Continuous-time self-tuning algorithms

This thesis proposes some new self-tuning algorithms. In contrast to the conventional discrete-time approach to self-tuning control, the continuous-time approach is used here, that is continuous-time design but digital implementation is used. The proposed underlying control methods are combined with a continuous-time version of the well-known discrete recursive least squares algorithms. The continuous-time estimation scheme is chosen to maintain the continuous-time nature of the algorithms. The first new algorithm proposed is emulator-based relay control (which has already been described in a paper by the author). The algorithm is based on the idea of constructing the switching surface by emulators; that is, unrealisable output derivatives are replaced by their emulated values. In particular, the relay is forced to operate in the sliding mode. In this case, it is shown that emulator-based control and its proposed relay version become equivalent in the sense that both give the same control law. The second new algorithm proposed is a continuous-time version of the discrete-time generalized predictive control (GPC) of Clarke et al (which has already been described in a paper by the author). The algorithm, continuous-time generalized predictive control (CGPC), is based on similar ideas to the GPC, however the formulation is very different. For example, the output prediction is accomplished by using the Taylor series expansion of the output and emulating the output derivatives involved. A detailed closed-loop analysis of this algorithm is also given. It is shown that the CGPC control law only changes the closed-loop pole locations leaving the open-loop zeros untouched (except one special case). It is also shown that LQ control can be considered in the CGPC framework. Further, the CGPC is extended to include some design polynomials so that the model-following and pole-placement control can be considered in the same framework. A third new algorithm, a relay version of the CGPC, is described. The method is based on the ideas of the emulator-based relay control and again it is shown that the CGPC and its relay version become equivalent when the relay operates in the sliding mode. Finally, the CGPC ideas are extended to the multivariable systems and the resulting closed-loop system is analysed in some detail. It is shown that some special choice of design parameters result in a decoupled closed-loop system for certain systems. In addition, it is shown that if the system is decouplable, it is possible to obtain model-following control. It is also shown that LQ control, as in the scalar case, can be considered in the same framework. An illustrative simulation study is also provided for all of the above methods throughout the thesis

Advances in PID Control

Since the foundation and up to the current state-of-the-art in control engineering, the problems of PID control steadily attract great attention of numerous researchers and remain inexhaustible source of new ideas for process of control system design and industrial applications. PID control effectiveness is usually caused by the nature of dynamical processes, conditioned that the majority of the industrial dynamical processes are well described by simple dynamic model of the first or second order. The efficacy of PID controllers vastly falls in case of complicated dynamics, nonlinearities, and varying parameters of the plant. This gives a pulse to further researches in the field of PID control. Consequently, the problems of advanced PID control system design methodologies, rules of adaptive PID control, self-tuning procedures, and particularly robustness and transient performance for nonlinear systems, still remain as the areas of the lively interests for many scientists and researchers at the present time. The recent research results presented in this book provide new ideas for improved performance of PID control applications

Multi-objective LQR with Optimum Weight Selection to Design FOPID Controllers for Delayed Fractional Order Processes

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this record.An optimal trade-off design for fractional order (FO)-PID controller is proposed in this paper with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain control objectives. The deviation of the state trajectories and control signal are automatically enforced by the LQR. A class of delayed FO systems with single non-integer order element has been controlled here which exhibit both sluggish and oscillatory open loop responses. The FO time delay processes are controlled within a multi-objective optimization (MOO) formulation of LQR based FOPID design. The time delays in the FO models are handled by two analytical formulations of designing optimal quadratic regulator for delayed systems. A comparison is made between the two approaches of LQR design for the stabilization of time-delay systems in the context of FOPID controller tuning. The MOO control design methodology yields the Pareto optimal trade-off solutions between the tracking performance for unit set-point change and total variation (TV) of the control signal. Numerical simulations are provided to compare the merits of the two delay handling techniques in the multi-objective LQR-FOPID design, while also showing the capability of load disturbance suppression using these optimal controllers. Tuning rules are then formed for the optimal LQR-FOPID controller knobs, using the median of the non-dominated Pareto solution to handle delays FO processes

Adaptive Feedforward Compensation Algorithms for Active Vibration Control with Mechanical Coupling and Local Feedback - a unified approach

Adaptive feedforward broadband vibration (or noise) compensation is currently used when a correlated measurement with the disturbance (an image of the disturbance) is available. Most of the active vibration control systems feature an internal "positive" mechanical feedback between the compensation system and the reference source (a correlated measurement with the disturbance). Such systems have often also a feedback control loop for reducing the effect of disturbances. Therefore the adaptive feedforward compensation algorithms should take into account this structure. For stability reasons the adaptation algorithms requires the implementation of a filter on observed data or a filtering of the residual acceleration in order to satisfy some passivity conditions. The paper proposes new algorithms for the adaptive feedforward compensation in this context with both filtering of data and of the residual acceleration and using an "Integral + Proportional" (IP) adaptation as a means for accelerating the transients as well as for relaxing the positive real conditions required by the stability analysis. The paper also shows that the main interest in filtering the residual acceleration is to shape in the frequency domain the power spectral density (PSD) of the residual acceleration. The algorithms have been applied to an active vibration control (AVC) system and real time results illustrating the advantages of the proposed algorithms are presented

