Design of optimal equalizers and precoders for MIMO channels

Channel equalization has been extensively studied as a method of combating ISI and ICI for high speed MIMO data communication systems. This dissertation focuses on optimal channel equalization in the presence of non-white observation noises with unknown PSD but bounded power-norm. A worst-case approach to optimal design of channel equalizers leads to an equivalent optimal H-infinity filtering problem for the MIMO communication systems. An explicit design algorithm is derived which not only achieves the zero-forcing (ZF) condition, but also minimizes the RMS error between the transmitted symbols and the received symbols. The second part of this dissertation investigates the design of optimal precoders which minimize the bit error rate (BER) subject to a fixed transmit-power constraint for the multiple antennas downlink communication channels under the perfect reconstruction (PR) condition. The closed form solutions are derived and an efficient design algorithm is proposed. The performance evaluations indicate that the optimal precoder design for multiple antennas communication systems proposed herein is an attractive/reasonable alternative to the existing precoder design techniques

Robust adaptive sampled-data control design for MIMO systems: Applications in cyber-physical security

This dissertation extends the L1 adaptive control theory to sampled-data (SD) framework. Multi-input multi-output non-square (underactuated) systems are considered with different sampling rates for inputs and outputs. The sampled-data framework allows to address non-minimum phase systems, subject to less restrictive assumptions as compared to continuous time framework. It is shown that the closed-loop system can recover the response of a continuous-time reference system as the sampling time of the SD controller tends to zero. In this thesis, the L1 sampled data adaptive controller is integrated with the Simplex fault-tolerant architecture for resilient control of cyber-physical systems (CPSs). Detection and mitigation of zero-dynamics attacks are addressed and validated in flight tests of a quadrotor in Intelligent Robotics Laboratory of UIUC. The experiments show that the multirate L1 controller can e effectively detect stealthy zero-dynamics attacks and recover the stability of the perturbed system, where the single-rate conventional L1 adaptive controller fails. From the perspective of applications, the dissertation considers navigation and control of autonomous vehicles and proposes a two-loop framework, in which the high-level reference commands are limited by a saturation function, while the low-level controller tracks the reference by compensating for disturbances and uncertainties. A class of nested, uncertain, multi-input multi-output (MIMO) systems subject to reference command saturation, possibly with non-minimum phase zeros, is considered. Robust stability and performance of the overall closed-loop system with command saturation and multirate L1 adaptive controller are analyzed. Finally, a systematic analysis and synthesis method is proposed for the optimal design of filters in the L1 adaptive output-feedback structure, where the lowpass filter is the key to the trade-off between the performance and robustness of the closed-loop system. An optimization problem is formulated using the constraint on the input time-delay margin and a cost-function based on mixed L1/H2-norm performance measure. The optimization problem can be efficiently solved using linear/quadratic programming. We note that the framework of this dissertation and the multi-loop problem formulation of navigation and control of autonomous systems provide suitable synthesis and analysis tools for autonomous cyber-physical systems (CPSs), including self-driving cars, unmanned aerial vehicles (UAVs), and industrial/medical robots, to name just a few. The SD design facilitates the implementation of control laws on digital computers in CPSs, where the input/output signals are available at discrete time instances with different sampling rates

Time-and event-driven communication process for networked control systems: A survey

Copyright © 2014 Lei Zou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In recent years, theoretical and practical research topics on networked control systems (NCSs) have gained an increasing interest from many researchers in a variety of disciplines owing to the extensive applications of NCSs in practice. In particular, an urgent need has arisen to understand the effects of communication processes on system performances. Sampling and protocol are two fundamental aspects of a communication process which have attracted a great deal of research attention. Most research focus has been on the analysis and control of dynamical behaviors under certain sampling procedures and communication protocols. In this paper, we aim to survey some recent advances on the analysis and synthesis issues of NCSs with different sampling procedures (time-and event-driven sampling) and protocols (static and dynamic protocols). First, these sampling procedures and protocols are introduced in detail according to their engineering backgrounds as well as dynamic natures. Then, the developments of the stabilization, control, and filtering problems are systematically reviewed and discussed in great detail. Finally, we conclude the paper by outlining future research challenges for analysis and synthesis problems of NCSs with different communication processes.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Networked Control System Design and Parameter Estimation

