Minimizing the Euclidean Condition Number

This paper considers the problem of determining the row and/or column scaling of a matrix A that minimizes the condition number of the scaled matrix. This problem has been studied by many authors. For the cases of the ∞-norm and the 1-norm, the scaling problem was completely solved in the 1960s. It is the Euclidean norm case that has widespread application in robust control analyses. For example, it is used for integral controllability tests based on steady-state information, for the selection of sensors and actuators based on dynamic information, and for studying the sensitivity of stability to uncertainty in control systems. Minimizing the scaled Euclidean condition number has been an open question—researchers proposed approaches to solving the problem numerically, but none of the proposed numerical approaches guaranteed convergence to the true minimum. This paper provides a convex optimization procedure to determine the scalings that minimize the Euclidean condition number. This optimization can be solved in polynomial-time with off-the-shelf software

Performance Monitoring of Control Systems using Likelihood Methods

Evaluating deterioration in performance of control systems using closed loop operating data is addressed. A framework is proposed in which acceptable performance is expressed as constraints on the closed loop transfer function impulse response coefficients. Using likelihood methods, a hypothesis test is outlined to determine if control deterioration has occurred. The method is applied to a simulation example as well as data from an operational distillation column, and the results are compared to those obtained using minimum variance estimation approaches

Stability and Performance Analysis of Systems Under Constraints

All real world control systems must deal with actuator and state constraints. Standard conic sector bounded nonlinearity stability theory provides methods for analyzing the stability and performance of systems under constraints, but it is well-known that these conditions can be very conservative. A method is developed to reduce conservatism in the analysis of constraints by representing them as nonlinear real parametric uncertainty

Optimal and Robust Design of Integrated Control and Diagnostic Modules

The problem of designing an integrated control and diagnostic module is considered. The four degree of freedom controller is recast into a general framework wherein results from optimal and robust control theory can be easily implemented. For the case of an H2 objective, it is shown that the optimal control-diagnostic module involves constructing an optimal controller, closing the loop with this controller, and then designing an optimal diagnostic module for the closed loop. When uncertain plants are involved, this two-step method does not lead to reasonable diagnostics, and the control and diagnostic modules must be synthesized simultaneously. An example shows how this design can be accomplished with available methods

Significance Regression: Robust Regression for Collinear Data

This paper examines robust linear multivariable regression from collinear data. A brief review of M-estimators discusses the strengths of this approach for tolerating outliers and/or perturbations in the error distributions. The review reveals that M-estimation may be unreliable if the data exhibit collinearity. Next, significance regression (SR) is discussed. SR is a successful method for treating collinearity but is not robust. A new significance regression algorithm for the weighted-least-squares error criterion (SR-WLS) is developed. Using the weights computed via M-estimation with the SR-WLS algorithm yields an effective method that robustly mollifies collinearity problems. Numerical examples illustrate the main points

Robust stability of systems with integral control

A necessary and sufficient condition is derived which must be satisfied by the plant steady state gain matrix of a linear time invariant system in order for an integral controller to exist for which the closed loop system is unconditionally stable. Based on this theorem the robustness of integral control systems is analyzed, i.e. the family of plants is defined which are stable when controlled with the same integral controller. Conditions for actuator/sensor failure tolerance of systems with integral control are also given. Finally, parallels are drawn between the results of this paper and the bifurcation theory of nonlinear systems

Robust stability of systems with integral control

A number of necessary and sufficient conditions are derived, which must be satisfied by the plant d.c. gain matrix of a linear time invariant system in order for an integral controller to exist for which the closed loop system is stable. Based on these results, the robustness of integral control systems is analyzed, i.e., the family of plants is defined which are stable when controlled with the same integral controller. Conditions for actuator/sensor failure tolerance of systems with integral control are also given. Finally, parallels are drawn between the results of this paper and the bifurcation theory of nonlinear systems

Design and Operational Modifications to Model IV FCCUs to Improve Dynamic Performance

Model IV Fluid Catalytic Cracking Units (FCCUs) differ from other cracking units in that model IV FCCUs do not have slide valves in the catalyst circulation lines to enable direct control of catalyst circulation rate through the unit. Reducing fluctuations in catalyst circulation rate is found to significantly improve closed loop performance of the FCCU. Some design and operational modifications that can be made to model IV FCCUs to improve closed loop performance at the regulatory level based on this insight are modeled and compared. Closed loop performance of a model IV FCCU operated with the weir and standpipe always flooded is examined. The achievable performance is significantly better than that of the standard model IV FCCU. The closed loop performance of the model IV FCCU modified to incorporate slide valves in the catalyst circulation lines is also examined. The performance of the FCCU with slide valves is better than the performance achievable by the FCCU with the weir flooded. It is found that model IV FCCUs are ill-conditioned owing to the use of the weir and standpipe arrangement in the regenerator section. Both the operational and design modifications studied reduce plant ill-conditioning appreciably