Values for the 5 and 1S Knot Linear Modelo *~~* b % % V’ , * % ~ .%~ C 9 ~ V. --.- V. V.-.--.--46..- S. 77’ Model S20R5 20- 10- -0...Control, Addison-Wesley, 1976, pp 65-86. 14. Kevin Boettcher, Analysis of Multivariable Control Systems with Structured Uncertainty, Area Examination
Linear motion device and method for inserting and withdrawing control rods
Smith, Jay E.
1984-01-01
A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.
Robust Control Design for Uncertain Nonlinear Dynamic Systems
NASA Technical Reports Server (NTRS)
Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.
2012-01-01
Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.
NASA Technical Reports Server (NTRS)
Cheng, Rendy P.; Tischler, Mark B.; Celi, Roberto
2006-01-01
This research describes a new methodology for the extraction of a high-order, linear time invariant model, which allows the periodicity of the helicopter response to be accurately captured. This model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC algorithms. The key results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. However, the results show that the vibration response to maneuvers must be considered during the HHC design process, and this leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration responses during maneuvers can be reduced by optimizing the closed-loop higher harmonic control algorithm using conventional control system analyses.
Control system design and analysis using the INteractive Controls Analysis (INCA) program
NASA Technical Reports Server (NTRS)
Bauer, Frank H.; Downing, John P.
1987-01-01
The INteractive Controls Analysis (INCA) program was developed at the Goddard Space Flight Center to provide a user friendly efficient environment for the design and analysis of linear control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. Moreover, the results of the analytic tools imbedded in INCA have been flight proven with at least three currently orbiting spacecraft. This paper describes the INCA program and illustrates, using a flight proven example, how the package can perform complex design analyses with relative ease.
A broadband polygonal cloak for acoustic wave designed with linear coordinate transformation.
Zhu, Rongrong; Zheng, Bin; Ma, Chu; Xu, Jun; Fang, Nicholas; Chen, Hongsheng
2016-07-01
Previous acoustic cloaks designed with transformation acoustics always involve inhomogeneous material. In this paper, a design of acoustic polygonal cloak is proposed using linear polygonal transformation method. The designed acoustic polygonal cloak has homogeneous and anisotropic parameters, which is much easier to realize in practice. Furthermore, a possible acoustic metamaterial structure to realize the cloak is proposed. Simulation results on the real structure show that the metamaterial acoustic cloak is effective to reduce the scattering of the object.
Computer Aided Control System Design (CACSD)
NASA Technical Reports Server (NTRS)
Stoner, Frank T.
1993-01-01
The design of modern aerospace systems relies on the efficient utilization of computational resources and the availability of computational tools to provide accurate system modeling. This research focuses on the development of a computer aided control system design application which provides a full range of stability analysis and control design capabilities for aerospace vehicles.
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2011 CFR
2011-01-01
... 10 Energy 2 2011-01-01 2011-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR... Design control. (a) The licensee, applicant for a license, certificate holder, and applicant for a CoC shall establish measures to ensure that applicable regulatory requirements and the design basis,...
Designing Digital Control Systems With Averaged Measurements
NASA Technical Reports Server (NTRS)
Polites, Michael E.; Beale, Guy O.
1990-01-01
Rational criteria represent improvement over "cut-and-try" approach. Recent development in theory of control systems yields improvements in mathematical modeling and design of digital feedback controllers using time-averaged measurements. By using one of new formulations for systems with time-averaged measurements, designer takes averaging effect into account when modeling plant, eliminating need to iterate design and simulation phases.
Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel
2015-01-01
One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives. PMID:26024415
Qiu, Li; Shi, Yang; Pan, Jianfei; Zhang, Bo; Xu, Gang
2016-10-11
This paper investigates the collaborative tracking control for dual linear switched reluctance machines (LSRMs) over a communication network with random time delays. Considering the spatio-temporal constraint relationship of the dual LSRMs in complex industrial processes, the collaborative tracking control scheme is proposed based on the networked motion control method. The stability conditions and the controller design method for the networked dual LSRMs are obtained from the two motors relative position error by using Lyapunov theory and delay systems approach. Four different allocation schemes combined with two kinds of external control signals are applied onto the collaborative tracking control experiment platform of the dual LSRMs to validate the effectiveness of the proposed method. The maximum steady-state relative position error within 0.104 mm can be achieved under the constant absolute position reference input signal of 3 mm, and the maximum absolute relative position error within ±0.46 mm can be achieved under the sinusoidal reference of 8 mm amplitude and 0.2 Hz.
Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel
2015-05-27
One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.
NASA Astrophysics Data System (ADS)
Wöhling, T.; Geiges, A.; Gosses, M.; Nowak, W.
2014-12-01
Data acquisition in complex environmental systems is typically expensive. Therefore, experimental designs should be optimized such that most can be learned about the system at least costs. In the past, optimal design (OD) analyses were mainly restricted to linear or linearized problems and methods. Nonlinear OD methods offer more efficient data collection strategies, because they can better handle the non-linearity exhibited by most coupled environmental systems. However, the much higher computational demand restricts their applicability to models with comparatively low run-times. Our goal is to compare the trade-off between computational efficiency and the obtainable design quality between linear and nonlinear OD methods. In our study, a steady-state model for a section of the river Steinlach (South Germany) was set up and calibrated to measured groundwater head data and on estimated groundwater exchange fluxes. The model involves a Pilot Point parameterization scheme for hydraulic conductivity and six zones with uncertain river bed conductivities. In the linear OD approach, the initial predictive uncertainty of groundwater exchange fluxes and mean travel times are estimated using the PREDUNC utility (Moore and Doherty 2005) of PEST. The parameter calibration was performed with a non-linear global search. A discrete global search method and PREDUNC was then utilized to identify augmented monitoring strategies (additional n measurement locations and data types) that reduce the predictive uncertainty the most. For the nonlinear assessment, a conditional ensemble obtained with Markov-chain Monte Carlo represents the initial state of uncertainty and is used as input to a nonlinear OD framework called PreDIA (Leube et al. 2012). PreDIA can consider any kind of uncertainties and non-linear (statistical) dependencies in data, models, parameters and system drivers during the OD process. The linear and non-linear approaches are compared thoroughly during each step of the
Parvalbumin-expressing interneurons linearly control olfactory bulb output.