Networked control systems (NCSs) are a kind of distributed control systems in which the data between control components are exchanged via communication networks. Because of the attractive advantages of NCSs such as reduced system wiring, low weight, and ease of system diagnosis and maintenance, the research on NCSs has received much attention in recent years. The first part (Chapter 2 - Chapter 4) of the thesis is devoted to designing new controllers for NCSs by incorporating the network-induced delays. The thesis also conducts research on filtering of multirate systems and identification of Hammerstein systems in the second part (Chapter 5 - Chapter 6). Network-induced delays exist in both sensor-to-controller (S-C) and controller-to-actuator (C-A) links. A novel two-mode-dependent control scheme is proposed, in which the to-be-designed controller depends on both S-C and C-A delays. The resulting closed-loop system is a special jump linear system. Then, the conditions for stochastic stability are obtained in terms of a set of linear matrix inequalities (LMIs) with nonconvex constraints, which can be efficiently solved by a sequential LMI optimization algorithm. Further, the control synthesis problem for the NCSs is considered. The definitions of H₂ and H∞ norms for the special system are first proposed. Also, the plant uncertainties are considered in the design. Finally, the robust mixed H₂/H∞ control problem is solved under the framework of LMIs. To compensate for both S-C and C-A delays modeled by Markov chains, the generalized predictive control method is modified to choose certain predicted future control signal as the current control effort on the actuator node, whenever the control signal is delayed. Further, stability criteria in terms of LMIs are provided to check the system stability. The proposed method is also tested on an experimental hydraulic position control system. Multirate systems exist in many practical applications where different sampling rates co-exist in the same system. The l₂-l∞ filtering problem for multirate systems is considered in the thesis. By using the lifting technique, the system is first transformed to a linear time-invariant one, and then the filter design is formulated as an optimization problem which can be solved by using LMI techniques. Hammerstein model consists of a static nonlinear block followed in series by a linear dynamic system, which can find many applications in different areas. New switching sequences to handle the two-segment nonlinearities are proposed in this thesis. This leads to less parameters to be estimated and thus reduces the computational cost. Further, a stochastic gradient algorithm based on the idea of replacing the unmeasurable terms with their estimates is developed to identify the Hammerstein model with two-segment nonlinearities. Finally, several open problems are listed as the future research directions

Design and implementation of event-based multi-rate controllers for networked control systems

