DSSynth: An Automated Digital Controller Synthesis Tool for Physical Plants ASE 2017
|
|
- Earl Stokes
- 6 years ago
- Views:
Transcription
1 DSSynth: An Automated Digital Controller Synthesis Tool for Physical Plants ASE 2017 Alessandro Abate, Iury Bessa, Dario Cattaruzza, Lennon Chaves, Lucas Cordeiro, Cristina David, Pascal Kesseli, Daniel Kroening and Elizabeth Polgreen Diffblue Ltd., University of Oxford, Federal University of Amazonas November 1 st, 2017
2 Motivation 2 of 13
3 Motivation Automatically synthesise digital controllers 2 of 13
4 Typical closed-loop control system Representation of the digital controller and plant state-space: matrices A, B, C, and D transfer-function: coefficients b 0, b 1,...,b m and a 0, a 1,...,a m 3 of 13
5 Typical closed-loop control system Representation of the digital controller and plant state-space: matrices A, B, C, and D transfer-function: coefficients b 0, b 1,...,b m and a 0, a 1,...,a m Stability of closed-loop systems presents a bnded response for any bnded excitation 3 of 13
6 Typical closed-loop control system Representation of the digital controller and plant state-space: matrices A, B, C, and D transfer-function: coefficients b 0, b 1,...,b m and a 0, a 1,...,a m Stability of closed-loop systems presents a bnded response for any bnded excitation Safety of closed-loop systems defines a requirement on the states of the model 3 of 13
7 Typical closed-loop control system Representation of the digital controller and plant state-space: matrices A, B, C, and D transfer-function: coefficients b 0, b 1,...,b m and a 0, a 1,...,a m Stability of closed-loop systems presents a bnded response for any bnded excitation Safety of closed-loop systems defines a requirement on the states of the model Numerical erros (truncation and rnding) 3 of 13
8 Objectives Generate snd digital controllers for stability and safety specifications with a very high degree of automation 4 of 13
9 Objectives Generate snd digital controllers for stability and safety specifications with a very high degree of automation support for transfer-function and state-space representations in closed-loop form 4 of 13
10 Objectives Generate snd digital controllers for stability and safety specifications with a very high degree of automation support for transfer-function and state-space representations in closed-loop form synthesize different numerical representations of the controller using CnterExample Guided Inductive Synthesis (CEGIS) 4 of 13
11 Objectives Generate snd digital controllers for stability and safety specifications with a very high degree of automation support for transfer-function and state-space representations in closed-loop form synthesize different numerical representations of the controller using CnterExample Guided Inductive Synthesis (CEGIS) provide a MATLAB toolbox to synthesize digital controllers while taking into accnt finite word-length effects 4 of 13
12 The Proposed Synthesis Methodology Phases of the controller synthesis: 5 of 13
13 CEGIS for Control Systems CEGIS with multi-staged verification: Increase Unfolding Bnd Increase Precision Synthesize K C-ex Verify PASS 1.Safety 2.Precision 3.Complete Done Program Search BMC-based Verifier Fixed-point Arithmetic Verifier Completeness Verifier 6 of 13
14 DSSynth Usage - Transfer Function Physical plant for an unmanned aerial vehicle (UAV) plant: G(z) = B(z) A(z) = z 2 z z (1) Synthesizing the digital controller: >> num = [ ]; >> den = [ ]; >> system = tf(num,den,0.002); >> y = synthesize (system,8,8,1, -1); >> SYNTHESIS SUCCESSFUL >> y = >> z^ z >> >> z^ z of 13
15 DSSynth Usage - Transfer Function Digital controller synthesized by DSSynth: C(z) = z z 2. (2) z Computing the general equation (plant and controller): >> num = [ ]; >> den = [ ]; >> controller = tf(num,den,0.002); >> num = [ ]; >> den = [ ]; >> plant = tf(num,den,0.002); >> sys = feedback ( series ( controller, plant ),1) >> sys = >> z^ z^ z^2 >> >> z^ z^ z^ z of 13
16 DSSynth Usage - Step Response Step response for the UAV plant describing a stable system: 0.7 Step Response Amplitude Time (seconds) 9 of 13
17 DSSynth Usage - MATLAB Application (a) Definition of the system representation and the physical plant (b) Definition of implementation aspects and input ranges 10 of 13
18 DSSynth Usage - MATLAB Application (c) Digital controller synthesized by DSSynth (d) Step response for the synthesized digital controller 11 of 13
19 Experimental Evaluation Our evaluation consists of 18 Single-Input and Single-Output control system benchmarks extracted from the literature: 12 of 13
20 Experimental Evaluation Our evaluation consists of 18 Single-Input and Single-Output control system benchmarks extracted from the literature: Experimental Objectives: Evaluate the DSSynth performance to produce digital controllers Confirm the stability and safety tside of r model using MATLAB 12 of 13
21 Experimental Evaluation Our evaluation consists of 18 Single-Input and Single-Output control system benchmarks extracted from the literature: Experimental Objectives: Evaluate the DSSynth performance to produce digital controllers Confirm the stability and safety tside of r model using MATLAB Experimental Setup: Signal input range: 1, 1 Implementation features: 8, 8 Intel Core i GHz processor with 24 GB of RAM 12 of 13
22 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 13 of 13
23 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 The number of state variables ranges from 1 to 9 13 of 13
24 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 The number of state variables ranges from 1 to 9 The average synthesis time amnts to 35.5 s for state-space systems 13 of 13
25 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 The number of state variables ranges from 1 to 9 The average synthesis time amnts to 35.5 s for state-space systems The average synthesis time amnts to s for transfer functions 13 of 13
26 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 The number of state variables ranges from 1 to 9 The average synthesis time amnts to 35.5 s for state-space systems The average synthesis time amnts to s for transfer functions On average r engine spent 52% in the synthesis and 48% in the verification phase 13 of 13
27 Experimental Evaluation Experimental Results: The digital controller order ranges from 1 to 8 The number of state variables ranges from 1 to 9 The average synthesis time amnts to 35.5 s for state-space systems The average synthesis time amnts to s for transfer functions On average r engine spent 52% in the synthesis and 48% in the verification phase DSSynth Matlab toolbox: of 13
Automated Formal Synthesis of Digital Controllers for State-Space Physical Plants CAV 2017
Automated Formal Synthesis of Digital Controllers for State-Space Physical Plants CAV 2017 Artifact * Alessandro Abate, Iury Bessa, Dario Cattaruzza, Lucas Cordeiro, Cristina David, Pascal Kesseli, Daniel
More informationDSValidator: An Automated Counterexample Reproducibility Tool for Digital Systems
21st ACM International Conference on Hybrid Systems: Computation and Control (HSCC 18) DSValidator: An Automated Counterexample Reproducibility Tool for Digital Systems Joint work with Lennon Chaves, Iury
More informationStability and Stabilization of polynomial dynamical systems. Hadi Ravanbakhsh Sriram Sankaranarayanan University of Colorado, Boulder
Stability and Stabilization of polynomial dynamical systems Hadi Ravanbakhsh Sriram Sankaranarayanan University of Colorado, Boulder Proving Asymptotic Stability: Lyapunov Functions Lyapunov Function:
More informationarxiv: v3 [cs.sy] 16 Feb 2017
Sound and Automated Synthesis of Digital Stabilizing Controllers for Continuous Plants Alessandro Abate 1, Iury Bessa 2, Dario Cattaruzza 1, Lucas Cordeiro 1,2, Cristina David 1, Pascal Kesseli 1 and Daniel
More informationSENSE: Abstraction-Based Synthesis of Networked Control Systems
SENSE: Abstraction-Based Synthesis of Networked Control Systems Mahmoud Khaled, Matthias Rungger, and Majid Zamani Hybrid Control Systems Group Electrical and Computer Engineering Technical University
More informationDESIGN AND DEVELOPMENT OF THE LQR OPTIMAL CONTROLLER FOR THE UNMANNED AERIAL VEHICLE
Review of the Air Force Academy No.1 (36)/2018 DESIGN AND DEVELOPMENT OF THE LQR OPTIMAL CONTROLLER FOR THE UNMANNED AERIAL VEHICLE Róbert SZABOLCSI Óbuda University, Budapest, Hungary (szabolcsi.robert@bgk.uni-obuda.hu)
More informationEfficient Verification of Multi-Property Designs. The benefit of wrong assumptions (E. Goldberg, M. Güdemann, D. Kroening, R.
Efficient Verification of Multi-Property Designs The benefit of wrong assumptions (E. Goldberg, M. Güdemann, D. Kroening, R. Mukherjee) Motivation Main bulk of research: single property verification A
More informationReachable set computation for solving fuel consumption terminal control problem using zonotopes
Reachable set computation for solving fuel consumption terminal control problem using zonotopes Andrey F. Shorikov 1 afshorikov@mail.ru Vitaly I. Kalev 2 butahlecoq@gmail.com 1 Ural Federal University
More informationFormal Non-Fragile Stability Verification of Digital Control Systems with Uncertainty
IEEE TRANSACTIONS ON COMPUTERS, AUGUST, 6 Formal Non-Fragile Stability Verification of Digital Control Systems with Uncertainty Iury Bessa, Hussama Ismail, Reinaldo Palhares, Lucas Cordeiro, and João Edgar
More informationOutline. Classical Control. Lecture 1
Outline Outline Outline 1 Introduction 2 Prerequisites Block diagram for system modeling Modeling Mechanical Electrical Outline Introduction Background Basic Systems Models/Transfers functions 1 Introduction
More informationTWO- PHASE APPROACH TO DESIGN ROBUST CONTROLLER FOR UNCERTAIN INTERVAL SYSTEM USING GENETIC ALGORITHM
International Journal of Electrical and Electronics Engineering Research (IJEEER) ISSN:2250-155X Vol.2, Issue 2 June 2012 27-38 TJPRC Pvt. Ltd., TWO- PHASE APPROACH TO DESIGN ROBUST CONTROLLER FOR UNCERTAIN
More informationSynthesis of Discrete State Observer by One Measurable State Variable and Identification of Immeasurable Disturbing Influence Mariela Alexandrova
Synthesis of Discrete State Observer by One Measurable State Variable and Identification of Immeasurable Disturbing Influence Mariela Alexandrova Department of Automation, Technical University of Varna,
More informationTutorial 4 (Week 11): Matlab - Digital Control Systems
ELEC 3004 Systems: Signals & Controls Tutorial 4 (Week ): Matlab - Digital Control Systems The process of designing and analysing sampled-data systems is enhanced by the use of interactive computer tools
More informationZ - Transform. It offers the techniques for digital filter design and frequency analysis of digital signals.
