Stability and Performance Analysis of Systems Under Constraints

All real world control systems must deal with actuator and state constraints. Standard conic sector bounded nonlinearity stability theory provides methods for analyzing the stability and performance of systems under constraints, but it is well-known that these conditions can be very conservative. A method is developed to reduce conservatism in the analysis of constraints by representing them as nonlinear real parametric uncertainty

Cost-effective aperture arrays for SKA Phase 1: single or dual-band?

An important design decision for the first phase of the Square Kilometre Array is whether the low frequency component (SKA1-low) should be implemented as a single or dual-band aperture array; that is, using one or two antenna element designs to observe the 70-450 MHz frequency band. This memo uses an elementary parametric analysis to make a quantitative, first-order cost comparison of representative implementations of a single and dual-band system, chosen for comparable performance characteristics. A direct comparison of the SKA1-low station costs reveals that those costs are similar, although the uncertainties are high. The cost impact on the broader telescope system varies: the deployment and site preparation costs are higher for the dual-band array, but the digital signal processing costs are higher for the single-band array. This parametric analysis also shows that a first stage of analogue tile beamforming, as opposed to only station-level, all-digital beamforming, has the potential to significantly reduce the cost of the SKA1-low stations. However, tile beamforming can limit flexibility and performance, principally in terms of reducing accessible field of view. We examine the cost impacts in the context of scientific performance, for which the spacing and intra-station layout of the antenna elements are important derived parameters. We discuss the implications of the many possible intra-station signal transport and processing architectures and consider areas where future work could improve the accuracy of SKA1-low costing.Comment: 64 pages, 23 figures, submitted to the SKA Memo serie

Feedback control architecture & the bacterial chemotaxis network

Bacteria move towards favourable and away from toxic environments by changing their swimming pattern. This response is regulated by the chemotaxis signalling pathway, which has an important feature: it uses feedback to ‘reset’ (adapt) the bacterial sensing ability, which allows the bacteria to sense a range of background environmental changes. The role of this feedback has been studied extensively in the simple chemotaxis pathway of Escherichia coli. However it has been recently found that the majority of bacteria have multiple chemotaxis homologues of the E. coli proteins, resulting in more complex pathways. In this paper we investigate the configuration and role of feedback in Rhodobacter sphaeroides, a bacterium containing multiple homologues of the chemotaxis proteins found in E. coli. Multiple proteins could produce different possible feedback configurations, each having different chemotactic performance qualities and levels of robustness to variations and uncertainties in biological parameters and to intracellular noise. We develop four models corresponding to different feedback configurations. Using a series of carefully designed experiments we discriminate between these models and invalidate three of them. When these models are examined in terms of robustness to noise and parametric uncertainties, we find that the non-invalidated model is superior to the others. Moreover, it has a ‘cascade control’ feedback architecture which is used extensively in engineering to improve system performance, including robustness. Given that the majority of bacteria are known to have multiple chemotaxis pathways, in this paper we show that some feedback architectures allow them to have better performance than others. In particular, cascade control may be an important feature in achieving robust functionality in more complex signalling pathways and in improving their performance

Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview

Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based robust control in the last thirty-five years. Furthermore, it explains the analysis and synthesis techniques of Disturbance Observer-based robust control for linear and nonlinear systems by using a unified framework. In the last section, this paper presents concluding remarks on Disturbance Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure