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  • 제목/요약/키워드: discrete time linear system

검색결과 298건 처리시간 0.031초

부분공간법에 의한 페루프 시스템의 동정 (Identification of Closed Loop System by Subspace Method)

  • 이동철;배종일;홍순일;김종경;조봉관
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2003년도 하계학술대회 논문집 D
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    • pp.2143-2145
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    • 2003
  • In the linear system identification using the discrete time constant coefficients, there is a subspace method based on 4SID recently much suggested instead of the parametric method like as the maximum likelihood method. The subspace method is not related with the impulse response and difference equation in its input-output equation, but with the system matrix of the direct state space model from the input-output data. The subspace method is a very useful tool to adopt in the multivariable system identification, but it has a shortage unable to adopt in the closed-loop system identification. In this paper, we are suggested the methods to get rid of the shortage of the subspace method in the closed-loop system identification. The subspace method is used in the estimate of the output prediction values from the estimating of the state space vector. And we have compared the results with the outputs of the recursive least square method in the numerical simulation.

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복합시스템을 위한 간접분산학습제어 (Indirect Decentralized Learning Control for the Multiple Systems)

  • Lee, Soo-Cheol
    • 한국산업정보학회:학술대회논문집
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    • 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
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    • pp.217-227
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    • 1996
  • The new filed of learning control develops controllers that learn to improve their performance at executing a given task , based on experience performing this specific task. In a previous work[6], authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controller indecentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an asssembly line. This paper starts with decentralized discrete time systems. and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The resultof the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample tie in the digital learning controller is sufficiently short.

Robust output feedback compensator design for multivariable systems

  • Choi, Han-Ho;Yoo, Dong-Sang;Chung, Myung-Jin
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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    • pp.1545-1548
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    • 1991
  • In this note, we consider a robust linear shift-invariant feedback compensator design for discrete-time multivariable systems which have both matched and mismatched uncertainties. In order to attack the problem of designing robust compensators guaranteeing uniform ultimate boundedness of every closed-loop system response within a neighborhood of the zero state based solely on the knowledge of the upper norm-bounds of uncertainties, we use an approach which is effective on studying augmented feedback control systems with both mismatched and matched uncertainties. We draw some robust stability conditions using the approach and give an example.

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이산 시간 스위칭 선형 시스템의 적응 LQ 준최적 제어를 위한 Q-학습법 (Q-learning for Adaptive LQ Suboptimal Control of Discrete-time Switched Linear System)

  • 전태윤;최윤호;박진배
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2011년도 제42회 하계학술대회
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    • pp.1874-1875
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    • 2011
  • 본 논문에서는 스위칭 선형 시스템의 적응 LQ 준최적 제어를 위한 Q-학습법 알고리즘을 제안한다. 제안된 제어 알고리즘은 안정성이 증명된 기존 Q-학습법에 기반하며 스위칭 시스템 모델의 변수를 모르는 상황에서도 준최적 제어가 가능하다. 이 알고리즘을 기반으로 기존에 스위칭 시스템에서 고려하지 않았던 각 시스템의 불확실성 및 최적 적응 제어 문제를 해결하고 컴퓨터 모의실험을 통해 제안한 알고리즘의 성능과 결과를 검증한다.

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제한 입력을 고려한 로보트 매니플레이터의 학습제어에 관한 연구 (On learning control of robot manipulator including the bounded input torque)

  • 성호진;조현찬;전홍태
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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    • pp.58-62
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    • 1988
  • Recently many adaptive control schemes for the industrial robot manipulator have been developed. Especially, learning control utilizing the repetitive motion of robot and based on iterative signal synthesis attracts much interests. However, since most of these approaches excludes the boundness of the input torque supplied to the manipulator, its effectiveness may be limited and also the full dynamic capacity of the robot manipulator can not be utilized. To overcome the above-mentioned difficulties and meet the desired performance, we propose an approach which yields the effective learning control schemes in this paper. In this study, some stability conditions derived from applying the Lyapunov theory to the discrete linear time-varying dynamic system are established and also an optimization scheme considering the bounded input torque is introduced. These results are simulated on a digital computer using a three-joint revolute manipulator to show their effectiveness.

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쓰레기 소각플랜트의 상태공간모델 규명에 관한 연구 (A Study on Identification of State-Space Model for Refuse Incineration Plant)

  • 황이철;전충환;이진걸
    • 대한기계학회논문집B
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    • 제24권3호
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    • pp.354-362
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    • 2000
  • This paper identifies a discrete-time linear combustion model of Refuse Incineration Plant(RIP) which characterizes steam generation quantity, where the RIP is considered as a MIMO system with thirteen-inputs and one-output. The structure of RIP model is described as an ARX model which are analytically obtained from the combustion dynamics. Furthermore, using the Instrumental Variable(IV) identification algorithm, model structure and unknown parameters are identified from experimental input-output data sets, In result, it is shown that the identified ARX model well approximates the input-output combustion characteristics given by experimental data sets.

[ H ] Multi-Step Prediction for Linear Discrete-Time Systems: A Distributed Algorithm

  • Wang, Hao-Qian;Zhang, Huan-Shui;Hu, Hong
    • International Journal of Control, Automation, and Systems
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    • 제6권1호
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    • pp.135-141
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    • 2008
  • A new approach to H multi-step prediction is developed by applying the innovation analysis theory. Although the predictor is derived by resorting to state augmentation, nevertheless, it is completely different from the previous works with state augmentation. The augmented state here is considered just as a theoretical mathematic tool for deriving the estimator. A distributed algorithm for the Riccati equation of the augmented system is presented. By using the reorganized innovation analysis, calculation of the estimator does not require any augmentation. A numerical example demonstrates the effect in reducing computing burden.

파라미터 교정법을 이용한 대국적인 수럼성을 갖는 간접적응제어기 (A Globally Convergent Pole Placement Indirect Adaptive Controller using Parameter Correction)

  • 김홍필;양해원
    • 대한전기학회논문지
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    • 제38권11호
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    • pp.913-921
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    • 1989
  • 본논문에서는 임의의 영점들을 갖는 이산시간 선형시불변계통의 극배치 간접적응제어기 설계문제를 다루었다.외부입력은 persistent excitation 조건을 만족하고, 주어진 계통의 분자다항식과 분모 다항식에 의해 정해지는 Sylevester resultant 행렬식의 하한을 안다는 가정하에, 전체 폐루우계통이 대국적으로 안정함을 보였다. 간접적응제어시 발생되는 추정된 계통의 가제어성 문제는 파라미터 교정방법을 확장시켜 해결하였다. 2차 플랜트에 대한 전산기 simulation을 통하여 본논문의 제어알고리즘의 유용성을 확인하였다.

LDI NN auxiliary modeling and control design for nonlinear systems

  • Chen, Z.Y.;Wang, Ruei-Yuan;Jiang, Rong;Chen, Timothy
    • Smart Structures and Systems
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    • 제29권5호
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    • pp.693-703
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    • 2022
  • This study investigates an effective approach to stabilize nonlinear systems. To ensure the asymptotic nonlinear stability in nonlinear discrete-time systems, the present study presents controller for an EBA (Evolved Bat Algorithm) NN (fuzzy neural network) in the algorithm. In fuzzy evolved NN modeling, the auxiliary circuit with high frequency LDI (linear differential inclusions) and NN model representation is developed for the nonlinear arbitrary dynamics. An example is utilized to demonstrate the system more robust compared with traditional control systems.

불확실성을 포함한 다 개체 시스템의 상태 일치를 위한 이산 시간 출력 궤환 협조 제어 알고리즘 (Discrete-Time State Feedback Algorithm for State Consensus of Uncertain Homogeneous Multi-Agent Systems)

  • 윤문채;김정수;백주훈
    • 제어로봇시스템학회논문지
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    • 제19권5호
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    • pp.390-397
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    • 2013
  • This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.