Z - Transform The z-transform is a very important tool in describing and analyzing digital systems. It offers the techniques for digital filter design and frequency analysis of digital signals. Definition
More informationMatlab Controller Design. 1. Control system toolbox 2. Functions for model analysis 3. Linear system simulation 4. Biochemical reactor linearization
Matlab Controller Design. Control system toolbox 2. Functions for model analysis 3. Linear system simulation 4. Biochemical reactor linearization Control System Toolbox Provides algorithms and tools for
More informationA Comparative Study on Automatic Flight Control for small UAV
Proceedings of the 5 th International Conference of Control, Dynamic Systems, and Robotics (CDSR'18) Niagara Falls, Canada June 7 9, 18 Paper No. 13 DOI: 1.11159/cdsr18.13 A Comparative Study on Automatic
More informationWord-length Optimization and Error Analysis of a Multivariate Gaussian Random Number Generator
Word-length Optimization and Error Analysis of a Multivariate Gaussian Random Number Generator Chalermpol Saiprasert, Christos-Savvas Bouganis and George A. Constantinides Department of Electrical & Electronic
More informationModeling and Simulation of Dispersion Particle Fuels in Monte Carlo Neutron Transport Calculation
18 th IGORR Conference 2017 Modeling and Simulation of Dispersion Particle Fuels in Monte Carlo Neutron Transport Calculation Zhenping Chen School of Nuclear Science and Technology Email: chzping@yeah.net
More informationRisoluzione di equazioni matriciali con matrici infinite quasi-toeplitz
Risoluzione di equazioni matriciali con matrici infinite quasi-toeplitz Leonardo Robol, ISTI-CNR, Pisa, Italy joint work with: D. A. Bini, B. Meini (UniPi) S. Massei (EPFL)
More informationNon-linear Interpolant Generation and Its Application to Program Verification
Non-linear Interpolant Generation and Its Application to Program Verification Naijun Zhan State Key Laboratory of Computer Science, Institute of Software, CAS Joint work with Liyun Dai, Ting Gan, Bow-Yaw
More informationAutonomous Agent Behaviour Modelled in PRISM A Case Study
Autonomous Agent Behaviour Modelled in PRISM A Case Study Ruth Hoffmann 1, Murray Ireland 1, Alice Miller 1, Gethin Norman 1, and Sandor Veres 2 1 University of Glasgow, Glasgow, G12 8QQ, Scotland 2 University
More informationProvably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints
Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints Kevin Leahy, Dingjiang Zhou, Cristian-Ioan Vasile, Konstantinos Oikonomopoulos, Mac Schwager, and Calin
More informationMulti-layer Flight Control Synthesis and Analysis of a Small-scale UAV Helicopter
Multi-layer Flight Control Synthesis and Analysis of a Small-scale UAV Helicopter Ali Karimoddini, Guowei Cai, Ben M. Chen, Hai Lin and Tong H. Lee Graduate School for Integrative Sciences and Engineering,
More informationFormal verification of complex systems: model-based and data-driven methods. Alessandro Abate
Formal verification of complex systems: model-based and data-driven methods Alessandro Abate Department of Computer Science, University of Oxford MEMOCODE - Sept 30, 2017 Alessandro Abate, CS, Oxford Model-based
More informationBusiness Process Verification with Constraint Temporal Answer Set Programming
1 Online appendix for the paper Business Process Verification with Constraint Temporal Answer Set Programming published in Theory and Practice of Logic Programming Laura Giordano DISIT, Università del
More informationDetermining Appropriate Precisions for Signals in Fixed-Point IIR Filters
38.3 Determining Appropriate Precisions for Signals in Fixed-Point IIR Filters Joan Carletta Akron, OH 4435-3904 + 330 97-5993 Robert Veillette Akron, OH 4435-3904 + 330 97-5403 Frederick Krach Akron,
More informationPossible Way of Control of Multi-variable Control Loop by Using RGA Method
Possible Way of Control of Multi-variable Control Loop by Using GA Method PAVEL NAVATIL, LIBO PEKA Department of Automation and Control Tomas Bata University in Zlin nam. T.G. Masarya 5555, 76 Zlin CZECH
More informationMATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK
MATHEMATICAL MODELING OF OPEN LOOP PMDC MOTOR USING MATLAB/SIMULINK 1 Mr.Dhaval K.Patel 1 Assistant Professor, Dept. of Electrical Engineering. Gidc Degree Engineering College Abrama, Navsari. ABSTRACT:
More information6.245: MULTIVARIABLE CONTROL SYSTEMS by A. Megretski. Solutions to Problem Set 1 1. Massachusetts Institute of Technology
Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science 6.245: MULTIVARIABLE CONTROL SYSTEMS by A. Megretski Solutions to Problem Set 1 1 Problem 1.1T Consider the
More informationFormal Verification Applied to Attitude Control Software of Unmanned Aerial Vehicles
Universidade Federal do Amazonas Faculdade de Tecnologia Programa de Pós-Graduação em Engenharia Elétrica Formal Verification Applied to Attitude Control Software of Unmanned Aerial Vehicles Lennon Corrêa
More informationAn LQR Controller Design Approach For Pitch Axis Stabilisation Of 3-DOF Helicopter System
International Journal of Scientific & Engineering Research, Volume 4, Issue 4, April-2013 1398 An LQR Controller Design Approach For Pitch Axis Stabilisation Of 3-DOF Helicopter System Mrs. M. Bharathi*Golden
More informationAn External Active-Set Strategy for Solving Optimal Control Problems
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 54, NO. 5, MAY 009 119 An External Active-Set Strategy for Solving Optimal Control Problems Hoam Chung, Member, IEEE, Elijah Polak, Life Fellow, IEEE, Shankar
More informationEE451/551: Digital Control. Chapter 3: Modeling of Digital Control Systems
EE451/551: Digital Control Chapter 3: Modeling of Digital Control Systems Common Digital Control Configurations AsnotedinCh1 commondigitalcontrolconfigurations As noted in Ch 1, common digital control
More informationAnalytic Solutions for Periodically Loaded Transmission Line Modeling
Analytic Solutions for Periodically Loaded Transmission Line Modeling Paul G. Huray, huray@sc.edu Priya Pathmanathan, Intel priyap@qti.qualcomm.com Steve Pytel, Intel steve.pytel@ansys.com April 4, 2014
More informationParallelism in Structured Newton Computations
Parallelism in Structured Newton Computations Thomas F Coleman and Wei u Department of Combinatorics and Optimization University of Waterloo Waterloo, Ontario, Canada N2L 3G1 E-mail: tfcoleman@uwaterlooca
More informationIDENTIFICATION OF THE MODAL MASSES OF AN UAV STRUCTURE IN OPERATIONAL ENVIRONMENT
IDENTIFICATION OF THE MODAL MASSES OF AN UAV STRUCTURE IN OPERATIONAL ENVIRONMENT M.S. Cardinale 1, M. Arras 2, G. Coppotelli 3 1 Graduated Student, University of Rome La Sapienza, mariosalvatore.cardinale@gmail.com.
More informationModule 6: Deadbeat Response Design Lecture Note 1
Module 6: Deadbeat Response Design Lecture Note 1 1 Design of digital control systems with dead beat response So far we have discussed the design methods which are extensions of continuous time design
More informationCounterexamples for Robotic Planning Explained in Structured Language
Counterexamples for Robotic Planning Explained in Structured Language Lu Feng 1, Mahsa Ghasemi 2, Kai-Wei Chang 3, and Ufuk Topcu 4 Abstract Automated techniques such as model checking have been used to
More informationAn Active Learning Approach For Inferring Discrete Event Automata
An Active Learning Approach For Inferring Discrete Event Automata Mohammad Mahdi Karimi PhD. Candidate, ECE Supervisor: Dr Ali Karimoddini Summer 2015 1 Content 1. Discrete Event Systems Definitions Applications
More informationProblem 1: (3 points) Recall that the dot product of two vectors in R 3 is
Linear Algebra, Spring 206 Homework 3 Name: Problem : (3 points) Recall that the dot product of two vectors in R 3 is a x b y = ax + by + cz, c z and this is essentially the same as the matrix multiplication
More informationModel Validation for a Self-bearing Motor Prototype
Model Validation for a Self-bearing Motor Prototype José D.G. Garcia 1, Afonso C. N. Gomes 2 and Richard M. Stephan 2 1 Instituto Federal do Rio de Janeiro, Nilópolis, BR, 2 Universidade Federal do Rio
More informationResearch Article A Novel Differential Evolution Invasive Weed Optimization Algorithm for Solving Nonlinear Equations Systems
Journal of Applied Mathematics Volume 2013, Article ID 757391, 18 pages http://dx.doi.org/10.1155/2013/757391 Research Article A Novel Differential Evolution Invasive Weed Optimization for Solving Nonlinear
More informationAdvanced Aerospace Control. Marco Lovera Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano
Advanced Aerospace Control Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano ICT for control systems engineering School of Industrial and Information Engineering Aeronautical Engineering
More informationDigital Autoland Control Laws Using Direct Digital Design and Quantitative Feedback Theory
AIAA Guidance, Navigation, and Control Conference and Exhibit 1-4 August 6, Keystone, Colorado AIAA 6-699 Digital Autoland Control Laws Using Direct Digital Design and Quantitative Feedback Theory Thomas
More informationARCH-COMP17 Category Report: Continuous and Hybrid Systems with Linear Continuous Dynamics
EPiC Series in Computing Volume 48, 2017, Pages 143 159 ARCH17. 4th International Workshop on Applied Verification of Continuous and Hybrid Systems ARCH-COMP17 Category Report: Continuous and Hybrid Systems
More informationQFT Framework for Robust Tuning of Power System Stabilizers
45-E-PSS-75 QFT Framework for Robust Tuning of Power System Stabilizers Seyyed Mohammad Mahdi Alavi, Roozbeh Izadi-Zamanabadi Department of Control Engineering, Aalborg University, Denmark Correspondence
More informationOn the Probabilistic Symbolic Analysis of Software. Corina Pasareanu CMU-SV NASA Ames
On the Probabilistic Symbolic Analysis of Software Corina Pasareanu CMU-SV NASA Ames Probabilistic Symbolic Execution Quantifies the likelihood of reaching a target event e.g., goal state or assert violation
More informationRoot Locus. Motivation Sketching Root Locus Examples. School of Mechanical Engineering Purdue University. ME375 Root Locus - 1
Root Locus Motivation Sketching Root Locus Examples ME375 Root Locus - 1 Servo Table Example DC Motor Position Control The block diagram for position control of the servo table is given by: D 0.09 Position
More informationInternational Journal of Engineering Research & Science (IJOER) ISSN: [ ] [Vol-2, Issue-11, November- 2016]
Synthesis of Discrete Steady-State Error Free Modal State Controller Based on Predefined Pole Placement Area and Measurable State Variables Mariela Alexandrova Department of Automation, Technical University
More informationLABORATORY INSTRUCTION MANUAL CONTROL SYSTEM I LAB EE 593
LABORATORY INSTRUCTION MANUAL CONTROL SYSTEM I LAB EE 593 ELECTRICAL ENGINEERING DEPARTMENT JIS COLLEGE OF ENGINEERING (AN AUTONOMOUS INSTITUTE) KALYANI, NADIA CONTROL SYSTEM I LAB. MANUAL EE 593 EXPERIMENT
More informationChapter 6 Steady-State Analysis of Continuous-Time Systems
Chapter 6 Steady-State Analysis of Continuous-Time Systems 6.1 INTRODUCTION One of the objectives of a control systems engineer is to minimize the steady-state error of the closed-loop system response
More informationFormal Synthesis of Embedded Control Software: Application to Vehicle Management Systems
Formal Synthesis of Embedded Control Software: Application to Vehicle Management Systems T. Wongpiromsarn, U. Topcu, and R. M. Murray Control and Dynamical Systems, California Institute of Technology,
More informationLecture 14 - Using the MATLAB Control System Toolbox and Simulink Friday, February 8, 2013
Today s Objectives ENGR 105: Feedback Control Design Winter 2013 Lecture 14 - Using the MATLAB Control System Toolbox and Simulink Friday, February 8, 2013 1. introduce the MATLAB Control System Toolbox
More informationSynthesis and Inductive Learning Part 3
Synthesis and Inductive Learning Part 3 Sanjit A. Seshia EECS Department UC Berkeley Acknowledgments: Susmit Jha, Alexandre Donze, Edward Lee NSF ExCAPE Summer School June 23-25, 2015 Questions of Interest
More informationSynergetic Synthesis Of Dc-Dc Boost Converter Controllers: Theory And Experimental Analysis
Synergetic Synthesis Of Dc-Dc Boost Converter Controllers: Theory And Experimental Analysis A. Kolesnikov ( + ), G. Veselov ( + ), A. Kolesnikov ( + ), A. Monti ( ++ ), F. Ponci ( ++ ), E. Santi ( ++ ),
More information-MASTER THESIS- ADVANCED ACTIVE POWER AND FREQUENCY CONTROL OF WIND POWER PLANTS
-MASTER THESIS- ADVANCED ACTIVE POWER AND FREQUENCY CONTROL OF WIND POWER PLANTS C L AU D I U I O N I TA 1, 2, A L I N G EO R G E R A D U C U 1, F LO R I N I OV 2 1 V A T T E N F A L L W I N D P O W E
