Shaping of molecular weight distribution by iterative learning probability density function control strategies

A mathematical model is developed for the molecular weight distribution (MWD) of free-radical styrene polymerization in a simulated semi-batch reactor system. The generation function technique and moment method are employed to establish the MWD model in the form of Schultz-Zimmdistribution. Both static and dynamic models are described in detail. In order to achieve the closed-loop MWD shaping by output probability density function (PDF) control, the dynamic MWD model is further developed by a linear B-spline approximation. Based on the general form of the B-spline MWD model, iterative learning PDF control strategies have been investigated in order to improve the MWD control performance. Discussions on the simulation studies show the advantages and limitations of the methodology

Task-Driven Estimation and Control via Information Bottlenecks

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating the full state of the robot (e.g., a running robot might estimate joint angles and velocities, torso state, and position relative to a goal). However, full state representations are often excessively rich for the specific task at hand and can lead to significant computational inefficiency and brittleness to errors in state estimation. In contrast, we present an approach that eschews such rich representations and seeks to create task-driven representations. The key technical insight is to leverage the theory of information bottlenecks}to formalize the notion of a "task-driven representation" in terms of information theoretic quantities that measure the minimality of a representation. We propose novel iterative algorithms for automatically synthesizing (offline) a task-driven representation (given in terms of a set of task-relevant variables (TRVs)) and a performant control policy that is a function of the TRVs. We present online algorithms for estimating the TRVs in order to apply the control policy. We demonstrate that our approach results in significant robustness to unmodeled measurement uncertainty both theoretically and via thorough simulation experiments including a spring-loaded inverted pendulum running to a goal location.Comment: 9 pages, 4 figures, abridged version accepted to ICRA2019; Incorporates changes in final conference submissio