Realizable optimal control for a remotely piloted research vehicle. [stability augmentation

NASA Technical Reports Server (NTRS)

Dunn, H. J.

1980-01-01

The design of a control system using the linear-quadratic regulator (LQR) control law theory for time invariant systems in conjunction with an incremental gradient procedure is presented. The incremental gradient technique reduces the full-state feedback controller design, generated by the LQR algorithm, to a realizable design. With a realizable controller, the feedback gains are based only on the available system outputs instead of being based on the full-state outputs. The design is for a remotely piloted research vehicle (RPRV) stability augmentation system. The design includes methods for accounting for noisy measurements, discrete controls with zero-order-hold outputs, and computational delay errors. Results from simulation studies of the response of the RPRV to a step in the elevator and frequency analysis techniques are included to illustrate these abnormalities and their influence on the controller design.

DISTRIBUTED AMPLIFIER INCORPORATING FEEDBACK

DOEpatents

Bell, P.R. Jr.

1958-10-21

An improved distributed amplifier system employing feedback for stabilization is presented. In accordance with the disclosed invention, a signal to be amplified is applled to one end of a suitable terminated grid transmission line. At intervals along the transmission line, the signal is fed to stable, resistance-capacitance coupled amplifiers incorporating feedback loops therein. The output current from each amplifier is passed through an additional tube to minimize the electrostatic capacitance between the tube elements of the last stage of the amplifier, and fed to appropriate points on an output transmission line, similar to the grid line, but terminated at the opposite (input) end. The output taken from the unterminated end of the plate transmission line is proportional to the input voltage impressed upon the grid line.

Non-fragile observer-based output feedback control for polytopic uncertain system under distributed model predictive control approach

NASA Astrophysics Data System (ADS)

Zhu, Kaiqun; Song, Yan; Zhang, Sunjie; Zhong, Zhaozhun

2017-07-01

In this paper, a non-fragile observer-based output feedback control problem for the polytopic uncertain system under distributed model predictive control (MPC) approach is discussed. By decomposing the global system into some subsystems, the computation complexity is reduced, so it follows that the online designing time can be saved.Moreover, an observer-based output feedback control algorithm is proposed in the framework of distributed MPC to deal with the difficulties in obtaining the states measurements. In this way, the presented observer-based output-feedback MPC strategy is more flexible and applicable in practice than the traditional state-feedback one. What is more, the non-fragility of the controller has been taken into consideration in favour of increasing the robustness of the polytopic uncertain system. After that, a sufficient stability criterion is presented by using Lyapunov-like functional approach, meanwhile, the corresponding control law and the upper bound of the quadratic cost function are derived by solving an optimisation subject to convex constraints. Finally, some simulation examples are employed to show the effectiveness of the method.

Output Feedback Pole-Placement in the Design of Compensators for Suboptimal Linear Quadratic Regulators.

DTIC Science & Technology

1979-06-01

also extended to the class of stabilizable systems and the required compensator shown to possess a separation property. Finally the design methodology...Page 1.1. Block diagram of transfer function given in (1.28) ........... 15 3.3.1. Compensator structure for controllable and stabilizable systems ...response will be stable. The implemented output feedback control law will stabilize the total closed loop system . n nn Let [uin and iJi= 1 be the

Improved methods in neural network-based adaptive output feedback control, with applications to flight control

NASA Astrophysics Data System (ADS)

Kim, Nakwan

Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.

Decentralization, stabilization, and estimation of large-scale linear systems

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Vukcevic, M. B.

1976-01-01

In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

Laser output power stabilization for direct laser writing system by using an acousto-optic modulator.

PubMed

Kim, Dong Ik; Rhee, Hyug-Gyo; Song, Jae-Bong; Lee, Yun-Woo

2007-10-01

We present experimental results on the output power stabilization of an Ar(+) laser for a direct laser writing system (LWS). Instability of the laser output power in the LWS cause resolution fluctuations of being fabricated diffractive optical elements or computer-generated holograms. For the purpose of reducing the power fluctuations, we have constituted a feedback loop with an acousto-optic modulator, a photodetector, and a servo controller. In this system, we have achieved the stability of +/-0.20% for 12 min and the relative intensity noise level of 2.1 x 10(-7) Hz(-12) at 100 Hz. In addition, we applied our system to a 2 mW internal mirror He-Ne laser. As a consequence, we achieved the output power stability of +/-0.12% for 25 min.

Method and apparatus for linear low-frequency feedback in monolithic low-noise charge amplifiers

DOEpatents

DeGeronimo, Gianluigi

2006-02-14

A charge amplifier includes an amplifier, feedback circuit, and cancellation circuit. The feedback circuit includes a capacitor, inverter, and current mirror. The capacitor is coupled across the signal amplifier, the inverter is coupled to the output of the signal amplifier, and the current mirror is coupled to the input of the signal amplifier. The cancellation circuit is coupled to the output of the signal amplifier. A method of charge amplification includes providing a signal amplifier; coupling a first capacitor across the signal amplifier; coupling an inverter to the output of the signal amplifier; coupling a current mirror to the input of the signal amplifier; and coupling a cancellation circuit to the output of the signal amplifier. A front-end system for use with radiation sensors includes a charge amplifier and a current amplifier, shaping amplifier, baseline stabilizer, discriminator, peak detector, timing detector, and logic circuit coupled to the charge amplifier.

Flocking with connectivity preservation for disturbed nonlinear multi-agent systems by output feedback

NASA Astrophysics Data System (ADS)

Li, Ping; Zhang, Baoyong; Ma, Qian; Xu, Shengyuan; Chen, Weimin; Zhang, Zhengqiang

2018-05-01

This paper considers the problem of flocking with connectivity preservation for a class of disturbed nonlinear multi-agent systems. In order to deal with the nonlinearities in the dynamic of all agents, some auxiliary variables are introduced into the state observer for stability analysis. By proposing a bounded potential function and using adaptive theory, a novel output feedback consensus algorithm is developed to guarantee that the states of all agents achieve flocking with connectivity preservation.

Mixed H2/Hinfinity output-feedback control of second-order neutral systems with time-varying state and input delays.

PubMed

Karimi, Hamid Reza; Gao, Huijun

2008-07-01

A mixed H2/Hinfinity output-feedback control design methodology is presented in this paper for second-order neutral linear systems with time-varying state and input delays. Delay-dependent sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller, which guarantees asymptotic stability and a mixed H2/Hinfinity performance for the closed-loop system of the second-order neutral linear system, is then developed directly instead of coupling the model to a first-order neutral system. A Lyapunov-Krasovskii method underlies the LMI-based mixed H2/Hinfinity output-feedback control design using some free weighting matrices. The simulation results illustrate the effectiveness of the proposed methodology.

Quadcopter Path Following Control Design Using Output Feedback with Command Generator Tracker LOS Based At Square Path

NASA Astrophysics Data System (ADS)

Nugraha, A. T.; Agustinah, T.

2018-01-01

Quadcopter an unstable system, underactuated and nonlinear in quadcopter control research developments become an important focus of attention. In this study, following the path control method for position on the X and Y axis, used structure-Generator Tracker Command (CGT) is tested. Attitude control and position feedback quadcopter is compared using the optimal output. The addition of the H∞ performance optimal output feedback control is used to maintain the stability and robustness of quadcopter. Iterative numerical techniques Linear Matrix Inequality (LMI) is used to find the gain controller. The following path control problems is solved using the method of LQ regulators with output feedback. Simulations show that the control system can follow the paths that have been defined in the form of a reference signal square shape. The result of the simulation suggest that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean X=0.5 m and Y=0.2 m.

Robust decentralised stabilisation of uncertain large-scale interconnected nonlinear descriptor systems via proportional plus derivative feedback

NASA Astrophysics Data System (ADS)

Li, Jian; Zhang, Qingling; Ren, Junchao; Zhang, Yanhao

2017-10-01

This paper studies the problem of robust stability and stabilisation for uncertain large-scale interconnected nonlinear descriptor systems via proportional plus derivative state feedback or proportional plus derivative output feedback. The basic idea of this work is to use the well-known differential mean value theorem to deal with the nonlinear model such that the considered nonlinear descriptor systems can be transformed into linear parameter varying systems. By using a parameter-dependent Lyapunov function, a decentralised proportional plus derivative state feedback controller and decentralised proportional plus derivative output feedback controller are designed, respectively such that the closed-loop system is quadratically normal and quadratically stable. Finally, a hypersonic vehicle practical simulation example and numerical example are given to illustrate the effectiveness of the results obtained in this paper.

Robust output feedback H∞ control for networked control systems based on the occurrence probabilities of time delays

NASA Astrophysics Data System (ADS)

Guo, Chenyu; Zhang, Weidong; Bao, Jie

2012-02-01

This article is concerned with the problem of robust H ∞ output feedback control for a kind of networked control systems with time-varying network-induced delays. Instead of using boundaries of time delays to represent all time delays, the occurrence probability of each time delay is considered in H∞ stability analysis and stabilisation. The problem addressed is the design of an output feedback controller such that, for all admissible uncertainties, the resulting closed-loop system is stochastically stable for the zero disturbance input and also simultaneously achieves a prescribed H∞ performance level. It is shown that less conservativeness is obtained. A set of linear matrix inequalities is given to solve the corresponding controller design problem. An example is provided to show the effectiveness and applicability of the proposed method.

Observer-based output feedback control of networked control systems with non-uniform sampling and time-varying delay

NASA Astrophysics Data System (ADS)

Meng, Su; Chen, Jie; Sun, Jian

2017-10-01

This paper investigates the problem of observer-based output feedback control for networked control systems with non-uniform sampling and time-varying transmission delay. The sampling intervals are assumed to vary within a given interval. The transmission delay belongs to a known interval. A discrete-time model is first established, which contains time-varying delay and norm-bounded uncertainties coming from non-uniform sampling intervals. It is then converted to an interconnection of two subsystems in which the forward channel is delay-free. The scaled small gain theorem is used to derive the stability condition for the closed-loop system. Moreover, the observer-based output feedback controller design method is proposed by utilising a modified cone complementary linearisation algorithm. Finally, numerical examples illustrate the validity and superiority of the proposed method.

Act-and-wait time-delayed feedback control of autonomous systems

NASA Astrophysics Data System (ADS)

Pyragas, Viktoras; Pyragas, Kestutis

2018-02-01

Recently an act-and-wait modification of time-delayed feedback control has been proposed for the stabilization of unstable periodic orbits in nonautonomous dynamical systems (Pyragas and Pyragas, 2016 [30]). The modification implies a periodic switching of the feedback gain and makes the closed-loop system finite-dimensional. Here we extend this modification to autonomous systems. In order to keep constant the phase difference between the controlled orbit and the act-and-wait switching function an additional small-amplitude periodic perturbation is introduced. The algorithm can stabilize periodic orbits with an odd number of real unstable Floquet exponents using a simple single-input single-output constraint control.

A multiloop generalization of the circle criterion for stability margin analysis

NASA Technical Reports Server (NTRS)

Safonov, M. G.; Athans, M.

1979-01-01

In order to provide a theoretical tool suited for characterizing the stability margins of multiloop feedback systems, multiloop input-output stability results generalizing the circle stability criterion are considered. Generalized conic sectors with 'centers' and 'radii' determined by linear dynamical operators are employed to specify the stability margins as a frequency dependent convex set of modeling errors (including nonlinearities, gain variations and phase variations) which the system must be able to tolerate in each feedback loop without instability. The resulting stability criterion gives sufficient conditions for closed loop stability in the presence of frequency dependent modeling errors, even when the modeling errors occur simultaneously in all loops. The stability conditions yield an easily interpreted scalar measure of the amount by which a multiloop system exceeds, or falls short of, its stability margin specifications.

Polarization feedback laser stabilization

DOEpatents

Esherick, Peter; Owyoung, Adelbert

1988-01-01

A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other.

Control logic to track the outputs of a command generator or randomly forced target

NASA Technical Reports Server (NTRS)

Trankle, T. L.; Bryson, A. E., Jr.

1977-01-01

A procedure is presented for synthesizing time-invariant control logic to cause the outputs of a linear plant to track the outputs of an unforced (or randomly forced) linear dynamic system. The control logic uses feed-forward of the reference system state variables and feedback of the plant state variables. The feed-forward gains are obtained from the solution of a linear algebraic matrix equation of the Liapunov type. The feedback gains are the usual regulator gains, determined to stabilize (or augment the stability of) the plant, possibly including integral control. The method is applied here to the design of control logic for a second-order servomechanism to follow a linearly increasing (ramp) signal, an unstable third-order system with two controls to track two separate ramp signals, and a sixth-order system with two controls to track a constant signal and an exponentially decreasing signal (aircraft landing-flare or glide-slope-capture with constant velocity).

Design, parametrization, and pole placement of stabilizing output feedback compensators via injective cogenerator quotient signal modules.

PubMed

Blumthaler, Ingrid; Oberst, Ulrich

2012-03-01

Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ℱ over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior ensures the absence of impulsive solutions in the continuous case, and that of the compensator enables its realization by Kalman state space equations or elementary building blocks. We note that every behavior admits an IO decomposition with proper transfer matrix, but that most of these decompositions do not have this property, and therefore we do not assume the properness of the plant. (4) The new technique can also be applied to more general control interconnections according to Willems, in particular to two-parameter feedback compensators and to the recent tracking framework of Fiaz/Takaba/Trentelman. In contrast to these authors, however, we pay special attention to the properness of all constructed transfer matrices which requires more subtle algorithms.

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

PubMed

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Fuzzy Adaptive Output Feedback Control of Uncertain Nonlinear Systems With Prescribed Performance.

PubMed

Zhang, Jin-Xi; Yang, Guang-Hong

2018-05-01

This paper investigates the tracking control problem for a family of strict-feedback systems in the presence of unknown nonlinearities and immeasurable system states. A low-complexity adaptive fuzzy output feedback control scheme is proposed, based on a backstepping method. In the control design, a fuzzy adaptive state observer is first employed to estimate the unmeasured states. Then, a novel error transformation approach together with a new modification mechanism is introduced to guarantee the finite-time convergence of the output error to a predefined region and ensure the closed-loop stability. Compared with the existing methods, the main advantages of our approach are that: 1) without using extra command filters or auxiliary dynamic surface control techniques, the problem of explosion of complexity can still be addressed and 2) the design procedures are independent of the initial conditions. Finally, two practical examples are performed to further illustrate the above theoretic findings.

Feedback-Equivalence of Nonlinear Systems with Applications to Power System Equations.

NASA Astrophysics Data System (ADS)

Marino, Riccardo

The key concept of the dissertation is feedback equivalence among systems affine in control. Feedback equivalence to linear systems in Brunovsky canonical form and the construction of the corresponding feedback transformation are used to: (i) design a nonlinear regulator for a detailed nonlinear model of a synchronous generator connected to an infinite bus; (ii) establish which power system network structures enjoy the feedback linearizability property and design a stabilizing control law for these networks with a constraint on the control space which comes from the use of d.c. lines. It is also shown that the feedback linearizability property allows the use of state feedback to contruct a linear controllable system with a positive definite linear Hamiltonian structure for the uncontrolled part if the state space is even; a stabilizing control law is derived for such systems. Feedback linearizability property is characterized by the involutivity of certain nested distributions for strongly accessible analytic systems; if the system is defined on a manifold M diffeomorphic to the Euclidean space, it is established that the set where the property holds is a submanifold open and dense in M. If an analytic output map is defined, a set of nested involutive distributions can be always defined and that allows the introduction of an observability property which is the dual concept, in some sense, to feedback linearizability: the goal is to investigate when a nonlinear system affine in control with an analytic output map is feedback equivalent to a linear controllable and observable system. Finally a nested involutive structure of distributions is shown to guarantee the existence of a state feedback that takes a nonlinear system affine in control to a single input one, both feedback equivalent to linear controllable systems, preserving one controlled vector field.

Adaptive Neural Output Feedback Control for Nonstrict-Feedback Stochastic Nonlinear Systems With Unknown Backlash-Like Hysteresis and Unknown Control Directions.

PubMed

Yu, Zhaoxu; Li, Shugang; Yu, Zhaosheng; Li, Fangfei

2018-04-01

This paper investigates the problem of output feedback adaptive stabilization for a class of nonstrict-feedback stochastic nonlinear systems with both unknown backlashlike hysteresis and unknown control directions. A new linear state transformation is applied to the original system, and then, control design for the new system becomes feasible. By combining the neural network's (NN's) parameterization, variable separation technique, and Nussbaum gain function method, an input-driven observer-based adaptive NN control scheme, which involves only one parameter to be updated, is developed for such systems. All closed-loop signals are bounded in probability and the error signals remain semiglobally bounded in the fourth moment (or mean square). Finally, the effectiveness and the applicability of the proposed control design are verified by two simulation examples.

Polarization feedback laser stabilization

DOEpatents

Esherick, P.; Owyoung, A.

1987-09-28

A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other. 4 figs.

STABILIZED FEEDBACK AMPLIFIER

DOEpatents

Fishbine, H.L.; Sewell, C. Jr.

1957-08-01

Negative feedback amplifiers, and particularly a negative feedback circuit which is economical on amode power consumption, are described. Basically, the disclosed circuit comprises two tetrode tubes where the output of the first tube is capacitamce coupled to the grid of the second tube, which in turn has its plate coupled to the cathode of the first tube to form a degenerative feedback circuit. Operating potential for screen of the second tube is supplied by connecting the cathode resistor of the first tube to the screen, while the screen is by-passed to the cathode of its tube for the amplified frequencies. Also, the amplifier incorporates a circuit to stabilize the transconductance of the tubes by making the grid potential of each tube interdependent on anode currents of both lubes by voltage divider circuitry.

Integrated Flight/Structural Mode Control for Very Flexible Aircraft Using L1 Adaptive Output Feedback Controller

NASA Technical Reports Server (NTRS)

Che, Jiaxing; Cao, Chengyu; Gregory, Irene M.

2012-01-01

This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.

Data-driven model reference control of MIMO vertical tank systems with model-free VRFT and Q-Learning.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Roman, Raul-Cristian

2018-02-01

This paper proposes a combined Virtual Reference Feedback Tuning-Q-learning model-free control approach, which tunes nonlinear static state feedback controllers to achieve output model reference tracking in an optimal control framework. The novel iterative Batch Fitted Q-learning strategy uses two neural networks to represent the value function (critic) and the controller (actor), and it is referred to as a mixed Virtual Reference Feedback Tuning-Batch Fitted Q-learning approach. Learning convergence of the Q-learning schemes generally depends, among other settings, on the efficient exploration of the state-action space. Handcrafting test signals for efficient exploration is difficult even for input-output stable unknown processes. Virtual Reference Feedback Tuning can ensure an initial stabilizing controller to be learned from few input-output data and it can be next used to collect substantially more input-state data in a controlled mode, in a constrained environment, by compensating the process dynamics. This data is used to learn significantly superior nonlinear state feedback neural networks controllers for model reference tracking, using the proposed Batch Fitted Q-learning iterative tuning strategy, motivating the original combination of the two techniques. The mixed Virtual Reference Feedback Tuning-Batch Fitted Q-learning approach is experimentally validated for water level control of a multi input-multi output nonlinear constrained coupled two-tank system. Discussions on the observed control behavior are offered. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A control problem for Burgers' equation with bounded input/output

NASA Technical Reports Server (NTRS)

Burns, John A.; Kang, Sungkwon

1990-01-01

A stabilization problem for Burgers' equation is considered. Using linearization, various controllers are constructed which minimize certain weighted energy functionals. These controllers produce the desired degree of stability for the closed-loop nonlinear system. A numerical scheme for computing the feedback gain functional is developed and several numerical experiments are performed to show the theoretical results.

Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach

NASA Technical Reports Server (NTRS)

Pei, Jing; Newsome, Jerry R.

2015-01-01

Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.

Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control.

PubMed

Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid

2017-03-01

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback stabilization system for pulsed single longitudinal mode tunable lasers

DOEpatents

Esherick, Peter; Raymond, Thomas D.

1991-10-01

A feedback stabilization system for pulse single longitudinal mode tunable lasers having an excited laser medium contained within an adjustable length cavity and producing a laser beam through the use of an internal dispersive element, including detection of angular deviation in the output laser beam resulting from detuning between the cavity mode frequency and the passband of the internal dispersive element, and generating an error signal based thereon. The error signal can be integrated and amplified and then applied as a correcting signal to a piezoelectric transducer mounted on a mirror of the laser cavity for controlling the cavity length.

QFT Multi-Input, Multi-Output Design with Non-Diagonal, Non-Square Compensation Matrices

NASA Technical Reports Server (NTRS)

Hess, R. A.; Henderson, D. K.

1996-01-01

A technique for obtaining a non-diagonal compensator for the control of a multi-input, multi-output plant is presented. The technique, which uses Quantitative Feedback Theory, provides guaranteed stability and performance robustness in the presence of parametric uncertainty. An example is given involving the lateral-directional control of an uncertain model of a high-performance fighter aircraft in which redundant control effectors are in evidence, i.e. more control effectors than output variables are used.

Deadbeat Predictive Controllers

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh

1997-01-01

Several new computational algorithms are presented to compute the deadbeat predictive control law. The first algorithm makes use of a multi-step-ahead output prediction to compute the control law without explicitly calculating the controllability matrix. The system identification must be performed first and then the predictive control law is designed. The second algorithm uses the input and output data directly to compute the feedback law. It combines the system identification and the predictive control law into one formulation. The third algorithm uses an observable-canonical form realization to design the predictive controller. The relationship between all three algorithms is established through the use of the state-space representation. All algorithms are applicable to multi-input, multi-output systems with disturbance inputs. In addition to the feedback terms, feed forward terms may also be added for disturbance inputs if they are measurable. Although the feedforward terms do not influence the stability of the closed-loop feedback law, they enhance the performance of the controlled system.

Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach

NASA Astrophysics Data System (ADS)

Yoo, Sung Jin

2016-11-01

This paper presents a theoretical design approach for output-feedback formation tracking of multiple mobile robots under wheel perturbations. It is assumed that these perturbations are unknown and the linear and angular velocities of the robots are unmeasurable. First, adaptive state observers for estimating unmeasurable velocities of the robots are developed under the robots' kinematics and dynamics including wheel perturbation effects. Then, we derive a virtual-structure-based formation tracker scheme according to the observer dynamic surface design procedure. The main difficulty of the output-feedback control design is to manage the coupling problems between unmeasurable velocities and unknown wheel perturbation effects. These problems are avoided by using the adaptive technique and the function approximation property based on fuzzy logic systems. From the Lyapunov stability analysis, it is shown that point tracking errors of each robot and synchronisation errors for the desired formation converge to an adjustable neighbourhood of the origin, while all signals in the controlled closed-loop system are semiglobally uniformly ultimately bounded.

Short- and longtime stability of therapeutic ultrasound reference sources for dosimetry and exposimetry purposes

NASA Astrophysics Data System (ADS)

Haller, J.; Wilkens, V.

2017-03-01

The objective of this work was to create highly stable therapeutic ultrasound fields with well-known exposimetry and dosimetry parameters that are reproducible and hence predictable with well-known uncertainties. Such well- known and reproducible fields would allow validation and secondary calibrations of different measuring capabilities, which is already a widely accepted strategy for diagnostic fields. For this purpose, a reference setup was established that comprises two therapeutic ultrasound sources (one High-Intensity Therapeutic Ultrasound (HITU) source and one physiotherapy-like source), standard rf electronics for signal creation, and computer-controlled feedback to stabilize the input voltage. The short- and longtime stability of the acoustic output were evaluated - for the former, measurements over typical laboratory measurement time periods (i.e. some seconds or minutes) of the input voltage stability with and without feedback control were performed. For the latter, measurements of typical acoustical exposimetry parameters were performed bimonthly over one year. The measurement results show that the short- and the longtime stability of the reference setup are very good and that it is especially significantly improved in comparison to a setup without any feedback control.

The NATO III 5 MHz Distribution System

NASA Technical Reports Server (NTRS)

Vulcan, A.; Bloch, M.

1981-01-01

A high performance 5 MHz distribution system is described which has extremely low phase noise and jitter characteristics and provides multiple buffered outputs. The system is completely redundant with automatic switchover and is self-testing. Since the 5 MHz reference signals distributed by the NATO III distribution system are used for up-conversion and multiplicative functions, a high degree of phase stability and isolation between outputs is necessary. Unique circuit design and packaging concepts insure that the isolation between outputs is sufficient to quarantee a phase perturbation of less than 0.0016 deg when other outputs are open circuited, short circuited or terminated in 50 ohms. Circuit design techniques include high isolation cascode amplifiers. Negative feedback stabilizes system gain and minimizes circuit phase noise contributions. Balanced lines, in lieu of single ended coaxial transmission media, minimize pickup.

Log amplifier with pole-zero compensation

DOEpatents

Brookshier, William

1987-01-01

A logarithmic amplifier circuit provides pole-zero compensation for improved stability and response time over 6-8 decades of input signal frequency. The amplifier circuit includes a first operational amplifier with a first feedback loop which includes a second, inverting operational amplifier in a second feedback loop. The compensated output signal is provided by the second operational amplifier with the log elements, i.e., resistors, and the compensating capacitors in each of the feedback loops having equal values so that each break point or pole is offset by a compensating break point or zero.

Flight-determined stability analysis of multiple-input-multiple-output control systems

NASA Technical Reports Server (NTRS)

Burken, John J.

1992-01-01

Singular value analysis can give conservative stability margin results. Applying structure to the uncertainty can reduce this conservatism. This paper presents flight-determined stability margins for the X-29A lateral-directional, multiloop control system. These margins are compared with the predicted unscaled singular values and scaled structured singular values. The algorithm was further evaluated with flight data by changing the roll-rate-to-aileron command-feedback gain by +/- 20 percent. Minimum eigenvalues of the return difference matrix which bound the singular values are also presented. Extracting multiloop singular values from flight data and analyzing the feedback gain variations validates this technique as a measure of robustness. This analysis can be used for near-real-time flight monitoring and safety testing.

Flight-determined stability analysis of multiple-input-multiple-output control systems

NASA Technical Reports Server (NTRS)

Burken, John J.

1992-01-01

Singular value analysis can give conservative stability margin results. Applying structure to the uncertainty can reduce this conservatism. This paper presents flight-determined stability margins for the X-29A lateral-directional, multiloop control system. These margins are compared with the predicted unscaled singular values and scaled structured singular values. The algorithm was further evaluated with flight data by changing the roll-rate-to-aileron-command-feedback gain by +/- 20 percent. Also presented are the minimum eigenvalues of the return difference matrix which bound the singular values. Extracting multiloop singular values from flight data and analyzing the feedback gain variations validates this technique as a measure of robustness. This analysis can be used for near-real-time flight monitoring and safety testing.

Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements.

PubMed

Hu, Qinglei; Zhang, Jian

2015-01-01

This paper investigates finite-time relative position coordinated tracking problem by output feedback for spacecraft formation flying without velocity measurement. By employing homogeneous system theory, a finite-time relative position coordinated tracking controller by state feedback is firstly developed, where the desired time-varying trajectory given in advance can be tracked by the formation. Then, to address the problem of lack of velocity measurements, a finite-time output feedback controller is proposed by involving a novel filter to recover unknown velocity information in a finite time. Rigorous proof shows that the proposed control law ensures global stability and guarantees the position of spacecraft formation to track a time-varying reference in finite time. Finally, simulation results are presented to illustrate the performance of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Design of vaccination and fumigation on Host-Vector Model by input-output linearization method

NASA Astrophysics Data System (ADS)

Nugraha, Edwin Setiawan; Naiborhu, Janson; Nuraini, Nuning

2017-03-01

Here, we analyze the Host-Vector Model and proposed design of vaccination and fumigation to control infectious population by using feedback control especially input-output liniearization method. Host population is divided into three compartments: susceptible, infectious and recovery. Whereas the vector population is divided into two compartment such as susceptible and infectious. In this system, vaccination and fumigation treat as input factors and infectious population as output result. The objective of design is to stabilize of the output asymptotically tend to zero. We also present the examples to illustrate the design model.

Complex Dynamics in a Triopoly Game with Multiple Delays in the Competition of Green Product Level

NASA Astrophysics Data System (ADS)

Si, Fengshan; Ma, Junhai

Research on the output game behavior of oligopoly has greatly advanced in recent years. But many unknowns remain, particularly the influence of consumers’ willingness to buy green products on the oligopoly output game. This paper constructs a triopoly output game model with multiple delays in the competition of green products. The influence of the parameters on the stability and complexity of the system is studied by analyzing the existence and local asymptotic stability of the equilibrium point. It is found that the system loses stability and increases complexity if delay parameters exceed a certain range. In the unstable or chaotic game market, the decisions of oligopoly will be counterproductive. It is also observed that the influence of weight and output adjustment speed on the firm itself is obviously stronger than the influence of other firms. In addition, it is important that weight and output adjustment speed cannot increase indefinitely, otherwise it will bring unnecessary losses to the firm. Finally, chaos control is realized by using the variable feedback control method. The research results of this paper can provide a reference for decision-making for the output of the game of oligopoly.

Global output feedback control for a class of high-order feedforward nonlinear systems with input delay.

PubMed

Zha, Wenting; Zhai, Junyong; Fei, Shumin

2013-07-01

This paper investigates the problem of output feedback stabilization for a class of high-order feedforward nonlinear systems with time-varying input delay. First, a scaling gain is introduced into the system under a set of coordinate transformations. Then, the authors construct an observer and controller to make the nominal system globally asymptotically stable. Based on homogeneous domination approach and Lyapunov-Krasovskii functional, it is shown that the closed-loop system can be rendered globally asymptotically stable by the scaling gain. Finally, two simulation examples are provided to illustrate the effectiveness of the proposed scheme. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

ULTRA-STABILIZED D. C. AMPLIFIER

DOEpatents

Hartwig, E.C.; Kuenning, R.W.; Acker, R.C.

1959-02-17

An improved circuit is described for stabilizing the drift and minimizing the noise and hum level of d-c amplifiers so that the output voltage will be zero when the input is zero. In its detailed aspects, the disclosed circuit incorporates a d-c amplifier having a signal input, a second input, and an output circuit coupled back to the first input of the amplifier through inverse feedback means. An electronically driven chopper having a pair of fixed contacts and a moveable contact alternately connects the two inputs of a difference amplifier to the signal input. The A. E. error signal produced in the difference amplifier is amplified, rectified, and applied to the second input of the amplifier as the d-c stabilizing voltage.

Position-sensitive proportional counter with low-resistance metal-wire anode

DOEpatents

Kopp, Manfred K.

1980-01-01

A position-sensitive proportional counter circuit is provided which allows the use of a conventional (low-resistance, metal-wire anode) proportional counter for spatial resolution of an ionizing event along the anode of the counter. A pair of specially designed active-capacitance preamplifiers are used to terminate the anode ends wherein the anode is treated as an RC line. The preamplifiers act as stabilized active capacitance loads and each is composed of a series-feedback, low-noise amplifier, a unity-gain, shunt-feedback amplifier whose output is connected through a feedback capacitor to the series-feedback amplifier input. The stabilized capacitance loading of the anode allows distributed RC-line position encoding and subsequent time difference decoding by sensing the difference in rise times of pulses at the anode ends where the difference is primarily in response to the distributed capacitance along the anode. This allows the use of lower resistance wire anodes for spatial radiation detection which simplifies the counter construction and handling of the anodes, and stabilizes the anode resistivity at high count rates (>10.sup.6 counts/sec).

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2018-01-01

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Laterally coupled distributed feedback type-I quantum well cascade diode lasers emitting near 3.22  μm.

PubMed

Feng, Tao; Hosoda, Takashi; Shterengas, Leon; Kipshidze, Gela; Stein, Aaron; Lu, Ming; Belenky, Gregory

2017-11-01

The laterally coupled distributed feedback (LC-DFB) GaSb-based type-I quantum well cascade diode lasers using the second- and the sixth-order gratings to stabilize the output spectrum near 3.22 μm were designed and fabricated. The laser heterostructure contained three cascades. The devices were manufactured using a single dry etching step defining the ∼5-μm-wide ridge with ∼5-μm-wide gratings sections adjacent to the ridge sides. The grating coupling coefficients were estimated to be about 1  cm -1 . The stability of the single-frequency operation was ensured by alignment of the DFB mode to the relatively wide gain peak. The 2-mm-long second-order LC-DFB lasers generated above 10 mW of continuous-wave (CW) output power at 20°C in epi-side-up configuration and demonstrated power conversion efficiency above 2%. The sixth-order LC-DFB lasers showed lower efficiency but still generated several milliwatts of CW output power. The devices demonstrated a CW current tuning range of about 3.5 nm at the temperature of 20°C.

A flatness-based control approach to drug infusion for cardiac function regulation

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Zervos, Nikolaos; Melkikh, Alexey

2016-12-01

A new control method based on differential flatness theory is developed in this article, aiming at solving the problem of regulation of haemodynamic parameters, Actually control of the cardiac output (volume of blood pumped out by heart per unit of time) and of the arterial blood pressure is achieved through the administered infusion of cardiovascular drugs, such as dopamine and sodium nitroprusside. Time delays between the control inputs and the system's outputs are taken into account. Using the principle of dynamic extension, which means that by considering certain control inputs and their derivatives as additional state variables, a state-space description for the heart's function is obtained. It is proven that the dynamic model of the heart is a differentially flat one. This enables its transformation into a linear canonical and decoupled form, for which the design of a stabilizing feedback controller becomes possible. The proposed feedback controller is of proven stability and assures fast and accurate tracking of the reference setpoints by the outputs of the heart's dynamic model. Moreover, by using a Kalman Filter-based disturbances' estimator, it becomes possible to estimate in real-time and compensate for the model uncertainty and external perturbation inputs that affect the heart's model.

Laterally coupled distributed feedback type-I quantum well cascade diode lasers emitting near 3.22 μm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Feng, Tao; Hosoda, Takashi; Shterengas, Leon

The laterally coupled distributed feedback (LC-DFB) GaSb-based type-I quantum well cascade diode lasers using the second- and the sixth-order gratings to stabilize the output spectrum near 3.22 μm were designed and fabricated in this paper. The laser heterostructure contained three cascades. The devices were manufactured using a single dry etching step defining the ~5-μm-wide ridge with ~5-μm-wide gratings sections adjacent to the ridge sides. The grating coupling coefficients were estimated to be about 1 cm -1. The stability of the single-frequency operation was ensured by alignment of the DFB mode to the relatively wide gain peak. The 2-mm-long second-order LC-DFBmore » lasers generated above 10 mW of continuous-wave (CW) output power at 20°C in epi-side-up configuration and demonstrated power conversion efficiency above 2%. The sixth-order LC-DFB lasers showed lower efficiency but still generated several milliwatts of CW output power. Finally, the devices demonstrated a CW current tuning range of about 3.5 nm at the temperature of 20°C.« less

Laterally coupled distributed feedback type-I quantum well cascade diode lasers emitting near 3.22 μm

DOE PAGES

Feng, Tao; Hosoda, Takashi; Shterengas, Leon; ...

2017-10-18

The laterally coupled distributed feedback (LC-DFB) GaSb-based type-I quantum well cascade diode lasers using the second- and the sixth-order gratings to stabilize the output spectrum near 3.22 μm were designed and fabricated in this paper. The laser heterostructure contained three cascades. The devices were manufactured using a single dry etching step defining the ~5-μm-wide ridge with ~5-μm-wide gratings sections adjacent to the ridge sides. The grating coupling coefficients were estimated to be about 1 cm -1. The stability of the single-frequency operation was ensured by alignment of the DFB mode to the relatively wide gain peak. The 2-mm-long second-order LC-DFBmore » lasers generated above 10 mW of continuous-wave (CW) output power at 20°C in epi-side-up configuration and demonstrated power conversion efficiency above 2%. The sixth-order LC-DFB lasers showed lower efficiency but still generated several milliwatts of CW output power. Finally, the devices demonstrated a CW current tuning range of about 3.5 nm at the temperature of 20°C.« less

Robust output feedback stabilization for a flexible marine riser system.

PubMed

Zhao, Zhijia; Liu, Yu; Guo, Fang

2017-12-06

The aim of this paper is to develop a boundary control for the vibration reduction of a flexible marine riser system in the presence of parametric uncertainties and system states obtained inaccurately. To this end, an adaptive output feedback boundary control is proposed to suppress the riser's vibration fusing with observer-based backstepping, high-gain observers and robust adaptive control theory. In addition, the parameter adaptive laws are designed to compensate for the system parametric uncertainties, and the disturbance observer is introduced to mitigate the effects of external environmental disturbance. The uniformly bounded stability of the closed-loop system is achieved through rigorous Lyapunov analysis without any discretisation or simplification of the dynamics in the time and space, and the state observer error is ensured to exponentially converge to zero as time grows to infinity. In the end, the simulation and comparison studies are carried out to illustrate the performance of the proposed control under the proper choice of the design parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator

NASA Astrophysics Data System (ADS)

Shao, Xingling; Liu, Jun; Wang, Honglun

2018-05-01

In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of "explosion of complexity" in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.

Adaptive Neural Output-Feedback Control for a Class of Nonlower Triangular Nonlinear Systems With Unmodeled Dynamics.

PubMed

Wang, Huanqing; Liu, Peter Xiaoping; Li, Shuai; Wang, Ding

2017-08-29

This paper presents the development of an adaptive neural controller for a class of nonlinear systems with unmodeled dynamics and immeasurable states. An observer is designed to estimate system states. The structure consistency of virtual control signals and the variable partition technique are combined to overcome the difficulties appearing in a nonlower triangular form. An adaptive neural output-feedback controller is developed based on the backstepping technique and the universal approximation property of the radial basis function (RBF) neural networks. By using the Lyapunov stability analysis, the semiglobally and uniformly ultimate boundedness of all signals within the closed-loop system is guaranteed. The simulation results show that the controlled system converges quickly, and all the signals are bounded. This paper is novel at least in the two aspects: 1) an output-feedback control strategy is developed for a class of nonlower triangular nonlinear systems with unmodeled dynamics and 2) the nonlinear disturbances and their bounds are the functions of all states, which is in a more general form than existing results.

Feedback system design with an uncertain plant

NASA Technical Reports Server (NTRS)

Milich, D.; Valavani, L.; Athans, M.

1986-01-01

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-input single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Low noise charge sensitive preamplifier DC stabilized without a physical resistor

DOEpatents

Bertuccio, Giuseppe; Rehak, Pavel; Xi, Deming

1994-09-13

The invention is a novel charge sensitive preamplifier (CSP) which has no resistor in parallel with the feedback capacitor. No resetting circuit is required to discharge the feedback capacitor. The DC stabilization of the preamplifier is obtained by means of a second feedback loop between the preamplifier output and the common base transistor of the input cascode. The input transistor of the preamplifier is a Junction Field Transistor (JFET) with the gate-source junction forward biased. The detector leakage current flows into this junction. This invention is concerned with a new circuit configuration for a charge sensitive preamplifier and a novel use of the input Field Effect Transistor of the CSP itself. In particular this invention, in addition to eliminating the feedback resistor, eliminates the need for external devices between the detector and the preamplifier, and it eliminates the need for external circuitry to sense the output voltage and reset the CSP. Furthermore, the noise level of the novel CSP is very low, comparable with the performance achieved with other solutions. Experimental tests prove that this configuration for the charge sensitive preamplifier permits an excellent noise performance at temperatures including room temperature. An equivalent noise charge of less than 20 electrons r.m.s. has been measured at room temperature by using a commercial JFET as input device of the preamplifier.

Low noise charge sensitive preamplifier DC stabilized without a physical resistor

DOEpatents

Bertuccio, G.; Rehak, P.; Xi, D.

1994-09-13

The invention is a novel charge sensitive preamplifier (CSP) which has no resistor in parallel with the feedback capacitor. No resetting circuit is required to discharge the feedback capacitor. The DC stabilization of the preamplifier is obtained by means of a second feedback loop between the preamplifier output and the common base transistor of the input cascode. The input transistor of the preamplifier is a Junction Field Transistor (JFET) with the gate-source junction forward biased. The detector leakage current flows into this junction. This invention is concerned with a new circuit configuration for a charge sensitive preamplifier and a novel use of the input Field Effect Transistor of the CSP itself. In particular this invention, in addition to eliminating the feedback resistor, eliminates the need for external devices between the detector and the preamplifier, and it eliminates the need for external circuitry to sense the output voltage and reset the CSP. Furthermore, the noise level of the novel CSP is very low, comparable with the performance achieved with other solutions. Experimental tests prove that this configuration for the charge sensitive preamplifier permits an excellent noise performance at temperatures including room temperature. An equivalent noise charge of less than 20 electrons r.m.s. has been measured at room temperature by using a commercial JFET as input device of the preamplifier. 6 figs.

Adaptive neural output-feedback control for nonstrict-feedback time-delay fractional-order systems with output constraints and actuator nonlinearities.

PubMed

Zouari, Farouk; Ibeas, Asier; Boulkroune, Abdesselem; Cao, Jinde; Mehdi Arefi, Mohammad

2018-06-01

This study addresses the issue of the adaptive output tracking control for a category of uncertain nonstrict-feedback delayed incommensurate fractional-order systems in the presence of nonaffine structures, unmeasured pseudo-states, unknown control directions, unknown actuator nonlinearities and output constraints. Firstly, the mean value theorem and the Gaussian error function are introduced to eliminate the difficulties that arise from the nonaffine structures and the unknown actuator nonlinearities, respectively. Secondly, the immeasurable tracking error variables are suitably estimated by constructing a fractional-order linear observer. Thirdly, the neural network, the Razumikhin Lemma, the variable separation approach, and the smooth Nussbaum-type function are used to deal with the uncertain nonlinear dynamics, the unknown time-varying delays, the nonstrict feedback and the unknown control directions, respectively. Fourthly, asymmetric barrier Lyapunov functions are employed to overcome the violation of the output constraints and to tune online the parameters of the adaptive neural controller. Through rigorous analysis, it is proved that the boundedness of all variables in the closed-loop system and the semi global asymptotic tracking are ensured without transgression of the constraints. The principal contributions of this study can be summarized as follows: (1) based on Caputo's definitions and new lemmas, methods concerning the controllability, observability and stability analysis of integer-order systems are extended to fractional-order ones, (2) the output tracking objective for a relatively large class of uncertain systems is achieved with a simple controller and less tuning parameters. Finally, computer-simulation studies from the robotic field are given to demonstrate the effectiveness of the proposed controller. Copyright © 2018 Elsevier Ltd. All rights reserved.

On regulators with a prescribed degree of stability. M.S. Thesis

NASA Technical Reports Server (NTRS)

Ng, P. T. P.

1981-01-01

Several important aspects of the Regulator with a Prescribed Degree of Stability (RPDS) methodology and its applications are considered. The solution of the time varying RPDS problem as well as the characterization of RPDS closed loop eigenstructure properties are obtained. Based on the asymptotic behavior of RPDS root loci, a one step algorithm for designing Regulators with Prescribed Damping Ratio (RPDR) is developed. The robustness properties of RPDS are characterized in terms of the properties of the return difference and the inverse return difference matrices for the RPDS state feedback loop. This class of regulators is found to possess excellent multiloop margins with respect to stability and degree of stability properties. The ability of RPDS design to tolerate changing operating conditions and unmodelled dynamics are illustrated with a multiterminal dc/ac power system example. The output feedback realization of RPDS requires the use of Linear Quadratic Gaussian (LQG) methodology.

A new decentralised controller design method for a class of strongly interconnected systems

NASA Astrophysics Data System (ADS)

Duan, Zhisheng; Jiang, Zhong-Ping; Huang, Lin

2017-02-01

In this paper, two interconnected structures are first discussed, under which some closed-loop subsystems must be unstable to make the whole interconnected system stable, which can be viewed as a kind of strongly interconnected systems. Then, comparisons with small gain theorem are discussed and large gain interconnected characteristics are shown. A new approach for the design of decentralised controllers is presented by determining the Lyapunov function structure previously, which allows the existence of unstable subsystems. By fully utilising the orthogonal space information of input matrix, some new understandings are presented for the construction of Lyapunov matrix. This new method can deal with decentralised state feedback, static output feedback and dynamic output feedback controllers in a unified framework. Furthermore, in order to reduce the design conservativeness and deal with robustness, a new robust decentralised controller design method is given by combining with the parameter-dependent Lyapunov function method. Some basic rules are provided for the choice of initial variables in Lyapunov matrix or new introduced slack matrices. As byproducts, some linear matrix inequality based sufficient conditions are established for centralised static output feedback stabilisation. Effects of unstable subsystems in nonlinear Lur'e systems are further discussed. The corresponding decentralised controller design method is presented for absolute stability. The examples illustrate that the new method is significantly effective.

Active-bridge oscillator

DOEpatents

Wessendorf, Kurt O.

2001-01-01

An active bridge oscillator is formed from a differential amplifier where positive feedback is a function of the impedance of one of the gain elements and a relatively low value common emitter resistance. This use of the nonlinear transistor parameter h stabilizes the output and eliminates the need for ALC circuits common to other bridge oscillators.

Real Time Trajectory Planning for Groups of Unmanned Vehicles

DTIC Science & Technology

2005-08-22

positions of the robots, and a third set determines the local relations of the neighboring robots. They have used a nonholonomic kinematic model for the...Note that the vehicles are not physically coupled in any way. A feedback control law for control inputs F.2 and T2 miust be determined to control... Vb12 71 = 01 + 01 2 - 02 The goal is finding a control law for the two inputs [F2 , T2] to stabilize the outputs. Therefore, the input-output equations

Spacecraft nonlinear control

NASA Technical Reports Server (NTRS)

Sheen, Jyh-Jong; Bishop, Robert H.

1992-01-01

The feedback linearization technique is applied to the problem of spacecraft attitude control and momentum management with control moment gyros (CMGs). The feedback linearization consists of a coordinate transformation, which transforms the system to a companion form, and a nonlinear feedback control law to cancel the nonlinear dynamics resulting in a linear equivalent model. Pole placement techniques are then used to place the closed-loop poles. The coordinate transformation proposed here evolves from three output functions of relative degree four, three, and two, respectively. The nonlinear feedback control law is presented. Stability in a neighborhood of a controllable torque equilibrium attitude (TEA) is guaranteed and this fact is demonstrated by the simulation results. An investigation of the nonlinear control law shows that singularities exist in the state space outside the neighborhood of the controllable TEA. The nonlinear control law is simplified by a standard linearization technique and it is shown that the linearized nonlinear controller provides a natural way to select control gains for the multiple-input, multiple-output system. Simulation results using the linearized nonlinear controller show good performance relative to the nonlinear controller in the neighborhood of the TEA.

? PID output-feedback control under event-triggered protocol

NASA Astrophysics Data System (ADS)

Zhao, Di; Wang, Zidong; Ding, Derui; Wei, Guoliang; Alsaadi, Fuad E.

2018-07-01

This paper is concerned with the ? proportional-integral-derivative (PID) output-feedback control problem for a class of linear discrete-time systems under event-triggered protocols. The controller and the actuators are connected through a communication network of limited bandwidth, and an event-triggered communication mechanism is adopted to decide when a certain control signal should be transmitted to the respective actuator. Furthermore, a novel PID output-feedback controller is designed where the accumulative sum-loop (the counterpart to the integral-loop in the continues-time setting) operates on a limited time-window with hope to mitigate the effect from the past measurement data. The main objective of the problem under consideration is to design a desired PID controller such that the closed-loop system is exponentially stable and the prescribed ? disturbance rejection attenuation level is guaranteed under event-triggered protocols. By means of the Lyapunov stability theory combined with the orthogonal decomposition, sufficient conditions are established under which the addressed PID controller design problem is recast into a linear convex optimization one that can be easily solved via available software packages. Finally, a simulation example is exploited to illustrate the usefulness and effectiveness of the established control scheme.

Decoupling suspension controller based on magnetic flux feedback.

PubMed

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

PubMed Central

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

Anti-windup adaptive PID control design for a class of uncertain chaotic systems with input saturation.

PubMed

Tahoun, A H

2017-01-01

In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Fault tolerant control laws

NASA Technical Reports Server (NTRS)

Ly, U. L.; Ho, J. K.

1986-01-01

A systematic procedure for the synthesis of fault tolerant control laws to actuator failure has been presented. Two design methods were used to synthesize fault tolerant controllers: the conventional LQ design method and a direct feedback controller design method SANDY. The latter method is used primarily to streamline the full-state Q feedback design into a practical implementable output feedback controller structure. To achieve robustness to control actuator failure, the redundant surfaces are properly balanced according to their control effectiveness. A simple gain schedule based on the landing gear up/down logic involving only three gains was developed to handle three design flight conditions: Mach .25 and Mach .60 at 5000 ft and Mach .90 at 20,000 ft. The fault tolerant control law developed in this study provides good stability augmentation and performance for the relaxed static stability aircraft. The augmented aircraft responses are found to be invariant to the presence of a failure. Furthermore, single-loop stability margins of +6 dB in gain and +30 deg in phase were achieved along with -40 dB/decade rolloff at high frequency.

Cooperative Adaptive Output Regulation for Second-Order Nonlinear Multiagent Systems With Jointly Connected Switching Networks.

PubMed

Liu, Wei; Huang, Jie

2018-03-01

This paper studies the cooperative global robust output regulation problem for a class of heterogeneous second-order nonlinear uncertain multiagent systems with jointly connected switching networks. The main contributions consist of the following three aspects. First, we generalize the result of the adaptive distributed observer from undirected jointly connected switching networks to directed jointly connected switching networks. Second, by performing a new coordinate and input transformation, we convert our problem into the cooperative global robust stabilization problem of a more complex augmented system via the distributed internal model principle. Third, we solve the stabilization problem by a distributed state feedback control law. Our result is illustrated by the leader-following consensus problem for a group of Van der Pol oscillators.

H∞ output tracking control of discrete-time nonlinear systems via standard neural network models.

PubMed

Liu, Meiqin; Zhang, Senlin; Chen, Haiyang; Sheng, Weihua

2014-10-01

This brief proposes an output tracking control for a class of discrete-time nonlinear systems with disturbances. A standard neural network model is used to represent discrete-time nonlinear systems whose nonlinearity satisfies the sector conditions. H∞ control performance for the closed-loop system including the standard neural network model, the reference model, and state feedback controller is analyzed using Lyapunov-Krasovskii stability theorem and linear matrix inequality (LMI) approach. The H∞ controller, of which the parameters are obtained by solving LMIs, guarantees that the output of the closed-loop system closely tracks the output of a given reference model well, and reduces the influence of disturbances on the tracking error. Three numerical examples are provided to show the effectiveness of the proposed H∞ output tracking design approach.

Log amplifier with pole-zero compensation

DOEpatents

Brookshier, W.

1985-02-08

A logarithmic amplifier circuit provides pole-zero compensation for improved stability and response time over 6-8 decades of input signal frequency. The amplifer circuit includes a first operational amplifier with a first feedback loop which includes a second, inverting operational amplifier in a second feedstock loop. The compensated output signal is provided by the second operational amplifier with the log elements, i.e., resistors, and the compensating capacitors in each of the feedback loops having equal values so that each break point is offset by a compensating break point or zero.

Direct current ballast circuit for metal halide lamp

NASA Technical Reports Server (NTRS)

Lutus, P. (Inventor)

1981-01-01

A direct current ballast circuit for a two electrode metal halide lamp is described. Said direct current ballast circuit includes a low voltage DC input and a high frequency power amplifier and power transformer for developing a high voltage output. The output voltage is rectified by diodes and filtered by inductor and capacitor to provide a regulated DC output through commutating diodes to one terminal of the lamp at the output terminal. A feedback path from the output of the filter capacitor through the bias resistor to power the high frequency circuit which includes the power amplifier and the power transformer for sustaining circuit operations during low voltage transients on the input DC supply is described. A current sensor connected to the output of the lamp through terminal for stabilizing lamp current following breakdown of the lamp is described.

Unsteady steady-states: Central causes of unintentional force drift

PubMed Central

Ambike, Satyajit; Mattos, Daniela; Zatsiorsky, Vladimir M.; Latash, Mark L.

