IEEE Transactions on Automatic Control, Jul 1, 1988
A DC-motor driven beam deflector is to be controlled such that the beam moves with constant veloc... more A DC-motor driven beam deflector is to be controlled such that the beam moves with constant velocity for 12 ms out of a 20 ms period before swinging back to the original position. One control system must serve any deflector without retuning. The problem is difficult because the dynamics vary from one deflector to another. It is found that a closed-loop system with poles in a Bessel filter configuration will satisfy the specifications. A straightforward poleplacement design is insufficiently robust. Redesigning it yields greater, but still insufficient, robustness against the known extent of plant parameter variation. The problem is solved by adding an adaptive control loop. Laboratory tests show performance to specification for a number of different deflector cases. This study raises some questions concerning robust and adaptive control.
29th IEEE Conference on Decision and Control, 1990
An algorithm is given for the fast computation of the value sets of uncertain transfer functions,... more An algorithm is given for the fast computation of the value sets of uncertain transfer functions, including structured uncertainty in factored real form and multiplicative unstructured uncertainty. The uncertain parameters are assumed to belong to compact intervals. Image processing concepts are used, such as 2-D convolution and edge detection. The algorithm is intended for robust control system design
There is given an n × n multiple-input multiple-output (MIMO) linear time-invariant plant of m ca... more There is given an n × n multiple-input multiple-output (MIMO) linear time-invariant plant of m cascaded sections P = P P... P, each an n × n matrix of transfer functions. The m vector outputs y, y...,y;y = P y= P P y =. = P P Pu =δ Pu) can be measured and the data used for feedback purposes.
An algorithm is given for the fast computation of the value sets of uncertain transfer functions,... more An algorithm is given for the fast computation of the value sets of uncertain transfer functions, including parametric uncertainty in factored real form and multiplicative unstructured uncertainty. The uncertain parameters are assumed to belong to compact intervals. Elementary value sets are computed for each factor. Vector addition and edge detection in the logarithmic complex plane are used to compute the
When the plant parameter uncertainty becomes known to be smaller than the design uncertainty, the... more When the plant parameter uncertainty becomes known to be smaller than the design uncertainty, the closed loop specifications are maintained with lower "cost of feedback" by adapting the original controller.
: A new synthesis technique for highly uncertain linear time-invariant multiple input-output (MIO... more : A new synthesis technique for highly uncertain linear time-invariant multiple input-output (MIO) feedback systems, is applied to the flight control problem. The uncertainty is due to a fixed design having to satisfy the performance specifications over a range of flight conditions. The aircraft used is a Fighter CCV-YF16. The design specifications differ with mode, so a separate design is made for each of the modes considered: Direct Side Force (Ay), Vertical Translation, Lateral Translation, and Fuselage Yaw Pointing. The first and thrid are 3x3, the second is 2x2, while the fourth is a mixture of 2x2 and 3x3. The outstanding feature of the synthesis technique is the replacement of the uncertain MIO system by a number of uncertain single input, single output (SIO) single-loop systems, with disturbances. The solutions of these SIO problems are guaranteed to solve the MIO problem. The tradeoffs between complexity of compensation and loop bandwidth economy are studied and presented. ...
IEEE Transactions on Automatic Control, Jul 1, 1988
A DC-motor driven beam deflector is to be controlled such that the beam moves with constant veloc... more A DC-motor driven beam deflector is to be controlled such that the beam moves with constant velocity for 12 ms out of a 20 ms period before swinging back to the original position. One control system must serve any deflector without retuning. The problem is difficult because the dynamics vary from one deflector to another. It is found that a closed-loop system with poles in a Bessel filter configuration will satisfy the specifications. A straightforward poleplacement design is insufficiently robust. Redesigning it yields greater, but still insufficient, robustness against the known extent of plant parameter variation. The problem is solved by adding an adaptive control loop. Laboratory tests show performance to specification for a number of different deflector cases. This study raises some questions concerning robust and adaptive control.
29th IEEE Conference on Decision and Control, 1990
An algorithm is given for the fast computation of the value sets of uncertain transfer functions,... more An algorithm is given for the fast computation of the value sets of uncertain transfer functions, including structured uncertainty in factored real form and multiplicative unstructured uncertainty. The uncertain parameters are assumed to belong to compact intervals. Image processing concepts are used, such as 2-D convolution and edge detection. The algorithm is intended for robust control system design
There is given an n × n multiple-input multiple-output (MIMO) linear time-invariant plant of m ca... more There is given an n × n multiple-input multiple-output (MIMO) linear time-invariant plant of m cascaded sections P = P P... P, each an n × n matrix of transfer functions. The m vector outputs y, y...,y;y = P y= P P y =. = P P Pu =δ Pu) can be measured and the data used for feedback purposes.
An algorithm is given for the fast computation of the value sets of uncertain transfer functions,... more An algorithm is given for the fast computation of the value sets of uncertain transfer functions, including parametric uncertainty in factored real form and multiplicative unstructured uncertainty. The uncertain parameters are assumed to belong to compact intervals. Elementary value sets are computed for each factor. Vector addition and edge detection in the logarithmic complex plane are used to compute the
When the plant parameter uncertainty becomes known to be smaller than the design uncertainty, the... more When the plant parameter uncertainty becomes known to be smaller than the design uncertainty, the closed loop specifications are maintained with lower "cost of feedback" by adapting the original controller.
: A new synthesis technique for highly uncertain linear time-invariant multiple input-output (MIO... more : A new synthesis technique for highly uncertain linear time-invariant multiple input-output (MIO) feedback systems, is applied to the flight control problem. The uncertainty is due to a fixed design having to satisfy the performance specifications over a range of flight conditions. The aircraft used is a Fighter CCV-YF16. The design specifications differ with mode, so a separate design is made for each of the modes considered: Direct Side Force (Ay), Vertical Translation, Lateral Translation, and Fuselage Yaw Pointing. The first and thrid are 3x3, the second is 2x2, while the fourth is a mixture of 2x2 and 3x3. The outstanding feature of the synthesis technique is the replacement of the uncertain MIO system by a number of uncertain single input, single output (SIO) single-loop systems, with disturbances. The solutions of these SIO problems are guaranteed to solve the MIO problem. The tradeoffs between complexity of compensation and loop bandwidth economy are studied and presented. ...
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