Data-Driven Control of Stochastic Systems: An Innovation Estimation Approach

Recent years have witnessed a booming interest in the data-driven paradigm for predictive control. However, under noisy data ill-conditioned solutions could occur, causing inaccurate predictions and unexpected control behaviours. In this article, we explore a new route toward data-driven control of stochastic systems through active offline learning of innovation data, which gives an answer to the critical question of how to derive an optimal data-driven model from a noise-corrupted dataset. A generalization of the Willems' fundamental lemma is developed for non-parametric representation of input-output-innovation trajectories, provided realizations of innovation are precisely known. This yields a model-agnostic unbiased output predictor and paves the way for data-driven receding horizon control, whose behaviour is identical to the ``oracle" solution of certainty-equivalent model-based control with measurable states. For efficient innovation estimation, a new low-rank subspace identification algorithm is developed. Numerical simulations show that by actively learning innovation from input-output data, remarkable improvement can be made over present formulations, thereby offering a promising framework for data-driven control of stochastic systems

Direct data-driven design of LPV controllers with soft performance specifications

If only experimental measurements are available, direct data-driven control design becomes an appealing approach, as control performance is directly optimized based on the collected samples. The direct synthesis of a feedback controller from input-output data typically requires the blind choice of a reference model, that dictates the desired closed-loop behavior. In this paper, we propose a data-driven design scheme for linear parameter-varying (LPV) systems to account for soft performance specifications. Within this framework, the reference model is treated as an additional hyper-parameter to be learned from data, while the user is asked to provide only indicative performance constraints. The effectiveness of the proposed approach is demonstrated on a benchmark simulation case study, showing the improvement achieved by allowing for a flexible reference model.</p

Data driven decision support systems as a critical success factor for IT-Governance: an application in the financial sector

IT-Governance has a major impact not only on IT management but also and foremost in the Enterprises performance and control. Business uses IT agility, flexibility and innovation to pursue its objectives and to sustain its strategy. However being it more critical to the business, compliance forces IT on the opposite way of predictability, stability and regulations. Adding the current economical environment and the fact that most of the times IT departments are considered cost centres, IT-Governance decisions become more important and critical. Current IT-Governance research and practise is mainly based on management techniques and principles, leaving a gap for the contribution of information systems to IT-Governance enhancement. This research intends to provide an answer to IT-Governance requirements using Data Driven Decision Support Systems based on dimensional models. This seems a key factor to improve the IT-Governance decision making process. To address this research opportunity we have considered IT-Governance research (Peter Weill), best practises (ITIL), Body of Knowledge (PMBOK) and frameworks (COBIT). Key IT-Governance processes (Change Management, Incident Management, Project Development and Service Desk Management) were studied and key process stakeholders were interviewed. Based on the facts gathered, dimensional models (data marts) were modelled and developed to answer to key improvement requirements on each IT-Governance process. A Unified Dimensional Model (IT-Governance Data warehouse) was materialized. To assess the Unified Dimensional Model, the model was applied in a bank in real working conditions. The resulting model implementation was them assessed against Peter Weill‘s Governance IT Principles.Assessment results revealed that the model satisfies all the IT-Governance Principles. The research project enables to conclude that the success of IT-Governance implementation may be fostered by Data Driven Decision Support Systems implemented using Unified Dimensional Model concepts and based on best practises, frameworks and body of knowledge that enable process oriented, data driven decision support

