27,418 research outputs found
A fractional representation approach to the robust regulation problem for MIMO systems
The aim of this paper is in developing unifying frequency domain theory for
robust regulation of MIMO systems. The main theoretical results achieved are a
new formulation of the internal model principle, solvability conditions for the
robust regulation problem, and a parametrization of all robustly regulating
controllers. The main results are formulated with minimal assumptions and
without using coprime factorizations thus guaranteeing applicability with a
very general class of systems. In addition to theoretical results, the design
of robust controllers is addressed. The results are illustrated by two examples
involving a delay and a heat equation.Comment: 23 pages, 3 figures, submitted to International Journal of Robust and
Nonlinear Contro
Mathematical control of complex systems
Copyright © 2013 ZidongWang et al.This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
A fractional representation approach to the robust regulation problem for SISO systems
The purpose of this article is to develop a new approach to the robust
regulation problem for plants which do not necessarily admit coprime
factorizations. The approach is purely algebraic and allows us dealing with a
very general class of systems in a unique simple framework. We formulate the
famous internal model principle in a form suitable for plants defined by
fractional representations which are not necessarily coprime factorizations. By
using the internal model principle, we are able to give necessary and
sufficient solvability conditions for the robust regulation problem and to
parameterize all robustly regulating controllers.Comment: 13 pages, 1 figure, to appear in Systems & Control Letter
Flexible couplings: diffusing neuromodulators and adaptive robotics
Recent years have seen the discovery of freely diffusing gaseous neurotransmitters, such as nitric oxide (NO), in biological nervous systems. A type of artificial neural network (ANN) inspired by such gaseous signaling, the GasNet, has previously been shown to be more evolvable than traditional ANNs when used as an artificial nervous system in an evolutionary robotics setting, where evolvability means consistent speed to very good solutions¿here, appropriate sensorimotor behavior-generating systems. We present two new versions of the GasNet, which take further inspiration from the properties of neuronal gaseous signaling. The plexus model is inspired by the extraordinary NO-producing cortical plexus structure of neural fibers and the properties of the diffusing NO signal it generates. The receptor model is inspired by the mediating action of neurotransmitter receptors. Both models are shown to significantly further improve evolvability. We describe a series of analyses suggesting that the reasons for the increase in evolvability are related to the flexible loose coupling of distinct signaling mechanisms, one ¿chemical¿ and one ¿electrical.
Probabilistic Model Checking for Energy Analysis in Software Product Lines
In a software product line (SPL), a collection of software products is
defined by their commonalities in terms of features rather than explicitly
specifying all products one-by-one. Several verification techniques were
adapted to establish temporal properties of SPLs. Symbolic and family-based
model checking have been proven to be successful for tackling the combinatorial
blow-up arising when reasoning about several feature combinations. However,
most formal verification approaches for SPLs presented in the literature focus
on the static SPLs, where the features of a product are fixed and cannot be
changed during runtime. This is in contrast to dynamic SPLs, allowing to adapt
feature combinations of a product dynamically after deployment. The main
contribution of the paper is a compositional modeling framework for dynamic
SPLs, which supports probabilistic and nondeterministic choices and allows for
quantitative analysis. We specify the feature changes during runtime within an
automata-based coordination component, enabling to reason over strategies how
to trigger dynamic feature changes for optimizing various quantitative
objectives, e.g., energy or monetary costs and reliability. For our framework
there is a natural and conceptually simple translation into the input language
of the prominent probabilistic model checker PRISM. This facilitates the
application of PRISM's powerful symbolic engine to the operational behavior of
dynamic SPLs and their family-based analysis against various quantitative
queries. We demonstrate feasibility of our approach by a case study issuing an
energy-aware bonding network device.Comment: 14 pages, 11 figure
Robust nonlinear control of vectored thrust aircraft
An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations
System Level Synthesis
This article surveys the System Level Synthesis framework, which presents a
novel perspective on constrained robust and optimal controller synthesis for
linear systems. We show how SLS shifts the controller synthesis task from the
design of a controller to the design of the entire closed loop system, and
highlight the benefits of this approach in terms of scalability and
transparency. We emphasize two particular applications of SLS, namely
large-scale distributed optimal control and robust control. In the case of
distributed control, we show how SLS allows for localized controllers to be
computed, extending robust and optimal control methods to large-scale systems
under practical and realistic assumptions. In the case of robust control, we
show how SLS allows for novel design methodologies that, for the first time,
quantify the degradation in performance of a robust controller due to model
uncertainty -- such transparency is key in allowing robust control methods to
interact, in a principled way, with modern techniques from machine learning and
statistical inference. Throughout, we emphasize practical and efficient
computational solutions, and demonstrate our methods on easy to understand case
studies.Comment: To appear in Annual Reviews in Contro
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