Series-Parallel and Parallel Identification Schemes for a Class of Continuous Nonlinear Systems

1977 ◽  
Vol 99 (2) ◽  
pp. 137-140
Author(s):  
Masayoshi Tomizuka
Keyword(s):  
Identification Algorithm ◽  
Input Output ◽  
Single Input Single Output ◽  
Identification Schemes ◽  
Linear Dynamic ◽  
Single Output ◽  
Single Input ◽  
Static Part ◽  
Nonlinear Static ◽  
The Stability

This technical brief deals with the identification of a single-input, single-output nonlinear system which is composed of a nonlinear static part and a linear dynamic part. A series-parallel identification algorithm and a parallel identification algorithm are presented; they require the input, output, and the order of the linear dynamic portion of the system. The stability of the algorithms is assured by Popov’s hyperstability theorem. The effectiveness of the identification schemes developed is demonstrated by computer simulation.

Multi-model Fuzzy Modal Control of SISO Nonlinear Plant

2016 ◽  
Vol 14 (4) ◽  
pp. 19-26 ◽  
Author(s):  
V. Lukov ◽  
M. Alexandrova ◽  
N. Nikolov
Keyword(s):  
Fuzzy Controller ◽  
Static Characteristic ◽  
Control Law ◽  
Modal Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input ◽  
Nonlinear Static ◽  
Takagi Sugeno ◽  
Nonlinear Plant

Abstract The article presents the synthesis of a multi-model modal control of single input – single output nonlinear plant, based on Takagi-Sugeno fuzzy controller. For that purpose, the nonlinear static characteristic of the plant is presented by two linear parts. These two linear structures are described in state space. The feedback vectors and the coefficients ki of the modal controllers are calculated. An integral component in the control law is added.

Assessment of a Robust Algorithm for the Detection and Diagnosis of Additive Faults

2006 ◽  
Author(s):  
Vasilis K. Dertimanis ◽  
Dimitris V. Koulocheris ◽  
Constantinos N. Spentzas
Keyword(s):  
System Identification ◽  
Input Output ◽  
Detection Problem ◽  
Identification Procedure ◽  
Single Input Single Output ◽  
Single Output ◽  
Robustness To Noise ◽  
Single Input ◽  
Detection And Diagnosis ◽  
Identification Techniques

This paper addresses the problem of additive faults (such as input/output sensor and actuator) in a dynamic system, from the view of system identification techniques. The relation between the residuals of the model–based fault diagnosis and the innovations of the system identification procedure is implemented and corresponding algorithms are extracted for the tracking of additive faults, while robustness to noise and disturbances is issued. The study is initiated using single input-single output models and extended to multiple inputs-multiple outputs structures. Furthermore, the detection problem of additive faults for systems with unobservable excitation is examined.

Multivariable Loop-Shaping in Bilateral Telemanipulation

2005 ◽  
Vol 128 (3) ◽  
pp. 482-488 ◽  
Author(s):  
Kevin B. Fite ◽  
Michael Goldfarb
Keyword(s):  
Impedance Control ◽  
Singular Values ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Loop Shaping ◽  
Single Input ◽  
The Stability ◽  
Three Degree Of Freedom ◽  
And Control

This paper presents an architecture and control methodology for obtaining transparency and stability robustness in a multivariable bilateral teleoperator system. The work presented here extends a previously published single-input, single-output approach to accommodate multivariable systems. The extension entails the use of impedance control techniques, which are introduced to render linear the otherwise nonlinear dynamics of the master and slave manipulators, in addition to a diagonalization multivariable loop shaping technique, used to render tractable the multivariable compensator design. A multivariable measure of transparency is proposed based on the relative singular values of the environment and transmitted impedance matrices. The approach is experimentally demonstrated on a three degree-of-freedom scaled telemanipulator pair with a highly coupled environment. Using direct measurement of the power delivered to the operator to assess the system’s stability robustness, along with the proposed measure of multivariable transparency, the loop-shaping compensation is shown to improve the stability robustness by a factor of two and the transparency by more than a factor of five.

System Identification and Multivariate Controller Design for a Satellite Ultraquiet Isolation Technology Experiment (SUITE)

2002 ◽  
Author(s):  
Alok A. Joshi ◽  
Won-jong Kim
Keyword(s):  
Vibration Isolation ◽  
Transfer Functions ◽  
Controller Design ◽  
Input Output ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input ◽  
Six Degree Of Freedom

A mathematical model of a six-degree-of-freedom hexapod system for vibration isolation was derived in the discrete-time domain on the basis of the experimental data obtained from a satellite. Using Box-Jenkins model structure, the transfer functions between six piezoelectric actuator input voltages and six geophone sensor output voltages are identified empirically. The 6×6 transfer function matrix is symmetric, and its off-diagonal terms indicate the coupling among different input/output channels. Though the coupling was observed among various input/output channels up to 10 Hz, the single-input single-output (SISO) controllers were designed neglecting the effect of coupling. The SISO controllers demonstrated limited performance in vibration attenuation. Using multi-input multi-output (MIMO) control techniques such as Linear Quadratic Gaussian (LQG) and H∞, high-order controllers were developed. The simulation results using these controllers obtain 33 dB, and 12 dB attenuation at 5, and 25 Hz corner frequencies, respectively.

Methods of System Identification for Anisotropic Laminates

1995 ◽  
Author(s):  
Carlo Cinquini ◽  
Claudia Mariani ◽  
Paolo Venini
Keyword(s):  
Identification Algorithm ◽  
Structure Model ◽  
Single Input Single Output ◽  
Identification Methods ◽  
Single Output ◽  
Output Structure ◽  
Out Of Plane ◽  
Single Input ◽  
The Time Domain ◽  
Vector Differential Equation

Abstract The present paper is concerned with the identification of thin anisotropic laminates under transverse dynamic loads. A variational formulation of the problem governing the out-of-plane vibrations of the system is outlined allowing application of the Rayleigh-Ritz methodology for the spatial discretization. The resulting vector differential equation is then solved in the time domain with the objective of collecting enough input/output pairs so as to permit the selected identification algorithm to converge. A few identification methods of parametric type are described and applied to clamped anisotropic laminates under the assumption of a SISO (single-input single-output) structure model. The choice of the latter, of the relevant parameters and of the excitation capable of producing significant dynamics are among the keys for the success of the procedure. Extensions to other categories of identification methods as well as applications for the active control of the laminate are currently under development.

scholarly journals A representation theorem for linear discrete-space systems

1998 ◽  
Vol 4 (5) ◽  
pp. 369-375 ◽  
Author(s):  
Irwin W. Sandberg
Keyword(s):  
Linear Systems ◽  
Discrete Time ◽  
Representation Theorem ◽  
Additional Term ◽  
Discrete Space ◽  
Space Systems ◽  
Input Output ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

The cornerstone of the theory of discrete-time single-input single-output linear systems is the idea that every such system has an input–output mapHthat can be represented by a convolution or the familiar generalization of a convolution. This thinking involves an oversight which is corrected in this note by adding an additional term to the representation.

Deterministic Disturbance Rejection in Linear Identification

1977 ◽  
Vol 99 (4) ◽  
pp. 307-310
Author(s):  
M. Tomizuka ◽  
Y. Takahashi
Keyword(s):  
Time Series ◽  
Adverse Effects ◽  
Discrete Time ◽  
Disturbance Rejection ◽  
Single Input Single Output ◽  
Identification Schemes ◽  
Discrete Time Series ◽  
Single Output ◽  
Single Input

Adverse effects of deterministic disturbances in linear identification are pointed out. The deterministic disturbance rejector (DDR) is introduced to remove such effects in discrete-time series-parallel and parallel identification schemes for single-input, single-output systems. The method works for a class of disturbances such as a constant disturbance that can be regarded as the outputs of free systems with known dynamics.

scholarly journals Robustness analysis of nonlinear systems subject to state feedback linearization

2009 ◽  
Vol 20 (4) ◽  
pp. 482-489 ◽  
Author(s):  
Eduardo Rath Rohr ◽  
Luís Fernando Alves Pereira ◽  
Daniel Ferreira Coutinho
Keyword(s):  
Nonlinear Systems ◽  
Feedback Linearization ◽  
State Feedback ◽  
Robustness Analysis ◽  
Linear Matrix ◽  
Single Input Single Output ◽  
Single Output ◽  
Robust Stability Analysis ◽  
Single Input ◽  
The Stability

This paper presents a methodology to the robust stability analysis of a class of single-input/single-output nonlinear systems subject to state feedback linearization. The proposed approach allows the analysis of systems whose nonlinearities can be represented in the rational (and polynomial) form. Through a suitable system representation, the stability conditions are described in terms of linear matrix inequalities, which is known to have a convex (numerical) solution. The method is illustrated via a numerical example.

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