Iterative learning control of crystallisation systems

Under the increasing pressure of issues like reducing the time to market, managing lower production costs, and improving the flexibility of operation, batch process industries thrive towards the production of high value added commodity, i.e. specialty chemicals, pharmaceuticals, agricultural, and biotechnology enabled products. For better design, consistent operation and improved control of batch chemical processes one cannot ignore the sensing and computational blessings provided by modern sensors, computers, algorithms, and software. In addition, there is a growing demand for modelling and control tools based on process operating data. This study is focused on developing process operation data-based iterative learning control (ILC) strategies for batch processes, more specifically for batch crystallisation systems. In order to proceed, the research took a step backward to explore the existing control strategies, fundamentals, mechanisms, and various process analytical technology (PAT) tools used in batch crystallisation control. From the basics of the background study, an operating data-driven ILC approach was developed to improve the product quality from batch-to-batch. The concept of ILC is to exploit the repetitive nature of batch processes to automate recipe updating using process knowledge obtained from previous runs. The methodology stated here was based on the linear time varying (LTV) perturbation model in an ILC framework to provide a convergent batch-to-batch improvement of the process performance indicator. In an attempt to create uniqueness in the research, a novel hierarchical ILC (HILC) scheme was proposed for the systematic design of the supersaturation control (SSC) of a seeded batch cooling crystalliser. This model free control approach is implemented in a hierarchical structure by assigning data-driven supersaturation controller on the upper level and a simple temperature controller in the lower level. In order to familiarise with other data based control of crystallisation processes, the study rehearsed the existing direct nucleation control (DNC) approach. However, this part was more committed to perform a detailed strategic investigation of different possible structures of DNC and to compare the results with that of a first principle model based optimisation for the very first time. The DNC results in fact outperformed the model based optimisation approach and established an ultimate guideline to select the preferable DNC structure. Batch chemical processes are distributed as well as nonlinear in nature which need to be operated over a wide range of operating conditions and often near the boundary of the admissible region. As the linear lumped model predictive controllers (MPCs) often subject to severe performance limitations, there is a growing demand of simple data driven nonlinear control strategy to control batch crystallisers that will consider the spatio-temporal aspects. In this study, an operating data-driven polynomial chaos expansion (PCE) based nonlinear surrogate modelling and optimisation strategy was presented for batch crystallisation processes. Model validation and optimisation results confirmed this approach as a promise to nonlinear control. The evaluations of the proposed data based methodologies were carried out by simulation case studies, laboratory experiments and industrial pilot plant experiments. For all the simulation case studies a detailed mathematical models covering reaction kinetics and heat mass balances were developed for a batch cooling crystallisation system of Paracetamol in water. Based on these models, rigorous simulation programs were developed in MATLAB®, which was then treated as the real batch cooling crystallisation system. The laboratory experimental works were carried out using a lab scale system of Paracetamol and iso-Propyl alcohol (IPA). All the experimental works including the qualitative and quantitative monitoring of the crystallisation experiments and products demonstrated an inclusive application of various in situ process analytical technology (PAT) tools, such as focused beam reflectance measurement (FBRM), UV/Vis spectroscopy and particle vision measurement (PVM) as well. The industrial pilot scale study was carried out in GlaxoSmithKline Bangladesh Limited, Bangladesh, and the system of experiments was Paracetamol and other powdered excipients used to make paracetamol tablets. The methodologies presented in this thesis provide a comprehensive framework for data-based dynamic optimisation and control of crystallisation processes. All the simulation and experimental evaluations of the proposed approaches emphasised the potential of the data-driven techniques to provide considerable advances in the current state-of-the-art in crystallisation control

Combustion Phasing Modeling for Control of Spark-Assisted Compression Ignition Engines

Substantial fuel economy improvements for light-duty automotive engines demand novel combustion strategies. Low temperature combustion (LTC) demonstrates potential for significant fuel efficiency improvement; however, control complexity is an impediment for real-world transient operation. Spark-assisted compression ignition (SACI) is an LTC strategy that applies a deflagration flame to generate sufficient energy to trigger autoignition in the remaining charge. For other LTC strategies, control of autoignition timing is difficult as there is no direct actuator for combustion phasing. SACI addresses this challenge by using a spark plug to initiate a flame that then triggers autoignition in a significant portion of the charge. The flame propagation phase limits the rate of cylinder pressure increase, while autoignition rapidly completes combustion. High dilution is generally required to maintain production-feasible reaction rates. This high dilution, however, increases the likelihood of flame quench, and therefore potential misfires. Mitigating these competing constraints requires careful mixture preparation strategies for SACI to be feasible in production. Operating a practical engine within this restrictive regime is a key modeling and control challenge. Current models are not sufficient for control-oriented work such as calibration optimization, transient control strategy development, and real-time control. To resolve the modeling challenge, a fast-running cylinder model is developed and presented in this work. It comprises of five bulk gas states and a fuel stratification model comprising of ten equal-mass zones within the cylinder. The zones are quasi-dimensional, and their state varies with crank angle to capture the effect of fuel spray and mixing. For each zone, combustion submodels predict flame propagation burn duration, autoignition phasing, and the concentration of oxides of nitrogen. During the development of the combustion submodels, both physics-based and data-driven techniques are considered. However, the best balance between accuracy and computational expense leads to the nearly exclusive selection of data-driven techniques. The data-driven models are artificial neural networks (ANNs), trained to an experimentally-validated one-dimensional (1D) engine reference model. The simplified model matches the reference 1D engine model with an R2 value of 70‒96% for key combustion parameters. The model requires 0.8 seconds to perform a single case, a 99.6% reduction from the reference 1D engine model. The reduced model simulation time enables rapid exploration of the control space. Over 250,000 cases are evaluated across the entire range of actuator positions. From these results, a transient-capable calibration is formulated. To evaluate the strength of the steady-state calibration, it is operated over a tip-in and tip-out. The response to the transients required little adjustment, suggesting the steady-state calibration is robust. The model also demonstrates the capability to adapt in-cylinder state and spark timing to offset combustion phasing disturbances. This positive performance suggests the candidate model developed in this work retains sufficient accuracy to be beneficial for control-oriented objectives. There are four contributions of this research: 1) a demonstration of the impact of combustion fundamentals on SACI combustion, 2) an identification of suitable techniques for data-driven modeling, 3) a quasi-dimensional fuel stratification model for radially-stratified engines, and 4) a comprehensive cylinder model that maintains high accuracy despite substantially reduced computational expense