Kato, Hiroyuki K; Gillet, Shea N; Peters, Andrew J; Isaacson, Jeffry S; Komiyama, Takaki
2013-12-04
In the olfactory bulb, odor representations by principal mitral cells are modulated by local inhibitory circuits. While dendrodendritic synapses between mitral and granule cells are typically thought to be a major source of this modulation, the contributions of other inhibitory neurons remain unclear. Here we demonstrate the functional properties of olfactory bulb parvalbumin-expressing interneurons (PV cells) and identify their important role in odor coding. Using paired recordings, we find that PV cells form reciprocal connections with the majority of nearby mitral cells, in contrast to the sparse connectivity between mitral and granule cells. In vivo calcium imaging in awake mice reveals that PV cells are broadly tuned to odors. Furthermore, selective PV cell inactivation enhances mitral cell responses in a linear fashion while maintaining mitral cell odor preferences. Thus, dense connections between mitral and PV cells underlie an inhibitory circuit poised to modulate the gain of olfactory bulb output.
Apparatus for electrode current control in linear MHD generators
Demirjian, Ara M.; Solbes, Albert
1984-01-01
Apparatus for controlling a plurality of opposing, electrode, direct-currents at pre-set locations across a channel that comprises a converter for converting each electrode current into first and second periodic control signals which are 180.degree. out of phase with respect to each other and which have equal magnitudes corresponding to the magnitude of the associated electrode current; and couplers for magnetically coupling individual ones of the first control signals and for magnetically coupling individual ones of the second signals such that the corresponding electrode currents are equalized or rendered proportional by balancing the same in the same or constant ratios in accordance with the locations of the electrode currents.
Design of feedback control systems for unstable plants with saturating actuators
NASA Technical Reports Server (NTRS)
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.
Design, test, and evaluation of three active flutter suppression controllers
NASA Technical Reports Server (NTRS)
Adams, William M., Jr.; Christhilf, David M.; Waszak, Martin R.; Mukhopadhyay, Vivek; Srinathkumar, S.
1992-01-01
Three control law design techniques for flutter suppression are presented. Each technique uses multiple control surfaces and/or sensors. The first method uses traditional tools (such as pole/zero loci and Nyquist diagrams) for producing a controller that has minimal complexity and which is sufficiently robust to handle plant uncertainty. The second procedure uses linear combinations of several accelerometer signals and dynamic compensation to synthesize the model rate of the critical mode for feedback to the distributed control surfaces. The third technique starts with a minimum-energy linear quadratic Gaussian controller, iteratively modifies intensity matrices corresponding to input and output noise, and applies controller order reduction to achieve a low-order, robust controller. The resulting designs were implemented digitally and tested subsonically on the active flexible wing wind-tunnel model in the Langley Transonic Dynamics Tunnel. Only the traditional pole/zero loci design was sufficiently robust to errors in the nominal plant to successfully suppress flutter during the test. The traditional pole/zero loci design provided simultaneous suppression of symmetric and antisymmetric flutter with a 24-percent increase in attainable dynamic pressure. Posttest analyses are shown which illustrate the problems encountered with the other laws.
Tools for active control system design
NASA Technical Reports Server (NTRS)
Adams, W. M., Jr.; Tiffany, S. H.; Newsom, J. R.
1984-01-01
Efficient control law analysis and design tools which properly account for the interaction of flexible structures, unsteady aerodynamics and active controls are developed. Development, application, validation and documentation of efficient multidisciplinary computer programs for analysis and design of active control laws are also discussed.
PROGRESS WITH THE JLC/NLC X-BAND LINEAR COLLIDER DESIGN
Raubenheimer, Tor O
2000-11-06
An electron/positron linear collider with a center-of-mass energy between 0.5 and 1 TeV would be an important complement to the physics program of the LHC in the next decade. The Next Linear Collider (NLC) is being designed by a US collaboration (FNAL, LBNL, LLNL, and SLAC) which is working closely with the Japanese collaboration that is designing the Japanese Linear Collider (JLC). This paper will discuss the technical difficulties encountered as well as the changes that have been made to the NLC design over the last year. These changes include improvements to the X-band rf system as well as modifications to the beam delivery system. The net effect has been to reduce the length of the collider from about 32 km to 25 km and to reduce the number of klystrons and modulators by a factor of two. Together these lead to significant cost savings.
ACSYNT inner loop flight control design study
NASA Technical Reports Server (NTRS)
Bortins, Richard; Sorensen, John A.
1993-01-01
The NASA Ames Research Center developed the Aircraft Synthesis (ACSYNT) computer program to synthesize conceptual future aircraft designs and to evaluate critical performance metrics early in the design process before significant resources are committed and cost decisions made. ACSYNT uses steady-state performance metrics, such as aircraft range, payload, and fuel consumption, and static performance metrics, such as the control authority required for the takeoff rotation and for landing with an engine out, to evaluate conceptual aircraft designs. It can also optimize designs with respect to selected criteria and constraints. Many modern aircraft have stability provided by the flight control system rather than by the airframe. This may allow the aircraft designer to increase combat agility, or decrease trim drag, for increased range and payload. This strategy requires concurrent design of the airframe and the flight control system, making trade-offs of performance and dynamics during the earliest stages of design. ACSYNT presently lacks means to implement flight control system designs but research is being done to add methods for predicting rotational degrees of freedom and control effector performance. A software module to compute and analyze the dynamics of the aircraft and to compute feedback gains and analyze closed loop dynamics is required. The data gained from these analyses can then be fed back to the aircraft design process so that the effects of the flight control system and the airframe on aircraft performance can be included as design metrics. This report presents results of a feasibility study and the initial design work to add an inner loop flight control system (ILFCS) design capability to the stability and control module in ACSYNT. The overall objective is to provide a capability for concurrent design of the aircraft and its flight control system, and enable concept designers to improve performance by exploiting the interrelationships between
Wright, A.D.; Stol, K.A.
2008-01-01
The National Renewable Energy Laboratory is designing, implementing, and testing advanced controls to maximize energy extraction and reduce structural dynamic loads of wind turbines. These control designs are based on a linear model of the turbine that is generated by specialized modeling software. In this paper, we show the design and simulation testing of a control algorithm to mitigate blade, tower, and drivetrain loads using advanced state-space control design methods.
Computer Aided Design for Linear Control State Variable System (SVS).
1987-12-01
OPTIONS * ’) gotox(0 writl(’’ P riter outp ~t Textcolor( ello r; 0ooy( 14) writeln( ’ Check3 Yourxrinez Textcol r(white) otoxy (20,1 5); writel ’<F> Lisi...sqr(Wi-TmagPar PoleL if Real PartPoJ eL I] 2 0.0 then PPhase:= PPhase4-pi/2.0 else begin if’ realpartpole[i] > 0.0 then PPhase:=PPhase- i -- rctan...else begin if crealpartpole [i] > 0.0 then PPhase:=PPhase - ~i + ,.rtan((wi-r ele cimagpartpoleiL]) /-crea.LpartpoleL1])) end; PlotArrayl [Count 1
Phase and amplitude control system for Stanford Linear Accelerator
Yoo, S.J.