2016-01-01

We applied the theory of synergies to analyze the processes that lead to unintentional decline in isometric fingertip force when visual feedback of the produced force is removed. We tracked the changes in hypothetical control variables involved in single fingertip force production based on the equilibrium-point hypothesis, namely, the fingertip referent coordinate (RFT) and its apparent stiffness (CFT). The system's state is defined by a point in the {RFT; CFT} space. We tested the hypothesis that, after visual feedback removal, this point (1) moves along directions leading to drop in the output fingertip force, and (2) has even greater motion along directions that leaves the force unchanged. Subjects produced a prescribed fingertip force using visual feedback, and attempted to maintain this force for 15 s after the feedback was removed. We used the “inverse piano” apparatus to apply small and smooth positional perturbations to fingers at various times after visual feedback removal. The time courses of RFT and CFT showed that force drop was mostly due to a drift in RFT towards the actual fingertip position. Three analysis techniques, namely, hyperbolic regression, surrogate data analysis, and computation of motor-equivalent and non-motor-equivalent motions, suggested strong co-variation in RFT and CFT stabilizing the force magnitude. Finally, the changes in the two hypothetical control variables {RFT; CFT} relative to their average trends also displayed covariation. On the whole the findings suggest that unintentional force drop is associated with (a) a slow drift of the referent coordinate that pulls the system towards a low-energy state, and (b) a faster synergic motion of RFT and CFT that tends to stabilize the output fingertip force about the slowly-drifting equilibrium point. PMID:27540726

Unsteady steady-states: central causes of unintentional force drift.

PubMed

Ambike, Satyajit; Mattos, Daniela; Zatsiorsky, Vladimir M; Latash, Mark L

2016-12-01

We applied the theory of synergies to analyze the processes that lead to unintentional decline in isometric fingertip force when visual feedback of the produced force is removed. We tracked the changes in hypothetical control variables involved in single fingertip force production based on the equilibrium-point hypothesis, namely the fingertip referent coordinate (R FT ) and its apparent stiffness (C FT ). The system's state is defined by a point in the {R FT ; C FT } space. We tested the hypothesis that, after visual feedback removal, this point (1) moves along directions leading to drop in the output fingertip force, and (2) has even greater motion along directions that leaves the force unchanged. Subjects produced a prescribed fingertip force using visual feedback and attempted to maintain this force for 15 s after the feedback was removed. We used the "inverse piano" apparatus to apply small and smooth positional perturbations to fingers at various times after visual feedback removal. The time courses of R FT and C FT showed that force drop was mostly due to a drift in R FT toward the actual fingertip position. Three analysis techniques, namely hyperbolic regression, surrogate data analysis, and computation of motor-equivalent and non-motor-equivalent motions, suggested strong covariation in R FT and C FT stabilizing the force magnitude. Finally, the changes in the two hypothetical control variables {R FT ; C FT } relative to their average trends also displayed covariation. On the whole, the findings suggest that unintentional force drop is associated with (a) a slow drift of the referent coordinate that pulls the system toward a low-energy state and (b) a faster synergic motion of R FT and C FT that tends to stabilize the output fingertip force about the slowly drifting equilibrium point.

Development and test of photon-counting microchannel plate detector arrays for use on space telescopes

NASA Technical Reports Server (NTRS)

Timothy, J. G.

1976-01-01

The full sensitivity, dynamic range, and photometric stability of microchannel array plates(MCP) are incorporated into a photon-counting detection system for space operations. Components of the system include feedback-free MCP's for high gain and saturated output pulse-height distribution with a stable response; multi-anode readout arrays mounted in proximity focus with the output face of the MCP; and multi-layer ceramic headers to provide electrical interface between the anode array in a sealed detector tube and the associated electronics.

Stable CW Single-Frequency Operation of Fabry-Perot Laser Diodes by Self-Injection Phase Locking

NASA Technical Reports Server (NTRS)

Duerksen, Gary L.; Krainak, Michael A.

1999-01-01

Previously, single-frequency semiconductor laser operation using fiber Bragg gratings has been achieved by two methods: 1) use of the FBG as the output coupler for an anti-reflection-coated semiconductor gain element'; 2) pulsed operation of a gain-switched Fabry-Perot laser diode with FBG-optical and RF-electrical feedback. Here, we demonstrate CW single frequency operation from a non-AR coated Fabry-Perot laser diode using only FBG optical feedback. We coupled a nominal 935 run-wavelength Fabry-Perot laser diode to an ultra narrow band (18 pm) FBG. When tuned by varying its temperature, the laser wavelength is pulled toward the centerline of the Bragg grating, and the spectrum of the laser output is seen to fall into three discrete stability regimes as measured by the side-mode suppression ratio.

Synthesis procedure for linear time-varying feedback systems with large parameter ignorance

NASA Technical Reports Server (NTRS)

Mcdonald, T. E., Jr.

1972-01-01

The development of synthesis procedures for linear time-varying feedback systems is considered. It is assumed that the plant can be described by linear differential equations with time-varying coefficients; however, ignorance is associated with the plant in that only the range of the time-variations are known instead of exact functional relationships. As a result of this plant ignorance the use of time-varying compensation is ineffective so that only time-invariant compensation is employed. In addition, there is a noise source at the plant output which feeds noise through the feedback elements to the plant input. Because of this noise source the gain of the feedback elements must be as small as possible. No attempt is made to develop a stability criterion for time-varying systems in this work.

Quasi-minimal active disturbance rejection control of MIMO perturbed linear systems based on differential neural networks and the attractive ellipsoid method.

PubMed

Salgado, Iván; Mera-Hernández, Manuel; Chairez, Isaac

2017-11-01

This study addresses the problem of designing an output-based controller to stabilize multi-input multi-output (MIMO) systems in the presence of parametric disturbances as well as uncertainties in the state model and output noise measurements. The controller design includes a linear state transformation which separates uncertainties matched to the control input and the unmatched ones. A differential neural network (DNN) observer produces a nonlinear approximation of the matched perturbation and the unknown states simultaneously in the transformed coordinates. This study proposes the use of the Attractive Ellipsoid Method (AEM) to optimize the gains of the controller and the gain observer in the DNN structure. As a consequence, the obtained control input minimizes the convergence zone for the estimation error. Moreover, the control design uses the estimated disturbance provided by the DNN to obtain a better performance in the stabilization task in comparison with a quasi-minimal output feedback controller based on a Luenberger observer and a sliding mode controller. Numerical results pointed out the advantages obtained by the nonlinear control based on the DNN observer. The first example deals with the stabilization of an academic linear MIMO perturbed system and the second example stabilizes the trajectories of a DC-motor into a predefined operation point. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Robust output tracking control of a laboratory helicopter for automatic landing

NASA Astrophysics Data System (ADS)

Liu, Hao; Lu, Geng; Zhong, Yisheng

2014-11-01

In this paper, robust output tracking control problem of a laboratory helicopter for automatic landing in high seas is investigated. The motion of the helicopter is required to synchronise with that of an oscillating platform, e.g. the deck of a vessel subject to wave-induced motions. A robust linear time-invariant output feedback controller consisting of a nominal controller and a robust compensator is designed. The robust compensator is introduced to restrain the influences of parametric uncertainties, nonlinearities and external disturbances. It is shown that robust stability and robust tracking property can be achieved simultaneously. Experimental results on the laboratory helicopter for automatic landing demonstrate the effectiveness of the designed control approach.

A feedback control model for network flow with multiple pure time delays

NASA Technical Reports Server (NTRS)

Press, J.

1972-01-01

A control model describing a network flow hindered by multiple pure time (or transport) delays is formulated. Feedbacks connect each desired output with a single control sector situated at the origin. The dynamic formulation invokes the use of differential difference equations. This causes the characteristic equation of the model to consist of transcendental functions instead of a common algebraic polynomial. A general graphical criterion is developed to evaluate the stability of such a problem. A digital computer simulation confirms the validity of such criterion. An optimal decision making process with multiple delays is presented.

Robust fuzzy output feedback controller for affine nonlinear systems via T-S fuzzy bilinear model: CSTR benchmark.

PubMed

Hamdy, M; Hamdan, I

2015-07-01

In this paper, a robust H∞ fuzzy output feedback controller is designed for a class of affine nonlinear systems with disturbance via Takagi-Sugeno (T-S) fuzzy bilinear model. The parallel distributed compensation (PDC) technique is utilized to design a fuzzy controller. The stability conditions of the overall closed loop T-S fuzzy bilinear model are formulated in terms of Lyapunov function via linear matrix inequality (LMI). The control law is robustified by H∞ sense to attenuate external disturbance. Moreover, the desired controller gains can be obtained by solving a set of LMI. A continuous stirred tank reactor (CSTR), which is a benchmark problem in nonlinear process control, is discussed in detail to verify the effectiveness of the proposed approach with a comparative study. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Vehicle lateral motion regulation under unreliable communication links based on robust H∞ output-feedback control schema

NASA Astrophysics Data System (ADS)

Li, Cong; Jing, Hui; Wang, Rongrong; Chen, Nan

2018-05-01

This paper presents a robust control schema for vehicle lateral motion regulation under unreliable communication links via controller area network (CAN). The communication links between the system plant and the controller are assumed to be imperfect and therefore the data packet dropouts occur frequently. The paper takes the form of parallel distributed compensation and treats the dropouts as random binary numbers that form Bernoulli distribution. Both of the tire cornering stiffness uncertainty and external disturbances are considered to enhance the robustness of the controller. In addition, a robust H∞ static output-feedback control approach is proposed to realize the lateral motion control with relative low cost sensors. The stochastic stability of the closed-loop system and conservation of the guaranteed H∞ performance are investigated. Simulation results based on CarSim platform using a high-fidelity and full-car model verify the effectiveness of the proposed control approach.

Method and apparatus for stabilizing pulsed microwave amplifiers

DOEpatents

Hopkins, Donald B.

1993-01-01

Phase and amplitude variations at the output of a high power pulsed microwave amplifier arising from instabilities of the driving electron beam are suppressed with a feed-forward system that can stabilize pulses which are too brief for regulation by conventional feedback techniques. Such variations tend to be similar during successive pulses. The variations are detected during each pulse by comparing the amplifier output with the low power input signal to obtain phase and amplitude error signals. This enables storage of phase and amplitude correction signals which are used to make compensating changes in the low power input signal during the following amplifier output pulse which suppress the variations. In the preferred form of the invention, successive increments of the correction signals for each pulse are stored in separate channels of a multi-channel storage. Sequential readout of the increments during the next pulse provides variable control voltages to a voltage controlled phase shifter and voltage controlled amplitude modulator in the amplifier input signal path.

Method and apparatus for stabilizing pulsed microwave amplifiers

DOEpatents

Hopkins, D.B.

1993-01-26

Phase and amplitude variations at the output of a high power pulsed microwave amplifier arising from instabilities of the driving electron beam are suppressed with a feed-forward system that can stabilize pulses which are too brief for regulation by conventional feedback techniques. Such variations tend to be similar during successive pulses. The variations are detected during each pulse by comparing the amplifier output with the low power input signal to obtain phase and amplitude error signals. This enables storage of phase and amplitude correction signals which are used to make compensating changes in the low power input signal during the following amplifier output pulse which suppress the variations. In the preferred form of the invention, successive increments of the correction signals for each pulse are stored in separate channels of a multi-channel storage. Sequential readout of the increments during the next pulse provides variable control voltages to a voltage controlled phase shifter and voltage controlled amplitude modulator in the amplifier input signal path.

Algorithms for output feedback, multiple-model, and decentralized control problems

NASA Technical Reports Server (NTRS)

Halyo, N.; Broussard, J. R.

1984-01-01

The optimal stochastic output feedback, multiple-model, and decentralized control problems with dynamic compensation are formulated and discussed. Algorithms for each problem are presented, and their relationship to a basic output feedback algorithm is discussed. An aircraft control design problem is posed as a combined decentralized, multiple-model, output feedback problem. A control design is obtained using the combined algorithm. An analysis of the design is presented.

The relative degree enhancement problem for MIMO nonlinear systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Schoenwald, D.A.; Oezguener, Ue.

1995-07-01

The authors present a result for linearizing a nonlinear MIMO system by employing partial feedback - feedback at all but one input-output channel such that the SISO feedback linearization problem is solvable at the remaining input-output channel. The partial feedback effectively enhances the relative degree at the open input-output channel provided the feedback functions are chosen to satisfy relative degree requirements. The method is useful for nonlinear systems that are not feedback linearizable in a MIMO sense. Several examples are presented to show how these feedback functions can be computed. This strategy can be combined with decentralized observers for amore » completely decentralized feedback linearization result for at least one input-output channel.« less

Output Feedback-Based Boundary Control of Uncertain Coupled Semilinear Parabolic PDE Using Neurodynamic Programming.

PubMed

Talaei, Behzad; Jagannathan, Sarangapani; Singler, John

2018-04-01

In this paper, neurodynamic programming-based output feedback boundary control of distributed parameter systems governed by uncertain coupled semilinear parabolic partial differential equations (PDEs) under Neumann or Dirichlet boundary control conditions is introduced. First, Hamilton-Jacobi-Bellman (HJB) equation is formulated in the original PDE domain and the optimal control policy is derived using the value functional as the solution of the HJB equation. Subsequently, a novel observer is developed to estimate the system states given the uncertain nonlinearity in PDE dynamics and measured outputs. Consequently, the suboptimal boundary control policy is obtained by forward-in-time estimation of the value functional using a neural network (NN)-based online approximator and estimated state vector obtained from the NN observer. Novel adaptive tuning laws in continuous time are proposed for learning the value functional online to satisfy the HJB equation along system trajectories while ensuring the closed-loop stability. Local uniformly ultimate boundedness of the closed-loop system is verified by using Lyapunov theory. The performance of the proposed controller is verified via simulation on an unstable coupled diffusion reaction process.

Closed-loop control of a fragile network: application to seizure-like dynamics of an epilepsy model

PubMed Central

Ehrens, Daniel; Sritharan, Duluxan; Sarma, Sridevi V.

2015-01-01

It has recently been proposed that the epileptic cortex is fragile in the sense that seizures manifest through small perturbations in the synaptic connections that render the entire cortical network unstable. Closed-loop therapy could therefore entail detecting when the network goes unstable, and then stimulating with an exogenous current to stabilize the network. In this study, a non-linear stochastic model of a neuronal network was used to simulate both seizure and non-seizure activity. In particular, synaptic weights between neurons were chosen such that the network's fixed point is stable during non-seizure periods, and a subset of these connections (the most fragile) were perturbed to make the same fixed point unstable to model seizure events; and, the model randomly transitions between these two modes. The goal of this study was to measure spike train observations from this epileptic network and then apply a feedback controller that (i) detects when the network goes unstable, and then (ii) applies a state-feedback gain control input to the network to stabilize it. The stability detector is based on a 2-state (stable, unstable) hidden Markov model (HMM) of the network, and detects the transition from the stable mode to the unstable mode from using the firing rate of the most fragile node in the network (which is the output of the HMM). When the unstable mode is detected, a state-feedback gain is applied to generate a control input to the fragile node bringing the network back to the stable mode. Finally, when the network is detected as stable again, the feedback control input is switched off. High performance was achieved for the stability detector, and feedback control suppressed seizures within 2 s after onset. PMID:25784851

Feedback model of secondary electron emission in DC gas discharge plasmas

NASA Astrophysics Data System (ADS)

Saravanan, ARUMUGAM; Prince, ALEX; Suraj, Kumar SINHA

2018-01-01

Feedback is said to exist in any amplifier when the fraction of output power in fed back as an input. Similarly, in gaseous discharge ions that incident on the cathode act as a natural feedback element to stabilize and self sustain the discharge. The present investigation is intended to emphasize the feedback nature of ions that emits secondary electrons (SEs) from the cathode surface in DC gas discharges. The average number of SEs emitted per incident ion and non ionic species (energetic neutrals, metastables and photons) which results from ion is defined as effective secondary electron emission coefficient (ESEEC,{γ }{{E}}). In this study, we derive an analytic expression that corroborates the relation between {γ }{{E}} and power influx by ion to the cathode based on the feedback theory of an amplifier. In addition, experimentally, we confirmed the typical positive feedback nature of SEE from the cathode in argon DC glow discharges. The experiment is done for three different cathode material of same dimension (tungsten (W), copper (Cu) and brass) under identical discharge conditions (pressure: 0.45 mbar, cathode bias: -600 V, discharge gab: 15 cm and operating gas: argon). Further, we found that the {γ }{{E}} value of these cathode material controls the amount of feedback power given by ions. The difference in feedback leads different final output i.e the power carried by ion at cathode ({P}{{i}}{\\prime }{| }{{C}}). The experimentally obtained value of {P}{{i}}{\\prime }{| }{{C}} is 4.28 W, 6.87 W and 9.26 W respectively for W, Cu and brass. In addition, the present investigation reveals that the amount of feedback power in a DC gas discharges not only affect the fraction of power fed back to the cathode but also the entire characteristics of the discharge.

Practical robustness measures in multivariable control system analysis. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.

1981-01-01

The robustness of the stability of multivariable linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria. Available robustness tests are unified under a common framework based on the nature and structure of model errors. These results are derived using a multivariable version of Nyquist's stability theorem in which the minimum singular value of the return difference transfer matrix is shown to be the multivariable generalization of the distance to the critical point on a single input, single output Nyquist diagram. Using the return difference transfer matrix, a very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived. The robustness tests that explicitly utilized model error structure are able to guarantee feedback system stability in the face of model errors of larger magnitude than those robustness tests that do not. The robustness of linear quadratic Gaussian control systems are analyzed.

Neural-network-based state feedback control of a nonlinear discrete-time system in nonstrict feedback form.

PubMed

Jagannathan, Sarangapani; He, Pingan

2008-12-01

In this paper, a suite of adaptive neural network (NN) controllers is designed to deliver a desired tracking performance for the control of an unknown, second-order, nonlinear discrete-time system expressed in nonstrict feedback form. In the first approach, two feedforward NNs are employed in the controller with tracking error as the feedback variable whereas in the adaptive critic NN architecture, three feedforward NNs are used. In the adaptive critic architecture, two action NNs produce virtual and actual control inputs, respectively, whereas the third critic NN approximates certain strategic utility function and its output is employed for tuning action NN weights in order to attain the near-optimal control action. Both the NN control methods present a well-defined controller design and the noncausal problem in discrete-time backstepping design is avoided via NN approximation. A comparison between the controller methodologies is highlighted. The stability analysis of the closed-loop control schemes is demonstrated. The NN controller schemes do not require an offline learning phase and the NN weights can be initialized at zero or random. Results show that the performance of the proposed controller schemes is highly satisfactory while meeting the closed-loop stability.

Carrier-envelope phase stabilization with sub-10 as residual timing jitter.

PubMed

Borchers, B; Koke, S; Husakou, A; Herrmann, J; Steinmeyer, G

2011-11-01

We demonstrate carrier-envelope phase (CEP) stabilization of a mode-locked Ti:sapphire oscillator with unprecedented timing jitter of eight attoseconds. The stabilization performance is obtained by a combination of two different stabilization approaches. In a first step the drift of the CEP is stabilized with a conventional feedback loop by means of controlling the oscillator pump power with an acousto-optic modulator (AOM). In a second step we utilize a recently developed feed-forward type stabilization scheme which has a much higher control bandwith. Here an acousto-optic frequency shifter (AOFS) produces the stabilized output in the first diffraction order. Moreover, we present numerical results on the optimization of the length of the photonic crystal fiber, which is used to generate an octave-spanning spectrum, in order to optimize the sensitivity in the f-to-2f interferometers.

Gap-metric-based robustness analysis of nonlinear systems with full and partial feedback linearisation

NASA Astrophysics Data System (ADS)

Al-Gburi, A.; Freeman, C. T.; French, M. C.

2018-06-01

This paper uses gap metric analysis to derive robustness and performance margins for feedback linearising controllers. Distinct from previous robustness analysis, it incorporates the case of output unstructured uncertainties, and is shown to yield general stability conditions which can be applied to both stable and unstable plants. It then expands on existing feedback linearising control schemes by introducing a more general robust feedback linearising control design which classifies the system nonlinearity into stable and unstable components and cancels only the unstable plant nonlinearities. This is done in order to preserve the stabilising action of the inherently stabilising nonlinearities. Robustness and performance margins are derived for this control scheme, and are expressed in terms of bounds on the plant nonlinearities and the accuracy of the cancellation of the unstable plant nonlinearity by the controller. Case studies then confirm reduced conservatism compared with standard methods.

Linear laser diode arrays for improvement in optical disk recording for space stations

NASA Technical Reports Server (NTRS)

Alphonse, G. A.; Carlin, D. B.; Connolly, J. C.

1990-01-01

The design and fabrication of individually addressable laser diode arrays for high performance magneto-optic recording systems are presented. Ten diode arrays with 30 mW cW light output, linear light vs. current characteristics and single longitudinal mode spectrum were fabricated using channel substrate planar (CSP) structures. Preliminary results on the inverse CSP structure, whose fabrication is less critically dependent on device parameters than the CSP, are also presented. The impact of systems parameters and requirements, in particular, the effect of feedback on laser design is assessed, and techniques to reduce feedback or minimize its effect on systems performance, including mode-stabilized structures, are evaluated.

Quantum theory of multiple-input-multiple-output Markovian feedback with diffusive measurements

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chia, A.; Wiseman, H. M.

2011-07-15

Feedback control engineers have been interested in multiple-input-multiple-output (MIMO) extensions of single-input-single-output (SISO) results of various kinds due to its rich mathematical structure and practical applications. An outstanding problem in quantum feedback control is the extension of the SISO theory of Markovian feedback by Wiseman and Milburn [Phys. Rev. Lett. 70, 548 (1993)] to multiple inputs and multiple outputs. Here we generalize the SISO homodyne-mediated feedback theory to allow for multiple inputs, multiple outputs, and arbitrary diffusive quantum measurements. We thus obtain a MIMO framework which resembles the SISO theory and whose additional mathematical structure is highlighted by the extensivemore » use of vector-operator algebra.« less

Linear stable unity-feedback system - Necessary and sufficient conditions for stability under nonlinear plant perturbations

NASA Technical Reports Server (NTRS)

Desoer, C. A.; Kabuli, M. G.

1989-01-01

The authors consider a linear (not necessarily time-invariant) stable unity-feedback system, where the plant and the compensator have normalized right-coprime factorizations. They study two cases of nonlinear plant perturbations (additive and feedback), with four subcases resulting from: (1) allowing exogenous input to Delta P or not; 2) allowing the observation of the output of Delta P or not. The plant perturbation Delta P is not required to be stable. Using the factorization approach, the authors obtain necessary and sufficient conditions for all cases in terms of two pairs of nonlinear pseudostate maps. Simple physical considerations explain the form of these necessary and sufficient conditions. Finally, the authors obtain the characterization of all perturbations Delta P for which the perturbed system remains stable.

Solid-state lasers for coherent communication and remote sensing

NASA Technical Reports Server (NTRS)

Byer, Robert L.

1992-01-01

Semiconductor-diode laser-pumped solid-state lasers have properties that are superior to other lasers for the applications of coherent communication and remote sensing. These properties include efficiency, reliability, stability, and capability to be scaled to higher powers. We have demonstrated that an optical phase-locked loop can be used to lock the frequency of two diode-pumped 1.06 micron Nd:YAG lasers to levels required for coherent communication. Monolithic nonplanar ring oscillators constructed from solid pieces of the laser material provide better than 10 kHz frequency stability over 0.1 sec intervals. We have used active feedback stabilization of the cavity length of these lasers to demonstrate 0.3 Hz frequency stabilization relative to a reference cavity. We have performed experiments and analysis to show that optical parametric oscillators (OPO's) reproduce the frequency stability of the pump laser in outputs that can be tuned to arbitrary wavelengths. Another measurement performed in this program has demonstrated the sub-shot-noise character of correlations of the fluctuations in the twin output of OPO's. Measurements of nonlinear optical coefficients by phase-matched second harmonic generation are helping to resolve inconsistency in these important parameters.

Design of DSP-based high-power digital solar array simulator

NASA Astrophysics Data System (ADS)

Zhang, Yang; Liu, Zhilong; Tong, Weichao; Feng, Jian; Ji, Yibo

2013-12-01

To satisfy rigid performance specifications, a feedback control was presented for zoom optical lens plants. With the increasing of global energy consumption, research of the photovoltaic(PV) systems get more and more attention. Research of the digital high-power solar array simulator provides technical support for high-power grid-connected PV systems research.This paper introduces a design scheme of the high-power digital solar array simulator based on TMS320F28335. A DC-DC full-bridge topology was used in the system's main circuit. The switching frequency of IGBT is 25kHz.Maximum output voltage is 900V. Maximum output current is 20A. Simulator can be pre-stored solar panel IV curves.The curve is composed of 128 discrete points .When the system was running, the main circuit voltage and current values was feedback to the DSP by the voltage and current sensors in real-time. Through incremental PI,DSP control the simulator in the closed-loop control system. Experimental data show that Simulator output voltage and current follow a preset solar panels IV curve. In connection with the formation of high-power inverter, the system becomes gridconnected PV system. The inverter can find the simulator's maximum power point and the output power can be stabilized at the maximum power point (MPP).

LMI-Based Fuzzy Optimal Variance Control of Airfoil Model Subject to Input Constraints

NASA Technical Reports Server (NTRS)

Swei, Sean S.M.; Ayoubi, Mohammad A.

2017-01-01

This paper presents a study of fuzzy optimal variance control problem for dynamical systems subject to actuator amplitude and rate constraints. Using Takagi-Sugeno fuzzy modeling and dynamic Parallel Distributed Compensation technique, the stability and the constraints can be cast as a multi-objective optimization problem in the form of Linear Matrix Inequalities. By utilizing the formulations and solutions for the input and output variance constraint problems, we develop a fuzzy full-state feedback controller. The stability and performance of the proposed controller is demonstrated through its application to the airfoil flutter suppression.

Application of a repetitive process setting to design of monotonically convergent iterative learning control

NASA Astrophysics Data System (ADS)

Boski, Marcin; Paszke, Wojciech

2015-11-01

This paper deals with the problem of designing an iterative learning control algorithm for discrete linear systems using repetitive process stability theory. The resulting design produces a stabilizing output feedback controller in the time domain and a feedforward controller that guarantees monotonic convergence in the trial-to-trial domain. The results are also extended to limited frequency range design specification. New design procedure is introduced in terms of linear matrix inequality (LMI) representations, which guarantee the prescribed performances of ILC scheme. A simulation example is given to illustrate the theoretical developments.

Precision linear ramp function generator

DOEpatents

Jatko, W.B.; McNeilly, D.R.; Thacker, L.H.

1984-08-01

A ramp function generator is provided which produces a precise linear ramp function which is repeatable and highly stable. A derivative feedback loop is used to stabilize the output of an integrator in the forward loop and control the ramp rate. The ramp may be started from a selected baseline voltage level and the desired ramp rate is selected by applying an appropriate constant voltage to the input of the integrator.

Precision linear ramp function generator

DOEpatents

Jatko, W. Bruce; McNeilly, David R.; Thacker, Louis H.

1986-01-01

A ramp function generator is provided which produces a precise linear ramp unction which is repeatable and highly stable. A derivative feedback loop is used to stabilize the output of an integrator in the forward loop and control the ramp rate. The ramp may be started from a selected baseline voltage level and the desired ramp rate is selected by applying an appropriate constant voltage to the input of the integrator.

STABCAR: A program for finding characteristic root systems having transcendental stability matrices

NASA Technical Reports Server (NTRS)

Adams, W. M., Jr.; Tiffany, S. H.; Newsom, J. R.; Peele, E. L.

1984-01-01

STABCAR can be used to determine the characteristic roots of flexible, actively controlled aircraft, including the effects of unsteady aerodynamics. A modal formulation and a transfer-matrix representation of the control system are employed. Operable in either a batch or an interactive mode, STABCAR can provide graphical or tabular output of the variation of the roots with velocity, density, altitude, dynamic pressure or feedback gains. Herein the mathematical model, program structure, input requirements, output capabilities, and a series of sample cases are detailed. STABCAR was written for use on CDC CYBER 175 equipment; modification would be required for operation on other machines.

Non-fragile ?-? control for discrete-time stochastic nonlinear systems under event-triggered protocols

NASA Astrophysics Data System (ADS)

Sun, Ying; Ding, Derui; Zhang, Sunjie; Wei, Guoliang; Liu, Hongjian

2018-07-01

In this paper, the non-fragile ?-? control problem is investigated for a class of discrete-time stochastic nonlinear systems under event-triggered communication protocols, which determine whether the measurement output should be transmitted to the controller or not. The main purpose of the addressed problem is to design an event-based output feedback controller subject to gain variations guaranteeing the prescribed disturbance attenuation level described by the ?-? performance index. By utilizing the Lyapunov stability theory combined with S-procedure, a sufficient condition is established to guarantee both the exponential mean-square stability and the ?-? performance for the closed-loop system. In addition, with the help of the orthogonal decomposition, the desired controller parameter is obtained in terms of the solution to certain linear matrix inequalities. Finally, a simulation example is exploited to demonstrate the effectiveness of the proposed event-based controller design scheme.

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

NASA Technical Reports Server (NTRS)

Sarkar, Nilanjan; Yun, Xiaoping; Kumar, Vijay

1994-01-01

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

The design of delay-dependent wide-area DOFC with prescribed degree of stability α for damping inter-area low-frequency oscillations in power system.

PubMed

Sun, Miaoping; Nian, Xiaohong; Dai, Liqiong; Guo, Hua

2017-05-01

In this paper, the delay-dependent wide-area dynamic output feedback controller (DOFC) with prescribed degree of stability is proposed for interconnected power system to damp inter-area low-frequency oscillations. Here, the prescribed degree of stability α is used to maintain all the poles on the left of s=-α in the s-plane. Firstly, residue approach is adopted to select input-output control signals and the schur balanced truncation model reduction method is utilized to obtain the reduced power system model. Secondly, based on Lyapunov stability theory and transformation operation in complex plane, the sufficient condition of asymptotic stability for closed-loop power system with prescribed degree of stability α is derived. Then, a novel method based on linear matrix inequalities (LMIs) is presented to obtain the parameters of DOFC and calculate delay margin of the closed-loop system considering the prescribed degree of stability α. Finally, case studies are carried out on the two-area four-machine system, which is controlled by classical wide-area power system stabilizer (WAPSS) in reported reference and our proposed DOFC respectively. The effectiveness and advantages of the proposed method are verified by the simulation results under different operating conditions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Wavelength-Agile External-Cavity Diode Laser for DWDM

NASA Technical Reports Server (NTRS)

Pilgrim, Jeffrey S.; Bomse, David S.

2006-01-01

A prototype external-cavity diode laser (ECDL) has been developed for communication systems utilizing dense wavelength- division multiplexing (DWDM). This ECDL is an updated version of the ECDL reported in Wavelength-Agile External- Cavity Diode Laser (LEW-17090), NASA Tech Briefs, Vol. 25, No. 11 (November 2001), page 14a. To recapitulate: The wavelength-agile ECDL combines the stability of an external-cavity laser with the wavelength agility of a diode laser. Wavelength is modulated by modulating the injection current of the diode-laser gain element. The external cavity is a Littman-Metcalf resonator, in which the zeroth-order output from a diffraction grating is used as the laser output and the first-order-diffracted light is retro-reflected by a cavity feedback mirror, which establishes one end of the resonator. The other end of the resonator is the output surface of a Fabry-Perot resonator that constitutes the diode-laser gain element. Wavelength is selected by choosing the angle of the diffracted return beam, as determined by position of the feedback mirror. The present wavelength-agile ECDL is distinguished by design details that enable coverage of all 60 channels, separated by 100-GHz frequency intervals, that are specified in DWDM standards.

Shaper design in CMOS for high dynamic range

DOEpatents

De Geronimo, Gianluigi; Li, Shaorui

2015-06-30

An analog filter is presented that comprises a chain of filter stages, a feedback resistor for providing a negative feedback, and a feedback capacitor for providing a positive feedback. Each filter stage has an input node and an output node. The output node of a filter stage is connected to the input node of an immediately succeeding filter stage through a resistor. The feedback resistor has a first end connected to the output node of the last filter stage along the chain of filter stages, and a second end connected to the input node of a first preceding filter stage. The feedback capacitor has a first end connected to the output node of one of the chain of filter stages, and a second end connected to the input node of a second preceding filter stage.

Further Characterization of 394-GHz Gyrotron FU CW GII with Additional PID Control System for 600-MHz DNP-SSNMR Spectroscopy

NASA Astrophysics Data System (ADS)

Ueda, Keisuke; Matsuki, Yoh; Fujiwara, Toshimichi; Tatematsu, Yoshinori; Ogawa, Isamu; Idehara, Toshitaka

2016-09-01

A 394-GHz gyrotron, FU CW GII, has been designed at the University of Fukui, Japan, for dynamic nuclear polarization (DNP)-enhanced solid-state nuclear magnetic resonance (SSNMR) experiments at 600-MHz 1H resonant frequency. After installation at the Institute for Protein Research (IPR), Osaka University, Japan, a PID feedback control system was equipped to regulate the electron gun heater current for stabilization of the electron beam current, which ultimately achieved stabilization of output power when operating in continuous wave (CW) mode. During exploration to further optimize operating conditions, a continuous tuning bandwidth of approximately 1 GHz was observed by varying the operating voltage at a fixed magnetic field. In the frequency range required for positive DNP enhancement, the output power was improved by increasing the magnetic field and the operating voltage from their initial operational settings. In addition, fine tuning of output frequency by varying the cavity cooling water temperature was demonstrated. These operating conditions and ancillary enhancements are expected to contribute to further enhancement of SSNMR signal.

LMI Based Robust Blood Glucose Regulation in Type-1 Diabetes Patient with Daily Multi-meal Ingestion

NASA Astrophysics Data System (ADS)

Mandal, S.; Bhattacharjee, A.; Sutradhar, A.

2014-04-01

This paper illustrates the design of a robust output feedback H ∞ controller for the nonlinear glucose-insulin (GI) process in a type-1 diabetes patient to deliver insulin through intravenous infusion device. The H ∞ design specification have been realized using the concept of linear matrix inequality (LMI) and the LMI approach has been used to quadratically stabilize the GI process via output feedback H ∞ controller. The controller has been designed on the basis of full 19th order linearized state-space model generated from the modified Sorensen's nonlinear model of GI process. The resulting controller has been tested with the nonlinear patient model (the modified Sorensen's model) in presence of patient parameter variations and other uncertainty conditions. The performance of the controller was assessed in terms of its ability to track the normoglycemic set point of 81 mg/dl with a typical multi-meal disturbance throughout a day that yields robust performance and noise rejection.

Failure detection and correction for turbofan engines

NASA Technical Reports Server (NTRS)

Corley, R. C.; Spang, H. A., III

1977-01-01

In this paper, a failure detection and correction strategy for turbofan engines is discussed. This strategy allows continuing control of the engines in the event of a sensor failure. An extended Kalman filter is used to provide the best estimate of the state of the engine based on currently available sensor outputs. Should a sensor failure occur the control is based on the best estimate rather than the sensor output. The extended Kalman filter consists of essentially two parts, a nonlinear model of the engine and up-date logic which causes the model to track the actual engine. Details on the model and up-date logic are presented. To allow implementation, approximations are made to the feedback gain matrix which result in a single feedback matrix which is suitable for use over the entire flight envelope. The effect of these approximations on stability and response is discussed. Results from a detailed nonlinear simulation indicate that good control can be maintained even under multiple failures.

Neural-network-based navigation and control of unmanned aerial vehicles for detecting unintended emissions

NASA Astrophysics Data System (ADS)

Zargarzadeh, H.; Nodland, David; Thotla, V.; Jagannathan, S.; Agarwal, S.

2012-06-01

Unmanned Aerial Vehicles (UAVs) are versatile aircraft with many applications, including the potential for use to detect unintended electromagnetic emissions from electronic devices. A particular area of recent interest has been helicopter unmanned aerial vehicles. Because of the nature of these helicopters' dynamics, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via output feedback control for trajectory tracking of a helicopter UAV using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic, virtual, and dynamic controllers and an observer. Optimal tracking is accomplished with a single NN utilized for cost function approximation. The controller positions the helicopter, which is equipped with an antenna, such that the antenna can detect unintended emissions. The overall closed-loop system stability with the proposed controller is demonstrated by using Lyapunov analysis. Finally, results are provided to demonstrate the effectiveness of the proposed control design for positioning the helicopter for unintended emissions detection.

Electron emission controller with pulsed heating of filament

NASA Astrophysics Data System (ADS)

Durakiewicz, Tomasz

1996-11-01

A novel circuit has been invented for the versatile and safe stabilization of the electron emission current (Ie) produced by a hot filament in mass spectrometers or in ionization gauges. The voltage signal, which is directly proportional to Ie, is provided to the inverting input of a comparator, whereas the noninverting input is connected to the reference voltage. In addition to the commonly used negative feedback loop, a positive feedback loop was introduced by siting a resistor between the noninverting input and the output of the comparator, which results in a pulsation of the filament voltage. The pulses are rectangular, so that the power dissipated by the transistor in the filament power supply circuit is radically reduced. To refine the switching action of the transistor, the output of the comparator is connected through a capacitor to the transistor gate. A concise discussion of the phase shift between Ie, the filament temperature Tf, and the filament voltage Vf, including time constants for different modes of power dissipation, is included.

ASDTIC: A feedback control innovation

NASA Technical Reports Server (NTRS)

Lalli, V. R.; Schoenfeld, A. D.

1972-01-01

The ASDTIC (Analog Signal to Discrete Time Interval Converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

ASDTIC - A feedback control innovation.

NASA Technical Reports Server (NTRS)

Lalli, V. R.; Schoenfeld, A. D.

1972-01-01

The ASDTIC (analog signal to discrete time interval converter) control subsystem provides precise output control of high performance aerospace power supplies. The key to ASDTIC operation is that it stably controls output by sensing output energy change as well as output magnitude. The ASDTIC control subsystem and control module were developed to improve power supply performance during static and dynamic input voltage and output load variations, to reduce output voltage or current regulation due to component variations or aging, to maintain a stable feedback control with variations in the loop gain or loop time constants, and to standardize the feedback control subsystem for power conditioning equipment.

Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates

NASA Astrophysics Data System (ADS)

Shi, Xiao-Ning; Zhou, Zhi-Gang; Zhou, Di

2018-06-01

This paper addresses the global finite-time attitude stabilisation problem on the special orthogonal group (SO(3)) for a rigid spacecraft via homogeneous feedback approach. Considering the topological and geometric properties of SO(3), the logarithm map is utilised to transform the stabilisation problem on SO(3) into the one on its associated Lie algebra (?). A model-independent discontinuous state feedback plus dynamics compensation scheme is constructed to achieve the global finite-time attitude stabilisation in a coordinate-invariant way. In addition, to address the absence of angular velocity measurements, a sliding mode observer is proposed to reconstruct the unknown angular velocity information within finite time. Then, an observer-based finite-time output feedback control strategy is obtained. Numerical simulations are finally performed to demonstrate the effectiveness of the proposed finite-time controllers.

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.

Flatness-based adaptive fuzzy control of chaotic finance dynamics

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Loia, V.; Tommasetti, A.; Troisi, O.

2017-11-01

A flatness-based adaptive fuzzy control is applied to the problem of stabilization of the dynamics of a chaotic finance system, describing interaction between the interest rate, the investment demand and the price exponent. By proving that the system is differentially flat and by applying differential flatness diffeomorphisms, its transformation to the linear canonical (Brunovsky) is performed. For the latter description of the system, the design of a stabilizing state feedback controller becomes possible. A first problem in the design of such a controller is that the dynamic model of the finance system is unknown and thus it has to be identified with the use neurofuzzy approximators. The estimated dynamics provided by the approximators is used in the computation of the control input, thus establishing an indirect adaptive control scheme. The learning rate of the approximators is chosen from the requirement the system's Lyapunov function to have always a negative first-order derivative. Another problem that has to be dealt with is that the control loop is implemented only with the use of output feedback. To estimate the non-measurable state vector elements of the finance system, a state observer is implemented in the control loop. The computation of the feedback control signal requires the solution of two algebraic Riccati equations at each iteration of the control algorithm. Lyapunov stability analysis demonstrates first that an H-infinity tracking performance criterion is satisfied. This signifies elevated robustness against modelling errors and external perturbations. Moreover, the global asymptotic stability is proven for the control loop.

Global output feedback stabilisation of stochastic high-order feedforward nonlinear systems with time-delay

NASA Astrophysics Data System (ADS)

Zhang, Kemei; Zhao, Cong-Ran; Xie, Xue-Jun

2015-12-01

This paper considers the problem of output feedback stabilisation for stochastic high-order feedforward nonlinear systems with time-varying delay. By using the homogeneous domination theory and solving several troublesome obstacles in the design and analysis, an output feedback controller is constructed to drive the closed-loop system globally asymptotically stable in probability.

Controller design approach based on linear programming.

PubMed

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. © 2013 ISA. Published by ISA. All rights reserved.

High frequency inductive lamp and power oscillator

DOEpatents

Kirkpatrick, Douglas A.; Gitsevich, Aleksandr

2005-09-27

An oscillator includes an amplifier having an input and an output, a feedback network connected between the input of the amplifier and the output of the amplifier, the feedback network being configured to provide suitable positive feedback from the output of the amplifier to the input of the amplifier to initiate and sustain an oscillating condition, and a tuning circuit connected to the input of the amplifier, wherein the tuning circuit is continuously variable and consists of solid state electrical components with no mechanically adjustable devices including a pair of diodes connected to each other at their respective cathodes with a control voltage connected at the junction of the diodes. Another oscillator includes an amplifier having an input and an output, a feedback network connected between the input of the amplifier and the output of the amplifier, the feedback network being configured to provide suitable positive feedback from the output of the amplifier to the input of the amplifier to initiate and sustain an oscillating condition, and transmission lines connected to the input of the amplifier with an input pad and a perpendicular transmission line extending from the input pad and forming a leg of a resonant "T", and wherein the feedback network is coupled to the leg of the resonant "T".

CW injection locking for long-term stability of frequency combs

NASA Astrophysics Data System (ADS)

Williams, Charles; Quinlan, Franklyn; Delfyett, Peter J.

2009-05-01

Harmonically mode-locked semiconductor lasers with external ring cavities offer high repetition rate pulse trains while maintaining low optical linewidth via long cavity storage times. Continuous wave (CW) injection locking further reduces linewidth and stabilizes the optical frequencies. The output can be stabilized long-term with the help of a modified Pound-Drever-Hall feedback loop. Optical sidemode suppression of 36 dB has been shown, as well as RF supermode noise suppression of 14 dB for longer than 1 hour. In addition to the injection locking of harmonically mode-locked lasers requiring an external frequency source, recent work shows the viability of the injection locking technique for regeneratively mode-locked lasers, or Coupled Opto-Electronic Oscillators (COEO).

An Experimental Evaluation of Generalized Predictive Control for Tiltrotor Aeroelastic Stability Augmentation in Airplane Mode of Flight

NASA Technical Reports Server (NTRS)

Kvaternik, Raymond G.; Piatak, David J.; Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Bennett, Richard L.; Brown, Ross K.

2001-01-01

The results of a joint NASA/Army/Bell Helicopter Textron wind-tunnel test to assess the potential of Generalized Predictive Control (GPC) for actively controlling the swashplate of tiltrotor aircraft to enhance aeroelastic stability in the airplane mode of flight are presented. GPC is an adaptive time-domain predictive control method that uses a linear difference equation to describe the input-output relationship of the system and to design the controller. The test was conducted in the Langley Transonic Dynamics Tunnel using an unpowered 1/5-scale semispan aeroelastic model of the V-22 that was modified to incorporate a GPC-based multi-input multi-output control algorithm to individually control each of the three swashplate actuators. Wing responses were used for feedback. The GPC-based control system was highly effective in increasing the stability of the critical wing mode for all of the conditions tested, without measurable degradation of the damping in the other modes. The algorithm was also robust with respect to its performance in adjusting to rapid changes in both the rotor speed and the tunnel airspeed.

CAVITY EXCITATION CIRCUIT

DOEpatents

Franck, J.V.

1959-10-20

An electronic oscillator is described for energizing a resonant cavity and to a system for stabilizing the operatin g frequency of the oscillator at the particular frequency necessary to establish a particular preferred field configuration or mode in the cavity, in this instance a linear accelerator. A freely rnnning oscillator has an output coupled to a resonant cavity wherein a field may be built up at any one of several adjacent frequencies. A pickup loop in the cavity is suitably shielded and positioned in the cavity so that only energy at the panticular desired frequency is fed back to stabilize the oscillator. A phase and gain control is in cluded in the feedback line.

Frequency locking of compact laser-diode modules at 633 nm

NASA Astrophysics Data System (ADS)

Nölleke, Christian; Leisching, Patrick; Blume, Gunnar; Jedrzejczyk, Daniel; Pohl, Johannes; Feise, David; Sahm, Alexander; Paschke, Katrin

2018-02-01

This work reports on a compact diode-laser module emitting at 633 nm. The emission frequency can be tuned with temperature and current, while optical feedback of an internal DBR grating ensures single-mode operation. The laser diode is integrated into a micro-fabricated package, which includes optics for beam shaping, a miniaturized optical isolator, and a vapor cell as frequency reference. The achieved absolute frequency stability is below 10-8 , while the output power can be more than 10 mW. This compact absolute frequency-stabilized laser system can replace gas lasers and may be integrated in future quantum technology devices.

Decentralized adaptive control of interconnected nonlinear systems with unknown control directions.

PubMed

Huang, Jiangshuai; Wang, Qing-Guo

2018-03-01

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected strict-feedback nonlinear systems without a priori knowledge of subsystems' control directions. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of subsystems' output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Low-to-Medium Power Single Chip Digital Controlled DC-DC Regulator for Point-of-Load Applications

NASA Technical Reports Server (NTRS)

Adell, Philippe C. (Inventor); Bakkaloglu, Bertan (Inventor); Vermeire, Bert (Inventor); Liu, Tao (Inventor)

2015-01-01

A DC-DC converter for generating a DC output voltage includes: a digitally controlled pulse width modulator (DPWM) for controlling a switching power stage to supply a varying voltage to an inductor; and a digital voltage feedback circuit for controlling the DPWM in accordance with a feedback voltage corresponding to the DC output voltage, the digital voltage feedback circuit including: a first voltage controlled oscillator for converting the feedback voltage into a first frequency signal and to supply the first frequency signal to a first frequency discriminator; a second voltage controlled oscillator for converting a reference voltage into a second frequency signal and to supply the second frequency signal to a second frequency discriminator; a digital comparator for comparing digital outputs of the first and second frequency discriminators and for outputting a digital feedback signal; and a controller for controlling the DPWM in accordance with the digital feedback signal.

Minimal complexity control law synthesis

NASA Technical Reports Server (NTRS)

Bernstein, Dennis S.; Haddad, Wassim M.; Nett, Carl N.

1989-01-01

A paradigm for control law design for modern engineering systems is proposed: Minimize control law complexity subject to the achievement of a specified accuracy in the face of a specified level of uncertainty. Correspondingly, the overall goal is to make progress towards the development of a control law design methodology which supports this paradigm. Researchers achieve this goal by developing a general theory of optimal constrained-structure dynamic output feedback compensation, where here constrained-structure means that the dynamic-structure (e.g., dynamic order, pole locations, zero locations, etc.) of the output feedback compensation is constrained in some way. By applying this theory in an innovative fashion, where here the indicated iteration occurs over the choice of the compensator dynamic-structure, the paradigm stated above can, in principle, be realized. The optimal constrained-structure dynamic output feedback problem is formulated in general terms. An elegant method for reducing optimal constrained-structure dynamic output feedback problems to optimal static output feedback problems is then developed. This reduction procedure makes use of star products, linear fractional transformations, and linear fractional decompositions, and yields as a byproduct a complete characterization of the class of optimal constrained-structure dynamic output feedback problems which can be reduced to optimal static output feedback problems. Issues such as operational/physical constraints, operating-point variations, and processor throughput/memory limitations are considered, and it is shown how anti-windup/bumpless transfer, gain-scheduling, and digital processor implementation can be facilitated by constraining the controller dynamic-structure in an appropriate fashion.

Output transformations and separation results for feedback linearisable delay systems

NASA Astrophysics Data System (ADS)

Cacace, F.; Conte, F.; Germani, A.

2018-04-01

The class of strict-feedback systems enjoys special properties that make it similar to linear systems. This paper proves that such a class is equivalent, under a change of coordinates, to the wider class of feedback linearisable systems with multiplicative input, when the multiplicative terms are functions of the measured variables only. We apply this result to the control problem of feedback linearisable nonlinear MIMO systems with input and/or output delays. In this way, we provide sufficient conditions under which a separation result holds for output feedback control and moreover a predictor-based controller exists. When these conditions are satisfied, we obtain that the existence of stabilising controllers for arbitrarily large delays in the input and/or the output can be proved for a wider class of systems than previously known.

Some Notes on Wideband Feedback Amplifiers

DOE R&D Accomplishments Database

Fitch, V.

1949-03-16

The extension of the passband of wideband amplifiers is a highly important problem to the designer of electronic circuits. Throughout the electronics industry and in many research programs in physics and allied fields where extensive use is made of video amplifiers, the foremost requirement is a passband of maximum width. This is necessary if it is desired to achieve a more faithful reproduction of transient wave forms, a better time resolution in physical measurements, or perhaps just a wider band gain-frequency response to sine wave signals. The art of electronics is continually faced with this omnipresent amplifier problem. In particular, the instrumentation techniques of nuclear physics require amplifiers with short rise times, a high degree of gain stability, and a linear response to high signal levels. While the distributed amplifier may solve the problems of those seeking only a wide passband, the requirements of stability and linearity necessitate using feedback circuits. This paper considers feedback amplifiers from the standpoint of high-frequency performance. The circuit conditions for optimum steady-state (sinusoidal) and transient response are derived and practical circuits (both interstage and output) are presented which fulfill these conditions. In general, the results obtained may be applied to the low-frequency end.

Network feedback regulates motor output across a range of modulatory neuron activity

PubMed Central

Spencer, Robert M.

2016-01-01

Modulatory projection neurons alter network neuron synaptic and intrinsic properties to elicit multiple different outputs. Sensory and other inputs elicit a range of modulatory neuron activity that is further shaped by network feedback, yet little is known regarding how the impact of network feedback on modulatory neurons regulates network output across a physiological range of modulatory neuron activity. Identified network neurons, a fully described connectome, and a well-characterized, identified modulatory projection neuron enabled us to address this issue in the crab (Cancer borealis) stomatogastric nervous system. The modulatory neuron modulatory commissural neuron 1 (MCN1) activates and modulates two networks that generate rhythms via different cellular mechanisms and at distinct frequencies. MCN1 is activated at rates of 5–35 Hz in vivo and in vitro. Additionally, network feedback elicits MCN1 activity time-locked to motor activity. We asked how network activation, rhythm speed, and neuron activity levels are regulated by the presence or absence of network feedback across a physiological range of MCN1 activity rates. There were both similarities and differences in responses of the two networks to MCN1 activity. Many parameters in both networks were sensitive to network feedback effects on MCN1 activity. However, for most parameters, MCN1 activity rate did not determine the extent to which network output was altered by the addition of network feedback. These data demonstrate that the influence of network feedback on modulatory neuron activity is an important determinant of network output and feedback can be effective in shaping network output regardless of the extent of network modulation. PMID:27030739

Gigahertz frequency comb from a diode-pumped solid-state laser.

