Bi-Linear Homogeneity Enforced Calibration for Pipelined ADCs

Pipelined analog-to-digital converters (ADCs) are key enablers in many state-of-the-art signal processing systems with high sampling rates. In addition to high sampling rates, such systems often demand a high linearity. To meet these challenging linearity requirements, ADC calibration techniques were heavily investigated throughout the past decades. One limitation in ADC calibration is the need for a precisely known test signal. In our previous work, we proposed the homogeneity enforced calibration (HEC) approach, which circumvents this need by consecutively feeding a test signal and a scaled version of it into the ADC. The calibration itself is performed using only the corresponding output samples, such that the test signal can remain unknown. On the downside, the HEC approach requires the option to accurately scale the test signal, impeding an on-chip implementation. In this work, we provide a thorough analysis of the HEC approach, including the effects of an inaccurately scaled test signal. Furthermore, the bi-linear homogeneity enforced calibration (BL-HEC) approach is introduced and suggested to account for an inaccurate scaling and, therefore, to facilitate an on-chip implementation. In addition, a comprehensive stability and convergence analysis of the BL-HEC approach is carried out. Finally, we verify our concept with simulations.Comment: 12 pages, 5 figure

ADAPTIVE METHOD TO PREDICT AND TRACK UNKNOWN SYSTEM BEHAVIORS USING RLS AND LMS ALGORITHMS

This study investigates the ability of recursive least squares (RLS) and least mean square (LMS) adaptive filtering algorithms to predict and quickly track unknown systems. Tracking unknown system behavior is important if there are other parallel systems that must follow exactly the same behavior at the same time. The adaptive algorithm can correct the filter coefficients according to changes in unknown system parameters to minimize errors between the filter output and the system output for the same input signal. The RLS and LMS algorithms were designed and then examined separately, giving them a similar input signal that was given to the unknown system. The difference between the system output signal and the adaptive filter output signal showed the performance of each filter when identifying an unknown system. The two adaptive filters were able to track the behavior of the system, but each showed certain advantages over the other. The RLS algorithm had the advantage of faster convergence and fewer steady-state errors than the LMS algorithm, but the LMS algorithm had the advantage of less computational complexity

From Model-Based to Data-Driven Discrete-Time Iterative Learning Control

This dissertation presents a series of new results of iterative learning control (ILC) that progresses from model-based ILC algorithms to data-driven ILC algorithms. ILC is a type of trial-and-error algorithm to learn by repetitions in practice to follow a pre-defined finite-time maneuver with high tracking accuracy. Mathematically ILC constructs a contraction mapping between the tracking errors of successive iterations, and aims to converge to a tracking accuracy approaching the reproducibility level of the hardware. It produces feedforward commands based on measurements from previous iterations to eliminates tracking errors from the bandwidth limitation of these feedback controllers, transient responses, model inaccuracies, unknown repeating disturbance, etc. Generally, ILC uses an a priori model to form the contraction mapping that guarantees monotonic decay of the tracking error. However, un-modeled high frequency dynamics may destabilize the control system. The existing infinite impulse response filtering techniques to stop the learning at such frequencies, have initial condition issues that can cause an otherwise stable ILC law to become unstable. A circulant form of zero-phase filtering for finite-time trajectories is proposed here to avoid such issues. This work addresses the problem of possible lack of stability robustness when ILC uses an imperfect a prior model. Besides the computation of feedforward commands, measurements from previous iterations can also be used to update the dynamic model. In other words, as the learning progresses, an iterative data-driven model development is made. This leads to adaptive ILC methods. An indirect adaptive linear ILC method to speed up the desired maneuver is presented here. The updates of the system model are realized by embedding an observer in ILC to estimate the system Markov parameters. This method can be used to increase the productivity or to produce high tracking accuracy when the desired trajectory is too fast for feedback control to be effective. When it comes to nonlinear ILC, data is used to update a progression of models along a homotopy, i.e., the ILC method presented in this thesis uses data to repeatedly create bilinear models in a homotopy approaching the desired trajectory. The improvement here makes use of Carleman bilinearized models to capture more nonlinear dynamics, with the potential for faster convergence when compared to existing methods based on linearized models. The last work presented here finally uses model-free reinforcement learning (RL) to eliminate the need for an a priori model. It is analogous to direct adaptive control using data to directly produce the gains in the ILC law without use of a model. An off-policy RL method is first developed by extending a model-free model predictive control method and then applied in the trial domain for ILC. Adjustments of the ILC learning law and the RL recursion equation for state-value function updates allow the collection of enough data while improving the tracking accuracy without much safety concerns. This algorithm can be seen as the first step to bridge ILC and RL aiming to address nonlinear systems

New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use