1983-09-26
The computer controlled phase and amplitude detection system measures the instantaneous phase and amplitude of a 1 micro-second 2856 MHz rf pulse at a 180 Hz rate. This will be used for phase feedback control, and also for phase and amplitude jitter measurement. The program, which was originally written by John Fox and Keith Jobe, has been modified to improve the function of the system. The software algorithms used in the measurement are described, as is the performance of the prototype phase and amplitude detector system.
NASA Astrophysics Data System (ADS)
Libby, William A.
1993-05-01
A guidance law for the control of a system in the neighborhood of a nominal suboptimal trajectory is developed. The guidance law is demonstrated using a lunar launch problem with constraints at orbit entry. A set of precomputed gains is used by the guidance law to operate on an extremal path in the neighborhood of the suboptimal trajectory. The guidance law and gains are designed to minimize the change in the desired performance index while still satisfying the final path constraints. In the lunar launch problem, the nominal suboptimal trajectory minimizes the final time using piecewise linear control. This trajectory is obtained to provide a nominal control history. The guidance law is found by minimizing the second variation of the suboptimal trajectory performance index subject to the final constraints being satisfied. For the lunar launch problem, the guidance law leads to a set of gains that relates deviations from the suboptimal trajectory to required changes in the nominal control history. The deviations from the suboptimal trajectory, used together with the precomputed gains, determines the change in the nominal control history required to meet the final constraints while minimizing the change in the final time.
Robust linear parameter-varying control of blood pressure using vasoactive drugs
NASA Astrophysics Data System (ADS)
Luspay, Tamas; Grigoriadis, Karolos
2015-10-01
Resuscitation of emergency care patients requires fast restoration of blood pressure to a target value to achieve hemodynamic stability and vital organ perfusion. A robust control design methodology is presented in this paper for regulating the blood pressure of hypotensive patients by means of the closed-loop administration of vasoactive drugs. To this end, a dynamic first-order delay model is utilised to describe the vasoactive drug response with varying parameters that represent intra-patient and inter-patient variability. The proposed framework consists of two components: first, an online model parameter estimation is carried out using a multiple-model extended Kalman-filter. Second, the estimated model parameters are used for continuously scheduling a robust linear parameter-varying (LPV) controller. The closed-loop behaviour is characterised by parameter-varying dynamic weights designed to regulate the mean arterial pressure to a target value. Experimental data of blood pressure response of anesthetised pigs to phenylephrine injection are used for validating the LPV blood pressure models. Simulation studies are provided to validate the online model estimation and the LPV blood pressure control using phenylephrine drug injection models representing patients showing sensitive, nominal and insensitive response to the drug.
Non-Linear Instructional Design Model: Eternal, Synergistic Design and Development
ERIC Educational Resources Information Center
Crawford, Caroline
2004-01-01
Instructional design is at the heart of each educational endeavour. This process revolves around the steps through which the thoughtful productions of superior products are created. The ADDIE generic instructional design model emphasises five basic steps within the instructional design process: analyse, design, develop, implement and evaluate. The…
Analysis of Covariance with Linear Regression Error Model on Antenna Control Unit Tracking
2015-10-20
412TW-PA-15238 Analysis of Covariance with Linear Regression Error Model on Antenna Control Unit Tracking DANIEL T. LAIRD AIR...COVERED (From - To) 20 OCT 15 – 23 OCT 15 4. TITLE AND SUBTITLE Analysis of Covariance with Linear Regression Error Model on Antenna Control Tracking...analysis of variance (ANOVA) to decide for the null- or alternative-hypotheses of a telemetry antenna control unit’s (ACU) ability to track on C-band
NASA Astrophysics Data System (ADS)
Zattoni, Elena
2017-01-01
This paper investigates the problem of structural model matching by output feedback in linear impulsive systems with control feedthrough. Namely, given a linear impulsive plant, possibly featuring an algebraic link from the control input to the output, and given a linear impulsive model, the problem consists in finding a linear impulsive regulator that achieves exact matching between the respective forced responses of the linear impulsive plant and of the linear impulsive model, for all the admissible input functions and all the admissible sequences of jump times, by means of a dynamic feedback of the plant output. The problem solvability is characterized by a necessary and sufficient condition. The regulator synthesis is outlined through the proof of sufficiency, which is constructive.
NASA Astrophysics Data System (ADS)
Arimoto, Suguru
An optimal regulator problem for endpoint position control of a robot arm with (or without) redundancy in its total degrees-of-freedom (DOF) is solved by combining Riemannian geometry with nonlinear control theory. Given a target point, within the task-space, that the arm endpoint should reach, a task-space position feedback with joint damping is shown to asymptotically stabilize reaching movements even if the number of DOF of the arm is greater than the dimension of the task space and thereby the inverse kinematics is ill-posed. Usually the speed of convergence of the endpoint trajectory is unsatisfactory, depending on the choice of feedback gains for joint damping. Hence, to speed up the convergence without incurring further energy consumption, an optimal control design for minimizing a performance index composed of an integral of joint dissipation energy plus a linear quadratic form of the task-space control input and output is introduced. It is then shown that the Hamilton-Jacobi-Bellman equation derived from the principle of optimality is solvable in control variables and the Hamilton-Jacobi equation itself has an explicit solution. Although the state of the original dynamics (the Euler-Lagrange equation) with DOF-redundancy contains uncontrollable and unobservable manifolds, the dynamics satisfies a nonlinear version of the Kalman-Yakubovich-Popov lemma and the task-space input-output passivity. An inverse problem of optimal regulator design for robotic arms under the effect of gravity is also tackled by combining Riemannian geometry with passivity-based control theory.
A network-centric input-output feedback linearization-based control strategy for unmanned systems
NASA Astrophysics Data System (ADS)
Bouyoucef, K.; Khorasani, K.
2005-05-01
Large scale unmanned networks consisting of a number of heterogeneous nodes that may be configured in ad-hoc fashions and incorporating complicated architectures result in challenging problems for design of appropriate control and resource allocation optimization techniques. The problem is further compounded by the fact that designing appropriate network control methodologies subject to bandwidth, latencies and computational resources for these network-centric systems are highly non-trivial. In this paper, we only investigate one of a number of critical issues that are of interest in this domain, namely the problem of congestion control of a network that consists of three nodes that can be configured into different architectures. This study shows that depending on the interconnections between the network nodes the dynamics of the resulting closed-loop system can change considerably so that the unmanned system could become even unstable and unmanageable. Therefore, a robust control strategy is required to be able to cope with any configuration changes and to be able to address the resource allocation problem subject to the propagation delays and latencies. For sake of comparative evaluation, we first implement a standard PID control scheme which is shown to lack sufficient capability for achieving the desired performance requirements. Subsequently, a nonlinear control scheme is proposed to resolve the limitation of sensitivity of the closed-loop system to propagation delays. The proposed strategy is based on a well-known input-output feedback linearization approach that is shown to achieve an appreciable improvement in the performance of the closed-loop unmanned network and which is also less sensitive to the network propagation delays.
