Дисертації з теми "LTI systems with delays"
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1
Martínez, Gonzáles Alejandro. "Perturbation Analysis of Eigenvalues for LTI Delay Systems. Regular and Singular Cases." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG017.
Анотація:
Dans ce mémoire, on considère l’analyse des effets induits par les retards sur le comportement des systèmes dynamiques d´écrits par des équations différentielles linéaires à retards incluant des retards discrets dans leur représentation mathématique. Les apports principaux de la thèse concernent la caractérisation du comportement asymptotiques des racines caractéristiques multiples dans deux configurations: un ou deux paramètres (retards). Les résultats proposés et les algorithmes associés permettent de mieux comprendre les mécanismes sous-jacentes (un ou deux retards) et assouplissent les conditions existantes dans la littérature du domaines (deux retards, vus comme paramètres). Pour obtenir de tels critères, l’approche proposée combine le théorème de préparation de Weierstrass avec la méthode du diagramme de Newton. Finalement, ces idées sont également utilisés pour étudier le caractère bien-posé/mal-posé d’un système en boucle fermée en présence d’un contrôleur de type Proportionnel-Dérivé quand la ”dérivé” est approximée en utilisant un opérateur aux différences incluant un retard. Dans ce dernier cas d’étude, les résultats obtenus sont des conditions nécessaires et suffisantesThis dissertation is devoted to the analysis of the effects induced by the delays on the behavior of the dynamical systems described by linear delay-differential equations of retarded type including discrete delays in their mathematical represen-tation. The main contributions of the thesis concern the characterization of the asymptotic behavior of multiple characteristic roots with respect to the delays in two configurations: one or two (delay) parameters. The proposed results and related algorithms give a better understanding of the underlying mechanisms (one or two delay parameters) and relax the existing conditions from the open literature (two delays, seen as parameters). To derive such criteria, the proposed approach combines the Weierstrass Preparation Theorem with the Newton Diagram Method. Finally, such ideas are also used to study the ill-posed/well-posed character of a closed-loop system when the derivative action is approximated by a delay-difference operator. In this last case study, the corresponding derived conditions are necessary and sufficient
2
Zhang, Xiping. "Parameter-Dependent Lyapunov Functions and Stability Analysis of Linear Parameter-Dependent Dynamical Systems." Diss., Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/5270.
Анотація:
The purpose of this thesis is to develop new stability conditions for several linear dynamic systems, including linear parameter-varying (LPV), time-delay systems (LPVTD), slow LPV
systems, and parameter-dependent linear time invariant (LTI) systems. These stability conditions are less conservative and/or computationally easier to apply than existing ones.
This dissertation is composed of four parts. In the first part of this thesis, the complete stability domain for LTI parameter-dependent (LTIPD) systems is synthesized by extending existing results in the literature. This domain is calculated through a guardian map which involves the determinant of the Kronecker sum of a matrix with itself. The stability domain is
synthesized for both single- and multi-parameter dependent LTI systems. The single-parameter case is easily computable, whereas the multi-parameter case is more involved. The determinant of the
bialternate sum of a matrix with itself is also exploited to reduce the computational complexity.
In the second part of the thesis, a class of parameter-dependent Lyapunov functions is proposed, which can be used to assess the stability properties of single-parameter LTIPD systems in a non-conservative manner. It is shown
that stability of LTIPD systems is equivalent to the existence of a Lyapunov function of a polynomial type (in terms of the parameter) of known, bounded degree satisfying two matrix inequalities. The bound of polynomial degree of the Lyapunov functions is then reduced by taking advantage of the fact that the Lyapunov matrices are symmetric. If the matrix multiplying the parameter is not full rank, the polynomial order
can be reduced even further. It is also shown that checking the feasibility of these matrix
inequalities over a compact set can be cast as a convex optimization problem. Such Lyapunov functions and stability conditions for affine single-parameter LTIPD systems are then generalized to single-parameter polynomially-dependent LTIPD systems and affine multi-parameter LTIPD systems.
The third part of the thesis provides one of the first attempts to derive computationally tractable criteria for analyzing the stability of LPV time-delayed systems. It presents both
delay-independent and delay-dependent stability conditions, which are derived using appropriately selected Lyapunov-Krasovskii functionals. According to the system parameter dependence, these functionals can be selected to obtain increasingly non-conservative results. Gridding techniques may be used to cast these tests as Linear Matrix Inequalities (LMI's). In cases when
the system matrices depend affinely or quadratically on the parameter, gridding may be avoided. These LMI's can be solved efficiently using available software. A numerical example of a
time-delayed system motivated by a metal removal process is used to demonstrate the theoretical results.
In the last part of the thesis, topics for future
investigation are proposed. Among the most interesting avenues for research in this context, it is proposed to extend the existing stability analysis results to controller synthesis, which will be based on the same Lyapunov functions used
to derive the nonconservative stability conditions. While designing the dynamic ontroller for linear and parameter-dependent systems, it is desired to take the advantage of the rank deficiency of the system matrix multiplying the parameter such that the controller is of lower dimension, or rank deficient without sacrificing the performance of closed-loop systems.
3
Zekraoui, Salim. "Contrôle et estimation en temps fini de certaines classes d'EDP." Electronic Thesis or Diss., Centrale Lille Institut, 2023. http://www.theses.fr/2023CLIL0028.
Анотація:
L'objectif principal de cette thèse est d'explorer et d'analyser les problèmes d'estimation et destabilisation non-asymptotique (en temps fini, fixe, et prescrit) de certaines classes de systèmes de dimensioninfinie, notamment les systèmes linéaires invariants en temps avec retards (ponctuels ou distribués) d'entrée oude sortie et les équations aux dérivées partielles (EDP) de type réaction-diffusion. Comme les résultats existantssur ces classes de systèmes sont peu nombreux, nous commençons par revoir les concepts et les résultats sur lesoutils non asymptotiques pour les systèmes de dimension infinie. Ensuite, nous étendons ces outils pour les systèmesde dimension infinie. Dans ce contexte, nous commençons par le problème de compensation, en temps fini/fixe,des retards d'entrée et de sortie pour les systèmes LTI en utilisant la méthode du backstepping pour les EDP(avec des transformations inversibles non-linéaires et/ou variant en temps). Pour appliquer cette approche, nousreformulons le système considéré en une cascade de système EDO-EDP où la partie EDP est une équation detransport hyperbolique qui modélise l'effet du retard sur l'entrée/sortie. Ensuite, nous traitons le problème dela stabilisation frontière en temps fini/fixe d'une classe des EDP de réaction-diffusion. À notre connaissance,ce problème est resté ouvert dans la littérature pendant une période considérable. Nous abordons ce problèmecomplexe à l'aide de méthodes classiques liées aux Fonctions de Lyapunov de Contrôle (CLF). Nous donnonsquelques indications sur l'extension de cette approche au problème de stabilisation entrée-état (ISS) et au problèmedu suivi en temps fini/fixe pour les EDP de réaction-diffusion. Nous soulignons les limitations de notre méthodepour la conception des observateurs. Enfin, nous abordons le problème de la compensation, en temps prescrit, desretards d'entrée des systèmes de réaction-diffusion par une commande par retour d'état basée sur un observateur enutilisant la méthode du backstepping pour les EDP. Ce problème est difficile, car il nécessite de traiter la conceptiondes observateurs et des contrôleurs avec des gains variant en temps qui tendent vers l'infini lorsque le temps serapproche du temps prescrit de convergenceThis Ph.D. thesis is devoted to the problems of non-asymptotic (finite, fixed, prescribed-time) estimation and stabilization of some classes of infinite-dimensional systems, namely LTI systems subject to input/sensor (pointwise or distributed) delays and reaction-diffusion PDEs. As the existing results on these classes of systems are few, we begin by reviewing relevant concepts and results on non-asymptotic tools (including homogeneity-based tools and time-varying tools) for finite-dimensional systems. Afterward, we extend these tools to infinite-dimensional settings. Firstly, we start with the problem of input and sensor delay compensation in finite/fixed/prescribed time of LTI systems where we use the so-called backstepping approach for PDEs (with some nonlinear and/or time-varying invertible transformations). To apply this approach, we