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- Kuipers, Benjamin, et al.
(författare)
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The Composition and Validation of Heterogeneous Control Laws
- 1994
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098. ; 30:2, s. 233-249
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Tidskriftsartikel (refereegranskat)abstract
- We present a method for creating and validating a nonlinear controller by the composition of heterogeneous local control laws appropriate to different operating regions. Like fuzzy logic control, these methods apply even in the presence of incomplete knowledge of the structure of the system, the boundaries of the operating regions, or even the control action to take. Unlike fuzzy logic control, these methods can be analyzed by a combination of classical and qualitative methods. Each operating region of the system has a classical control law, which provides high-resolution control and can be analyzed by classical methods. Operating regions are defined by fuzzy set membership functions. The global control law is the weighted average of the local control laws, where the weights are provided by the operating region membership functions. A heterogeneous control law can be analyzed, even in the presence of incomplete knowledge, by representing it as a qualitative differential equation and using qualitative simulation to predict the set of possible behaviors of the system. By expressing the desired guarantee as a statement in a modal temporal logic, the validity of the guarantee can be automatically checked against the set of possible behaviors. We demonstrate heterogeneous controllers and our qualitative methods for proving their properties, first for a simple level controller for a water tank, and second for a highly nonlinear chemical reactor.
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- Lundh, Michael, et al.
(författare)
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Automatic Initialization of a Robust Self-Tuning Controller
- 1994
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098. ; 30:11, s. 1649-1662
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Tidskriftsartikel (refereegranskat)abstract
- This paper describes a method for automatically initializing a self-tuning controller. The procedure can be used for systems that are adequately described by models of at most third-order with time delay. For this class of systems it gives a self-tuner that can be initialized simply by pushing a button.
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- Åström, Karl Johan, et al.
(författare)
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Analysis of a Scheme for Iterated Identification and Control
- 1994
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Ingår i: IFAC Symposium on System Identification (SYSID'94), Copenhagen, Denmark, 4-6 July. - 1474-6670. ; 27:8, s. 473-478
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Konferensbidrag (refereegranskat)abstract
- This paper presents analysis of a scheme for iterated identification and control design. The approach is based on least squares identification in closed loop and pole placement design. It has previously been shown that the criteria for control and identification are the same provided that the data filters are chosen properly. The iterated scheme may be viewed as a recursion in model parameters. Each step consists of system identification and control design. Interesting questions are then: What are the fix points? Are the fix points stable? These questions are investigated for some simple examples. Relations to other problems like model reduction and adaptive control are also discussed.
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- Åström, Karl Johan
(författare)
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Tankar om simulering
- 1994
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Ingår i: ComsolNews. ; :3, s. 15-16
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Tidskriftsartikel (refereegranskat)
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