Microcomputer-Aided Control Systems Design.
ERIC Educational Resources Information Center
Roat, S. D.; Melsheimer, S. S.
1987-01-01
Describes a single input/single output feedback control system design program for IBM PC and compatible microcomputers. Uses a heat exchanger temperature control loop to illustrate the various applications of the program. (ML)
Rómoli, Santiago; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Vega, Jorge Rubén; Eduardo Scaglia, Gustavo Juan
2015-07-01
Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined in the literature. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal controller parameters are selected through Monte Carlo Randomized Algorithm in order to minimize a proposed cost index. The controller performance is evaluated through several tests, and compared with other controller reported in the literature. Finally, a Monte Carlo Randomized Algorithm is conducted to assess the performance of the proposed controller.
NASA Technical Reports Server (NTRS)
Folta, David C.; Carpenter, J. Russell
1999-01-01
A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and
Multivariable control system design using eigenstructure assignment based on LMI
NASA Astrophysics Data System (ADS)
Wu, Mei; Liu, Xiaogang; Chen, Lan
2005-11-01
This paper describes a novel method of applying linear matrix inequalities (LMIs) to eigenstructure assignment (EA) approach for design of multivariable control system. Since the degree of freedom is available in EA using state or output feedback, respectively, numerous researchers have exercised this degree of freedom to make the system have good insensitively to perturbations in the system parameter matrices. We derive a series of equations to enhance system performance such as robust stability and parameter sensitivity according to left-over freedom in eigenvector and the solution of the lateral aircraft control system design is also derived using the proposed method, meanwhile, we find that this kind of design method can be classified into an optimization question and can be solved by inner point method using LMI. The implementation and verification of the control system is also presented. Simulation results on the aircraft demonstrate the good performance of the proposed control approach.
Design curves for non-linear analysis of simply-supported, uniformly-loaded rectangular plates
NASA Technical Reports Server (NTRS)
Moore, D.
1979-01-01
Design curves for the non-linear analysis of simply-supported rectangular plates subjected to uniform normal pressure loads have been developed. These curves yield the center deflection, center stress and corner stress in non-dimensionalized form plotted against a dimensionless parameter describing the load intensity. The results presented are based on extensive non-linear finite element analysis employing the ARGUS structural analysis program. Plates with length to width ratios of 1, 1.5, 2, 3 and 4 are included. The load range considered extends to 1000 times the load at which the behavior of the plate becomes significantly non-linear. Over the load range considered, the analysis shows that the ratio of center deflection to plate thickness for a square plate is less than 16 to 1, whereas linear theory would predict a center deflection 400 times the plate thickness. Likewise, the stress is markedly lower than would be predicted by linear theory. The present results are shown to be in excellent agreement with the classical linear theory up to a central deflection to plate thickness ratio of about one-half. In the non-linear regime the present results for deflection and stress are in very good agreement with the analytical and experimental work of other investigators.
Design, implementation and control of a magnetic levitation device
NASA Astrophysics Data System (ADS)
Shameli, Ehsan
Magnetic levitation technology has shown a great deal of promise for micromanipulation tasks. Due to the lack of mechanical contact, magnetic levitation systems are free of problems caused by friction, wear, sealing and lubrication. These advantages have made magnetic levitation systems a great candidate for clean room applications. In this thesis, a new large gap magnetic levitation system is designed, developed and successfully tested. The system is capable of levitating a 6.5(gr) permanent magnet in 3D space with an air gap of approximately 50(cm) with the traveling range of 20x20x30 mm3. The overall positioning accuracy of the system is 60mum. With the aid of finite elements method, an optimal geometry for the magnetic stator is proposed. Also, an energy optimization approach is utilized in the design of the electromagnets. In order to facilitate the design of various controllers for the system, a mathematical model of the magnetic force experienced by the levitated object is obtained. The dynamic magnetic force model is determined experimentally using frequency response system identification. The response of the system components including the power amplifiers, and position measurement system are also considered in the development of the force model. The force model is then employed in the controller design for the magnetic levitation device. Through a modular approach, the controller design for the 3D positioning system is started with the controller design for the vertical direction, i.e. z, and then followed by the controller design in the horizontal directions, i.e. x and y. For the vertical direction, several controllers such as PID, feed forward and feedback linearization are designed and their performances are compared. Also a control command conditioning method is introduced as a solution to increase the control performance and the results of the proposed controller are compared with the other designs. Experimental results showed that for the magnetic
LAPACK++: A design overview of object-oriented extensions for high performance linear algebra
Dongarra, J.J. |; Pozo, R.; Walker, D.W.
1993-12-31
LAPACK++ is an object-oriented C++ extension of the LAPACK (Linear Algebra PACKage) library for solving the common problems of numerical linear algebra: linear systems, linear least squares, and eigenvalue problems on high-performance computer architectures. The advantages of an object-oriented approach include the ability to encapsule various matrix representations, hide their implementation details, reduce the number of subroutines, simplify their calling sequences, and provide an extendible software framework that can incorporate future extensions of LAPACK such as ScaLAPACK++ for distributed memory architectures. The authors present an overview of the object-oriented design of the matrix and decomposition classes in C++ and discuss its impact on elegance, generality, and performance.
Numerical Algorithms and Mathematical Software for Linear Control and Estimation Theory.
1985-05-30
RD -R157 525 NUMERICAL ALGORITHMS AND MATHEMATICAL SOFTWJARE FOR i/i LINEAR CONTROL AND EST..U) MASSACHUSETTS INST OF TECH CAMBRIDGE STATISTICS...PERIOD COVERED"~~ "ia--Dec. 14, 1981-- LD Numerical Algorithms and Mathematical Dec. 13, 1984*Software for Linear Control and 1.0 Estimation Theory...THIS PAGE (Wten Date Entered) .. :..0 70 FINAL REPORT--ARO Grant DAAG29-82-K-0028,"Numerical Algorithms and Mathematical Software for Linear Control and
Agha, Salah R; Alnahhal, Mohammed J
2012-11-01
The current study investigates the possibility of obtaining the anthropometric dimensions, critical to school furniture design, without measuring all of them. The study first selects some anthropometric dimensions that are easy to measure. Two methods are then used to check if these easy-to-measure dimensions can predict the dimensions critical to the furniture design. These methods are multiple linear regression and neural networks. Each dimension that is deemed necessary to ergonomically design school furniture is expressed as a function of some other measured anthropometric dimensions. Results show that out of the five dimensions needed for chair design, four can be related to other dimensions that can be measured while children are standing. Therefore, the method suggested here would definitely save time and effort and avoid the difficulty of dealing with students while measuring these dimensions. In general, it was found that neural networks perform better than multiple linear regression in the current study.
