A Control Design Approach for TITO Systems Using Measured Data

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Sofiane Khadraoui ◽  
Raouf Fareh ◽  
Hazem N. Nounou ◽  
Mohamed N. Nounou
Keyword(s):  
Frequency Domain ◽  
Closed Loop ◽  
Controller Design ◽  
Control Design ◽  
Intermediate Step ◽  
Single Input Single Output ◽  
Plant Modeling ◽  
Single Output ◽  
Performance Specifications ◽  
Tito Systems

This paper deals with the design of fixed-structure controllers for two-input two-output (TITO) systems using frequency-domain data. In standard control approaches, a plant model is first derived, then a suitable controller is designed to meet some user-specified performance specifications. Basically, there are two common ways for obtaining mathematical models: white-box modeling and black-box modeling. In both approaches, it is difficult to obtain a simple and accurate model that completely describes the system dynamics. As a result, errors associated with the plant modeling may result in degradation of the desired closed-loop performance. Moreover, the intermediate step of plant modeling introduced for the controller design is a time-consuming task. Hence, the concept of data-based control design is introduced as a possible alternative to model-based approaches. This promising methodology allows us to avoid the under-modeling problem and to significantly reduce the time and workload for the user. Most existing data-based control approaches are developed for single-input single-output (SISO) systems. Nevertheless, a large class of real systems involve several manipulated and output variables. To this end, we attempt here to develop an approach to design controllers for TITO systems using frequency-domain data. In such a method, a set of frequency-domain data is utilized to find an adequate decoupler and to tune a diagonal controller that meets some desired closed-loop performance measures. Two simulation examples are presented to illustrate and demonstrate the efficacy of the proposed method.

Analytic Loop Shaping Methods in Quantitative Feedback Theory

1994 ◽  
Vol 116 (2) ◽  
pp. 169-177 ◽  
Author(s):  
D. F. Thompson ◽  
O. D. I. Nwokah
Keyword(s):  
Uncertain Systems ◽  
Closed Loop ◽  
Design Method ◽  
Control Design ◽  
Quantitative Feedback Theory ◽  
Single Input Single Output ◽  
Single Output ◽  
Direct Design ◽  
Single Input ◽  
Robust Control Design

Quantitative Feedback Theory (QFT), a robust control design method introduced by Horowitz, has been shown to be useful in many cases of multi-input, multi-output (MIMO) parametrically uncertain systems. Prominent is the capability for direct design to closed-loop frequency response specifications. In this paper, the theory and development of optimization-based algorithms for design of minimum-gain controllers is presented, including an illustrative example. Since MIMO QFT design is reduced to a series of equivalent single-input, single-output (SISO) designs, the emphasis is on the SISO case.

Robust Controller Design for Active Vibration Control

1993 ◽  
Author(s):  
S. Jagannathan ◽  
A. B. Palazzolo ◽  
A. F. Kascak ◽  
G. T. Montague
Keyword(s):  
Vibration Control ◽  
Controller Design ◽  
Design Method ◽  
Active Vibration Control ◽  
Single Input Single Output ◽  
Background Theory ◽  
Single Output ◽  
Performance Specifications ◽  
Bearing Stiffness ◽  
Active Vibration

A novel frequency-domain technique, having its roots in Quantitative Feedback Theory (QFT), has been developed to design controllers for active vibration control (AVC). The advantages are a plant-based design according to performance specifications, and the ability to include structured uncertainties in the critical plant parameters like passive bearing stiffness or damping. In this paper, we describe the background theory of single-input, single-output (SISO) and multi-input, multi-output (MIMO) QFT design, followed by development of the theory adapted for AVC. Application examples are considered next, outlining the design method for both cases. Simulation results for the systems studied are presented showing the effectiveness of the technique in attenuating vibration.