More informationRecursive, Infinite Impulse Response (IIR) Digital Filters:
Recursive, Infinite Impulse Response (IIR) Digital Filters: Filters defined by Laplace Domain transfer functions (analog devices) can be easily converted to Z domain transfer functions (digital, sampled
More informationINTRODUCTION TO TRANSFER FUNCTIONS
INTRODUCTION TO TRANSFER FUNCTIONS The transfer function is the ratio of the output Laplace Transform to the input Laplace Transform assuming zero initial conditions. Many important characteristics of
More informationDigital Control & Digital Filters. Lectures 13 & 14
Digital Controls & Digital Filters Lectures 13 & 14, Professor Department of Electrical and Computer Engineering Colorado State University Spring 2017 Systems with Actual Time Delays-Application 2 Case
More informationTwo User-Routines for. Online Stress and Damage Calculation
SIMPACK User Meeting 2011, May 19 th, Salzburg, Austria Two User-Routines for Online Stress and Damage Calculation Christoph Tobias and Peter Eberhard christoph.tobias@itm.uni-stuttgart.de 1/26 Outline
More informationTowards Reduced-Order Models for Online Motion Planning and Control of UAVs in the Presence of Wind
Towards Reduced-Order Models for Online Motion Planning and Control of UAVs in the Presence of Wind Ashray A. Doshi, Surya P. Singh and Adam J. Postula The University of Queensland, Australia {a.doshi,
More informationROBUST CONTROL SYSTEM DESIGN FOR SMALL UAV USING H2-OPTIMIZATION
Technical Sciences 151 ROBUST CONTROL SYSTEM DESIGN FOR SMALL UAV USING H2-OPTIMIZATION Róbert SZABOLCSI Óbuda University, Budapest, Hungary szabolcsi.robert@bgk.uni-obuda.hu ABSTRACT Unmanned aerial vehicles
More informationMarcus Pantoja da Silva 1 and Celso Pascoli Bottura 2. Abstract: Nonlinear systems with time-varying uncertainties
A NEW PROPOSAL FOR H NORM CHARACTERIZATION AND THE OPTIMAL H CONTROL OF NONLINEAR SSTEMS WITH TIME-VARING UNCERTAINTIES WITH KNOWN NORM BOUND AND EXOGENOUS DISTURBANCES Marcus Pantoja da Silva 1 and Celso
More informationCDS 101/110a: Lecture 10-1 Robust Performance
CDS 11/11a: Lecture 1-1 Robust Performance Richard M. Murray 1 December 28 Goals: Describe how to represent uncertainty in process dynamics Describe how to analyze a system in the presence of uncertainty
More informationComparison of Feedback Controller for Link Stabilizing Units of the Laser Based Synchronization System used at the European XFEL
Comparison of Feedback Controller for Link Stabilizing Units of the Laser Based Synchronization System used at the European XFEL M. Heuer 1 G. Lichtenberg 2 S. Pfeiffer 1 H. Schlarb 1 1 Deutsches Elektronen
More informationSPECIAL PROJECT PROGRESS REPORT
SPECIAL PROJECT PROGRESS REPORT Progress Reports should be 2 to 10 pages in length, depending on importance of the project. All the following mandatory information needs to be provided. Reporting year
More informationDetermining the Existence of DC Operating Points in Circuits
Determining the Existence of DC Operating Points in Circuits Mohamed Zaki Department of Computer Science, University of British Columbia Joint work with Ian Mitchell and Mark Greenstreet Nov 23 nd, 2009
More informationModeling, Simulation & Control Of Non-linear Dynamical Systems By Patricia Melin;Oscar Castillo READ ONLINE
Modeling, Simulation & Control Of Non-linear Dynamical Systems By Patricia Melin;Oscar Castillo READ ONLINE If looking for the ebook by Patricia Melin;Oscar Castillo Modeling, Simulation & Control of Non-linear
More informationAgilent 7500a Inductively Coupled Plasma Mass Spectrometer (ICP-MS)
www.ietltd.com Proudly serving laboratories worldwide since 1979 CALL +1.847.913.0777 for Refurbished & Certified Lab Equipment Agilent 7500a Inductively Coupled Plasma Mass Spectrometer (ICP-MS) The Agilent
More informationTrajectory tracking & Path-following control
Cooperative Control of Multiple Robotic Vehicles: Theory and Practice Trajectory tracking & Path-following control EECI Graduate School on Control Supélec, Feb. 21-25, 2011 A word about T Tracking and
More informationEXPERIMENTALLY DETERMINING THE TRANSFER FUNCTION OF A SPRING- MASS SYSTEM
EXPERIMENTALLY DETERMINING THE TRANSFER FUNCTION OF A SPRING- MASS SYSTEM Lab 8 OBJECTIVES At the conclusion of this experiment, students should be able to: Experimentally determine the best fourth order