Ares I Flight Control System Design
NASA Technical Reports Server (NTRS)
Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedrossian, Nazareth; Hall, Charles; Ryan, Stephen; Jackson, Mark
2010-01-01
The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.
Designing control system information models
NASA Technical Reports Server (NTRS)
Panin, K. I.; Zinchenko, V. P.
1973-01-01
Problems encountered in modeling information models are discussed, Data cover condition, functioning of the object of control, and the environment involved in the control. Other parameters needed for the model include: (1) information for forming an image of the real situation, (2) data for analyzing and evaluating an evolving situation, (3) planning actions, and (4) data for observing and evaluating the results of model realization.
Flight Control Design - Best Practices
2007-11-02
pilot commanded maneuvering without adverse characteristics, such as departures, requiring the pilot’s attention . Then, there is a discussion of... Loaded Actuator Frequency Response 136 Figure 5.3.4 Actuator Model with and without Control Module Dynamics 137 Figure 5.3.5 Object diagram of HIRM 141...obvious, and frequently the most important, is that the direct connection between the pilot and the control surfaces is not there. Special attention is
Stability and performance analysis of a jump linear control system subject to digital upsets
NASA Astrophysics Data System (ADS)
Wang, Rui; Sun, Hui; Ma, Zhen-Yang
2015-04-01
This paper focuses on the methodology analysis for the stability and the corresponding tracking performance of a closed-loop digital jump linear control system with a stochastic switching signal. The method is applied to a flight control system. A distributed recoverable platform is implemented on the flight control system and subject to independent digital upsets. The upset processes are used to stimulate electromagnetic environments. Specifically, the paper presents the scenarios that the upset process is directly injected into the distributed flight control system, which is modeled by independent Markov upset processes and independent and identically distributed (IID) processes. A theoretical performance analysis and simulation modelling are both presented in detail for a more complete independent digital upset injection. The specific examples are proposed to verify the methodology of tracking performance analysis. The general analyses for different configurations are also proposed. Comparisons among different configurations are conducted to demonstrate the availability and the characteristics of the design. Project supported by the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 61403395), the Natural Science Foundation of Tianjin, China (Grant No. 13JCYBJC39000), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, China, the Tianjin Key Laboratory of Civil Aircraft Airworthiness and Maintenance in Civil Aviation of China (Grant No. 104003020106), and the Fund for Scholars of Civil Aviation University of China (Grant No. 2012QD21x).
ERIC Educational Resources Information Center
Zu, Jiyun; Yuan, Ke-Hai
2012-01-01
In the nonequivalent groups with anchor test (NEAT) design, the standard error of linear observed-score equating is commonly estimated by an estimator derived assuming multivariate normality. However, real data are seldom normally distributed, causing this normal estimator to be inconsistent. A general estimator, which does not rely on the…
The design of a linear L-band high power amplifier for mobile communication satellites
NASA Technical Reports Server (NTRS)
Whittaker, N.; Brassard, G.; Li, E.; Goux, P.
1990-01-01
A linear L-band solid state high power amplifier designed for the space segment of the Mobile Satellite (MSAT) mobile communication system is described. The amplifier is capable of producing 35 watts of RF power with multitone signal at an efficiency of 25 percent and with intermodulation products better than 16 dB below carrier.
Design, Simulation and Testing of a Precision Alignment Frame for the Next Linear Collider
Fitsos, P
2004-06-18
An alignment frame is developed to support 3 Beam Position Monitors (BPM's) for detecting and ultimately aligning the electron beam from a linear accelerator. This report discusses the design details, preliminary modal analysis of the alignment frame as well as the addition of a metrology frame in the final phase of development.
Linear stability and control of swept Hiemenz flow
NASA Astrophysics Data System (ADS)
Guegan, Alan; Schmid, Peter; Huerre, Patrick
2004-11-01
Perturbations at the leading edge of swept wings may feed the downstream flow and trigger early boundary layer transition. Control strategies focusing on the leading edge boundary layer may provide significant improvement of flow stability over the wing surface. To this end, a gradient-based optimization algorithm is implemented to find the perturbations that experience the highest energy growth in swept Hiemenz flow over a finite time interval, under the Görtler-Hämmerlin assumption. A two-dimensional mechanism resembling the Orr-mechanism in the spanwise-wall-normal plane is shown to generate energy growth of up to three orders of magnitude for a Reynolds number Re=2000 and a spanwise wavenumber k=0.1. A similar algorithm is used to compute the wall-normal blowing/sucking sequence that most efficiently damps the energy amplification. The maximum energy is then found to decrease by more than 70%.
Robust Controller Design for Hemispherical Resonator Gyroscope
2011-11-01
f v Figure 1. Operating principle of HRG Robust Controller Design for Hemispherical Resonator Gyroscope Chul Hyun1), Byung ...Petersburg, Russia.: 26-34 4) Chul Hyun. 2011. Design of Robust Digital Controller for Hemispherical Resonator Gyroscopes, Ph.D. dissertation, Seoul
Disturbance accommodating control design for wind turbines using solvability conditions
Wang, Na; Wright, Alan D.; Balas, Mark J.
