Cheng Equation: A Revisit Through Symmetry Analysis

The symmetry analysis of the Cheng Equation is performed. The Cheng Equation is reduced to a first-order equation of either Abel's Equations, the analytic solution of which is given in terms of special functions. Moreover, for a particular symmetry the system is reduced to the Riccati Equation or to the linear nonhomogeneous equation of Euler type. Henceforth, the general solution of the Cheng Equation with the use of the Lie theory is discussed, as also the application of Lie symmetries in a generalized Cheng equation.Comment: 10 pages. Accepted for publication in Quaestiones Mathematicae journa

Performance analysis of robust stable PID controllers using dominant pole placement for SOPTD process models

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this recordThis paper derives new formulations for designing dominant pole placement based proportionalintegral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for pole placement in delay-free systems. The presence of the time delay term manifests itself as a higher order system with variable number of interlaced poles and zeros upon Pade approximation, which makes it difficult to achieve precise pole placement control. We here report the analytical expressions to constrain the closed loop dominant and nondominant poles at the desired locations in the complex s-plane, using a third order Pade approximation for the delay term. However, invariance of the closed loop performance with different time delay approximation has also been verified using increasing order of Pade, representing a closed to reality higher order delay dynamics. The choice of the nature of non-dominant poles e.g. all being complex, real or a combination of them modifies the characteristic equation and influences the achievable stability regions. The effect of different types of non-dominant poles and the corresponding stability regions are obtained for nine test-bench processes indicating different levels of open-loop damping and lag to delay ratio. Next, we investigate which expression yields a wider stability region in the design parameter space by using Monte Carlo simulations while uniformly sampling a chosen design parameter space. The accepted data-points from the stabilizing region in the design parameter space can then be mapped on to the PID controller parameter space, relating these two sets of parameters. The widest stability region is then used to find out the most robust solution which are investigated using an unsupervised data clustering algorithm yielding the optimal centroid location of the arbitrary shaped stability regions. Various time and frequency domain control performance parameters are investigated next, as well as their deviations with uncertain process parameters, using thousands of Monte Carlo simulations, around the robust stable solution for each of the nine test-bench processes. We also report, PID controller tuning rules for the robust stable solutions using the test-bench processes while also providing computational complexity analysis of the algorithm and carry out hypothesis testing for the distribution of sampled data-points for different classes of process dynamics and non-dominant pole types.KH acknowledges the support from the University Grants Commission (UGC), Govt. of India under its Basic Scientific Research (BSR) schem

Transformation of LQR weights for Discretization Invariant Performance of PI/PID Dominant Pole Placement Controllers

This is the author accepted manuscript. The final version is available from Cambridge University Press via the DOI in this record.Linear quadratic regulator (LQR), a popular technique for designing optimal state feedback controller is used to derive a mapping between continuous and discrete-time inverse optimal equivalence of proportional integral derivative (PID) control problem via dominant pole placement. The aim is to derive transformation of the LQR weighting matrix for fixed weighting factor, using the discrete algebraic Riccati equation (DARE) to design a discrete time optimal PID controller producing similar time response to its continuous time counterpart. Continuous time LQR-based PID controller can be transformed to discrete time by establishing a relation between the respective LQR weighting matrices that will produce similar closed loop response, independent of the chosen sampling time. Simulation examples of first/second order and first-order integrating processes exhibiting stable/unstable and marginally-stable open-loop dynamics are provided, using the transformation of LQR weights. Time responses for set-point and disturbance inputs are compared for different sampling time as fraction of the desired closed-loop time constant.University Grants Commission (UGC), Government of IndiaESIF ERDF Cornwal

Noether's Theorem and Symmetry

In Noether's original presentation of her celebrated theorm of 1918 allowance was made for the dependence of the coefficient functions of the differential operator which generated the infinitesimal transformation of the Action Integral upon the derivatives of the depenent variable(s), the so-called generalised, or dynamical, symmetries. A similar allowance is to be found in the variables of the boundary function, often termed a gauge function by those who have not read the original paper. This generality was lost after texts such as those of Courant and Hilbert or Lovelock and Rund confined attention to point transformations only. In recent decades this dimunition of the power of Noether's Theorem has been partly countered, in particular in the review of Sarlet and Cantrijn. In this special issue we emphasise the generality of Noether's Theorem in its original form and explore the applicability of even more general coefficient functions by alowing for nonlocal terms. We also look for the application of these more general symmetries to problems in which parameters or parametric functions have a more general dependence upon the independent variablesComment: 23 pages, to appear in Symmetry in the special issue "Noether's Theorem and Symmetry", dedicated for the 100 years from the publication of E. Noether's original work on the invariance of the functional of the Calculus of Variation