Optimisation of stand-alone hydrogen-based renewable energy systems using intelligent techniques

Wind and solar irradiance are promising renewable alternatives to fossil fuels due to their availability and topological advantages for local power generation. However, their intermittent and unpredictable nature limits their integration into energy markets. Fortunately, these disadvantages can be partially overcome by using them in combination with energy storage and back-up units. However, the increased complexity of such systems relative to single energy systems makes an optimal sizing method and appropriate Power Management Strategy (PMS) research priorities. This thesis contributes to the design and integration of stand-alone hybrid renewable energy systems by proposing methodologies to optimise the sizing and operation of hydrogen-based systems. These include using intelligent techniques such as Genetic Algorithm (GA), Particle Swarm Optimisation (PSO) and Neural Networks (NNs). Three design aspects: component sizing, renewables forecasting, and operation coordination, have been investigated. The thesis includes a series of four journal articles. The first article introduced a multi-objective sizing methodology to optimise standalone, hydrogen-based systems using GA. The sizing method was developed to calculate the optimum capacities of system components that underpin appropriate compromise between investment, renewables penetration and environmental footprint. The system reliability was assessed using the Loss of Power Supply Probability (LPSP) for which a novel modification was introduced to account for load losses during transient start-up times for the back-ups. The second article investigated the factors that may influence the accuracy of NNs when applied to forecasting short-term renewable energy. That study involved two NNs: Feedforward, and Radial Basis Function in an investigation of the effect of the type, span and resolution of training data, and the length of training pattern, on shortterm wind speed prediction accuracy. The impact of forecasting error on estimating the available wind power was also evaluated for a commercially available wind turbine. The third article experimentally validated the concept of a NN-based (predictive) PMS. A lab-scale (stand-alone) hybrid energy system, which consisted of: an emulated renewable power source, battery bank, and hydrogen fuel cell coupled with metal hydride storage, satisfied the dynamic load demand. The overall power flow of the constructed system was controlled by a NN-based PMS which was implemented using MATLAB and LabVIEW software. The effects of several control parameters, which are either hardware dependent or affect the predictive algorithm, on system performance was investigated under the predictive PMS, this was benchmarked against a rulebased (non-intelligent) strategy. The fourth article investigated the potential impact of NN-based PMS on the economic and operational characteristics of such hybrid systems. That study benchmarked a rule-based PMS to its (predictive) counterpart. In addition, the effect of real-time fuel cell optimisation using PSO, when applied in the context of predictive PMS was also investigated. The comparative analysis was based on deriving the cost of energy, life cycle emissions, renewables penetration, and duty cycles of fuel cell and electrolyser units. The effects of other parameters such the LPSP level, prediction accuracy were also investigated. The developed techniques outperformed traditional approaches by drawing upon complex artificial intelligence models. The research could underpin cost-effective, reliable power supplies to remote communities as well as reducing the dependence on fossil fuels and the associated environmental footprint

Distributed optimal and predictive control methods for networks of dynamic systems

Several recent approaches to distributed control design over networks of interconnected dynamic systems rely on certain assumptions, such as identical subsystem dynamics, absence of dynamical couplings, linear dynamics and undirected interaction schemes. In this thesis, we investigate systematic methods for relaxing a number of simplifying factors leading to a unifying approach for solving general distributed-control stabilization problems of networks of dynamic agents. We show that the gain-margin property of LQR control holds for complex multiplicative input perturbations and a generic symmetric positive definite input weighting matrix. Proving also that the potentially non-simple structure of the Laplacian matrix can be neglected for stability analysis and control design, we extend two well-known distributed LQR-based control methods originally established for undirected networks of identical linear systems, to the directed case. We then propose a distributed feedback method for tackling large-scale regulation problems of a general class of interconnected non-identical dynamic agents with undirected and directed topology. In particular, we assume that local agents share a minimal set of structural properties, such as input dimension, state dimension and controllability indices. Our approach relies on the solution of certain model matching type problems using local linear state-feedback and input matrix transformations which map the agent dynamics to a target system, selected to minimize the joint control effort of the local feedback-control schemes. By adapting well-established distributed LQR control design methodologies to our framework, the stabilization problem of a network of non-identical dynamical agents is solved. We thereafter consider a networked scheme synthesized by multiple agents with nonlinear dynamics. Assuming that agents are feedback linearizable in a neighborhood near their equilibrium points, we propose a nonlinear model matching control design for stabilizing networks of multiple heterogeneous nonlinear agents. Motivated by the structure of a large-scale LQR optimal problem, we propose a stabilizing distributed state-feedback controller for networks of identical dynamically coupled linear agents. First, a fully centralized controller is designed which is subsequently substituted by a distributed state-feedback gain with sparse structure. The control scheme is obtained byoptimizing an LQR performance index with a tuning parameter utilized to emphasize/deemphasize relative state difference between coupled systems. Sufficient conditions for stability of the proposed scheme are derived based on the inertia of a convex combination of two Hurwitz matrices. An extended simulation study involving distributed load frequency control design of a multi-area power network, illustrates the applicability of the proposed method. Finally, we propose a fully distributed consensus-based model matching scheme adapted to a model predictive control setting for tackling a structured receding horizon regulation problem