2017-02-07
In this study, solvability conditions for disturbance accommodating control (DAC) have been discussed and applied on wind turbine controller design in above-rated wind speed to regulate rotor speed and to mitigate turbine structural loads. DAC incorporates a predetermined waveform model and uses it as part of the state-space formulation, which is known as the internal model principle to reduce or minimize the wind disturbance effects on the outputs of the wind turbine. An asymptotically stabilizing DAC controller with disturbance impact on the wind turbine being totally canceled out can be found if certain conditions are fulfilled. Designing a rotor speedmore » regulation controller without steady-state error is important for applying linear control methodology such as DAC on wind turbines. Therefore, solvability conditions of DAC without steady-state error are attractive and can be taken as examples when designing a multitask turbine controller. DAC controllers solved via Moore-Penrose Pseudoinverse and the Kronecker product are discussed, and solvability conditions of using them are given. Additionally, a new solvability condition based on inverting the feed-through D term is proposed for the sake of reducing computational burden in the Kronecker product. Applications of designing collective pitch and independent pitch controllers based on DAC are presented. Recommendations of designing a DAC-based wind turbine controller are given. A DAC controller motivated by the proposed solvability condition that utilizes the inverse of feed-through D term is developed to mitigate the blade flapwise once-per-revolution bending moment together with a standard proportional integral controller in the control loop to assist rotor speed regulation. Simulation studies verify the discussed solvability conditions of DAC and show the effectiveness of the proposed DAC control design methodology.« less
A method of fast, sequential experimental design for linearized geophysical inverse problems
NASA Astrophysics Data System (ADS)
Coles, Darrell A.; Morgan, Frank Dale
2009-07-01
An algorithm for linear(ized) experimental design is developed for a determinant-based design objective function. This objective function is common in design theory and is used to design experiments that minimize the model entropy, a measure of posterior model uncertainty. Of primary significance in design problems is computational expediency. Several earlier papers have focused attention on posing design objective functions and opted to use global search methods for finding the critical points of these functions, but these algorithms are too slow to be practical. The proposed technique is distinguished primarily for its computational efficiency, which derives partly from a greedy optimization approach, termed sequential design. Computational efficiency is further enhanced through formulae for updating determinants and matrix inverses without need for direct calculation. The design approach is orders of magnitude faster than a genetic algorithm applied to the same design problem. However, greedy optimization often trades global optimality for increased computational speed; the ramifications of this tradeoff are discussed. The design methodology is demonstrated on a simple, single-borehole DC electrical resistivity problem. Designed surveys are compared with random and standard surveys, both with and without prior information. All surveys were compared with respect to a `relative quality' measure, the post-inversion model per cent rms error. The issue of design for inherently ill-posed inverse problems is considered and an approach for circumventing such problems is proposed. The design algorithm is also applied in an adaptive manner, with excellent results suggesting that smart, compact experiments can be designed in real time.
Advanced Aerodynamic Design of Passive Porosity Control Effectors
NASA Technical Reports Server (NTRS)
Hunter, Craig A.; Viken, Sally A.; Wood, Richard M.; Bauer, Steven X. S.
2001-01-01
This paper describes aerodynamic design work aimed at developing a passive porosity control effector system for a generic tailless fighter aircraft. As part of this work, a computational design tool was developed and used to layout passive porosity effector systems for longitudinal and lateral-directional control at a low-speed, high angle of attack condition. Aerodynamic analysis was conducted using the NASA Langley computational fluid dynamics code USM3D, in conjunction with a newly formulated surface boundary condition for passive porosity. Results indicate that passive porosity effectors can provide maneuver control increments that equal and exceed those of conventional aerodynamic effectors for low-speed, high-alpha flight, with control levels that are a linear function of porous area. This work demonstrates the tremendous potential of passive porosity to yield simple control effector systems that have no external moving parts and will preserve an aircraft's fixed outer mold line.
Control Design for a Motion Cueing on Driving Simulator
NASA Astrophysics Data System (ADS)
de-J. Lozoya-Santos, Jorge; Tudon-Martinez, Juan C.; Salinas, Julio
2017-01-01
A Linear Quadratic Regulator (LQR) has been designed to simulate the pitch and roll vehicle dynamics of a platform which is connected to the real time simulation environment of Dynacar. The motion cueing algorithm translates the movement of the simulated vehicle to the platform using three rotary actuators, by satisfying all actuation boundaries. Experimental results illustrate that the LQR motion cueing algorithm performs satisfactory the tracking control at low frequencies, close to the resonance frequencies of the pitch and roll motion.
Adaptive tracking control of leader-following linear multi-agent systems with external disturbances
NASA Astrophysics Data System (ADS)
Lin, Hanquan; Wei, Qinglai; Liu, Derong; Ma, Hongwen
2016-10-01
In this paper, the consensus problem for leader-following linear multi-agent systems with external disturbances is investigated. Brownian motions are used to describe exogenous disturbances. A distributed tracking controller based on Riccati inequalities with an adaptive law for adjusting coupling weights between neighbouring agents is designed for leader-following multi-agent systems under fixed and switching topologies. In traditional distributed static controllers, the coupling weights depend on the communication graph. However, coupling weights associated with the feedback gain matrix in our method are updated by state errors between neighbouring agents. We further present the stability analysis of leader-following multi-agent systems with stochastic disturbances under switching topology. Most traditional literature requires the graph to be connected all the time, while the communication graph is only assumed to be jointly connected in this paper. The design technique is based on Riccati inequalities and algebraic graph theory. Finally, simulations are given to show the validity of our method.
Process Design Manual for Nitrogen Control.
ERIC Educational Resources Information Center
Parker, Denny S.; And Others
This manual presents theoretical and process design criteria for the implementation of nitrogen control technology in municipal wastewater treatment facilities. Design concepts are emphasized through examination of data from full-scale and pilot installations. Design data are included on biological nitrification and denitrification, breakpoint…
Shielding design of the linear accelerator at RAON: Accelerator tunnel and utility gallery
NASA Astrophysics Data System (ADS)
Kim, Suna; Kang, Bo Sun; Lee, Sangjin; Nam, Shinwoo; Chung, Yeonsei
2015-10-01
RAON is the first Korean heavy-ion accelerator for various rare-isotope experiments and will be constructed by the year of 2021. The building for the about 550-m-long superconducting linear accelerator at RAON has three divisions in the vertical layout: accelerator tunnel, intermediate tunnel, and utility gallery. One of the requirements for the building design is that the effective dose rate in the utility gallery should be well below the dose limit for workers. Other parts of the building underground are classified as high-radiation zones where access is strictly controlled. The radiation dose distribution in the building has been calculated by using the Monte Carlo transport code MCNPX including the radiation streaming effects through the intermediate tunnel and penetrating holes. We have applied a point beam loss model in which the continuous beam loss along the beam line is treated as an equivalent point loss with a simple target. We describe the details of the calculation and discuss the results.
NASA Astrophysics Data System (ADS)
Zhang, Linbo; Zhou, Peiheng; Chen, Haiyan; Lu, Haipeng; Xie, Haiyan; Zhang, Li; Li, En; Xie, Jianliang; Deng, Longjiang
2016-09-01
In this work, a high-efficiency and broadband reflective converter using ultrathin planar metamaterial (MM) composed of single-layered SRR is firstly realized. Numerical and experimental results demonstrate that the cross-polarization conversion reflectance above 0.84 is achieved from 8.6 to 18.6 GHz for linearly polarized (LP) incident waves under normal incidence. Subsequently, a multi-layered MM based on SRR enables a dramatic improvement of the recently demonstrated asymmetric transmission (AT) effect. Theoretical and measured results present that strong one-way transmission of two orthogonally polarized waves crossing C- and K- band has been observed. These two separated AT pass-bands have a function of selective polarization filter, which can be switched on/off by changing the polarization state of incident waves. The physical mechanisms are elucidated by taking advantage of electric fields and current distributions. Considering the broad bandwidth and the dual band, we believe that these two structures will be beneficial for designing polarization-controlled and selective transmission converter.
