Robust eigenstructure assignment in geometric control theory

In this paper we employ the Rosenbrock system matrix pencil for the computation of output-nulling subspaces of linear time-invariant systems which appear in the solution of a large number of control and estimation problems. We also consider the problem of finding friends of these output-nulling subspaces, i.e., the feedback matrices that render such subspaces invariant with respect to the closed-loop map and output-nulling with respect to the output map, and which at the same time deliver a robust closed-loop eigenstructure. We show that the methods presented in this paper offer considerably more robust eigenstructure assignment than the other commonly used methods and algorithms

Repeated eigenstructure assignment in the computation of friends of output-nulling subspaces

This paper is concerned with the parameterisation of basis matrices and the simultaneous computation of friends of the output nulling subspaces V*, V*g and R* with the assignment of the corresponding inner and outer closed-loop free eigenstructure. Differently from the classical techniques presented in the literature so far on this topic, which are based on the standard pole assignment algorithms and are therefore applicable only in the non-defective case, the method presented in this paper can be applied in the case of closed-loop eigenvalues with arbitrary multiplicity

Globally Monotonic Tracking Control of Multivariable Systems

© 1963-2012 IEEE. In this technical note we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a step reference at any desired rate of convergence for any initial condition. This method is developed for multi-input multi-output (MIMO) systems, and can be applied to strictly/nonstrictly proper systems, and also minimum/nonminimum-phase systems. This framework shows that for MIMO systems the objectives of achieving a rapid settling time, while at the same time avoiding overshoot/undershoot, are not always competing objectives

Robust control of quasi-linear parameter-varying L2 point formation flying with uncertain parameters

Robust high precision control of spacecraft formation flying is one of the most important techniques required for high-resolution interferometry missions in the complex deep-space environment. The thesis is focussed on the design of an invariant stringent performance controller for the Sun-Earth L2 point formation flying system over a wide range of conditions while maintaining system robust stability in the presence of parametric uncertainties. A Quasi-Linear Parameter-Varying (QLPV) model, generated without approximation from the exact nonlinear model, is developed in this study. With this QLPV form, the model preserves the transparency of linear controller design while reflecting the nonlinearity of the system dynamics. The Polynomial Eigenstructure Assignment (PEA) approach used for Linear Time-Invariant (LTI) and Linear Parameter-Varying (LPV ) models is extended to use the QLPV model to perform a form of dynamic inversion for a broader class of nonlinear systems which guarantees specific system performance. The resulting approach is applied to the formation flying QLPV model to design a PEA controller which ensures that the closed-loop performance is independent of the operating point. Due to variation in system parameters, the performance of most closed-loop systems are subject to model uncertainties. This leads naturally to the need to assess the robust stability of nonlinear and uncertain systems. This thesis presents two approaches to this problem, in the first approach, a polynomial matrix method to analyse the robustness of Multiple-Input and Multiple-Output (MIMO) systems for an intersectingD-region,which can copewith time-invariant uncertain systems is developed. In the second approach, an affine parameterdependent Lyapunov function based Linear Matrix Inequality (LMI) condition is developed to check the robust D-stability of QLPV uncertain systems.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Linear systems and control structure selection

This thesis is concerned with the development of concepts and results to facilitate study in two areas of control methodology. The two notions investigated are measures of controllability and observability and eigenstructure assignment. The link between these two areas is exposed, and it is demonstrated how the eigenvectors of a system play an important role in determining the degree of controllability and observability. The main concerns are issues dealing with the complexity of the instrumentation, and in particular the development of techniques that may assist in the development of methodology for sensor and actuator placement. The research involves the development of notions that help to structure a system on which control design is based. There are two areas of investigation. The first is the development of concepts and tools that aid in the selection and placement of sensors and actuators based on properties related to degrees of controllability and observability. The second is the investigation of the eigenstructure of a system and its properties, which enable the development of design procedures based on eigenstructure properties. A study of existing measures of controllability and observability leads to new techniques which take into consideration the problem of coordinate transformations, which is often overlooked. It is shown that the degree of controllability is influenced by changes in the structure of the state feedback matrix, as well as how controllability properties can be determined from Pliicker matrices of transfer function matrices. It is also shown that the energy required to move a system from one state to another is linked to the singular values of the output controllability grammian. A review of the problem of eigenstructure assignment paves the way for the development of a new technique of assigning the closed loop eigenstructure. This is based on matrix fraction description algorithms, and stems from an algebraic description of the total system behaviour, leading to a systematic study of closed loop eigenvectors by using a parametric approach. A new algebraic characterisation of the family of closed loop eigenvectors and related input and output directions is shown. Closed loop system robustness to parameter variations is also considered, where it is shown that there is a link with the orthogonality of the matrix of eigenvectors. As a result, the notion of strong stability is introduced, where it is shown that the shape of the eigenframe plays a role in the system response by way of overshoots. The work develops concepts and results which are important steps in the development of an integrated methodology for input, output structure selection