reformulate the considered LTI system into a cascade ODE-PDE system where the PDE part is a hyperbolic transport equation that models the effect of the delay on the input/output. Secondly, we consider the problem of boundary state-dependent finite/fixed-time stabilization of reaction-diffusion PDEs. To the best of our knowledge, this problem has remained open in the literature for a considerable long time. We tackle this challenging problem using classical methods related to Control Lyapunov functions. We provide some hints on how we to extend this approach to input-to-state stabilization and non-asymptotic tracking problem for reaction-diffusion PDEs. We point out the limitations of our approach to observer design. Finally, we tackle the problem of input delay compensation of reaction-diffusion systems in prescribed time by output feedback using the backstepping approach. This problem is challenging, as one deals with observer and control designs with some time-varying gains that go to infinity when the time gets closer to the prescribed time of convergence, which brings additional challenges and issues. Dealing with these challenges requires introducing novel infinite-dimensional time-varying backstepping transformations in conjunction with advanced predictor-based concepts adapted to parabolic PDEs
4
Sereni, Bruno. "Static output feedback control for LPV and uncertain LTI systems /." Ilha Solteira, 2019. http://hdl.handle.net/11449/180732.
Анотація:
Orientador: Edvaldo AssunçãoResumo: Este trabalho aborda o controle via realimentação estática de saída aplicado à sistemas lineares com parâmetro variante (LPV) e lineares incertos invariantes no tempo (LIT). O projeto de ganhos de realimentação estática de saída apresentado neste trabalho é baseado no método dos dois estágios, o qual consiste em primeiramente obter um ganho de realimentação de estados, e então, utilizar esta informação no segundo estágio para obter-se o ganho de realimentação estática de saída desejado. As soluções para os problemas investigados são apresentadas na forma de desigualdades matriciais lineares (no inglês, linear matrix inequalities, LMIs), obtidas por meio da aplicação do Lema de Finsler. Baseado em resultados anteriores encontrados na literatura, este trabalho propõe uma estratégia de relaxação de forma a obter um método menos conservador para obtenção de ganhos robustos de realimentação estática de saída para sistemas incertos LTI. Na estratégia proposta, as variáveis adicionais do Lema de Finsler são consideradas como dependentes de parâmetro, juntamente com o uso de funções de Lyapunov dependentes de parâmetro (no inglês, parameter-dependent Lyapunov functions, PDLFs). É apresentado um estudo avaliando a eficácia da estratégia proposta em fornecer uma maior região de factibilidade para um dado problema. Os resultados foram utilizados em uma comparação com um método de relaxação baseado apenas no uso de PDLFs. Uma segunda contribuição deste trabalho consiste na proposta de um... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: The static output feedback (SOF) control applied to linear parameter-varying (LPV) and uncertain linear time-invariant (LTI) systems are addressed in this work. The approach chosen for the design of SOF gains is based on the two-stage method, which consists in obtaining a state feedback gain at first, and then using that information for deriving the desired SOF gain at the second stage. The solutions for the investigated problems are presented in terms of linear matrix inequalities (LMIs), obtained by means of the application of the Finsler's Lemma. Based on previous papers found in literature, this work proposes a relaxation strategy in order to achieve a less conservative method for obtaining robust SOF gains for uncertain LTI systems. In the proposed strategy, the Finsler's Lemma additional variables are considered to be parameter-dependent along with the use of parameter-dependent Lyapunov functions (PDLFs). A study evaluating the effectiveness of the proposed strategy in providing a larger feasibility region for a given problem is presented. The results were used in a comparison with a relaxation method based only on PDLFs. Another contribution of this work lies in the proposal of a solution for the control of LPV systems via the design of a gain-scheduled SOF controller. The methods proposed for both control problems were applied on the design of controllers for an active suspension system. In the experiments, it was assumed that only one of its four system's states wer... (Complete abstract click electronic access below)
Mestre
5
Zhong, Qingchang. "Robust control of systems with delays." Thesis, Imperial College London, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.405412.
