Identification and estimation of parameters in abstract Cauchy problems.
Inequality-based approximation of matrix eigenvectors
A novel procedure is given here for constructing non-negative functions with zero-valued global minima coinciding with eigenvectors of a general real matrix A. Some of these functions are distinct because all their local minima are also global, offering a new way of determining eigenpairs by local optimization. Apart from describing the framework of the method, the error bounds given separately for the approximation of eigenvectors and eigenvalues provide a deeper insight into the fundamentally...
Input constraints handling in an MPC/feedback linearization scheme
The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation...
Integration of candidate hash trees in concurrent processing of frequent itemset queries using Apriori
Invariant sets of hybrid autonomous systems with disturbance.
Invariants and canonical forms for linear multivariable systems under the action of orthogonal transformation groups
Iterative-interpolation algorithms for model reduction
Measuring and maintaining consistency: a hybrid FTF algorithm
Due to the versatility as well as its ease of implementation, the Fast Transversal Filters algorithm is attractive for many adaptive filtering applications. However, it is not widely used because of its undesirable tendency to diverge when operating in finite precision arithmetic. To compensate, modifications to the algorithm have been introduced that are either occasional (performed when a predefined condition(s) is violated) or structured as part of the normal update iteration. However, in neither...
Minimum variance control of discrete-time and continuous-time LTI MIMO systems - a new unified framework
Mixed type semicontinuous differential inclusions in Banach spaces
We consider a class of differential inclusions in (nonseparable) Banach spaces satisfying mixed type semicontinuity hypotheses and prove the existence of solutions for a problem with state constraints. The cases of dissipative type conditions and with time lag are also studied. These results are then applied to control systems.
Monitoring of chlorine concentration in drinking water distribution systems using an interval estimator
This paper describes the design of an interval observer for the estimation of unmeasured quality state variables in drinking water distribution systems. The estimator utilizes a set bounded model of uncertainty to produce robust interval bounds on the estimated state variables of the water quality. The bounds are generated by solving two differential equations. Hence the numerical efficiency is sufficient for on-line monitoring of the water quality. The observer is applied to an exemplary water...
Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape...
Multi regional state space systems -- controller design and stability
Nonlinear analysis of vehicle control actuations based on controlled invariant sets
In the paper, an analysis method is applied to the lateral stabilization problem of vehicle systems. The aim is to find the largest state-space region in which the lateral stability of the vehicle can be guaranteed by the peak-bounded control input. In the analysis, the nonlinear polynomial sum-of-squares programming method is applied. A practical computation technique is developed to calculate the maximum controlled invariant set of the system. The method calculates the maximum controlled invariant...
Nonlinear model predictive control of a boiler unit: A fault tolerant control study
This paper deals with a nonlinear model predictive control designed for a boiler unit. The predictive controller is realized by means of a recurrent neural network which acts as a one-step ahead predictor. Then, based on the neural predictor, the control law is derived solving an optimization problem. Fault tolerant properties of the proposed control system are also investigated. A set of eight faulty scenarios is prepared to verify the quality of the fault tolerant control. Based of different faulty...
Nonlinear predictive control based on neural multi-models
This paper discusses neural multi-models based on Multi Layer Perceptron (MLP) networks and a computationally efficient nonlinear Model Predictive Control (MPC) algorithm which uses such models. Thanks to the nature of the model it calculates future predictions without using previous predictions. This means that, unlike the classical Nonlinear Auto Regressive with eXternal input (NARX) model, the multi-model is not used recurrently in MPC, and the prediction error is not propagated. In order to...
Novel fault detection criteria based on linear quadratic control performances
This paper proposes a new approach to designing a relatively simple algorithmic fault detection system that is potentially applicable in embedded diagnostic structures. The method blends the LQ control principle with checking and evaluating unavoidable degradation in the sequence of discrete-time LQ control performance index values due to faults in actuators, sensors or system dynamics. Design conditions are derived, and direct computational forms of the algorithms are given. A simulation example...
NTGsim: a graphical user interface and a 3D simulator for nonlinear trajectory generation methodology
Nonlinear Trajectory Generation (NTG), developed by Mark Milam, is a software algorithm used to generate trajectories of constrained nonlinear systems in real-time. The goal of this paper is to present an approach to make NTG more userfriendly. To accomplish this, we have programmed a Graphical User Interface (GUI) in Java, using object oriented design, which wraps the NTG software and allows the user to quickly and efficiently alter the parameters of NTG. This new program, called NTGsim, eliminates...
Numerical algorithm for nonsmooth stabilization of triangular form systems
Numerical analysis and systems theory
The area of numerical analysis interacts with the area of control and systems theory in a number of ways, some of which are widely recognized and some of which are not fully appreciated or understood. This paper will briefly discuss some of these areas of interaction and place the papers in this volume in context.