PubMed

Klenner, Alexander; Schilt, Stéphane; Südmeyer, Thomas; Keller, Ursula

2014-12-15

We present the first stabilization of the frequency comb offset from a diode-pumped gigahertz solid-state laser oscillator. No additional external amplification and/or compression of the output pulses is required. The laser is reliably modelocked using a SESAM and is based on a diode-pumped Yb:CALGO gain crystal. It generates 1.7-W average output power and pulse durations as short as 64 fs at a pulse repetition rate of 1 GHz. We generate an octave-spanning supercontinuum in a highly nonlinear fiber and use the standard f-to-2f carrier-envelope offset (CEO) frequency f_CEO detection method. As a pump source, we use a reliable and cost-efficient commercial diode laser. Its multi-spatial-mode beam profile leads to a relatively broad frequency comb offset beat signal, which nevertheless can be phase-locked by feedback to its current. Using improved electronics, we reached a feedback-loop-bandwidth of up to 300 kHz. A combination of digital and analog electronics is used to achieve a tight phase-lock of f_CEO to an external microwave reference with a low in-loop residual integrated phase-noise of 744 mrad in an integration bandwidth of [1 Hz, 5 MHz]. An analysis of the laser noise and response functions is presented which gives detailed insights into the CEO stabilization of this frequency comb.

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

PubMed

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

A Charge-Based Low-Power High-SNR Capacitive Sensing Interface Circuit

PubMed Central

Peng, Sheng-Yu; Qureshi, Muhammad S.; Hasler, Paul E.; Basu, Arindam; Degertekin, F. L.

2008-01-01

This paper describes a low-power approach to capacitive sensing that achieves a high signal-to-noise ratio. The circuit is composed of a capacitive feedback charge amplifier and a charge adaptation circuit. Without the adaptation circuit, the charge amplifier only consumes 1 μW to achieve the audio band SNR of 69.34dB. An adaptation scheme using Fowler-Nordheim tunneling and channel hot electron injection mechanisms to stabilize the DC output voltage is demonstrated. This scheme provides a very low frequency pole at 0.2Hz. The measured noise spectrums show that this slow-time scale adaptation does not degrade the circuit performance. The DC path can also be provided by a large feedback resistance without causing extra power consumption. A charge amplifier with a MOS-bipolar pseudo-resistor feedback scheme is interfaced with a capacitive micromachined ultrasonic transducer to demonstrate the feasibility of this approach for ultrasound applications. PMID:18787650

Operating wind turbines in strong wind conditions by using feedforward-feedback control

NASA Astrophysics Data System (ADS)

Feng, Ju; Sheng, Wen Zhong

2014-12-01

Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades.

Analysis and design of gain scheduled control systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Shamma, Jeff S.

1988-01-01

Gain scheduling, as an idea, is to construct a global feedback control system for a time varying and/or nonlinear plant from a collection of local time invariant designs. However in the absence of a sound analysis, these designs come with no guarantees on the robustness, performance, or even nominal stability of the overall gain schedule design. Such an analysis is presented for three types of gain scheduling situations: (1) a linear parameter varying plant scheduling on its exogenous parameters, (2) a nonlinear plant scheduling on a prescribed reference trajectory, and (3) a nonlinear plant scheduling on the current plant output. Conditions are given which guarantee that the stability, robustness, and performance properties of the fixed operating point designs carry over to the global gain scheduled designs, such as the scheduling variable should vary slowly and capture the plants nonlinearities. Finally, an alternate design framework is proposed which removes the slowing varying restriction or gain scheduled systems. This framework addresses some fundamental feedback issues previously ignored in standard gain.

Optimal control of nonlinear continuous-time systems in strict-feedback form.

PubMed

Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

2015-10-01

This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.

Network feedback regulates motor output across a range of modulatory neuron activity.

PubMed

Spencer, Robert M; Blitz, Dawn M

2016-06-01

Modulatory projection neurons alter network neuron synaptic and intrinsic properties to elicit multiple different outputs. Sensory and other inputs elicit a range of modulatory neuron activity that is further shaped by network feedback, yet little is known regarding how the impact of network feedback on modulatory neurons regulates network output across a physiological range of modulatory neuron activity. Identified network neurons, a fully described connectome, and a well-characterized, identified modulatory projection neuron enabled us to address this issue in the crab (Cancer borealis) stomatogastric nervous system. The modulatory neuron modulatory commissural neuron 1 (MCN1) activates and modulates two networks that generate rhythms via different cellular mechanisms and at distinct frequencies. MCN1 is activated at rates of 5-35 Hz in vivo and in vitro. Additionally, network feedback elicits MCN1 activity time-locked to motor activity. We asked how network activation, rhythm speed, and neuron activity levels are regulated by the presence or absence of network feedback across a physiological range of MCN1 activity rates. There were both similarities and differences in responses of the two networks to MCN1 activity. Many parameters in both networks were sensitive to network feedback effects on MCN1 activity. However, for most parameters, MCN1 activity rate did not determine the extent to which network output was altered by the addition of network feedback. These data demonstrate that the influence of network feedback on modulatory neuron activity is an important determinant of network output and feedback can be effective in shaping network output regardless of the extent of network modulation. Copyright © 2016 the American Physiological Society.

Observer-Based Adaptive Neural Network Control for Nonlinear Systems in Nonstrict-Feedback Form.

PubMed

Chen, Bing; Zhang, Huaguang; Lin, Chong

2016-01-01

This paper focuses on the problem of adaptive neural network (NN) control for a class of nonlinear nonstrict-feedback systems via output feedback. A novel adaptive NN backstepping output-feedback control approach is first proposed for nonlinear nonstrict-feedback systems. The monotonicity of system bounding functions and the structure character of radial basis function (RBF) NNs are used to overcome the difficulties that arise from nonstrict-feedback structure. A state observer is constructed to estimate the immeasurable state variables. By combining adaptive backstepping technique with approximation capability of radial basis function NNs, an output-feedback adaptive NN controller is designed through backstepping approach. It is shown that the proposed controller guarantees semiglobal boundedness of all the signals in the closed-loop systems. Two examples are used to illustrate the effectiveness of the proposed approach.

Adaptive Fuzzy Control Design for Stochastic Nonlinear Switched Systems With Arbitrary Switchings and Unmodeled Dynamics.

PubMed

Li, Yongming; Sui, Shuai; Tong, Shaocheng

2017-02-01

This paper deals with the problem of adaptive fuzzy output feedback control for a class of stochastic nonlinear switched systems. The controlled system in this paper possesses unmeasured states, completely unknown nonlinear system functions, unmodeled dynamics, and arbitrary switchings. A state observer which does not depend on the switching signal is constructed to tackle the unmeasured states. Fuzzy logic systems are employed to identify the completely unknown nonlinear system functions. Based on the common Lyapunov stability theory and stochastic small-gain theorem, a new robust adaptive fuzzy backstepping stabilization control strategy is developed. The stability of the closed-loop system on input-state-practically stable in probability is proved. The simulation results are given to verify the efficiency of the proposed fuzzy adaptive control scheme.

Design of feedback control systems for stable plants with saturating actuators

NASA Technical Reports Server (NTRS)

Kapasouris, Petros; Athans, Michael; Stein, Gunter

1988-01-01

A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way as to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of the methodology are: the modified compensator 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 academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.

Push-Pull and Feedback Mechanisms Can Align Signaling System Outputs with Inputs.

PubMed

Andrews, Steven S; Peria, William J; Yu, Richard C; Colman-Lerner, Alejandro; Brent, Roger

2016-11-23

Many cell signaling systems, including the yeast pheromone response system, exhibit "dose-response alignment" (DoRA), in which output of one or more downstream steps closely matches the fraction of occupied receptors. DoRA can improve the fidelity of transmitted dose information. Here, we searched systematically for biochemical network topologies that produced DoRA. Most networks, including many containing feedback and feedforward loops, could not produce DoRA. However, networks including "push-pull" mechanisms, in which the active form of a signaling species stimulates downstream activity and the nominally inactive form reduces downstream activity, enabled perfect DoRA. Networks containing feedbacks enabled DoRA, but only if they also compared feedback to input and adjusted output to match. Our results establish push-pull as a non-feedback mechanism to align output with variable input and maximize information transfer in signaling systems. They also suggest genetic approaches to determine whether particular signaling systems use feedback or push-pull control. Copyright © 2016 Elsevier Inc. All rights reserved.

Investigation of rank 2 and higher output feedback for pole placement

NASA Technical Reports Server (NTRS)

Sridhar, B.

1974-01-01

A common feature of several pole placement techniques is discussed and the use of a dyadic feedback matrix is presented. The limitation of this design is examined and a design involving output feedback matrices of Rank greater than one is developed as a logical extension of the dyadic feedback design. An example is presented to illustrate the design procedure.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

Hybrid Solution of Stochastic Optimal Control Problems Using Gauss Pseudospectral Method and Generalized Polynomial Chaos Algorithms

DTIC Science & Technology

2012-03-01

0-486-41183-4. 15. Brown , Robert G. and Patrick Y. C. Hwang . Introduction to Random Signals and Applied Kalman Filtering. Wiley, New York, 1996. ISBN...stability and perfor- mance criteria. In the 1960’s, Kalman introduced the Linear Quadratic Regulator (LQR) method using an integral performance index...feedback of the state variables and was able to apply this method to time-varying and Multi-Input Multi-Output (MIMO) systems. Kalman further showed

High power tunable mid-infrared optical parametric oscillator enabled by random fiber laser.

PubMed

Wu, Hanshuo; Wang, Peng; Song, Jiaxin; Ye, Jun; Xu, Jiangming; Li, Xiao; Zhou, Pu

2018-03-05

Random fiber laser, as a kind of novel fiber laser that utilizes random distributed feedback as well as Raman gain, has become a research focus owing to its advantages of wavelength flexibility, modeless property and output stability. Herein, a tunable optical parametric oscillator (OPO) enabled by a random fiber laser is reported for the first time. By exploiting a tunable random fiber laser to pump the OPO, the central wavelength of idler light can be continuously tuned from 3977.34 to 4059.65 nm with stable temporal average output power. The maximal output power achieved is 2.07 W. So far as we know, this is the first demonstration of a continuous-wave tunable OPO pumped by a tunable random fiber laser, which could not only provide a new approach for achieving tunable mid-infrared (MIR) emission, but also extend the application scenarios of random fiber lasers.

Development of model-based control for Bridgman crystal growth

NASA Astrophysics Data System (ADS)

Sonda, Paul; Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey. J.

2004-05-01

We study the feasibility of using crucible rotation with feedback control to suppress oscillatory flows in two prototypical vertical Bridgman crystal growth systems—a stabilizing configuration driven by a time-oscillatory furnace disturbance and a thermally destabilized configuration, which exhibits inherent time-varying flows. Proportional controllers are applied to the two systems, with volume-averaged flow speed chosen as the single controlled output and crucible rotation chosen as the manipulated input. Proportional control is able to significantly suppress oscillations in the stabilizing configuration. For the destabilized case, control is effective for small-amplitude flows but is generally ineffective, due to the exacerbating effect of crucible rotation on the time-dependent flows exhibited by this system.

Design of Distributed Engine Control Systems with Uncertain Delay.

PubMed

Liu, Xiaofeng; Li, Yanxi; Sun, Xu

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method.

Robust, Decoupled, Flight Control Design with Rate Saturating Actuators

NASA Technical Reports Server (NTRS)

Snell, S. A.; Hess, R. A.

1997-01-01

Techniques for the design of control systems for manually controlled, high-performance aircraft must provide the following: (1) multi-input, multi-output (MIMO) solutions, (2) acceptable handling qualities including no tendencies for pilot-induced oscillations, (3) a tractable approach for compensator design, (4) performance and stability robustness in the presence of significant plant uncertainty, and (5) performance and stability robustness in the presence actuator saturation (particularly rate saturation). A design technique built upon Quantitative Feedback Theory is offered as a candidate methodology which can provide flight control systems meeting these requirements, and do so over a considerable part of the flight envelope. An example utilizing a simplified model of a supermaneuverable fighter aircraft demonstrates the proposed design methodology.

Design and evaluation of a robust dynamic neurocontroller for a multivariable aircraft control problem

NASA Technical Reports Server (NTRS)

Troudet, T.; Garg, S.; Merrill, W.

1992-01-01

The design of a dynamic neurocontroller with good robustness properties is presented for a multivariable aircraft control problem. The internal dynamics of the neurocontroller are synthesized by a state estimator feedback loop. The neurocontrol is generated by a multilayer feedforward neural network which is trained through backpropagation to minimize an objective function that is a weighted sum of tracking errors, and control input commands and rates. The neurocontroller exhibits good robustness through stability margins in phase and vehicle output gains. By maintaining performance and stability in the presence of sensor failures in the error loops, the structure of the neurocontroller is also consistent with the classical approach of flight control design.

Design of Distributed Engine Control Systems with Uncertain Delay

PubMed Central

Li, Yanxi; Sun, Xu

2016-01-01

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method. PMID:27669005

Asymptotic Eigenstructures

NASA Technical Reports Server (NTRS)

Thompson, P. M.; Stein, G.

1980-01-01

The behavior of the closed loop eigenstructure of a linear system with output feedback is analyzed as a single parameter multiplying the feedback gain is varied. An algorithm is presented that computes the asymptotically infinite eigenstructure, and it is shown how a system with high gain, feedback decouples into single input, single output systems. Then a synthesis algorithm is presented which uses full state feedback to achieve a desired asymptotic eigenstructure.

Cooperative learning neural network output feedback control of uncertain nonlinear multi-agent systems under directed topologies

NASA Astrophysics Data System (ADS)

Wang, W.; Wang, D.; Peng, Z. H.

2017-09-01

Without assuming that the communication topologies among the neural network (NN) weights are to be undirected and the states of each agent are measurable, the cooperative learning NN output feedback control is addressed for uncertain nonlinear multi-agent systems with identical structures in strict-feedback form. By establishing directed communication topologies among NN weights to share their learned knowledge, NNs with cooperative learning laws are employed to identify the uncertainties. By designing NN-based κ-filter observers to estimate the unmeasurable states, a new cooperative learning output feedback control scheme is proposed to guarantee that the system outputs can track nonidentical reference signals with bounded tracking errors. A simulation example is given to demonstrate the effectiveness of the theoretical results.

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

The Physics of Ultracold Sr2 Molecules: Optical Production and Precision Measurement

DTIC Science & Technology

2013-01-01

causing stimulated emission. The wavelength of the feedback light is determined by the angle of the feedback mirror . The zeroth order is the output from...with representative mirror , diffraction grating and diode housing (right). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2.14 Schematic of...of the feedback light is determined by the angle of the feedback mirror . The zeroth order is the output from the ECDL. . . . . . . . . . . . 23 2.15

Tunable terahertz wave generation through a bimodal laser diode and plasmonic photomixer.

PubMed

Yang, S-H; Watts, R; Li, X; Wang, N; Cojocaru, V; O'Gorman, J; Barry, L P; Jarrahi, M

2015-11-30

We demonstrate a compact, robust, and stable terahertz source based on a novel two section digital distributed feedback laser diode and plasmonic photomixer. Terahertz wave generation is achieved through difference frequency generation by pumping the plasmonic photomixer with two output optical beams of the two section digital distributed feedback laser diode. The laser is designed to offer an adjustable terahertz frequency difference between the emitted wavelengths by varying the applied currents to the laser sections. The plasmonic photomixer is comprised of an ultrafast photoconductor with plasmonic contact electrodes integrated with a logarithmic spiral antenna. We demonstrate terahertz wave generation with 0.15-3 THz frequency tunability, 2 MHz linewidth, and less than 5 MHz frequency stability over 1 minute, at useful power levels for practical imaging and sensing applications.

Computerized visual feedback: an adjunct to robotic-assisted gait training.

PubMed

Banz, Raphael; Bolliger, Marc; Colombo, Gery; Dietz, Volker; Lünenburger, Lars

2008-10-01

Robotic devices for walking rehabilitation allow new possibilities for providing performance-related information to patients during gait training. Based on motor learning principles, augmented feedback during robotic-assisted gait training might improve the rehabilitation process used to regain walking function. This report presents a method to provide visual feedback implemented in a driven gait orthosis (DGO). The purpose of the study was to compare the immediate effect on motor output in subjects during robotic-assisted gait training when they used computerized visual feedback and when they followed verbal instructions of a physical therapist. Twelve people with neurological gait disorders due to incomplete spinal cord injury participated. Subjects were instructed to walk within the DGO in 2 different conditions. They were asked to increase their motor output by following the instructions of a therapist and by observing visual feedback. In addition, the subjects' opinions about using visual feedback were investigated by a questionnaire. Computerized visual feedback and verbal instructions by the therapist were observed to result in a similar change in motor output in subjects when walking within the DGO. Subjects reported that they were more motivated and concentrated on their movements when using computerized visual feedback compared with when no form of feedback was provided. Computerized visual feedback is a valuable adjunct to robotic-assisted gait training. It represents a relevant tool to increase patients' motor output, involvement, and motivation during gait training, similar to verbal instructions by a therapist.

An 11 μ w, two-electrode transimpedance biosignal amplifier with active current feedback stabilization.

PubMed

Inan, O T; Kovacs, G T A

2010-04-01

A novel two-electrode biosignal amplifier circuit is demonstrated by using a composite transimpedance amplifier input stage with active current feedback. Micropower, low gain-bandwidth product operational amplifiers can be used, leading to the lowest reported overall power consumption in the literature for a design implemented with off-the-shelf commercial integrated circuits (11 μW). Active current feedback forces the common-mode input voltage to stay within the supply rails, reducing baseline drift and amplifier saturation problems that can be present in two-electrode systems. The bandwidth of the amplifier extends from 0.05-200 Hz and the midband voltage gain (assuming an electrode-to-skin resistance of 100 kΩ) is 48 dB. The measured output noise level is 1.2 mV pp, corresponding to a voltage signal-to-noise ratio approaching 50 dB for a typical electrocardiogram (ECG) level input of 1 mVpp. Recordings were taken from a subject by using the proposed two-electrode circuit and, simultaneously, a three-electrode standard ECG circuit. The residual of the normalized ensemble averages for both measurements was computed, and the power of this residual was 0.54% of the power of the standard ECG measurement output. While this paper primarily focuses on ECG applications, the circuit can also be used for amplifying other biosignals, such as the electroencephalogram.

Novel matched amplifiers with low noise positive feedback. Part II: Resistive-capacitive feedback

NASA Astrophysics Data System (ADS)

Bruck, Y.; Zakharenko, V.

2010-02-01

This article is a continuation of consideration for an amplifier with resistive positive feedback (RPF) (Bruck (2008), 'Novel Matched LNA with Low Noise Positive Feedback. Part 1: General Features and Resistive Feedback', International Journal of Electronics, 95, 441-456). We propose here new configuration schematics of a transformer-less selective LNA with resistive-capacitive positive feedback (RCPF). A circuit of an amplifier with a transistor connected into a circuit with a common base (CB) configuration is analysed in detail. RCPF and RPF circuits are compared. It is shown that the LNA RCPF provides any pass-band, a good level of input and output matching, a minimum noise temperature which is significantly lower than that of the LNA RPF, a rather high linearity, and stability of amplification. The simulation results and some experimental data for the amplifiers intended for use in the LOFAR radiotelescope (Konovalenko et al. (2003), 'Thirty Element Array Antenna as a Prototype of a Huge Low-Frequency Radio Telescope,' Experimental Astronomy, 16, 149-164; Konovalenko (2007), 'Ukrainian Contribution to LOFAR', A scientific workshop, organised by LOFAR/ASTRON' Emmen, Netherlands, 23-27. http://www.lofar.org/workshop) are given. It is assumed that such devices are of a special interest for high-frequency integral circuits (IC).

Dynamics of nonlinear feedback control.

PubMed

Snippe, H P; van Hateren, J H

2007-05-01

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input steps, the dynamics of gain and attenuation can be very different, depending on the mathematical form of the nonlinearity and the ordering of the nonlinearity and the filtering in the feedback loop. Further, the dynamics of feedback control can be strongly asymmetrical for increment versus decrement steps of the input. Nevertheless, for each of the models studied, the nonlinearity in the feedback loop can be chosen such that immediately after an input step, the dynamics of feedback control is symmetric with respect to increments versus decrements. Finally, we study the dynamics of the output of the control loops and find conditions under which overshoots and undershoots of the output relative to the steady-state output occur when the models are stimulated with low-pass filtered steps. For small steps at the input, overshoots and undershoots of the output do not occur when the filtering in the control path is faster than the low-pass filtering at the input. For large steps at the input, however, results depend on the model, and for some of the models, multiple overshoots and undershoots can occur even with a fast control path.

Coordinated three-dimensional motion of the head and torso by dynamic neural networks.

PubMed

Kim, J; Hemami, H

1998-01-01

The problem of trajectory tracking control of a three dimensional (3D) model of the human upper torso and head is considered. The torso and the head are modeled as two rigid bodies connected at one point, and the Newton-Euler method is used to derive the nonlinear differential equations that govern the motion of the system. The two-link system is driven by six pairs of muscle like actuators that possess physiologically inspired alpha like and gamma like inputs, and spindle like and Golgi tendon organ like outputs. These outputs are utilized as reflex feedback for stability and stiffness control, in a long loop feedback for the purpose of estimating the state of the system (somesthesis), and as part of the input to the controller. Ideal delays of different duration are included in the feedforward and feedback paths of the system to emulate such delays encountered in physiological systems. Dynamical neural networks are trained to learn effective control of the desired maneuvers of the system. The feasibility of the controller is demonstrated by computer simulation of the successful execution of the desired maneuvers. This work demonstrates the capabilities of neural circuits in controlling highly nonlinear systems with multidelays in their feedforward and feedback paths. The ultimate long range goal of this research is toward understanding the working of the central nervous system in controlling movement. It is an interdisciplinary effort relying on mechanics, biomechanics, neuroscience, system theory, physiology and anatomy, and its short range relevance to rehabilitation must be noted.

Stability of the Baseline Holder in Readout Circuits For Radiation Detectors

PubMed Central

Chen, Y.; Cui, Y.; O’Connor, P.; Seo, Y.; Camarda, G. S.; Hossain, A.; Roy, U.; Yang, G.; James, R. B.

2016-01-01

Baseline holder (BLH) circuits are used widely to stabilize the analog output of application-specific integrated circuits (ASICs) for high-count-rate applications. The careful design of BLH circuits is vital to the overall stability of the analog-signal-processing chain in ASICs. Recently, we observed self-triggered fluctuations in an ASIC in which the shaping circuits have a BLH circuit in the feedback loop. In fact, further investigations showed that methods of enhancing small-signal stabilities cause an even worse situation. To resolve this problem, we used large-signal analyses to study the circuit’s stability. We found that a relatively small gain for the error amplifier and a small current in the non-linear stage of the BLH are required to enhance stability in large-signal analysis, which will compromise the properties of the BLH. These findings were verified by SPICE simulations. In this paper, we present our detailed analysis of the BLH circuits, and propose an improved version of them that have only minimal self-triggered fluctuations. We summarize the design considerations both for the stability and the properties of the BLH circuits. PMID:27182081

Cryogenic Pound Circuits for Cryogenic Sapphire Oscillators

NASA Technical Reports Server (NTRS)

Dick, G. John; Wang, Rabi

2006-01-01

Two modern cryogenic variants of the Pound circuit have been devised to increase the frequency stability of microwave oscillators that include cryogenic sapphire-filled cavity resonators. The original Pound circuit is a microwave frequency discriminator that provides feedback to stabilize a voltage-controlled microwave oscillator with respect to an associated cavity resonator. In the present cryogenic Pound circuits, the active microwave devices are implemented by use of state-of-the-art commercially available tunnel diodes that exhibit low flicker noise (required for high frequency stability) and function well at low temperatures and at frequencies up to several tens of gigahertz. While tunnel diodes are inherently operable as amplitude detectors and amplitude modulators, they cannot, by themselves, induce significant phase modulation. Therefore, each of the present cryogenic Pound circuits includes passive circuitry that transforms the AM into the required PM. Each circuit also contains an AM detector that is used to sample the microwave signal at the input terminal of the high-Q resonator for the purpose of verifying the desired AM null at this point. Finally, each circuit contains a Pound signal detector that puts out a signal, at the modulation frequency, having an amplitude proportional to the frequency error in the input signal. High frequency stability is obtained by processing this output signal into feedback to a voltage-controlled oscillator to continuously correct the frequency error in the input signal.

Reduced-order dynamic output feedback control of uncertain discrete-time Markov jump linear systems

NASA Astrophysics Data System (ADS)

Morais, Cecília F.; Braga, Márcio F.; Oliveira, Ricardo C. L. F.; Peres, Pedro L. D.

2017-11-01

This paper deals with the problem of designing reduced-order robust dynamic output feedback controllers for discrete-time Markov jump linear systems (MJLS) with polytopic state space matrices and uncertain transition probabilities. Starting from a full order, mode-dependent and polynomially parameter-dependent dynamic output feedback controller, sufficient linear matrix inequality based conditions are provided for the existence of a robust reduced-order dynamic output feedback stabilising controller with complete, partial or none mode dependency assuring an upper bound to the ? or the ? norm of the closed-loop system. The main advantage of the proposed method when compared to the existing approaches is the fact that the dynamic controllers are exclusively expressed in terms of the decision variables of the problem. In other words, the matrices that define the controller realisation do not depend explicitly on the state space matrices associated with the modes of the MJLS. As a consequence, the method is specially suitable to handle order reduction or cluster availability constraints in the context of ? or ? dynamic output feedback control of discrete-time MJLS. Additionally, as illustrated by means of numerical examples, the proposed approach can provide less conservative results than other conditions in the literature.

Design and evaluation of a flow-to-frequency converter circuit with thermal feedback

NASA Astrophysics Data System (ADS)

Pawlowski, Eligiusz

2017-05-01

A novel thermal flow sensor with a frequency output is presented. The sensor provides a pulse-train output whose frequency is related to the fluid flow rate around a self-heating thermistor. The integrating properties of the temperature sensor have been used, which allowed for realization of the pulse frequency modulator with a thermal feedback loop, stabilizing the temperature of the sensor placed in the flowing medium. The system assures a balance of the amount of heat supplied in the impulses to the sensor and the heat given up by the sensor in a continuous way to the flowing medium. Therefore the frequency of output pulse-train is proportional to the medium flow velocity around the sensor. The special feature of the presented solution is the total integration of the thermal sensor with the measurement signal conditioning system. i.e. the sensor and conditioning system are not separate elements of the measurement circuit, but constitute a whole in the form of a thermal heat-balance mode flow-to-frequency converter. The frequency signal from the converter may be directly connected to the microprocessor digital input, which with use of the standard built-in counters may convert the frequency into a numerical value of high precision. The sensor has been experimentally characterized as a function of the average flow velocity of air at room temperature.

Spectrally and Radiometrically Stable Wide-Band on Board Calibration Source for In-Flight Data Validation in Imaging Spectroscopy Applications

NASA Technical Reports Server (NTRS)

Coles, J. B.; Richardson, Brandon S.; Eastwood, Michael L.; Sarture, Charles M.; Quetin, Gregory R.; Hernandez, Marco A.; Kroll, Linley A.; Nolte, Scott H.; Porter, Michael D.; Green, Robert O.

2011-01-01

The quality of the quantitative spectral data collected by an imaging spectrometer instrument is critically dependent upon the accuracy of the spectral and radiometric calibration of the system. In order for the collected spectra to be scientifically useful, the calibration of the instrument must be precisely known not only prior to but during data collection. Thus, in addition to a rigorous in-lab calibration procedure, the airborne instruments designed and built by the NASA/JPL Imaging Spectroscopy Group incorporate an on board calibrator (OBC) system with the instrument to provide auxiliary in-use system calibration data. The output of the OBC source illuminates a target panel on the backside of the foreoptics shutter both before and after data collection. The OBC and in-lab calibration data sets are then used to validate and post-process the collected spectral image data. The resulting accuracy of the spectrometer output data is therefore integrally dependent upon the stability of the OBC source. In this paper we describe the design and application of the latest iteration of this novel device developed at NASA/JPL which integrates a halogen-cycle source with a precisely designed fiber coupling system and a fiber-based intensity monitoring feedback loop. The OBC source in this Airborne Testbed Spectrometer was run over a period of 15 hours while both the radiometric and spectral stabilities of the output were measured and demonstrated stability to within 1% of nominal.

Phase-stable, multi-µJ femtosecond pulses from a repetition-rate tunable Ti:Sa-oscillator-seeded Yb-fiber amplifier

NASA Astrophysics Data System (ADS)

Saule, T.; Holzberger, S.; De Vries, O.; Plötner, M.; Limpert, J.; Tünnermann, A.; Pupeza, I.

2017-01-01

We present a high-power, MHz-repetition-rate, phase-stable femtosecond laser system based on a phase-stabilized Ti:Sa oscillator and a multi-stage Yb-fiber chirped-pulse power amplifier. A 10-nm band around 1030 nm is split from the 7-fs oscillator output and serves as the seed for subsequent amplification by 54 dB to 80 W of average power. The µJ-level output is spectrally broadened in a solid-core fiber and compressed to 30 fs with chirped mirrors. A pulse picker prior to power amplification allows for decreasing the repetition rate from 74 MHz by a factor of up to 4 without affecting the pulse parameters. To compensate for phase jitter added by the amplifier to the feed-forward phase-stabilized seeding pulses, a self-referencing feed-back loop is implemented at the system output. An integrated out-of-loop phase noise of less than 100 mrad was measured in the band from 0.4 Hz to 400 kHz, which to the best of our knowledge corresponds to the highest phase stability ever demonstrated for high-power, multi-MHz-repetition-rate ultrafast lasers. This system will enable experiments in attosecond physics at unprecedented repetition rates, it offers ideal prerequisites for the generation and field-resolved electro-optical sampling of high-power, broadband infrared pulses, and it is suitable for phase-stable white light generation.

A game theoretic controller for a linear time-invariant system with parameter uncertainty and its application to the Space Station

NASA Technical Reports Server (NTRS)

Rhee, Ihnseok; Speyer, Jason L.

1990-01-01

A game theoretic controller is developed for a linear time-invariant system with parameter uncertainties in system and input matrices. The input-output decomposition modeling for the plant uncertainty is adopted. The uncertain dynamic system is represented as an internal feedback loop in which the system is assumed forced by fictitious disturbance caused by the parameter uncertainty. By considering the input and the fictitious disturbance as two noncooperative players, a differential game problem is constructed. It is shown that the resulting time invariant controller stabilizes the uncertain system for a prescribed uncertainty bound. This game theoretic controller is applied to the momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Inclusion of the external disturbance torque to the design procedure results in a dynamical feedback controller which consists of conventional PID control and cyclic disturbance rejection filter. It is shown that the game theoretic design, comparing to the LQR design or pole placement design, improves the stability robustness with respect to inertia variations.

Flatness-based embedded adaptive fuzzy control of turbocharged diesel engines

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Siano, Pierluigi; Arsie, Ivan

2014-10-01

In this paper nonlinear embedded control for turbocharged Diesel engines is developed with the use of Differential flatness theory and adaptive fuzzy control. It is shown that the dynamic model of the turbocharged Diesel engine is differentially flat and admits dynamic feedback linearization. It is also shown that the dynamic model can be written in the linear Brunovsky canonical form for which a state feedback controller can be easily designed. To compensate for modeling errors and external disturbances an adaptive fuzzy control scheme is implemanted making use of the transformed dynamical system of the diesel engine that is obtained through the application of differential flatness theory. Since only the system's output is measurable the complete state vector has to be reconstructed with the use of a state observer. It is shown that a suitable learning law can be defined for neuro-fuzzy approximators, which are part of the controller, so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed observer-based adaptive fuzzy control scheme results in H∞ tracking performance.

Squeezed light in an optical parametric oscillator network with coherent feedback quantum control.

PubMed

Crisafulli, Orion; Tezak, Nikolas; Soh, Daniel B S; Armen, Michael A; Mabuchi, Hideo

2013-07-29

We present squeezing and anti-squeezing spectra of the output from a degenerate optical parametric oscillator (OPO) network arranged in different coherent quantum feedback configurations. One OPO serves as a quantum plant, the other as a quantum controller. The addition of coherent feedback enables shaping of the output squeezing spectrum of the plant, and is found to be capable of pushing the frequency of maximum squeezing away from the optical driving frequency and broadening the spectrum over a wider frequency band. The experimental results are in excellent agreement with the developed theory, and illustrate the use of coherent quantum feedback to engineer the quantum-optical properties of the plant OPO output.

Tracking performance under time sharing conditions with a digit processing task: A feedback control theory analysis. [attention sharing effect on operator performance

NASA Technical Reports Server (NTRS)

Gopher, D.; Wickens, C. D.

1975-01-01

A one dimensional compensatory tracking task and a digit processing reaction time task were combined in a three phase experiment designed to investigate tracking performance in time sharing. Adaptive techniques, elaborate feedback devices, and on line standardization procedures were used to adjust task difficulty to the ability of each individual subject and manipulate time sharing demands. Feedback control analysis techniques were employed in the description of tracking performance. The experimental results show that when the dynamics of a system are constrained, in such a manner that man machine system stability is no longer a major concern of the operator, he tends to adopt a first order control describing function, even with tracking systems of higher order. Attention diversion to a concurrent task leads to an increase in remnant level, or nonlinear power. This decrease in linearity is reflected both in the output magnitude spectra of the subjects, and in the linear fit of the amplitude ratio functions.

Structured output-feedback controller synthesis with design specifications

NASA Astrophysics Data System (ADS)

Hao, Yuqing; Duan, Zhisheng

2017-03-01

This paper considers the problem of structured output-feedback controller synthesis with finite frequency specifications. Based on the orthogonal space information of input matrix, an improved parameter-dependent Lyapunov function method is first proposed. Then, a two-stage construction method is designed, which depends on an initial centralised controller. Corresponding design conditions for three types of output-feedback controllers are presented in terms of unified representations. Moreover, heuristic algorithms are provided to explore the desirable controllers. Finally, the effectiveness of these proposed methods is illustrated via some practical examples.

Wide-area Power System Damping Control Coordination Based on Particle Swarm Optimization with Time Delay Considered

NASA Astrophysics Data System (ADS)

Zhang, J. Y.; Jiang, Y.

2017-10-01

To ensure satisfactory dynamic performance of controllers in time-delayed power systems, a WAMS-based control strategy is investigated in the presence of output feedback delay. An integrated approach based on Pade approximation and particle swarm optimization (PSO) is employed for parameter configuration of PSS. The coordination configuration scheme of power system controllers is achieved by a series of stability constraints at the aim of maximizing the minimum damping ratio of inter-area mode of power system. The validity of this derived PSS is verified on a prototype power system. The findings demonstrate that the proposed approach for control design could damp the inter-area oscillation and enhance the small-signal stability.

Employing static excitation control and tie line reactance to stabilize wind turbine generators

NASA Technical Reports Server (NTRS)

Hwang, H. H.; Mozeico, H. V.; Guo, T.

1978-01-01

An analytical representation of a wind turbine generator is presented which employs blade pitch angle feedback control. A mathematical model was formulated. With the functioning MOD-0 wind turbine serving as a practical case study, results of computer simulations of the model as applied to the problem of dynamic stability at rated load are also presented. The effect of the tower shadow was included in the input to the system. Different configurations of the drive train, and optimal values of the tie line reactance were used in the simulations. Computer results revealed that a static excitation control system coupled with optimal values of the tie line reactance would effectively reduce oscillations of the power output, without the use of a slip clutch.

Optimal Control-Based Adaptive NN Design for a Class of Nonlinear Discrete-Time Block-Triangular Systems.

PubMed

Liu, Yan-Jun; Tong, Shaocheng

2016-11-01

In this paper, we propose an optimal control scheme-based adaptive neural network design for a class of unknown nonlinear discrete-time systems. The controlled systems are in a block-triangular multi-input-multi-output pure-feedback structure, i.e., there are both state and input couplings and nonaffine functions to be included in every equation of each subsystem. The design objective is to provide a control scheme, which not only guarantees the stability of the systems, but also achieves optimal control performance. The main contribution of this paper is that it is for the first time to achieve the optimal performance for such a class of systems. Owing to the interactions among subsystems, making an optimal control signal is a difficult task. The design ideas are that: 1) the systems are transformed into an output predictor form; 2) for the output predictor, the ideal control signal and the strategic utility function can be approximated by using an action network and a critic network, respectively; and 3) an optimal control signal is constructed with the weight update rules to be designed based on a gradient descent method. The stability of the systems can be proved based on the difference Lyapunov method. Finally, a numerical simulation is given to illustrate the performance of the proposed scheme.

Method and apparatus for loss of control inhibitor systems

NASA Technical Reports Server (NTRS)

A'Harrah, Ralph C. (Inventor)

2007-01-01

Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

Robust non-fragile finite-frequency H∞ static output-feedback control for active suspension systems

NASA Astrophysics Data System (ADS)

Wang, Gang; Chen, Changzheng; Yu, Shenbo

2017-07-01

This paper deals with the problem of non-fragile H∞ static output-feedback control of vehicle active suspension systems with finite-frequency constraint. The control objective is to improve ride comfort within the given frequency range and ensure the hard constraints in the time-domain. Moreover, in order to enhance the robustness of the controller, the control gain perturbation is also considered in controller synthesis. Firstly, a new non-fragile H∞ finite-frequency control condition is established by using generalized Kalman-Yakubovich-Popov (GKYP) lemma. Secondly, the static output-feedback control gain is directly derived by using a non-iteration algorithm. Different from the existing iteration LMI results, the static output-feedback design is simple and less conservative. Finally, the proposed control algorithm is applied to a quarter-car active suspension model with actuator dynamics, numerical results are made to show the effectiveness and merits of the proposed method.

Engineering information on an Analog Signal to Discrete Time Interval Converter (ASDT-IC)

NASA Technical Reports Server (NTRS)

Schwarz, F. C.

1974-01-01

An electronic control system for nondissipative dc power converters is presented which improves (1) the routinely attainable static output voltage accuracy to the order of + or - 1% for ambient temperatures from -55 to 100 C and (2) the dynamic stability by utilizing approximately one tenth of the feedback gain needed otherwise. Performance is due to a functional philosophy of deterministic pulse modulation based on pulse area control and to an autocompensated signal processing principle. The system can be implemented with commercially available unselected components.

Optimal Recursive Digital Filters for Active Bending Stabilization

NASA Technical Reports Server (NTRS)

Orr, Jeb S.

2013-01-01

In the design of flight control systems for large flexible boosters, it is common practice to utilize active feedback control of the first lateral structural bending mode so as to suppress transients and reduce gust loading. Typically, active stabilization or phase stabilization is achieved by carefully shaping the loop transfer function in the frequency domain via the use of compensating filters combined with the frequency response characteristics of the nozzle/actuator system. In this paper we present a new approach for parameterizing and determining optimal low-order recursive linear digital filters so as to satisfy phase shaping constraints for bending and sloshing dynamics while simultaneously maximizing attenuation in other frequency bands of interest, e.g. near higher frequency parasitic structural modes. By parameterizing the filter directly in the z-plane with certain restrictions, the search space of candidate filter designs that satisfy the constraints is restricted to stable, minimum phase recursive low-pass filters with well-conditioned coefficients. Combined with optimal output feedback blending from multiple rate gyros, the present approach enables rapid and robust parametrization of autopilot bending filters to attain flight control performance objectives. Numerical results are presented that illustrate the application of the present technique to the development of rate gyro filters for an exploration-class multi-engined space launch vehicle.

Neural control and precision of flight muscle activation in Drosophila.

PubMed

Lehmann, Fritz-Olaf; Bartussek, Jan

2017-01-01

Precision of motor commands is highly relevant in a large context of various locomotor behaviors, including stabilization of body posture, heading control and directed escape responses. While posture stability and heading control in walking and swimming animals benefit from high friction via ground reaction forces and elevated viscosity of water, respectively, flying animals have to cope with comparatively little aerodynamic friction on body and wings. Although low frictional damping in flight is the key to the extraordinary aerial performance and agility of flying birds, bats and insects, it challenges these animals with extraordinary demands on sensory integration and motor precision. Our review focuses on the dynamic precision with which Drosophila activates its flight muscular system during maneuvering flight, considering relevant studies on neural and muscular mechanisms of thoracic propulsion. In particular, we tackle the precision with which flies adjust power output of asynchronous power muscles and synchronous flight control muscles by monitoring muscle calcium and spike timing within the stroke cycle. A substantial proportion of the review is engaged in the significance of visual and proprioceptive feedback loops for wing motion control including sensory integration at the cellular level. We highlight that sensory feedback is the basis for precise heading control and body stability in flies.

An auto-locked diode laser system for precision metrology

NASA Astrophysics Data System (ADS)

Beica, H. C.; Carew, A.; Vorozcovs, A.; Dowling, P.; Pouliot, A.; Barron, B.; Kumarakrishnan, A.

2017-05-01

We present a unique external cavity diode laser system that can be auto-locked with reference to atomic and molecular spectra. The vacuum-sealed laser head design uses an interchangeable base-plate comprised of a laser diode and optical elements that can be selected for desired wavelength ranges. The feedback light to the laser diode is provided by a narrow-band interference filter, which can be tuned from outside the laser cavity to fineadjust the output wavelength in vacuum. To stabilize the laser frequency, the digital laser controller relies either on a pattern-matching algorithm stored in memory, or on first or third derivative feedback. We have used the laser systems to perform spectroscopic studies in rubidium at 780 nm, and in iodine at 633 nm. The linewidth of the 780-nm laser system was measured to be ˜500 kHz, and we present Allan deviation measurements of the beat note and the lock stability. Furthermore, we show that the laser system can be the basis for a new class of lidar transmitters in which a temperature-stabilized fiber-Bragg grating is used to generate frequency references for on-line points of the transmitter. We show that the fiber-Bragg grating spectra can be calibrated with reference to atomic transitions.

Three degree-of-freedom force feedback control for robotic mating of umbilical lines

NASA Technical Reports Server (NTRS)

Fullmer, R. Rees

1988-01-01

The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

A switchable and stable single-longitudinal-mode, dual-wavelength erbium-doped fiber laser assisted by Rayleigh backscattering in tapered fiber

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gu, Jian; Yang, Yanfu, E-mail: yangyanfu@hotmail.com; Zhang, Jianyu

We have proposed and demonstrated a novel switchable single-longitudinal-mode (SLM), dual-wavelength erbium-doped fiber laser (DWEDFL) assisted by Rayleigh backscattering (RBS) in a tapered fiber in a ring laser configuration. The RBS feedback in a tapered fiber is a key mechanism as linewidth narrowing for laser output. A compound laser cavity ensured that the EDFL operated in the SLM state and a saturable absorber (SA) is employed to form a gain grating for both filtering and improving wavelength stability. The fiber laser can output dual wavelengths simultaneously or operate at single wavelength in a switchable manner. Experiment results show that withmore » the proper SA, the peak power drift was improved from 1–2 dB to 0.31 dB and the optical signal to noise ratio was higher than 60 dB. Under the assistance of RBS feedback, the laser linewidths are compressed by around three times and the Lorentzian 3 dB linewidths of 445 Hz and 425 Hz are obtained at 1550 nm and 1554 nm, respectively.« less

Atomic clocks based on extened-cavity diode laser in multimode operation

NASA Astrophysics Data System (ADS)

Yim, Sin; Cho, D.

2011-05-01

We demonstrated the possibilities to develope an atomic clock based on coherent population trapping (CPT) without using a local oscillator and a modulator. Instead of using a modulator, we use two modes from a single extended-cavity diode laser in multimode operation. Two different types of feedback system are applied to stabilize a difference frequency between the two modes and eliminate the need for an extra frequency modulation. In the first type, we employ an electronic feedback using dispersion of the CPT resonance as an error signal. The two modes are phase locked with reference to a dispersion signal from a CPT resonance of 85Rb at 3.036 GHz ground hyperfine splitting. We use D1 transition at 794.8 nm with lin ⊥lin polarizations to obtain large-contrast CPT signal. Allan deviation of the beat frequency between the two modes is 1 ×10-10 at 200-s integration time. In the second type, we employ optoelectronic feedback to construct an opto-electronic oscillator (OEO). In an OEO, the beating signal between two modes is recovered by a fast photodiode, and its output is amplified and fed back to the laser diode by using a direct modulation of an injection current. When the OEO loop is closed, oscillation frequency depends on variations of the loop length. In order to stabilize an OEO loop length and thereby its oscillation frequency, CPT cell is inserted to play a role of microwave band pass filter. Allan deviation of the CPT-stabilized OEO is 2 ×10-10 at 100-s integration time.

PID position regulation in one-degree-of-freedom Euler-Lagrange systems actuated by a PMSM

NASA Astrophysics Data System (ADS)

Verastegui-Galván, J.; Hernández-Guzmán, V. M.; Orrante-Sakanassi, J.

2018-02-01

This paper is concerned with position regulation in one-degree-of-freedom Euler-Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler-Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.

Comparison of efficiency and feedback characteristics of techniques of coupling semiconductor lasers into single-mode fiber.

PubMed

Wenke, G; Zhu, Y

1983-12-01

The coupling of CSP lasers to single-mode fibers with different coupling structures made on the fiber face is investigated. In this case easy to make coupling arrangements such as tapers and microlenses, result in a high launching efficiency (approximately 2-dB loss), in contrast to launching from gain-guided lasers with strong astigmatism and a broader far-field pattern. Index-guiding lasers exhibit, however, a higher sensitivity to optical feedback. Laser output power and wavelength are changed due to reflections from the fiber tip. Critical distances exist which lead to a highly unstable laser spectrum. A comparison of the influence of various fiber faces on laser power and wavelength stability is presented. It is concluded that a tapered fiber end with a large working distance reduces the influence on the laser's performance.

Motion video compression system with neural network having winner-take-all function

NASA Technical Reports Server (NTRS)

Fang, Wai-Chi (Inventor); Sheu, Bing J. (Inventor)

1997-01-01

A motion video data system includes a compression system, including an image compressor, an image decompressor correlative to the image compressor having an input connected to an output of the image compressor, a feedback summing node having one input connected to an output of the image decompressor, a picture memory having an input connected to an output of the feedback summing node, apparatus for comparing an image stored in the picture memory with a received input image and deducing therefrom pixels having differences between the stored image and the received image and for retrieving from the picture memory a partial image including the pixels only and applying the partial image to another input of the feedback summing node, whereby to produce at the output of the feedback summing node an updated decompressed image, a subtraction node having one input connected to received the received image and another input connected to receive the partial image so as to generate a difference image, the image compressor having an input connected to receive the difference image whereby to produce a compressed difference image at the output of the image compressor.

System identification from closed-loop data with known output feedback dynamics

NASA Technical Reports Server (NTRS)

Phan, Minh; Juang, Jer-Nan; Horta, Lucas G.; Longman, Richard W.

1992-01-01

This paper presents a procedure to identify the open loop systems when it is operating under closed loop conditions. First, closed loop excitation data are used to compute the system open loop and closed loop Markov parameters. The Markov parameters, which are the pulse response samples, are then used to compute a state space representation of the open loop system. Two closed loop configurations are considered in this paper. The closed loop system can have either a linear output feedback controller or a dynamic output feedback controller. Numerical examples are provided to illustrate the proposed closed loop identification method.

Combustion Control System Design of Diesel Engine via ASPR based Output Feedback Control Strategy with a PFC

NASA Astrophysics Data System (ADS)

Mizumoto, Ikuro; Tsunematsu, Junpei; Fujii, Seiya

2016-09-01

In this paper, a design method of an output feedback control system with a simple feedforward input for a combustion model of diesel engine will be proposed based on the almost strictly positive real-ness (ASPR-ness) of the controlled system for a combustion control of diesel engines. A parallel feedforward compensator (PFC) design scheme which renders the resulting augmented controlled system ASPR will also be proposed in order to design a stable output feedback control system for the considered combustion model. The effectiveness of our proposed method will be confirmed through numerical simulations.

Static inverter with synchronous output waveform synthesized by time-optimal-response feedback

NASA Technical Reports Server (NTRS)

Kernick, A.; Stechschulte, D. L.; Shireman, D. W.

1976-01-01

Time-optimal-response 'bang-bang' or 'bang-hang' technique, using four feedback control loops, synthesizes static-inverter sinusoidal output waveform by self-oscillatory but yet synchronous pulse-frequency-modulation (SPFM). A single modular power stage per phase of ac output entails the minimum of circuit complexity while providing by feedback synthesis individual phase voltage regulation, phase position control and inherent compensation simultaneously for line and load disturbances. Clipped sinewave performance is described under off-limit load or input voltage conditions. Also, approaches to high power levels, 3-phase arraying and parallel modular connection are given.

Robust Frequency-Domain Constrained Feedback Design via a Two-Stage Heuristic Approach.

PubMed

Li, Xianwei; Gao, Huijun

2015-10-01

Based on a two-stage heuristic method, this paper is concerned with the design of robust feedback controllers with restricted frequency-domain specifications (RFDSs) for uncertain linear discrete-time systems. Polytopic uncertainties are assumed to enter all the system matrices, while RFDSs are motivated by the fact that practical design specifications are often described in restricted finite frequency ranges. Dilated multipliers are first introduced to relax the generalized Kalman-Yakubovich-Popov lemma for output feedback controller synthesis and robust performance analysis. Then a two-stage approach to output feedback controller synthesis is proposed: at the first stage, a robust full-information (FI) controller is designed, which is used to construct a required output feedback controller at the second stage. To improve the solvability of the synthesis method, heuristic iterative algorithms are further formulated for exploring the feedback gain and optimizing the initial FI controller at the individual stage. The effectiveness of the proposed design method is finally demonstrated by the application to active control of suspension systems.

Computation of output feedback gains for linear stochastic systems using the Zangwill-Powell method

NASA Technical Reports Server (NTRS)

Kaufman, H.

1977-01-01

Because conventional optimal linear regulator theory results in a controller which requires the capability of measuring and/or estimating the entire state vector, it is of interest to consider procedures for computing controls which are restricted to be linear feedback functions of a lower dimensional output vector and which take into account the presence of measurement noise and process uncertainty. To this effect a stochastic linear model has been developed that accounts for process parameter and initial uncertainty, measurement noise, and a restricted number of measurable outputs. Optimization with respect to the corresponding output feedback gains was then performed for both finite and infinite time performance indices without gradient computation by using Zangwill's modification of a procedure originally proposed by Powell.

Adaptive output-feedback control for switched stochastic uncertain nonlinear systems with time-varying delay.

PubMed

Song, Zhibao; Zhai, Junyong

2018-04-01

This paper addresses the problem of adaptive output-feedback control for a class of switched stochastic time-delay nonlinear systems with uncertain output function, where both the control coefficients and time-varying delay are unknown. The drift and diffusion terms are subject to unknown homogeneous growth condition. By virtue of adding a power integrator technique, an adaptive output-feedback controller is designed to render that the closed-loop system is bounded in probability, and the state of switched stochastic nonlinear system can be globally regulated to the origin almost surely. A numerical example is provided to demonstrate the validity of the proposed control method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Multiple feedback control apparatus for power conditioning equipment

NASA Technical Reports Server (NTRS)

Biess, John (Inventor); Yu, Yuan (Inventor)

1977-01-01

An improved feedback control system to govern the cyclic operation of the power switch of a non-dissipative power conditioning equipment. The apparatus includes two or three control loops working in unison. The first causes the output DC level to be compared with a reference, and the error amplified for control purposes. The second utilizes the AC component of the voltage across the output filter inductor or the current through the output filter capacitor, and the third loop senses the output transients.

Carrier envelope offset frequency detection and stabilization of a diode-pumped mode-locked Ti:sapphire laser.

PubMed

Gürel, Kutan; Wittwer, Valentin J; Hakobyan, Sargis; Schilt, Stéphane; Südmeyer, Thomas

2017-03-15

We demonstrate the first diode-pumped Ti:sapphire laser frequency comb. It is pumped by two green laser diodes with a total pump power of 3 W. The Ti:sapphire laser generates 250 mW of average output power in 61-fs pulses at a repetition rate of 216 MHz. We generated an octave-spanning supercontinuum spectrum in a photonic-crystal fiber and detected the carrier envelope offset (CEO) frequency in a standard f-to-2f interferometer setup. We stabilized the CEO-frequency through direct current modulation of one of the green pump diodes with a feedback bandwidth of 55 kHz limited by the pump diode driver used in this experiment. We achieved a reduction of the CEO phase noise power spectral density by 140 dB at 1 Hz offset frequency. An advantage of diode pumping is the ability for high-bandwidth modulation of the pump power via direct current modulation. After this experiment, we studied the modulation capabilities and noise properties of green pump laser diodes with improved driver electronics. The current-to-output-power modulation transfer function shows a bandwidth larger than 1 MHz, which should be sufficient to fully exploit the modulation bandwidth of the Ti:sapphire gain for CEO stabilization in future experiments.

Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.; Lanari, Leonardo

1992-01-01

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Development of a sensitivity analysis technique for multiloop flight control systems

NASA Technical Reports Server (NTRS)

Vaillard, A. H.; Paduano, J.; Downing, D. R.

1985-01-01

This report presents the development and application of a sensitivity analysis technique for multiloop flight control systems. This analysis yields very useful information on the sensitivity of the relative-stability criteria of the control system, with variations or uncertainties in the system and controller elements. The sensitivity analysis technique developed is based on the computation of the singular values and singular-value gradients of a feedback-control system. The method is applicable to single-input/single-output as well as multiloop continuous-control systems. Application to sampled-data systems is also explored. The sensitivity analysis technique was applied to a continuous yaw/roll damper stability augmentation system of a typical business jet, and the results show that the analysis is very useful in determining the system elements which have the largest effect on the relative stability of the closed-loop system. As a secondary product of the research reported here, the relative stability criteria based on the concept of singular values were explored.

Motor Controller System For Large Dynamic Range of Motor Operation

NASA Technical Reports Server (NTRS)

Howard, David E. (Inventor); Alhorn, Dean C. (Inventor); Smith, Dennis A. (Inventor); Dutton, Kenneth R. (Inventor); Paulson, Mitchell Scott (Inventor)

2006-01-01

A motor controller system uses a rotary sensor with a plurality of signal conditioning units, coupled to the rotary sensor. Each of these units, which is associated with a particular range of motor output shaft rotation rates, generate a feedback signal indicative of the position of the motor s output shaft. A controller (i) converts a selected motor output shaft rotation rate to a corresponding incremental amount of rotational movement for a selected fixed time period, (ii) selects, at periodic completions of the selected fixed time period, the feedback signal from one of the signal conditioning units for which the particular range of motor output shaft rotation rates associated therewith encompasses the selected motor output shaft rotation rate, and (iii) generates a motor drive signal based on a difference between the incremental amount of rotational movement and the feedback signal from the selected one of the signal conditioning Units.

Dual-range linearized transimpedance amplifier system

DOEpatents

Wessendorf, Kurt O.

2010-11-02

A transimpedance amplifier system is disclosed which simultaneously generates a low-gain output signal and a high-gain output signal from an input current signal using a single transimpedance amplifier having two different feedback loops with different amplification factors to generate two different output voltage signals. One of the feedback loops includes a resistor, and the other feedback loop includes another resistor in series with one or more diodes. The transimpedance amplifier system includes a signal linearizer to linearize one or both of the low- and high-gain output signals by scaling and adding the two output voltage signals from the transimpedance amplifier. The signal linearizer can be formed either as an analog device using one or two summing amplifiers, or alternately can be formed as a digital device using two analog-to-digital converters and a digital signal processor (e.g. a microprocessor or a computer).

Hybrid feedback feedforward: An efficient design of adaptive neural network control.

PubMed

Pan, Yongping; Liu, Yiqi; Xu, Bin; Yu, Haoyong

2016-04-01

This paper presents an efficient hybrid feedback feedforward (HFF) adaptive approximation-based control (AAC) strategy for a class of uncertain Euler-Lagrange systems. The control structure includes a proportional-derivative (PD) control term in the feedback loop and a radial-basis-function (RBF) neural network (NN) in the feedforward loop, which mimics the human motor learning control mechanism. At the presence of discontinuous friction, a sigmoid-jump-function NN is incorporated to improve control performance. The major difference of the proposed HFF-AAC design from the traditional feedback AAC (FB-AAC) design is that only desired outputs, rather than both tracking errors and desired outputs, are applied as RBF-NN inputs. Yet, such a slight modification leads to several attractive properties of HFF-AAC, including the convenient choice of an approximation domain, the decrease of the number of RBF-NN inputs, and semiglobal practical asymptotic stability dominated by control gains. Compared with previous HFF-AAC approaches, the proposed approach possesses the following two distinctive features: (i) all above attractive properties are achieved by a much simpler control scheme; (ii) the bounds of plant uncertainties are not required to be known. Consequently, the proposed approach guarantees a minimum configuration of the control structure and a minimum requirement of plant knowledge for the AAC design, which leads to a sharp decrease of implementation cost in terms of hardware selection, algorithm realization and system debugging. Simulation results have demonstrated that the proposed HFF-AAC can perform as good as or even better than the traditional FB-AAC under much simpler control synthesis and much lower computational cost. Copyright © 2015 Elsevier Ltd. All rights reserved.

Photovoltaic Inverter Controllers Seeking AC Optimal Power Flow Solutions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dall'Anese, Emiliano; Dhople, Sairaj V.; Giannakis, Georgios B.

This paper considers future distribution networks featuring inverter-interfaced photovoltaic (PV) systems, and addresses the synthesis of feedback controllers that seek real- and reactive-power inverter setpoints corresponding to AC optimal power flow (OPF) solutions. The objective is to bridge the temporal gap between long-term system optimization and real-time inverter control, and enable seamless PV-owner participation without compromising system efficiency and stability. The design of the controllers is grounded on a dual ..epsilon..-subgradient method, while semidefinite programming relaxations are advocated to bypass the non-convexity of AC OPF formulations. Global convergence of inverter output powers is analytically established for diminishing stepsize rules formore » cases where: i) computational limits dictate asynchronous updates of the controller signals, and ii) inverter reference inputs may be updated at a faster rate than the power-output settling time.« less

On the modelling of linear-assisted DC-DC voltage regulators for photovoltaic solar energy systems

NASA Astrophysics Data System (ADS)

Martínez-García, Herminio; García-Vílchez, Encarna

2017-11-01

This paper shows the modelling of linear-assisted or hybrid (linear & switching) DC/DC voltage regulators. In this kind of regulators, an auxiliary linear regulator is used, which objective is to cancel the ripple at the output voltage and provide fast responses for load variations. On the other hand, a switching DC/DC converter, connected in parallel with the linear regulator, allows to supply almost the whole output current demanded by the load. The objective of this topology is to take advantage of the suitable regulation characteristics that series linear voltage regulators have, but almost achieving the high efficiency that switching DC/DC converters provide. Linear-assisted DC/DC regulators are feedback systems with potential instability. Therefore, their modelling is mandatory in order to obtain design guidelines and assure stability of the implemented power supply system.

High voltage DC power supply

DOEpatents

Droege, T.F.

1989-12-19

A high voltage DC power supply having a first series resistor at the output for limiting current in the event of a short-circuited output, a second series resistor for sensing the magnitude of output current, and a voltage divider circuit for providing a source of feedback voltage for use in voltage regulation is disclosed. The voltage divider circuit is coupled to the second series resistor so as to compensate the feedback voltage for a voltage drop across the first series resistor. The power supply also includes a pulse-width modulated control circuit, having dual clock signals, which is responsive to both the feedback voltage and a command voltage, and also includes voltage and current measuring circuits responsive to the feedback voltage and the voltage developed across the second series resistor respectively. 7 figs.

High voltage DC power supply

DOEpatents

Droege, Thomas F.

1989-01-01

A high voltage DC power supply having a first series resistor at the output for limiting current in the event of a short-circuited output, a second series resistor for sensing the magnitude of output current, and a voltage divider circuit for providing a source of feedback voltage for use in voltage regulation is disclosed. The voltage divider circuit is coupled to the second series resistor so as to compensate the feedback voltage for a voltage drop across the first series resistor. The power supply also includes a pulse-width modulated control circuit, having dual clock signals, which is responsive to both the feedback voltage and a command voltage, and also includes voltage and current measuring circuits responsive to the feedback voltage and the voltage developed across the second series resistor respectively.

Phase difference in modulated signals of two orthogonally polarized outputs of a Nd:YAG microchip laser with anisotropic optical feedback.

PubMed

Zhang, Peng; Tan, Yi-Dong; Liu, Ning; Wu, Yun; Zhang, Shu-Lian

2013-11-01

We present an experimental observation of the output responses of a Nd:YAG microchip laser with an anisotropic external cavity under weak optical feedback. The feedback mirror is stationary during the experiments. A pair of acousto-optic modulators is used to produce a frequency shift in the feedback light with respect to the initial light. The laser output is a beat signal with 40 kHz modulation frequency and is separated into two orthogonal directions by a Wollaston prism. Phase differences between the two intensity curves are observed as the laser works in two orthogonal modes, and vary with the external birefringence element and the pump power. Theoretical analyses are given, and the simulated results are consistent with the experimental phenomena.

The generalized pole assignment problem. [dynamic output feedback problems

NASA Technical Reports Server (NTRS)

Djaferis, T. E.; Mitter, S. K.

1979-01-01

Two dynamic output feedback problems for a linear, strictly proper system are considered, along with their interrelationships. The problems are formulated in the frequency domain and investigated in terms of linear equations over rings of polynomials. Necessary and sufficient conditions are expressed using genericity.

Recent results on output feedback problems

NASA Technical Reports Server (NTRS)

Byrnes, C. I.

1980-01-01

Given a real linear system sigma = (A, B, C) with m inputs, p outputs and degree n, the problem of generic pole placement by output feedback is studied, which is to compute the constant C(m,p) such that the inequality C(m,p) not less than n is necessary and sufficient for generically positioning the poles of the generic linear system by constant output feedback. A constant C prime (m,p) is determined, which gives a sufficient condition for generic pole placement and which, to the best of the author's knowledge, is at least as good an estimate of C(m,p) as any in the literature. Some results on the construction of solutions in case mp = n are announced, based on the degree formula of Brockett and Byrnes and the Galois theory. In particular, a question raised by Anderson, Bose, and Jury, on the existence of a rational procedure for computing the feedback law from the desired characteristic polynomial is answered.

Period locking due to delayed feedback in a laser with saturable absorber.

PubMed

Carr, T W

2003-08-01

We consider laser with saturable absorber operating in the pulsating regime that is subject to delayed feedback. Alone, both the saturable absorber and delayed feedback cause the clockwise output to become unstable to periodic output via Hopf bifurcations. The delay feedback causes the laser pulse period to lock to an integer fraction of the feedback time. We derive a map from the original model to describe the periodic pulsations of the laser. Equations for the period of the laser predict the occurrence of the different locking states as well as the value of the pump when there is a switch between the locked states.

HIGH PRESSURE GAS REGULATOR

DOEpatents

Ramage, R.W.

1962-05-01

A gas regulator operating on the piston and feedback principle is described. The device is particularly suitable for the delicate regulation of high pressure, i.e., 10,000 psi and above, gas sources, as well as being perfectly adaptable for use on gas supplies as low as 50 psi. The piston is adjustably connected to a needle valve and the movement of the piston regulates the flow of gas from the needle valve. The gas output is obtained from the needle valve. Output pressure is sampled by a piston feedback means which, in turn, regulates the movement of the main piston. When the output is other than the desired value, the feedback system initiates movement of the main piston to allow the output pressure to be corrected or to remain constant. (AEC)

Environmental stability of actively mode locked fibre lasers

NASA Astrophysics Data System (ADS)

Hill, Calum H.; Lee, Stephen T.; Reid, Derryck T.; Baili, Ghaya; Davies, John

2016-10-01

Lasers developed for defence related applications typically encounter issues with reliability and meeting desired specification when taken from the lab to the product line. In particular the harsh environmental conditions a laser has to endure can lead to difficulties. This paper examines a specific class of laser, namely actively mode-locked fibre lasers (AMLFLs), and discusses the impact of environmental perturbations. Theoretical and experimental results have assisted in developing techniques to improve the stability of a mode-locked pulse train for continuous operation. Many of the lessons learned in this research are applicable to a much broader category of lasers. The AMLFL consists of a fibre ring cavity containing a semiconductor optical amplifier (SOA), an isolator, an output coupler, a circulator, a bandpass filter and a modulator. The laser produces a train of 6-ps pulses at 800 nm with a repetition rate in the GHz regime and a low-noise profile. This performance is realisable in a laboratory environment. However, even small changes in temperature on the order of 0.1 °C can cause a collapse of mode-locked dynamics such that the required stability cannot be achieved without suitable feedback. Investigations into the root causes of this failure were performed by changing the temperature of components that constitute the laser resonator and observing their properties. Several different feedback mechanisms have been investigated to improve laser stability in an environment with dynamic temperature changes. Active cavity length control will be discussed along with DC bias control of the Mach-Zehnder modulator (MZM).

Event-triggered output feedback control for distributed networked systems.

PubMed

Mahmoud, Magdi S; Sabih, Muhammad; Elshafei, Moustafa

2016-01-01

This paper addresses the problem of output-feedback communication and control with event-triggered framework in the context of distributed networked control systems. The design problem of the event-triggered output-feedback control is proposed as a linear matrix inequality (LMI) feasibility problem. The scheme is developed for the distributed system where only partial states are available. In this scheme, a subsystem uses local observers and share its information to its neighbors only when the subsystem's local error exceeds a specified threshold. The developed method is illustrated by using a coupled cart example from the literature. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A variable-gain output feedback control design methodology

NASA Technical Reports Server (NTRS)

Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

1989-01-01

A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

Energy management and attitude control for spacecraft

NASA Astrophysics Data System (ADS)

Costic, Bret Thomas

2001-07-01

This PhD dissertation describes the design and implementation of various control strategies centered around spacecraft applications: (i) an attitude control system for spacecraft, (ii) flywheels used for combined attitude and energy tracking, and (iii) an adaptive autobalancing control algorithm. The theory found in each of these sections is demonstrated through simulation or experimental results. An introduction to each of these three primary chapters can be found in chapter one. The main problem addressed in the second chapter is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors is designed. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measurements is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking. This work uses a four-parameter representation of the spacecraft attitude that does not exhibit singular orientations as in the case of the previous three-parameter representation-based results. To the best of my knowledge, this represents the first solution to the adaptive, output feedback, attitude tracking control problem for the quaternion representation. Simulation results are included to illustrate the performance of the proposed output feedback control strategy. The third chapter is devoted to the use of multiple flywheels that integrate the energy storage and attitude control functions in space vehicles. This concept, which is referred to as an Integrated Energy Management and Attitude Control (IEMAC) system, reduces the space vehicle bus mass, volume, cost, and maintenance requirements while maintaining or improving the space vehicle performance. To this end, two nonlinear IEMAC strategies (model-based and adaptive) that simultaneously track a desired attitude trajectory and desired energy/power profile are presented. Both strategies ensure asymptotic tracking while the adaptive controller compensates for uncertain spacecraft inertia. In the final chapter, a control strategy is designed for a rotating, unbalanced disk. The control strategy, which is composed of a control torque and two control forces, regulates the disk displacement and ensures angular velocity tracking. The controller uses a desired compensation adaptation law and a gain adjusted forgetting factor to achieve exponential stability despite the lack of knowledge of the imbalance-related parameters, provided a mild persistency of excitation condition is satisfied.

The role of auditory and kinaesthetic feedback mechanisms on phonatory stability in children.

PubMed

Rathna Kumar, S B; Azeem, Suhail; Choudhary, Abhishek Kumar; Prakash, S G R

2013-12-01

Auditory feedback plays an important role in phonatory control. When auditory feedback is disrupted, various changes are observed in vocal motor control. Vocal intensity and fundamental frequency (F0) levels tend to increase in response to auditory masking. Because of the close reflexive links between the auditory and phonatory systems, it is likely that phonatory stability may be disrupted when auditory feedback is disrupted or altered. However, studies on phonatory stability under auditory masking condition in adult subjects showed that most of the subjects maintained normal levels of phonatory stability. The authors in the earlier investigations suggested that auditory feedback is not the sole contributor to vocal motor control and phonatory stability, a complex neuromuscular reflex system known as kinaesthetic feedback may play a role in controlling phonatory stability when auditory feedback is disrupted or lacking. This proposes the need to further investigate this phenomenon as to whether children show similar patterns of phonatory stability under auditory masking since their neuromotor systems are still at developmental stage, less mature and are less resistant to altered auditory feedback than adults. A total of 40 normal hearing and speaking children (20 male and 20 female) between the age group of 6 and 8 years participated as subjects. The acoustic parameters such as shimmer, jitter and harmonic-to-noise ratio (HNR) were measures and compared between no masking condition (0 dB ML) and masking condition (90 dB ML). Despite the neuromotor systems being less mature in children and less resistant than adults to altered auditory feedback, most of the children in the study demonstrated increased phonatory stability which was reflected by reduced shimmer, jitter and increased HNR values. This study implicates that most of the children demonstrate well established patterns of kinaesthetic feedback, which might have allowed them to maintain normal levels of vocal motor control even in the presence of disturbed auditory feedback. Hence, it can be concluded that children also exhibit kinaesthetic feedback mechanism to control phonatory stability when auditory feedback is disrupted which in turn highlights the importance of kinaesthetic feedback to be included in the therapeutic/intervention approaches for children with hearing and neurogenic speech deficits.

Model reference tracking control of an aircraft: a robust adaptive approach

NASA Astrophysics Data System (ADS)

Tanyer, Ilker; Tatlicioglu, Enver; Zergeroglu, Erkan

2017-05-01

This work presents the design and the corresponding analysis of a nonlinear robust adaptive controller for model reference tracking of an aircraft that has parametric uncertainties in its system matrices and additive state- and/or time-dependent nonlinear disturbance-like terms in its dynamics. Specifically, robust integral of the sign of the error feedback term and an adaptive term is fused with a proportional integral controller. Lyapunov-based stability analysis techniques are utilised to prove global asymptotic convergence of the output tracking error. Extensive numerical simulations are presented to illustrate the performance of the proposed robust adaptive controller.

Multiple Model Adaptive Attitude Control of LEO Satellite with Angular Velocity Constraints

NASA Astrophysics Data System (ADS)

Shahrooei, Abolfazl; Kazemi, Mohammad Hosein

2018-04-01

In this paper, the multiple model adaptive control is utilized to improve the transient response of attitude control system for a rigid spacecraft. An adaptive output feedback control law is proposed for attitude control under angular velocity constraints and its almost global asymptotic stability is proved. The multiple model adaptive control approach is employed to counteract large uncertainty in parameter space of the inertia matrix. The nonlinear dynamics of a low earth orbit satellite is simulated and the proposed control algorithm is implemented. The reported results show the effectiveness of the suggested scheme.

Spectral radiance source based on supercontinuum laser and wavelength tunable bandpass filter: the spectrally tunable absolute irradiance and radiance source.

PubMed

Levick, Andrew P; Greenwell, Claire L; Ireland, Jane; Woolliams, Emma R; Goodman, Teresa M; Bialek, Agnieszka; Fox, Nigel P

2014-06-01

A new spectrally tunable source for calibration of radiometric detectors in radiance, irradiance, or power mode has been developed and characterized. It is termed the spectrally tunable absolute irradiance and radiance source (STAIRS). It consists of a supercontinuum laser, wavelength tunable bandpass filter, power stabilization feedback control scheme, and output coupling optics. It has the advantages of relative portability and a collimated beam (low étendue), and is an alternative to conventional sources such as tungsten lamps, blackbodies, or tunable lasers. The supercontinuum laser is a commercial Fianium SC400-6-02, which has a wavelength range between 400 and 2500 nm and a total power of 6 W. The wavelength tunable bandpass filter, a PhotonEtc laser line tunable filter (LLTF), is tunable between 400 and 1000 nm and has a bandwidth of 1 or 2 nm depending on the wavelength selected. The collimated laser beam from the LLTF filter is converted to an appropriate spatial and angular distribution for the application considered (i.e., for radiance, irradiance, or power mode calibration of a radiometric sensor) with the output coupling optics, for example, an integrating sphere, and the spectral radiance/irradiance/power of the source is measured using a calibration optical sensor. A power stabilization feedback control scheme has been incorporated that stabilizes the source to better than 0.01% for averaging times longer than 100 s. The out-of-band transmission of the LLTF filter is estimated to be < -65 dB (0.00003%), and is sufficiently low for many end-user applications, for example the spectral radiance calibration of earth observation imaging radiometers and the stray light characterization of array spectrometers (the end-user optical sensor). We have made initial measurements of two end-user instruments with the STAIRS source, an array spectrometer and ocean color radiometer.

Adaptive Locomotor Behavior in Larval Zebrafish

PubMed Central

Portugues, Ruben; Engert, Florian

2011-01-01

In this study we report that larval zebrafish display adaptive locomotor output that can be driven by unexpected visual feedback. We develop a new assay that addresses visuomotor integration in restrained larval zebrafish. The assay involves a closed-loop environment in which the visual feedback a larva receives depends on its own motor output in a way that resembles freely swimming conditions. The experimenter can control the gain of this closed feedback loop, so that following a given motor output the larva experiences more or less visual feedback depending on whether the gain is high or low. We show that increases and decreases in this gain setting result in adaptive changes in behavior that lead to a generalized decrease or increase of motor output, respectively. Our behavioral analysis shows that both the duration and tail beat frequency of individual swim bouts can be modified, as well as the frequency with which bouts are elicited. These changes can be implemented rapidly, following an exposure to a new gain of just 175 ms. In addition, modifications in some behavioral parameters accumulate over tens of seconds and effects last for at least 30 s from trial to trial. These results suggest that larvae establish an internal representation of the visual feedback expected from a given motor output and that the behavioral modifications are driven by an error signal that arises from the discrepancy between this expectation and the actual visual feedback. The assay we develop presents a unique possibility for studying visuomotor integration using imaging techniques available in the larval zebrafish. PMID:21909325

Adaptive locomotor behavior in larval zebrafish.

PubMed

Portugues, Ruben; Engert, Florian

2011-01-01

In this study we report that larval zebrafish display adaptive locomotor output that can be driven by unexpected visual feedback. We develop a new assay that addresses visuomotor integration in restrained larval zebrafish. The assay involves a closed-loop environment in which the visual feedback a larva receives depends on its own motor output in a way that resembles freely swimming conditions. The experimenter can control the gain of this closed feedback loop, so that following a given motor output the larva experiences more or less visual feedback depending on whether the gain is high or low. We show that increases and decreases in this gain setting result in adaptive changes in behavior that lead to a generalized decrease or increase of motor output, respectively. Our behavioral analysis shows that both the duration and tail beat frequency of individual swim bouts can be modified, as well as the frequency with which bouts are elicited. These changes can be implemented rapidly, following an exposure to a new gain of just 175 ms. In addition, modifications in some behavioral parameters accumulate over tens of seconds and effects last for at least 30 s from trial to trial. These results suggest that larvae establish an internal representation of the visual feedback expected from a given motor output and that the behavioral modifications are driven by an error signal that arises from the discrepancy between this expectation and the actual visual feedback. The assay we develop presents a unique possibility for studying visuomotor integration using imaging techniques available in the larval zebrafish.

Linear feedback stabilization of a dispersively monitored qubit

NASA Astrophysics Data System (ADS)

Patti, Taylor Lee; Chantasri, Areeya; García-Pintos, Luis Pedro; Jordan, Andrew N.; Dressel, Justin

2017-08-01

The state of a continuously monitored qubit evolves stochastically, exhibiting competition between coherent Hamiltonian dynamics and diffusive partial collapse dynamics that follow the measurement record. We couple these distinct types of dynamics together by linearly feeding the collected record for dispersive energy measurements directly back into a coherent Rabi drive amplitude. Such feedback turns the competition cooperative and effectively stabilizes the qubit state near a target state. We derive the conditions for obtaining such dispersive state stabilization and verify the stabilization conditions numerically. We include common experimental nonidealities, such as energy decay, environmental dephasing, detector efficiency, and feedback delay, and show that the feedback delay has the most significant negative effect on the feedback protocol. Setting the measurement collapse time scale to be long compared to the feedback delay yields the best stabilization.

Self-starting, self-regulating Fourier domain mode locked fiber laser for OCT imaging

PubMed Central

Murari, Kartikeya; Mavadia, Jessica; Xi, Jiefeng; Li, Xingde

2011-01-01

We present a Fourier domain mode locking (FDML) fiber laser with a feedback loop allowing automatic startup without a priori knowledge of the fundamental drive frequency. The feedback can also regulate the drive frequency making the source robust against environmental variations. A control system samples the energy of the light traversing the FDML cavity and uses a voltage controlled oscillator (VCO) to drive the tunable fiber Fabry-Perot filter in order to maximize that energy. We demonstrate a prototype self-starting, self-regulating FDML operating at 40 kHz with a full width tuning range of 140 nm around 1305 nm and a power output of ~40 mW. The laser starts up with no operator intervention in less than 5 seconds and exhibits improved spectral stability over a conventional FDML source. In OCT applications the source achieved over 120 dB detection sensitivity and an ~8.9-µm axial resolution. PMID:21750775

Structural Damage Detection Using Virtual Passive Controllers

NASA Technical Reports Server (NTRS)

Lew, Jiann-Shiun; Juang, Jer-Nan

2001-01-01

This paper presents novel approaches for structural damage detection which uses the virtual passive controllers attached to structures, where passive controllers are energy dissipative devices and thus guarantee the closed-loop stability. The use of the identified parameters of various closed-loop systems can solve the problem that reliable identified parameters, such as natural frequencies of the open-loop system may not provide enough information for damage detection. Only a small number of sensors are required for the proposed approaches. The identified natural frequencies, which are generally much less sensitive to noise and more reliable than the identified natural frequencies, are used for damage detection. Two damage detection techniques are presented. One technique is based on the structures with direct output feedback controllers while the other technique uses the second-order dynamic feedback controllers. A least-squares technique, which is based on the sensitivity of natural frequencies to damage variables, is used for accurately identifying the damage variables.

Adaptive output feedback NN control of a class of discrete-time MIMO nonlinear systems with unknown control directions.

PubMed

Li, Yanan; Yang, Chenguang; Ge, Shuzhi Sam; Lee, Tong Heng

2011-04-01

In this paper, adaptive neural network (NN) control is investigated for a class of block triangular multiinput-multioutput nonlinear discrete-time systems with each subsystem in pure-feedback form with unknown control directions. These systems are of couplings in every equation of each subsystem, and different subsystems may have different orders. To avoid the noncausal problem in the control design, the system is transformed into a predictor form by rigorous derivation. By exploring the properties of the block triangular form, implicit controls are developed for each subsystem such that the couplings of inputs and states among subsystems have been completely decoupled. The radial basis function NN is employed to approximate the unknown control. Each subsystem achieves a semiglobal uniformly ultimately bounded stability with the proposed control, and simulation results are presented to demonstrate its efficiency.

Learning-Based Adaptive Optimal Tracking Control of Strict-Feedback Nonlinear Systems.

PubMed

Gao, Weinan; Jiang, Zhong-Ping; Weinan Gao; Zhong-Ping Jiang; Gao, Weinan; Jiang, Zhong-Ping

2018-06-01

This paper proposes a novel data-driven control approach to address the problem of adaptive optimal tracking for a class of nonlinear systems taking the strict-feedback form. Adaptive dynamic programming (ADP) and nonlinear output regulation theories are integrated for the first time to compute an adaptive near-optimal tracker without any a priori knowledge of the system dynamics. Fundamentally different from adaptive optimal stabilization problems, the solution to a Hamilton-Jacobi-Bellman (HJB) equation, not necessarily a positive definite function, cannot be approximated through the existing iterative methods. This paper proposes a novel policy iteration technique for solving positive semidefinite HJB equations with rigorous convergence analysis. A two-phase data-driven learning method is developed and implemented online by ADP. The efficacy of the proposed adaptive optimal tracking control methodology is demonstrated via a Van der Pol oscillator with time-varying exogenous signals.

Fast Numerical Solution of the Plasma Response Matrix for Real-time Ideal MHD Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Glasser, Alexander; Kolemen, Egemen; Glasser, Alan H.

To help effectuate near real-time feedback control of ideal MHD instabilities in tokamak geometries, a parallelized version of A.H. Glasser’s DCON (Direct Criterion of Newcomb) code is developed. To motivate the numerical implementation, we first solve DCON’s δW formulation with a Hamilton-Jacobi theory, elucidating analytical and numerical features of the ideal MHD stability problem. The plasma response matrix is demonstrated to be the solution of an ideal MHD Riccati equation. We then describe our adaptation of DCON with numerical methods natural to solutions of the Riccati equation, parallelizing it to enable its operation in near real-time. We replace DCON’s serial integration of perturbed modes—which satisfy a singular Euler- Lagrange equation—with a domain-decomposed integration of state transition matrices. Output is shown to match results from DCON with high accuracy, and with computation time < 1s. Such computational speed may enable active feedback ideal MHD stability control, especially in plasmas whose ideal MHD equilibria evolve with inductive timescalemore » $$\\tau$$ ≳ 1s—as in ITER. Further potential applications of this theory are discussed.« less

Fast Numerical Solution of the Plasma Response Matrix for Real-time Ideal MHD Control

DOE PAGES

Glasser, Alexander; Kolemen, Egemen; Glasser, Alan H.

2018-03-26

To help effectuate near real-time feedback control of ideal MHD instabilities in tokamak geometries, a parallelized version of A.H. Glasser’s DCON (Direct Criterion of Newcomb) code is developed. To motivate the numerical implementation, we first solve DCON’s δW formulation with a Hamilton-Jacobi theory, elucidating analytical and numerical features of the ideal MHD stability problem. The plasma response matrix is demonstrated to be the solution of an ideal MHD Riccati equation. We then describe our adaptation of DCON with numerical methods natural to solutions of the Riccati equation, parallelizing it to enable its operation in near real-time. We replace DCON’s serial integration of perturbed modes—which satisfy a singular Euler- Lagrange equation—with a domain-decomposed integration of state transition matrices. Output is shown to match results from DCON with high accuracy, and with computation time < 1s. Such computational speed may enable active feedback ideal MHD stability control, especially in plasmas whose ideal MHD equilibria evolve with inductive timescalemore » $$\\tau$$ ≳ 1s—as in ITER. Further potential applications of this theory are discussed.« less

Evolution of the Generic Lock System at Jefferson Lab

DOE Office of Scientific and Technical Information (OSTI.GOV)

Brian Bevins; Yves Roblin

2003-10-13

The Generic Lock system is a software framework that allows highly flexible feedback control of large distributed systems. It allows system operators to implement new feedback loops between arbitrary process variables quickly and with no disturbance to the underlying control system. Several different types of feedback loops are provided and more are being added. This paper describes the further evolution of the system since it was first presented at ICALEPCS 2001 and reports on two years of successful use in accelerator operations. The framework has been enhanced in several key ways. Multiple-input, multiple-output (MIMO) lock types have been added formore » accelerator orbit and energy stabilization. The general purpose Proportional-Integral-Derivative (PID) locks can now be tuned automatically. The generic lock server now makes use of the Proxy IOC (PIOC) developed at Jefferson Lab to allow the locks to be monitored from any EPICS Channel Access aware client. (Previously clients had to be Cdev aware.) The dependency on the Qt XML parser has been replaced with the freely available Xerces DOM parser from the Apache project.« less

Hardware Simulations of Spacecraft Attitude Synchronization Using Lyapunov-Based Controllers

NASA Astrophysics Data System (ADS)

Jung, Juno; Park, Sang-Young; Eun, Youngho; Kim, Sung-Woo; Park, Chandeok

2018-04-01

In the near future, space missions with multiple spacecraft are expected to replace traditional missions with a single large spacecraft. These spacecraft formation flying missions generally require precise knowledge of relative position and attitude between neighboring agents. In this study, among the several challenging issues, we focus on the technique to control spacecraft attitude synchronization in formation. We develop a number of nonlinear control schemes based on the Lyapunov stability theorem and considering special situations: full-state feedback control, full-state feedback control with unknown inertia parameters, and output feedback control without angular velocity measurements. All the proposed controllers offer absolute and relative control using reaction wheel assembly for both regulator and tracking problems. In addition to the numerical simulations, an air-bearing-based hardware-in-the-loop (HIL) system is used to verify the proposed control laws in real-time hardware environments. The pointing errors converge to 0.5{°} with numerical simulations and to 2{°} using the HIL system. Consequently, both numerical and hardware simulations confirm the performance of the spacecraft attitude synchronization algorithms developed in this study.

Computation of output feedback gains for linear stochastic systems using the Zangnill-Powell Method

NASA Technical Reports Server (NTRS)

Kaufman, H.

1975-01-01

Because conventional optimal linear regulator theory results in a controller which requires the capability of measuring and/or estimating the entire state vector, it is of interest to consider procedures for computing controls which are restricted to be linear feedback functions of a lower dimensional output vector and which take into account the presence of measurement noise and process uncertainty. To this effect a stochastic linear model has been developed that accounts for process parameter and initial uncertainty, measurement noise, and a restricted number of measurable outputs. Optimization with respect to the corresponding output feedback gains was then performed for both finite and infinite time performance indices without gradient computation by using Zangwill's modification of a procedure originally proposed by Powell. Results using a seventh order process show the proposed procedures to be very effective.

Chaotic dynamics and synchronization in microchip solid-state lasers with optoelectronic feedback.

PubMed

Uchida, Atsushi; Mizumura, Keisuke; Yoshimori, Shigeru

2006-12-01

We experimentally observe the dynamics of a two-mode Nd:YVO4 microchip solid-state laser with optoelectronic feedback. The total laser output is detected and fed back to the injection current of the laser diode for pumping. Chaotic oscillations are observed in the microchip laser with optoelectronic self-feedback. We also observe the dynamics of two microchip lasers coupled mutually with optoelectronic link. The output of one laser is detected by a photodiode and the electronic signal converted from the laser output is sent to the pumping of the other laser. Chaotic fluctuation of the laser output is observed when the relaxation oscillation frequency is close to each other between the two microchip lasers. Synchronization of periodic wave form is also obtained when the microchip lasers have a single-longitudinal mode.

Incremental passivity and output regulation for switched nonlinear systems

NASA Astrophysics Data System (ADS)

Pang, Hongbo; Zhao, Jun

2017-10-01

This paper studies incremental passivity and global output regulation for switched nonlinear systems, whose subsystems are not required to be incrementally passive. A concept of incremental passivity for switched systems is put forward. First, a switched system is rendered incrementally passive by the design of a state-dependent switching law. Second, the feedback incremental passification is achieved by the design of a state-dependent switching law and a set of state feedback controllers. Finally, we show that once the incremental passivity for switched nonlinear systems is assured, the output regulation problem is solved by the design of global nonlinear regulator controllers comprising two components: the steady-state control and the linear output feedback stabilising controllers, even though the problem for none of subsystems is solvable. Two examples are presented to illustrate the effectiveness of the proposed approach.

Concepts for the design of a completely active helicopter isolation system using output vector feedback

NASA Technical Reports Server (NTRS)

Schulz, G.

1977-01-01

The theory of output vector feedback (a few measured quantities) is used to derive completely active oscillation isolation functions for helicopters. These feedback controller concepts are tested with various versions of the BO 105 helicopter and their performance is demonstrated. A compensation of the vibrational excitations from the rotor and harmonics of the number of blades are considered. There is also a fast and automatic trim function for maneuvers.

Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

NASA Technical Reports Server (NTRS)

Russo, Massimo; Tadros, Alfred; Flowers, Woodie; Zeltzer, David

1991-01-01

The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and interaction problems. A flexible research tool that is designed as an easily reproducible product prototype has been constructed to explore the variety of possible force interaction.

Stabilization of memory States by stochastic facilitating synapses.

PubMed

Miller, Paul

2013-12-06

Bistability within a small neural circuit can arise through an appropriate strength of excitatory recurrent feedback. The stability of a state of neural activity, measured by the mean dwelling time before a noise-induced transition to another state, depends on the neural firing-rate curves, the net strength of excitatory feedback, the statistics of spike times, and increases exponentially with the number of equivalent neurons in the circuit. Here, we show that such stability is greatly enhanced by synaptic facilitation and reduced by synaptic depression. We take into account the alteration in times of synaptic vesicle release, by calculating distributions of inter-release intervals of a synapse, which differ from the distribution of its incoming interspike intervals when the synapse is dynamic. In particular, release intervals produced by a Poisson spike train have a coefficient of variation greater than one when synapses are probabilistic and facilitating, whereas the coefficient of variation is less than one when synapses are depressing. However, in spite of the increased variability in postsynaptic input produced by facilitating synapses, their dominant effect is reduced synaptic efficacy at low input rates compared to high rates, which increases the curvature of neural input-output functions, leading to wider regions of bistability in parameter space and enhanced lifetimes of memory states. Our results are based on analytic methods with approximate formulae and bolstered by simulations of both Poisson processes and of circuits of noisy spiking model neurons.

Arbitrary frequency stabilization of a diode laser based on visual Labview PID VI and sound card output

NASA Astrophysics Data System (ADS)

Feng, Guo-Sheng; Wu, Ji-Zhou; Wang, Xiao-Feng; Zheng, Ning-Xuan; Li, Yu-Qing; Ma, Jie; Xiao, Lian-Tuan; Jia, Suo-Tang

2015-10-01

We report a robust method of directly stabilizing a grating feedback diode laser to an arbitrary frequency in a large range. The error signal, induced from the difference between the frequency measured by a wavelength meter and the preset target frequency, is fed back to the piezoelectric transducer module of the diode laser via a sound card in the computer. A visual Labview procedure is developed to realize a feedback system. In our experiment the frequency drift of the diode laser is reduced to 8 MHz within 25 min. The robust scheme can be adapted to realize the arbitrary frequency stabilization for many other kinds of lasers. Project supported by the National Basic Research Program of China (Grant No. 2012CB921603), the Program for Changjiang Scholars and Innovative Research Team in University of Ministry of Education of China (Grant No. IRT13076), the Major Research Plan of the National Natural Science Foundation of China (Grant No. 91436108), the National Natural Science Foundation of China (Grant Nos. 61378014, 61308023, 61378015, and 11434007), the Fund for Fostering Talents in Basic Science of the National Natural Science Foundation of China (Grant No. J1103210), the New Teacher Fund of the Ministry of Education of China (Grant No. 20131401120012), and the Natural Science Foundation for Young Scientists of Shanxi Province, China (Grant No. 2013021005-1).

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shepard, Kenneth L.; Sturcken, Noah Andrew

Power controller includes an output terminal having an output voltage, at least one clock generator to generate a plurality of clock signals and a plurality of hardware phases. Each hardware phase is coupled to the at least one clock generator and the output terminal and includes a comparator. Each hardware phase is configured to receive a corresponding one of the plurality of clock signals and a reference voltage, combine the corresponding clock signal and the reference voltage to produce a reference input, generate a feedback voltage based on the output voltage, compare the reference input and the feedback voltage usingmore » the comparator and provide a comparator output to the output terminal, whereby the comparator output determines a duty cycle of the power controller. An integrated circuit including the power controller is also provided.« less

Application of modern control theory to the design of optimum aircraft controllers

NASA Technical Reports Server (NTRS)

Power, L. J.

1973-01-01

The synthesis procedure presented is based on the solution of the output regulator problem of linear optimal control theory for time-invariant systems. By this technique, solution of the matrix Riccati equation leads to a constant linear feedback control law for an output regulator which will maintain a plant in a particular equilibrium condition in the presence of impulse disturbances. Two simple algorithms are presented that can be used in an automatic synthesis procedure for the design of maneuverable output regulators requiring only selected state variables for feedback. The first algorithm is for the construction of optimal feedforward control laws that can be superimposed upon a Kalman output regulator and that will drive the output of a plant to a desired constant value on command. The second algorithm is for the construction of optimal Luenberger observers that can be used to obtain feedback control laws for the output regulator requiring measurement of only part of the state vector. This algorithm constructs observers which have minimum response time under the constraint that the magnitude of the gains in the observer filter be less than some arbitrary limit.

Laser pulse stretcher method and apparatus

DOEpatents

Hawkins, Jon K.; Williams, William A.

1990-01-01

The output of an oscillator stage of a laser system is monitored by a photocell which is coupled to a feedback section to control a Pockels Cell and change the light output of the oscillator stage. A synchronizing pulse is generated in timed relation to the initiation of operation of the oscillator stage and is applied to a forward feed section which cooperates with the feedback section to maintain the light output constant for an extended time interval.

Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.

PubMed

Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping

2017-01-31

In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.

Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unmodeled dynamics.

PubMed

Tong, Shaocheng; Wang, Tong; Li, Yongming; Zhang, Huaguang

2014-06-01

This paper discusses the problem of adaptive neural network output feedback control for a class of stochastic nonlinear strict-feedback systems. The concerned systems have certain characteristics, such as unknown nonlinear uncertainties, unknown dead-zones, unmodeled dynamics and without the direct measurements of state variables. In this paper, the neural networks (NNs) are employed to approximate the unknown nonlinear uncertainties, and then by representing the dead-zone as a time-varying system with a bounded disturbance. An NN state observer is designed to estimate the unmeasured states. Based on both backstepping design technique and a stochastic small-gain theorem, a robust adaptive NN output feedback control scheme is developed. It is proved that all the variables involved in the closed-loop system are input-state-practically stable in probability, and also have robustness to the unmodeled dynamics. Meanwhile, the observer errors and the output of the system can be regulated to a small neighborhood of the origin by selecting appropriate design parameters. Simulation examples are also provided to illustrate the effectiveness of the proposed approach.

Adaptive neural network decentralized backstepping output-feedback control for nonlinear large-scale systems with time delays.

PubMed

Tong, Shao Cheng; Li, Yong Ming; Zhang, Hua-Guang

2011-07-01

In this paper, two adaptive neural network (NN) decentralized output feedback control approaches are proposed for a class of uncertain nonlinear large-scale systems with immeasurable states and unknown time delays. Using NNs to approximate the unknown nonlinear functions, an NN state observer is designed to estimate the immeasurable states. By combining the adaptive backstepping technique with decentralized control design principle, an adaptive NN decentralized output feedback control approach is developed. In order to overcome the problem of "explosion of complexity" inherent in the proposed control approach, the dynamic surface control (DSC) technique is introduced into the first adaptive NN decentralized control scheme, and a simplified adaptive NN decentralized output feedback DSC approach is developed. It is proved that the two proposed control approaches can guarantee that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded, and the observer errors and the tracking errors converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approaches.

Distributed neural network control for adaptive synchronization of uncertain dynamical multiagent systems.

PubMed

Peng, Zhouhua; Wang, Dan; Zhang, Hongwei; Sun, Gang

2014-08-01

This paper addresses the leader-follower synchronization problem of uncertain dynamical multiagent systems with nonlinear dynamics. Distributed adaptive synchronization controllers are proposed based on the state information of neighboring agents. The control design is developed for both undirected and directed communication topologies without requiring the accurate model of each agent. This result is further extended to the output feedback case where a neighborhood observer is proposed based on relative output information of neighboring agents. Then, distributed observer-based synchronization controllers are derived and a parameter-dependent Riccati inequality is employed to prove the stability. This design has a favorable decouple property between the observer and the controller designs for nonlinear multiagent systems. For both cases, the developed controllers guarantee that the state of each agent synchronizes to that of the leader with bounded residual errors. Two illustrative examples validate the efficacy of the proposed methods.

Closed-Loop Control of Chemical Injection Rate for a Direct Nozzle Injection System.

PubMed

Cai, Xiang; Walgenbach, Martin; Doerpmond, Malte; Schulze Lammers, Peter; Sun, Yurui

2016-01-20

To realize site-specific and variable-rate application of agricultural pesticides, accurately metering and controlling the chemical injection rate is necessary. This study presents a prototype of a direct nozzle injection system (DNIS) by which chemical concentration transport lag was greatly reduced. In this system, a rapid-reacting solenoid valve (RRV) was utilized for injecting chemicals, driven by a pulse-width modulation (PWM) signal at 100 Hz, so with varying pulse width the chemical injection rate could be adjusted. Meanwhile, a closed-loop control strategy, proportional-integral-derivative (PID) method, was applied for metering and stabilizing the chemical injection rate. In order to measure chemical flow rates and input them into the controller as a feedback in real-time, a thermodynamic flowmeter that was independent of chemical viscosity was used. Laboratory tests were conducted to assess the performance of DNIS and PID control strategy. Due to the nonlinear input-output characteristics of the RRV, a two-phase PID control process obtained better effects as compared with single PID control strategy. Test results also indicated that the set-point chemical flow rate could be achieved within less than 4 s, and the output stability was improved compared to the case without control strategy.

Design for performance enhancement in feedback control systems with multiple saturating nonlinearities. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Kapasouris, Petros

1988-01-01

A systematic control design methodology is introduced for multi-input/multi-output systems with multiple saturations. The methodology can be applied to stable and unstable open loop plants with magnitude and/or rate control saturations and to systems in which state limitations are desired. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. 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 compensator 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 by numerous simulations, including the multivariable longitudinal control of modified models of the F-8 (stable) and F-16 (unstable) aircraft.

Drifts and Environmental Disturbances in Atomic Clock Subsystems: Quantifying Local Oscillator, Control Loop, and Ion Resonance Interactions.

PubMed

Enzer, Daphna G; Diener, William A; Murphy, David W; Rao, Shanti R; Tjoelker, Robert L

2017-03-01

Linear ion trap frequency standards are among the most stable continuously operating frequency references and clocks. Depending on the application, they have been operated with a variety of local oscillators (LOs), including quartz ultrastable oscillators, hydrogen-masers, and cryogenic sapphire oscillators. The short-, intermediate-, and long-term stability of the frequency output is a complicated function of the fundamental performances, the time dependence of environmental disturbances, the atomic interrogation algorithm, the implemented control loop, and the environmental sensitivity of the LO and the atomic system components. For applications that require moving these references out of controlled lab spaces and into less stable environments, such as fieldwork or spaceflight, a deeper understanding is needed of how disturbances at different timescales impact the various subsystems of the clock and ultimately the output stability. In this paper, we analyze which perturbations have an impact and to what degree. We also report on a computational model of a control loop, which keeps the microwave source locked to the ion resonance. This model is shown to agree with laboratory measurements of how well the feedback removes various disturbances and also with a useful analytic approach we developed for predicting these impacts.

Output feedback regulator design for jet engine control systems

NASA Technical Reports Server (NTRS)

Merrill, W. C.

1977-01-01

A multivariable control design procedure based on the output feedback regulator formulation is described and applied to turbofan engine model. Full order model dynamics, were incorporated in the example design. The effect of actuator dynamics on closed loop performance was investigaged. Also, the importance of turbine inlet temperature as an element of the dynamic feedback was studied. Step responses were given to indicate the improvement in system performance with this control. Calculation times for all experiments are given in CPU seconds for comparison purposes.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Solid state light source driver establishing buck or boost operation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Palmer, Fred

A solid state light source driver circuit that operates in either a buck convertor or a boost convertor configuration is provided. The driver circuit includes a controller, a boost switch circuit and a buck switch circuit, each coupled to the controller, and a feedback circuit, coupled to the light source. The feedback circuit provides feedback to the controller, representing a DC output of the driver circuit. The controller controls the boost switch circuit and the buck switch circuit in response to the feedback signal, to regulate current to the light source. The controller places the driver circuit in its boostmore » converter configuration when the DC output is less than a rectified AC voltage coupled to the driver circuit at an input node. The controller places the driver circuit in its buck converter configuration when the DC output is greater than the rectified AC voltage at the input node.« less

Feedback loop compensates for rectifier nonlinearity

NASA Technical Reports Server (NTRS)

1966-01-01

Signal processing circuit with two negative feedback loops rectifies two sinusoidal signals which are 180 degrees out of phase and produces a single full-wave rectified output signal. Each feedback loop incorporates a feedback rectifier to compensate for the nonlinearity of the circuit.

Low Power, High Voltage Power Supply with Fast Rise/Fall Time

NASA Technical Reports Server (NTRS)

Bearden, Douglas B. (Inventor)

2007-01-01

A low power, high voltage power supply system includes a high voltage power supply stage and a preregulator for programming the power supply stage so as to produce an output voltage which is a predetermined fraction of a desired voltage level. The power supply stage includes a high voltage, voltage doubler stage connected to receive the output voltage from the preregulator and for, when activated, providing amplification of the output voltage to the desired voltage level. A first feedback loop is connected between the output of the preregulator and an input of the preregulator while a second feedback loop is connected between the output of the power supply stage and the input of the preregulator.

Low power, high voltage power supply with fast rise/fall time

NASA Technical Reports Server (NTRS)

Bearden, Douglas B. (Inventor)

2007-01-01

A low power, high voltage power supply system includes a high voltage power supply stage and a preregulator for programming the power supply stage so as to produce an output voltage which is a predetermined fraction of a desired voltage level. The power supply stage includes a high voltage, voltage doubler stage connected to receive the output voltage from the preregulator and for, when activated, providing amplification of the output voltage to the desired voltage level. A first feedback loop is connected between the output of the preregulator and an input of the preregulator while a second feedback loop is connected between the output of the power supply stage and the input of the preregulator.

A robust optical parametric oscillator and receiver telescope for differential absorption lidar of greenhouse gases

NASA Astrophysics Data System (ADS)

Robinson, Iain; Jack, James W.; Rae, Cameron F.; Moncrieff, John B.

2015-10-01

We report the development of a differential absorption lidar instrument (DIAL) designed and built specifically for the measurement of anthropogenic greenhouse gases in the atmosphere. The DIAL is integrated into a commercial astronomical telescope to provide high-quality receiver optics and enable automated scanning for three-dimensional lidar acquisition. The instrument is portable and can be set up within a few hours in the field. The laser source is a pulsed optical parametric oscillator (OPO) which outputs light at a wavelength tunable near 1.6 μm. This wavelength region, which is also used in telecommunications devices, provides access to absorption lines in both carbon dioxide at 1573 nm and methane at 1646 nm. To achieve the critical temperature stability required for a laserbased field instrument the four-mirror OPO cavity is machined from a single aluminium block. A piezoactuator adjusts the cavity length to achieve resonance and this is maintained over temperature changes through the use of a feedback loop. The laser output is continuously monitored with pyroelectric detectors and a custom-built wavemeter. The OPO is injection seeded by a temperature-stabilized distributed feedback laser diode (DFB-LD) with a wavelength locked to the absorption line centre (on-line) using a gas cell containing pure carbon dioxide. A second DFB-LD is tuned to a nearby wavelength (off-line) to provide the reference required for differential absorption measurements. A similar system has been designed and built to provide the injection seeding wavelengths for methane. The system integrates the DFB-LDs, drivers, locking electronics, gas cell and balanced photodetectors. The results of test measurements of carbon dioxide are presented and the development of the system is discussed, including the adaptation required for the measurement of methane.

Composite Robust $$H_\\infty$$ Control for Uncertain Stochastic Nonlinear Systems with State Delay via Disturbance Observer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, Yunlong; Wang, Hong; Guo, Lei

Here in this note, the robust stochastic stabilization and robust H_infinity control problems are investigated for uncertain stochastic time-delay systems with nonlinearity and multiple disturbances. By estimating the disturbance, which can be described by an exogenous model, a composite hierarchical control scheme is proposed that integrates the output of the disturbance observer with state feedback control law. Sufficient conditions for the existence of the disturbance observer and composite hierarchical controller are established in terms of linear matrix inequalities, which ensure the mean-square asymptotic stability of the resulting closed-loop system and the disturbance attenuation. It has been shown that the disturbancemore » rejection performance can also be achieved. A numerical example is provided to show the potential of the proposed techniques and encouraging results have been obtained.« less

Modeling and stability of segmented reflector telescopes - A decentralized approach

NASA Technical Reports Server (NTRS)

Ryaciotaki-Boussalis, Helen A.; Ih, Che-Hang Charles

1990-01-01

The decentralization of a segmented reflector telescope based on a finite-element model of its structure is considered. The decentralization of the system at the panel level is considered. Each panel is originally treated as an isolated subsystem so that the controller design is performed independently at the local level, and then applied to the composite system for stability analysis. The panel-level control laws were designed by means of pole placement using local output feedback. Simulation results show a better 1000:1 vibration attenuation in panel position when compared to the open-loop system. It is shown that the overall closed-loop system is exponentially stable provided that certain conditions are met. The advantage to the decentralized approach is that the design is performed in terms of the low-dimensionality subsystems, thus drastically reducing the design computational complexities.

Single steady frequency and narrow-linewidth external-cavity semiconductor laser

NASA Astrophysics Data System (ADS)

Zhao, Weirui; Jiang, Pengfei; Xie, Fuzeng

2003-11-01

A single longitudinal mode and narrow line width external cavity semiconductor laser is proposed. It is constructed with a semiconductor laser, collimator, a flame grating, and current and temperature control systems. The one facet of semiconductor laser is covered by high transmission film, and another is covered by high reflection film. The flame grating is used as light feedback element to select the mode of the semiconductor laser. The temperature of the constructed external cavity semiconductor laser is stabilized in order of 10-3°C by temperature control system. The experiments have been carried out and the results obtained - the spectral line width of this laser is compressed to be less than 1.4MHz from its original line-width of more than 1200GHz and the output stability (including power and mode) is remarkably enhanced.

Composite Robust $$H_\\infty$$ Control for Uncertain Stochastic Nonlinear Systems with State Delay via Disturbance Observer

DOE PAGES

Liu, Yunlong; Wang, Hong; Guo, Lei

2018-03-26

Here in this note, the robust stochastic stabilization and robust H_infinity control problems are investigated for uncertain stochastic time-delay systems with nonlinearity and multiple disturbances. By estimating the disturbance, which can be described by an exogenous model, a composite hierarchical control scheme is proposed that integrates the output of the disturbance observer with state feedback control law. Sufficient conditions for the existence of the disturbance observer and composite hierarchical controller are established in terms of linear matrix inequalities, which ensure the mean-square asymptotic stability of the resulting closed-loop system and the disturbance attenuation. It has been shown that the disturbancemore » rejection performance can also be achieved. A numerical example is provided to show the potential of the proposed techniques and encouraging results have been obtained.« less

Feedback process responsible for the suppression of ENSO activity during the mid-Holocene

NASA Astrophysics Data System (ADS)

An, Soon-Il; Bong, Hayoung

2018-05-01

Using the output of 12 models from the Paleoclimate Modeling Intercomparison Project Phase 3, we investigate the feedback process responsible for changes in El Niño-Southern Oscillation activity during the mid-Holocene based on a linear stability index (Bjerknes stability index; BJ index) analysis. The multi-model ensemble mean (MME) variance of the Niño-3.4 index (sea surface temperature anomalies averaged over 5°S-5°N, 170°-120°W) simulated for 6000 years ago (6 kya) was 13% lower than that for the pre-industrial era (0 kya), while changes in the MME BJ index were negligible. This is due to a balance between enhanced damping by anomalous thermal advection by mean currents (MA) and enhanced positive thermocline feedback (TH). Seven of the models show that MME variance of the Niño-3.4 and BJ indexes for the 6 kya run is 21 and 70% lower, respectively, than the 0 kya run. However, two models show the opposite change. Interestingly, MA in both model groups increases, especially due to the mean meridional current associated with enhanced trade winds, indicating a robust mechanism. The opposite tendency between the two groups is mainly due to large TH in the second group 6 kya, as a result of enhanced air-sea coupling and strongly reduced ocean stratification due to subsurface warming, which led to increased sensitivity of the zonal thermocline contrast to surface zonal wind stress.

Wavelength locking of single emitters and multi-emitter modules: simulation and experiments

NASA Astrophysics Data System (ADS)

Yanson, Dan; Rappaport, Noam; Peleg, Ophir; Berk, Yuri; Dahan, Nir; Klumel, Genady; Baskin, Ilya; Levy, Moshe

2016-03-01

Wavelength-stabilized high-brightness single emitters are commonly used in fiber-coupled laser diode modules for pumping Yb-doped lasers at 976 nm, and Nd-doped ones at 808 nm. We investigate the spectral behavior of single emitters under wavelength-selective feedback from a volume Bragg (or hologram) grating (VBG) in a multi-emitter module. By integrating a full VBG model as a multi-layer thin film structure with commercial raytracing software, we simulated wavelength locking conditions as a function of beam divergence and angular alignment tolerances. Good correlation between the simulated VBG feedback strength and experimentally measured locking ranges, in both VBG misalignment angle and laser temperature, is demonstrated. The challenges of assembling multi-emitter modules based on beam-stacked optical architectures are specifically addressed, where the wavelength locking conditions must be achieved simultaneously with high fiber coupling efficiency for each emitter in the module. It is shown that angular misorientation between fast and slow-axis collimating optics can have a dramatic effect on the spectral and power performance of the module. We report the development of our NEON-S wavelength-stabilized fiber laser pump module, which uses a VBG to provide wavelength-selective optical feedback in the collimated portion of the beam. Powered by our purpose-developed high-brightness single emitters, the module delivers 47 W output at 11 A from an 0.15 NA fiber and a 0.3 nm linewidth at 976 nm. Preliminary wavelength-locking results at 808 nm are also presented.

Control-oriented reduced order modeling of dipteran flapping flight

NASA Astrophysics Data System (ADS)

Faruque, Imraan

Flying insects achieve flight stabilization and control in a manner that requires only small, specialized neural structures to perform the essential components of sensing and feedback, achieving unparalleled levels of robust aerobatic flight on limited computational resources. An engineering mechanism to replicate these control strategies could provide a dramatic increase in the mobility of small scale aerial robotics, but a formal investigation has not yet yielded tools that both quantitatively and intuitively explain flapping wing flight as an "input-output" relationship. This work uses experimental and simulated measurements of insect flight to create reduced order flight dynamics models. The framework presented here creates models that are relevant for the study of control properties. The work begins with automated measurement of insect wing motions in free flight, which are then used to calculate flight forces via an empirically-derived aerodynamics model. When paired with rigid body dynamics and experimentally measured state feedback, both the bare airframe and closed loop systems may be analyzed using frequency domain system identification. Flight dynamics models describing maneuvering about hover and cruise conditions are presented for example fruit flies (Drosophila melanogaster) and blowflies (Calliphorids). The results show that biologically measured feedback paths are appropriate for flight stabilization and sexual dimorphism is only a minor factor in flight dynamics. A method of ranking kinematic control inputs to maximize maneuverability is also presented, showing that the volume of reachable configurations in state space can be dramatically increased due to appropriate choice of kinematic inputs.

Computer simulations of neural mechanisms explaining upper and lower limb excitatory neural coupling

PubMed Central

2010-01-01

Background When humans perform rhythmic upper and lower limb locomotor-like movements, there is an excitatory effect of upper limb exertion on lower limb muscle recruitment. To investigate potential neural mechanisms for this behavioral observation, we developed computer simulations modeling interlimb neural pathways among central pattern generators. We hypothesized that enhancement of muscle recruitment from interlimb spinal mechanisms was not sufficient to explain muscle enhancement levels observed in experimental data. Methods We used Matsuoka oscillators for the central pattern generators (CPG) and determined parameters that enhanced amplitudes of rhythmic steady state bursts. Potential mechanisms for output enhancement were excitatory and inhibitory sensory feedback gains, excitatory and inhibitory interlimb coupling gains, and coupling geometry. We first simulated the simplest case, a single CPG, and then expanded the model to have two CPGs and lastly four CPGs. In the two and four CPG models, the lower limb CPGs did not receive supraspinal input such that the only mechanisms available for enhancing output were interlimb coupling gains and sensory feedback gains. Results In a two-CPG model with inhibitory sensory feedback gains, only excitatory gains of ipsilateral flexor-extensor/extensor-flexor coupling produced reciprocal upper-lower limb bursts and enhanced output up to 26%. In a two-CPG model with excitatory sensory feedback gains, excitatory gains of contralateral flexor-flexor/extensor-extensor coupling produced reciprocal upper-lower limb bursts and enhanced output up to 100%. However, within a given excitatory sensory feedback gain, enhancement due to excitatory interlimb gains could only reach levels up to 20%. Interconnecting four CPGs to have ipsilateral flexor-extensor/extensor-flexor coupling, contralateral flexor-flexor/extensor-extensor coupling, and bilateral flexor-extensor/extensor-flexor coupling could enhance motor output up to 32%. Enhancement observed in experimental data exceeded 32%. Enhancement within this symmetrical four-CPG neural architecture was more sensitive to relatively small interlimb coupling gains. Excitatory sensory feedback gains could produce greater output amplitudes, but larger gains were required for entrainment compared to inhibitory sensory feedback gains. Conclusions Based on these simulations, symmetrical interlimb coupling can account for much, but not all of the excitatory neural coupling between upper and lower limbs during rhythmic locomotor-like movements. PMID:21143960

Adaptive Output-Feedback Neural Control of Switched Uncertain Nonlinear Systems With Average Dwell Time.

PubMed

Long, Lijun; Zhao, Jun

2015-07-01

This paper investigates the problem of adaptive neural tracking control via output-feedback for a class of switched uncertain nonlinear systems without the measurements of the system states. The unknown control signals are approximated directly by neural networks. A novel adaptive neural control technique for the problem studied is set up by exploiting the average dwell time method and backstepping. A switched filter and different update laws are designed to reduce the conservativeness caused by adoption of a common observer and a common update law for all subsystems. The proposed controllers of subsystems guarantee that all closed-loop signals remain bounded under a class of switching signals with average dwell time, while the output tracking error converges to a small neighborhood of the origin. As an application of the proposed design method, adaptive output feedback neural tracking controllers for a mass-spring-damper system are constructed.

Integrated optics reflectometer

DOEpatents

Couch, Philip R; Murphy, Kent A.; Gunther, Michael F; Gause, Charles B

2017-01-31

An apparatus includes a laser source configured to output laser light at a target frequency, and a measurement unit configured to measure a deviation between an actual frequency outputted by the laser source at a current period of time and the target frequency of the laser source. The apparatus includes a feedback control unit configured to, based on the measured deviation between the actual and target frequencies, control the laser source to maintain a constant frequency of laser output from the laser source so that the frequency of laser light transmitted from the laser source is adjusted to the target frequency. The feedback control unit can control the laser source to maintain a linear rate of change in the frequency of its laser light output, and compensate for characteristics of the measurement unit utilized for frequency measurement. A method is provided for performing the feedback control of the laser source.

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T-S fuzzy approach

NASA Astrophysics Data System (ADS)

Hu, Xiaoxiang; Wu, Ligang; Hu, Changhua; Wang, Zhaoqiang; Gao, Huijun

2014-08-01

By utilising Takagi-Sugeno (T-S) fuzzy set approach, this paper addresses the robust H∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics' enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T-S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T-S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.

Indirect adaptive output feedback control of a biorobotic AUV using pectoral-like mechanical fins.

PubMed

Naik, Mugdha S; Singh, Sahjendra N; Mittal, Rajat

2009-06-01

This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback.

The role of tactile sensation in online and offline hierarchical control of multi-finger force synergy.

PubMed

Koh, Kyung; Kwon, Hyun Joon; Yoon, Bum Chul; Cho, Yongseok; Shin, Joon-Ho; Hahn, Jin-Oh; Miller, Ross H; Kim, Yoon Hyuk; Shim, Jae Kun

2015-09-01

The hand, one of the most versatile but mechanically redundant parts of the human body, must overcome imperfect motor commands and inherent noise in both the sensory and motor systems in order to produce desired motor actions. For example, it is nearly impossible to produce a perfectly consistent note during a single violin stroke or to produce the exact same note over multiple strokes, which we denote online and offline control, respectively. To overcome these challenges, the central nervous system synergistically integrates multiple sensory modalities and coordinates multiple motor effectors. Among these sensory modalities, tactile sensation plays an important role in manual motor tasks by providing hand-object contact information. The purpose of this study was to investigate the role of tactile feedback in individual finger actions and multi-finger interactions during constant force production tasks. We developed analytical techniques for the linear decomposition of the overall variance in the motor system in both online and offline control. We removed tactile feedback from the fingers and demonstrated that tactile sensors played a critical role in the online control of synergistic interactions between fingers. In contrast, the same sensors did not contribute to offline control. We also demonstrated that when tactile feedback was removed from the fingers, the combined motor output of individual fingers did not change while individual finger behaviors did. This finding supports the idea of hierarchical control where individual fingers at the lower level work together to stabilize the performance of combined motor output at the higher level.

A robust rotorcraft flight control system design methodology utilizing quantitative feedback theory

NASA Technical Reports Server (NTRS)

Gorder, Peter James

1993-01-01

Rotorcraft flight control systems present design challenges which often exceed those associated with fixed-wing aircraft. First, large variations in the response characteristics of the rotorcraft result from the wide range of airspeeds of typical operation (hover to over 100 kts). Second, the assumption of vehicle rigidity often employed in the design of fixed-wing flight control systems is rarely justified in rotorcraft where rotor degrees of freedom can have a significant impact on the system performance and stability. This research was intended to develop a methodology for the design of robust rotorcraft flight control systems. Quantitative Feedback Theory (QFT) was chosen as the basis for the investigation. Quantitative Feedback Theory is a technique which accounts for variability in the dynamic response of the controlled element in the design robust control systems. It was developed to address a Multiple-Input Single-Output (MISO) design problem, and utilizes two degrees of freedom to satisfy the design criteria. Two techniques were examined for extending the QFT MISO technique to the design of a Multiple-Input-Multiple-Output (MIMO) flight control system (FCS) for a UH-60 Black Hawk Helicopter. In the first, a set of MISO systems, mathematically equivalent to the MIMO system, was determined. QFT was applied to each member of the set simultaneously. In the second, the same set of equivalent MISO systems were analyzed sequentially, with closed loop response information from each loop utilized in subsequent MISO designs. The results of each technique were compared, and the advantages of the second, termed Sequential Loop Closure, were clearly evident.

Hybrid recursive active filters for duplexing in RF transmitter front-ends

NASA Astrophysics Data System (ADS)

Gottardo, Giuseppe; Donati, Giovanni; Musolff, Christian; Fischer, Georg; Felgentreff, Tilman

2016-08-01

Duplex filters in modern base transceiver stations shape the channel in order to perform common frequency division duplex operations. Usually, they are designed as cavity filters, which are expensive and have large dimensions. Thanks to the emerging digital technology and fast digital converters, it is possible to transfer the efforts of designing analog duplex filters into digital numeric algorithms applied to feedback structures, operating on power. This solution provides the shaping of the signal spectrum directly at the output of the radio frequency (RF) power amplifiers (PAs) relaxing the transmitter design especially in the duplexer and in the antenna sections. The design of a digital baseband feedback applied to the analog power RF amplifiers (hybrid filter) is presented and verified by measurements. A model to describe the hybrid system is investigated, and the relation between phase and resonance peaks of the resulting periodic band-pass transfer function is described. The stability condition of the system is analyzed using Nyquist criterion. A solution involving a number of digital feedback and forward branches is investigated defining the parameters of the recursive structure. This solution allows the closed loop system to show a periodic band pass with up to 500 kHz bandwidth at the output of the RF amplifier. The band-pass magnitude reaches up to 17 dB selectivity. The rejection of the PA noise in the out-of-band frequencies is verified by measurements. The filter is tested with a modulated LTE (Long Term Evolution) signal showing an ACPR (Adjacent Channel Power Ratio) enhancement of 10 dB of the transmitted signal.

Instructional Feedback in Motor Skill Learning.

ERIC Educational Resources Information Center

Dul, J.; And Others

1987-01-01

Presents a model of the role of instructional feedback in learning a motor skill and identifies six levels of motor skill output, each of which has a characteristic type of feedback. The usefulness of several feedback techniques reported in the literature is discussed. (Author/LRW)

H∞ output tracking control of uncertain and disturbed nonlinear systems based on neural network model

NASA Astrophysics Data System (ADS)

Li, Chengcheng; Li, Yuefeng; Wang, Guanglin

2017-07-01

The work presented in this paper seeks to address the tracking problem for uncertain continuous nonlinear systems with external disturbances. The objective is to obtain a model that uses a reference-based output feedback tracking control law. The control scheme is based on neural networks and a linear difference inclusion (LDI) model, and a PDC structure and H∞ performance criterion are used to attenuate external disturbances. The stability of the whole closed-loop model is investigated using the well-known quadratic Lyapunov function. The key principles of the proposed approach are as follows: neural networks are first used to approximate nonlinearities, to enable a nonlinear system to then be represented as a linearised LDI model. An LMI (linear matrix inequality) formula is obtained for uncertain and disturbed linear systems. This formula enables a solution to be obtained through an interior point optimisation method for some nonlinear output tracking control problems. Finally, simulations and comparisons are provided on two practical examples to illustrate the validity and effectiveness of the proposed method.

Continuous-Wave Operation of a 460-GHz Second Harmonic Gyrotron Oscillator

PubMed Central

Hornstein, Melissa K.; Bajaj, Vikram S.; Griffin, Robert G.; Temkin, Richard J.

2007-01-01

We report the regulated continuous-wave (CW) operation of a second harmonic gyrotron oscillator at output power levels of over 8 W (12.4 kV and 135 mA beam voltage and current) in the TE0,6,1 mode near 460 GHz. The gyrotron also operates in the second harmonic TE2,6,1 mode at 456 GHz and in the TE2,3,1 fundamental mode at 233 GHz. CW operation was demonstrated for a one-hour period in the TE0,6,1 mode with better than 1% power stability, where the power was regulated using feedback control. Nonlinear simulations of the gyrotron operation agree with the experimentally measured output power and radio-frequency (RF) efficiency when cavity ohmic losses are included in the analysis. The output radiation pattern was measured using a pyroelectric camera and is highly Gaussian, with an ellipticity of 4%. The 460-GHz gyrotron will serve as a millimeter-wave source for sensitivity-enhanced nuclear magnetic resonance (dynamic nuclear polarization) experiments at a magnetic field of 16.4 T. PMID:17710187

Balanced bridge feedback control system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor)

1990-01-01

In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

FPGA-Based Optical Cavity Phase Stabilization for Coherent Pulse Stacking

DOE PAGES

Xu, Yilun; Wilcox, Russell; Byrd, John; ...

2017-11-20

Coherent pulse stacking (CPS) is a new time-domain coherent addition technique that stacks several optical pulses into a single output pulse, enabling high pulse energy from fiber lasers. We develop a robust, scalable, and distributed digital control system with firmware and software integration for algorithms, to support the CPS application. We model CPS as a digital filter in the Z domain and implement a pulse-pattern-based cavity phase detection algorithm on an field-programmable gate array (FPGA). A two-stage (2+1 cavities) 15-pulse stacking system achieves an 11.0 peak-power enhancement factor. Each optical cavity is fed back at 1.5kHz, and stabilized at anmore » individually-prescribed round-trip phase with 0.7deg and 2.1deg rms phase errors for Stages 1 and 2, respectively. Optical cavity phase control with nanometer accuracy ensures 1.2% intensity stability of the stacked pulse over 12 h. The FPGA-based feedback control system can be scaled to large numbers of optical cavities.« less

FPGA-Based Optical Cavity Phase Stabilization for Coherent Pulse Stacking

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xu, Yilun; Wilcox, Russell; Byrd, John

Coherent pulse stacking (CPS) is a new time-domain coherent addition technique that stacks several optical pulses into a single output pulse, enabling high pulse energy from fiber lasers. We develop a robust, scalable, and distributed digital control system with firmware and software integration for algorithms, to support the CPS application. We model CPS as a digital filter in the Z domain and implement a pulse-pattern-based cavity phase detection algorithm on an field-programmable gate array (FPGA). A two-stage (2+1 cavities) 15-pulse stacking system achieves an 11.0 peak-power enhancement factor. Each optical cavity is fed back at 1.5kHz, and stabilized at anmore » individually-prescribed round-trip phase with 0.7deg and 2.1deg rms phase errors for Stages 1 and 2, respectively. Optical cavity phase control with nanometer accuracy ensures 1.2% intensity stability of the stacked pulse over 12 h. The FPGA-based feedback control system can be scaled to large numbers of optical cavities.« less

Validation of a Statistical Methodology for Extracting Vegetation Feedbacks: Focus on North African Ecosystems in the Community Earth System Model

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yu, Yan; Notaro, Michael; Wang, Fuyao

Generalized equilibrium feedback assessment (GEFA) is a potentially valuable multivariate statistical tool for extracting vegetation feedbacks to the atmosphere in either observations or coupled Earth system models. The reliability of GEFA at capturing the terrestrial impacts on regional climate is demonstrated in this paper using the National Center for Atmospheric Research Community Earth System Model (CESM), with focus on North Africa. The feedback is assessed statistically by applying GEFA to output from a fully coupled control run. To reduce the sampling error caused by short data records, the traditional or full GEFA is refined through stepwise GEFA by dropping unimportantmore » forcings. Two ensembles of dynamical experiments are developed for the Sahel or West African monsoon region against which GEFA-based vegetation feedbacks are evaluated. In these dynamical experiments, regional leaf area index (LAI) is modified either alone or in conjunction with soil moisture, with the latter runs motivated by strong regional soil moisture–LAI coupling. Stepwise GEFA boasts higher consistency between statistically and dynamically assessed atmospheric responses to land surface anomalies than full GEFA, especially with short data records. GEFA-based atmospheric responses are more consistent with the coupled soil moisture–LAI experiments, indicating that GEFA is assessing the combined impacts of coupled vegetation and soil moisture. Finally, both the statistical and dynamical assessments reveal a negative vegetation–rainfall feedback in the Sahel associated with an atmospheric stability mechanism in CESM versus a weaker positive feedback in the West African monsoon region associated with a moisture recycling mechanism in CESM.« less

Validation of a Statistical Methodology for Extracting Vegetation Feedbacks: Focus on North African Ecosystems in the Community Earth System Model

DOE PAGES

Yu, Yan; Notaro, Michael; Wang, Fuyao; ...

2018-02-05

Generalized equilibrium feedback assessment (GEFA) is a potentially valuable multivariate statistical tool for extracting vegetation feedbacks to the atmosphere in either observations or coupled Earth system models. The reliability of GEFA at capturing the terrestrial impacts on regional climate is demonstrated in this paper using the National Center for Atmospheric Research Community Earth System Model (CESM), with focus on North Africa. The feedback is assessed statistically by applying GEFA to output from a fully coupled control run. To reduce the sampling error caused by short data records, the traditional or full GEFA is refined through stepwise GEFA by dropping unimportantmore » forcings. Two ensembles of dynamical experiments are developed for the Sahel or West African monsoon region against which GEFA-based vegetation feedbacks are evaluated. In these dynamical experiments, regional leaf area index (LAI) is modified either alone or in conjunction with soil moisture, with the latter runs motivated by strong regional soil moisture–LAI coupling. Stepwise GEFA boasts higher consistency between statistically and dynamically assessed atmospheric responses to land surface anomalies than full GEFA, especially with short data records. GEFA-based atmospheric responses are more consistent with the coupled soil moisture–LAI experiments, indicating that GEFA is assessing the combined impacts of coupled vegetation and soil moisture. Finally, both the statistical and dynamical assessments reveal a negative vegetation–rainfall feedback in the Sahel associated with an atmospheric stability mechanism in CESM versus a weaker positive feedback in the West African monsoon region associated with a moisture recycling mechanism in CESM.« less

A Practical Approach for Analysis of Input and Output Impedances of Feedback Amplifiers

ERIC Educational Resources Information Center

Abramovitz, A.

2009-01-01

This paper suggests a pedagogical approach to teaching the subject of the analysis of feedback amplifiers for electrical engineering students at the undergraduate level. Special attention is given to derivation of the input and output impedances. In order to make the procedure clear and suitable for classroom presentation an alternative proof of…

Bio-Nanocombinatoric Synthesis and Quorum Sensing

DTIC Science & Technology

2015-10-09

inputs and biotemplating of nanomaterials; and 3) informatic /analytical feedback, which provides output measurement refinement 15. SUBJECT TERMS 16...nanomaterials; and 3) informatic /analytical feedback, which provides output measurement and refinement. To this end, we have successfully generated...microfibers. 5   Basic features of the experimental system and observations of the multicompartment structures: We can encapsulate oil droplets in

DOE Office of Scientific and Technical Information (OSTI.GOV)

De Geronimo, Gianluigi

Embodiments of comparator circuits are disclosed. A comparator circuit may include a differential input circuit, an output circuit, a positive feedback circuit operably coupled between the differential input circuit and the output circuit, and a hysteresis control circuit operably coupled with the positive feedback circuit. The hysteresis control circuit includes a switching device and a transistor. The comparator circuit provides sub-hysteresis discrimination and high speed discrimination.

An analog RF gap voltage regulation system for the Advanced Photon Source storage ring.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Horan, D.

1999-04-13

An analog rf gap voltage regulation system has been designed and built at Argonne National Laboratory to maintain constant total storage ring rf gap voltage, independent of beam loading and cavity tuning effects. The design uses feedback control of the klystron mod-anode voltage to vary the amount of rf power fed to the storage ring cavities. The system consists of two independent feedback loops, each regulating the combined rf gap voltages of eight storage ring cavities by varying the output power of either one or two rf stations, depending on the mode of operation. It provides full operator control andmore » permissive logic to permit feedback control of the rf system output power only if proper conditions are met. The feedback system uses envelope-detected cavity field probe outputs as the feedback signal. Two different methods of combining the individual field probe signals were used to generate a relative DC level representing one-half of the total storage ring rf voltage, an envelope-detected vector sum of the field probe rf signals, and the DC sum of individual field probe envelope detector outputs. The merits of both methods are discussed. The klystron high-voltage power supply (HVPS) units are fitted with an analog interface for external control of the mod-anode voltage level, using a four-quadrant analog multiplier to modulate the HVPS mod-anode voltage regulator set-point in response to feedback system commands.« less

Robust H∞ output-feedback control for path following of autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Decentralised output feedback control of Markovian jump interconnected systems with unknown interconnections

NASA Astrophysics Data System (ADS)

Li, Li-Wei; Yang, Guang-Hong

2017-07-01

The problem of decentralised output feedback control is addressed for Markovian jump interconnected systems with unknown interconnections and general transition rates (TRs) allowed to be unknown or known with uncertainties. A class of decentralised dynamic output feedback controllers are constructed, and a cyclic-small-gain condition is exploited to dispose the unknown interconnections so that the resultant closed-loop system is stochastically stable and satisfies an H∞ performance. With slack matrices to cope with the nonlinearities incurred by unknown and uncertain TRs in control synthesis, a novel controller design condition is developed in linear matrix inequality formalism. Compared with the existing works, the proposed approach leads to less conservatism. Finally, two examples are used to illustrate the effectiveness of the new results.

Sensitivity of system stability to model structure

USGS Publications Warehouse

Hosack, G.R.; Li, H.W.; Rossignol, P.A.

2009-01-01

A community is stable, and resilient, if the levels of all community variables can return to the original steady state following a perturbation. The stability properties of a community depend on its structure, which is the network of direct effects (interactions) among the variables within the community. These direct effects form feedback cycles (loops) that determine community stability. Although feedback cycles have an intuitive interpretation, identifying how they form the feedback properties of a particular community can be intractable. Furthermore, determining the role that any specific direct effect plays in the stability of a system is even more daunting. Such information, however, would identify important direct effects for targeted experimental and management manipulation even in complex communities for which quantitative information is lacking. We therefore provide a method that determines the sensitivity of community stability to model structure, and identifies the relative role of particular direct effects, indirect effects, and feedback cycles in determining stability. Structural sensitivities summarize the degree to which each direct effect contributes to stabilizing feedback or destabilizing feedback or both. Structural sensitivities prove useful in identifying ecologically important feedback cycles within the community structure and for detecting direct effects that have strong, or weak, influences on community stability. The approach may guide the development of management intervention and research design. We demonstrate its value with two theoretical models and two empirical examples of different levels of complexity. ?? 2009 Elsevier B.V. All rights reserved.

Analytically tractable climate-carbon cycle feedbacks under 21st century anthropogenic forcing

NASA Astrophysics Data System (ADS)

Lade, Steven J.; Donges, Jonathan F.; Fetzer, Ingo; Anderies, John M.; Beer, Christian; Cornell, Sarah E.; Gasser, Thomas; Norberg, Jon; Richardson, Katherine; Rockström, Johan; Steffen, Will

2018-05-01

Changes to climate-carbon cycle feedbacks may significantly affect the Earth system's response to greenhouse gas emissions. These feedbacks are usually analysed from numerical output of complex and arguably opaque Earth system models. Here, we construct a stylised global climate-carbon cycle model, test its output against comprehensive Earth system models, and investigate the strengths of its climate-carbon cycle feedbacks analytically. The analytical expressions we obtain aid understanding of carbon cycle feedbacks and the operation of the carbon cycle. Specific results include that different feedback formalisms measure fundamentally the same climate-carbon cycle processes; temperature dependence of the solubility pump, biological pump, and CO2 solubility all contribute approximately equally to the ocean climate-carbon feedback; and concentration-carbon feedbacks may be more sensitive to future climate change than climate-carbon feedbacks. Simple models such as that developed here also provide workbenches for simple but mechanistically based explorations of Earth system processes, such as interactions and feedbacks between the planetary boundaries, that are currently too uncertain to be included in comprehensive Earth system models.

Reinforcement-learning-based output-feedback control of nonstrict nonlinear discrete-time systems with application to engine emission control.

PubMed

Shih, Peter; Kaul, Brian C; Jagannathan, Sarangapani; Drallmeier, James A

2009-10-01

A novel reinforcement-learning-based output adaptive neural network (NN) controller, which is also referred to as the adaptive-critic NN controller, is developed to deliver the desired tracking performance for a class of nonlinear discrete-time systems expressed in nonstrict feedback form in the presence of bounded and unknown disturbances. The adaptive-critic NN controller consists of an observer, a critic, and two action NNs. The observer estimates the states and output, and the two action NNs provide virtual and actual control inputs to the nonlinear discrete-time system. The critic approximates a certain strategic utility function, and the action NNs minimize the strategic utility function and control inputs. All NN weights adapt online toward minimization of a performance index, utilizing the gradient-descent-based rule, in contrast with iteration-based adaptive-critic schemes. Lyapunov functions are used to show the stability of the closed-loop tracking error, weights, and observer estimates. Separation and certainty equivalence principles, persistency of excitation condition, and linearity in the unknown parameter assumption are not needed. Experimental results on a spark ignition (SI) engine operating lean at an equivalence ratio of 0.75 show a significant (25%) reduction in cyclic dispersion in heat release with control, while the average fuel input changes by less than 1% compared with the uncontrolled case. Consequently, oxides of nitrogen (NO(x)) drop by 30%, and unburned hydrocarbons drop by 16% with control. Overall, NO(x)'s are reduced by over 80% compared with stoichiometric levels.

An optimal output feedback gain variation scheme for the control of plants exhibiting gross parameter changes

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.

1987-01-01

A concept for optimally designing output feedback controllers for plants whose dynamics exhibit gross changes over their operating regimes was developed. This was to formulate the design problem in such a way that the implemented feedback gains vary as the output of a dynamical system whose independent variable is a scalar parameterization of the plant operating point. The results of this effort include derivation of necessary conditions for optimality for the general problem formulation, and for several simplified cases. The question of existence of a solution to the design problem was also examined, and it was shown that the class of gain variation schemes developed are capable of achieving gain variation histories which are arbitrarily close to the unconstrained gain solution for each point in the plant operating range. The theory was implemented in a feedback design algorithm, which was exercised in a numerical example. The results are applicable to the design of practical high-performance feedback controllers for plants whose dynamics vary significanly during operation. Many aerospace systems fall into this category.

On the interaction structure of linear multi-input feedback control systems. M.S. Thesis; [problem solving, lattices (mathematics)

NASA Technical Reports Server (NTRS)

Wong, P. K.

1975-01-01

The closely-related problems of designing reliable feedback stabilization strategy and coordinating decentralized feedbacks are considered. Two approaches are taken. A geometric characterization of the structure of control interaction (and its dual) was first attempted and a concept of structural homomorphism developed based on the idea of 'similarity' of interaction pattern. The idea of finding classes of individual feedback maps that do not 'interfere' with the stabilizing action of each other was developed by identifying the structural properties of nondestabilizing and LQ-optimal feedback maps. Some known stability properties of LQ-feedback were generalized and some partial solutions were provided to the reliable stabilization and decentralized feedback coordination problems. A concept of coordination parametrization was introduced, and a scheme for classifying different modes of decentralization (information, control law computation, on-line control implementation) in control systems was developed.

WIDE BAND REGENERATIVE FREQUENCY DIVIDER AND MULTIPLIER

DOEpatents

Laine, E.F.

1959-11-17

A regenerative frequency divider and multiplier having wide band input characteristics is presented. The circuit produces output oscillations having frequencies related by a fixed ratio to input oscillations over a wide band of frequencies. In accomplishing this end, the divider-multiplier includes a wide band input circuit coupled by mixer means to a wide band output circuit having a pass band related by a fixed ratio to that of the input circuit. A regenerative feedback circuit derives a fixed frequency ratio feedback signal from the output circuit and applies same to the mixer means in proper phase relation to sustain fixed frequency ratio oscillations in the output circuit.

Stabilization of model-based networked control systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Miranda, Francisco; Instituto Politécnico de Viana do Castelo, Viana do Castelo; Abreu, Carlos

2016-06-08

A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtainmore » an optimal feedback control is also presented.« less

Integrated P-channel MOS gyrator

NASA Technical Reports Server (NTRS)

Hochmair, E. S. (Inventor)

1974-01-01

A gyrator circuit is described which is of the conventional configuration of two amplifiers in a circular loop, one producing zero phase shift and the other producing 180 phase reversal, in a circuit having medium Q composed of all field effect transistors of the same conductivity type. The current source to each gyrator amplifier comprises an amplifier which responds to changes in current, with the amplified signals feed back so as to limit current. The feedback amplifier has a large capacitor connected to bypass high frequency components, thereby stabilizing the output. The design makes possible fabrication of circuits with transistors of only one conductivity type, providing economies in manufacture and use.

A parallel input composite transimpedance amplifier.

PubMed

Kim, D J; Kim, C

2018-01-01

A new approach to high performance current to voltage preamplifier design is presented. The design using multiple operational amplifiers (op-amps) has a parasitic capacitance compensation network and a composite amplifier topology for fast, precision, and low noise performance. The input stage consisting of a parallel linked JFET op-amps and a high-speed bipolar junction transistor (BJT) gain stage driving the output in the composite amplifier topology, cooperating with the capacitance compensation feedback network, ensures wide bandwidth stability in the presence of input capacitance above 40 nF. The design is ideal for any two-probe measurement, including high impedance transport and scanning tunneling microscopy measurements.

A parallel input composite transimpedance amplifier

NASA Astrophysics Data System (ADS)

Kim, D. J.; Kim, C.

2018-01-01

A new approach to high performance current to voltage preamplifier design is presented. The design using multiple operational amplifiers (op-amps) has a parasitic capacitance compensation network and a composite amplifier topology for fast, precision, and low noise performance. The input stage consisting of a parallel linked JFET op-amps and a high-speed bipolar junction transistor (BJT) gain stage driving the output in the composite amplifier topology, cooperating with the capacitance compensation feedback network, ensures wide bandwidth stability in the presence of input capacitance above 40 nF. The design is ideal for any two-probe measurement, including high impedance transport and scanning tunneling microscopy measurements.

Multi-Watt femtosecond optical parametric master oscillator power amplifier at 43 MHz.

PubMed

Mörz, Florian; Steinle, Tobias; Steinmann, Andy; Giessen, Harald

2015-09-07

We present a high repetition rate mid-infrared optical parametric master oscillator power amplifier (MOPA) scheme, which is tunable from 1370 to 4120nm. Up to 4.3W average output power are generated at 1370nm, corresponding to a photon conversion efficiency of 78%. Bandwidths of 6 to 12nm with pulse durations between 250 and 400fs have been measured. Strong conversion saturation over the whole signal range is observed, resulting in excellent power stability. The system consists of a fiber-feedback optical parametric oscillator that seeds an optical parametric power amplifier. Both systems are pumped by the same Yb:KGW femtosecond oscillator.

The Comparative Effects of Comprehensible Input, Output and Corrective Feedback on the Receptive Acquisition of L2 Vocabulary Items

ERIC Educational Resources Information Center

Nowbakht, Mohammad; Shahnazari, Mohammadtaghi

2015-01-01

In the present study, the comparative effects of comprehensible input, output and corrective feedback on the receptive acquisition of L2 vocabulary items were investigated. Two groups of beginning EFL learners participated in the study. The control group received comprehensible input only, while the experimental group received input and was…

Computer-Mediated Input, Output and Feedback in the Development of L2 Word Recognition from Speech

ERIC Educational Resources Information Center

Matthews, Joshua; Cheng, Junyu; O'Toole, John Mitchell

2015-01-01

This paper reports on the impact of computer-mediated input, output and feedback on the development of second language (L2) word recognition from speech (WRS). A quasi-experimental pre-test/treatment/post-test research design was used involving three intact tertiary level English as a Second Language (ESL) classes. Classes were either assigned to…

Influence of accurate and inaccurate 'split-time' feedback upon 10-mile time trial cycling performance.

PubMed

Wilson, Mathew G; Lane, Andy M; Beedie, Chris J; Farooq, Abdulaziz

2012-01-01

The objective of the study is to examine the impact of accurate and inaccurate 'split-time' feedback upon a 10-mile time trial (TT) performance and to quantify power output into a practically meaningful unit of variation. Seven well-trained cyclists completed four randomised bouts of a 10-mile TT on a SRM™ cycle ergometer. TTs were performed with (1) accurate performance feedback, (2) without performance feedback, (3) and (4) false negative and false positive 'split-time' feedback showing performance 5% slower or 5% faster than actual performance. There were no significant differences in completion time, average power output, heart rate or blood lactate between the four feedback conditions. There were significantly lower (p < 0.001) average [Formula: see text] (ml min(-1)) and [Formula: see text] (l min(-1)) scores in the false positive (3,485 ± 596; 119 ± 33) and accurate (3,471 ± 513; 117 ± 22) feedback conditions compared to the false negative (3,753 ± 410; 127 ± 27) and blind (3,772 ± 378; 124 ± 21) feedback conditions. Cyclists spent a greater amount of time in a '20 watt zone' 10 W either side of average power in the negative feedback condition (fastest) than the accurate feedback (slowest) condition (39.3 vs. 32.2%, p < 0.05). There were no significant differences in the 10-mile TT performance time between accurate and inaccurate feedback conditions, despite significantly lower average [Formula: see text] and [Formula: see text] scores in the false positive and accurate feedback conditions. Additionally, cycling with a small variation in power output (10 W either side of average power) produced the fastest TT. Further psycho-physiological research should examine the mechanism(s) why lower [Formula: see text] and [Formula: see text] scores are observed when cycling in a false positive or accurate feedback condition compared to a false negative or blind feedback condition.

Random bit generation at tunable rates using a chaotic semiconductor laser under distributed feedback.

PubMed

Li, Xiao-Zhou; Li, Song-Sui; Zhuang, Jun-Ping; Chan, Sze-Chun

2015-09-01

A semiconductor laser with distributed feedback from a fiber Bragg grating (FBG) is investigated for random bit generation (RBG). The feedback perturbs the laser to emit chaotically with the intensity being sampled periodically. The samples are then converted into random bits by a simple postprocessing of self-differencing and selecting bits. Unlike a conventional mirror that provides localized feedback, the FBG provides distributed feedback which effectively suppresses the information of the round-trip feedback delay time. Randomness is ensured even when the sampling period is commensurate with the feedback delay between the laser and the grating. Consequently, in RBG, the FBG feedback enables continuous tuning of the output bit rate, reduces the minimum sampling period, and increases the number of bits selected per sample. RBG is experimentally investigated at a sampling period continuously tunable from over 16 ns down to 50 ps, while the feedback delay is fixed at 7.7 ns. By selecting 5 least-significant bits per sample, output bit rates from 0.3 to 100 Gbps are achieved with randomness examined by the National Institute of Standards and Technology test suite.

Choosing Sensor Configuration for a Flexible Structure Using Full Control Synthesis

NASA Technical Reports Server (NTRS)

Lind, Rick; Nalbantoglu, Volkan; Balas, Gary

1997-01-01

Optimal locations and types for feedback sensors which meet design constraints and control requirements are difficult to determine. This paper introduces an approach to choosing a sensor configuration based on Full Control synthesis. A globally optimal Full Control compensator is computed for each member of a set of sensor configurations which are feasible for the plant. The sensor configuration associated with the Full Control system achieving the best closed-loop performance is chosen for feedback measurements to an output feedback controller. A flexible structure is used as an example to demonstrate this procedure. Experimental results show sensor configurations chosen to optimize the Full Control performance are effective for output feedback controllers.

Adaptive Fuzzy Control for Nonstrict Feedback Systems With Unmodeled Dynamics and Fuzzy Dead Zone via Output Feedback.

PubMed

Wang, Lijie; Li, Hongyi; Zhou, Qi; Lu, Renquan

2017-09-01

This paper investigates the problem of observer-based adaptive fuzzy control for a category of nonstrict feedback systems subject to both unmodeled dynamics and fuzzy dead zone. Through constructing a fuzzy state observer and introducing a center of gravity method, unmeasurable states are estimated and the fuzzy dead zone is defuzzified, respectively. By employing fuzzy logic systems to identify the unknown functions. And combining small-gain approach with adaptive backstepping control technique, a novel adaptive fuzzy output feedback control strategy is developed, which ensures that all signals involved are semi-globally uniformly bounded. Simulation results are given to demonstrate the effectiveness of the presented method.

Neural node network and model, and method of teaching same

DOEpatents

Parlos, A.G.; Atiya, A.F.; Fernandez, B.; Tsai, W.K.; Chong, K.T.

1995-12-26

The present invention is a fully connected feed forward network that includes at least one hidden layer. The hidden layer includes nodes in which the output of the node is fed back to that node as an input with a unit delay produced by a delay device occurring in the feedback path (local feedback). Each node within each layer also receives a delayed output (crosstalk) produced by a delay unit from all the other nodes within the same layer. The node performs a transfer function operation based on the inputs from the previous layer and the delayed outputs. The network can be implemented as analog or digital or within a general purpose processor. Two teaching methods can be used: (1) back propagation of weight calculation that includes the local feedback and the crosstalk or (2) more preferably a feed forward gradient decent which immediately follows the output computations and which also includes the local feedback and the crosstalk. Subsequent to the gradient propagation, the weights can be normalized, thereby preventing convergence to a local optimum. Education of the network can be incremental both on and off-line. An educated network is suitable for modeling and controlling dynamic nonlinear systems and time series systems and predicting the outputs as well as hidden states and parameters. The educated network can also be further educated during on-line processing. 21 figs.

Neural node network and model, and method of teaching same

DOEpatents

Parlos, Alexander G.; Atiya, Amir F.; Fernandez, Benito; Tsai, Wei K.; Chong, Kil T.

1995-01-01

The present invention is a fully connected feed forward network that includes at least one hidden layer 16. The hidden layer 16 includes nodes 20 in which the output of the node is fed back to that node as an input with a unit delay produced by a delay device 24 occurring in the feedback path 22 (local feedback). Each node within each layer also receives a delayed output (crosstalk) produced by a delay unit 36 from all the other nodes within the same layer 16. The node performs a transfer function operation based on the inputs from the previous layer and the delayed outputs. The network can be implemented as analog or digital or within a general purpose processor. Two teaching methods can be used: (1) back propagation of weight calculation that includes the local feedback and the crosstalk or (2) more preferably a feed forward gradient decent which immediately follows the output computations and which also includes the local feedback and the crosstalk. Subsequent to the gradient propagation, the weights can be normalized, thereby preventing convergence to a local optimum. Education of the network can be incremental both on and off-line. An educated network is suitable for modeling and controlling dynamic nonlinear systems and time series systems and predicting the outputs as well as hidden states and parameters. The educated network can also be further educated during on-line processing.

Investigation and appreciation of optimal output feedback. Volume 1: A convergent algorithm for the stochastic infinite-time discrete optimal output feedback problem

NASA Technical Reports Server (NTRS)

Halyo, N.; Broussard, J. R.

1984-01-01

The stochastic, infinite time, discrete output feedback problem for time invariant linear systems is examined. Two sets of sufficient conditions for the existence of a stable, globally optimal solution are presented. An expression for the total change in the cost function due to a change in the feedback gain is obtained. This expression is used to show that a sequence of gains can be obtained by an algorithm, so that the corresponding cost sequence is monotonically decreasing and the corresponding sequence of the cost gradient converges to zero. The algorithm is guaranteed to obtain a critical point of the cost function. The computational steps necessary to implement the algorithm on a computer are presented. The results are applied to a digital outer loop flight control problem. The numerical results for this 13th order problem indicate a rate of convergence considerably faster than two other algorithms used for comparison.

Vibration suppression for large scale adaptive truss structures using direct output feedback control

NASA Technical Reports Server (NTRS)

Lu, Lyan-Ywan; Utku, Senol; Wada, Ben K.

1993-01-01

In this article, the vibration control of adaptive truss structures, where the control actuation is provided by length adjustable active members, is formulated as a direct output feedback control problem. A control method named Model Truncated Output Feedback (MTOF) is presented. The method allows the control feedback gain to be determined in a decoupled and truncated modal space in which only the critical vibration modes are retained. The on-board computation required by MTOF is minimal; thus, the method is favorable for the applications of vibration control of large scale structures. The truncation of the modal space inevitably introduces spillover effect during the control process. In this article, the effect is quantified in terms of active member locations, and it is shown that the optimal placement of active members, which minimizes the spillover effect (and thus, maximizes the control performance) can be sought. The problem of optimally selecting the locations of active members is also treated.

Low-noise and high-speed photodetection system using optical feedback with a current amplification function

NASA Astrophysics Data System (ADS)

Akiba, M.

2015-09-01

A photodetection system with an optical-feedback circuit accompanied by current amplification was fabricated to minimize the drawbacks associated with a transimpedance amplifier (TIA) with a very high resistance feedback resistor. Current amplification was implemented by extracting an output light from the same light source that emitted the feedback light. The current gain corresponds to the ratio of the photocurrent created by the output light to that created by the feedback light because the feedback current value is identical to the input photocurrent value generated by an input light to be measured. The current gain has no theoretical limit. The output light was detected by a photodiode with a TIA having a small feedback resistance. The expression for the input-referred noise current of the optical-feedback photodetection system was derived, and the trade-off between sensitivity and response, which is a characteristic of TIA, was found to considerably improve. An optical-feedback photodetection system with an InGaAs pin photodiode was fabricated. The measured noise equivalent power of the system was 1.7 fW/Hz1/2 at 10 Hz and 1.3 μm, which is consistent with the derived expression. The time response of the system was found to deteriorate with decreasing photocurrent. The 50% rise time for a light pulse input increased from 3.1 μs at a photocurrent of 10 nA to 15 μs at photocurrents below 10 pA. The bandwidth of the input-referred noise current was 7 kHz, which is consistent with rise times below 10 pA.

Low-noise and high-speed photodetection system using optical feedback with a current amplification function.

PubMed

Akiba, M

2015-09-01

A photodetection system with an optical-feedback circuit accompanied by current amplification was fabricated to minimize the drawbacks associated with a transimpedance amplifier (TIA) with a very high resistance feedback resistor. Current amplification was implemented by extracting an output light from the same light source that emitted the feedback light. The current gain corresponds to the ratio of the photocurrent created by the output light to that created by the feedback light because the feedback current value is identical to the input photocurrent value generated by an input light to be measured. The current gain has no theoretical limit. The output light was detected by a photodiode with a TIA having a small feedback resistance. The expression for the input-referred noise current of the optical-feedback photodetection system was derived, and the trade-off between sensitivity and response, which is a characteristic of TIA, was found to considerably improve. An optical-feedback photodetection system with an InGaAs pin photodiode was fabricated. The measured noise equivalent power of the system was 1.7 fW/Hz(1/2) at 10 Hz and 1.3 μm, which is consistent with the derived expression. The time response of the system was found to deteriorate with decreasing photocurrent. The 50% rise time for a light pulse input increased from 3.1 μs at a photocurrent of 10 nA to 15 μs at photocurrents below 10 pA. The bandwidth of the input-referred noise current was 7 kHz, which is consistent with rise times below 10 pA.

Memory-guided force control in healthy younger and older adults.

PubMed

Neely, Kristina A; Samimy, Shaadee; Blouch, Samantha L; Wang, Peiyuan; Chennavasin, Amanda; Diaz, Michele T; Dennis, Nancy A

2017-08-01

Successful performance of a memory-guided motor task requires participants to store and then recall an accurate representation of the motor goal. Further, participants must monitor motor output to make adjustments in the absence of visual feedback. The goal of this study was to examine memory-guided grip force in healthy younger and older adults and compare it to performance on behavioral tasks of working memory. Previous work demonstrates that healthy adults decrease force output as a function of time when visual feedback is not available. We hypothesized that older adults would decrease force output at a faster rate than younger adults, due to age-related deficits in working memory. Two groups of participants, younger adults (YA: N = 32, mean age 21.5 years) and older adults (OA: N = 33, mean age 69.3 years), completed four 20-s trials of isometric force with their index finger and thumb, equal to 25% of their maximum voluntary contraction. In the full-vision condition, visual feedback was available for the duration of the trial. In the no vision condition, visual feedback was removed for the last 12 s of each trial. Participants were asked to maintain constant force output in the absence of visual feedback. Participants also completed tasks of word recall and recognition and visuospatial working memory. Counter to our predictions, when visual feedback was removed, younger adults decreased force at a faster rate compared to older adults and the rate of decay was not associated with behavioral performance on tests of working memory.

Multivariable control of a rolling spider drone

NASA Astrophysics Data System (ADS)

Lyu, Haifeng

The research and application of Unmanned Aerial Vehicles (UAVs) has been a hot topic recently. A UAV is dened as an aircraft which is designed not to carry a human pilot or operated with remote electronic input by the flight controller. In this thesis, the design of a control system for a quadcopter named Rolling Spider Drone is conducted. The thesis work presents the design of two kinds of controllers that can control the Drone to keep it balanced and track different kinds of input trajectories. The nonlinear mathematical model for the Drone is derived by the Newton-Euler method. The rotational subsystem and translational system are derived to describe the attitude and position motion of Drone. Techniques from linear control theory are employed to linearize the highly coupled and nonlinear quadcopter plant around equilibrium points and apply the linear feedback controller to stabilize the system. The controller is a digital tracking system that deploys LQR for system stability design. Fixed gain and adaptive gain scheduled controllers are developed and compared with different LQR weights. Step references and reference trajectories involving signicant variation for the yaw angle in the xy-plane and three-dimensional spaces are tracked in the simulation. The physical implementation and an output feedback controller are considered for future work.

Improving the Performance of Gold-Nanoparticle-Doped Solid-State Dye Laser Using Thermal Conversion Effect

NASA Astrophysics Data System (ADS)

An, N. T. M.; Lien, N. T. H.; Hoang, N. D.; Hoa, D. Q.

2018-04-01

Energy transfer between spherical gold nanoparticles with size of more than 15 nm and molecules of organic dye 4-(dicyanomethylene)-2-methyl-6-(4-dimethylaminostyryl)-4 H-pyran (DCM) has been studied. Such radiative energy transfer led to high local temperature, giving rise to a bleaching effect that resulted in rapid degradation of the laser medium. Gold nanoparticles were dispersed at concentrations from 5 × 109 particles/mL to 5 × 1010 particles/mL in DCM polymethylmethacrylate polymer using a radical polymerization process with 2,2'-azobis(isobutyronitrile) (AIBN) as initiator. Using the fast thermoelectric cooling method, the laser medium stability was significantly improved. The output stability of a distributed feedback dye laser pumped by second-harmonic generation from a neodymium-doped yttrium aluminum garnet (Nd:YAG) laser was investigated. Moreover, bidirectional energy transfer between gold nanoparticles and dye molecules was observed.

