543,915 research outputs found
On the importance of nonlinear modeling in computer performance prediction
Computers are nonlinear dynamical systems that exhibit complex and sometimes
even chaotic behavior. The models used in the computer systems community,
however, are linear. This paper is an exploration of that disconnect: when
linear models are adequate for predicting computer performance and when they
are not. Specifically, we build linear and nonlinear models of the processor
load of an Intel i7-based computer as it executes a range of different
programs. We then use those models to predict the processor loads forward in
time and compare those forecasts to the true continuations of the time seriesComment: Appeared in "Proceedings of the 12th International Symposium on
Intelligent Data Analysis
On neural networks in identification and control of dynamic systems
This paper presents a discussion of the applicability of neural networks in the identification and control of dynamic systems. Emphasis is placed on the understanding of how the neural networks handle linear systems and how the new approach is related to conventional system identification and control methods. Extensions of the approach to nonlinear systems are then made. The paper explains the fundamental concepts of neural networks in their simplest terms. Among the topics discussed are feed forward and recurrent networks in relation to the standard state-space and observer models, linear and nonlinear auto-regressive models, linear, predictors, one-step ahead control, and model reference adaptive control for linear and nonlinear systems. Numerical examples are presented to illustrate the application of these important concepts
Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation
The control of nonlinear dynamical systems remains a major challenge for
autonomous agents. Current trends in reinforcement learning (RL) focus on
complex representations of dynamics and policies, which have yielded impressive
results in solving a variety of hard control tasks. However, this new
sophistication and extremely over-parameterized models have come with the cost
of an overall reduction in our ability to interpret the resulting policies. In
this paper, we take inspiration from the control community and apply the
principles of hybrid switching systems in order to break down complex dynamics
into simpler components. We exploit the rich representational power of
probabilistic graphical models and derive an expectation-maximization (EM)
algorithm for learning a sequence model to capture the temporal structure of
the data and automatically decompose nonlinear dynamics into stochastic
switching linear dynamical systems. Moreover, we show how this framework of
switching models enables extracting hierarchies of Markovian and
auto-regressive locally linear controllers from nonlinear experts in an
imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro
Koopman invariant subspaces and finite linear representations of nonlinear dynamical systems for control
In this work, we explore finite-dimensional linear representations of
nonlinear dynamical systems by restricting the Koopman operator to an invariant
subspace. The Koopman operator is an infinite-dimensional linear operator that
evolves observable functions of the state-space of a dynamical system [Koopman
1931, PNAS]. Dominant terms in the Koopman expansion are typically computed
using dynamic mode decomposition (DMD). DMD uses linear measurements of the
state variables, and it has recently been shown that this may be too
restrictive for nonlinear systems [Williams et al. 2015, JNLS]. Choosing
nonlinear observable functions to form an invariant subspace where it is
possible to obtain linear models, especially those that are useful for control,
is an open challenge.
Here, we investigate the choice of observable functions for Koopman analysis
that enable the use of optimal linear control techniques on nonlinear problems.
First, to include a cost on the state of the system, as in linear quadratic
regulator (LQR) control, it is helpful to include these states in the
observable subspace, as in DMD. However, we find that this is only possible
when there is a single isolated fixed point, as systems with multiple fixed
points or more complicated attractors are not globally topologically conjugate
to a finite-dimensional linear system, and cannot be represented by a
finite-dimensional linear Koopman subspace that includes the state. We then
present a data-driven strategy to identify relevant observable functions for
Koopman analysis using a new algorithm to determine terms in a dynamical system
by sparse regression of the data in a nonlinear function space [Brunton et al.
2015, arxiv]; we show how this algorithm is related to DMD. Finally, we
demonstrate how to design optimal control laws for nonlinear systems using
techniques from linear optimal control on Koopman invariant subspaces.Comment: 20 pages, 5 figures, 2 code
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Cooperative distributed LQR control for longitudinal flight of a formation of non-identical low-speed experimental UAV's
In this paper, an established distributed LQR control methodology applied to identical linear systems is extended to control arbitrary formations of non-identical UAV's. The nonlinear model of a low-speed experimental UAV known as X-RAE1 is utilized for simulation purposes. The formation is composed of four dynamically decoupled X-RAE1 which differ in their masses and their products of inertia about the xz plane. In order to design linear controllers the nonlinear models are linearized for horizontal flight conditions at constant velocity. State-feedback, input and similarity transformations are applied to solve model-matching type problems and compensate for the mismatch in the linearized models due to mass and symmetry discrepancies among the X-RAE1 models. It is shown that the method is based on the controllability indices of the linearized models. Distributed LQR control employed in networks of identical linear systems is appropriately adjusted and applied to the formation of the nonidentical UAV's. The applicability of the approach is illustrated via numerous simulation results
A hierarchy for modeling high speed propulsion systems
General research efforts on reduced order propulsion models for control systems design are overviewed. Methods for modeling high speed propulsion systems are discussed including internal flow propulsion systems that do not contain rotating machinery, such as inlets, ramjets, and scramjets. The discussion is separated into four areas: (1) computational fluid dynamics models for the entire nonlinear system or high order nonlinear models; (2) high order linearized models derived from fundamental physics; (3) low order linear models obtained from the other high order models; and (4) low order nonlinear models (order here refers to the number of dynamic states). Included in the discussion are any special considerations based on the relevant control system designs. The methods discussed are for the quasi-one-dimensional Euler equations of gasdynamic flow. The essential nonlinear features represented are large amplitude nonlinear waves, including moving normal shocks, hammershocks, simple subsonic combustion via heat addition, temperature dependent gases, detonations, and thermal choking. The report also contains a comprehensive list of papers and theses generated by this grant
ANALYSIS OF LINEAR CONTROL FOR NONLINEAR SYSTEM: CONTINUOUS STIRRED TANK REACTOR (CSTR)
Linear control may be favorable over nonlinear control because linear design techniques greatly facilitate the controller design process and because linear controllers impose lower requirements on the implementation and operation as compared to nonlinear controllers. It is therefore a tempting idea to use linear models and linear controller design methods also for nonlinear systems. It is for instance common practice in control engineering to use models obtained from linearization instead of complete nonlinear models. However, in order to guarantee the suitability of a linear model or the proper functioning of a linear controller in presence of the model due to linearization, a rigorous justification is required. This dissertation presents a general framework to design linear controller for nonlinear system based on linear model that guarantees stability for the nonlinear closed loop. Prior to controller design, a nominal linear model has to be derived. While the linearization is a common choice as a linear model for a nonlinear system, it does not need to be the best choice for a given region of operation.
This dissertation has two main areas of contribution. The first area is the derivation and assessment of linear model for nonlinear system and the second area is the utilization of this information for controller design. The main contribution of the first part of this dissertation is to identify a novel unifying framework for nonlinearity assessment. In the second part of this dissertation, stability conditions and controller design procedures for linear control of nonlinear systems are presented.
The results of this dissertation build a bridge between nonlinearity assessment and control theory. The key feature of the proposed methods is thereby to bring together nonlinearity measures, the development and assessment of linear models for nonlinear systems and the design of linear controllers for nonlinear systems under a unifying framework
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