Decentralized robust evolving cloud-based controller for two input two output systems

2021 ◽  
pp. 014233122110492
Author(s):  
J Vijay Anand ◽  
PS Manoharan
Keyword(s):  
Fuzzy Logic ◽  
Real Time ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Fuzzy Rule ◽  
Single Input Single Output ◽  
Point Tracking ◽  
Single Output ◽  
Tito Systems

The fuzzy logic controller (FLC) makes it possible to control a system using IF-THEN rules through human intellect. It tackles parameter uncertainty using imprecise reasoning. The fuzzy logic controller is usually tuned using offline methods. An online evolving adaptation of fuzzy controller design is a recent trend in fuzzy rule-based systems. The robust evolving cloud-based controller (RECCo) is one such controller implemented for single-input-single-output (SISO) systems. The membership functions and consequent rules are automatically updated in real time based on the input data. In this paper, a decentralized robust evolving cloud-based controller (DRECCo) is proposed for two-input-two-output (TITO) systems. It consists of two independent loops with RECCos having a nonparametric premise facet and an adaptive proportional-integral-derivative (PID) model consequent facet. The effectiveness of the proposed method is validated for the benchmark interacting two-tank process (ITTP) and quadruple-tank process (QTP) by simulation and in real time. The results indicate that with the information of loop pairing and the forward-acting/reverse-acting nature of the process, the proposed controller can adapt itself to ensure set-point tracking and disturbance rejection.

Design and Realtime Implementation of an Adaptive Variation Absorber for Uncertain Mechanical Systems Subjected to Unknown Disturbances

2004 ◽  
Vol 10 (1) ◽  
pp. 55-84
Author(s):  
Raffi Derkhorenian ◽  
Nader Jalili ◽  
D M Dawson
Keyword(s):  
Degrees Of Freedom ◽  
Controller Design ◽  
Linear Time ◽  
Vibration Absorber ◽  
Primary System ◽  
Control Input ◽  
Adaptation Algorithm ◽  
Single Input Single Output ◽  
Linear Time Invariant ◽  
Single Output

In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. This is an extension of our earlier study to a more complicated plant, a two-degrees-of-freedom (2DOF) system representing a vibration absorber setting. The controller design is based on a single Lyapunov function incorporating both the error states and the update laws and, hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through real-time simulations, both for regulation and tracking, on a 2DOF system representing an active vibration absorber setup. It is shown that when the primary system is subjected to an unknown sinusoidal disturbance, the proposed controller in the absorber subsection completely suppresses the primary system vibration in the presence of unknown disturbance.

A Comparative Study of Single Loop and Multiple Loop Design for Uncertain Single Input Single Output Systems

2004 ◽  
Author(s):  
Mayank Lal ◽  
Suhada Jayasuriya
Keyword(s):  
Casting Process ◽  
Frequency Noise ◽  
Quantitative Feedback Theory ◽  
Low Frequencies ◽  
Single Input Single Output ◽  
Single Loop ◽  
Considerable Uncertainty ◽  
Loop Design ◽  
Single Output ◽  
Performance Specifications

In this paper, studied are the actual advantages offered by SISO cascade loop structures. In Quantitative Feedback Theory it is emphasized that the use of cascaded loops is primarily for the reduction of bandwidth of the controllers. This in turn helps in considerable reduction of the adverse effects of high frequency noise. The question that arises then is whether or not there are any substantial benefits to be gained by cascade loop design in the low frequencies. This issue is the focus of this paper. It is shown using Quantitative Feedback Theory methodology that there aren’t any advantages gained in the low frequencies with the use of cascaded design for meeting performance specifications. In effect it is concluded that if the design is properly executed a single loop controller closed from the output to the input will be sufficient to meet the typical performance specifications. This is shown using an example where the mold level of a continuous casting process is to be controlled. The plant being used has considerable uncertainty so that features of robust control can be highlighted.

Utilization of Control Effort Constraints in Linear Controller Design

1989 ◽  
Vol 111 (3) ◽  
pp. 378-381 ◽  
Author(s):  
A. Galip Ulsoy
Keyword(s):  
Feedback Control ◽  
Controller Design ◽  
Design Procedure ◽  
Maximum Energy ◽  
Control Effort ◽  
Single Input Single Output ◽  
State Variable ◽  
Linear Controller ◽  
Single Output ◽  
Controlled Systems

A linear controller design procedure, which accounts for constraints on control effort, is developed by requiring that the control system utilize the maximum energy delivering capability of the final control elements under some specified test conditions (e.g., maximum step reference input). Results using this approach are available from previous studies for low-order single-input single-output controlled systems. This paper presents results for multi-input multi-output systems where the number of inputs is equal to the number of states. Both state variable feedback control for regulation, and integral plus state variable feedback control for tracking are considered and illustrated with an example problem.