A programmable, multichannel power supply for SIPMs with temperature compensation loop and Ethernet interface

NASA Astrophysics Data System (ADS)

Querol, M.; Rodríguez, J.; Toledo, J.; Esteve, R.; Álvarez, V.; Herrero, V.

2016-12-01

Among the different techniques available, the SiPM power supply described in this paper uses output voltage and sensor temperature feedback. A high-resolution ADC digitizes both the output voltage and an analog signal proportional to the SiPM temperature for each of its 16 independent outputs. The appropriate change in the bias voltage is computed in a micro-controller and this correction is applied via a high resolution DAC to the control input of a DC/DC module that produces the output voltage. This method allows a reduction in gain variations from typically 30% to only 0.5% in a 10 °C range. The power supply is housed in a 3U-height aluminum box. A 2.8'' touch screen on the front panel provides local access to the configuration and monitoring functions using a graphical interface. The unit has an Ethernet interface on its rear side to provide remote operation and integration in slow control systems using the encrypted and secure SSH protocol. A LabVIEW application with SSH interface has been designed to operate the power supply from a remote computer. The power supply has good characteristics, such as 85 V output range with 1 mV resolution and stability better than 2 mVP, excellent output load regulation and programmable rise and fall voltage ramps. Commercial power supplies from well-known manufacturers can show far better specifications though can also result in an over featured and over costly solution for typical applications.

Selective visual scaling of time-scale processes facilitates broadband learning of isometric force frequency tracking.

PubMed

King, Adam C; Newell, Karl M

2015-10-01

The experiment investigated the effect of selectively augmenting faster time scales of visual feedback information on the learning and transfer of continuous isometric force tracking tasks to test the generality of the self-organization of 1/f properties of force output. Three experimental groups tracked an irregular target pattern either under a standard fixed gain condition or with selectively enhancement in the visual feedback display of intermediate (4-8 Hz) or high (8-12 Hz) frequency components of the force output. All groups reduced tracking error over practice, with the error lowest in the intermediate scaling condition followed by the high scaling and fixed gain conditions, respectively. Selective visual scaling induced persistent changes across the frequency spectrum, with the strongest effect in the intermediate scaling condition and positive transfer to novel feedback displays. The findings reveal an interdependence of the timescales in the learning and transfer of isometric force output frequency structures consistent with 1/f process models of the time scales of motor output variability.

Stability analysis of dynamic collaboration model with control signals on two lanes

NASA Astrophysics Data System (ADS)

Li, Zhipeng; Zhang, Run; Xu, Shangzhi; Qian, Yeqing; Xu, Juan

2014-12-01

In this paper, the influence of control signals on the stability of two-lane traffic flow is mainly studied by applying control theory with lane changing behaviors. We present the two-lane dynamic collaboration model with lateral friction and the expressions of feedback control signals. What is more, utilizing the delayed feedback control theory to the two-lane dynamic collaboration model with control signals, we investigate the stability of traffic flow theoretically and the stability conditions for both lanes are derived with finding that the forward and lateral feedback signals can improve the stability of traffic flow while the backward feedback signals cannot achieve it. Besides, direct simulations are conducted to verify the results of theoretical analysis, which shows that the feedback signals have a significant effect on the running state of two vehicle groups, and the results are same with the theoretical analysis.

Evaluation of total energy-rate feedback for glidescope tracking in wind shear

NASA Technical Reports Server (NTRS)

Belcastro, C. M.; Ostroff, A. J.

1986-01-01

Low-altitude wind shear is recognized as an infrequent but significant hazard to all aircraft during take-off and landing. A total energy-rate sensor, which is potentially applicable to this problem, has been developed for measuring specific total energy-rate of an airplane with respect to the air mass. This paper presents control system designs, with and without energy-rate feedback, for the approach to landing of a transport airplane through severe wind shear and gusts to evaluate application of this sensor. A system model is developed which incorporates wind shear dynamics equations with the airplance equations of motion, thus allowing the control systems to be analyzed under various wind shears. The control systems are designed using optimal output feedback and are analyzed using frequency domain control theory techniques. Control system performance is evaluated using a complete nonlinear simulation of the airplane and a severe wind shear and gust data package. The analysis and simulation results indicate very similar stability and performance characteristics for the two designs. An implementation technique for distributing the velocity gains between airspeed and ground speed in the simulation is also presented, and this technique is shown to improve the performance characteristics of both designs.

Development of a bunch-by-bunch longitudinal feedback system with a wide dynamic range for the HIGS facility

NASA Astrophysics Data System (ADS)

Wu, W. Z.; Kim, Y.; Li, J. Y.; Teytelman, D.; Busch, M.; Wang, P.; Swift, G.; Park, I. S.; Ko, I. S.; Wu, Y. K.

2011-03-01

Electron beam coupled-bunch instabilities can limit and degrade the performance of storage ring based light sources. A longitudinal feedback system has been developed for the Duke storage ring to suppress multi-bunch beam instabilities which prevent stable, high-current operation of the storage ring based free-electron lasers (FELs) and an FEL driven Compton gamma source, the high intensity gamma-ray source (HIGS) at Duke University. In this work, we report the development of a state-of-the-art second generation longitudinal feedback system which employs a field programmable gate array (FPGA) based processor, and a broadband, high shunt-impedance kicker cavity. With two inputs and two outputs, the kicker cavity was designed with a resonant frequency of 937 MHz, a bandwidth of 97 MHz, and a shunt impedance of 1530 Ω. We also developed an S-matrix based technique to fully characterize the performance of the kicker cavity in the cold test. This longitudinal feedback system has been commissioned and optimized to stabilize high-current electron beams with a wide range of electron beam energies (250 MeV to 1.15 GeV) and a number of electron beam bunch modes, including the single-bunch mode and all possible symmetric bunch modes. This feedback system has become a critical instrument to ensure stable, high-flux operation of HIGS to produce nearly monochromatic, highly polarized Compton gamma-ray beams.

Homeostatic systems, biocybernetics, and autonomic neuroscience.

PubMed

Goldstein, David S; Kopin, Irwin J

2017-12-01

In this review we describe a series of major concepts introduced during the past 150years that have contributed to our current understanding about how physiological processes required for well-being and survival are regulated. One can theorize that hierarchical networks involving input-output relationships continuously orchestrate and learn adaptive patterns of observable behaviors, cognition, memory, mood, and autonomic systems. Taken together, these networks function as "good regulators" determining levels of internal variables and act as if there were homeostatic comparators ("homeostats"). The consequences of models with vs. without homeostats remain the same in terms of allostatic load and the eventual switch from stabilizing negative feedback loops to destabilizing, pathogenic positive feedback loops. Understanding this switch seems important for comprehending senescence-related, neurodegenerative disorders that involve the autonomic nervous system. Our general proposal is that disintegration of homeostatic systems causes disorders of regulation in degenerative diseases and that medical cybernetics can inspire and rationalize new approaches to treatment and prevention. Published by Elsevier B.V.

Reduced state feedback gain computation. [optimization and control theory for aircraft control

NASA Technical Reports Server (NTRS)

Kaufman, H.

1976-01-01

Because application of conventional optimal linear regulator theory to flight controller design requires the capability of measuring and/or estimating the entire state vector, it is of interest to consider procedures for computing controls which are restricted to be linear feedback functions of a lower dimensional output vector and which take into account the presence of measurement noise and process uncertainty. Therefore, a stochastic linear model that was developed is presented which accounts for aircraft parameter and initial uncertainty, measurement noise, turbulence, pilot command and a restricted number of measurable outputs. Optimization with respect to the corresponding output feedback gains was performed for both finite and infinite time performance indices without gradient computation by using Zangwill's modification of a procedure originally proposed by Powell. Results using a seventh order process show the proposed procedures to be very effective.

Closed-Loop Control of Chemical Injection Rate for a Direct Nozzle Injection System

PubMed Central

Cai, Xiang; Walgenbach, Martin; Doerpmond, Malte; Schulze Lammers, Peter; Sun, Yurui

2016-01-01

To realize site-specific and variable-rate application of agricultural pesticides, accurately metering and controlling the chemical injection rate is necessary. This study presents a prototype of a direct nozzle injection system (DNIS) by which chemical concentration transport lag was greatly reduced. In this system, a rapid-reacting solenoid valve (RRV) was utilized for injecting chemicals, driven by a pulse-width modulation (PWM) signal at 100 Hz, so with varying pulse width the chemical injection rate could be adjusted. Meanwhile, a closed-loop control strategy, proportional-integral-derivative (PID) method, was applied for metering and stabilizing the chemical injection rate. In order to measure chemical flow rates and input them into the controller as a feedback in real-time, a thermodynamic flowmeter that was independent of chemical viscosity was used. Laboratory tests were conducted to assess the performance of DNIS and PID control strategy. Due to the nonlinear input–output characteristics of the RRV, a two-phase PID control process obtained better effects as compared with single PID control strategy. Test results also indicated that the set-point chemical flow rate could be achieved within less than 4 s, and the output stability was improved compared to the case without control strategy. PMID:26805833

Stability of hand force production. I. Hand level control variables and multifinger synergies.

PubMed

Reschechtko, Sasha; Latash, Mark L

2017-12-01

We combined the theory of neural control of movement with referent coordinates and the uncontrolled manifold hypothesis to explore synergies stabilizing the hand action in accurate four-finger pressing tasks. In particular, we tested a hypothesis on two classes of synergies, those among the four fingers and those within a pair of control variables, stabilizing hand action under visual feedback and disappearing without visual feedback. Subjects performed four-finger total force and moment production tasks under visual feedback; the feedback was later partially or completely removed. The "inverse piano" device was used to lift and lower the fingers smoothly at the beginning and at the end of each trial. These data were used to compute pairs of hypothetical control variables. Intertrial analysis of variance within the finger force space was used to quantify multifinger synergies stabilizing both force and moment. A data permutation method was used to quantify synergies among control variables. Under visual feedback, synergies in the spaces of finger forces and hypothetical control variables were found to stabilize total force. Without visual feedback, the subjects showed a force drift to lower magnitudes and a moment drift toward pronation. This was accompanied by disappearance of the four-finger synergies and strong attenuation of the control variable synergies. The indexes of the two types of synergies correlated with each other. The findings are interpreted within the scheme with multiple levels of abundant variables. NEW & NOTEWORTHY We extended the idea of hierarchical control with referent spatial coordinates for the effectors and explored two types of synergies stabilizing multifinger force production tasks. We observed synergies among finger forces and synergies between hypothetical control variables that stabilized performance under visual feedback but failed to stabilize it after visual feedback had been removed. Indexes of two types of synergies correlated with each other. The data suggest the existence of multiple mechanisms stabilizing motor actions. Copyright © 2017 the American Physiological Society.

Can vibratory feedback be used to improve postural stability in persons with transtibial limb loss?

PubMed

Rusaw, David; Hagberg, Kerstin; Nolan, Lee; Ramstrand, Nerrolyn

2012-01-01

The use of vibration as a feedback modality to convey motion of the body has been shown to improve measures of postural stability in some groups of patients. Because individuals using transtibial prostheses lack sensation distal to the amputation, vibratory feedback could possibly be used to improve their postural stability. The current investigation provided transtibial prosthesis users (n = 24, mean age 48 yr) with vibratory feedback proportional to the signal received from force transducers located under the prosthetic foot. Postural stability was evaluated by measuring center of pressure (CoP) movement, limits of stability, and rhythmic weight shift while participants stood on a force platform capable of rotations in the pitch plane (toes up/toes down). The results showed that the vibratory feedback increased the mediolateral displacement amplitude of CoP in standing balance and reduced the response time to rapid voluntary movements of the center of gravity. The results suggest that the use of vibratory feedback in an experimental setting leads to improvements in fast open-loop mechanisms of postural control in transtibial prosthesis users.

Understanding the role of ecohydrological feedbacks in ecosystem state change in drylands

USGS Publications Warehouse

Turnbull, L.; Wilcox, B.P.; Belnap, J.; Ravi, S.; D'Odorico, P.; Childers, D.; Gwenzi, W.; Okin, G.; Wainwright, J.; Caylor, K.K.; Sankey, T.

2012-01-01

Ecohydrological feedbacks are likely to be critical for understanding the mechanisms by which changes in exogenous forces result in ecosystem state change. We propose that in drylands, the dynamics of ecosystem state change are determined by changes in the type (stabilizing vs amplifying) and strength of ecohydrological feedbacks following a change in exogenous forces. Using a selection of five case studies from drylands, we explore the characteristics of ecohydrological feedbacks and resulting dynamics of ecosystem state change. We surmise that stabilizing feedbacks are critical for the provision of plant-essential resources in drylands. Exogenous forces that break these stabilizing feedbacks can alter the state of the system, although such changes are potentially reversible if strong amplifying ecohydrological feedbacks do not develop. The case studies indicate that if amplifying ecohydrological feedbacks do develop, they are typically associated with abiotic processes such as runoff, erosion (by wind and water), and fire. These amplifying ecohydrological feedbacks progressively modify the system in ways that are long-lasting and possibly irreversible on human timescales.

Comparing Explicit Exemplar-Based and Rule-Based Corrective Feedback: Introducing Analogy-Based Corrective Feedback

ERIC Educational Resources Information Center

Thomas, Kavita E.

2018-01-01

This study introduces an approach to providing corrective feedback to L2 learners termed analogy-based corrective feedback that is motivated by analogical learning theories and syntactic alignment in dialogue. Learners are presented with a structurally similar synonymous version of their output where the erroneous form is corrected, and they must…

Stochastic Control Synthesis of Systems with Structured Uncertainty

NASA Technical Reports Server (NTRS)

Padula, Sharon L. (Technical Monitor); Crespo, Luis G.

2003-01-01

This paper presents a study on the design of robust controllers by using random variables to model structured uncertainty for both SISO and MIMO feedback systems. Once the parameter uncertainty is prescribed with probability density functions, its effects are propagated through the analysis leading to stochastic metrics for the system's output. Control designs that aim for satisfactory performances while guaranteeing robust closed loop stability are attained by solving constrained non-linear optimization problems in the frequency domain. This approach permits not only to quantify the probability of having unstable and unfavorable responses for a particular control design but also to search for controls while favoring the values of the parameters with higher chance of occurrence. In this manner, robust optimality is achieved while the characteristic conservatism of conventional robust control methods is eliminated. Examples that admit closed form expressions for the probabilistic metrics of the output are used to elucidate the nature of the problem at hand and validate the proposed formulations.

Control of wind turbine generators connected to power systems

NASA Technical Reports Server (NTRS)

Hwang, H. H.; Mozeico, H. V.; Gilbert, L. J.

1978-01-01

A unique simulation model based on a Mode-O wind turbine is developed for simulating both speed and power control. An analytical representation for a wind turbine that employs blade pitch angle feedback control is presented, and a mathematical model is formulated. For Mode-O serving as a practical case study, results of a computer simulation of the model as applied to the problems of synchronization and dynamic stability are provided. It is shown that the speed and output of a wind turbine can be satisfactorily controlled within reasonable limits by employing the existing blade pitch control system under specified conditions. For power control, an additional excitation control is required so that the terminal voltage, output power factor, and armature current can be held within narrow limits. As a result, the variation of torque angle is limited even if speed control is not implemented simultaneously with power control. Design features of the ERDA/NASA 100-kW Mode-O wind turbine are included.

Advanced Feedback Methods in Information Retrieval.

ERIC Educational Resources Information Center

Salton, G.; And Others

1985-01-01

In this study, automatic feedback techniques are applied to Boolean query statements in online information retrieval to generate improved query statements based on information contained in previously retrieved documents. Feedback operations are carried out using conventional Boolean logic and extended logic. Experimental output is included to…

The inhibitory microcircuit of the substantia nigra provides feedback gain control of the basal ganglia output

PubMed Central

Brown, Jennifer; Pan, Wei-Xing; Dudman, Joshua Tate

2014-01-01

Dysfunction of the basal ganglia produces severe deficits in the timing, initiation, and vigor of movement. These diverse impairments suggest a control system gone awry. In engineered systems, feedback is critical for control. By contrast, models of the basal ganglia highlight feedforward circuitry and ignore intrinsic feedback circuits. In this study, we show that feedback via axon collaterals of substantia nigra projection neurons control the gain of the basal ganglia output. Through a combination of physiology, optogenetics, anatomy, and circuit mapping, we elaborate a general circuit mechanism for gain control in a microcircuit lacking interneurons. Our data suggest that diverse tonic firing rates, weak unitary connections and a spatially diffuse collateral circuit with distinct topography and kinetics from feedforward input is sufficient to implement divisive feedback inhibition. The importance of feedback for engineered systems implies that the intranigral microcircuit, despite its absence from canonical models, could be essential to basal ganglia function. DOI: http://dx.doi.org/10.7554/eLife.02397.001 PMID:24849626

Simplified adaptive control of an orbiting flexible spacecraft

NASA Astrophysics Data System (ADS)

Maganti, Ganesh B.; Singh, Sahjendra N.

2007-10-01

The paper presents the design of a new simple adaptive system for the rotational maneuver and vibration suppression of an orbiting spacecraft with flexible appendages. A moment generating device located on the central rigid body of the spacecraft is used for the attitude control. It is assumed that the system parameters are unknown and the truncated model of the spacecraft has finite but arbitrary dimension. In addition, only the pitch angle and its derivative are measured and elastic modes are not available for feedback. The control output variable is chosen as the linear combination of the pitch angle and the pitch rate. Exploiting the hyper minimum phase nature of the spacecraft, a simple adaptive control law is derived for the pitch angle control and elastic mode stabilization. The adaptation rule requires only four adjustable parameters and the structure of the control system does not depend on the order of the truncated spacecraft model. For the synthesis of control system, the measured output error and the states of a third-order command generator are used. Simulation results are presented which show that in the closed-loop system adaptive output regulation is accomplished in spite of large parameter uncertainties and disturbance input.

Two high accuracy digital integrators for Rogowski current transducers.

PubMed

Luo, Pan-dian; Li, Hong-bin; Li, Zhen-hua

2014-01-01

The Rogowski current transducers have been widely used in AC current measurement, but their accuracy is mainly subject to the analog integrators, which have typical problems such as poor long-term stability and being susceptible to environmental conditions. The digital integrators can be another choice, but they cannot obtain a stable and accurate output for the reason that the DC component in original signal can be accumulated, which will lead to output DC drift. Unknown initial conditions can also result in integral output DC offset. This paper proposes two improved digital integrators used in Rogowski current transducers instead of traditional analog integrators for high measuring accuracy. A proportional-integral-derivative (PID) feedback controller and an attenuation coefficient have been applied in improving the Al-Alaoui integrator to change its DC response and get an ideal frequency response. For the special design in the field of digital signal processing, the improved digital integrators have better performance than analog integrators. Simulation models are built for the purpose of verification and comparison. The experiments prove that the designed integrators can achieve higher accuracy than analog integrators in steady-state response, transient-state response, and temperature changing condition.

Two high accuracy digital integrators for Rogowski current transducers

NASA Astrophysics Data System (ADS)

Luo, Pan-dian; Li, Hong-bin; Li, Zhen-hua

2014-01-01

The Rogowski current transducers have been widely used in AC current measurement, but their accuracy is mainly subject to the analog integrators, which have typical problems such as poor long-term stability and being susceptible to environmental conditions. The digital integrators can be another choice, but they cannot obtain a stable and accurate output for the reason that the DC component in original signal can be accumulated, which will lead to output DC drift. Unknown initial conditions can also result in integral output DC offset. This paper proposes two improved digital integrators used in Rogowski current transducers instead of traditional analog integrators for high measuring accuracy. A proportional-integral-derivative (PID) feedback controller and an attenuation coefficient have been applied in improving the Al-Alaoui integrator to change its DC response and get an ideal frequency response. For the special design in the field of digital signal processing, the improved digital integrators have better performance than analog integrators. Simulation models are built for the purpose of verification and comparison. The experiments prove that the designed integrators can achieve higher accuracy than analog integrators in steady-state response, transient-state response, and temperature changing condition.

Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

PubMed Central

Kumar, S. Ganesh; Thilagar, S. Hosimin

2015-01-01

Passivity based control of DC motor in sensorless configuration is proposed in this paper. Exact tracking error dynamics passive output feedback control is used for stabilizing the speed of Buck converter fed DC motor under various load torques such as constant type, fan type, propeller type, and unknown load torques. Under load conditions, sensorless online algebraic approach is proposed, and it is compared with sensorless reduced order observer approach. The former produces better response in estimating the load torque. Sensitivity analysis is also performed to select the appropriate control variables. Simulation and experimental results fully confirm the superiority of the proposed approach suggested in this paper. PMID:25893208

Ultra-stable high average power femtosecond laser system tunable from 1.33 to 20  μm.

PubMed

Steinle, Tobias; Mörz, Florian; Steinmann, Andy; Giessen, Harald

2016-11-01

A highly stable 350 fs laser system with a gap-free tunability from 1.33 to 2.0 μm and 2.13 to 20 μm is demonstrated. Nanojoule-level pulse energy is achieved in the mid-infrared at a 43 MHz repetition rate. The system utilizes a post-amplified fiber-feedback optical parametric oscillator followed by difference frequency generation between the signal and idler. No locking or synchronization electronics are required to achieve outstanding free-running output power and spectral stability of the whole system. Ultra-low intensity noise, close to the pump laser's noise figure, enables shot-noise limited measurements.

Motor Cortical Visuomotor Feedback Activity Is Initially Isolated from Downstream Targets in Output-Null Neural State Space Dimensions.

PubMed

Stavisky, Sergey D; Kao, Jonathan C; Ryu, Stephen I; Shenoy, Krishna V

2017-07-05

Neural circuits must transform new inputs into outputs without prematurely affecting downstream circuits while still maintaining other ongoing communication with these targets. We investigated how this isolation is achieved in the motor cortex when macaques received visual feedback signaling a movement perturbation. To overcome limitations in estimating the mapping from cortex to arm movements, we also conducted brain-machine interface (BMI) experiments where we could definitively identify neural firing patterns as output-null or output-potent. This revealed that perturbation-evoked responses were initially restricted to output-null patterns that cancelled out at the neural population code readout and only later entered output-potent neural dimensions. This mechanism was facilitated by the circuit's large null space and its ability to strongly modulate output-potent dimensions when generating corrective movements. These results show that the nervous system can temporarily isolate portions of a circuit's activity from its downstream targets by restricting this activity to the circuit's output-null neural dimensions. Copyright © 2017 Elsevier Inc. All rights reserved.

Attitude output feedback control for rigid spacecraft with finite-time convergence.

PubMed

Hu, Qinglei; Niu, Guanglin

2017-09-01

The main problem addressed is the quaternion-based attitude stabilization control of rigid spacecraft without angular velocity measurements in the presence of external disturbances and reaction wheel friction as well. As a stepping stone, an angular velocity observer is proposed for the attitude control of a rigid body in the absence of angular velocity measurements. The observer design ensures finite-time convergence of angular velocity state estimation errors irrespective of the control torque or the initial attitude state of the spacecraft. Then, a novel finite-time control law is employed as the controller in which the estimate of the angular velocity is used directly. It is then shown that the observer and the controlled system form a cascaded structure, which allows the application of the finite-time stability theory of cascaded systems to prove the finite-time stability of the closed-loop system. A rigorous analysis of the proposed formulation is provided and numerical simulation studies are presented to help illustrate the effectiveness of the angular-velocity observer for rigid spacecraft attitude control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Development of A New Automotive Active Suspension System

NASA Astrophysics Data System (ADS)

Yousef Abdulhammed, Eng.; Eng. Hisham Elsherif, Dr, Prof.

2017-12-01

The main objective was to develop a smart new vehicle suspension system that minimizes the road irregularities impact on the driver, also to increase performance and stability of the vehicle at high speeds. The central idea is based on modifying the normal passive suspension system into a computer controller hydraulic actuated active suspension system simply by adding a new component such as a hydraulic cylinder on a normal passive system. The new suspension system is economical to be wildly used in consumer’s cars with low prices. The new added components was analytically tested and modeled according to different parameters. A new test rig was implemented to simulate a real quarter suspension system. The new suspension model was controlled by feedback controller according to the road conditions; the controller output controls the cylinder actuator to compensate the road oscillations and increases the vehicle stability for the passenger. Finally, to maximize the aerodynamics coefficients of the vehicle during high speeds by controlling the vehicle clearance level from the ground to achieve full stability, steering and fuel economy.

Full stabilization and characterization of an optical frequency comb from a diode-pumped solid-state laser with GHz repetition rate.

PubMed

Hakobyan, Sargis; Wittwer, Valentin J; Brochard, Pierre; Gürel, Kutan; Schilt, Stéphane; Mayer, Aline S; Keller, Ursula; Südmeyer, Thomas

2017-08-21

We demonstrate the first self-referenced full stabilization of a diode-pumped solid-state laser (DPSSL) frequency comb with a GHz repetition rate. The Yb:CALGO DPSSL delivers an average output power of up to 2.1 W with a typical pulse duration of 96 fs and a center wavelength of 1055 nm. A carrier-envelope offset (CEO) beat with a signal-to-noise ratio of 40 dB (in 10-kHz resolution bandwidth) is detected after supercontinuum generation and f-to-2f interferometry directly from the output of the oscillator, without any external amplification or pulse compression. The repetition rate is stabilized to a reference synthesizer with a residual integrated timing jitter of 249 fs [10 Hz - 1 MHz] and a relative frequency stability of 10 -12 /s. The CEO frequency is phase-locked to an external reference via pump current feedback using home-built modulation electronics. It achieves a loop bandwidth of ~150 kHz, which results in a tight CEO lock with a residual integrated phase noise of 680 mrad [1 Hz - 1 MHz]. We present a detailed characterization of the GHz frequency comb that combines a noise analysis of the repetition rate f rep , of the CEO frequency f CEO , and of an optical comb line at 1030 nm obtained from a virtual beat with a narrow-linewidth laser at 1557 nm using a transfer oscillator. An optical comb linewidth of about 800 kHz is assessed at 1-s observation time, for which the dominant noise sources of f rep and f CEO are identified.

Output-Feedback Control of Unknown Linear Discrete-Time Systems With Stochastic Measurement and Process Noise via Approximate Dynamic Programming.

PubMed

Wang, Jun-Sheng; Yang, Guang-Hong

2017-07-25

This paper studies the optimal output-feedback control problem for unknown linear discrete-time systems with stochastic measurement and process noise. A dithered Bellman equation with the innovation covariance matrix is constructed via the expectation operator given in the form of a finite summation. On this basis, an output-feedback-based approximate dynamic programming method is developed, where the terms depending on the innovation covariance matrix are available with the aid of the innovation covariance matrix identified beforehand. Therefore, by iterating the Bellman equation, the resulting value function can converge to the optimal one in the presence of the aforementioned noise, and the nearly optimal control laws are delivered. To show the effectiveness and the advantages of the proposed approach, a simulation example and a velocity control experiment on a dc machine are employed.

Research on output feedback control

NASA Technical Reports Server (NTRS)

Calise, A. J.; Kramer, F. S.

1985-01-01

In designing fixed order compensators, an output feedback formulation has been adopted by suitably augmenting the system description to include the compensator states. However, the minimization of the performance index over the range of possible compensator descriptions was impeded due to the nonuniqueness of the compensator transfer function. A controller canonical form of the compensator was chosen to reduce the number of free parameters to its minimal number in the optimization. In the MIMO case, the controller form requires a prespecified set of ascending controllability indices. This constraint on the compensator structure is rather innocuous in relation to the increase in convergence rate of the optimization. Moreover, the controller form is easily relatable to a unique controller transfer function description. This structure of the compensator does not require penalizing the compensator states for a nonzero or coupled solution, a problem that occurs when following a standard output feedback synthesis formulation.

Observed-Based Adaptive Fuzzy Tracking Control for Switched Nonlinear Systems With Dead-Zone.

PubMed

Tong, Shaocheng; Sui, Shuai; Li, Yongming

2015-12-01

In this paper, the problem of adaptive fuzzy output-feedback control is investigated for a class of uncertain switched nonlinear systems in strict-feedback form. The considered switched systems contain unknown nonlinearities, dead-zone, and immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, a switched fuzzy state observer is designed and thus the immeasurable states are obtained by it. By applying the adaptive backstepping design principle and the average dwell time method, an adaptive fuzzy output-feedback tracking control approach is developed. It is proved that the proposed control approach can guarantee that all the variables in the closed-loop system are bounded under a class of switching signals with average dwell time, and also that the system output can track a given reference signal as closely as possible. The simulation results are given to check the effectiveness of the proposed approach.

Stabilization and robustness of non-linear unity-feedback system - Factorization approach

NASA Technical Reports Server (NTRS)

Desoer, C. A.; Kabuli, M. G.

1988-01-01

The paper is a self-contained discussion of a right factorization approach in the stability analysis of the nonlinear continuous-time or discrete-time, time-invariant or time-varying, well-posed unity-feedback system S1(P, C). It is shown that a well-posed stable feedback system S1(P, C) implies that P and C have right factorizations. In the case where C is stable, P has a normalized right-coprime factorization. The factorization approach is used in stabilization and simultaneous stabilization results.

Tonic 5nM DA Stabilizes Neuronal Output by Enabling Bidirectional Activity-Dependent Regulation of the Hyperpolarization Activated Current via PKA and Calcineurin

PubMed Central

Krenz, Wulf-Dieter C.; Rodgers, Edmund W.; Baro, Deborah J.

2015-01-01

Volume transmission results in phasic and tonic modulatory signals. The actions of tonic dopamine (DA) at type 1 DA receptors (D1Rs) are largely undefined. Here we show that tonic 5nM DA acts at D1Rs to stabilize neuronal output over minutes by enabling activity-dependent regulation of the hyperpolarization activated current (I h). In the presence but not absence of 5nM DA, I h maximal conductance (G max) was adjusted according to changes in slow wave activity in order to maintain spike timing. Our study on the lateral pyloric neuron (LP), which undergoes rhythmic oscillations in membrane potential with depolarized plateaus, demonstrated that incremental, bi-directional changes in plateau duration produced corresponding alterations in LP I hG max when preparations were superfused with saline containing 5nM DA. However, when preparations were superfused with saline alone there was no linear correlation between LP I hGmax and duty cycle. Thus, tonic nM DA modulated the capacity for activity to modulate LP I h G max; this exemplifies metamodulation (modulation of modulation). Pretreatment with the Ca2+-chelator, BAPTA, or the specific PKA inhibitor, PKI, prevented all changes in LP I h in 5nM DA. Calcineurin inhibitors blocked activity-dependent changes enabled by DA and revealed a PKA-mediated, activity-independent enhancement of LP I hG max. These data suggested that tonic 5nM DA produced two simultaneous, PKA-dependent effects: a direct increase in LP I h G max and a priming event that permitted calcineurin regulation of LP I h. The latter produced graded reductions in LP I hG max with increasing duty cycles. We also demonstrated that this metamodulation preserved the timing of LP’s first spike when network output was perturbed with bath-applied 4AP. In sum, 5nM DA permits slow wave activity to provide feedback that maintains spike timing, suggesting that one function of low-level, tonic modulation is to stabilize specific features of a dynamic output. PMID:25692473

Tonic 5nM DA stabilizes neuronal output by enabling bidirectional activity-dependent regulation of the hyperpolarization activated current via PKA and calcineurin.

PubMed

Krenz, Wulf-Dieter C; Rodgers, Edmund W; Baro, Deborah J

2015-01-01

Volume transmission results in phasic and tonic modulatory signals. The actions of tonic dopamine (DA) at type 1 DA receptors (D1Rs) are largely undefined. Here we show that tonic 5nM DA acts at D1Rs to stabilize neuronal output over minutes by enabling activity-dependent regulation of the hyperpolarization activated current (I h). In the presence but not absence of 5nM DA, I h maximal conductance (G max) was adjusted according to changes in slow wave activity in order to maintain spike timing. Our study on the lateral pyloric neuron (LP), which undergoes rhythmic oscillations in membrane potential with depolarized plateaus, demonstrated that incremental, bi-directional changes in plateau duration produced corresponding alterations in LP I hG max when preparations were superfused with saline containing 5nM DA. However, when preparations were superfused with saline alone there was no linear correlation between LP I hGmax and duty cycle. Thus, tonic nM DA modulated the capacity for activity to modulate LP I h G max; this exemplifies metamodulation (modulation of modulation). Pretreatment with the Ca2+-chelator, BAPTA, or the specific PKA inhibitor, PKI, prevented all changes in LP I h in 5nM DA. Calcineurin inhibitors blocked activity-dependent changes enabled by DA and revealed a PKA-mediated, activity-independent enhancement of LP I hG max. These data suggested that tonic 5nM DA produced two simultaneous, PKA-dependent effects: a direct increase in LP I h G max and a priming event that permitted calcineurin regulation of LP I h. The latter produced graded reductions in LP I hG max with increasing duty cycles. We also demonstrated that this metamodulation preserved the timing of LP's first spike when network output was perturbed with bath-applied 4AP. In sum, 5nM DA permits slow wave activity to provide feedback that maintains spike timing, suggesting that one function of low-level, tonic modulation is to stabilize specific features of a dynamic output.

Excited, Proud, and Accomplished: Exploring the Effects of Feedback Supplemented with Web-Based Peer Benchmarking on Self-Regulated Learning in Marketing Classrooms

ERIC Educational Resources Information Center

Raska, David

2014-01-01

This research explores and tests the effect of an innovative performance feedback practice--feedback supplemented with web-based peer benchmarking--through a lens of social cognitive framework for self-regulated learning. The results suggest that providing performance feedback with references to exemplary peer output is positively associated with…

Explicit and Implicit Feedback, Modified Output, and SLA: Does Explicit and Implicit Feedback Promote Learning and Learner-Learner Interactions?

ERIC Educational Resources Information Center

Adams, Rebecca; Nuevo, Ana Maria; Egi, Takako

2011-01-01

Research on interactional feedback has typically focused on feedback learners receive from native speakers (i.e., NS-learner contexts). However, for many second language (L2) learners, the majority of their opportunities to engage in interaction occur with other learners (i.e., learner-learner contexts). The literature has suggested that feedback…

Electronic filters, hearing aids and methods

NASA Technical Reports Server (NTRS)

Engebretson, A. Maynard (Inventor)

1995-01-01

An electronic filter for an electroacoustic system. The system has a microphone for generating an electrical output from external sounds and an electrically driven transducer for emitting sound. Some of the sound emitted by the transducer returns to the microphone means to add a feedback contribution to its electrical output. The electronic filter includes a first circuit for electronic processing of the electrical output of the microphone to produce a first signal. An adaptive filter, interconnected with the first circuit, performs electronic processing of the first signal to produce an adaptive output to the first circuit to substantially offset the feedback contribution in the electrical output of the microphone, and the adaptive filter includes means for adapting only in response to polarities of signals supplied to and from the first circuit. Other electronic filters for hearing aids, public address systems and other electroacoustic systems, as well as such systems and methods of operating them are also disclosed.

Electronic filters, hearing aids and methods

NASA Technical Reports Server (NTRS)

Engebretson, A. Maynard (Inventor); O'Connell, Michael P. (Inventor); Zheng, Baohua (Inventor)

1991-01-01

An electronic filter for an electroacoustic system. The system has a microphone for generating an electrical output from external sounds and an electrically driven transducer for emitting sound. Some of the sound emitted by the transducer returns to the microphone means to add a feedback contribution to its electical output. The electronic filter includes a first circuit for electronic processing of the electrical output of the microphone to produce a filtered signal. An adaptive filter, interconnected with the first circuit, performs electronic processing of the filtered signal to produce an adaptive output to the first circuit to substantially offset the feedback contribution in the electrical output of the microphone, and the adaptive filter includes means for adapting only in response to polarities of signals supplied to and from the first circuit. Other electronic filters for hearing aids, public address systems and other electroacoustic systems, as well as such systems, and methods of operating them are also disclosed.

Reengineering Activities in K-8 Classrooms: Focus on Formative Feedback

ERIC Educational Resources Information Center

Foster, Patrick N.

2006-01-01

Almost every K-8 technology activity includes feedback. Technology teachers generally view the input-process-output paradigm as being incomplete. A step toward completion would be the inclusion of a "feedback" component incorporating reengineering. This article provides an example of how one activity evolved through several stages to include…

Control of nonlinear systems with applications to constrained robots and spacecraft attitude stabilization

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan

1993-01-01

This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude cannot be asymptotically stabilized using continuous feedback, but a discontinuous stabilizing feedback control strategy is constructed. If the uncontrolled principal axis is an axis of symmetry, the complete spacecraft dynamics cannot be stabilized. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but again a discontinuous feedback control strategy is constructed.

Adaptive Fuzzy Output Constrained Control Design for Multi-Input Multioutput Stochastic Nonstrict-Feedback Nonlinear Systems.

PubMed

Li, Yongming; Tong, Shaocheng

2017-12-01

In this paper, an adaptive fuzzy output constrained control design approach is addressed for multi-input multioutput uncertain stochastic nonlinear systems in nonstrict-feedback form. The nonlinear systems addressed in this paper possess unstructured uncertainties, unknown gain functions and unknown stochastic disturbances. Fuzzy logic systems are utilized to tackle the problem of unknown nonlinear uncertainties. The barrier Lyapunov function technique is employed to solve the output constrained problem. In the framework of backstepping design, an adaptive fuzzy control design scheme is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.

Stability of the human respiratory control system. I. Analysis of a two-dimensional delay state-space model.

PubMed

Batzel, J J; Tran, H T

2000-07-01

A number of mathematical models of the human respiratory control system have been developed since 1940 to study a wide range of features of this complex system. Among them, periodic breathing (including Cheyne-Stokes respiration and apneustic breathing) is a collection of regular but involuntary breathing patterns that have important medical implications. The hypothesis that periodic breathing is the result of delay in the feedback signals to the respiratory control system has been studied since the work of Grodins et al. in the early 1950's [12]. The purpose of this paper is to study the stability characteristics of a feedback control system of five differential equations with delays in both the state and control variables presented by Khoo et al. [17] in 1991 for modeling human respiration. The paper is divided in two parts. Part I studies a simplified mathematical model of two nonlinear state equations modeling arterial partial pressures of O2 and CO2 and a peripheral controller. Analysis was done on this model to illuminate the effect of delay on the stability. It shows that delay dependent stability is affected by the controller gain, compartmental volumes and the manner in which changes in the ventilation rate is produced (i.e., by deeper breathing or faster breathing). In addition, numerical simulations were performed to validate analytical results. Part II extends the model in Part I to include both peripheral and central controllers. This, however, necessitates the introduction of a third state equation modeling CO2 levels in the brain. In addition to analytical studies on delay dependent stability, it shows that the decreased cardiac output (and hence increased delay) resulting from the congestive heart condition can induce instability at certain control gain levels. These analytical results were also confirmed by numerical simulations.

Stability of the human respiratory control system. II. Analysis of a three-dimensional delay state-space model.

PubMed

Batzel, J J; Tran, H T

2000-07-01

A number of mathematical models of the human respiratory control system have been developed since 1940 to study a wide range of features of this complex system. Among them, periodic breathing (including Cheyne-Stokes respiration and apneustic breathing) is a collection of regular but involuntary breathing patterns that have important medical implications. The hypothesis that periodic breathing is the result of delay in the feedback signals to the respiratory control system has been studied since the work of Grodins et al. in the early 1950's [1]. The purpose of this paper is to study the stability characteristics of a feedback control system of five differential equations with delays in both the state and control variables presented by Khoo et al. [4] in 1991 for modeling human respiration. The paper is divided in two parts. Part I studies a simplified mathematical model of two nonlinear state equations modeling arterial partial pressures of O2 and CO2 and a peripheral controller. Analysis was done on this model to illuminate the effect of delay on the stability. It shows that delay dependent stability is affected by the controller gain, compartmental volumes and the manner in which changes in the ventilation rate is produced (i.e., by deeper breathing or faster breathing). In addition, numerical simulations were performed to validate analytical results. Part II extends the model in Part I to include both peripheral and central controllers. This, however, necessitates the introduction of a third state equation modeling CO2 levels in the brain. In addition to analytical studies on delay dependent stability, it shows that the decreased cardiac output (and hence increased delay) resulting from the congestive heart condition can induce instability at certain control gain levels. These analytical results were also confirmed by numerical simulations.

Output feedback control of a quadrotor UAV using neural networks.

PubMed

Dierks, Travis; Jagannathan, Sarangapani

2010-01-01

In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

Augmented feedback of COM and COP modulates the regulation of quiet human standing relative to the stability boundary.

PubMed

Kilby, Melissa C; Slobounov, Semyon M; Newell, Karl M

2016-06-01

The experiment manipulated real-time kinematic feedback of the motion of the whole body center of mass (COM) and center of pressure (COP) in anterior-posterior (AP) and medial-lateral (ML) directions to investigate the variables actively controlled in quiet standing of young adults. The feedback reflected the current 2D postural positions within the 2D functional stability boundary that was scaled to 75%, 30% and 12% of its original size. The findings showed that the distance of both COP and COM to the respective stability boundary was greater during the feedback trials compared to a no feedback condition. However, the temporal safety margin of the COP, that is, the virtual time-to-contact (VTC), was higher without feedback. The coupling relation of COP-COM showed stable in-phase synchronization over all of the feedback conditions for frequencies below 1Hz. For higher frequencies (up to 5Hz), there was progressive reduction of COP-COM synchronization and local adaptation under the presence of augmented feedback. The findings show that the augmented feedback of COM and COP motion differentially and adaptively influences spatial and temporal properties of postural motion relative to the stability boundary while preserving the organization of the COM-COP coupling in postural control. Copyright © 2016. Published by Elsevier B.V.

New Tools for Hybrid Systems

DTIC Science & Technology

2007-05-02

stability of a class of discrete event systems ", IEEE Transactions on Automatic Control , vol. 39, no. 2... stability , input/output stability , external stability and incremental input/output stability , as they apply to deterministic finite state machine systems ... class of systems , incremental 1/0 stability and external stability are equivalent notions, stronger than the notion of I/O stability . 15. SUBJECT

Multi-loop control of UPS inverter with a plug-in odd-harmonic repetitive controller.

PubMed

Razi, Reza; Karbasforooshan, Mohammad-Sadegh; Monfared, Mohammad

2017-03-01

This paper proposes an improved multi-loop control scheme for the single-phase uninterruptible power supply (UPS) inverter by using a plug-in odd-harmonic repetitive controller to regulate the output voltage. In the suggested control method, the output voltage and the filter capacitor current are used as the outer and inner loop feedback signals, respectively and the instantaneous value of the reference voltage feedforwarded to the output of the controller. Instead of conventional linear (proportional-integral/-resonant) and conventional repetitive controllers, a plug-in odd-harmonic repetitive controller is employed in the outer loop to regulate the output voltage, which occupies less memory space and offers faster tracking performance compared to the conventional one. Also, a simple proportional controller is used in the inner loop for active damping of possible resonances and improving the transient performance. The feedforward of the converter reference voltage enhances the robust performance of the system and simplifies the system modelling and the controller design. A step-by-step design procedure is presented for the proposed controller, which guarantees stability of the system under worst-case scenarios. Simulation and experimental results validate the excellent steady-state and transient performance of the proposed control scheme and provide the exact comparison of the proposed method with the conventional multi-loop control method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Voltage regulator/amplifier is self-regulated

NASA Technical Reports Server (NTRS)

Day, W. E.; Phillips, D. E.

1967-01-01

Signal modulated, self-regulating voltage regulator/amplifier controls the output b-plus voltage in modulated regulator systems. It uses self-oscillation with feedback to a control circuit with a discontinuous amplitude action feedback loop.

FTAP: a Linux-based program for tapping and music experiments.

PubMed

Finney, S A

2001-02-01

This paper describes FTAP, a flexible data collection system for tapping and music experiments. FTAP runs on standard PC hardware with the Linux operating system and can process input keystrokes and auditory output with reliable millisecond resolution. It uses standard MIDI devices for input and output and is particularly flexible in the area of auditory feedback manipulation. FTAP can run a wide variety of experiments, including synchronization/continuation tasks (Wing & Kristofferson, 1973), synchronization tasks combined with delayed auditory feedback (Aschersleben & Prinz, 1997), continuation tasks with isolated feedback perturbations (Wing, 1977), and complex alterations of feedback in music performance (Finney, 1997). Such experiments have often been implemented with custom hardware and software systems, but with FTAP they can be specified by a simple ASCII text parameter file. FTAP is available at no cost in source-code form.

Fabrication and test of digital output interface devices for gas turbine electronic controls

NASA Technical Reports Server (NTRS)

Newirth, D. M.; Koenig, E. W.

1978-01-01

A program was conducted to develop an innovative digital output interface device, a digital effector with optical feedback of the fuel metering valve position, for future electronic controls for gas turbine engines. A digital effector (on-off solenoids driven directly by on-off signals from a digital electronic controller) with optical position feedback was fabricated, coupled with the fuel metering valve, and tested under simulated engine operating conditions. The testing indicated that a digital effector with optical position feedback is a suitable candidate, with proper development for future digital electronic gas turbine controls. The testing also identified several problem areas which would have to be overcome in a final production configuration.

A parametric LQ approach to multiobjective control system design

NASA Technical Reports Server (NTRS)

Kyr, Douglas E.; Buchner, Marc

1988-01-01

The synthesis of a constant parameter output feedback control law of constrained structure is set in a multiple objective linear quadratic regulator (MOLQR) framework. The use of intuitive objective functions such as model-following ability and closed-loop trajectory sensitivity, allow multiple objective decision making techniques, such as the surrogate worth tradeoff method, to be applied. For the continuous-time deterministic problem with an infinite time horizon, dynamic compensators as well as static output feedback controllers can be synthesized using a descent Anderson-Moore algorithm modified to impose linear equality constraints on the feedback gains by moving in feasible directions. Results of three different examples are presented, including a unique reformulation of the sensitivity reduction problem.

Output-Feedback Model Predictive Control of a Pasteurization Pilot Plant based on an LPV model

NASA Astrophysics Data System (ADS)

Karimi Pour, Fatemeh; Ocampo-Martinez, Carlos; Puig, Vicenç

2017-01-01

This paper presents a model predictive control (MPC) of a pasteurization pilot plant based on an LPV model. Since not all the states are measured, an observer is also designed, which allows implementing an output-feedback MPC scheme. However, the model of the plant is not completely observable when augmented with the disturbance models. In order to solve this problem, the following strategies are used: (i) the whole system is decoupled into two subsystems, (ii) an inner state-feedback controller is implemented into the MPC control scheme. A real-time example based on the pasteurization pilot plant is simulated as a case study for testing the behavior of the approaches.

Comparison of distributed Bragg reflector ridge waveguide diode lasers and monolithic master oscillator power amplifiers

NASA Astrophysics Data System (ADS)

Werner, Nils; Wegemund, Jan; Gerke, Sebastian; Feise, David; Bugge, Frank; Paschke, Katrin; Tränkle, Günther

2018-02-01

Diode lasers with ridge waveguide structures and wavelength stabilization by a distributed Bragg-reflector (DBR) are key components for many different applications. These lasers provide diffraction limited laser emission in a single spectral mode, while an arbitrary emission wavelength can be chosen as long as the semiconductor allows for amplification. Furthermore, the DBR grating can be fabricated during the lateral structuring of the device which makes them well suited for mass production. A variety of different concepts can be used for the actual realization of the laser. While standard DBR ridge waveguide lasers (DBR-RWL) with a DBR as reflection grating provide up to 1W optical output power, the DBR can be also used as transmission grating for improved efficiency. Furthermore, more complex structures like monolithic master oscillator power amplifiers (MOPA), which show less spectral mode hops than DBR-RWLs, have been fabricated. The wide range of possible applications have different requirements on the emission characteristic of the used lasers. While the lasers can fulfill the requirements on the emission spectrum and the optical output power, the effects due to optical feedback from optical elements of the setup may limit their practical use in the respective application. Thus, it is of high importance to analyze the emission behavior of the different laser designs at various operation conditions with and without optical feedback. Here, the detailed investigation of the emission characteristics of lasers at an exemplary emission wavelength of 1120 nm is be presented.

The inhibitory microcircuit of the substantia nigra provides feedback gain control of the basal ganglia output.

PubMed

Brown, Jennifer; Pan, Wei-Xing; Dudman, Joshua Tate

2014-05-21

Dysfunction of the basal ganglia produces severe deficits in the timing, initiation, and vigor of movement. These diverse impairments suggest a control system gone awry. In engineered systems, feedback is critical for control. By contrast, models of the basal ganglia highlight feedforward circuitry and ignore intrinsic feedback circuits. In this study, we show that feedback via axon collaterals of substantia nigra projection neurons control the gain of the basal ganglia output. Through a combination of physiology, optogenetics, anatomy, and circuit mapping, we elaborate a general circuit mechanism for gain control in a microcircuit lacking interneurons. Our data suggest that diverse tonic firing rates, weak unitary connections and a spatially diffuse collateral circuit with distinct topography and kinetics from feedforward input is sufficient to implement divisive feedback inhibition. The importance of feedback for engineered systems implies that the intranigral microcircuit, despite its absence from canonical models, could be essential to basal ganglia function. DOI: http://dx.doi.org/10.7554/eLife.02397.001. Copyright © 2014, Brown et al.

Missile Interceptor Guidance System Technology (La Technologie Pour Les Systemes De Guidage Des Missiles Intercepteurs (DE Missiles Ou D’Aeronefs)

DTIC Science & Technology

1990-01-01

robustness of feedback systems with structured uncertainty. Theorem: Robust Stability Fu(G,A) stable V AA iff suP (Gll(JW))Sl. Theorem: Robust ...through a gain KR. The addition of other dynamics and feedback paths creates stabilization problems for this simple roll attitude feedback control...characteristics are most useful to the designer when examined in the frequency domain. Both relative stability and robustness can be determined from an

Strong intensity variations of laser feedback interferometer caused by atmospheric turbulence

NASA Astrophysics Data System (ADS)

Sun, Yiyi; Li, Zhiping

2003-05-01

The significant variation of the laser output can be caused by feedback of a small part of laser beam, which is reflected or backscattered by a target at a long distance from laser source, into the laser cavity. This paper describes and analyzes theoretically and experimentally the influence of atmospheric turbulence on interference caused by laser feedback. The influence depends upon both the energy of feedback into the laser cavity and the strength of turbulence over a laser propagation path in the atmosphere. In the case of stronger energy of feedback and weak turbulence variance of fluctuation of the laser output can be enhanced by hundreds to thousands times. From our measurements and theoretical analysis it shows thatthese significant enhancements can result from the change of laser-cavity-modes which can be stimulated simultaneously and from beat oscillations between a variety of frequencies of laser modes. This also can result from optical chaos inside the laser resonator because a non-separable distorted external cavity can become a prerequisite for optical chaos.

Amplitude Noise Reduction of Ion Lasers with Optical Feedback

NASA Technical Reports Server (NTRS)

Herring, Gregory C.

2011-01-01

A reduction in amplitude noise on the output of a multi-mode continuous-wave Ar-ion laser was previously demonstrated when a fraction of the output power was retroreflected back into the laser cavity. This result was reproduced in the present work and a Fabry-Perot etalon was used to monitor the longitudinal mode structure of the laser. A decrease in the number of operating longitudinal cavity modes was observed simultaneously with the introduction of the optical feedback and the onset of the amplitude noise reduction. The noise reduction is a result of a reduced number of lasing modes, resulting in less mode beating and amplitude fluctuations of the laser output power.

Dual-cavity mode converter for a fundamental mode output in an over-moded relativistic backward-wave oscillator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Jiawei; Huang, Wenhua; Science and Technology on High Power Microwave Laboratory, Northwest Institute of Nuclear Technology, Xi'an 710024

2015-03-16

A dual-cavity TM{sub 02}–TM{sub 01} mode converter is designed for a dual-mode operation over-moded relativistic backward-wave oscillator. With the converter, the fundamental mode output is achieved. Particle-in-cell simulation shows that the efficiency of beam-wave conversion was over 46% and a pureTM{sub 01} mode output was obtained. Effects of end reflection provided by the mode converter were studied. Adequate TM{sub 01} mode feedback provided by the converter enhances conversion efficiency. The distance between the mode converter and extraction cavity critically affect the generation of microwaves depending on the reflection phase of TM{sub 01} mode feedback.