6
Ashoori, Ahmad. "Analysis of motor performance in Parkinson's disease through LTI dynamical systems." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/51518.
Анотація:
Motor performance in Parkinson's disease is marked by a variety of impairments, and is indicative of faulty feedback mechanisms in the brain that arise due to a lack of dopamine. Quantifying motor performance as well as investigating the correlation of motor behaviour and clinical measures has been sought as in important avenue to study disease pathophysiology. We propose the use of linear dynamical systems to finely characterize motor performance, and for possible interpretations of neurological phenomena, such as compensatory mechanisms that can be cast in the framework of control theory. While coarse measurements of motor performance exist (e.g., maximum velocity, mean velocity, root mean square error), they often cannot distinguish between qualitatively different types of movement. (Consider for example, the wide variety of step response behaviors possible in second order systems which may have the same settling time, but a wide range of damping ratios.) In contrast, LTI models provide a dynamical mapping of the sensorimotor transformation required in tracking tasks. Model parameters of linear dynamical systems (such as damping ratio, and natural frequency) can more readily describe qualitatively similar motor phenomenon than existing coarse measurements.
From time-series data of various manual tracking experiments, we first perform a set of preprocessing techniques dependent on the particular experimental setup. The pre-processing techniques have been carefully evaluated to appropriately address possible noise, nonlinearities, and other data irregularities. We then apply existing tools for system identification (e.g., ARX, ARMAX, subspace methods) to identify numerically robust second-order LTI system models. The choice of system identification method (as well as choice of pre-processing techniques) is critical in determining the variability in the resulting model parameters. We identify parameters of the LTI models which are amenable to comparison across subjects (and across groups), and evaluate their statistical significance.
The main contributions of this thesis are:
- Selection of pre-processing and system identification techniques for three experimental setups for manual tracking experiments
- Control theoretic framework for tremor as a compensatory
mechanism that is advantageous in some tracking tasks
- Sensor-based assessment of rigidity via decay rate
- Assessment of cognitive inflexibility through mode detection and delayApplied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
7
Yedes-Bougatef, Naima. "Commande sous contraintes des systèmes discrets périodiques." Thesis, Poitiers, 2012. http://www.theses.fr/2012POIT2305/document.
Анотація:
Cette thèse se situe dans le cadre de l’analyse et de la synthèse des systèmes périodiques. Les contributions présentées dans ce mémoire portent sur la commande sous contraintes des systèmes linéaires discrets périodiques. Ces contraintes, portant sur l’état du système et/ ou sur la commande, peuvent être des contraintes de positivité ou de bornitude. Dans ce travail, des conditions d’analyse en stabilité et positivité des systèmes périodiques en termes de LMI (Inégalité Matricielle Linéaire) strictes, sont présentées. Ces outils d’analyse ont ensuite permis d’élaborer une loi de commande par retour d’état périodique. Les résultats obtenus sont exploités par la suite pour développer une commande par retour d’état périodique robuste pour les systèmes périodiques incertains. Des conditions de stabilisation robuste sont élaborées en utilisant la S-procédure. En outre, des conditions de stabilité et stabilisation par retour d’état périodique des systèmes périodiques avec retards sont établies. Le problème de stabilisation de ce type de systèmes sous un certain nombre de contraintes est résolu en suivant deux approches, la première est basée sur les techniques de Lyapunov la seconde fait appel à la programmation linéaire. Outre la notion de stabilité, la notion de performance des systèmes en boucle fermée est traitée. Pour cela, nous proposons une commande de type H∞ pour résoudre le problème de rejet de perturbationsThis thesis deals with the analysis and the control problem of periodic linear discrete systems (PLDS). The contributions presented in this work focuses on the constrained control of PLDS. Conditions for stability analysis and positivity are established in terms of strict LMI (Linear Matrix Inequalities). The stabilization of PLDS under the condition that the closed-loop system is positive and stable is addressed as well as the case of bounded state and/ or control variables. The obtained results are then extended to the synthesis of robust state feedback controllers, where some of which are based on the S − procedure technique. Furthermore, some conditions of stability and stabilization of PLDS with delays are established. The problem of stabilization of constrained PLDS is addressed based on the Lyapunov techniques or the Linear Programming techniques. The robust H∞ state feedback control in which both robust stability and a prescribed H∞ performance are required is investigated
8
Liacu, Bogdan Cristian. "Network-based Haptic Systems with Time-Delays." Phd thesis, Supélec, 2012. http://tel.archives-ouvertes.fr/tel-00771948.
