Iterative learning control for constrained linear systems

This paper considers iterative learning control for linear systems with convex control input constraints. First, the constrained ILC problem is formulated in a novel successive projection framework. Then, based on this projection method, two algorithms are proposed to solve this constrained ILC problem. The results show that, when perfect tracking is possible, both algorithms can achieve perfect tracking. The two algorithms differ however in that one algorithm needs much less computation than the other. When perfect tracking is not possible, both algorithms can exhibit a form of practical convergence to a "best approximation". The effect of weighting matrices on the performance of the algorithms is also discussed and finally, numerical simulations are given to demonstrate the e®ectiveness of the proposed methods

Modelling the influence of non-minimum phase zeros on gradient based linear iterative learning control

The subject of this paper is modeling of the influence of non-minimum phase plant dynamics on the performance possible from gradient based norm optimal iterative learning control algorithms. It is established that performance in the presence of right-half plane plant zeros typically has two phases. These consist of an initial fast monotonic reduction of the L2 error norm followed by a very slow asymptotic convergence. Although the norm of the tracking error does eventually converge to zero, the practical implications over finite trials is apparent convergence to a non-zero error. The source of this slow convergence is identified and a model of this behavior as a (set of) linear constraint(s) is developed. This is shown to provide a good prediction of the magnitude of error norm where slow convergence begins. Formulae for this norm are obtained for single-input single-output systems with several right half plane zeroes using Lagrangian techniques and experimental results are given that confirm the practical validity of the analysis

Multivariable norm optimal iterative learning control with auxiliary optimization

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously converging to the solution of a constrained quadratic optimization problem. The theory is presented in a general functional analytical framework using operators between chosen real Hilbert spaces. This is applied to solve problems in continuous time where tracking is only required at selected intermediate points of the time interval but, simultaneously, the solution is required to minimize a specified quadratic objective function of the input signals and chosen auxiliary (state) variables. Applications to the discrete time case, including the case of multi-rate sampling, are also summarized. The algorithms are motivated by practical need and provide a methodology for reducing undesirable effects such as payload spillage, vibration tendencies and actuator wear whilst maintaining the desired tracking accuracy necessary for task completion. Solutions in terms of NOILC methodologies involving both feedforward and feedback components offer the possibilities of greater robustness than purely feedforward actions. Robustness of the feedforward implementation is discussed and the work is illustrated by experimental results from a robotic manipulator

A Computational Approach to Estimating Nondisjunction Frequency in Saccharomyces cerevisiae.

Errors segregating homologous chromosomes during meiosis result in aneuploid gametes and are the largest contributing factor to birth defects and spontaneous abortions in humans. Saccharomyces cerevisiae has long served as a model organism for studying the gene network supporting normal chromosome segregation. Measuring homolog nondisjunction frequencies is laborious, and involves dissecting thousands of tetrads to detect missegregation of individually marked chromosomes. Here we describe a computational method (TetFit) to estimate the relative contributions of meiosis I nondisjunction and random-spore death to spore inviability in wild type and mutant strains. These values are based on finding the best-fit distribution of 4, 3, 2, 1, and 0 viable-spore tetrads to an observed distribution. Using TetFit, we found that meiosis I nondisjunction is an intrinsic component of spore inviability in wild-type strains. We show proof-of-principle that the calculated average meiosis I nondisjunction frequency determined by TetFit closely matches empirically determined values in mutant strains. Using these published data sets, TetFit uncovered two classes of mutants: Class A mutants skew toward increased nondisjunction death, and include those with known defects in establishing pairing, recombination, and/or synapsis of homologous chromosomes. Class B mutants skew toward random spore death, and include those with defects in sister-chromatid cohesion and centromere function. Epistasis analysis using TetFit is facilitated by the low numbers of tetrads (as few as 200) required to compare the contributions to spore death in different mutant backgrounds. TetFit analysis does not require any special strain construction, and can be applied to previously observed tetrad distributions

Pilot decision making in a computer-aided flight management situation

An experimental representation of a computer-aided multi-task flight management situation has been developed. A computer aiding program was implemented to serve as a back-up decision maker. An experiment was conducted with a balanced design of several subject runs for different workload levels. This was achieved using three levels of subsystem event arrival rates, three levels of control task involvement, and three levels of availability of computer aiding. Experimental results compared quite favorably with those from a computer simulation which employed a queueing model. It was shown that the aiding had enhanced system performance as well as subjective ratings, and that the adaptive aiding policy further reduced subsystem delay

Ferroelectricity in perovskite HoMnO3HoMnO_3 and YMnO3YMnO_3

Ferroelectricity is observed in orthorhombic $HoMnO_3$ and $YMnO_3$ at the magnetic lock-in transitions into an E-type structure or an incommensurate phase with a temperature independent wave vector, respectively. In $HoMnO_3$ the ferroelectric polarization strongly depends on the external magnetic field indicating the involvement of the rare earth moment order in this compound. The results are discussed within the framework of recent theoretical models, in particular the double exchange driven polar displacements predicted for E-type magnetic structures.Comment: 5 pages, 3 figure