Improved cascade control structure for enhanced performance

In conventional single feedback control, the corrective action for disturbances does not begin until the controlled variable deviates from the set point. In this case, a cascade control strategy can be used to improve the performance of a control system particularly in the presence of disturbances. In this paper, an improved cascade control structure and controller design based on standard forms, which was initially given by authors, is suggested to improve the performance of cascade control. Examples are given to illustrate the use of the proposed method and its superiority over some existing design methods

Normal forms for underactuated mechanical systems with symmetry

We introduce cascade normal forms for underactuated mechanical systems that are convenient for control design. These normal forms include three classes of cascade systems, namely, nonlinear systems in strict feedback form, feedforward form, and nontriangular quadratic form (to be defined). In each case, the transformation to cascade systems is provided in closed-form. We apply our results to the Acrobot, the rotating pendulum, and the cart-pole system

Prediction for control

5th IFAC Conference on System Structure and Control 1998 (SSC'98), Nantes, France, 8-10 JulyThis paper shows that "optimal" controllers based on "optimal" predictor structures are not "optimal" in their closed loop behaviour and that predictors should be designed taking into account closed-loop considerations. This is first illustrated with a first order plant with delay. The ISE index is computed for two typical optimal controllers (minimum variance controller and generalized predictive controller) when a stochastic disturbance is considered. The results are compared to those obtained by the use of a non optimal PI controller that uses a non optimal Smith predictor and performs better than the optimal controllers for the illustrative example. A general structure for predictors is proposed. In order to illustrate the results, some simulation examples are shown.Ce papier montre que des lois de commandes "optimales" basees sur des structures predictives "optimales" ne sont pas "optimales" dans leur comportement en boucle fermee et que la synthese de predicteurs devrait prendre en compte des considerations de boucle fermee. Cela est d'abord illustre avec un systeme du premier ordre a retard. l'index ISE est calcule pour deux lois de commandes optimales typiques (loi de commande a variance minim ale et loi de commande predictive generalisee), quand une perturbation stochastique est consideree. Les resultats sont compares a. ceux obtenus avec un regulateur PI non optimal base sur un predicteur de Smith non optimal et sont, pour l'exemple illustratif, meilleurs que ceux obtenus avec un regulateur optimal. Vne structure generale de predicteur est proposee. Pour illustrer les resultats, des exemples de simulations sont montres

Control speculation for energy-efficient next-generation superscalar processors

Conventional front-end designs attempt to maximize the number of "in-flight" instructions in the pipeline. However, branch mispredictions cause the processor to fetch useless instructions that are eventually squashed, increasing front-end energy and issue queue utilization and, thus, wasting around 30 percent of the power dissipated by a processor. Furthermore, processor design trends lead to increasing clock frequencies by lengthening the pipeline, which puts more pressure on the branch prediction engine since branches take longer to be resolved. As next-generation high-performance processors become deeply pipelined, the amount of wasted energy due to misspeculated instructions will go up. The aim of this work is to reduce the energy consumption of misspeculated instructions. We propose selective throttling, which triggers different power-aware techniques (fetch throttling, decode throttling, or disabling the selection logic) depending on the branch prediction confidence level. Results show that combining fetch-bandwidth reduction along with select-logic disabling provides the best performance in terms of overall energy reduction and energy-delay product improvement (14 percent and 10 percent, respectively, for a processor with a 22-stage pipeline and 16 percent and 13 percent, respectively, for a processor with a 42-stage pipeline).Peer ReviewedPostprint (published version

A unified smith predictor approach for power system damping control design using remote signals

Published versio

Design of generalized minimum variance controllers for nonlinear multivariable systems

The design and implementation of Generalized Minimum Variance control laws for nonlinear multivariable systems that can include severe nonlinearities is considered. The quadratic cost index minimised involves dynamically weighted error and nonlinear control signal costing terms. The aim here is to show the controller obtained is simple to design and implement. The features of the control law are explored. The controller obtained includes an internal model of the process and in one form is a nonlinear version of the Smith Predictor

Control systems with network delay

In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the control channels. The estimation is based on the available data – undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant and it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical prediction

Empowering a helper cluster through data-width aware instruction selection policies

Narrow values that can be represented by less number of bits than the full machine width occur very frequently in programs. On the other hand, clustering mechanisms enable cost- and performance-effective scaling of processor back-end features. Those attributes can be combined synergistically to design special clusters operating on narrow values (a.k.a. helper cluster), potentially providing performance benefits. We complement a 32-bit monolithic processor with a low-complexity 8-bit helper cluster. Then, in our main focus, we propose various ideas to select suitable instructions to execute in the data-width based clusters. We add data-width information as another instruction steering decision metric and introduce new data-width based selection algorithms which also consider dependency, inter-cluster communication and load imbalance. Utilizing those techniques, the performance of a wide range of workloads are substantially increased; helper cluster achieves an average speedup of 11% for a wide range of 412 apps. When focusing on integer applications, the speedup can be as high as 22% on averagePeer ReviewedPostprint (published version

An inverse method for the aerodynamic design of three-dimensional aircraft engine nacelles

A fast, efficient and user friendly inverse design system for 3-D nacelles was developed. The system is a product of a 2-D inverse design method originally developed at NASA-Langley and the CFL3D analysis code which was also developed at NASA-Langley and modified for nacelle analysis. The design system uses a predictor/corrector design approach in which an analysis code is used to calculate the flow field for an initial geometry, the geometry is then modified based on the difference between the calculated and target pressures. A detailed discussion of the design method, the process of linking it to the modified CFL3D solver and its extension to 3-D is presented. This is followed by a number of examples of the use of the design system for the design of both axisymmetric and 3-D nacelles

fMRI activation detection with EEG priors

The purpose of brain mapping techniques is to advance the understanding of the relationship between structure and function in the human brain in so-called activation studies. In this work, an advanced statistical model for combining functional magnetic resonance imaging (fMRI) and electroencephalography (EEG) recordings is developed to fuse complementary information about the location of neuronal activity. More precisely, a new Bayesian method is proposed for enhancing fMRI activation detection by the use of EEG-based spatial prior information in stimulus based experimental paradigms. I.e., we model and analyse stimulus influence by a spatial Bayesian variable selection scheme, and extend existing high-dimensional regression methods by incorporating prior information on binary selection indicators via a latent probit regression with either a spatially-varying or constant EEG effect. Spatially-varying effects are regularized by intrinsic Markov random field priors. Inference is based on a full Bayesian Markov Chain Monte Carlo (MCMC) approach. Whether the proposed algorithm is able to increase the sensitivity of mere fMRI models is examined in both a real-world application and a simulation study. We observed, that carefully selected EEG--prior information additionally increases sensitivity in activation regions that have been distorted by a low signal-to-noise ratio