Zhang, Linbo; Zhou, Peiheng; Chen, Haiyan; Lu, Haipeng; Xie, Haiyan; Zhang, Li; Li, En; Xie, Jianliang; Deng, Longjiang
2016-01-01
In this work, a high-efficiency and broadband reflective converter using ultrathin planar metamaterial (MM) composed of single-layered SRR is firstly realized. Numerical and experimental results demonstrate that the cross-polarization conversion reflectance above 0.84 is achieved from 8.6 to 18.6 GHz for linearly polarized (LP) incident waves under normal incidence. Subsequently, a multi-layered MM based on SRR enables a dramatic improvement of the recently demonstrated asymmetric transmission (AT) effect. Theoretical and measured results present that strong one-way transmission of two orthogonally polarized waves crossing C- and K- band has been observed. These two separated AT pass-bands have a function of selective polarization filter, which can be switched on/off by changing the polarization state of incident waves. The physical mechanisms are elucidated by taking advantage of electric fields and current distributions. Considering the broad bandwidth and the dual band, we believe that these two structures will be beneficial for designing polarization-controlled and selective transmission converter. PMID:27658929
Dynamic optimization and adaptive controller design
NASA Astrophysics Data System (ADS)
Inamdar, S. R.
2010-10-01
In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.
Optimal control concepts in design sensitivity analysis
NASA Technical Reports Server (NTRS)
Belegundu, Ashok D.
1987-01-01
A close link is established between open loop optimal control theory and optimal design by noting certain similarities in the gradient calculations. The resulting benefits include a unified approach, together with physical insights in design sensitivity analysis, and an efficient approach for simultaneous optimal control and design. Both matrix displacement and matrix force methods are considered, and results are presented for dynamic systems, structures, and elasticity problems.
Model predictive control of a combined heat and power plant using local linear models
Kikstra, J.F.; Roffel, B.; Schoen, P.
1998-10-01
Model predictive control has been applied to control of a combined heat and power plant. One of the main features of this plant is that it exhibits nonlinear process behavior due to large throughput swings. In this application, the operating window of the plant has been divided into a number of smaller windows in which the nonlinear process behavior has been approximated by linear behavior. For each operating window, linear step weight models were developed from a detailed nonlinear first principles model, and the model prediction is calculated based on interpolation between these linear models. The model output at each operating point can then be calculated from four basic linear models, and the required control action can subsequently be calculated with the standard model predictive control approach using quadratic programming.
Optimal Control Using Pontryagin's Maximum Principle in a Linear Quadratic Differential Game
NASA Astrophysics Data System (ADS)
Khakestari, Marzieh; Ibragimov, Gafurjan; Suleiman, Mohamed
This paper deals with a class of two person zero-sum linear quadratic differential games, where the control functions for both players subject to integral constraints. Also the necessary conditions of the Maximum Principle are studied. Main objective in this work is to obtain optimal control by using method of Pontryagin's Maximum Principle. This method for a time-varying linear quadratic differential game is described. Finally, we discuss about an example.
Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling.
Eckert, Paulo Roberto; Flores Filho, Aly Ferreira; Perondi, Eduardo; Ferri, Jeferson; Goltz, Evandro
2016-03-11
This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator.
Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling
Eckert, Paulo Roberto; Flores Filho, Aly Ferreira; Perondi, Eduardo; Ferri, Jeferson; Goltz, Evandro
2016-01-01
This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator. PMID:26978370
Resilient Control Systems: Next Generation Design Research
Craig Rieger
2009-05-01
Since digital control systems were introduced to the market more than 30 years ago, the operational efficiency and stability gained through their use have fueled our migration and ultimate dependence on them for the monitoring and control of critical infrastructure. While these systems have been designed for functionality and reliability, a hostile cyber environment and uncertainties in complex networks and human interactions have placed additional parameters on the design expectations for control systems.
Bounded Linear Stability Analysis - A Time Delay Margin Estimation Approach for Adaptive Control
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Ishihara, Abraham K.; Krishnakumar, Kalmanje Srinlvas; Bakhtiari-Nejad, Maryam
2009-01-01
This paper presents a method for estimating time delay margin for model-reference adaptive control of systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent the conventional model-reference adaptive law by a locally bounded linear approximation within a small time window using the comparison lemma. The locally bounded linear approximation of the combined adaptive system is cast in a form of an input-time-delay differential equation over a small time window. The time delay margin of this system represents a local stability measure and is computed analytically by a matrix measure method, which provides a simple analytical technique for estimating an upper bound of time delay margin. Based on simulation results for a scalar model-reference adaptive control system, both the bounded linear stability method and the matrix measure method are seen to provide a reasonably accurate and yet not too conservative time delay margin estimation.
Iterated non-linear model predictive control based on tubes and contractive constraints.
Murillo, M; Sánchez, G; Giovanini, L
2016-05-01
This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.
Nonlinear flight control design using backstepping methodology
NASA Astrophysics Data System (ADS)
Tran, Thanh Trung
The subject of nonlinear flight control design using backstepping control methodology is investigated in the dissertation research presented here. Control design methods based on nonlinear models of the dynamic system provide higher utility and versatility because the design model more closely matches the physical system behavior. Obtaining requisite model fidelity is only half of the overall design process, however. Design of the nonlinear control loops can lessen the effects of nonlinearity, or even exploit nonlinearity, to achieve higher levels of closed-loop stability, performance, and robustness. The goal of the research is to improve control quality for a general class of strict-feedback dynamic systems and provide flight control architectures to augment the aircraft motion. The research is divided into two parts: theoretical control development for the strict-feedback form of nonlinear dynamic systems and application of the proposed theory for nonlinear flight dynamics. In the first part, the research is built on two components: transforming the nonlinear dynamic model to a canonical strict-feedback form and then applying backstepping control theory to the canonical model. The research considers a process to determine when this transformation is possible, and when it is possible, a systematic process to transfer the model is also considered when practical. When this is not the case, certain modeling assumptions are explored to facilitate the transformation. After achieving the canonical form, a systematic design procedure for formulating a backstepping control law is explored in the research. Starting with the simplest subsystem and ending with the full system, pseudo control concepts based on Lyapunov control functions are used to control each successive subsystem. Typically each pseudo control must be solved from a nonlinear algebraic equation. At the end of this process, the physical control input must be re-expressed in terms of the physical states by
Controller design for a morphing, perching aircraft
NASA Astrophysics Data System (ADS)
Hurst, Allen; Garcia, Ephrahim
2011-03-01
This article compares two feedback compensator strategies for the task of guiding a morphing aircraft along a perching trajectory. The aircraft model includes novel, actuated degrees of freedom that allow for bulk movement of some airframe structures. This morphing ability allows the aircraft to perform maneuvers in a manner similar to some birds. The control methods compared in this article are a multi-stage compensator and a linear quadratic regulator. Simulations test the effectiveness of the compensators for initial state error and a trajectory disturbance. In these simulations the linear quadratic regulator outperforms the multi-stage compensator by repeatedly producing smaller state errors and by having lower error standard deviations.