Spatio-Temporal processing for Optimum Uplink-Downlink WCDMA Systems

The capacity of a cellular system is limited by two different phenomena, namely multipath fading and multiple access interference (MAl). A Two Dimensional (2-D) receiver combats both of these by processing the signal both in the spatial and temporal domain. An ideal 2-D receiver would perform joint space-time processing, but at the price of high computational complexity. In this research we investigate computationally simpler technique termed as a Beamfom1er-Rake. In a Beamformer-Rake, the output of a beamfom1er is fed into a succeeding temporal processor to take advantage of both the beamformer and Rake receiver. Wireless service providers throughout the world are working to introduce the third generation (3G) and beyond (3G) cellular service that will provide higher data rates and better spectral efficiency. Wideband COMA (WCDMA) has been widely accepted as one of the air interfaces for 3G. A Beamformer-Rake receiver can be an effective solution to provide the receivers enhanced capabilities needed to achieve the required performance of a WCDMA system. We consider three different Pilot Symbol Assisted (PSA) beamforming techniques, Direct Matrix Inversion (DMI), Least-Mean Square (LMS) and Recursive Least Square (RLS) adaptive algorithms. Geometrically Based Single Bounce (GBSB) statistical Circular channel model is considered, which is more suitable for array processing, and conductive to RAKE combining. The performances of the Beam former-Rake receiver are evaluated in this channel model as a function of the number of antenna elements and RAKE fingers, in which are evaluated for the uplink WCDMA system. It is shown that, the Beamformer-Rake receiver outperforms the conventional RAKE receiver and the conventional beamformer by a significant margin. Also, we optimize and develop a mathematical formulation for the output Signal to Interference plus Noise Ratio (SINR) of a Beam former-Rake receiver. In this research, also, we develop, simulate and evaluate the SINR and Signal to Noise Ratio (Et!Nol performances of an adaptive beamforming technique in the WCDMA system for downlink. The performance is then compared with an omnidirectional antenna system. Simulation shows that the best perfom1ance can be achieved when all the mobiles with same Angle-of-Arrival (AOA) and different distance from base station are formed in one beam

