Stochastic model predictive control for constrained networked control systems with random time delay

In this paper the continuous time stochastic constrained optimal control problem is formulated for the class of networked control systems assuming that time delays follow a discrete-time, finite Markov chain . Polytopic overapproximations of the system's trajectories are employed to produce a polyhedral inner approximation of the non-convex constraint set resulting from imposing the constraints in continuous time. The problem is cast in a Markov jump linear systems (MJLS) framework and a stochastic MPC controller is calculated explicitly, oine, coupling dynamic programming with parametric piecewise quadratic (PWQ) optimization. The calculated control law leads to stochastic stability of the closed loop system, in the mean square sense and respects the state and input constraints in continuous time

Control over communication networks : modeling, analysis, and synthesis

The focus of this work is on dynamical systems that are controlled over a communication network, also denoted as Networked Control Systems (NCSs). Such systems consist of a continuous-time plant and a discrete-time controller that are connected via a communication network, such as e.g. controller area network (CAN), wireless networks, or internet. Advantages of the use of such a network are a reduction of installation and maintenance costs and a flexible architecture. The reduction of the costs is achieved by using one (shared) processor to control multiple plants, instead of using dedicated processors for each plant. Adding or removing plants or controllers to the network is easy, which explains the benefit in terms of a flexible architecture of the control system. Moreover, the use of wireless networks obviously allows to separate the controller and plant physically. Typical applications of NCSs are mobile sensor networks, remote surgery, automated highway systems, and the cooperative control of unmanned aerial vehicles. Disadvantages of the use of such networks are the occurrence of time-varying delays, time-varying sampling intervals, and packet dropouts, i.e. loss of data. Moreover, time-varying sampling intervals and delays may also result from other sources than the communication network. Namely, in many high-tech embedded systems, the processor is used for both the control computation and other software tasks, such as interrupt and error handling. This leads to variation in the computation time or variation in the moment of asking for new sensor data, resulting in variable sampling intervals. The amount of variation depends on the chosen software implementation, the chosen architecture, and the processor load. A control design that can deal with the variation in the time-delays, sampling intervals, and the occurrence of packet dropout is important for the multidisciplinary design of high-tech systems. Namely, such robustness properties of the control design represent a relaxation on the demands from control engineering on the software and communication network design. In this thesis, a discrete-time model for linear NCSs is derived that considers time-varying delays, time-varying sampling intervals, and packet dropouts. Based on this model, examples of the destabilizing effect of variations in the delay and variations in the sampling intervals are given to show the necessity of stability conditions that consider the effects of time-varying delays, time-varying sampling intervals, and packet dropouts. To derive such stability conditions, upper and lower bounds of time-varying delays and sampling intervals are assumed, as well as a maximum number for the subsequent packet dropouts. Based on these assumptions, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived that guarantee global asymptotic stability of the NCS. Two different control strategies, i.e. state feedback control and state-feedback control including past control input information are considered. For both control approaches, conditions in terms of LMIs are given for the controller synthesis problem and a comparison of the applicability of both control approaches is made. Besides the stability analysis and controller synthesis conditions, the intersample behavior is investigated to ensure stability of the continuous-time system between the sampling instants. An extension to the stability analysis conditions is given that can be used to solve the approximate tracking problem for NCSs with time-varying delays and sampling intervals and packet dropouts. Only approximate tracking can be achieved because the time-varying delays, sampling intervals, packet dropouts, and the use of a zero-order hold between the controller and actuator cause an inexact feedforward, which induces a perturbation on the tracking error dynamics. Sufficient conditions for the input-tostate stability of the tracking error dynamics are provided and an upper bound for the tracking error is given as a function of the plant properties, the control design, and the bounds on the delays, the sampling interval and the number of subsequent packet dropouts. To validate the obtained stability and controller synthesis conditions experiments are performed on a typical motion control example. First, measurements are performed to validate the stability region, i.e. all stabilizing controllers, for constant time-delays. Second, the destabilizing effect of time-variation of the delays is shown in experiments. Third, the obtained stabilizing controllers for time-varying delays, with constant sampling intervals are validated. A comparison between the stability regions for constant delays and time-varying delays shows that the stability conditions developed in this thesis are not overly conservative. The delay combinations that result in instability in the measurements confirm this observation

Compensation of mode shapes with a piezo electric actuator for an optical drive

In miniaturized systems (e.g. optical disk drives) much effortis made to design a structure in such a way that the demandson dimensions (height, width) and desired bandwidthare satisfied. Easier, and often cheaper designs can not beused, because they suffer from lower resonance frequencies,which limit the bandwidth. A method is presented formechatronic structures that compensates unwanted bandwidthlimiting resonance frequencies with an additionalpiezo electric actuator. Advantage of this method is thatno extra sensor is used and that the contribution of the piezois much easier to tune (when compared to a notch filter),since it is part of the structure. Disadvantage is that thepiezo influences the dynamics of the original system, whichcomplicates the choice of a suitable piezo actuator

Thresholds: observations on motion capture.

This paper theoretically situates research that explores motion capture data visualization using customized software tools such as MxCap.01. The value of software like MxCap.01 lies in its visualization capabilities including the ability to scale the re-presentation of the force, direction and intensity of movement but also do so within a temporal and emotive structuring

Bibliography

Regular use of beta2-agonists might result in increased bronchial hyper-responsiveness (BHR) and decreased forced expiratory volume in 1 sec (FEV1). It has been suggested that these possible detrimental effects are not a real deterioration of the disease, but that it might be only a transient (rebound) effect shortly after discontinuing this regular use. Moreover, these effects are thought to occur especially during short-acting and not during long-acting beta2-agonists use. The aim of this study was to invest gate whether a rebound effect (a pharmacological deterioration effect diminishing after several hours) in FEV1 and PC20 (concentration of histamine causing a 20% fall in FEV1 with regard to baseline) occurred after cessation of regular use of beta2-agonists, and whether this occurred both after short-acting and long-acting beta2-agonists. Allergic asthmatic patients (n = 134) were randomly allocated to the use of a short-acting (salbutamol), a long-acting beta2-agonist (formoterol) or placebo for 12 weeks (double-blind, double-dummy). No other asthma medication was allowed, including inhaled corticosteroids. At the start and every 4 weeks later FEV and PC20 were measured, each time at least 12 h after the last doses of study medication, which is in the possible rebound period. To investigate whether a (transient) rebound effect occurred, parameters were additionally measured at least 72 h later after discontinuation of the study medication. After 12 weeks of short-acting beta2-agonist use, a drop was seen in FEV1 from 85.6 (+/- 2.21)% predicted to 78.8 (+/- 2.9)% predicted, measured 15 h (median) after the last doses of medication. This was significantly different compared to placebo. When measured 168 h (median) later FEV1 recovered to 85.5 (+/- 2.4)% predicted, comparable to baseline. PC20 decreased with -1.17 (+/- 0.44) doubling dose after 12 weeks of short-acting beta2-agonist use, measured 15 h after the last doses of medication, which was significantly different compared to placebo. However, 168 h later PC20 recovered slightly with +0.55 (+/- 0.34) doubling dose, but this value was still lower compared to placebo. In contrast, during long-acting beta2-agonist and placebo use no significant changes were seen. In conclusion, the use of short-acting beta2-agonists resulted in a transient (rebound) effect in FEV while the effects on PC20 may point to a real deterioration of the disease. Long-acting beta2-agonist and placebo use showed no changes.We conclude that a mono-therapy of short-acting and not of long-acting beta2-agonists might have deleterious effects in asthma