A procedure for designing linear functional observers

We present low-order functional observer existence conditions; the proposed existence conditions always lead to a design of functional observers of order less than or equal to that of a Luenberger observer. The proposed low-order observer always exists if a Luenberger observer exists.     

Robust stabilizing compensators for flexible structures with collocated controls

For flexible structures with collocated rate and attitude sensors/actuators, we characterize compensator transfer functions which guarantee modal stability even when stiffness/inertia parameters are uncertain. While the compensators are finite-dimensional, the structure models are allowed to be infinite-dimensional (continuum models), with attendant complexity of the notion of stability; thus exponential stability is not possible and the best we can obtain is strong stability. Robustness is interpreted essentially as maintaining stability in the worst case. The conditions require that the compensator transfer functions be positive real and use is made of the Kalman-Yakubovic lemma to characterize them further. The concept of positive realness is shown to be equivalent to dissipativity in infinite dimensions. In particular we show that for a subclass of compensators it is possible to make the system strongly stable as well as dissipative in an appropriate energy norm.This research was supported in part under NASA Grant No. NCC 2-374.     

On the Relation between Energy-Conserving Low-Order Models and a System of Coupled Generalized Volterra Gyrostats with Nonlinear Feedback

In this paper we first prove the equivalence between the system of coupled Volterra gyrostats and a special class of energy-conserving low-order models. We then extend the definition of the classical Volterra gyrostat to include nonlinear feedback, resulting in a class of generalized Volterra gyrostats. Using this new class of gyrostats as a basic building block, we present an algorithm for converting a general class of energy-conserving low-order models that routinely arise in fluid dynamics, turbulence, and atmospheric sciences into a system of coupled generalized Volterra gyrostats with nonlinear feedback.      

New developments in robust synthesis with antiwindup compensation.Flight control actuators applications

We first summarize some results recently published by the authors on the application of classical robust servomechanism problem (RSP) to electrohydraulic servos. We present a solution consisting of three compensators: an integrator of the tracking error, a LQR stabilizing compensator and an antiwindup compensator. In this work we extend the analysis of the proposed solution by investigating the stability of the closed loop system with saturated control. We present here an approach to this problem based on the Lyapunov function method. The domain of attraction of the origin is obtained and it is shown that the system stability is ensured by simply choosing a particular compensator design which solves RSP. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Representation of feedback operators for parabolic control problems

In this paper we present results on existence and regularity of integral representations of feedback operators arising from parabolic control problems. The existence of such representations is important for the design of low order compensators and in the placement of sensors. This paper extends earlier results of J. A. Burns and B. B. King to problems with spatial dimensions.     

Design, parametrization, and pole placement of stabilizing output feedback compensators via injective cogenerator quotient signal modules

Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ? over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior ensures the absence of impulsive solutions in the continuous case, and that of the compensator enables its realization by Kalman state space equations or elementary building blocks. We note that every behavior admits an IO decomposition with proper transfer matrix, but that most of these decompositions do not have this property, and therefore we do not assume the properness of the plant. (4) The new technique can also be applied to more general control interconnections according to Willems, in particular to two-parameter feedback compensators and to the recent tracking framework of Fiaz/Takaba/Trentelman. In contrast to these authors, however, we pay special attention to the properness of all constructed transfer matrices which requires more subtle algorithms.     

Stability of distributed parameter systems with finite-dimensional controller-compensators using singular perturbations

Using a singular perturbation formulation of the linear time-invariant distributed parameter system, we develop a method to design finite-dimensional feedback compensators of any fixed order which will stabilize the infinite-dimensional distributed parameter system. The synthesis conditions are given entirely in terms of a finite-dimensional reduced-order model; the stability results depend on an infinite-dimensional version of the Klimushchev-Krasovskii lemma presented here.     