Process and systems based methodologies related to control structure selection

This thesis is concerned with an important aspect of process control design, that is, the synthesis of the control structures. A review of the rapidly growing process methodologies' literature is presented and this leads to the identification of wider issues and new problems which are referred to as global instrumentation and forms the main subject of this thesis. The main objective has been the integration of existing process based tools and methodologies with a much more general approach of a systems and control theory character. The problem of Global Process Instrumentation concerns the selection of systems of measurement and actuation variables, found during the synthesis/design and operation of large-scale industrial processes/systems. The role of traditional instrumentation was considered but the emphasis has been on the systems aspects. In fact, instrumentation leads to the shaping of the final system and thus, is crucial in defining the control quality properties and operability characteristics of the final design. The development of these system aspects led to the emergence of an integrated framework for Global Instrumentation. An attempt was also made to abstract some results and formulate generic issues and problems, that would provide a wider scenario for activities in the future. Development of CAD to support the selection of control structures has been a major task undertaken here. The system aspects of Global Instrumentation are demonstrated by studying two specific problems that involve the study of the structural properties of interconnected systems as a function of local selection of sensors and actuators and the problem of well-conditioning badly structured transfer functions. The role of selection of inputs and outputs, on the overall shaping of composite structure properties, at the subsystem level, was examined, and the significance of an assumption related to interconnections, referred to as the completeness assumption, was investigated. Specifically, the significance of the deviations from the completeness, was the subject of the investigation. Matrix Pencil Theory was used to examine the controllability, observability and zero structure related properties of composite systems under partial or total loss of inputs/outputs at the subsystem level. Selecting subsets of the original sets of inputs, outputs to guarantee full rank transfer function, was also an issue that was examined. The above problems were presented as part of an integrated design philosophy that aims to explore the system structure. An integrated approach to the overall problem of control structure selection was formulated and open issues and problems were identified. It was based on the assumption that there exists a progenitor model of the linear type for the process, which, however, may not be well defined. Structural analysis of the system theoretic framework, the interaction measures and the results for evaluation of alternative decentralisation schemes were then used, to specify a step by step approach to the control structure selection. The problem of handling alternative criteria was also considered and basic elements of a system procedure were given. There are many open issues, which were identified and are still open and thus the proposed structural approach should be considered as the first step to the development of an integrated methodology that involves the following major steps: (a) Classification of system model variables and definition of well structured progenitor model. (b) Definition of effective input, output structure based on operability, controllability criteria. (c) Determining the structure of the control scheme by evaluation of alternative decentralised structures. An important part of the integrated methodology for control structure selection is the - so called - interaction analysis. It consists of a number of diagnostics and structural tests that help to restrict the choice of the best scheme. Several of these tests/methodologies were reviewed and some of them were further expanded. The outcomes obtained by these methodologies provided promising results. These results gave the motivation for the construction of a complete CAD package, the "Interaction Analysis Toolbox", written in MATLAB®t. This Toolbox provides many tools and diagnostics that can be applied during the design stages, for the evaluation of the various alternative control structures

Spatio-Temporal processing for Optimum Uplink-Downlink WCDMA Systems

The capacity of a cellular system is limited by two different phenomena, namely multipath fading and multiple access interference (MAl). A Two Dimensional (2-D) receiver combats both of these by processing the signal both in the spatial and temporal domain. An ideal 2-D receiver would perform joint space-time processing, but at the price of high computational complexity. In this research we investigate computationally simpler technique termed as a Beamfom1er-Rake. In a Beamformer-Rake, the output of a beamfom1er is fed into a succeeding temporal processor to take advantage of both the beamformer and Rake receiver. Wireless service providers throughout the world are working to introduce the third generation (3G) and beyond (3G) cellular service that will provide higher data rates and better spectral efficiency. Wideband COMA (WCDMA) has been widely accepted as one of the air interfaces for 3G. A Beamformer-Rake receiver can be an effective solution to provide the receivers enhanced capabilities needed to achieve the required performance of a WCDMA system. We consider three different Pilot Symbol Assisted (PSA) beamforming techniques, Direct Matrix Inversion (DMI), Least-Mean Square (LMS) and Recursive Least Square (RLS) adaptive algorithms. Geometrically Based Single Bounce (GBSB) statistical Circular channel model is considered, which is more suitable for array processing, and conductive to RAKE combining. The performances of the Beam former-Rake receiver are evaluated in this channel model as a function of the number of antenna elements and RAKE fingers, in which are evaluated for the uplink WCDMA system. It is shown that, the Beamformer-Rake receiver outperforms the conventional RAKE receiver and the conventional beamformer by a significant margin. Also, we optimize and develop a mathematical formulation for the output Signal to Interference plus Noise Ratio (SINR) of a Beam former-Rake receiver. In this research, also, we develop, simulate and evaluate the SINR and Signal to Noise Ratio (Et!Nol performances of an adaptive beamforming technique in the WCDMA system for downlink. The performance is then compared with an omnidirectional antenna system. Simulation shows that the best perfom1ance can be achieved when all the mobiles with same Angle-of-Arrival (AOA) and different distance from base station are formed in one beam