85,558 research outputs found
PID and PID-like controller design by pole assignment within D-stable regions
This paper presents a new PID and PID-like controller design method that permits the designer to control the desired dynamic performance of a closed-loop system by first specifying a set of desired D-stable regions in the complex plane and then running a numerical optimisation algorithm to find the controller parameters such that all the roots of the closed-loop system are within the specified regions. This method can be used for stable and unstable plants with high order degree, for plants with time delay, for controller with more than three design parameters, and for various controller configurations. It also allows a unified treatment of the controller design for both continuous and discrete systems. Examples and comparative simulation results are pro-vided to illustrate its merit
On the Selection of Tuning Methodology of FOPID Controllers for the Control of Higher Order Processes
In this paper, a comparative study is done on the time and frequency domain
tuning strategies for fractional order (FO) PID controllers to handle higher
order processes. A new fractional order template for reduced parameter modeling
of stable minimum/non-minimum phase higher order processes is introduced and
its advantage in frequency domain tuning of FOPID controllers is also
presented. The time domain optimal tuning of FOPID controllers have also been
carried out to handle these higher order processes by performing optimization
with various integral performance indices. The paper highlights on the
practical control system implementation issues like flexibility of online
autotuning, reduced control signal and actuator size, capability of measurement
noise filtration, load disturbance suppression, robustness against parameter
uncertainties etc. in light of the above tuning methodologies.Comment: 27 pages, 10 figure
Adaptive performance optimization for large-scale traffic control systems
In this paper, we study the problem of optimizing (fine-tuning) the design parameters of large-scale traffic control systems that are composed of distinct and mutually interacting modules. This problem usually requires a considerable amount of human effort and time to devote to the successful deployment and operation of traffic control systems due to the lack of an automated well-established systematic approach. We investigate the adaptive fine-tuning algorithm for determining the set of design parameters of two distinct mutually interacting modules of the traffic-responsive urban control (TUC) strategy, i.e., split and cycle, for the large-scale urban road network of the city of Chania, Greece. Simulation results are presented, demonstrating that the network performance in terms of the daily mean speed, which is attained by the proposed adaptive optimization methodology, is significantly better than the original TUC system in the case in which the aforementioned design parameters are manually fine-tuned to virtual perfection by the system operators
Regularized system identification using orthonormal basis functions
Most of existing results on regularized system identification focus on
regularized impulse response estimation. Since the impulse response model is a
special case of orthonormal basis functions, it is interesting to consider if
it is possible to tackle the regularized system identification using more
compact orthonormal basis functions. In this paper, we explore two
possibilities. First, we construct reproducing kernel Hilbert space of impulse
responses by orthonormal basis functions and then use the induced reproducing
kernel for the regularized impulse response estimation. Second, we extend the
regularization method from impulse response estimation to the more general
orthonormal basis functions estimation. For both cases, the poles of the basis
functions are treated as hyperparameters and estimated by empirical Bayes
method. Then we further show that the former is a special case of the latter,
and more specifically, the former is equivalent to ridge regression of the
coefficients of the orthonormal basis functions.Comment: 6 pages, final submission of an contribution for European Control
Conference 2015, uploaded on March 20, 201
Automatic tuning of Free Electron Lasers
Existing FEL facilities often suffer from stability issues: so electron
orbit, transverse electron optics, electron bunch compression and other
parameters have to be readjusted often to account for drifts in performance of
various components. The tuning procedures typically employed in operation are
often manual and lengthy. We have been developing a combination of model-free
and model-based automatic tuning methods to meet the needs of present and
upcoming XFEL facilities. Our approach has been implemented at FLASH
\cite{flash} to achieve automatic SASE tuning using empirical control of orbit,
electron optics and bunch compression. In this paper we describe our approach
to empirical tuning, the software which implements it, and the results of using
it at FLASH. We also discuss the potential of using machine learning and
model-based techniques in tuning methods
Nonlinear Attitude Filtering: A Comparison Study
This paper contains a concise comparison of a number of nonlinear attitude
filtering methods that have attracted attention in the robotics and aviation
literature. With the help of previously published surveys and comparison
studies, the vast literature on the subject is narrowed down to a small pool of
competitive attitude filters. Amongst these filters is a second-order optimal
minimum-energy filter recently proposed by the authors. Easily comparable
discretized unit quaternion implementations of the selected filters are
provided. We conduct a simulation study and compare the transient behaviour and
asymptotic convergence of these filters in two scenarios with different
initialization and measurement errors inspired by applications in unmanned
aerial robotics and space flight. The second-order optimal minimum-energy
filter is shown to have the best performance of all filters, including the
industry standard multiplicative extended Kalman filter (MEKF)
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Extracting ontologies from software documentation: a semi-automatic method and its evaluation
Rich and generic ontologies about web service functionalities are a prerequisite for performing complex reasoning tasks with web service descriptions. However, their acquisition is timeconsuming and conditioned by the small number of web services available in certain domains. As a solution, we describe a semiautomatic method to extract such ontologies from software documentation,
motivated by the observation that web services reflect the
functionality of their underlying implementation. Further, we report on fine-tuning the extraction process by using a multi-stage evaluation method
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