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

FocusFlow: Boosting Key-Points Optical Flow Estimation for Autonomous Driving

Key-point-based scene understanding is fundamental for autonomous driving applications. At the same time, optical flow plays an important role in many vision tasks. However, due to the implicit bias of equal attention on all points, classic data-driven optical flow estimation methods yield less satisfactory performance on key points, limiting their implementations in key-point-critical safety-relevant scenarios. To address these issues, we introduce a points-based modeling method that requires the model to learn key-point-related priors explicitly. Based on the modeling method, we present FocusFlow, a framework consisting of 1) a mix loss function combined with a classic photometric loss function and our proposed Conditional Point Control Loss (CPCL) function for diverse point-wise supervision; 2) a conditioned controlling model which substitutes the conventional feature encoder by our proposed Condition Control Encoder (CCE). CCE incorporates a Frame Feature Encoder (FFE) that extracts features from frames, a Condition Feature Encoder (CFE) that learns to control the feature extraction behavior of FFE from input masks containing information of key points, and fusion modules that transfer the controlling information between FFE and CFE. Our FocusFlow framework shows outstanding performance with up to +44.5% precision improvement on various key points such as ORB, SIFT, and even learning-based SiLK, along with exceptional scalability for most existing data-driven optical flow methods like PWC-Net, RAFT, and FlowFormer. Notably, FocusFlow yields competitive or superior performances rivaling the original models on the whole frame. The source code will be available at https://github.com/ZhonghuaYi/FocusFlow_official.Comment: The source code of FocusFlow will be available at https://github.com/ZhonghuaYi/FocusFlow_officia

Compressor Scheduling and Pressure Control for an Alternating Aeration Activated Sludge Process - a Simulation Study Validated on Plant Data:Wastewater Treatment and Reuse

Aiming at reducing their emissions, wastewater treatment plants (WWTP) seek to reduce their energy consumption, where a large amount is used for the aeration. The case plant, Grindsted WWTP uses an alternating aeration strategy, with a common air supply system facilitating the process in four aeration tanks and thus making optimisation challenging. In this work, a nonlinear model of the air supply system is designed, in which multiple key parameters are estimated by data-driven optimization. Subsequently, a model-based control strategy for scheduling of compressors and desired airflow is proposed, to save energy without compromising the aeration performance. The strategy is based upon partly static- partly dynamic models of the compressors, describing their efficiency in terms of system head and volumetric airflow rate. The simulation study uses real plant data and shows great potential for improvement of energy efficiency, regardless of the aeration pattern in any of the four process tanks, and furthermore contributes to a reduction in compressor restarts per day. The proposed method is applicable to other WWTP with multiple compressors in the air supply system, as this study is conducted using first principle models validated on data from the daily operation

Machine Learning for Load Profile Data Analytics and Short-term Load Forecasting

Short-term load forecasting (STLF) is a key issue for the operation and dispatch of day ahead energy market. It is a prerequisite for the economic operation of power systems and the basis of dispatching and making startup-shutdown plans, which plays a key role in the automatic control of power systems. Accurate power load forecasting not only help users choose a more appropriate electricity consumption scheme and reduces a lot of electric cost expenditure but also is conducive to optimizing the resources of power systems. This advantage helps while improving equipment utilization for reducing the production cost and improving the economic benefit, and improving power supply capability. Therefore, ultimately achieving the aim of efficient demand response program. This thesis outlines some machine learning based data driven models for STLF in smart grid. It also presents different policies and current statuses as well as future research direction for developing new STLF models. This thesis outlines three projects for load profile data analytics and machine learning based STLF models. First project is, load profile classification and determining load demand variability with the aim to estimate the load demand of a customer. In this project load profile data collected from smart meter are classified using recently developed extended nearest neighbor (ENN) algorithm. Here we have calculated generalized class wise statistics which will give the idea of load demand variability of a customer. Finally the load demand of a particular customer is estimated based on generalized class wise statistics, maximum load demand and minimum load demand. In the second project, a composite ENN model is proposed for STLF. The ENN model is proposed to improve the performance of k-nearest neighbor (kNN) algorithm based STLF models. In this project we have developed three individual models to process weather data i.e., temperature, social variables, and load demand data. The load demand is predicted separately for different input variables. Finally the load demand is forecasted from the weighted average of three models. The weights are determined based on the change in generalized class wise statistics. This projects provides a significant improvement in the performance of load forecasting accuracy compared to kNN based models. In the third project, an advanced data driven model is developed. Here, we have proposed a novel hybrid load forecasting model based on novel signal decomposition and correlation analysis. The hybrid model consists of improved empirical mode decomposition, T-Copula based correlation analysis. Finally we have employed deep belief network for making load demand forecasting. The results are compared with previous studies and it is evident that there is a significant improvement in mean absolute percentage error (MAPE) and root mean square error (RMSE)