Dual-Sampling-Rate Moving-Horizon Control of a Class of Linear Systems with Input Saturation and Plant Uncertainty

Moving-horizon control is a type of sampled-data feedback control in which the control over each sampling interval is determined by the solution of an open-loop optimal control problem. We develop a dual-sampling-rate moving-horizon control scheme for a class of linear, continuous-time plants with strict input saturation constraints in the presence of plant uncertainty and input disturbances. Our control scheme has two components: a slow-sampling moving-horizon controller for a nominal plant and a fast-sampling state-feedback controller whose function is to force the actual plant to emulate the nominal plant. The design of the moving-horizon controller takes into account the nonnegligible computation time required to compute the optimal control trajectory.We prove the local stability of the resulting feedback system and illustrate its performance with simulations. In these simulations, our dual-sampling-rate controller exhibits performance that is considerably superior to its single-sampling-rate moving-horizon controller counterpart.     

Composite nonlinear feedback based discrete integral sliding mode controller for uncertain systems

In this paper, a discrete integral sliding mode (ISM) controller based on composite nonlinear feedback (CNF) method is proposed. The aim of the controller is to improve the transient performance of uncertain systems. The CNF based discrete ISM controller consists of a linear and a nonlinear term. The linear control law is used to decrease the damping ratio of the closed-loop system for yielding a quick transient response. The nonlinear feedback control law is used to increase the damping ratio with an aim to reduce the overshoot of the closed-loop system as it approaches the desired reference position. It is observed that the discrete CNF-ISM controller produces superior transient performance as compared to the discrete ISM controller. The closed-loop control system remains stable during the sliding condition. Simulation results demonstrate the effectiveness of the proposed controller.     

Asymptotically optimal open-loop load balancing

In many distributed computing systems, stochastically arriving jobs need to be assigned to servers with the objective of minimizing waiting times. Many existing dispatching algorithms are basically included in the SQ(d) framework: Upon arrival of a job, \(d\ge 2\) servers are contacted uniformly at random to retrieve their state and then the job is routed to a server in the best observed state. One practical issue in this type of algorithm is that server states may not be observable, depending on the underlying architecture. In this paper, we investigate the assignment problem in the open-loop setting where no feedback information can flow dynamically from the queues back to the controller, i.e., the queues are unobservable. This is an intractable problem, and unless particular cases are considered, the structure of an optimal policy is not known. Under mild assumptions and in a heavy-traffic many-server limiting regime, our main result proves the optimality of a subset of deterministic and periodic policies within a wide set of (open-loop) policies that can be randomized or deterministic and can be dependent on the arrival process at the controller. The limiting value of the scaled stationary mean waiting time achieved by any policy in our subset provides a simple approximation for the optimal system performance.     

Unified optimization of \hbox {H}_{\infty } index and upper stability bound for singularly perturbed systems

In this paper, unified optimization problem for the upper stability bound \(\varepsilon ^{*}\) and the \(\hbox {H}_{\infty }\) performance index \(\gamma \) based on state feedback is considered for singularly perturbed systems. First, a sufficient condition for the existence of state feedback controller is presented in terms of linear matrix inequalities such that the resulting closed-loop system is asymptotically stable if \(0<\varepsilon <\varepsilon ^{*}\) and also guarantees \(\hbox {H}_{\infty }\) performance index. Furthermore, a new algorithm to optimize these two indices simultaneously is proposed based on Nash game theory which transfers multi-objective problem into a single objective problem as well we determines the objective weights. Then an optimal state feedback controller can be derived. Finally, some numerical examples are provided to demonstrate the effectiveness and correctness of the proposed results.     

Direct training method for a continuous-time nonlinear optimal feedback controller

The solutions of most nonlinear optimal control problems are given in the form of open-loop optimal control which is computed from a given fixed initial condition. Optimal feedback control can in principle be obtained by solving the corresponding Hamilton-Jacobi-Bellman dynamic programming equation, though in general this is a difficult task. We propose a practical and effective alternative for constructing an approximate optimal feedback controller in the form of a feedforward neural network, and we justify this choice by several reasons. The controller is capable of approximately minimizing an arbitrary performance index for a nonlinear dynamical system for initial conditions arising from a nontrivial bounded subset of the state space. A direct training algorithm is proposed and several illustrative examples are given.This research was carried out with the support of a grant from the Australian Research Council.We thank the anonymous reviewers for their helpful comments.     

A Combination of Flatness-Based Tracking Control with Passivity-Based Control for a Certain Class of Infinite-Dimensional Systems

This contribution is devoted to the infinite-dimensional control design for a certain class of infinite-dimensional systems. As first example a piezoelectric cantilever with a tip mass is considered. The control objective is to provide two independently controllable degrees-of-freedom for the tip mass in form of the tip position and the tip angle. The control concept being proposed consists of an open-loop flatness-based tracking controller and a linear dynamic feedback controller in order to asymptotically stabilize the closed-loop error system. A similar concept is then applied to a second example, a gantry crane system with heavy chains and a payload. Thereby, the knowledge of the energy flows into and within the system is exploited to derive a stabilizing controller of the error system by means of the integrator backstepping method. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Sampled‐data reliable stabilization of T‐S fuzzy systems and its application

In this article, based on sampled‐data approach, a new robust state feedback reliable controller design for a class of Takagi–Sugeno fuzzy systems is presented. Different from the existing fault models for reliable controller, a novel generalized actuator fault model is proposed. In particular, the implemented fault model consists of both linear and nonlinear components. Consequently, by employing input‐delay approach, the sampled‐data system is equivalently transformed into a continuous‐time system with a variable time delay. The main objective is to design a suitable reliable sampled‐data state feedback controller guaranteeing the asymptotic stability of the resulting closed‐loop fuzzy system. For this purpose, using Lyapunov stability theory together with Wirtinger‐based double integral inequality, some new delay‐dependent stabilization conditions in terms of linear matrix inequalities are established to determine the underlying system's stability and to achieve the desired control performance. Finally, to show the advantages and effectiveness of the developed control method, numerical simulations are carried out on two practical models. © 2016 Wiley Periodicals, Inc. Complexity 21: 518–529, 2016     

Observer-based robust adaptive variable universe fuzzy control for chaotic system

A novel observer-base output feedback variable universe adaptive fuzzy controller is investigated in this paper. The contraction and expansion factor of variable universe fuzzy controller is on-line tuned and the accuracy of the system is improved. With the state-observer, a novel type of adaptive output feedback control is realized. A supervisory controller is used to force the states to be within the constraint sets. In order to attenuate the effect of both external disturbance and variable parameters on the tracking error and guarantee the states to be within the constraint sets, a robust controller is appended to the variable universe fuzzy controller. Thus, the robustness of system is improved. By Lyapunov method, the observer-controller system is shown to be stable. The overall adaptive control algorithm can guarantee the global stability of the resulting closed-loop system in the sense that all signals involved are uniformly bounded. In the paper, we apply the proposed control algorithms to control the Duffing chaotic system and Chua’s chaotic circuit. Simulation results confirm that the control algorithm is feasible for practical application.     

Boundary optimal feedback controller for time-periodic Stokes–Oseen flows

This work considered the Dirichlet boundary optimal control of time-periodic Stokes–Oseen equations. The existence of optimal solution and maximum principle are obtained without assuming that the normal component of the control is equal to zero. Moreover, we get the regularity result of the optimal solution via the Euler–Lagrange system. The existence of solution to the HJB equation is proved. The feedback form of the optimal controller is given, and with this feedback controller, we can get for the solution to the periodic Navier–Stokes equations the property of continuous dependence on the outer force term.     

Nonfragile H∞ output tracking control for uncertain singular Markovian jump delay systems with network‐induced delays and data packet dropouts

This article deals with the problem of nonfragile H_∞ output tracking control for a kind of singular Markovian jump systems with time‐varying delays, parameter uncertainties, network‐induced signal transmission delays, and data packet dropouts. The main objective is to design mode‐dependent state‐feedback controller under controller gain perturbations and bounded modes transition rates such that the output of the closed‐loop networked control system tracks the output of a given reference system with the required H_∞ output tracking performance. By constructing a more multiple stochastic Lyapunov–Krasovskii functional, the novel mode‐dependent and delay‐dependent conditions are obtained to guarantee the augmented output tracking closed‐loop system is not only stochastically admissible but also satisfies a prescribed H_∞‐norm level for all signal transmission delays, data packet dropouts, and admissible uncertainties. Then, the desired state‐feedback controller parameters are determined by solving a set of strict linear matrix inequalities. A simple production system example and two numerical examples are used to verify the effectiveness and usefulness of the proposed methods. © 2015 Wiley Periodicals, Inc. Complexity 21: 396–411, 2016     

Optimal PID control in case of random initial conditions

The aim of this presentation is to construct a robust optimal PID feedback controller, taking into account stochastic uncertainties in the initial conditions. Usually, a precomputed feedback control is based on exactly known model parameters. However, in practice, often exact information about model parameters and initial values is not given. Hence, having an inital point, which differs from the nominal values, a standard precomputed controller may produce bad results. Supposing now that the probability distribution of the random parameter variations is known, in the following stochastic optimisation methods will be applied in order to obtain robust optimal feedback controls. Taking into account stochastic parameter variations at the initial point, the method works with expected total costs arising from the primary control expenses and the tracking error. Furthermore, the free regulator parameters are selected then such that the expected total costs are minimized. After Taylor expansion to calculate expected cost functions and a few transformations an approximate deterministic substitute control problem follows. Here, retaining only linear terms, approximation of expectations and variances of the expected cost functions can be calculated explicitly. By means of splines, numerical approximations of the objective function and the differential equations are obtained then. Using stochastic optimization methods, random parameter variations are incorporated into the optimal control process. Hence, robust optimal feedback controls are obtained. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Multi-variable control of chaos using PSO-based minimum entropy control

The minimum entropy (ME) control is a chaos control technique which causes chaotic behavior to vanish by stabilizing unstable periodic orbits of the system without using mathematical model of the system. In this technique some controller type, normally delayed feedback controller, with an adjustable parameter such as feedback gain is used. The adjustable parameter is determined such that the entropy of the system is minimized. Proposed in this paper is the PSO-based multi-variable ME control. In this technique two or more control parameters are adjusted concurrently either in a single or in multiple control inputs. Thus it is possible to use two or more feedback terms in the delayed feedback controller and adjust their gains. Also the multi-variable ME control can be used in multi-input systems. The minimizing engine in this technique is the particle swarm optimizer. Using online PSO, the PSO-based multi-variable ME control technique is applied to stabilize the 1-cycle fixed points of the Logistic map, the Hénon map, and the chaotic Duffing system. The results exhibit good effectiveness and performance of this controller.     

A robust neurocontroller incorporating a priori knowledge of plant dynamics

This paper presents a nonlinear controller design method that integrates linear optimal control techniques and nonlinear neural networks. The multilayered neural networks (MNN's) are incorporated into a model-based linear optimal controller (LOR) to add nonlinear effects on the LOR. The proposed controller can tolerate a wider range of uncertainties than the LOR alone, because the MNN can compensate nonlinear system uncertainties that are not considered in the LOR design. The control performance is improved by using a priori knowledge of the plant dynamics as the system equation and the corresponding LOR. Using the similar technique, a nonlinear servo controller is designed by combining the MNN-based controller and the linear optimal servo controller. Computer simulations are performed to show the applicability and the limitation of the new nonlinear controllers.     

Time-delayed control to suppress the nonlinear vibrations of a horizontally suspended Jeffcott-rotor system

Time-delay is an unavoidable phenomenon in active control systems. Measuring of the system states, processing of the measured signals, executing the control laws, conditioning and enforcing the control actions are the main reasons of time-delayed systems. This paper studies the vibration control of a horizontally suspended Jeffcott-rotor system having cubic and quadratic nonlinearities via time-delayed position-velocity controller. The intervals of the time-delays (τ₁ and τ₂) at which the system response is stable has been studied. The τ₁ − τ₂ plane is constructed to illustrate the area at which the system solutions are stable. The influences of the controller gains on the stable-solutions area in τ₁ − τ₂ plane are explored. The analysis revealed that the time-delay increases the vibration amplitudes and can destabilize the system solution in the case of negative position feedback control, while at positive position feedback control it improves the vibration suppression performance. The time-delays mechanism in stabilizing and destabilizing the dynamical systems is explained. Then, we proposed a simple and concrete method to determine the optimal value for time-delays that can improve the vibrations suppression efficiency. The acquired analytical results are confirmed numerically and the optimal working conditions of the system are concluded. Finally, a comparison with the papers that published previously is included.     

Stability improvement of multimachine power system via new coordinated design of PSSs and SVC

In this article, the assessment of new coordinated design of power system stabilizers (PSSs) and static var compensator (SVC) in a multimachine power system via statistical method is proposed. The coordinated design problem of PSSs and SVC over a wide range of loading conditions is handled as an optimization problem. The bacterial swarming optimization (BSO), which synergistically couples the bacterial foraging with the particle swarm optimization (PSO), is used to seek for optimal controllers parameters. By minimizing the proposed objective function, in which the speed deviations between generators are involved; stability performance of the system is enhanced. To compare the capability of PSS and SVC, both are designed independently, and then in a coordinated manner. Simultaneous tuning of the BSO‐based coordinated controller gives robust damping performance over wide range of operating conditions and large disturbance in compare to optimized PSS controller based on BSO (BSOPSS) and optimized SVC controller based on BSO (BSOSVC). Moreover, a statistical T test is executed to validate the robustness of coordinated controller versus uncoordinated one. © 2014 Wiley Periodicals, Inc. Complexity 21: 256–266, 2015     

Optimal control of linear stochastic systems described by functional differential equations

The optimal control is determined for a class of systems by assuming the configuration of the feedback loop. The feedback loop consists of an unbiased estimator and controller. The gain matrices of the estimator and the controller are so determined that the mean-squared estimation error and the average value of a quadratic cost functional, respectively, are minimized. This is accomplished by the application of the matrix maximum principle to a distributed parameter system. The results indicate that the optimal estimation and the optimal control can be computed independently (separation principle).This work was supported in part by the Air Force Office of Scientific Research, Grant No. 69-1776.     

Fuzzy guaranteed cost controller for trajectory tracking in nonlinear systems

In this paper, we propose a fuzzy logic based guaranteed cost controller for trajectory tracking in nonlinear systems. Takagi–Sugeno (T–S) fuzzy model is used to represent the dynamics of a nonlinear system and the controller design is carried out using this fuzzy model. State feedback law is used for building the fuzzy controller whose performance is evaluated using a quadratic cost function. For designing the fuzzy logic based controller which satisfies guaranteed performance, linear matrix inequality (LMI) approach is used. Sufficient conditions are derived in terms of matrix inequalities for minimizing the performance function of the controller. The performance function minimization problem with polynomial matrix inequalities is then transformed into a problem of minimizing a convex performance function involving standard LMIs. This minimization problem can be solved easily and efficiently using the LMI optimization techniques. Our controller design method also ensures that the closed-loop system is asymptotically stable. Simulation study is carried out on a two-link robotic manipulator tracking a reference trajectory. From the results of the simulation study, it is observed that our proposed controller tracks the reference trajectory closely while maintaining a guaranteed minimum cost.     

Chaos suppression on a class of uncertain nonlinear chaotic systems using an optimal H∞ adaptive PID controller

This paper introduces an optimal H_∞ adaptive PID (OHAPID) control scheme for a class of nonlinear chaotic system in the presence system uncertainties and external disturbances. Based on Lyapunov stability theory, it is shown that the proposed control scheme can guarantee the stability robustness of closed-loop system with H_∞ tracking performance. In the core of proposed controller, to achieve an optimal performance of OHAPID, the Particle Swarm Optimization (PSO) algorithm is utilized. To show the feasibility of proposed OHAPID controller, it is applied on the chaotic gyro system. Simulation results demonstrate that it has highly effective in providing an optimal performance.     

Multi-objective optimal design of feedback controls for dynamical systems with hybrid simple cell mapping algorithm

This paper presents a study of multi-objective optimal design of full state feedback controls. The goal of the design is to minimize several conflicting performance objective functions at the same time. The simple cell mapping method with a hybrid algorithm is used to find the multi-objective optimal design solutions. The multi-objective optimal design comes in a set of gains representing various compromises of the control system. Examples of regulation and tracking controls are presented to validate the control design.     

Reduced-order synchronization of uncertain chaotic systems via adaptive control

We consider the coupling of two uncertain dynamical systems with different orders using an adaptive feedback linearization controller to achieve reduced-order synchronization between the two systems. Reduced-order synchronization is the problem of synchronization of a slave system with projection of a master system. The synchronization scheme is an exponential linearizing-like controller and a state/uncertainty estimator. As an illustrative example, we show that the dynamical evolution of a second-order driven oscillator can be synchronized with the canonical projection of a fourth-order chaotic system. Simulation results indicated that the proposed control scheme can significantly improve the synchronousness performance. These promising results justify the usefulness of the proposed output feedback controller in the application of secure communication.