Energy-momentum conserving discretization of mixed shell elements for large deformation problems

In the present paper we consider structure-preserving integration methods in the context of mixed finite elements. The used low-order mixed finite elements typically exhibit improved coarse mesh accuracy. On the other hand energy-momentum (EM) consistent time-stepping schemes have been developed in the realm of nonlinear structural dynamics to enhance the numerical stability properties. EM schemes typically exhibit superior robustness and thus offer the possibility to use large time steps while still producing physically meaningful results. Accordingly, combining mixed finite element discretizations in space with EM consistent discretizations in time shows great promise for the design of numerical methods with superior coarse mesh accuracy in space and time. Starting with a general Hu-Washizu-type variational formulation we develop a second-order accurate structure-preserving integration scheme. The present approach is applicable to a large number of mixed finite element formulations. As sample application we deal with a specific mixed shell element. Numerical examples dealing with large deformations will show the improved coarse mesh accuracy in space and time of the advocated approach. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Design and optimal tuning of nonlinear PI compensators

In this paper, linear time-invariant single-input single-output (SISO) systems that are stabilizable by linear proportional and integral (PI) compensators are considered. For such systems, a five-parameter nonlinear PI compensator is proposed. The parameters of the proposed compensator are tuned by solving an optimization problem. The optimization problem always has a solution.Additionally, a general nonlinear PI compensator is proposed and is approximated by easy-to-compute compensators, for instance, a six-parameter nonlinear PI compensator. The parameters of the approximate compensators are tuned to satisfy an optimality condition. The superiority of the proposed nonlinear PI compensators over linear PI compensators is discussed and is demonstrated for two feedback systems.     

Dimensions and Lyapunov exponents from exchange rate series

Detecting the presence of deterministic chaos in economic time series is an important problem that may be solved by measuring the largest Lyapunov exponent. In this paper we present estimates of the largest Lyapunov exponent in daily data for the Swedish Krona vs Deutsche Mark, ECU, U.S. Dollar and Yen exchange rates. In order to estimate the dimension of the systems producing these exchange rate series, we also present estimates of the correlation dimension. We found indications of deterministic chaos in all exchange rate series. However, the estimates for the largest Lyapunov exponents are not reliable, except in the Swedish Krona-ECU case, because of the limited number of data points. In the Swedish Krona-ECU case, we found indications of a low-order chaotic dynamical system.     

Riemann–Hilbert-type problems for Bitsadze equations with strong singularities in low-order coefficients

For the Bitsadze equation with low-order coefficients admitting a power singularity at a fixed point of the domain, we investigate a boundary-value problem with the Riemann–Hilbert data for the solution itself and for its partial derivatives. We prove the Fredholm solvability of that problem and present its index formula.     

Incorporating inventory and routing costs in strategic location models

We consider a supply chain design problem where the decision maker needs to decide the number and locations of the distribution centers (DCs). Customers face random demand, and each DC maintains a certain amount of safety stock in order to achieve a certain service level for the customers it serves. The objective is to minimize the total cost that includes location costs and inventory costs at the DCs, and distribution costs in the supply chain. We show that this problem can be formulated as a nonlinear integer programming model, for which we propose a Lagrangian relaxation based solution algorithm. By exploring the structure of the problem, we find a low-order polynomial algorithm for the nonlinear integer programming problem that must be solved in solving the Lagrangian relaxation sub-problems. We present computational results for several instances of the problem with sizes ranging from 40 to 320 customers. Our results show the benefits of having an integrated supply chain design framework that includes location, inventory, and routing decisions in the same optimization model.     

Local discontinuous Galerkin approximations to fractional Bagley-Torvik equation

In this research, numerical approximation to fractional Bagley-Torvik equation as an important model arising in fluid mechanics is investigated. Our discretization algorithm is based on the local discontinuous Galerkin (LDG) schemes along with using the natural upwind fluxes, which enables us to solve the model problem element by element. This means that we require to solve a low-order system of equations in each subinterval, hence avoiding the need for a full global solution. The proposed schemes are tested on a range of initial- and boundary-value problems including a variable coefficient example, a nonsmooth problem, and some oscillatory test cases with exact solutions. Also, the validation of the proposed methods was compared with those obtained available existing computational procedures. Overall, it was found that LDG methods indicated highly satisfactory performance with comparatively lower degree of polynomials and number of elements compared with other numerical models.     