Анотація:
During the last decades, virtual environments have become very popular and are largely used in many domains as, for example, prototyping, trainings for different devices, assistance in completing difficult tasks, etc. The interaction with the virtual reality, as well as the feedback force, is assured by haptic interfaces. Generally, such systems are affected by communication and processing time-delays, resulting in a deterioration of performances. In this thesis, a complete study of the existing methods, as well as theoretical tools and new solutions, are proposed for the haptic framework. First, a comparative study, based on the experimental results obtained on a 1-dof haptic system, highlights the advantages and drawbacks of the most common control algorithms ported from teleoperation to haptics. Next, the theoretical tools needed in analyzing the stability of the delayed systems in different situations, as well as the physical limitations of the experimental platforms considered, are examined. Besides the standard case of constant time-delays, uncertainties are also considered and modeled by different types of distributions (uniform, normal and gamma distribution with gap). In the sequel, for overcoming the drawback of time-delays, two new approaches are proposed. First, the use of Smith predictor-based control is addressed and a specific solution for haptic systems is developed and discussed. The main idea is to introduce into the Smith predictor the environmental forces by using the additional information from the virtual reality regarding the distances between the controlled virtual object and other objects in the scene. To overcome the loss of performances induced by using a fixed gain in the controllers for all situations (free or restricted motions), the second approach proposes a gain-scheduling Proportional Derivative control strategy depending on the distance until a possible collision. Both approaches are experimentally validated on a 3-dof haptic platform, under different scenarios elaborated gradually from simple situations - free and restricted motion, contacts with moving objects, to more complex situations - virtual box with fixed or moving sides.
9
Rahman, Bootan Mohammed. "Dynamics of neural systems with time delays." Thesis, University of Sussex, 2017. http://sro.sussex.ac.uk/id/eprint/67773/.
Анотація:
Complex networks are ubiquitous in nature. Numerous neurological diseases, such as Alzheimer's, Parkinson's, epilepsy are caused by the abnormal collective behaviour of neurons in the brain. In particular, there is a strong evidence that Parkinson's disease is caused by the synchronisation of neurons, and understanding how and why such synchronisation occurs will bring scientists closer to the design and implementation of appropriate control to support desynchronisation required for the normal functioning of the brain. In order to study the emergence of (de)synchronisation, it is necessary first to understand how the dynamical behaviour of the system under consideration depends on the changes in systems parameters. This can be done using a powerful mathematical method, called bifurcation analysis, which allows one to identify and classify different dynamical regimes, such as, for example, stable/unstable steady states, Hopf and fold bifurcations, and find periodic solutions by varying parameters of the nonlinear system. In real-world systems, interactions between elements do not happen instantaneously due to a finite time of signal propagation, reaction times of individual elements, etc. Moreover, time delays are normally non-constant and may vary with time. This means that it is vital to introduce time delays in any realistic model of neural networks. In this thesis, I consider four different models. First, in order to analyse the fundamental properties of neural networks with time-delayed connections, I consider a system of four coupled nonlinear delay differential equations. This model represents a neural network, where one subsystem receives a delayed input from another subsystem. The exciting feature of this model is the combination of both discrete and distributed time delays, where distributed time delays represent the neural feedback between the two sub-systems, and the discrete delays describe neural interactions within each of the two subsystems. Stability properties are investigated for different commonly used distribution kernels, and the results are compared to the corresponding stability results for networks with no distributed delays. It is shown how approximations to the boundary of stability region of an equilibrium point can be obtained analytically for the cases of delta, uniform, and gamma delay distributions. Numerical techniques are used to investigate stability properties of the fully nonlinear system and confirm our analytical findings. In the second part of this thesis, I consider a globally coupled network composed of active (oscillatory) and inactive (non-oscillatory) oscillators with distributed time delayed coupling. Analytical conditions for the amplitude death, where the oscillations are quenched, are obtained in terms of the coupling strength, the ratio of inactive oscillators, the width of the uniformly distributed delay and the mean time delay for gamma distribution. The results show that for uniform distribution, by increasing both the width of the delay distribution and the ratio of inactive oscillators, the amplitude death region increases in the mean time delay and the coupling strength parameter space. In the case of the gamma distribution kernel, we find the amplitude death region in the space of the ratio of inactive oscillators, the mean time delay for gamma distribution, and the coupling strength for both weak and strong gamma distribution kernels. Furthermore, I analyse a model of the subthalamic nucleus (STN)-globus palidus (GP) network with three different transmission delays. A time-shift transformation reduces the model to a system with two time delays, for which the existence of a unique steady state is established. Conditions for stability of the steady state are derived in terms of system parameters and the time delays. Numerical stability analysis is performed using traceDDE and DDE-BIFTOOL in Matlab to investigate different dynamical regimes in the STN-GP model, and to obtain critical stability boundaries separating stable (healthy) and oscillatory (Parkinsonian-like) neural ring. Direct numerical simulations of the fully nonlinear system are performed to confirm analytical findings, and to illustrate different dynamical behaviours of the system. Finally, I consider a ring of n neurons coupled through the discrete and distributed time delays. I show that the amplitude death occurs in the symmetric (asymmetric) region depending on the even (odd) number of neurons in the ring neural system. Analytical conditions for linear stability of the trivial steady state are represented in a parameter space of the synaptic weight of the self-feedback and the coupling strength between the connected neurons, as well as in the space of the delayed self-feedback and the coupling strength between the neurons. It is shown that both Hopf and steady-state bifurcations may occur when the steady state loses its stability. Stability properties are also investigated for different commonly used distribution kernels, such as delta function and weak gamma distributions. Moreover, the obtained analytical results are confirmed by the numerical simulations of the fully nonlinear system.
10
Baldan, Giancarlo. "Low complexity quantized controllers for LTI systems : peak-to-peak performance guarantees." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103717.
Анотація:
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 139-143).
In this thesis, we propose a novel feedback control scheme for unstable LTI systems performing noise attenuation via a finite-rate digital channel. In the first part of the thesis, we introduce the structure of the control system as well as the encoder and decoder used to transmit the required control signals along the digital channel. The performances of the proposed algorithm are then evaluated by providing explicit bounds on the peak-to-peak noise attenuation, in regards to the induced l[subscript infinity symbol] gain of the closed loop . This result is obtained by constructing a new class of storage functions that can be employed to verify the dissipativity of the closed loop system with respect to a suitable supply rate function. In the second part of the thesis, we examine the trade-off between the closed loop performances and the required rate of the channel. While the digital channel imposes some limitations on the achievable induced l[subscript infinity symbol] gain, we show how the performances of the proposed scheme can still approximate those achievable without communication constraints provided that the rate of the channel is large enough. A numerical optimization problem is then devised to design the parameters of the control scheme in order to minimize the strain on the channel while matching some prescribed constraints on the closed loop induced l[subscript infinity symbol] gain.
by Giancarlo Baldan.
Ph. D.
11
Shankar, H. N. "Adaptive Control Of A General Class Of Finite Dimensional Stable LTI Systems." Thesis, Indian Institute of Science, 2000. https://etd.iisc.ac.in/handle/2005/225.