scholarly journals A Gain-Scheduling PI Control Based on Neural Networks

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Stefania Tronci ◽  
Roberto Baratti
Keyword(s):  
Controller Design ◽  
Neural Model ◽  
Gain Scheduling ◽  
Generic Model ◽  
Continuous Stirred Tank Reactor ◽  
Single Input Single Output ◽  
Single Output ◽  
Model Control ◽  
On Line ◽  
Generic Model Control

This paper presents a gain-scheduling design technique that relies upon neural models to approximate plant behaviour. The controller design is based on generic model control (GMC) formalisms and linearization of the neural model of the process. As a result, a PI controller action is obtained, where the gain depends on the state of the system and is adapted instantaneously on-line. The algorithm is tested on a nonisothermal continuous stirred tank reactor (CSTR), considering both single-input single-output (SISO) and multi-input multi-output (MIMO) control problems. Simulation results show that the proposed controller provides satisfactory performance during set-point changes and disturbance rejection.

scholarly journals Mitigation of Torsional Vibrations in Drilling Systems using Adaptive Nonlinear Control System

2020 ◽  
Vol 9 (4) ◽  
pp. 3317-3321
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
String Model ◽  
Stick Slip ◽  
Rock Interaction ◽  
Performance Specifications ◽  
Level Model ◽  
Multi Level ◽  
The Stability ◽  
Level Training

The reason for this work is to plan a robust yield feedback control way to deal with dispense with torque stick-slip vibrations in boring frameworks. Current industry controllers generally neglect to dispose of stick-slip vibrations, particularly when different torque flex modes assume a job in maniacal assault. In terms of build controller production, a real trainingstring system performs a multi-level model work such as torque mechanics. The proposed controller design is artfully distorted at optimizing the stability with respect to the uncertainty of the nonlinear bit-rock interaction. Based on heroes and intentions. Besides, a closed loop strength examination of the nonlinear preparing string model is displayed. This controller structure system offers a few points of interest contrasted with existing controllers. To begin with, just surface estimations are utilized, barring the requirement for entire estimations underneath it. Second, multi-level training-string dynamics are effectively handled in ways to access state-training controllers. Third, stability is explicitly provided with respect to bit-rock contact uncertainty and closed-loop performance specifications include controller design. The results of the study report confirm that stick-slip vibrations are actually eliminated in realistic drilling scenarios using a controller designed to achieve this state-ofcontrol control.

Repetitive Controller Design in Parameter Space

2003 ◽  
Vol 125 (1) ◽  
pp. 134-138 ◽  
Author(s):  
Levent Gu¨venc¸
Keyword(s):  
Frequency Domain ◽  
Parameter Space ◽  
Controller Design ◽  
Design Method ◽  
Testing Machine ◽  
Design Procedure ◽  
Controller Parameter ◽  
Performance Specifications ◽  
Material Testing Machine ◽  
Repetitive Controller

A new and simple repetitive controller design procedure in controller parameter space, where the structure of the filters in the repetitive controller are fixed from the start and parameters within these filters are tuned, is presented here. This approach results in simple and physically meaningful controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen plane of controller parameters. Sensitivity function magnitude bounds and a relative stability measure are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.

scholarly journals Simplified Fractional Order Controller Design Algorithm

Mathematics ◽  
2019 ◽  
Vol 7 (12) ◽  
pp. 1166 ◽  
Author(s):  
Eva-Henrietta Dulf
Keyword(s):  
Frequency Domain ◽  
Fractional Order ◽  
Closed Loop ◽  
Controller Design ◽  
Process Models ◽  
System Of Nonlinear Equations ◽  
Design Algorithm ◽  
Wide Range ◽  
Fractional Order Controller ◽  
Tuning Rules

Classical fractional order controller tuning techniques usually establish the parameters of the controller by solving a system of nonlinear equations resulted from the frequency domain specifications like phase margin, gain crossover frequency, iso-damping property, robustness to uncertainty, etc. In the present paper a novel fractional order generalized optimum method for controller design using frequency domain is presented. The tuning rules are inspired from the symmetrical optimum principles of Kessler. In the first part of the paper are presented the generalized tuning rules of this method. Introducing the fractional order, one more degree of freedom is obtained in design, offering solution for practically any desired closed-loop performance measures. The proposed method has the advantage that takes into account both robustness aspects and desired closed-loop characteristics, using simple tuning-friendly equations. It can be applied to a wide range of process models, from integer order models to fractional order models. Simulation results are given to highlight these advantages.

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