DESIGN METHODS OF CONTROL SYSTEMS

Selected Papers from the IF AC Symposium, Zurich, Switzerland, 4 - 6 September 1991

Edited by

D. FRANKE Universität Der Bundeswehr Hamburg,

Hamburg, Germany

and

F. KRAUS Eidgenössische Technische Hochschule (ETH) Zürich,

Zürich, Switzerland

Published for the

INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL

by

PERGAMON PRESS

OXFORD • NEW YORK • SEOUL • TOKYO

CONTENTS

S. ENGELL

PLENARY PAPERS

Design and Implementation of Digital and Adaptive Controllers 1 K.J. ASTROM

Extreme Point Results for Robust Stability of Interval Plants: Beyond First Order Compensators 7 B.R. BARMISH, H.I KANG

• • • H^-optimization 17

H. KWAKERNAAK

LINEAR CONTROL SYSTEMS DESIGN

A Controller Design Method Based on Model Matching in the Frequency Domain 29 L.A. AGUIRRE

On the Design of Scrvomechanisms via H2 Optimization 33 G.O. CORREA, M.A. DA SILVEIRA. J.C. BASILIO

Frequency-shaped LQG/LTR Design: Application to the Robust Stabilization of an Helicopter 39 G. DUC, S. MAMMAR

Towards a Complete Frequency-domain Design Methodology 45

Modal Synthesis of Two-input Systems 53 E. JEZIERSKI

Eigenstructure Assignment for State-constrained Linear Continuous Time Systems 59 E.B. CASTELAN, J .C. HENNET

Direct Shaping of Reference Input Response for MIMO Systems via Output Feedback K. KRUGER

A Design Method for Low Complexity Control Laws K.D. MINTO

The Generalized / /2 Control Problem M.A. ROTEA

Dual Model Matching 83

65

71

77

R.TAGAWA

A Method for Transforming Time-variable Models into a Constant-coefficient Form 89 K. ZENGER

ix

CONTROL OF DISCRETE-TIME SYSTEMS

Polyhedral Set Constrained Control for Discrete-time Systems with Unknown Additive Disturbances F. BLANCHINI

95

A Discrete Version of Zakian's Method of Inequalities M.I. EL-SING AB Y

101

Multirate Control Algorithms for Time-variable Sampling Periods E. HOVESTADT

Comparison of Digital PD and Fuzzy Control Theory on a Hydraulic Servosystem K. KUTLU, H. GUNER

Design of Multivariable Control Systems for Linear Periodic Processes O.M. GRASSELLI. S. LONGHI

The Turn Over Design Method for the 6 Difference Expression Systems Y. MORI, K. OHSHIMA, E. SHIMEMURA

105

111

115

121

ROBUST CONTROL

Design by Search J. ACKERMANN. D. KAESBAUER, W. SIENEL

127

Computation of the Minimum Stability Degree of Parameter-dependent Linear Systems by a Branch and Bound Algorithm V. BALAKRISHNAN. S. BALEMI, S. BOYD

Structured Stability Margin and the Finite Argument Principle A. RANTZER, B. BERNHARDSSON

133

139

Robust Disturbance Decoupling Problem for Parameter Dependent Families of Linear Systems G. CONTE, A.M. PERDON

Robust D-stability in Frequency Domain with Kharitonov-like Properties W. TRUOL, F.J. KRAUS

Interval Identification and Robust Control Design: A New Perspective B. SHAFAI, G. SOTIROV

145

149

155

Controller Design to Achieve Covariance Constraints G. ZHU, R. SKELTON

161

Norm Based Robust Dynamic Feedback Control of Constrained Systems M. SZNAIER, A SIDERIS

167

Design of Optimally Robust Controllers with few Degrees of Freedom A. TESI, A. VICINO

173

Robust Control Design for Linear Systems with Uncertain Parameters H.X. DE ARAUJO, R. SANTOS MENDES

179

A Robust Control of Fuel Injection Servo System Y. YANAG1TA, T. EISAKA, R. TAGAWA

A Hyperstability/Multiobjeclive Optimization Approach for Active Flexible Structures J.BALS

H^-OPTIMIZA TION

Robust Control of a Flexible Wind Turbine Based on Coprime Factorizations P.M.M. BONGERS

Robust Observer Design for Dynamical Systems under Unknown Disturbances X. DING, P.M. FRANK, L. GUO