Анотація:
We consider the problem of Adaptive Control of finite-dimensional, stable, Linear Time Invariant (LTI) plants. Amongst such plants, the subclass regarding which an upper bound on the order is not known or which are known to be nonminimum phase (zeros in the unstable region) pose formidable problems in their own right. On one hand, if an upper bound on the order of the plant is not known, adaptive control usually involves some form of order estimation. On the other hand, when the plant is allowed to be either minimum phase or nonminimum phase, the adaptive control problem, as is well-known, becomes considerably-less tractable.
In this study, the class of unknown plants considered is such that no information is available on the upper bound of the plant order and, further, the plant may be either minimum phase or nonminimum phase. Albeit known to be stable, such plants throw myriads of challenges in the context of adaptive control.
Adaptive control involving such plants has been addressed [79] in a Model Reference Adaptive Control (MRAC) framework. There, the inputs and outputs of the unknown plant are the only quantities available by measurement in terms of which any form of modeling of the unknown plant may be made. Inputs to the reference model have been taken from certain restricted classes of bounded signals. In particular, the three classes of inputs considered are piecewise continuous bounded functions which asymptotically approach
• a nonzero constant,
• a sinusoid, and
• a sinusoid with a nonzero shift.
Moreover, the control law is such that adaptation is carried out at specific instants separated by progressively larger intervals of time. The schemes there have been proved to be e-optimal in the sense of a suitably formulated optimality criterion.
If, however, the reference model inputs be extended to the class of piecewise continuous bounded functions, that would compound the complexity of the adaptive control problem. Only one attempt [78] in adaptive control in such a setting has come to our notice. The problem there has been tackled by an application of the theory of Pade Approximations to time moments of an LTI system. Based on a time moments estimation procedure, a simple adaptive scheme for Single-Input Single-Output (SISO) systems with only a cascade compensator has been reported.
The first chapter is essentially meant to ensure that the problem we seek to address in the field of adaptive control indeed has scope for research. Having defined Adaptive Control, we selectively scan through the literature on LTI systems, with focus on MRAC. We look out in particular for studies involving plants of which not much is known regarding their order and systems which are possibly nonminimum phase. We found no evidence to assert that the problem of adaptive control of stable LTI systems, not necessarily minimum phase and of unknown upper bound on the order, was explored enough, save two attempts involving
SISO systems. Taking absence of evidence (of in-depth study) for evidence of absence, we make a case for the problem and formally state it. We preview the thesis.
We set two targets before us in Chapter 2. The first is to review one of the existing procedures attacking the problem we intend to address. Since the approach is based on the notion of time moments of an LTI system, and as we are to employ Pade Approximations as a tool, we uncover these concepts to the limited extent of our requirement. The adaptive procedure, Plant Command Modifier Scheme (PCMS) [78], for SISO plants is reported in some detail. It stands supported on an algorithm specially designed to estimate the time moments of an LTI system given no more than its input and output. Model following there has been sought to be achieved by matching the first few time moments of the reference model by the corresponding ones of the overall compensated plant. The plant time moment estimates have been taken to represent the unknown plant. The second of the goals is to analyze PCMS critically so that it may serve as a forerunner to our work. We conclude the chapter after accomplishing these goals.
In Chapter 3, we devise a time moment estimator for SISO systems from a perspective which is conceptually equivalent to, yet functionally different from, that appropriated in [78]. It is a recipe to obtain estimates of time moments of a system by computing time moment estimates of system input and output signals measured up to current time. Pade approximations come by handy for this purpose. The lacunae exposed by a critical examination of PCMS in Chapter 2 guide us to progressively refine the estimator. Infirmities in the control part of PCMS too have come to light on our probing into it. A few of these will be fixed by way of fabricating two exclusively cascade compensators. We encounter some more issues, traceable to the estimator, which need redressal. Instead of directly fine-tuning the estimator itself, as is the norm, we propose the idea of 'estimating' the lopsidedness of the estimator by using it on the fully known reference model. This will enable us to effect corrections and obtain admissible estimates. Next, we explore the possibility of incorporating feedback compensation in addition to the existing cascade compensation. With output error minimization in mind, we come up with three schemes in this category. In the process, we anticipate the risk of instability due to feedback and handle it by means of an instability preventer with an inbuilt instability detector. Extensive simulations with minimum and rionminimum phase unknown plants employing the various schemes proposed are presented. A systematic study of simulation results reveals a dyad of hierarchies of progressively enhanced overall performance. One is in the sequence of the proposed schemes and the other in going for matching more and more moments. Based on our experiments we pick one of the feedback schemes as the best.