Volterra核函数法在轴承滚珠磨损中的特征提取及应用

针对滚动轴承滚珠磨损故障特征难以提取的问题,提出一种基于多脉冲激励法下的Volterra级数核的求解算法.该方法是一种非线性系统模型的“交叉”诊断法,利用轴承系统输入输出的采样信号,建立Volterra非线性辨识系统模型,并运用多脉冲激励Volterra低阶核求解算法,将得到的低阶核通过时域和频域进行对比来判断轴承当前所处的运行状态.该文以无心车床主轴轴承为例进行实验验证,并与传统的小波分析法对比得出:多脉冲激励法能够方便准确地提取轴承的故障特征,该方法对此类故障的诊断具有一定的借鉴意义.     

The geometry and number of the root invariant regions for linear systems

The stability domain is a feasible set for numerous optimization problems. D-decomposition technique is targeted to describe the stability domain in the parameter space for linear parameter-dependent systems. This technique is very simple and efficient for robust stability analysis and design of low-order controllers. However, the geometry of the arising parameter space decomposition into root invariant regions has not been studied in detail; it is an objective of the present paper. We estimate the number of root invariant regions and provide examples, where this number is attained.     

Linear stability of relative equilibria in the charged three-body problem

A relative equilibrium is a periodic orbit of the n-body problem that rotates uniformly maintaining the same central configuration for all time. In this paper we generalize some results of R. Moeckel and we apply it to study the linear stability of relative equilibria in the charged three-body problem. We find necessary conditions to have relative equilibria linearly stable for the collinear charged three-body problem, for planar relative equilibria we obtain necessary and sufficient conditions for linear stability in terms of the parameters, masses and electrostatic charges. In the last case we obtain a stability inequality which generalizes the Routh condition of celestial mechanics. We also proof the existence of spatial relative equilibria and the existence of planar relative equilibria of any triangular shape.     

Weak convergence of processes and preservation of predictability

Summary This article investigates the preservation of predictability of a weakly converging sequence of increasing predictable processes. The convergence of compensators of submartingals to the compensator of a limiting submartingale is also considered. The general results are then applied to point processes. It is shown that in this case, with certain filtrations, only the weak convergence of point processes and their compensators is required to ensure that the limit of a sequence of compensators is the compensator of the limit.     

Robust dynamical compensator design for discrete-time linear periodic systems

This paper considers dynamical compensators design for purpose of pole assignment for discrete-time linear periodic systems. Similar to linear time-invariant systems, it is pointed out that the design of a periodic dynamical compensator can be converted into the design of a periodic output feedback controller for an augmented system. Utilizing the recent result on output feedback pole assignment, parametric solutions for this problem are obtained. The design approach can be used as a basis for the robust dynamical compensator design for this type of systems. Combined with a robustness index presented in this paper, robust dynamical compensator design problem is converted into a constrainted optimization problem. A numerical example is employed to illustrate the validity and feasibility of the methods.     

Combining differential evolution and particle swarm optimization to tune and realize fractional-order controllers

In recent years, several research works proposed fractional-order controllers as means to improve the performances of common proportional, integral and derivative controllers. However, the design and tuning methods for these new controllers are still at their infancy. As a contribute for filling this gap, this article proposes a two-step design approach. First, differential evolution determines the fractional integral and derivative actions satisfying the required time-domain performance specifications. Second, particle swarm optimization determines rational approximations of the irrational fractional operators as low-order, stable, minimum-phase transfer functions with poles interlacing zeros. Extensive time- and frequency-domain simulations validate the efficiency of the proposed approach.     

A Note on the Finite Element Method for the Reissner-Mindlin Plate

In this short note we use the idea of R.Duran [5] and introduce a new low-order triangular element by replacing the nonconforming linear element for the rotation in [2] with the conforming linear element.The optimal order error estimates are obtained uniformly in the plate thickness.