Optimum Weight Selection Based LQR Formulation for the Design of Fractional Order PIλDμ Controllers to Handle a Class of Fractional Order Systems

This is the author accepted manuscript. The final version is available from IEEE via the DOI in this record.A weighted summation of Integral of Time Multiplied Absolute Error (ITAE) and Integral of Squared Controller Output (ISCO) minimization based time domain optimal tuning of fractional-order (FO) PID or PI{\lambda}D{\mu} controller is proposed in this paper with a Linear Quadratic Regulator (LQR) based technique that minimizes the change in trajectories of the state variables and the control signal. A class of fractional order systems having single non-integer order element which show highly sluggish and oscillatory open loop responses have been tuned with an LQR based FOPID controller. The proposed controller design methodology is compared with the existing time domain optimal tuning techniques with respect to change in the trajectory of state variables, tracking performance for change in set-point, magnitude of control signal and also the capability of load disturbance suppression. A real coded genetic algorithm (GA) has been used for the optimal choice of weighting matrices while designing the quadratic regulator by minimizing the time domain integral performance index. Credible simulation studies have been presented to justify the proposition

Jarcho-Levin syndrome

This article does not have an abstract

LQR based improved discrete PID controller design via optimum selection of weighting matrices using fractional order integral performance index

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this record.The continuous and discrete time Linear Quadratic Regulator (LQR) theory has been used in this paper for the design of optimal analog and discrete PID controllers respectively. The PID controller gains are formulated as the optimal state-feedback gains, corresponding to the standard quadratic cost function involving the state variables and the controller effort. A real coded Genetic Algorithm (GA) has been used next to optimally find out the weighting matrices, associated with the respective optimal state-feedback regulator design while minimizing another time domain integral performance index, comprising of a weighted sum of Integral of Time multiplied Squared Error (ITSE) and the controller effort. The proposed methodology is extended for a new kind of fractional order (FO) integral performance indices. The impact of fractional order (as any arbitrary real order) cost function on the LQR tuned PID control loops is highlighted in the present work, along with the achievable cost of control. Guidelines for the choice of integral order of the performance index are given depending on the characteristics of the process, to be controlled.This work has been supported by the Dept. of Science & Technology (DST), Govt. of India under PURSE programme

Crossover from antiferromagnetic to ferromagnetic ordering in semi-Heusler alloys Cu1-xNixMnSb with increasing Ni concentration

The magnetic properties and transition from an antiferromagnetic (AFM) to a ferromagnetic (FM) state in semi Heusler alloys Cu1-xNixMnSb, with x < 0.3 have been investigated in details by dc magnetization, neutron diffraction, and neutron depolarization. We observe that for x < 0.05, the system Cu1-xNixMnSb is mainly in the AFM state. In the region 0.05 \leq x \leq 0.2, with decrease in temperature, there is a transition from a paramagnetic to a FM state and below ~50 K both AFM and FM phases coexist. With an increase in Ni substitution, the FM phase grows at the expense of the AFM phase and for x > 0.2, the system fully transforms to the FM phase. Based on the results obtained, we have performed a quantitative analysis of both magnetic phases and propose a magnetic phase diagram for the Cu1-xNixMnSb series in the region x < 0.3. Our study gives a microscopic understanding of the observed crossover from the AFM to FM ordering in the studied semi Heusler alloys Cu1-xNixMnSb.Comment: 29 pages, 8 figure

Understanding the multiple magnetic structures of the intermetallic compound NdMn1.4Co0.6Si2

Magnetic phases for the intermetallic compound NdMn1.4Co0.6Si2 have been investigated at various temperatures by dc magnetization, neutron diffraction and neutron depolarization. Our study shows multiple magnetic phase transitions with temperature (T) over 1.5-300 K. In agreement with dc-magnetization and neutron depolarization results, the temperature dependence of the neutron diffraction patterns shows five distinct regions with different magnetic phases. These temperature regions are (i) T >= 215 K, (ii) 215 K > T >= 50 K, (iii) 50 K > T >= 40 K, (iv) 40 K > T > 15 K, and (v) T =< 15 K. The corresponding magnetic structures are paramagnetic, commensurate collinear antiferromagnetic (AFM-I), incommensurate AFM (AFM-II), mixed ferromagnetic and AFM (FM+AFM-II), and incommensurate AFM (AFM-II), respectively.Comment: 26 pages, 10 figure