More information17/07/ Pick up Lecture Notes... WEBSITE FOR ASSIGNMENTS AND TOOLBOX DEFINITION DEFINITIONS AND CONCEPTS OF GIS
WEBSITE FOR ASSIGNMENTS AND LECTURE PRESENTATIONS www.franzy.yolasite.com Pick up Lecture Notes... LECTURE 2 PRINCIPLES OF GEOGRAPHICAL INFORMATION SYSTEMS I- GEO 362 Franz Okyere DEFINITIONS AND CONCEPTS
More informationDigital Control Engineering Analysis and Design
Digital Control Engineering Analysis and Design M. Sami Fadali Antonio Visioli AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Academic Press is
More informationOptimized PSD Envelope for Nonstationary Vibration Revision A
ACCEL (G) Optimized PSD Envelope for Nonstationary Vibration Revision A By Tom Irvine Email: tom@vibrationdata.com July, 014 10 FLIGHT ACCELEROMETER DATA - SUBORBITAL LAUNCH VEHICLE 5 0-5 -10-5 0 5 10
More informationProperty Directed Equivalence via Abstract Simulation. Grigory Fedyukovich, Arie Gurfinkel, and Natasha Sharygina
Property Directed Equivalence via Abstract Simulation Grigory Fedyukovich, Arie Gurfinkel, and Natasha Sharygina CAV, Jul 23, 2016 Motivation / Goals Little Leaks Add Up to Big Bills software safety must
More informationArmin Rasch * Abstract
Optimization strategy for the identification of elastomer parameters of truck mountings for the improved adjustment of Multi-Body Simulation data with measured values on rough road conditions Armin Rasch
More informationRRQR Factorization Linux and Windows MEX-Files for MATLAB
Documentation RRQR Factorization Linux and Windows MEX-Files for MATLAB March 29, 2007 1 Contents of the distribution file The distribution file contains the following files: rrqrgate.dll: the Windows-MEX-File;
More information1 (30 pts) Dominant Pole
EECS C8/ME C34 Fall Problem Set 9 Solutions (3 pts) Dominant Pole For the following transfer function: Y (s) U(s) = (s + )(s + ) a) Give state space description of the system in parallel form (ẋ = Ax +
More informationMULTIVARIABLE PROPORTIONAL-INTEGRAL-PLUS (PIP) CONTROL OF THE ALSTOM NONLINEAR GASIFIER MODEL
Control 24, University of Bath, UK, September 24 MULTIVARIABLE PROPORTIONAL-INTEGRAL-PLUS (PIP) CONTROL OF THE ALSTOM NONLINEAR GASIFIER MODEL C. J. Taylor, E. M. Shaban Engineering Department, Lancaster
More informationQuantitative Feedback Theory based Controller Design of an Unstable System
Quantitative Feedback Theory based Controller Design of an Unstable System Chandrima Roy Department of E.C.E, Assistant Professor Heritage Institute of Technology, Kolkata, WB Kalyankumar Datta Department
More informationParameterized Linear Matrix Inequality Techniques in Fuzzy Control System Design
324 IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL. 9, NO. 2, APRIL 2001 Parameterized Linear Matrix Inequality Techniques in Fuzzy Control System Design H. D. Tuan, P. Apkarian, T. Narikiyo, and Y. Yamamoto
More informationRobust Control. 1st class. Spring, 2017 Instructor: Prof. Masayuki Fujita (S5-303B) Tue., 11th April, 2017, 10:45~12:15, S423 Lecture Room
Robust Control Spring, 2017 Instructor: Prof. Masayuki Fujita (S5-303B) 1st class Tue., 11th April, 2017, 10:45~12:15, S423 Lecture Room Reference: [H95] R.A. Hyde, Aerospace Control Design: A VSTOL Flight
More informationAn Efficient Heuristics for Minimum Time Control of Continuous Petri nets
An Efficient Heuristics for Minimum Time Control of Continuous Petri nets Hanife Apaydin-Özkan, Jorge Júlvez, Cristian Mahulea, Manuel Silva Instituto de Investigación en Ingeniería de Aragon (I3A), Universidad
More informationMulti-Agent Systems. By Anders Simpson-Wolf, Ramanjit Singh, and Michael Tran
Multi-Agent Systems By Anders Simpson-Wolf, Ramanjit Singh, and Michael Tran 3/13/2013 Visual Demonstration more info at http://mobots.epfl.ch/ Presentation Overview Relevance/Literature Survey Definition
More informationsc Control Systems Design Q.1, Sem.1, Ac. Yr. 2010/11
sc46 - Control Systems Design Q Sem Ac Yr / Mock Exam originally given November 5 9 Notes: Please be reminded that only an A4 paper with formulas may be used during the exam no other material is to be
More informationFPGA as a tool for hardware realization of feedback control