Tesis por compendio[ES] Con esta tesis se pretende dar solución a algunos de los problemas más habituales que aparecen en los Sistemas de control basados en red (NCS) como son los retardos variables en el tiempo, las pérdidas y el desorden de paquetes, y la restricción de ancho de banda y de recursos computacionales y energéticos de los dispositivos que forman parte del sistema de control. Para ello se ha planteado la integración de técnicas de control multifrecuencial, de control basado en paquetes, de control basado en predictor y de control basado en eventos. Los diseños de control realizados se han simulado utilizando Matlab-Simulink y Truetime, se ha analizado su estabilidad mediante LMIs y QFT, y se han validado experimentalmente en un péndulo invertido, un robot cartesiano 3D y en robots móviles de bajo coste. El artículo 1 aborda el control basado en eventos, el cual minimiza el ancho de banda consumido en el NCS mediante un control basado en eventos periódicos y presenta un método para obtener sus parámetros óptimos para el sistema específico en que se utilice. Los artículos 2, 4 y 6 añaden el control basado en paquetes, así como el control multifrecuencia, que aborda problemas de falta de datos por bajo uso del sensor y los retardos, pérdidas y desórdenes de paquetes en la red. También afrontan, mediante tecnicas de predicción basadas en un filtro de Kalman multifrecuencia variable en el tiempo, los problemas de ruido y perturbaciones, así como la observación de los estados completos del sistema. El artículo 7 hace frente a un modelo no lineal que utiliza las anteriores soluciones junto con un filtro de Kalman extendido para presentar otro tipo de estructura para un vehículo autónomo que, gracias a la información futura obtenida mediante estas técnicas, puede realizar de forma remota tareas de alto nivel como es la toma de decisiones y la monitorización de variables. Los artículos 3 y 5, presentan una forma de obtener y analizar la respuesta en frecuencia de sistemas SISO multifrecuencia y estudian su comportamiento ante ciertas incertidumbres o problemas en la red haciendo uso de procedimientos QFT.[CA] Amb aquesta tesi es pretén donar solució a alguns dels problemes més habituals que apareixen als Sistemes de Control Basats en xarxa (NCS) com son els retards d'accés i transferència variables en el temps, les pèrdues y desordenament de paquets, i la restricció d'ampli de banda així com de recursos computacionals i energètics dels dispositius que foment part del sistema de control. Per tal de resoldre'ls s'ha plantejat la integració de tècniques de control multifreqüencial, de control basat en paquets, de control basat en predictor i de control basat en events. Els dissenys de control realitzats s'han simulat fent ús de Matlab-Simulink i de TrueTime, s'ha analitzat la seua estabilitat mitjançant LMIs i QFT, i s'han validat experimentalment en un pèndul invertit, un robot cartesià 3D i en robots mòbils de baix cost. L'article 1 aborda el control basat en events, el qual minimitza l'ampli de banda consumit a l'NCS mitjançant un control basat en events periòdics i presenta un mètode per a obtindré els seus paràmetres òptims per al sistema específic en el qual s'utilitza. Els articles 2, 4 i 6 afegeixen el control basat en paquets, així com el control multifreqüència, que aborda problemes de falta de dades per el baix us del sensor i els retards, pèrdues i desordre de paquets en la xarxa. També afronten, mitjançant tècniques de predicció basades en un filtre de Kalman multifreqüència variable en el temps. Els problemes de soroll i pertorbacions, així com la observació dels estats complets del sistema. L'article 7 fa referència a un model no lineal que utilitza les anteriors solucions junt a un filtre de Kalman estès per a presentar altre tipus d'estructura per a un vehicle autònom que, gracies a la informació futura obtinguda mitjançant aquestes tècniques, pot realitzar de manera remota tasques d'alt nivell com son la presa de decisions i la monitorització de variables. Els articles 3 y 5 presenten la manera d'obtindre i analitzar la resposta en frequencia de sistemes SISO multifreqüència i estudien el seu comportament front a certes incerteses o problemes en la xarxa fent us de procediments QFT.[EN] This thesis attempts to solve some of the most frequent issues that appear in Networked Control Systems (NCS), such as time-varying delays, packet losses and packet disorders and the bandwidth limitation. Other frequent problems are scarce computational and energy resources of the local system devices. Thus, it is proposed to integrate multirate control, packet-based control, predictor-based control and event-based control techniques. The control designs have been simulated using Matlab-Simulink and Truetime, the stability has been analysed by LMIs and QFT, and the experimental validation has been done on an inverted pendulum, a 3D cartesian robot and in low-cost mobile robots. Paper 1 addresses event-based control, which minimizes the bandwidth consumed in NCS through a periodic event-triggered control and presents a method to obtain the optimal parameters for the specific system used. Papers 2, 4 and 6 include packet-based control and multirate control, addressing problems such as network delays, packet dropouts and packet disorders, and the scarce data due to low sensor usage in order to save battery in sensing tasks and transmissions of the sensed data. Also addressed, is how despite the existence of measurement noise and disturbances, time-varying dual-rate Kalman filter based prediction techniques observe the complete state of the system. Paper 7 tackles a non-linear model that uses all the previous solutions together with an extended Kalman filter to present another type of structure for an autonomous vehicle that, due to future information obtained through these techniques, can remotely carry out high level tasks, such as decision making and monitoring of variables. Papers 3 and 5, present a method for obtaining and analyzing the SISO dual-rate frequency response and using QFT procedures to study its behavior when faced with specific uncertainties or network problems.This work was supported by the Spanish Ministerio de Economía y Competitividad under Grant referenced TEC2012-31506.Alcaina Acosta, JJ. (2020). Design and implementation of event-based multi-rate controllers for networked control systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159884TESISCompendi

Robust periodic disturbance compensation via multirate control

Master'sMASTER OF ENGINEERIN

Nonlinear and sampled data control with application to power systems

Sampled data systems have come into practical importance for a variety of reasons. The earliest of these had primarily to do with economy of design. A more recent surge of interest was due to increase utilization of digital computers as controllers in feedback systems. This thesis contributes some control design for a class of nonlinear system exhibition linear output. The solution of several nonlinear control problems required the cancellation of some intrinsic dynamics (so-called zero dynamics) of the plant under feedback. It results that the so-dened control will ensure stability in closed-loop if and only if the dynamics to cancel are stable. What if those dynamics are unstable? Classical control strategies through inversion might solve the problem while making the closed loop system unstable. This thesis aims to introduce a solution for such a problem. The main idea behind our work is to stabilize the nonminimum phase system in continuous- time and undersampling using zero dynamics concept. The overall work in this thesis is divided into two parts. In Part I, we introduce a feedback control designs for the input-output stabilization and the Disturbance Decoupling problems of Single Input Single Output nonlinear systems. A case study is presented, to illustrate an engineering application of results. Part II illustrates the results obtained based on the Articial Intelligent Systems in power system machines. We note that even though the use of some of the AI techniques such as Fuzzy Logic and Neural Network does not require the computation of the model of the application, but it will still suer from some drawbacks especially regarding the implementation in practical applications. An alternative used approach is to use control techniques such as PID in the approximated linear model. This design is very well known to be used, but it does not take into account the non-linearity of the model. In fact, it seems that control design that is based on nonlinear control provide better performances

Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems