14,189 research outputs found
Model selection via worst-case criterion for nonlinear bounded-error estimation
International audienceIn this paper the problem of model selection for measurement purpose is studied. A new selection procedure in a deterministic framework is proposed. The problem of nonlinear bounded-error estimation is viewed as a set inversion procedure. As each candidate model structure leads to a specific set of admissible values of the measurement vector, the worts-case criterion is used to select the optimal model. The selection procedure is applied to a real measurement problem, grooves dimensioning using Remote Field Eddy Current (RFEC) inspection
Robust Control Structure Selection
Screening tools for control structure selection in the presence of model/plant mismatch are developed in the context of the Structured Singular Value (ÎĽ) theory. The developed screening tools are designed to aid engineers in the elimination of undesirable control structure candidates for which a robustly performing controller does not exist. Through application on a multicomponent distillation column, it is demonstrated that the developed screening tools can be effective in choosing an appropriate control structure while previously existing methods such as the Condition Number Criterion can lead to erroneous results
Analysis of error propagation in particle filters with approximation
This paper examines the impact of approximation steps that become necessary
when particle filters are implemented on resource-constrained platforms. We
consider particle filters that perform intermittent approximation, either by
subsampling the particles or by generating a parametric approximation. For such
algorithms, we derive time-uniform bounds on the weak-sense error and
present associated exponential inequalities. We motivate the theoretical
analysis by considering the leader node particle filter and present numerical
experiments exploring its performance and the relationship to the error bounds.Comment: Published in at http://dx.doi.org/10.1214/11-AAP760 the Annals of
Applied Probability (http://www.imstat.org/aap/) by the Institute of
Mathematical Statistics (http://www.imstat.org
A unified framework for solving a general class of conditional and robust set-membership estimation problems
In this paper we present a unified framework for solving a general class of
problems arising in the context of set-membership estimation/identification
theory. More precisely, the paper aims at providing an original approach for
the computation of optimal conditional and robust projection estimates in a
nonlinear estimation setting where the operator relating the data and the
parameter to be estimated is assumed to be a generic multivariate polynomial
function and the uncertainties affecting the data are assumed to belong to
semialgebraic sets. By noticing that the computation of both the conditional
and the robust projection optimal estimators requires the solution to min-max
optimization problems that share the same structure, we propose a unified
two-stage approach based on semidefinite-relaxation techniques for solving such
estimation problems. The key idea of the proposed procedure is to recognize
that the optimal functional of the inner optimization problems can be
approximated to any desired precision by a multivariate polynomial function by
suitably exploiting recently proposed results in the field of parametric
optimization. Two simulation examples are reported to show the effectiveness of
the proposed approach.Comment: Accpeted for publication in the IEEE Transactions on Automatic
Control (2014
Model selection uncertainty and detection of threshold effects
Inferences about the presence or absence of threshold type nonlinearities in TAR models are conducted within models whose lag length has been estimated in a preliminary stage. Typically the null hypothesis of linearity is then tested against a threshold alternative on which the estimated lag length is imposed on each regime. In this paper we evaluate the properties of test statistics for detecting the presence of threshold effects in autoregressive models when this model uncertainty is taken into account. We show that this approach may lead to important distortions when the underlying model has truly threshold effects by establishing the limiting properties of the estimated lag length in the mispecified linear autoregressive fit and assessing the impact of this model uncertainty on the power of the tests. We subsequently propose a full model selection based approach designed to jointly detect the presence of threshold effects and optimally specify its dynamics and compare its performance with the traditional test based approach.
Learning-based predictive control for linear systems: a unitary approach
A comprehensive approach addressing identification and control for
learningbased Model Predictive Control (MPC) for linear systems is presented.
The design technique yields a data-driven MPC law, based on a dataset collected
from the working plant. The method is indirect, i.e. it relies on a model
learning phase and a model-based control design one, devised in an integrated
manner. In the model learning phase, a twofold outcome is achieved: first,
different optimal p-steps ahead prediction models are obtained, to be used in
the MPC cost function; secondly, a perturbed state-space model is derived, to
be used for robust constraint satisfaction. Resorting to Set Membership
techniques, a characterization of the bounded model uncertainties is obtained,
which is a key feature for a successful application of the robust control
algorithm. In the control design phase, a robust MPC law is proposed, able to
track piece-wise constant reference signals, with guaranteed recursive
feasibility and convergence properties. The controller embeds multistep
predictors in the cost function, it ensures robust constraints satisfaction
thanks to the learnt uncertainty model, and it can deal with possibly
unfeasible reference values. The proposed approach is finally tested in a
numerical example
- …