Computer program for single input-output, single-loop feedback systems

NASA Technical Reports Server (NTRS)

1976-01-01

Additional work is reported on a completely automatic computer program for the design of single input/output, single loop feedback systems with parameter uncertainly, to satisfy time domain bounds on the system response to step commands and disturbances. The inputs to the program are basically the specified time-domain response bounds, the form of the constrained plant transfer function and the ranges of the uncertain parameters of the plant. The program output consists of the transfer functions of the two free compensation networks, in the form of the coefficients of the numerator and denominator polynomials, and the data on the prescribed bounds and the extremes actually obtained for the system response to commands and disturbances.

Airborne water vapor DIAL system and measurements of water and aerosol profiles

NASA Technical Reports Server (NTRS)

Higdon, Noah S.; Browell, Edward V.

1991-01-01

The Lidar Applications Group at NASA Langley Research Center has developed a differential absorption lidar (DIAL) system for the remote measurement of atmospheric water vapor (H2O) and aerosols from an aircraft. The airborne H2O DIAL system is designed for extended flights to perform mesoscale investigations of H2O and aerosol distributions. This DIAL system utilizes a Nd:YAG-laser-pumped dye laser as the off-line transmitter and a narrowband, tunable Alexandrite laser as the on-line transmitter. The dye laser has an oscillator/amplifier configuration which incorporates a grating and prism in the oscillator cavity to narrow the output linewidth to approximately 15 pm. This linewidth can be maintained over the wavelength range of 725 to 730 nm, and it is sufficiently narrow to satisfy the off-line spectral requirements. In the Alexandrite laser, three intracavity tuning elements combine to produce an output linewidth of 1.1 pm. These spectral devices include a five-plate birefringent tuner, a 1-mm thick solid etalon and a 1-cm air-spaced etalon. A wavelength stability of +/- 0.35 pm is achieved by active feedback control of the two Fabry-Perot etalons using a frequency stabilized He-Ne laser as a wavelength reference. The three tuning elements can be synchronously scanned over a 150 pm range with microprocessor-based scanning electronics. Other aspects of the DIAL system are discussed.

High stability amplifier

NASA Technical Reports Server (NTRS)

Adams, W. A.; Reinhardt, V. S. (Inventor)

1983-01-01

An electrical RF signal amplifier for providing high temperature stability and RF isolation and comprised of an integrated circuit voltage regulator, a single transistor, and an integrated circuit operational amplifier mounted on a circuit board such that passive circuit elements are located on side of the circuit board while the active circuit elements are located on the other side is described. The active circuit elements are embedded in a common heat sink so that a common temperature reference is provided for changes in ambient temperature. The single transistor and operational amplifier are connected together to form a feedback amplifier powered from the voltage regulator with transistor implementing primarily the desired signal gain while the operational amplifier implements signal isolation. Further RF isolation is provided by the voltage regulator which inhibits cross-talk from other like amplifiers powered from a common power supply. Input and output terminals consisting of coaxial connectors are located on the sides of a housing in which all the circuit components and heat sink are located.

Ridge Polynomial Neural Network with Error Feedback for Time Series Forecasting

PubMed Central

Ghazali, Rozaida; Herawan, Tutut

2016-01-01

Time series forecasting has gained much attention due to its many practical applications. Higher-order neural network with recurrent feedback is a powerful technique that has been used successfully for time series forecasting. It maintains fast learning and the ability to learn the dynamics of the time series over time. Network output feedback is the most common recurrent feedback for many recurrent neural network models. However, not much attention has been paid to the use of network error feedback instead of network output feedback. In this study, we propose a novel model, called Ridge Polynomial Neural Network with Error Feedback (RPNN-EF) that incorporates higher order terms, recurrence and error feedback. To evaluate the performance of RPNN-EF, we used four univariate time series with different forecasting horizons, namely star brightness, monthly smoothed sunspot numbers, daily Euro/Dollar exchange rate, and Mackey-Glass time-delay differential equation. We compared the forecasting performance of RPNN-EF with the ordinary Ridge Polynomial Neural Network (RPNN) and the Dynamic Ridge Polynomial Neural Network (DRPNN). Simulation results showed an average 23.34% improvement in Root Mean Square Error (RMSE) with respect to RPNN and an average 10.74% improvement with respect to DRPNN. That means that using network errors during training helps enhance the overall forecasting performance for the network. PMID:27959927

Ridge Polynomial Neural Network with Error Feedback for Time Series Forecasting.

PubMed

Waheeb, Waddah; Ghazali, Rozaida; Herawan, Tutut

2016-01-01

Time series forecasting has gained much attention due to its many practical applications. Higher-order neural network with recurrent feedback is a powerful technique that has been used successfully for time series forecasting. It maintains fast learning and the ability to learn the dynamics of the time series over time. Network output feedback is the most common recurrent feedback for many recurrent neural network models. However, not much attention has been paid to the use of network error feedback instead of network output feedback. In this study, we propose a novel model, called Ridge Polynomial Neural Network with Error Feedback (RPNN-EF) that incorporates higher order terms, recurrence and error feedback. To evaluate the performance of RPNN-EF, we used four univariate time series with different forecasting horizons, namely star brightness, monthly smoothed sunspot numbers, daily Euro/Dollar exchange rate, and Mackey-Glass time-delay differential equation. We compared the forecasting performance of RPNN-EF with the ordinary Ridge Polynomial Neural Network (RPNN) and the Dynamic Ridge Polynomial Neural Network (DRPNN). Simulation results showed an average 23.34% improvement in Root Mean Square Error (RMSE) with respect to RPNN and an average 10.74% improvement with respect to DRPNN. That means that using network errors during training helps enhance the overall forecasting performance for the network.

High-power ultralong-wavelength Tm-doped silica fiber laser cladding-pumped with a random distributed feedback fiber laser

PubMed Central

Jin, Xiaoxi; Du, Xueyuan; Wang, Xiong; Zhou, Pu; Zhang, Hanwei; Wang, Xiaolin; Liu, Zejin

2016-01-01

We demonstrated a high-power ultralong-wavelength Tm-doped silica fiber laser operating at 2153 nm with the output power exceeding 18 W and the slope efficiency of 25.5%. A random distributed feedback fiber laser with the center wavelength of 1173 nm was employed as pump source of Tm-doped fiber laser for the first time. No amplified spontaneous emissions or parasitic oscillations were observed when the maximum output power reached, which indicates that employing 1173 nm random distributed feedback fiber laser as pump laser is a feasible and promising scheme to achieve high-power emission of long-wavelength Tm-doped fiber laser. The output power of this Tm-doped fiber laser could be further improved by optimizing the length of active fiber, reflectivity of FBGs, increasing optical efficiency of pump laser and using better temperature management. We also compared the operation of 2153 nm Tm-doped fiber lasers pumped with 793 nm laser diodes, and the maximum output powers were limited to ~2 W by strong amplified spontaneous emission and parasitic oscillation in the range of 1900–2000 nm. PMID:27416893

High-power ultralong-wavelength Tm-doped silica fiber laser cladding-pumped with a random distributed feedback fiber laser.

PubMed

Jin, Xiaoxi; Du, Xueyuan; Wang, Xiong; Zhou, Pu; Zhang, Hanwei; Wang, Xiaolin; Liu, Zejin

2016-07-15

We demonstrated a high-power ultralong-wavelength Tm-doped silica fiber laser operating at 2153 nm with the output power exceeding 18 W and the slope efficiency of 25.5%. A random distributed feedback fiber laser with the center wavelength of 1173 nm was employed as pump source of Tm-doped fiber laser for the first time. No amplified spontaneous emissions or parasitic oscillations were observed when the maximum output power reached, which indicates that employing 1173 nm random distributed feedback fiber laser as pump laser is a feasible and promising scheme to achieve high-power emission of long-wavelength Tm-doped fiber laser. The output power of this Tm-doped fiber laser could be further improved by optimizing the length of active fiber, reflectivity of FBGs, increasing optical efficiency of pump laser and using better temperature management. We also compared the operation of 2153 nm Tm-doped fiber lasers pumped with 793 nm laser diodes, and the maximum output powers were limited to ~2 W by strong amplified spontaneous emission and parasitic oscillation in the range of 1900-2000 nm.

Novel disturbance-observer-based control for systems with high-order mismatched disturbances

NASA Astrophysics Data System (ADS)

Fang, Xing; Liu, Fei; Wang, Zhiguo; Dong, Na

2018-01-01

A novel disturbance-observer-based control method is investigated to attenuate the high-order mismatched disturbances. First, a finite-time disturbance observer (FTDO) is proposed to estimate the disturbances as well as the derivatives. By incorporating the outputs of FTDO, the original system is then reconstructed, where the mismatched disturbances are transformed to the matched ones that are compensated by feed-forward algorithm. Moreover, a feedback control law is developed to achieve the stability and tracking performance requirements for the systems. Finally, the proposed composite control method is applied to an unmanned helicopter system. The simulation results demonstrate that the proposed control method exhibits excellent control performance in the presence of high-order matched and mismatched disturbances.

A variable-gain output feedback control design approach

NASA Technical Reports Server (NTRS)

Haylo, Nesim

1989-01-01

A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.

A new approach to adaptive control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

PULSE AMPLIFIER

DOEpatents

Johnstone, C.W.

1958-06-17

The improvement of pulse amplifiers used with scintillation detectors is described. The pulse amplifier circuit has the advantage of reducing the harmful effects of overloading cause by large signal inputs. In general the pulse amplifier circuit comprises two amplifier tubes with the input pulses applied to one amplifier grid and coupled to the second amplifier tube through a common cathode load. The output of the second amplifier is coupled from the plate circuit to a cathode follower tube grid and a diode tube in connected from grid to cathode of the cathode follower tube. Degenerative feedback is provided in the second amplifier by coupling a signal from the cathode follower cathode to the second amplifier grid. The circuit proqides moderate gain stability, and overload protection for subsequent pulse circuits.

Active vibration control for flexible rotor by optimal direct-output feedback control

NASA Technical Reports Server (NTRS)

Nonami, Kenzou; Dirusso, Eliseo; Fleming, David P.

1989-01-01

Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 micrometers down to approximately 25 micrometers (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

Active vibration control for flexible rotor by optimal direct-output feedback control

NASA Technical Reports Server (NTRS)

Nonami, K.; Dirusso, E.; Fleming, D. P.

1989-01-01

Experimental research tests were performed to actively control the rotor vibrations of a flexible rotor mounted on flexible bearing supports. The active control method used in the tests is called optimal direct-output feedback control. This method uses four electrodynamic actuators to apply control forces directly to the bearing housings in order to achieve effective vibration control of the rotor. The force actuators are controlled by an analog controller that accepts rotor displacement as input. The controller is programmed with experimentally determined feedback coefficients; the output is a control signal to the force actuators. The tests showed that this active control method reduced the rotor resonance peaks due to unbalance from approximately 250 microns down to approximately 25 microns (essentially runout level). The tests were conducted over a speed range from 0 to 10,000 rpm; the rotor system had nine critical speeds within this speed range. The method was effective in significantly reducing the rotor vibration for all of the vibration modes and critical speeds.

Observer-Based Adaptive Fault-Tolerant Tracking Control of Nonlinear Nonstrict-Feedback Systems.

PubMed

Wu, Chengwei; Liu, Jianxing; Xiong, Yongyang; Wu, Ligang

2017-06-28

This paper studies an output-based adaptive fault-tolerant control problem for nonlinear systems with nonstrict-feedback form. Neural networks are utilized to identify the unknown nonlinear characteristics in the system. An observer and a general fault model are constructed to estimate the unavailable states and describe the fault, respectively. Adaptive parameters are constructed to overcome the difficulties in the design process for nonstrict-feedback systems. Meanwhile, dynamic surface control technique is introduced to avoid the problem of ''explosion of complexity''. Furthermore, based on adaptive backstepping control method, an output-based adaptive neural tracking control strategy is developed for the considered system against actuator fault, which can ensure that all the signals in the resulting closed-loop system are bounded, and the system output signal can be regulated to follow the response of the given reference signal with a small error. Finally, the simulation results are provided to validate the effectiveness of the control strategy proposed in this paper.

Feedback linearizing control of a MIMO power system

NASA Astrophysics Data System (ADS)

Ilyes, Laszlo

Prior research has demonstrated that either the mechanical or electrical subsystem of a synchronous electric generator may be controlled using single-input single-output (SISO) nonlinear feedback linearization. This research suggests a new approach which applies nonlinear feedback linearization to a multi-input multi-output (MIMO) model of the synchronous electric generator connected to an infinite bus load model. In this way, the electrical and mechanical subsystems may be linearized and simultaneously decoupled through the introduction of a pair of auxiliary inputs. This allows well known, linear, SISO control methods to be effectively applied to the resulting systems. The derivation of the feedback linearizing control law is presented in detail, including a discussion on the use of symbolic math processing as a development tool. The linearizing and decoupling properties of the control law are validated through simulation. And finally, the robustness of the control law is demonstrated.

Output Control Using Feedforward And Cascade Controllers

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1990-01-01

Report presents theoretical study of open-loop control elements in single-input, single-output linear system. Focus on output-control (servomechanism) problem, in which objective is to find control scheme that causes output to track certain command inputs and to reject certain disturbance inputs in steady state. Report closes with brief discussion of characteristics and relative merits of feedforward, cascade, and feedback controllers and combinations thereof.

Multivariable feedback design - Concepts for a classical/modern synthesis

NASA Technical Reports Server (NTRS)

Doyle, J. C.; Stein, G.

1981-01-01

This paper presents a practical design perspective on multivariable feedback control problems. It reviews the basic issue - feedback design in the face of uncertainties - and generalizes known single-input, single-output (SISO) statements and constraints of the design problem to multiinput, multioutput (MIMO) cases. Two major MIMO design approaches are then evaluated in the context of these results.

Nonlinear power flow feedback control for improved stability and performance of airfoil sections

DOEpatents

Wilson, David G.; Robinett, III, Rush D.

2013-09-03

A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.

Effects of synthetic speech output in the learning of graphic symbols of varied iconicity.

PubMed

Koul, Rajinder; Schlosser, Ralf

To examine the effects of additional auditory feedback from synthetic speech on the learning of high translucent symbols versus low translucent symbols. Two adults with little or no functional speech and severe intellectual disabilities served as participants. A single-subject ABACA/ACABA design was used to study the relative effects of two treatments: symbol training in the presence and absence of synthetic speech output. The results clearly indicated that the two treatments, rather than extraneous variables were responsible for gains in the symbol learning. Both participants learned either more low translucent symbols or reached their maximum learning of low translucent symbols in the speech output condition. The results of this preliminary study replicate and extend the iconicity hypothesis to a new set of learning conditions involving speech output, and suggest that feedback from speech output may assist adults with profound intellectual disabilities in coding particularly those symbols whose association with their referent cannot be coded via their visual resemblance with the referent.

Perceptions of teachers' general and informational feedback and intrinsic motivation in physical education: two-year effects.

PubMed

Koka, Andre; Hein, Vello

2006-10-01

Relative change or stability of perceived positive general feedback and perceived informational feedback and their influence on students' intrinsic motivation in physical education over two years were examined. 302 students, ages 11 to 15 years, responded to the Perception of Teacher's Feedback questionnaire. Two years later, these students filled out the questionnaire again, along with a modified version of the Sport Motivation Scale. Analysis showed that both types of perceived feedback exhibited moderate stability over the two years. Perceived positive general feedback demonstrated a significant direct effect on students' intrinsic motivation measured concurrently in physical education. Further, fixing to zero the effect of perceived positive general feedback on intrinsic motivation measured concurrently, an effect emerged over the two years.

Extensions to PIFCGT: Multirate output feedback and optimal disturbance suppression

NASA Technical Reports Server (NTRS)

Broussard, J. R.

1986-01-01

New control synthesis procedures for digital flight control systems were developed. The theoretical developments are the solution to the problem of optimal disturbance suppression in the presence of windshear. Control synthesis is accomplished using a linear quadratic cost function, the command generator tracker for trajectory following and the proportional-integral-filter control structure for practical implementation. Extensions are made to the optimal output feedback algorithm for computing feedback gains so that the multirate and optimal disturbance control designs are computed and compared for the advanced transport operating system (ATOPS). The performance of the designs is demonstrated by closed-loop poles, frequency domain multiinput sigma and eigenvalue plots and detailed nonlinear 6-DOF aircraft simulations in the terminal area in the presence of windshear.

Rotation in a reversed field pinch with active feedback stabilization of resistive wall modes

NASA Astrophysics Data System (ADS)

Cecconello, M.; Menmuir, S.; Brunsell, P. R.; Kuldkepp, M.

2006-09-01

Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.

Theoretic aspects of the identification of the parameters in the optimal control model

NASA Technical Reports Server (NTRS)

Vanwijk, R. A.; Kok, J. J.

1977-01-01

The identification of the parameters of the optimal control model from input-output data of the human operator is considered. Accepting the basic structure of the model as a cascade of a full-order observer and a feedback law, and suppressing the inherent optimality of the human controller, the parameters to be identified are the feedback matrix, the observer gain matrix, and the intensity matrices of the observation noise and the motor noise. The identification of the parameters is a statistical problem, because the system and output are corrupted by noise, and therefore the solution must be based on the statistics (probability density function) of the input and output data of the human operator. However, based on the statistics of the input-output data of the human operator, no distinction can be made between the observation and the motor noise, which shows that the model suffers from overparameterization.

Real-time implementation of biofidelic SA1 model for tactile feedback.

PubMed

Russell, A F; Armiger, R S; Vogelstein, R J; Bensmaia, S J; Etienne-Cummings, R

2009-01-01

In order for the functionality of an upper-limb prosthesis to approach that of a real limb it must be able to, accurately and intuitively, convey sensory feedback to the limb user. This paper presents results of the real-time implementation of a 'biofidelic' model that describes mechanotransduction in Slowly Adapting Type 1 (SA1) afferent fibers. The model accurately predicts the timing of action potentials for arbitrary force or displacement stimuli and its output can be used as stimulation times for peripheral nerve stimulation by a neuroprosthetic device. The model performance was verified by comparing the predicted action potential (or spike) outputs against measured spike outputs for different vibratory stimuli. Furthermore experiments were conducted to show that, like real SA1 fibers, the model's spike rate varies according to input pressure and that a periodic 'tapping' stimulus evokes periodic spike outputs.

Adaptive output feedback control of uncertain nonlinear systems using single-hidden-layer neural networks.

PubMed

Hovakimyan, N; Nardi, F; Calise, A; Kim, Nakwan

2002-01-01

We consider adaptive output feedback control of uncertain nonlinear systems, in which both the dynamics and the dimension of the regulated system may be unknown. However, the relative degree of the regulated output is assumed to be known. Given a smooth reference trajectory, the problem is to design a controller that forces the system measurement to track it with bounded errors. The classical approach requires a state observer. Finding a good observer for an uncertain nonlinear system is not an obvious task. We argue that it is sufficient to build an observer for the output tracking error. Ultimate boundedness of the error signals is shown through Lyapunov's direct method. The theoretical results are illustrated in the design of a controller for a fourth-order nonlinear system of relative degree two and a high-bandwidth attitude command system for a model R-50 helicopter.

High performance advanced tokamak regimes in DIII-D for next-step experiments

NASA Astrophysics Data System (ADS)

Greenfield, C. M.; Murakami, M.; Ferron, J. R.; Wade, M. R.; Luce, T. C.; Petty, C. C.; Menard, J. E.; Petrie, T. W.; Allen, S. L.; Burrell, K. H.; Casper, T. A.; DeBoo, J. C.; Doyle, E. J.; Garofalo, A. M.; Gorelov, I. A.; Groebner, R. J.; Hobirk, J.; Hyatt, A. W.; Jayakumar, R. J.; Kessel, C. E.; La Haye, R. J.; Jackson, G. L.; Lohr, J.; Makowski, M. A.; Pinsker, R. I.; Politzer, P. A.; Prater, R.; Strait, E. J.; Taylor, T. S.; West, W. P.; DIII-D Team

2004-05-01

Advanced Tokamak (AT) research in DIII-D [K. H. Burrell for the DIII-D Team, in Proceedings of the 19th Fusion Energy Conference, Lyon, France, 2002 (International Atomic Energy Agency, Vienna, 2002) published on CD-ROM] seeks to provide a scientific basis for steady-state high performance operation in future devices. These regimes require high toroidal beta to maximize fusion output and poloidal beta to maximize the self-driven bootstrap current. Achieving these conditions requires integrated, simultaneous control of the current and pressure profiles, and active magnetohydrodynamic stability control. The building blocks for AT operation are in hand. Resistive wall mode stabilization via plasma rotation and active feedback with nonaxisymmetric coils allows routine operation above the no-wall beta limit. Neoclassical tearing modes are stabilized by active feedback control of localized electron cyclotron current drive (ECCD). Plasma shaping and profile control provide further improvements. Under these conditions, bootstrap supplies most of the current. Steady-state operation requires replacing the remaining Ohmic current, mostly located near the half radius, with noninductive external sources. In DIII-D this current is provided by ECCD, and nearly stationary AT discharges have been sustained with little remaining Ohmic current. Fast wave current drive is being developed to control the central magnetic shear. Density control, with divertor cryopumps, of AT discharges with edge localized moding H-mode edges facilitates high current drive efficiency at reactor relevant collisionalities. A sophisticated plasma control system allows integrated control of these elements. Close coupling between modeling and experiment is key to understanding the separate elements, their complex nonlinear interactions, and their integration into self-consistent high performance scenarios. Progress on this development, and its implications for next-step devices, will be illustrated by results of recent experiment and simulation efforts.

Buffet induced structural/flight-control system interaction of the X-29A aircraft

NASA Technical Reports Server (NTRS)

Voracek, David F.; Clarke, Robert

1991-01-01

High angle-of-attack flight regime research is currently being conducted for modern fighter aircraft at the NASA Ames Research Center's Dryden Flight Research Facility. This flight regime provides enhanced maneuverability to fighter pilots in combat situations. Flight research data are being acquired to compare and validate advanced computational fluid dynamic solutions and wind-tunnel models. High angle-of-attack flight creates unique aerodynamic phenomena including wing rock and buffet on the airframe. These phenomena increase the level of excitation of the structural modes, especially on the vertical and horizontal stabilizers. With high gain digital flight-control systems, this structural response may result in an aeroservoelastic interaction. A structural interaction on the X-29A aircraft was observed during high angle-of-attack flight testing. The roll and yaw rate gyros sensed the aircraft's structural modes at 11, 13, and 16 Hz. The rate gyro output signals were then amplified through the flight-control laws and sent as commands to the flaperons and rudder. The flight data indicated that as the angle of attack increased, the amplitude of the buffet on the vertical stabilizer increased, which resulted in more excitation to the structural modes. The flight-control system sensors and command signals showed this increase in modal power at the structural frequencies up to a 30 degree angle-of-attack. Beyond a 30 degree angle-of-attack, the vertical stabilizer response, the feedback sensor amplitude, and control surface command signal amplitude remained relatively constant. Data are presented that show the increased modal power in the aircraft structural accelerometers, the feedback sensors, and the command signals as a function of angle of attack. This structural interaction is traced from the aerodynamic buffet to the flight-control surfaces.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2016-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

Hand-held survey probe

DOEpatents

Young, Kevin L [Idaho Falls, ID; Hungate, Kevin E [Idaho Falls, ID

2010-02-23

A system for providing operational feedback to a user of a detection probe may include an optical sensor to generate data corresponding to a position of the detection probe with respect to a surface; a microprocessor to receive the data; a software medium having code to process the data with the microprocessor and pre-programmed parameters, and making a comparison of the data to the parameters; and an indicator device to indicate results of the comparison. A method of providing operational feedback to a user of a detection probe may include generating output data with an optical sensor corresponding to the relative position with respect to a surface; processing the output data, including comparing the output data to pre-programmed parameters; and indicating results of the comparison.

Power oscillator

DOEpatents

Gitsevich, Aleksandr

2001-01-01

An oscillator includes an amplifier having an input and an output, and an impedance transformation network connected between the input of the amplifier and the output of the amplifier, wherein the impedance transformation network is configured to provide suitable positive feedback from the output of the amplifier to the input of the amplifier to initiate and sustain an oscillating condition, and wherein the impedance transformation network is configured to protect the input of the amplifier from a destructive feedback signal. One example of the oscillator is a single active element device capable of providing over 70 watts of power at over 70% efficiency. Various control circuits may be employed to match the driving frequency of the oscillator to a plurality of tuning states of the lamp.

Continuous-wave dual-wavelength operation of a distributed feedback laser diode with an external cavity using a volume Bragg grating

NASA Astrophysics Data System (ADS)

Zheng, Yujin; Sekine, Takashi; Kurita, Takashi; Kato, Yoshinori; Kawashima, Toshiyuki

2018-03-01

We demonstrate continuous-wave dual-wavelength operation of a broad-area distributed feedback (DFB) laser diode with a single external-cavity configuration. This high-power DFB laser has a narrow bandwidth (<0.29 nm) and was used as a single-wavelength source. A volume Bragg grating was used as an output coupler for the external-cavity DFB laser to output another stable wavelength beam with a narrow bandwidth of 0.27 nm. A frequency difference for dual-wavelength operation of 0.88 THz was achieved and an output power of up to 415 mW was obtained. The external-cavity DFB laser showed a stable dual-wavelength operation over the practical current and temperature ranges.

Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller

NASA Astrophysics Data System (ADS)

Nino, Daniel; Wang, Haowei; Milstein, Joshua N.

2014-09-01

Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices.

Chaotic He-Ne laser

NASA Astrophysics Data System (ADS)

Kuusela, Tom A.

2017-09-01

A He-Ne laser is an example of a class A laser, which can be described by a single nonlinear differential equation of the complex electric field. This laser system has only one degree of freedom and is thus inherently stable. A He-Ne laser can be driven to the chaotic condition when a large fraction of the output beam is injected back to the laser. In practice, this can be done simply by adding an external mirror. In this situation, the laser system has infinite degrees of freedom and therefore it can have a chaotic attractor. We show the fundamental laser equations and perform elementary stability analysis. In experiments, the laser intensity variations are measured by a simple photodiode circuit. The laser output intensity time series is studied using nonlinear analysis tools which can be found freely on the internet. The results show that the laser system with feedback has an attractor of a reasonably high dimension and that the maximal Lyapunov exponent is positive, which is clear evidence of chaotic behaviour. The experimental setup and analysis steps are so simple that the studies can even be implemented in the undergraduate physics laboratory.

Aeroservoelastic Uncertainty Model Identification from Flight Data

NASA Technical Reports Server (NTRS)

Brenner, Martin J.

2001-01-01

Uncertainty modeling is a critical element in the estimation of robust stability margins for stability boundary prediction and robust flight control system development. There has been a serious deficiency to date in aeroservoelastic data analysis with attention to uncertainty modeling. Uncertainty can be estimated from flight data using both parametric and nonparametric identification techniques. The model validation problem addressed in this paper is to identify aeroservoelastic models with associated uncertainty structures from a limited amount of controlled excitation inputs over an extensive flight envelope. The challenge to this problem is to update analytical models from flight data estimates while also deriving non-conservative uncertainty descriptions consistent with the flight data. Multisine control surface command inputs and control system feedbacks are used as signals in a wavelet-based modal parameter estimation procedure for model updates. Transfer function estimates are incorporated in a robust minimax estimation scheme to get input-output parameters and error bounds consistent with the data and model structure. Uncertainty estimates derived from the data in this manner provide an appropriate and relevant representation for model development and robust stability analysis. This model-plus-uncertainty identification procedure is applied to aeroservoelastic flight data from the NASA Dryden Flight Research Center F-18 Systems Research Aircraft.

Ignition feedback regenerative free electron laser (FEL) amplifier

DOEpatents

Kim, Kwang-Je; Zholents, Alexander; Zolotorev, Max

2001-01-01

An ignition feedback regenerative amplifier consists of an injector, a linear accelerator with energy recovery, and a high-gain free electron laser amplifier. A fraction of the free electron laser output is coupled to the input to operate the free electron laser in the regenerative mode. A mode filter in this loop prevents run away instability. Another fraction of the output, after suitable frequency up conversion, is used to drive the photocathode. An external laser is provided to start up both the amplifier and the injector, thus igniting the system.

Endocavitary thermal therapy by MRI-guided phased-array contact ultrasound: experimental and numerical studies on the multi-input single-output PID temperature controller's convergence and stability.

PubMed

Salomir, Rares; Rata, Mihaela; Cadis, Daniela; Petrusca, Lorena; Auboiroux, Vincent; Cotton, François

2009-10-01

Endocavitary high intensity contact ultrasound (HICU) may offer interesting therapeutic potential for fighting localized cancer in esophageal or rectal wall. On-line MR guidance of the thermotherapy permits both excellent targeting of the pathological volume and accurate preoperatory monitoring of the temperature elevation. In this article, the authors address the issue of the automatic temperature control for endocavitary phased-array HICU and propose a tailor-made thermal model for this specific application. The convergence and stability of the feedback loop were investigated against tuning errors in the controller's parameters and against input noise, through ex vivo experimental studies and through numerical simulations in which nonlinear response of tissue was considered as expected in vivo. An MR-compatible, 64-element, cooled-tip, endorectal cylindrical phased-array applicator of contact ultrasound was integrated with fast MR thermometry to provide automatic feedback control of the temperature evolution. An appropriate phase law was applied per set of eight adjacent transducers to generate a quasiplanar wave, or a slightly convergent one (over the circular dimension). A 2D physical model, compatible with on-line numerical implementation, took into account (1) the ultrasound-mediated energy deposition, (2) the heat diffusion in tissue, and (3) the heat sink effect in the tissue adjacent to the tip-cooling balloon. This linear model was coupled to a PID compensation algorithm to obtain a multi-input single-output static-tuning temperature controller. Either the temperature at one static point in space (situated on the symmetry axis of the beam) or the maximum temperature in a user-defined ROI was tracked according to a predefined target curve. The convergence domain in the space of controller's parameters was experimentally explored ex vivo. The behavior of the static-tuning PID controller was numerically simulated based on a discrete-time iterative solution of the bioheat transfer equation in 3D and considering temperature-dependent ultrasound absorption and blood perfusion. The intrinsic accuracy of the implemented controller was approximately 1% in ex vivo trials when providing correct estimates for energy deposition and heat diffusivity. Moreover, the feedback loop demonstrated excellent convergence and stability over a wide range of the controller's parameters, deliberately set to erroneous values. In the extreme case of strong underestimation of the ultrasound energy deposition in tissue, the temperature tracking curve alone, at the initial stage of the MR-controlled HICU treatment, was not a sufficient indicator for a globally stable behavior of the feedback loop. Our simulations predicted that the controller would be able to compensate for tissue perfusion and for temperature-dependent ultrasound absorption, although these effects were not included in the controller's equation. The explicit pattern of acoustic field was not required as input information for the controller, avoiding time-consuming numerical operations. The study demonstrated the potential advantages of PID-based automatic temperature control adapted to phased-array MR-guided HICU therapy. Further studies will address the integration of this ultrasound device with a miniature RF coil for high resolution MRI and, subsequently, the experimental behavior of the controller in vivo.

Stabilization of Large Generalized Lotka-Volterra Foodwebs By Evolutionary Feedback

NASA Astrophysics Data System (ADS)

Ackland, G. J.; Gallagher, I. D.

2004-10-01

Conventional ecological models show that complexity destabilizes foodwebs, suggesting that foodwebs should have neither large numbers of species nor a large number of interactions. However, in nature the opposite appears to be the case. Here we show that if the interactions between species are allowed to evolve within a generalized Lotka-Volterra model such stabilizing feedbacks and weak interactions emerge automatically. Moreover, we show that trophic levels also emerge spontaneously from the evolutionary approach, and the efficiency of the unperturbed ecosystem increases with time. The key to stability in large foodwebs appears to arise not from complexity perse but from evolution at the level of the ecosystem which favors stabilizing (negative) feedbacks.

Stabilization of large generalized Lotka-Volterra foodwebs by evolutionary feedback.

PubMed

Ackland, G J; Gallagher, I D

2004-10-08

Conventional ecological models show that complexity destabilizes foodwebs, suggesting that foodwebs should have neither large numbers of species nor a large number of interactions. However, in nature the opposite appears to be the case. Here we show that if the interactions between species are allowed to evolve within a generalized Lotka-Volterra model such stabilizing feedbacks and weak interactions emerge automatically. Moreover, we show that trophic levels also emerge spontaneously from the evolutionary approach, and the efficiency of the unperturbed ecosystem increases with time. The key to stability in large foodwebs appears to arise not from complexity per se but from evolution at the level of the ecosystem which favors stabilizing (negative) feedbacks.

Risk assessment and adaptive runoff utilization in water resource system considering the complex relationship among water supply, electricity generation and environment

NASA Astrophysics Data System (ADS)

Zhou, J.; Zeng, X.; Mo, L.; Chen, L.; Jiang, Z.; Feng, Z.; Yuan, L.; He, Z.

2017-12-01

Generally, the adaptive utilization and regulation of runoff in the source region of China's southwest rivers is classified as a typical multi-objective collaborative optimization problem. There are grim competitions and incidence relation in the subsystems of water supply, electricity generation and environment, which leads to a series of complex problems represented by hydrological process variation, blocked electricity output and water environment risk. Mathematically, the difficulties of multi-objective collaborative optimization focus on the description of reciprocal relationships and the establishment of evolving model of adaptive systems. Thus, based on the theory of complex systems science, this project tries to carry out the research from the following aspects: the changing trend of coupled water resource, the covariant factor and driving mechanism, the dynamic evolution law of mutual feedback dynamic process in the supply-generation-environment coupled system, the environmental response and influence mechanism of coupled mutual feedback water resource system, the relationship between leading risk factor and multiple risk based on evolutionary stability and dynamic balance, the transfer mechanism of multiple risk response with the variation of the leading risk factor, the multidimensional coupled feedback system of multiple risk assessment index system and optimized decision theory. Based on the above-mentioned research results, the dynamic method balancing the efficiency of multiple objectives in the coupled feedback system and optimized regulation model of water resources is proposed, and the adaptive scheduling mode considering the internal characteristics and external response of coupled mutual feedback system of water resource is established. In this way, the project can make a contribution to the optimal scheduling theory and methodology of water resource management under uncertainty in the source region of Southwest River.

Optimization of Sensing and Feedback Control for Vibration/Flutter of Rotating Disk by PZT Actuators via Air Coupled Pressure

PubMed Central

Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

2011-01-01

In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin’s discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations. PMID:22163788

Optimization of sensing and feedback control for vibration/flutter of rotating disk by PZT actuators via air coupled pressure.

PubMed

Yan, Tianhong; Xu, Xinsheng; Han, Jianqiang; Lin, Rongming; Ju, Bingfeng; Li, Qing

2011-01-01

In this paper, a feedback control mechanism and its optimization for rotating disk vibration/flutter via changes of air-coupled pressure generated using piezoelectric patch actuators are studied. A thin disk rotates in an enclosure, which is equipped with a feedback control loop consisting of a micro-sensor, a signal processor, a power amplifier, and several piezoelectric (PZT) actuator patches distributed on the cover of the enclosure. The actuator patches are mounted on the inner or the outer surfaces of the enclosure to produce necessary control force required through the airflow around the disk. The control mechanism for rotating disk flutter using enclosure surfaces bonded with sensors and piezoelectric actuators is thoroughly studied through analytical simulations. The sensor output is used to determine the amount of input to the actuator for controlling the response of the disk in a closed loop configuration. The dynamic stability of the disk-enclosure system, together with the feedback control loop, is analyzed as a complex eigenvalue problem, which is solved using Galerkin's discretization procedure. The results show that the disk flutter can be reduced effectively with proper configurations of the control gain and the phase shift through the actuations of PZT patches. The effectiveness of different feedback control methods in altering system characteristics and system response has been investigated. The control capability, in terms of control gain, phase shift, and especially the physical configuration of actuator patches, are also evaluated by calculating the complex eigenvalues and the maximum displacement produced by the actuators. To achieve a optimal control performance, sizes, positions and shapes of PZT patches used need to be optimized and such optimization has been achieved through numerical simulations.

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

PubMed Central

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

PubMed

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

Method for reducing snap in magnetic amplifiers

NASA Technical Reports Server (NTRS)

Fischer, R. L. E.; Word, J. L.

1968-01-01

Method of reducing snap in magnetic amplifiers uses a degenerative feedback circuit consisting of a resistor and a separate winding on a magnetic core. The feedback circuit extends amplifier range by allowing it to be used at lower values of output current.

Quantization improves stabilization of dynamical systems with delayed feedback

NASA Astrophysics Data System (ADS)

Stepan, Gabor; Milton, John G.; Insperger, Tamas

2017-11-01

We show that an unstable scalar dynamical system with time-delayed feedback can be stabilized by quantizing the feedback. The discrete time model corresponds to a previously unrecognized case of the microchaotic map in which the fixed point is both locally and globally repelling. In the continuous-time model, stabilization by quantization is possible when the fixed point in the absence of feedback is an unstable node, and in the presence of feedback, it is an unstable focus (spiral). The results are illustrated with numerical simulation of the unstable Hayes equation. The solutions of the quantized Hayes equation take the form of oscillations in which the amplitude is a function of the size of the quantization step. If the quantization step is sufficiently small, the amplitude of the oscillations can be small enough to practically approximate the dynamics around a stable fixed point.

Theoretical transient analysis of a hearing aid feedback canceller with a saturation type nonlinearity in the direct path.

PubMed

Costa, Márcio Holsbach

2017-12-01

Feedback cancellation in a hearing aid is essential for achieving high maximum stable gain to compensate for the losses in severe to profound hearing impaired people. The performance of adaptive feedback cancellers has been studied by assuming that the feedback path can be modeled as a linear system. However, limited dynamic range, low-cost loudspeakers, and nonlinear power amplifiers may distort the hearing aid output signal. In this way, linear-based predictions of the canceller performance may lead to significant deviations from its actual behavior. This work presents a theoretical performance analysis of a Least Mean Square based shadow filter that is applied to set up the coefficients of a feedback canceller, which is subject to a static saturation type nonlinearity at the output of the direct path. Deterministic recursive equations are derived to predict the mean square feedback error and the mean coefficient vector evolution between updates of the feedback canceller. These models are defined as functions of the canceller parameters and input signal statistics. Comparisons with Monte Carlo simulations show the provided models are highly accurate under the considered assumptions. The developed models allow inferences about the potential impact of an overdriven loudspeaker over the transient performance of the direct method feedback canceller, serving as insightful tools for understanding the involved mechanisms. Copyright © 2017 Elsevier Ltd. All rights reserved.

Physical constraints on biological integral control design for homeostasis and sensory adaptation.

PubMed

Ang, Jordan; McMillen, David R

2013-01-22

Synthetic biology includes an effort to use design-based approaches to create novel controllers, biological systems aimed at regulating the output of other biological processes. The design of such controllers can be guided by results from control theory, including the strategy of integral feedback control, which is central to regulation, sensory adaptation, and long-term robustness. Realization of integral control in a synthetic network is an attractive prospect, but the nature of biochemical networks can make the implementation of even basic control structures challenging. Here we present a study of the general challenges and important constraints that will arise in efforts to engineer biological integral feedback controllers or to analyze existing natural systems. Constraints arise from the need to identify target output values that the combined process-plus-controller system can reach, and to ensure that the controller implements a good approximation of integral feedback control. These constraints depend on mild assumptions about the shape of input-output relationships in the biological components, and thus will apply to a variety of biochemical systems. We summarize our results as a set of variable constraints intended to provide guidance for the design or analysis of a working biological integral feedback controller. Copyright © 2013 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Predictable 'meta-mechanisms' emerge from feedbacks between transpiration and plant growth and cannot be simply deduced from short-term mechanisms.

PubMed

Tardieu, François; Parent, Boris

2017-06-01

Growth under water deficit is controlled by short-term mechanisms but, because of numerous feedbacks, the combination of these mechanisms over time often results in outputs that cannot be deduced from the simple inspection of individual mechanisms. It can be analysed with dynamic models in which causal relationships between variables are considered at each time-step, allowing calculation of outputs that are routed back to inputs for the next time-step and that can change the system itself. We first review physiological mechanisms involved in seven feedbacks of transpiration on plant growth, involving changes in tissue hydraulic conductance, stomatal conductance, plant architecture and underlying factors such as hormones or aquaporins. The combination of these mechanisms over time can result in non-straightforward conclusions as shown by examples of simulation outputs: 'over production of abscisic acid (ABA) can cause a lower concentration of ABA in the xylem sap ', 'decreasing root hydraulic conductance when evaporative demand is maximum can improve plant performance' and 'rapid root growth can decrease yield'. Systems of equations simulating feedbacks over numerous time-steps result in logical and reproducible emergent properties that can be viewed as 'meta-mechanisms' at plant level, which have similar roles as mechanisms at cell level. © 2016 John Wiley & Sons Ltd.

Spacecraft stability and control using new techniques for periodic and time-delayed systems

NASA Astrophysics Data System (ADS)

NAzari, Morad

This dissertation addresses various problems in spacecraft stability and control using specialized theoretical and numerical techniques for time-periodic and time-delayed systems. First, the effects of energy dissipation are considered in the dual-spin spacecraft, where the damper masses in the platform (?) and the rotor (?) cause energy loss in the system. Floquet theory is employed to obtain stability charts for different relative spin rates of the subsystem [special characters omitted] with respect to the subsystem [special characters omitted]. Further, the stability and bifurcation of delayed feedback spin stabilization of a rigid spacecraft is investigated. The spin is stabilized about the principal axis of the intermediate moment of inertia using a simple delayed feedback control law. In particular, linear stability is analyzed via the exponential-polynomial characteristic equations and then the method of multiple scales is used to obtain the normal form of the Hopf bifurcation. Next, the dynamics of a rigid spacecraft with nonlinear delayed multi-actuator feedback control are studied, where a nonlinear feedback controller using an inverse dynamics approach is sought for the controlled system to have the desired linear delayed closed-loop dynamics (CLD). Later, three linear state feedback control strategies based on Chebyshev spectral collocation and the Lyapunov Floquet transformation (LFT) are explored for regulation control of linear periodic time delayed systems. First , a delayed feedback control law with discrete delay is implemented and the stability of the closed-loop response is investigated in the parameter space of available control gains using infinite-dimensional Floquet theory. Second, the delay differential equation (DDE) is discretized into a large set of ordinary differential equations (ODEs) using the Chebyshev spectral continuous time approximation (CSCTA) and delayed feedback with distributed delay is applied. The third strategy involves use of both CSCTA and the reduced Lyapunov Floquet transformation (RLFT) in order to design a non-delayed feedback control law. The delayed Mathieu equation is used as an illustrative example in which the closed-loop response and control effort are compared for all three control strategies. Finally, three example applications of control of time-periodic astrodynamic systems, i.e. formation flying control for an elliptic Keplerian chief orbit, body-fixed hovering control over a tumbling asteroid, and stationkeeping in Earth-Moon L1 halo orbits, are shown using versions of the control strategies introduced above. These applications employ a mixture of feedforward and non-delayed periodic-gain state feedback for tracking control of natural and non-natural motions in these systems. A major conclusion is that control effort is minimized by employing periodic-gain (rather than constant-gain) feedback control in such systems.

Self-organizing dynamic stability of far-from-equilibrium biological systems

NASA Astrophysics Data System (ADS)

Ivanitskii, G. R.

2017-10-01

One indication of the stability of a living system is the variation of the system’s characteristic time scales. Underlying the stability mechanism are the structural hierarchy and self-organization of systems, factors that give rise to a positive (accelerating) feedback and a negative (braking) feedback. Information processing in the brain cortex plays a special role in highly organized living organisms.

Phase detector for three-phase power factor controller

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1984-01-01

A phase detector for the three phase power factor controller (PFC) is described. The phase detector for each phase includes an operational amplifier which senses the current phase angle for that phase by sensing the voltage across the phase thyristor. Common mode rejection is achieved by providing positive feedback between the input and output of the voltage sensing operational amplifier. this feedback preferably comprises a resistor connected between the output and input of the operational amplifier. The novelty of the invention resides in providing positive feedback such that switching of the operational amplifier is synchronized with switching of the voltage across the thyristor. The invention provides a solution to problems associated with high common mode voltage and enables use of lower cost components than would be required by other approaches.

Fine Pointing of Military Spacecraft

DTIC Science & Technology

2007-03-01

estimate is high. But feedback controls are attempting to fix the attitude at the next time step with error based on the previous time step without using ...52 a. Stability Analysis Consider not using the reference trajectory in the feedback signal. The previous stability proof (Refs.[43],[46]) are no... robust steering law and quaternion feedback control [52]. TASS2 has center-of-gravity offset disturbance that must be countered by the three CMG

Digital Phase-Locked Loop With Phase And Frequency Feedback

NASA Technical Reports Server (NTRS)

Thomas, J. Brooks

1991-01-01

Advanced design for digital phase-lock loop (DPLL) allows loop gains higher than those used in other designs. Divided into two major components: counterrotation processor and tracking processor. Notable features include use of both phase and rate-of-change-of-phase feedback instead of frequency feedback alone, normalized sine phase extractor, improved method for extracting measured phase, and improved method for "compressing" output rate.

Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer.

PubMed

He, Wei; Yan, Zichen; Sun, Changyin; Chen, Yunan

2017-10-01

The research of this paper works out the attitude and position control of the flapping wing micro aerial vehicle (FWMAV). Neural network control with full state and output feedback are designed to deal with uncertainties in this complex nonlinear FWMAV dynamic system and enhance the system robustness. Meanwhile, we design disturbance observers which are exerted into the FWMAV system via feedforward loops to counteract the bad influence of disturbances. Then, a Lyapunov function is proposed to prove the closed-loop system stability and the semi-global uniform ultimate boundedness of all state variables. Finally, a series of simulation results indicate that proposed controllers can track desired trajectories well via selecting appropriate control gains. And the designed controllers possess potential applications in FWMAVs.

Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay.

PubMed

Eberle, Henry; Nasuto, Slawomir J; Hayashi, Yoshikatsu

2018-03-01

We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a 'slave' system predicts a 'master' via delayed self-feedback. By treating the delayed output of the plant as one half of a 'sensory' AS coupling, the plant and an internal dynamical model can be synchronized such that the plant consistently leads the target's motion. We use two simulated robotic systems with differing arrangements of the plant and internal model ('parallel' and 'serial') to demonstrate that this form of control adapts to a wide range of delays without requiring the parameters of the controller to be changed.

Reconfigurable multivariable control law for commercial airplane using a direct digital output feedback design

NASA Technical Reports Server (NTRS)

Ostroff, A. J.; Hueschen, R. M.

1984-01-01

The ability of a pilot to reconfigure the control surfaces on an airplane after a failure, allowing the airplane to recover to a safe condition for landing, becomes more difficult with increasing airplane complexity. Techniques are needed to stabilize and control the airplane immediately after a failure, allowing the pilot time to make longer range decisions. This paper shows a design of a discrete multivariable control law using four controls for the longitudinal channel of a B-737. Single control element failures are allowed in three of the four controls. The four controls design and failure cases are analyzed by means of a digital airplane simulation, with regard to tracking capability and ability to overcome severe windshear and turbulence during the aproach and landing phase of flight.

Faraday anomalous dispersion optical tuners

NASA Technical Reports Server (NTRS)

Wanninger, P.; Valdez, E. C.; Shay, T. M.

1992-01-01

Common methods for frequency stabilizing diode lasers systems employ gratings, etalons, optical electric double feedback, atomic resonance, and a Faraday cell with low magnetic field. Our method, the Faraday Anomalous Dispersion Optical Transmitter (FADOT) laser locking, is much simpler than other schemes. The FADOT uses commercial laser diodes with no antireflection coatings, an atomic Faraday cell with a single polarizer, and an output coupler to form a compound cavity. This method is vibration insensitive, thermal expansion effects are minimal, and the system has a frequency pull in range of 443.2 GHz (9A). Our technique is based on the Faraday anomalous dispersion optical filter. This method has potential applications in optical communication, remote sensing, and pumping laser excited optical filters. We present the first theoretical model for the FADOT and compare the calculations to our experimental results.

A proposal for climate stability on H2-greenhouse planets

NASA Astrophysics Data System (ADS)

Abbot, D. S.

2015-12-01

A terrestrial planet in an orbit far outside of the standard habitable zone could maintain surface liquid water as a result of H2-H2 collision-induced absorption by a thick H2 atmosphere. Without a stabilizing climate feedback, however, habitability would be accidental and likely brief. We propose a stabilizing climate feedback for such a planet that requires only biological production of H2 to balance net loss to space that has some optimal temperature, and operates less efficiently at higher temperatures. A stable feedback is possible on such a planet through which a perturbation increasing temperature decreases H2 production, which decreases H2 greenhouse warming and therefore temperature. The potential of such a feedback makes H2-warmed planets more attractive astrobiological targets.

High level white noise generator

DOEpatents

Borkowski, Casimer J.; Blalock, Theron V.

1979-01-01

A wide band, stable, random noise source with a high and well-defined output power spectral density is provided which may be used for accurate calibration of Johnson Noise Power Thermometers (JNPT) and other applications requiring a stable, wide band, well-defined noise power spectral density. The noise source is based on the fact that the open-circuit thermal noise voltage of a feedback resistor, connecting the output to the input of a special inverting amplifier, is available at the amplifier output from an equivalent low output impedance caused by the feedback mechanism. The noise power spectral density level at the noise source output is equivalent to the density of the open-circuit thermal noise or a 100 ohm resistor at a temperature of approximately 64,000 Kelvins. The noise source has an output power spectral density that is flat to within 0.1% (0.0043 db) in the frequency range of from 1 KHz to 100 KHz which brackets typical passbands of the signal-processing channels of JNPT's. Two embodiments, one of higher accuracy that is suitable for use as a standards instrument and another that is particularly adapted for ambient temperature operation, are illustrated in this application.

Fast temporal neural learning using teacher forcing

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Bahren, Jacob (Inventor)

1992-01-01

A neural network is trained to output a time dependent target vector defined over a predetermined time interval in response to a time dependent input vector defined over the same time interval by applying corresponding elements of the error vector, or difference between the target vector and the actual neuron output vector, to the inputs of corresponding output neurons of the network as corrective feedback. This feedback decreases the error and quickens the learning process, so that a much smaller number of training cycles are required to complete the learning process. A conventional gradient descent algorithm is employed to update the neural network parameters at the end of the predetermined time interval. The foregoing process is repeated in repetitive cycles until the actual output vector corresponds to the target vector. In the preferred embodiment, as the overall error of the neural network output decreasing during successive training cycles, the portion of the error fed back to the output neurons is decreased accordingly, allowing the network to learn with greater freedom from teacher forcing as the network parameters converge to their optimum values. The invention may also be used to train a neural network with stationary training and target vectors.

Fast temporal neural learning using teacher forcing

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Bahren, Jacob (Inventor)

1995-01-01

A neural network is trained to output a time dependent target vector defined over a predetermined time interval in response to a time dependent input vector defined over the same time interval by applying corresponding elements of the error vector, or difference between the target vector and the actual neuron output vector, to the inputs of corresponding output neurons of the network as corrective feedback. This feedback decreases the error and quickens the learning process, so that a much smaller number of training cycles are required to complete the learning process. A conventional gradient descent algorithm is employed to update the neural network parameters at the end of the predetermined time interval. The foregoing process is repeated in repetitive cycles until the actual output vector corresponds to the target vector. In the preferred embodiment, as the overall error of the neural network output decreasing during successive training cycles, the portion of the error fed back to the output neurons is decreased accordingly, allowing the network to learn with greater freedom from teacher forcing as the network parameters converge to their optimum values. The invention may also be used to train a neural network with stationary training and target vectors.

Differential flatness properties and adaptive control of the hypothalamic-pituitary-adrenal axis model

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos

2016-12-01

It is shown that the model of the hypothalamic-pituitary-adrenal gland axis is a differentially flat one and this permits to transform it to the so-called linear canonical form. For the new description of the system's dynamics the transformed control inputs contain unknown terms which depend on the system's parameters. To identify these terms an adaptive fuzzy approximator is used in the control loop. Thus an adaptive fuzzy control scheme is implemented in which the unknown or unmodeled system dynamics is approximated by neurofuzzy networks and next this information is used by a feedback controller that makes the state variables (CRH - corticotropin releasing hormone, adenocortocotropic hormone - ACTH, cortisol) of the hypothalamic-pituitary-adrenal gland axis model converge to the desirable levels (setpoints). This adaptive control scheme is exclusively implemented with the use of output feedback, while the state vector elements which are not directly measured are estimated with the use of a state observer that operates in the control loop. The learning rate of the adaptive fuzzy system is suitably computed from Lyapunov analysis, so as to assure that both the learning procedure for the unknown system's parameters, the dynamics of the observer and the dynamics of the control loop will remain stable. The performed Lyapunov stability analysis depends on two Riccati equations, one associated with the feedback controller and one associated with the state observer. Finally, it is proven that for the control scheme that comprises the feedback controller, the state observer and the neurofuzzy approximator, an H-infinity tracking performance can be succeeded.

Sensory feedback in prosthetics: a standardized test bench for closed-loop control.

PubMed

Dosen, Strahinja; Markovic, Marko; Hartmann, Cornelia; Farina, Dario

2015-03-01

Closing the control loop by providing sensory feedback to the user of a prosthesis is an important challenge, with major impact on the future of prosthetics. Developing and comparing closed-loop systems is a difficult task, since there are many different methods and technologies that can be used to implement each component of the system. Here, we present a test bench developed in Matlab Simulink for configuring and testing the closed-loop human control system in standardized settings. The framework comprises a set of connected generic blocks with normalized inputs and outputs, which can be customized by selecting specific implementations from a library of predefined components. The framework is modular and extensible and it can be used to configure, compare and test different closed-loop system prototypes, thereby guiding the development towards an optimal system configuration. The use of the test bench was demonstrated by investigating two important aspects of closed-loop control: performance of different electrotactile feedback interfaces (spatial versus intensity coding) during a pendulum stabilization task and feedforward methods (joystick versus myocontrol) for force control. The first experiment demonstrated that in the case of trained subjects the intensity coding might be superior to spatial coding. In the second experiment, the control of force was rather poor even with a stable and precise control interface (joystick), demonstrating that inherent characteristics of the prosthesis can be an important limiting factor when considering the overall effectiveness of the closed-loop control. The presented test bench is an important instrument for investigating different aspects of human manual control with sensory feedback.

How time delay and network design shape response patterns in biochemical negative feedback systems.

PubMed

Börsch, Anastasiya; Schaber, Jörg

2016-08-24

Negative feedback in combination with time delay can bring about both sustained oscillations and adaptive behaviour in cellular networks. Here, we study which design features of systems with delayed negative feedback shape characteristic response patterns with special emphasis on the role of time delay. To this end, we analyse generic two-dimensional delay differential equations describing the dynamics of biochemical signal-response networks. We investigate the influence of several design features on the stability of the model equilibrium, i.e., presence of auto-inhibition and/or mass conservation and the kind and/or strength of the delayed negative feedback. We show that auto-inhibition and mass conservation have a stabilizing effect, whereas increasing abruptness and decreasing feedback threshold have a de-stabilizing effect on the model equilibrium. Moreover, applying our theoretical analysis to the mammalian p53 system we show that an auto-inhibitory feedback can decouple period and amplitude of an oscillatory response, whereas the delayed feedback can not. Our theoretical framework provides insight into how time delay and design features of biochemical networks act together to elicit specific characteristic response patterns. Such insight is useful for constructing synthetic networks and controlling their behaviour in response to external stimulation.

Improved Grid-Array Millimeter-Wave Amplifier

NASA Technical Reports Server (NTRS)

Rosenberg, James J.; Rutledge, David B.; Smith, R. Peter; Weikle, Robert

1993-01-01

Improved grid-array amplifiers operating at millimeter and submillimeter wavelengths developed for use in communications and radar. Feedback suppressed by making input polarizations orthogonal to output polarizations. Amplifier made to oscillate by introducing some feedback. Several grid-array amplifiers concatenated to form high-gain beam-amplifying unit.

Design Of Combined Stochastic Feedforward/Feedback Control

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1989-01-01

Methodology accommodates variety of control structures and design techniques. In methodology for combined stochastic feedforward/feedback control, main objectives of feedforward and feedback control laws seen clearly. Inclusion of error-integral feedback, dynamic compensation, rate-command control structure, and like integral element of methodology. Another advantage of methodology flexibility to develop variety of techniques for design of feedback control with arbitrary structures to obtain feedback controller: includes stochastic output feedback, multiconfiguration control, decentralized control, or frequency and classical control methods. Control modes of system include capture and tracking of localizer and glideslope, crab, decrab, and flare. By use of recommended incremental implementation, control laws simulated on digital computer and connected with nonlinear digital simulation of aircraft and its systems.

Performance recovery of a class of uncertain non-affine systems with unmodelled dynamics: an indirect dynamic inversion method

NASA Astrophysics Data System (ADS)

Yi, Bowen; Lin, Shuyi; Yang, Bo; Zhang, Weidong

2018-02-01

This paper presents an output feedback indirect dynamic inversion (IDI) approach for a class of uncertain nonaffine systems with input unmodelled dynamics. Compared with previous approaches to achieve performance recovery, the proposed method aims at dealing with a broader class of nonaffine-in-control systems with triangular structure. An IDI state feedback law is designed first, in which less knowledge of the model plant is needed compared to earlier approximate dynamic inversion methods, thus yielding more robust performance. After that, an extended high-gain observer is designed to accomplish the task with output feedback. Finally, we prove that the designed IDI controller is equivalent to an adaptive proportional-integral (PI) controller, with respect to both time response equivalence and robustness equivalence. The conclusion implies that for the studied strict-feedback non-affine systems with unmodelled dynamics, there always exits a PI controller to stabilise the systems. The effectiveness and benefits of the designed approach are verified by three examples.

Model-Free control performance improvement using virtual reference feedback tuning and reinforcement Q-learning

NASA Astrophysics Data System (ADS)

Radac, Mircea-Bogdan; Precup, Radu-Emil; Roman, Raul-Cristian

2017-04-01

This paper proposes the combination of two model-free controller tuning techniques, namely linear virtual reference feedback tuning (VRFT) and nonlinear state-feedback Q-learning, referred to as a new mixed VRFT-Q learning approach. VRFT is first used to find stabilising feedback controller using input-output experimental data from the process in a model reference tracking setting. Reinforcement Q-learning is next applied in the same setting using input-state experimental data collected under perturbed VRFT to ensure good exploration. The Q-learning controller learned with a batch fitted Q iteration algorithm uses two neural networks, one for the Q-function estimator and one for the controller, respectively. The VRFT-Q learning approach is validated on position control of a two-degrees-of-motion open-loop stable multi input-multi output (MIMO) aerodynamic system (AS). Extensive simulations for the two independent control channels of the MIMO AS show that the Q-learning controllers clearly improve performance over the VRFT controllers.

Realizing actual feedback control of complex network

NASA Astrophysics Data System (ADS)

Tu, Chengyi; Cheng, Yuhua

2014-06-01

In this paper, we present the concept of feedbackability and how to identify the Minimum Feedbackability Set of an arbitrary complex directed network. Furthermore, we design an estimator and a feedback controller accessing one MFS to realize actual feedback control, i.e. control the system to our desired state according to the estimated system internal state from the output of estimator. Last but not least, we perform numerical simulations of a small linear time-invariant dynamics network and a real simple food network to verify the theoretical results. The framework presented here could make an arbitrary complex directed network realize actual feedback control and deepen our understanding of complex systems.

Stabilizing Microwave Frequency of a Photonic Oscillator

NASA Technical Reports Server (NTRS)

Maleki, Lute; Yu, Nan; Tu, Meirong

2006-01-01

A scheme for stabilizing the frequency of a microwave signal is proposed that exploits the operational characteristics of a coupled optoelectronic oscillator (COEO) and related optoelectronic equipment. An essential element in the scheme is a fiber mode-locked laser (MLL), the optical frequency of which is locked to an atomic transition. In this scheme, the optical frequency stability of the mode-locked laser is transferred to that of the microwave in the same device. Relative to prior schemes for using wideband optical frequency comb to stabilize microwave signals, this scheme is simpler and lends itself more readily to implementation in relatively compact, rugged equipment. The anticipated development of small, low-power, lightweight, highly stable microwave oscillators based on this scheme would afford great benefits in communication, navigation, metrology, and fundamental sciences. COEOs of various designs, at various stages of development, in some cases called by different names, have been described in a number of prior NASA Tech Briefs articles. A COEO is an optoelectronic apparatus that generates both short (picosecond) optical pulses and a steady microwave signal having an ultrahigh degree of spectral purity. The term "coupled optoelectronic" in the full name of such an apparatus signifies that its optical and electronic oscillations are coupled to each other in a single device. The present frequency-stabilization scheme is best described indirectly by describing the laboratory apparatus used to demonstrate it. The apparatus (see figure) includes a COEO that generates a comb-like optical spectrum, the various frequency components of which interfere, producing short optical pulses. This spectrum is centered at a nominal wavelength of 1,560 nm. The spectrum separation of this comb is about 10 GHz, as determined primarily by the length of an optical loop and the bandpass filter in the microwave feedback loop. The optical loop serves as microwave resonator having a very high value of the resonance quality factor (Q). The optical frequency of MLL is then stabilized by locking it to an atomic transition as described below. The COEO contains a tunable 1-nm band-pass optical filter and a piezoelectric-transducer (PZT) drum over which a stretch of fiber is wound. The 1-nm-wide pass band of the filter provides coarse tuning to overlap the frequency comb with the atomic transition frequency. Controlled stretching of the fiber by means of the PZT drum can be used in conjunction with temperature control for locking the laser frequency. To reference to an atomic resonance at 780 nm in this demonstration setup, the optical output of the COEO at 1,560 nm is fed through an erbium-doped-fiber amplifier (EDFA) to a frequency doubler in the form of a periodically poled lithium niobate (PPLN) crystal. The frequency-doubled output is combined with the output of a separate frequency-stabilized diode laser at a photodetector. As described thus far, the two 780-nm laser subsystems are nominally independent of each other and can, therefore, operate at different frequencies. Hence, at the photodetector, the two laser beams interfere, so that the output of the photodetector includes a beat note (a component at the difference between the two laser frequencies).

Feedback stabilization of resistive wall modes in a reversed-field pinch

NASA Astrophysics Data System (ADS)

Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Cecconello, M.; Drake, J. R.; Manduchi, G.; Marchiori, G.

2005-09-01

An array of saddle coils having Nc=16 equally spaced positions along the toroidal direction has been installed for feedback control of resistive wall modes (RWMs) on the EXTRAP T2R reversed-field pinch [P. R. Brunsell, H. Bergsaker, M. Cecconello et al., Plasma Phys. Controlled Fusion 43, 1457 (2001)]. Using feedback, multiple nonresonant RWMs are simultaneously suppressed for three to four wall times. Feedback stabilization of RWMs results in a significant prolongation of the discharge duration. This is linked to a better sustainment of the plasma and tearing mode toroidal rotation with feedback. Due to the limited number of coils in the toroidal direction, pairs of modes with toroidal mode numbers n ,n' that fulfill the condition ∣n-n'∣=Nc are coupled by the feedback action from the discrete coil array. With only one unstable mode in a pair of coupled modes, the suppression of the unstable mode is successful. If two modes are unstable in a coupled pair, two possibilities exist: partial suppression of both modes or, alternatively, complete stabilization of one target mode while the other is left unstable.

A Post-Transcriptional Feedback Mechanism for Noise Suppression and Fate Stabilization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hansen, Maike M. K.; Wen, Winnie Y.; Ingerman, Elena

Diverse biological systems utilize fluctuations (“noise”) in gene expression to drive lineage-commitment decisions. However, once a commitment is made, noise becomes detrimental to reliable function, and the mechanisms enabling post-commitment noise suppression are unclear. Here, we find that architectural constraints on noise suppression are overcome to stabilize fate commitment. Using single-molecule and time-lapse imaging, we find that—after a noise-driven event—human immunodeficiency virus (HIV) strongly attenuates expression noise through a non-transcriptional negative-feedback circuit. Feedback is established through a serial cascade of post-transcriptional splicing, whereby proteins generated from spliced mRNAs auto-deplete their own precursor unspliced mRNAs. Strikingly, this auto-depletion circuitry minimizes noisemore » to stabilize HIV’s commitment decision, and a noise-suppression molecule promotes stabilization. Lastly, this feedback mechanism for noise suppression suggests a functional role for delayed splicing in other systems and may represent a generalizable architecture of diverse homeostatic signaling circuits.« less

A Post-Transcriptional Feedback Mechanism for Noise Suppression and Fate Stabilization

DOE PAGES

Hansen, Maike M. K.; Wen, Winnie Y.; Ingerman, Elena; ...

2018-05-10

Diverse biological systems utilize fluctuations (“noise”) in gene expression to drive lineage-commitment decisions. However, once a commitment is made, noise becomes detrimental to reliable function, and the mechanisms enabling post-commitment noise suppression are unclear. Here, we find that architectural constraints on noise suppression are overcome to stabilize fate commitment. Using single-molecule and time-lapse imaging, we find that—after a noise-driven event—human immunodeficiency virus (HIV) strongly attenuates expression noise through a non-transcriptional negative-feedback circuit. Feedback is established through a serial cascade of post-transcriptional splicing, whereby proteins generated from spliced mRNAs auto-deplete their own precursor unspliced mRNAs. Strikingly, this auto-depletion circuitry minimizes noisemore » to stabilize HIV’s commitment decision, and a noise-suppression molecule promotes stabilization. Lastly, this feedback mechanism for noise suppression suggests a functional role for delayed splicing in other systems and may represent a generalizable architecture of diverse homeostatic signaling circuits.« less

Redundant operation of counter modules

NASA Technical Reports Server (NTRS)

Nagano, S. (Inventor)

1980-01-01

A technique for the redundant operation of counter modules is described. Redundant operation is maintained by detecting the zero state of each counter and clearing the other to that state, thus periodically resynchronizing the counters, and obtaining an output from both counters through AC coupled diode-OR gates. Redundant operation of counter flip flops is maintained in a similar manner, and synchronous operation of redundant squarewave clock generators of the feedback type is effected by connecting together the feedback inputs of the squarewave generators through a coupling resistor, and obtaining an output from both generators through AC coupled diode-OR gates.

Clustering in Cell Cycle Dynamics with General Response/Signaling Feedback

PubMed Central

Young, Todd R.; Fernandez, Bastien; Buckalew, Richard; Moses, Gregory; Boczko, Erik M.

2011-01-01

Motivated by experimental and theoretical work on autonomous oscillations in yeast, we analyze ordinary differential equations models of large populations of cells with cell-cycle dependent feedback. We assume a particular type of feedback that we call Responsive/Signaling (RS), but do not specify a functional form of the feedback. We study the dynamics and emergent behaviour of solutions, particularly temporal clustering and stability of clustered solutions. We establish the existence of certain periodic clustered solutions as well as “uniform” solutions and add to the evidence that cell-cycle dependent feedback robustly leads to cell-cycle clustering. We highlight the fundamental differences in dynamics between systems with negative and positive feedback. For positive feedback systems the most important mechanism seems to be the stability of individual isolated clusters. On the other hand we find that in negative feedback systems, clusters must interact with each other to reinforce coherence. We conclude from various details of the mathematical analysis that negative feedback is most consistent with observations in yeast experiments. PMID:22001733

Method and Apparatus for Reducing the Vulnerability of Latches to Single Event Upsets

NASA Technical Reports Server (NTRS)

Shuler, Robert L., Jr. (Inventor)

2002-01-01

A delay circuit includes a first network having an input and an output node, a second network having an input and an output, the input of the second network being coupled to the output node of the first network. The first network and the second network are configured such that: a glitch at the input to the first network having a length of approximately one-half of a standard glitch time or less does not cause the voltage at the output of the second network to cross a threshold, a glitch at the input to the first network having a length of between approximately one-half and two standard glitch times causes the voltage at the output of the second network to cross the threshold for less than the length of the glitch, and a glitch at the input to the first network having a length of greater than approximately two standard glitch times causes the voltage at the output of the second network to cross the threshold for approximately the time of the glitch. The method reduces the vulnerability of a latch to single event upsets. The latch includes a gate having an input and an output and a feedback path from the output to the input of the gate. The method includes inserting a delay into the feedback path and providing a delay in the gate.

Method and Apparatus for Reducing the Vulnerability of Latches to Single Event Upsets

NASA Technical Reports Server (NTRS)

Shuler, Robert L., Jr. (Inventor)

2002-01-01

A delay circuit includes a first network having an input and an output node, a second network having an input and an output, the input of the second network being coupled to the output node of the first network. The first network and the second network are configured such that: a glitch at the input to the first network having a length of approximately one-half of a standard glitch time or less does not cause tile voltage at the output of the second network to cross a threshold, a glitch at the input to the first network having a length of between approximately one-half and two standard glitch times causes the voltage at the output of the second network to cross the threshold for less than the length of the glitch, and a glitch at the input to the first network having a length of greater than approximately two standard glitch times causes the voltage at the output of the second network to cross the threshold for approximately the time of the glitch. A method reduces the vulnerability of a latch to single event upsets. The latch includes a gate having an input and an output and a feedback path from the output to the input of the gate. The method includes inserting a delay into the feedback path and providing a delay in the gate.

Can we bet on negative emissions to achieve the 2°C target even under strong carbon cycle feedbacks?

NASA Astrophysics Data System (ADS)

Tanaka, K.; Yamagata, Y.; Yokohata, T.; Emori, S.; Hanaoka, T.

2015-12-01

Negative emission technologies such as Bioenergy with Carbon dioxide Capture and Storage (BioCCS) play an ever more crucial role in meeting the 2°C stabilization target. However, such technologies are currently at their infancy and their future penetrations may fall short of the scale required to stabilize the warming. Furthermore, the overshoot in the mid-century prior to a full realization of negative emissions would give rise to a risk because such a temporal but excessive warming above 2°C might amplify itself by strengthening climate-carbon cycle feedbacks. It has not been extensively assessed yet how carbon cycle feedbacks might play out during the overshoot in the context of negative emissions. This study explores how 2°C stabilization pathways, in particular those which undergo overshoot, can be influenced by carbon cycle feedbacks and asks their climatic and economic consequences. We compute 2°C stabilization emissions scenarios under a cost-effectiveness principle, in which the total abatement costs are minimized such that the global warming is capped at 2°C. We employ a reduced-complexity model, the Aggregated Carbon Cycle, Atmospheric Chemistry, and Climate model (ACC2), which comprises a box model of the global carbon cycle, simple parameterizations of the atmospheric chemistry, and a land-ocean energy balance model. The total abatement costs are estimated from the marginal abatement cost functions for CO2, CH4, N2O, and BC.Our preliminary results show that, if carbon cycle feedbacks turn out to be stronger than what is known today, it would incur substantial abatement costs to keep up with the 2°C stabilization goal. Our results also suggest that it would be less expensive in the long run to plan for a 2°C stabilization pathway by considering strong carbon cycle feedbacks because it would cost more if we correct the emission pathway in the mid-century to adjust for unexpectedly large carbon cycle feedbacks during overshoot. Furthermore, our tentative results point to a key policy message: do not rely on negative emissions to achieve the 2°C target. It would make more sense to gear climate mitigation actions toward the stabilization target without betting on negative emissions because negative emissions might create large overshoot in case of strong feedbacks.

Analytically exploiting noise correlations inside the feedback loop to improve locked-oscillator performance.

PubMed

Sastrawan, J; Jones, C; Akhalwaya, I; Uys, H; Biercuk, M J

2016-08-01

We introduce concepts from optimal estimation to the stabilization of precision frequency standards limited by noisy local oscillators. We develop a theoretical framework casting various measures for frequency standard variance in terms of frequency-domain transfer functions, capturing the effects of feedback stabilization via a time series of Ramsey measurements. Using this framework, we introduce an optimized hybrid predictive feedforward measurement protocol that employs results from multiple past measurements and transfer-function-based calculations of measurement covariance to improve the accuracy of corrections within the feedback loop. In the presence of common non-Markovian noise processes these measurements will be correlated in a calculable manner, providing a means to capture the stochastic evolution of the local oscillator frequency during the measurement cycle. We present analytic calculations and numerical simulations of oscillator performance under competing feedback schemes and demonstrate benefits in both correction accuracy and long-term oscillator stability using hybrid feedforward. Simulations verify that in the presence of uncompensated dead time and noise with significant spectral weight near the inverse cycle time predictive feedforward outperforms traditional feedback, providing a path towards developing a class of stabilization software routines for frequency standards limited by noisy local oscillators.

Resistive instabilities in tokamaks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rutherford, P.H.

1985-10-01

Low-m tearing modes constitute the dominant instability problem in present-day tokamaks. In this lecture, the stability criteria for representative current profiles with q(0)-values slightly less than unit are reviewed; ''sawtooth'' reconnection to q(0)-values just at, or slightly exceeding, unity is generally destabilizing to the m = 2, n = 1 and m = 3, n = 2 modes, and severely limits the range of stable profile shapes. Feedback stabilization of m greater than or equal to 2 modes by rf heating or current drive, applied locally at the magnetic islands, appears feasible; feedback by island current drive is much moremore » efficient, in terms of the radio-frequency power required, then feedback by island heating. Feedback stabilization of the m = 1 mode - although yielding particularly beneficial effects for resistive-tearing and high-beta stability by allowing q(0)-values substantially below unity - is more problematical, unless the m = 1 ideal-MHD mode can be made positively stable by strong triangular shaping of the central flux surfaces. Feedback techniques require a detectable, rotating MHD-like signal; the slowing of mode rotation - or the excitation of non-rotating modes - by an imperfectly conducting wall is also discussed.« less

The Stratonovich formulation of quantum feedback network rules

NASA Astrophysics Data System (ADS)

Gough, John E.

2016-12-01

We express the rules for forming quantum feedback networks using the Stratonovich form of quantum stochastic calculus rather than the Itō or SLH (J. E. Gough and M. R. James, "Quantum feedback networks: Hamiltonian formulation," Commun. Math. Phys. 287, 1109 (2009), J. E. Gough and M. R. James, "The Series product and its application to quantum feedforward and feedback networks," IEEE Trans. Autom. Control 54, 2530 (2009)) form. Remarkably the feedback reduction rule implies that we obtain the Schur complement of the matrix of Stratonovich coupling operators where we short out the internal input/output coefficients.

Experimental research on the stability and the multilongitudinal mode interference of bidirectional outputs of LD-pumped solid state ring laser

NASA Astrophysics Data System (ADS)

Wan, Shunping; Tian, Qian; Sun, Liqun; Yao, Minyan; Mao, Xianhui; Qiu, Hongyun

2004-05-01

This paper reports an experimental research on the stability of bidirectional outputs and multi-longitudinal mode interference of laser diode end-pumped Nd:YVO4 solid-state ring laser (DPSSL). The bidirectional, multi-longitudinal and TEM00 mode continuous wave outputs are obtained and the output powers are measured and their stabilities are analyzed respectively. The spectral characteristic of the outputs is measured. The interfering pattern of the bidirectional longitudinal mode outputs is obtained and analyzed in the condition of the ring cavity with rotation velocity. The movement of the interfering fringe of the multi-longitudinal modes is very sensitive to the deformation of the setup base and the fluctuation of the intracavity air, but is stationary or randomly dithers when the stage is rotating.

Feedback power control strategies in wireless sensor networks with joint channel decoding.

PubMed

Abrardo, Andrea; Ferrari, Gianluigi; Martalò, Marco; Perna, Fabio

2009-01-01

In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD). In particular, upon the derivation of the feasible signal-to-noise ratio (SNR) region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i) a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP), and (ii) an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as "balanced SNR" and "unbalanced SNR," respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO) scenario, where the sensors observe noisy versions of a common binary information sequence and the AP's goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm.

Self-seeded injection-locked FEL amplifer

DOEpatents

Sheffield, Richard L.

1999-01-01

A self-seeded free electron laser (FEL) provides a high gain and extraction efficiency for the emitted light. An accelerator outputs a beam of electron pulses to a permanent magnet wiggler having an input end for receiving the electron pulses and an output end for outputting light and the electron pulses. An optical feedback loop collects low power light in a small signal gain regime at the output end of said wiggler and returns the low power light to the input end of the wiggler while outputting high power light in a high signal gain regime.

Design of the RWM Feedback Control System for NSTX

NASA Astrophysics Data System (ADS)

Bialek, James; Sabbagh, Steven; Paoletti, Franco

2002-11-01

The National Spherical Torus Experiment ( NSTX ) has been designed to investigate the physics of global mode stabilization at low aspect ratio. Present experiments are now probing performance limits determined by machine configuration and passive stabilization. For example, the ideal no-wall normalized beta limit has already been exceeded by greater than 20stabilized by a nearby perfectly conducting wall are observed to grow at a rate determined by nearby resistive structure. Sustained performance improvements may be obtained by using active feedback to suppress such long wavelength pressure driven instabilities, known as resistive wall modes (RWM). We report on the performance of several design options for an NSTX - RWM feedback control system. The VALEN feedback analysis code has been used to evaluate the performance of these configurations. We explicitly model the vacuum vessel, center stack casing, the 48 copper passive plates, their mounts, active feedback coils and sensor arrays. The highest performance system has both control coils and sensors inside the vacuum vessel. In this case it is possible to reach 94beta limit.

Logarithmic circuit with wide dynamic range

NASA Technical Reports Server (NTRS)

Wiley, P. H.; Manus, E. A. (Inventor)

1978-01-01

A circuit deriving an output voltage that is proportional to the logarithm of a dc input voltage susceptible to wide variations in amplitude includes a constant current source which forward biases a diode so that the diode operates in the exponential portion of its voltage versus current characteristic, above its saturation current. The constant current source includes first and second, cascaded feedback, dc operational amplifiers connected in negative feedback circuit. An input terminal of the first amplifier is responsive to the input voltage. A circuit shunting the first amplifier output terminal includes a resistor in series with the diode. The voltage across the resistor is sensed at the input of the second dc operational feedback amplifier. The current flowing through the resistor is proportional to the input voltage over the wide range of variations in amplitude of the input voltage.

Sensorless H∞ speed-tracking synthesis for surface-mount permanent magnet synchronous motor.

PubMed

Ramírez-Villalobos, Ramón; Aguilar, Luis T; Coria, Luis N

2017-03-01

In this paper, a sensorless speed tracking control is proposed for a surface-mount permanent magnet synchronous motor by using a nonlinear H ∞ -controller via stator currents measurements for feedback. An output feedback nonlinear H ∞ -controller was designed such that the undisturbed system is uniformly asymptotically stable around the desired speed reference, while also the effects of external vanishing and non-vanishing disturbances, noise, and input backlash were attenuated locally. The rotor position was calculated from the causal dynamic output feedback compensator and from the desired speed reference. The existence of the proper solutions of the perturbed differential Riccati equations ensures stabilizability and detectability of the control system. The efficiency of the proposed sensorless controller was supported by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Optimal output fast feedback in two-time scale control of flexible arms

NASA Technical Reports Server (NTRS)

Siciliano, B.; Calise, A. J.; Jonnalagadda, V. R. P.

1986-01-01

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

Method and apparatus for reducing microwave oscillator output noise

NASA Technical Reports Server (NTRS)

Dick, G. John (Inventor); Saunders, Jonathan E. (Inventor)

1991-01-01

Microwave oscilltors incorporate r.f. feedback with carrier suppression to reduce phase noise. In a direct feedback oscillator arrngement a circulator is interposed between the r.f. amplifier and the high-Q resonator. The amplifier output is applied to the slightly over-coupled input port of the resonator so that the resultant net return signal is the vectorial difference between the signals emitted and reflected from the resonator. The gain of the r.f. amplifier is chosen to regenerate the forward signal from the net return signal. In a STALO-type arrangement, the resonator is critically coupled and an r.f. amplifier added to the path of the net return signal. The sensitivity of the STALO-type feedback loop is thereby enhanced while added amplifier noise is minimized by the superposition of the signals emitted by and reflected from the resonator.

Dissociating movement from movement timing in the rat primary motor cortex.

PubMed

Knudsen, Eric B; Powers, Marissa E; Moxon, Karen A

2014-11-19

Neural encoding of the passage of time to produce temporally precise movements remains an open question. Neurons in several brain regions across different experimental contexts encode estimates of temporal intervals by scaling their activity in proportion to the interval duration. In motor cortex the degree to which this scaled activity relies upon afferent feedback and is guided by motor output remains unclear. Using a neural reward paradigm to dissociate neural activity from motor output before and after complete spinal transection, we show that temporally scaled activity occurs in the rat hindlimb motor cortex in the absence of motor output and after transection. Context-dependent changes in the encoding are plastic, reversible, and re-established following injury. Therefore, in the absence of motor output and despite a loss of afferent feedback, thought necessary for timed movements, the rat motor cortex displays scaled activity during a broad range of temporally demanding tasks similar to that identified in other brain regions. Copyright © 2014 the authors 0270-6474/14/3415576-11$15.00/0.

VRILLE Controls PDF Neuropeptide Accumulation and Arborization Rhythms in Small Ventrolateral Neurons to Drive Rhythmic Behavior in Drosophila.

PubMed

Gunawardhana, Kushan L; Hardin, Paul E

2017-11-20

In Drosophila, the circadian clock is comprised of transcriptional feedback loops that control rhythmic gene expression responsible for daily rhythms in physiology, metabolism, and behavior. The core feedback loop, which employs CLOCK-CYCLE (CLK-CYC) activators and PERIOD-TIMELESS (PER-TIM) repressors to drive rhythmic transcription peaking at dusk, is required for circadian timekeeping and overt behavioral rhythms. CLK-CYC also activates an interlocked feedback loop, which uses the PAR DOMAIN PROTEIN 1ε (PDP1ε) activator and the VRILLE (VRI) repressor to drive rhythmic transcription peaking at dawn. Although Pdp1ε mutants disrupt activity rhythms without eliminating clock function, whether vri is required for clock function and/or output is not known. Using a conditionally inactivatable transgene to rescue vri developmental lethality, we show that clock function persists after vri inactivation but that activity rhythms are abolished. The inactivation of vri disrupts multiple output pathways thought to be important for activity rhythms, including PDF accumulation and arborization rhythms in the small ventrolateral neuron (sLN v ) dorsal projection. These results demonstrate that vri acts as a key regulator of clock output and suggest that the primary function of the interlocked feedback loop in Drosophila is to drive rhythmic transcription required for overt rhythms. Copyright © 2017 Elsevier Ltd. All rights reserved.

The modeling, simulation, and control of transport phenomena in a thermally destabilizing Bridgman crystal growth system

NASA Astrophysics Data System (ADS)

Sonda, Paul Julio

This thesis presents a comprehensive examination of the modeling, simulation, and control of axisymmetric flows occurring in a vertical Bridgman crystal growth system with the melt underlying the crystal. The significant complexity and duration of the manufacturing process make experimental optimization a prohibitive task. Numerical simulation has emerged as a powerful tool in understanding the processing issues still prevalent in industry. A first-principles model is developed to better understand the transport phenomena within a representative vertical Bridgman system. The set of conservation equations for momentum, energy, and species concentration are discretized using the Galerkin finite element method and simulated using accurate time-marching schemes. Simulation results detail the occurrence of fascinating nonlinear dynamics, in the form of stable, time-varying behavior for sufficiently large melt regimes and multiple steady flow states. This discovery of time-periodic flows for high intensity flows is qualitatively consistent with experimental observations. Transient simulations demonstrate that process operating conditions have a marked effect on the hydrodynamic behavior within the melt, which consequently affects the dopant concentration profile within the crystal. The existence of nonlinear dynamical behavior within this system motivates the need for feedback control algorithms which can provide superior crystal quality. This work studies the feasibility of using crucible rotation to control flows in the vertical Bridgman system. Simulations show that crucible rotation acts to suppress the axisymmetric flows. However, for the case when the melt lies below the crystal, crucible rotation also acts to accelerate the onset of time-periodic behavior. This result is attributed to coupling between the centrifugal force and the intense, buoyancy-driven flows. Proportional, proportional-integral, and input-output linearizing controllers are applied to vertical Bridgman systems in stabilizing (crystal below the melt) and destabilizing (melt below the crystal) configurations. The spatially-averaged, axisymmetric kinetic energy is the controlled output. The flows are controlled via rotation of the crucible containing the molten material. Simulation results show that feedback controllers using crucible rotation effectively attenuate flow oscillations in a stabilizing configuration with time-varying disturbance. Crucible rotation is not an optimal choice for suppressing inherent flow oscillations in the destabilizing configuration.

Digital control analysis and design of a field-sensed magnetic suspension system.

PubMed

Li, Jen-Hsing; Chiou, Juing-Shian

2015-03-13

Magnetic suspension systems are mechatronic systems and crucial in several engineering applications, such as the levitation of high-speed trains, frictionless bearings, and wind tunnels. Magnetic suspension systems are nonlinear and unstable systems; therefore, they are suitable educational benchmarks for testing various modeling and control methods. This paper presents the digital modeling and control of magnetic suspension systems. First, the magnetic suspension system is stabilized using a digital proportional-derivative controller. Subsequently, the digital model is identified using recursive algorithms. Finally, a digital mixed linear quadratic regulator (LQR)/H∞ control is adopted to stabilize the magnetic suspension system robustly. Simulation examples and a real-world example are provided to demonstrate the practicality of the study results. In this study, a digital magnetic suspension system model was developed and reviewed. In addition, equivalent state and output feedback controls for magnetic suspension systems were developed. Using this method, the controller design for magnetic suspension systems was simplified, which is the novel contribution of this study. In addition, this paper proposes a complete digital controller design procedure for magnetic suspension systems.

Voluntarily controlled but not merely observed visual feedback affects postural sway

PubMed Central

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

Online stabilization of human standing posture utilizes multisensory afferences (e.g., vision). Whereas visual feedback of spontaneous postural sway can stabilize postural control especially when observers concentrate on their body and intend to minimize postural sway, the effect of intentional control of visual feedback on postural sway itself remains unclear. This study assessed quiet standing posture in healthy adults voluntarily controlling or merely observing visual feedback. The visual feedback (moving square) had either low or high gain and was either horizontally flipped or not. Participants in the voluntary-control group were instructed to minimize their postural sway while voluntarily controlling visual feedback, whereas those in the observation group were instructed to minimize their postural sway while merely observing visual feedback. As a result, magnified and flipped visual feedback increased postural sway only in the voluntary-control group. Furthermore, regardless of the instructions and feedback manipulations, the experienced sense of control over visual feedback positively correlated with the magnitude of postural sway. We suggest that voluntarily controlled, but not merely observed, visual feedback is incorporated into the feedback control system for posture and begins to affect postural sway. PMID:29682421

Predictive Feedback and Feedforward Control for Systems with Unknown Disturbances

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Eure, Kenneth W.

1998-01-01

Predictive feedback control has been successfully used in the regulation of plate vibrations when no reference signal is available for feedforward control. However, if a reference signal is available it may be used to enhance regulation by incorporating a feedforward path in the feedback controller. Such a controller is known as a hybrid controller. This paper presents the theory and implementation of the hybrid controller for general linear systems, in particular for structural vibration induced by acoustic noise. The generalized predictive control is extended to include a feedforward path in the multi-input multi-output case and implemented on a single-input single-output test plant to achieve plate vibration regulation. There are cases in acoustic-induce vibration where the disturbance signal is not available to be used by the hybrid controller, but a disturbance model is available. In this case the disturbance model may be used in the feedback controller to enhance performance. In practice, however, neither the disturbance signal nor the disturbance model is available. This paper presents the theory of identifying and incorporating the noise model into the feedback controller. Implementations are performed on a test plant and regulation improvements over the case where no noise model is used are demonstrated.

Integrated Control Using the SOFFT Control Structure

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1996-01-01

The need for integrated/constrained control systems has become clearer as advanced aircraft introduced new coupled subsystems such as new propulsion subsystems with thrust vectoring and new aerodynamic designs. In this study, we develop an integrated control design methodology which accomodates constraints among subsystem variables while using the Stochastic Optimal Feedforward/Feedback Control Technique (SOFFT) thus maintaining all the advantages of the SOFFT approach. The Integrated SOFFT Control methodology uses a centralized feedforward control and a constrained feedback control law. The control thus takes advantage of the known coupling among the subsystems while maintaining the identity of subsystems for validation purposes and the simplicity of the feedback law to understand the system response in complicated nonlinear scenarios. The Variable-Gain Output Feedback Control methodology (including constant gain output feedback) is extended to accommodate equality constraints. A gain computation algorithm is developed. The designer can set the cross-gains between two variables or subsystems to zero or another value and optimize the remaining gains subject to the constraint. An integrated control law is designed for a modified F-15 SMTD aircraft model with coupled airframe and propulsion subsystems using the Integrated SOFFT Control methodology to produce a set of desired flying qualities.

Laterally Coupled Distributed-Feedback GaSb-Based Diode Lasers for Atmospheric Gas Detection at 2 Microns

NASA Technical Reports Server (NTRS)

Briggs, Ryan M.; Frez, Clifford; Ksendzov, Alexander; Franz, Kale J.; Bagheri, Mahmood; Forouhar, Siamak

2012-01-01

We demonstrate single-mode laterally coupled distributed-feedback diode lasers at 2.05 microns employing low-loss etched gratings. Single-facet CW output exceeds 50 mW near room temperature with linewidth below 1 MHz over 10-ms observation times

Op. Amps in Power Amplification: A Laboratory Exercise on Feedback.

ERIC Educational Resources Information Center

Borcherds, P. H.

1984-01-01

To demonstrate negative feedback a power amplifier is constructed from an operational amplifier together with a complementary pair of transistors as an output stage. The amplifier is developed and tested stage by stage, and at each stage the defects apparent at the previous stage are eliminated. (JN)

Understanding the tropical cloud feedback from an analysis of the circulation and stability regimes simulated from an upgraded multiscale modeling framework

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xu, Kuan-Man; Cheng, Anning

As revealed from studies using conventional general circulation models (GCMs), the thermodynamic contribution to the tropical cloud feedback dominates the dynamic contribution, but these models have difficulty in simulating the subsidence regimes in the tropics. In this study, we analyze the tropical cloud feedback from a 2 K sea surface temperature (SST) perturbation experiment performed with a multiscale modeling framework (MMF). The MMF explicitly represents cloud processes using 2-D cloud-resolving models with an advanced higher-order turbulence closure in each atmospheric column of the host GCM. We sort the monthly mean cloud properties and cloud radiative effects according to circulation andmore » stability regimes. Here, we find that the regime-sorted dynamic changes dominate the thermodynamic changes in terms of the absolute magnitude. The dynamic changes in the weak subsidence regimes exhibit strong negative cloud feedback due to increases in shallow cumulus and deep clouds while those in strongly convective and moderate-to-strong subsidence regimes have opposite signs, resulting in a small contribution to cloud feedback. On the other hand, the thermodynamic changes are large due to decreases in stratocumulus clouds in the moderate-to-strong subsidence regimes with small opposite changes in the weak subsidence and strongly convective regimes, resulting in a relatively large contribution to positive cloud feedback. The dynamic and thermodynamic changes contribute equally to positive cloud feedback and are relatively insensitive to stability in the moderate-to-strong subsidence regimes. But they are sensitive to stability changes from the SST increase in convective and weak subsidence regimes. Lastly, these results have implications for interpreting cloud feedback mechanisms.« less

Understanding the tropical cloud feedback from an analysis of the circulation and stability regimes simulated from an upgraded multiscale modeling framework

DOE PAGES

Xu, Kuan-Man; Cheng, Anning

2016-11-15

As revealed from studies using conventional general circulation models (GCMs), the thermodynamic contribution to the tropical cloud feedback dominates the dynamic contribution, but these models have difficulty in simulating the subsidence regimes in the tropics. In this study, we analyze the tropical cloud feedback from a 2 K sea surface temperature (SST) perturbation experiment performed with a multiscale modeling framework (MMF). The MMF explicitly represents cloud processes using 2-D cloud-resolving models with an advanced higher-order turbulence closure in each atmospheric column of the host GCM. We sort the monthly mean cloud properties and cloud radiative effects according to circulation andmore » stability regimes. Here, we find that the regime-sorted dynamic changes dominate the thermodynamic changes in terms of the absolute magnitude. The dynamic changes in the weak subsidence regimes exhibit strong negative cloud feedback due to increases in shallow cumulus and deep clouds while those in strongly convective and moderate-to-strong subsidence regimes have opposite signs, resulting in a small contribution to cloud feedback. On the other hand, the thermodynamic changes are large due to decreases in stratocumulus clouds in the moderate-to-strong subsidence regimes with small opposite changes in the weak subsidence and strongly convective regimes, resulting in a relatively large contribution to positive cloud feedback. The dynamic and thermodynamic changes contribute equally to positive cloud feedback and are relatively insensitive to stability in the moderate-to-strong subsidence regimes. But they are sensitive to stability changes from the SST increase in convective and weak subsidence regimes. Lastly, these results have implications for interpreting cloud feedback mechanisms.« less

Aspects and Some Results on Passivity and Positivity of Dynamic Systems

NASA Astrophysics Data System (ADS)

De la Sen, M.

2017-12-01

This paper is devoted to discuss certain aspects of passivity results in dynamic systems and the characterization of the regenerative systems counterparts. In particular, the various concepts of passivity as standard passivity, strict input passivity, strict output passivity and very strict passivity (i.e. joint strict input and output passivity) are given and related to the existence of a storage function and a dissipation function. Later on, the obtained results are related to external positivity of systems and positivity or strict positivity of the transfer matrices and transfer functions in the time-invariant case. On the other hand, it is discussed how to achieve or how eventually to increase the passivity effects via linear feedback by the synthesis of the appropriate feed-forward or feedback controllers or, simply, by adding a positive parallel direct input-output matrix interconnection gain.

Differential Flatness and Cooperative Tracking in the Lorenz System

NASA Technical Reports Server (NTRS)

Crespo, Luis G.

2002-01-01

In this paper the control of the Lorenz system for both stabilization and tracking problems is studied via feedback linearization and differential flatness. By using the Rayleigh number as the control, only variable physically tunable, a barrier in the controllability of the system is incidentally imposed. This is reflected in the appearance of a singularity in the state transformation. Composite controllers that overcome this difficulty are designed and evaluated. The transition through the manifold defined by such a singularity is achieved by inducing a chaotic response within a boundary layer that contains it. Outside this region, a conventional feedback nonlinear control is applied. In this fashion, the authority of the control is enlarged to the whole. state space and the need for high control efforts is mitigated. In addition, the differential parametrization of the problem is used to track nonlinear functions of one state variable (single tracking) as well as several state variables (cooperative tracking). Control tasks that lead to integrable and non-integrable differential equations for the nominal flat output in steady-state are considered. In particular, a novel numerical strategy to deal with the non-integrable case is proposed. Numerical results validate very well the control design.

Enhancing synchronization stability in a multi-area power grid

PubMed Central

Wang, Bing; Suzuki, Hideyuki; Aihara, Kazuyuki

2016-01-01

Maintaining a synchronous state of generators is of central importance to the normal operation of power grids, in which many networks are generally interconnected. In order to understand the condition under which the stability can be optimized, it is important to relate network stability with feedback control strategies as well as network structure. Here, we present a stability analysis on a multi-area power grid by relating it with several control strategies and topological design of network structure. We clarify the minimal feedback gain in the self-feedback control, and build the optimal communication network for the local and global control strategies. Finally, we consider relationship between the interconnection pattern and the synchronization stability; by optimizing the network interlinks, the obtained network shows better synchronization stability than the original network does, in particular, at a high power demand. Our analysis shows that interlinks between spatially distant nodes will improve the synchronization stability. The results seem unfeasible to be implemented in real systems but provide a potential guide for the design of stable power systems. PMID:27225708

Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

NASA Astrophysics Data System (ADS)

Zheng, Yuan-Fang

A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

The Influence of Feedback on the Aeroelastic Behavior of Tilt Proprotor Aircraft Including the Effects of Fuselage Motion

NASA Technical Reports Server (NTRS)

Curtiss, H. C., Jr.; Komatsuzaki, T.; Traybar, J. J.

1979-01-01

The influence of single loop feedbacks to improve the stability of the system are considered. Reduced order dynamic models are employed where appropriate to promote physical insight. The influence of fuselage freedom on the aeroelastic stability, and the influence of the airframe flexibility on the low frequency modes of motion relevant to the stability and control characteristics of the vehicle were examined.

Stability and Bifurcation Analysis in a Maglev System with Multiple Delays

NASA Astrophysics Data System (ADS)

Zhang, Lingling; Huang, Jianhua; Huang, Lihong; Zhang, Zhizhou

This paper considers the time-delayed feedback control for Maglev system with two discrete time delays. We determine constraints on the feedback time delays which ensure the stability of the Maglev system. An algorithm is developed for drawing a two-parametric bifurcation diagram with respect to two delays τ1 and τ2. Direction and stability of periodic solutions are also determined using the normal form method and center manifold theory by Hassard. The complex dynamical behavior of the Maglev system near the domain of stability is confirmed by exhaustive numerical simulation.

Data-Based Predictive Control with Multirate Prediction Step

NASA Technical Reports Server (NTRS)

Barlow, Jonathan S.

2010-01-01

Data-based predictive control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. One challenge of MPC is computational requirements increasing with prediction horizon length. This paper develops a closed-loop dynamic output feedback controller that minimizes a multi-step-ahead receding-horizon cost function with multirate prediction step. One result is a reduced influence of prediction horizon and the number of system outputs on the computational requirements of the controller. Another result is an emphasis on portions of the prediction window that are sampled more frequently. A third result is the ability to include more outputs in the feedback path than in the cost function.

Attitude stabilization of a rigid spacecraft using two momentum wheel actuators

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan; Mcclamroch, N. Harris; Reyhanoglu, Mahmut

1993-01-01

It is well known that three momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished using smooth feedback. If failure of one of the momentum wheel actuators occurs, it is demonstrated that two momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished. Although the complete spacecraft equations are not controllable, the spacecraft equations are small time locally controllable in a reduced nonlinear sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to any equilibrium attitude using a time-variant continuous feedback control law, but discontinuous feedback control strategies are constructed which stabilize any equilibrium attitude of the spacecraft in finite time. Consequently, reorientation of the spacecraft can be accomplished using discontinuous feedback control.

Multiple high voltage output DC-to-DC power converter

NASA Technical Reports Server (NTRS)

Cronin, Donald L. (Inventor); Farber, Bertrand F. (Inventor); Gehm, Hartmut K. (Inventor); Goldin, Daniel S. (Inventor)

1977-01-01

Disclosed is a multiple output DC-to-DC converter. The DC input power is filtered and passed through a chopper preregulator. The chopper output is then passed through a current source inverter controlled by a squarewave generator. The resultant AC is passed through the primary winding of a transformer, with high voltages induced in a plurality of secondary windings. The high voltage secondary outputs are each solid-state rectified for passage to individual output loads. Multiple feedback loops control the operation of the chopper preregulator, one being responsive to the current through the primary winding and another responsive to the DC voltage level at a selected output.

Implementing Audio Digital Feedback Loop Using the National Instruments RIO System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Huang, G.; Byrd, J. M.

2006-11-20

Development of system for high precision RF distribution and laser synchronization at Berkeley Lab has been ongoing for several years. Successful operation of these systems requires multiple audio bandwidth feedback loops running at relatively high gains. Stable operation of the feedback loops requires careful design of the feedback transfer function. To allow for flexible and compact implementation, we have developed digital feedback loops on the National Instruments Reconfigurable Input/Output (RIO) platform. This platform uses an FPGA and multiple I/Os that can provide eight parallel channels running different filters. We present the design and preliminary experimental results of this system.

Phase inverter provides variable reference push-pull output

NASA Technical Reports Server (NTRS)

1966-01-01

Dual-transistor difference amplifier provides a push-pull output referenced to a dc potential which can be varied without affecting the signal levels. The amplifier is coupled with a feedback circuit which can vary the operating points of the transistors by equal amounts to provide the variable reference potentials.

Modeling trial by trial and block feedback in perceptual learning

PubMed Central

Liu, Jiajuan; Dosher, Barbara; Lu, Zhong-Lin

2014-01-01

Feedback has been shown to play a complex role in visual perceptual learning. It is necessary for performance improvement in some conditions while not others. Different forms of feedback, such as trial-by-trial feedback or block feedback, may both facilitate learning, but with different mechanisms. False feedback can abolish learning. We account for all these results with the Augmented Hebbian Reweight Model (AHRM). Specifically, three major factors in the model advance performance improvement: the external trial-by-trial feedback when available, the self-generated output as an internal feedback when no external feedback is available, and the adaptive criterion control based on the block feedback. Through simulating a comprehensive feedback study (Herzog & Fahle 1997, Vision Research, 37 (15), 2133–2141), we show that the model predictions account for the pattern of learning in seven major feedback conditions. The AHRM can fully explain the complex empirical results on the role of feedback in visual perceptual learning. PMID:24423783

Integrated-optic current sensors with a multimode interference waveguide device.

PubMed

Kim, Sung-Moon; Chu, Woo-Sung; Kim, Sang-Guk; Oh, Min-Cheol

2016-04-04

Optical current sensors based on polarization-rotated reflection interferometry are demonstrated using polymeric integrated optics and various functional optical waveguide devices. Interferometric sensors normally require bias feedback control for maintaining the operating point, which increases the cost. In order to resolve this constraint of feedback control, a multimode interference (MMI) waveguide device is integrated onto the current-sensor optical chip in this work. From the multiple outputs of the MMI, a 90° phase-shifted transfer function is obtained. Using passive quadrature demodulation, we demonstrate that the sensor could maintain the output signal regardless of the drift in the operating bias-point.

RATIO COMPUTER

DOEpatents

Post, R.F.

1958-11-11

An electronic computer circuit is described for producing an output voltage proportional to the product or quotient of tbe voltages of a pair of input signals. ln essence, the disclosed invention provides a computer having two channels adapted to receive separate input signals and each having amplifiers with like fixed amplification factors and like negatlve feedback amplifiers. One of the channels receives a constant signal for comparison purposes, whereby a difference signal is produced to control the amplification factors of the variable feedback amplifiers. The output of the other channel is thereby proportional to the product or quotient of input signals depending upon the relation of input to fixed signals in the first mentioned channel.

Memory device for two-dimensional radiant energy array computers

NASA Technical Reports Server (NTRS)

Schaefer, D. H.; Strong, J. P., III (Inventor)

1977-01-01

A memory device for two dimensional radiant energy array computers was developed, in which the memory device stores digital information in an input array of radiant energy digital signals that are characterized by ordered rows and columns. The memory device contains a radiant energy logic storing device having a pair of input surface locations for receiving a pair of separate radiant energy digital signal arrays and an output surface location adapted to transmit a radiant energy digital signal array. A regenerative feedback device that couples one of the input surface locations to the output surface location in a manner for causing regenerative feedback is also included

On fully three-dimensional resistive wall mode and feedback stabilization computationsa)

NASA Astrophysics Data System (ADS)

Strumberger, E.; Merkel, P.; Sempf, M.; Günter, S.

2008-05-01

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes. In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Köppendörfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].

On fully three-dimensional resistive wall mode and feedback stabilization computations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Strumberger, E.; Merkel, P.; Sempf, M.

2008-05-15

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes.more » In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Koeppendoerfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].« less