NASA Technical Reports Server (NTRS)
Groom, N. J.
1984-01-01
An overview of magnetic bearing control and linearization approaches which have been considered for annular magnetically suspended devices is presented. These devices include the Annular Momentum Control Device and the Annular Suspension and Pointing System. Two approaches were investigated for controlling the magnetic actuator. One approach involves controlling the upper and lower electromagnets differentially about a bias flux. The bias flux can either be supplied by permanent magnets in the magnetic circuit or by bias currents. In the other approach, either the upper electromagnet or the lower electromagnet is controlled depending on the direction of force required. One advantage of the bias flux is that for small gap perturbations about a fixed operating point, the force-current characteristic is linear. Linearization approaches investigated for individual element control include an analog solution of the nonlinear electromagnet force equation and a microprocessor-based table lookup method.
Design of blade-shaped-electrode linear ion traps with reduced anharmonic contributions
Deng, K.; Che, H.; Ge, Y. P.; Xu, Z. T.; Yuan, W. H.; Zhang, J.; Lu, Z. H.; Lan, Y.
2015-09-21
RF quadrupole linear Paul traps are versatile tools in quantum physics experiments. Linear Paul traps with blade-shaped electrodes have the advantages of larger solid angles for fluorescence collection. But with these kinds of traps, the existence of higher-order anharmonic terms of the trap potentials can cause large heating rate for the trapped ions. In this paper, we theoretically investigate the dependence of higher-order terms of trap potentials on the geometry of blade-shaped traps, and offer an optimized design. A modified blade electrodes trap is proposed to further reduce higher-order anharmonic terms while still retaining large fluorescence collection angle.
NASA Astrophysics Data System (ADS)
Schoerling, Daniel; Antoniou, Fanouria; Bernhard, Axel; Bragin, Alexey; Karppinen, Mikko; Maccaferri, Remo; Mezentsev, Nikolay; Papaphilippou, Yannis; Peiffer, Peter; Rossmanith, Robert; Rumolo, Giovanni; Russenschuck, Stephan; Vobly, Pavel; Zolotarev, Konstantin
2012-04-01
To achieve high luminosity at the collision point of the Compact Linear Collider (CLIC), the normalized horizontal and vertical emittances of the electron and positron beams must be reduced to 500 and 4 nm before the beams enter the 1.5 TeV linear accelerators. An effective way to accomplish ultralow emittances with only small effects on the electron polarization is using damping rings operating at 2.86 GeV equipped with superconducting wiggler magnets. This paper describes a technical design concept for the CLIC damping wigglers.
Design of linear quadratic regulators with eigenvalue placement in a specified region
NASA Technical Reports Server (NTRS)
Shieh, Leang-San; Zhen, Liu; Coleman, Norman P.
1990-01-01
Two linear quadratic regulators are developed for placing the closed-loop poles of linear multivariable continuous-time systems within the common region of an open sector, bounded by lines inclined at +/- pi/2k (for a specified integer k not less than 1) from the negative real axis, and the left-hand side of a line parallel to the imaginary axis in the complex s-plane, and simultaneously minimizing a quadratic performance index. The design procedure mainly involves the solution of either Liapunov equations or Riccati equations. The general expression for finding the lower bound of a constant gain gamma is also developed.
The design of a small linear-resonant, split Stirling cryogenic refrigerator compressor
NASA Technical Reports Server (NTRS)
Ackermann, R. A.
1985-01-01
The development of a small linear-resonant compressor for use in a 1/4-watt, 78K, split Stirling cryogenic refrigerator is discussed. The compressor contains the following special features: (1) a permanent-magnet linear motor; (2) resonant dynamics; (3) dynamic balancing; and (4) a close-clearance seal between the compressor piston and cylinder. This paper describes the design of the compressor, and presents component test data and system test data for the compressor driving a 1/4-watt expander.
An airfoil pitch apparatus-modeling and control design
NASA Astrophysics Data System (ADS)
Andrews, Daniel R.
1989-03-01
The study of dynamic stall of rapidly pitching airfoils is being conducted at NASA Ames Research Center. Understanding this physical phenomenon will aid in improving the maneuverability of fighter aircraft as well as civilian aircraft. A wind tunnel device which can linearly pitch and control an airfoil with rapid dynamic response is needed for such tests. To develop a mechanism capable of high accelerations, an accurate model and control system is created. The model contains mathematical representations of the mechanical system, including mass, spring, and damping characteristics for each structural element, as well as coulomb friction and servovalve saturation. Electrical components, both digital and analog, linear and nonlinear, are simulated. The implementation of such a high-performance system requires detailed control design as well as state-of-the-art components. This paper describes the system model, states the system requirements, and presents results of its theoretical performance which maximizes the structural and hydraulic aspects of this system.
Linear motion device and method for inserting and withdrawing control rods
Smith, J.E.
Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.
Small-angle stability analysis of a linear control system for a high power communication satellite
NASA Technical Reports Server (NTRS)
Omalley, T. A.
1972-01-01
A small angle stability analysis is presented for one particular configuration of a high power communication satellite having a linear control system. Both the central body and the solar array are treated as rigid bodies. The control system studied consists of three-axis control of the central body and one-axis control of the solar array rotation relative to the central body. The results yield preliminary indications of the relation of stability to satellite inertias and control gains.
NASA Astrophysics Data System (ADS)
Methekar, R. N.; Prasad, V.; Gudi, R. D.
To satisfy high power density demand in proton exchange membrane fuel cells (PEMFCs), a robust control strategy is essential. A linear ratio control strategy is examined in this work. The manipulated variables are selected using steady-state relative gain array (RGA) analysis to be the inlet molar flow rates of hydrogen and coolant, and the controlled variables are average power density and average solid temperature, respectively. By selecting proper manipulated variables, the PEMFC does not exhibit sign change in gain and hence can be controlled by using a linear controller. Transfer function models obtained from step tests on the distributed parameter PEMFC model are used to design controllers for the multiple input-multiple output (MIMO) system. In addition, a ratio control strategy is proposed and evaluated, where the inlet molar flow rate of oxygen is used as a dependent manipulated variable and changed in a constant ratio with respect to the inlet molar flow rate of hydrogen. Simulation results show that the ratio control strategy provides a faster response than a MIMO control strategy. This ratio control strategy is able to circumvent the problem of oxygen starvation, and the increase in average solid temperature is small as compared to the MIMO control strategy.