Available online at www.sciencedirect.com ScienceDirect Journal of Electrical Systems and Information Technology 2 (2015) 328 337 FPGA as a tool for hardware realization of feedback control Ján Cigánek,
More informationMIMO analysis: loop-at-a-time
MIMO robustness MIMO analysis: loop-at-a-time y 1 y 2 P (s) + + K 2 (s) r 1 r 2 K 1 (s) Plant: P (s) = 1 s 2 + α 2 s α 2 α(s + 1) α(s + 1) s α 2. (take α = 10 in the following numerical analysis) Controller:
More informationDSP First. Laboratory Exercise #10. The z, n, and ˆω Domains
DSP First Laboratory Exercise #10 The z, n, and ˆω Domains 1 Objective The objective for this lab is to build an intuitive understanding of the relationship between the location of poles and zeros in the
More informationInternational Journal of Engineering Trends and Technology (IJETT) Volume3 Issue 4 Number1 Jul 2012
Design Approach For Pitch Axis Stabilization Of 3-Dof Helicopter System An Lqr Controller Mrs.M.Bharathi*Golden Kumar** *Proffessor and Head, Department of Electronics And Instrumentation, Bharath University
More informationFault Collapsing in Digital Circuits Using Fast Fault Dominance and Equivalence Analysis with SSBDDs
Fault Collapsing in Digital Circuits Using Fast Fault Dominance and Equivalence Analysis with SSBDDs Raimund Ubar, Lembit Jürimägi (&), Elmet Orasson, and Jaan Raik Department of Computer Engineering,
More informationThe PVTOL Aircraft. 2.1 Introduction
2 The PVTOL Aircraft 2.1 Introduction We introduce in this chapter the well-known Planar Vertical Take-Off and Landing (PVTOL) aircraft problem. The PVTOL represents a challenging nonlinear systems control
More informationCONTROL OF TRMS AND MODELLING USING LPV
Volume: 03 Issue: 08 Aug-2016 www.irjet.net p-issn: 2395-0072 CONTROL OF TRMS AND MODELLING USING LPV G.VINAY KUMAR, Dr.G.V.SIVA KRISHNA RAO 1PG Student, A.U. College of Engineering (A), Dept. Electrical
More informationClose Loop System Identification of Dynamic Parameters of an Airplane. Michal Chvojka
Close Loop System Identification of Dynamic Parameters of an Airplane Michal Chvojka October 2004 Chapter 1 Closed Loop System Identification Identifiability of Closed Loop Systems Sometimes it is important
More informationIdentification of Lateral/Directional Model for a UAV Helicopter in Forward Flight
Available online at www.sciencedirect.com Procedia Engineering 16 (2011 ) 137 143 International Workshop on Automobile, Power and Energy Engineering Identification of Lateral/Directional Model for a UAV
More informationClock Skew Scheduling in the Presence of Heavily Gated Clock Networks
Clock Skew Scheduling in the Presence of Heavily Gated Clock Networks ABSTRACT Weicheng Liu, Emre Salman Department of Electrical and Computer Engineering Stony Brook University Stony Brook, NY 11794 [weicheng.liu,
More informationCOMBINED ADAPTIVE CONTROLLER FOR UAV GUIDANCE
COMBINED ADAPTIVE CONTROLLER FOR UAV GUIDANCE B.R. Andrievsky, A.L. Fradkov Institute for Problems of Mechanical Engineering of Russian Academy of Sciences 61, Bolshoy av., V.O., 199178 Saint Petersburg,
More informationEXPERIMENTAL MODAL ANALYSIS OF AN ACTIVELY CONTROLLED SCALED METRO VEHICLE CAR BODY
ICSV14 Cairns Australia 9-12 July, 2007 EXPERIMENTAL MODAL ANALYSIS OF AN ACTIVELY CONTROLLED SCALED METRO VEHICLE CAR BODY S. Popprath 1, A. Schirrer 2 *, C. Benatzky 2, M. Kozek 2, J. Wassermann 1 1
More informationReduced Order Modeling Enables System Level Simulation of a MEMS Piezoelectric Energy Harvester with a Self-Supplied SSHI-Scheme
Reduced Order Modeling Enables System Level Simulation of a MEMS Piezoelectric Energy Harvester with a Self-Supplied SSHI-Scheme F. Sayed 1, D. Hohlfeld², T. Bechtold 1 1 Institute for Microsystems Engineering,
More informationFAULT DETECTION OF A CONTROL VALVE USING STRUCTURED PARITY EQUATIONS
FAULT DETECTION OF A CONTROL VALVE USING STRUCTURED PARITY EQUATIONS Felipe Nunes Radtke, Fernando Lizarralde Dept. of Electrical Eng., COPPE, Federal University of Rio de Janeiro Rio de Janeiro, RJ, Brazil
More informationHigher-Order Σ Modulators and the Σ Toolbox
ECE37 Advanced Analog Circuits Higher-Order Σ Modulators and the Σ Toolbox Richard Schreier richard.schreier@analog.com NLCOTD: Dynamic Flip-Flop Standard CMOS version D CK Q Q Can the circuit be simplified?
More information