Beyond the Waterbed Effect: Development of Fractional Order CRONE Control with Non-Linear Reset

In this paper a novel reset control synthesis method is proposed: CRONE reset control, combining a robust fractional CRONE controller with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved by creation of constant phase behaviour around bandwidth with the use of fractional operators, also allowing more freedom in shaping the open-loop frequency response. However, being a linear controller it suffers from the inevitable trade-off between robustness and performance as a result of the waterbed effect. Here reset control is introduced in the CRONE design to overcome the fundamental limitations. In the new controller design, reset phase advantage is approximated using describing function analysis and used to achieve better open-loop shape. Sufficient quadratic stability conditions are shown for the designed CRONE reset controllers and the control design is validated on a Lorentz-actuated nanometre precision stage. It is shown that for similar phase margin, better performance in terms of reference-tracking and noise attenuation can be achieved.Comment: American Control Conference 201

No More Differentiator in PID:Development of Nonlinear Lead for Precision Mechatronics

Industrial PID consists of three elements: Lag (integrator), Lead (Differentiator) and Low Pass Filters (LPF). PID being a linear control method is inherently bounded by the waterbed effect due to which there exists a trade-off between precision \& tracking, provided by Lag and LPF on one side and stability \& robustness, provided by Lead on the other side. Nonlinear reset strategies applied in Lag and LPF elements have been very effective in reducing this trade-off. However, there is lack of study in developing a reset Lead element. In this paper, we develop a novel lead element which provides higher precision and stability compared to the linear lead filter and can be used as a replacement for the same. The concept is presented and validated on a Lorentz-actuated nanometer precision stage. Improvements in precision, tracking and bandwidth are shown through two separate designs. Performance is validated in both time and frequency domain to ensure that phase margin achieved on the practical setup matches design theories.Comment: European Control Conference 201

'Constant in gain Lead in phase' element - Application in precision motion control

This work presents a novel 'Constant in gain Lead in phase' (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limit performance of PID and other linear controllers. This paper presents CgLp as a controlled nonlinear element which can be introduced within the framework of PID allowing for wide applicability and overcoming linear control limitations. Design of CgLp with generalized first order reset element (GFORE) and generalized second order reset element (GSORE) (introduced in this work) is presented using describing function analysis. A more detailed analysis of reset elements in frequency domain compared to existing literature is first carried out for this purpose. Finally, CgLp is integrated with PID and tested on one of the DOFs of a planar precision positioning stage. Performance improvement is shown in terms of tracking, steady-state precision and bandwidth

Complex order control for improved loop-shaping in precision positioning

This paper presents a complex order filter developed and subsequently integrated into a PID-based controller design. The nonlinear filter is designed with reset elements to have describing function based frequency response similar to that of a linear (practically non-implementable) complex order filter. This allows for a design which has a negative gain slope and a corresponding positive phase slope as desired from a loop-shaping controller-design perspective. This approach enables improvement in precision tracking without compromising the bandwidth or stability requirements. The proposed designs are tested on a planar precision positioning stage and performance compared with PID and other state-of-the-art reset based controllers to showcase the advantages of this filter

Dynamic load balancing based on live migration of virtual machines: Security threats and effects

Live migration of virtual machines (VMs) is the process of transitioning a VM from one virtual machine monitor (VMM) to another without halting the guest operating system, often between distinct physical machines, has opened new opportunities in computing. It allows a clean separation between hardware and software, and facilitates fault management, load balancing, and low-level system maintenance. Implemented by several existing virtualization products, live migration also aids in aspects such as high availability services, transparent mobility and consolidated management. While virtualization and live migration enable important new functionality, the combination introduces novel security challenges. A virtual machine monitor that incorporates a vulnerable implementation of live migration functionality may expose both the guest and host operating system to attack and result in a compromise of integrity. Given the large and increasing market for virtualization technology, a comprehensive understanding of virtual machine migration security is essential. So the main idea behind this thesis is to create a test environment that is suitable for experimenting and analyzing the security implications in case of exploitation of Live Migration of Virtual Machines. Using Live VM migration for dynamic load balancing or scheduling, this study determines workload hotspots in physical environment and through use of effective Live Migration process; tries to carry out resource profiling. By carrying out effective profiling, this thesis research is able to determine how much of each resource needs to be allocated to a VM. To understand exactly why process migration would not work in such scenarios and better understand Live VM Migration, this thesis tries to provide requisite incites as to which model is most appropriate for automatic load balancing for virtual machine infrastructure based on resource consumption. The security implications of exploiting the process of migration may end in unexpected results or results that are not noticeable. The scope of this thesis research is identifying these results and the causes for them

Computer control of an HF chirp radar

This thesis describes the interfacing of an IBM compatible microcomputer to a BR Communications chirp sounder. The need for this is twofold: Firstly for control of the sounder including automatic scheduling of operations, and secondly for data capture. A signal processing card inside the computer performs a Fast Fourier Transform on the sampled data from two phase matched receivers. The transformed data is then transferred to the host computer for further processing, display and storage on hard disk or magnetic tape, all in real time. Critical timing functions are provided by another card in the microcomputer, the timing controller. Built by the author, the design and operation of this sub-system is discussed in detail. Additional circuitry is required to perform antenna and filter switching, and a possible design thereof is also presented by the author. The completed system, comprising the chirp sounder, the PC environment, and the signal switching circuitry, has a dual purpose. It can operate as either a meteor radar, using a fixed frequency (currently 27,99 MHz), or as an advanced chirp ionosonde allowing frequency sweeps from 1,6 to 30 MHz. In the latter case fixed frequency doppler soundings are also possible. Examples of data recorded in the various modes are given