A Data-driven Approach to Robust Control of Multivariable Systems by Convex Optimization

The frequency-domain data of a multivariable system in different operating points is used to design a robust controller with respect to the measurement noise and multimodel uncertainty. The controller is fully parametrized in terms of matrix polynomial functions and can be formulated as a centralized, decentralized or distributed controller. All standard performance specifications like $H_2$, $H_\infty$ and loop shaping are considered in a unified framework for continuous- and discrete-time systems. The control problem is formulated as a convex-concave optimization problem and then convexified by linearization of the concave part around an initial controller. The performance criterion converges monotonically to a local optimal solution in an iterative algorithm. The effectiveness of the method is compared with fixed-structure controllers using non-smooth optimization and with full-order optimal controllers via simulation examples. Finally, the experimental data of a gyroscope is used to design a data-driven controller that is successfully applied on the real system

Analysis of A Nonsmooth Optimization Approach to Robust Estimation

In this paper, we consider the problem of identifying a linear map from measurements which are subject to intermittent and arbitarily large errors. This is a fundamental problem in many estimation-related applications such as fault detection, state estimation in lossy networks, hybrid system identification, robust estimation, etc. The problem is hard because it exhibits some intrinsic combinatorial features. Therefore, obtaining an effective solution necessitates relaxations that are both solvable at a reasonable cost and effective in the sense that they can return the true parameter vector. The current paper discusses a nonsmooth convex optimization approach and provides a new analysis of its behavior. In particular, it is shown that under appropriate conditions on the data, an exact estimate can be recovered from data corrupted by a large (even infinite) number of gross errors.Comment: 17 pages, 9 figure

Time and spectral domain relative entropy: A new approach to multivariate spectral estimation

The concept of spectral relative entropy rate is introduced for jointly stationary Gaussian processes. Using classical information-theoretic results, we establish a remarkable connection between time and spectral domain relative entropy rates. This naturally leads to a new spectral estimation technique where a multivariate version of the Itakura-Saito distance is employed}. It may be viewed as an extension of the approach, called THREE, introduced by Byrnes, Georgiou and Lindquist in 2000 which, in turn, followed in the footsteps of the Burg-Jaynes Maximum Entropy Method. Spectral estimation is here recast in the form of a constrained spectrum approximation problem where the distance is equal to the processes relative entropy rate. The corresponding solution entails a complexity upper bound which improves on the one so far available in the multichannel framework. Indeed, it is equal to the one featured by THREE in the scalar case. The solution is computed via a globally convergent matricial Newton-type algorithm. Simulations suggest the effectiveness of the new technique in tackling multivariate spectral estimation tasks, especially in the case of short data records.Comment: 32 pages, submitted for publicatio

Towards Efficient Maximum Likelihood Estimation of LPV-SS Models

How to efficiently identify multiple-input multiple-output (MIMO) linear parameter-varying (LPV) discrete-time state-space (SS) models with affine dependence on the scheduling variable still remains an open question, as identification methods proposed in the literature suffer heavily from the curse of dimensionality and/or depend on over-restrictive approximations of the measured signal behaviors. However, obtaining an SS model of the targeted system is crucial for many LPV control synthesis methods, as these synthesis tools are almost exclusively formulated for the aforementioned representation of the system dynamics. Therefore, in this paper, we tackle the problem by combining state-of-the-art LPV input-output (IO) identification methods with an LPV-IO to LPV-SS realization scheme and a maximum likelihood refinement step. The resulting modular LPV-SS identification approach achieves statical efficiency with a relatively low computational load. The method contains the following three steps: 1) estimation of the Markov coefficient sequence of the underlying system using correlation analysis or Bayesian impulse response estimation, then 2) LPV-SS realization of the estimated coefficients by using a basis reduced Ho-Kalman method, and 3) refinement of the LPV-SS model estimate from a maximum-likelihood point of view by a gradient-based or an expectation-maximization optimization methodology. The effectiveness of the full identification scheme is demonstrated by a Monte Carlo study where our proposed method is compared to existing schemes for identifying a MIMO LPV system

Polyhedral Predictive Regions For Power System Applications

Despite substantial improvement in the development of forecasting approaches, conditional and dynamic uncertainty estimates ought to be accommodated in decision-making in power system operation and market, in order to yield either cost-optimal decisions in expectation, or decision with probabilistic guarantees. The representation of uncertainty serves as an interface between forecasting and decision-making problems, with different approaches handling various objects and their parameterization as input. Following substantial developments based on scenario-based stochastic methods, robust and chance-constrained optimization approaches have gained increasing attention. These often rely on polyhedra as a representation of the convex envelope of uncertainty. In the work, we aim to bridge the gap between the probabilistic forecasting literature and such optimization approaches by generating forecasts in the form of polyhedra with probabilistic guarantees. For that, we see polyhedra as parameterized objects under alternative definitions (under $L_1$ and $L_\infty$ norms), the parameters of which may be modelled and predicted. We additionally discuss assessing the predictive skill of such multivariate probabilistic forecasts. An application and related empirical investigation results allow us to verify probabilistic calibration and predictive skills of our polyhedra.Comment: 8 page

Robust Constrained Model Predictive Control using Linear Matrix Inequalities

The primary disadvantage of current design techniques for model predictive control (MPC) is their inability to deal explicitly with plant model uncertainty. In this paper, we present a new approach for robust MPC synthesis which allows explicit incorporation of the description of plant uncertainty in the problem formulation. The uncertainty is expressed both in the time domain and the frequency domain. The goal is to design, at each time step, a state-feedback control law which minimizes a "worst-case" infinite horizon objective function, subject to constraints on the control input and plant output. Using standard techniques, the problem of minimizing an upper bound on the "worst-case" objective function, subject to input and output constraints, is reduced to a convex optimization involving linear matrix inequalities (LMIs). It is shown that the feasible receding horizon state-feedback control design robustly stabilizes the set of uncertain plants under consideration. Several extensions, such as application to systems with time-delays and problems involving constant set-point tracking, trajectory tracking and disturbance rejection, which follow naturally from our formulation, are discussed. The controller design procedure is illustrated with two examples. Finally, conclusions are presented