//«„, Estimation for Continuous-time Linear Uncertain Systems MINYUE FU, C.E. DE SOUZA, LIHUA XIE

Quadratic Stabilizability of Linear Uncertain Systems with Prescribed H°° Norm Bounds J.C. GEROMEL, P.L.D. PERES, S.R. SOUZA

Coal-fired Power Plant Controller Design using H-infinity Optimization D.-W. GU. I. POSTLETHWAITE, J.-L. LIN

Parameterizations of H<» Controllers for Non-standard Plants H. KIMURA, YUFEI LU, T. FUJTJ

//""-optimal Robust Asymptotic Regulation with Nice Stability Region J.-H. XU, M. MANSOUR

Design of Reliable Control Systems with Guaranteed Disturbance Rejection Performance J.V. MEDANIC, W.R. PERKINS, R.J. VEILLETTE

Fixed Order H^H^ Control of Uncertain Systems M. STEINBUCH, O.H. BOSGRA

Robust Output Regulation using Reduced-order Controllers Q.-H. WU, M. MANSOUR

ADAPTIVE CONTROL

On Reduced Order Model Reference Adaptive Control G. BARTOLINI, A. FERRARA

Design of Self-tuning Controllers for Industrial Plant K.J. BURNHAM, S.G. GOODHART, D.J.G. JAMES, P.J. KING

B-MRAC: A New Model Reference Adaptive Controller Based on Binary Control Theory LIU HSU, R.R. COSTA

Design of a Robust Controller for the Substrate Concentration in Biorcactors M. HOTTECKE, R. KRULL, F. DORRSCHEIDT. D.C. HEMPEL

Stabilized Least-squares Estimators for Time-variant Processes J.J. MILEK, F.J. KRAUS

xi

Robust Design of Model Reference Adaptive Control System including Fixed Compensator H. OHMORI, К. OHKUBO, A. SANO

287

Adaptive Robot Controllers: A Comparative Study M. SAAD. L.-A. DESSAINT, J.-F. BASSET, Y. DUBE

293

Design of Combined Variable Structure Systems and Reference Equation System Algorithms A.A. STOTSKY

299

VARIABLE STRUCTURE CONTROL

Design of Variable Structure Control Systems with Internal Models H. HIKITA, M. YAMASHITA, Y. KUBOTA

305

"Integral Lyapunov Functions" Based on Incomplete State Feedback H. KIENDL, T. SCHEEL

311

Sliding Mode Controller Design for Nonlinear Systems: An Extended Linearization Approach H. SIRA-RAMIREZ, M. RIOS-BOLIVAR

317

Multi-input Variable Structure Controllers A.E. VAN DER GROEF, P.P.J. VAN DEN BOSCH, H.R. VISSER

323

Robust Eigenvalue Assignment Techniques for the Sliding Mode C.A. WOODHAM, A.S.I. ZINOBER

329

NONLINEAR CONTROL SYSTEMS

Nonlinear Control of Molecular Weight in a Polymerization Reactor J. ALVAREZ, R. SUAREZ, F. VARGAS

335

A New Converse Lyapunov Result on Exponential Stability M. CORLESS, L. GLIELMO

341

Synthesis of Planar Sliding Manifolds for Nonlinear Systems L. GUZZELLA

347

Nonlinear Control System Design Based on Newly Developed Dynamic Programming Algorithm T. HANAOKA

353

Postponing Chaos using a Robust Stabilizer H. HYOTYNIEMI

359

Design Methods of Nonlinear Dynamic Compensator Based Upon Canonical Forms T. OHTANI, M. MASUBUCHI

365

A Compensating Method for the Effects of the Change of Operating State in Bilinear Systems by State Linearization Technique M. FUKUZAWA, T. OHTANI. M. MASUBUCHI

371

Nonlinear Feedback SC Control of a Power System Y. WANG, R.R. MOHLER

377

Xll

Nonlinear Model-matching Design of Servomechanisms P.M. SAIN, M.K. SATN, A.N. MICHEL

• 381

Tools for the Design of Single-loop Control Systems with Actuator Saturation Applied to Hydropower Control A.H. GLATTFELDER, Z.H. HANG, W. SCHAUFELBERGER

387

Multi-layer Neural Networks for the Optimal Control of Nonlinear Dynamic Systems T. PARISINI, R. ZOPPOLI

CONTROL OF DISTRIBUTED PARAMETER SYSTEMS

393

Asymptotically Pole Location of Optimal Regulator for Time-delay Systems N.ABE

399

On the Optimal Boundary Control for Stochastic Linear Elastic Systems M. ISHIKAWA

405

Control of Heat Exchangers by Placement of Closed-loop Poles H. KANOH

409

Necessary and Sufficient Condition of Pareto Optimality for Problems with Multi-equality Operator Constraints W. KOTARSKI

415

Boundary Stabilization of Semilinear Parabolic Distributed Systems N. KUNIMATSU, H. SANO

421

Spline-based Adaptive Control of Distributed Parameter Systems B. ROHAL-ILKIV, R. RICHTER, I. SROKA, Z. ORSZAGHOVA, P. ZELINKA

427

Observers for Infinite Dimensional Systems with Unknown Inputs J.H. SEO, J.H. HWANG

Practical Stabilizing Control of Uncertain Diffusion Systems S.E. REBIAI, A.S.I. ZINOBER, S. SCALA

433

439

CONTROL OF DISCRETE EVENT SYSTEMS

Synthesis of Deadlock-free Control Structures using Petri-nets W. SEICHE, D. ABEL, H. RAKE

445

Design of a Discrete Event Controller for a Model Railway G. HOFFMANN, S. BALEMI, U. BRUNNER

451

Control of Elementary Discrete Event Systems: Synthesis of Controller with Non-zero Decision Time P. KOZAK

457

On the Design of Discrete Event Dynamic Systems by Means of the Boolean Differential Calculus R. SCHEURING, H. WEHLAN

463

An Effective Way to undo a Discrete Event System of its (Dead)lock R. SMEDINGA

469

xin

HIERARCHICAL AND DECENTRALIZED CONTROL

Characterizations of Decentralized Fixed Modes for Descriptor Systems Y.Z. HU, E.J. DAVISON

Decentralized Optimal Control with Extension A.IFTAR

A General Framework for Constrained Configuration Control Law Design A.F. POTVIN, K.D. MINTO

A Procedure for the Delimitation of Tasks in Chemical Process Control Hierarchies M. MULHOLLAND, G. HARTLEY, R. MOONSAMY

Design of a Stabilizing Decentralized Control for Linear Interconnected Systems with Time-delay LP. POPCHEV, V.V. MONOV

KNOWLEDGE-BASED AND LEARNING CONTROL

Design of a Rule-based Controller for the Inverted Pendulum H. KIENDL, M. KRABS

Improved Allocation of Weights for Associative Memory Storage in Learning Control Systems P.C. PARKS, J. MILITZER

The Control of Large Scale Systems by using a Knowlcdgc-bascd Controller F. STANCIULESCU

LQG/LTR-DESIGN

Necessary and Sufficient Conditions for Optimal Fixed-order Dynamic Compensation of Linear Discrete-time Systems W.L. DE KONTNG, H. DE WAARD

LQG Multivariable Self-tuning Control Design M.J. GRIMBLE, N.A. FAIRBAIRN

Polynomial Solution to the Standard LQ-optimal Control Problem: Scalar Case K.J. HUNT, M. SEBEK

COMPUTER AIDED DESIGN

CAD Techniques for a Structural Approach to Noninteraction and Disturbance Rejection K.J. REINSCHKE, J. JANTZEN, F.J. EVANS

Computer Aided Problem Formulation of Control Problems R. MÜLLER

XIV

MODEL MATCHING AND MODEL REDUCTION

Output-feedback Control of a Hydraulic Drive using Balanced Model Reduction Design Method R. GUTH, H. RAKE

Sufficiency Criteria for Frequency-domain Approximate Modeling of SISO Plants with Input Dead-time S. ROY, O.P. MALIK, G.S. HOPE

Model Matching of Descriptor Systems by Proportional State Feedback V. KUCERA

Naturally Motivated Procedure for the Design of a Reduced-order Controller U.A. BRUNNER

VARIOUS APPLICATIONS

A State-feedback Control for a 4-DOF Manipulator with a Transversal Flexible Link B. BONA, P. MARTELLA

Control Design Methods for Active Sound Reduction Systems N.J. DOELMAN

A Predictive Control Algorithm for Continuous Distillation Columns C.E. GEORGE, D. CORNELL

A New Power System Stabilizer Based on Field Flux Control J. MATSUKI, T. OKADA

Author Index

Keyword Index

xv