Chapter 4 is conceived of as a bridge between SISO and multivariable systems. A transition from SISO to Multi-Input Multi-Output (MIMO) adaptive control is not a proposition confined to the mathematics of dimension-enhancement. A descent from the MIMO to the SISO case is expected to be relatively simple, though. So to transit as smoothly and gracefully as possible, some issues have to be placed in perspective before exploring multivariable systems. We succinctly debate on the efforts in pursuit of the exact vis-a-vis the accurate, and their implications. We then set some notations and formulate certain results which serve to unify and simplify the development in the subsequent three chapters. We list a few standard results from matrix theory which are to be of frequent use in handling multivariable systems.
We derive control laws for Single-Input Multi-Output (SIMO) systems in Chapter 5. Expectedly, SIMO systems display traits of observability and uncontrollability. Results of
illustrative simulations are furnished.
In Chapter 6, we formulate control laws for Multi-Input Single-Output (MISO) systems. Characteristics of unobservability and controllability stand out there. We present case studies. Before actually setting foot onto MIMO systems, we venture to conjecture on what to expect there.
We work out all the cascade and feedback adaptive schemes for square and nonsquare MIMO systems in Chapter 7. We show that MIMO laws when projected to MISO, SIMO and SISO cases agree with the corresponding laws in the respective cases. Thus the generality of our treatment of MIMO systems over other multivariable and scalar systems is established. We report simulations of instances depicting satisfactory performance and highlight the limitations of the schemes in tackling the family of plants of unknown upper bound on the order and possibly nonminimum phase. This forms the culmination of our exercise which took off from the reported work involving SISO systems [78].
Up to the end of the 7th chapter, we are in pursuit of solutions for the problem as general as in §1.4. For SISO systems, with input restrictions, the problem has been addressed in [79]. The laws proposed there carry out adaptation only at certain discrete instants; with respect to a suitably chosen cost, the final laws are proved to be e>optimal. In Chapter 8, aided by initial suboptimal control laws, we finally devise two algorithms with continuous-time adaptation and prove their optimality. Simulations with minimum and nonminimum phase plants reveal the effectiveness of the various laws, besides throwing light on the bootstrapping and auto-rectifying features of the algorithms.
In the tail-piece, we summarize the work and wind up matters reserved for later deliberation. As we critically review the present work, we decant the take-home message. A short note on applications followed by some loud thinking as a spin-off of this report will take us to finis.
12
Shankar, H. N. "Adaptive Control Of A General Class Of Finite Dimensional Stable LTI Systems." Thesis, Indian Institute of Science, 2000. http://hdl.handle.net/2005/225.
Анотація:
We consider the problem of Adaptive Control of finite-dimensional, stable, Linear Time Invariant (LTI) plants. Amongst such plants, the subclass regarding which an upper bound on the order is not known or which are known to be nonminimum phase (zeros in the unstable region) pose formidable problems in their own right. On one hand, if an upper bound on the order of the plant is not known, adaptive control usually involves some form of order estimation. On the other hand, when the plant is allowed to be either minimum phase or nonminimum phase, the adaptive control problem, as is well-known, becomes considerably-less tractable.
In this study, the class of unknown plants considered is such that no information is available on the upper bound of the plant order and, further, the plant may be either minimum phase or nonminimum phase. Albeit known to be stable, such plants throw myriads of challenges in the context of adaptive control.
Adaptive control involving such plants has been addressed [79] in a Model Reference Adaptive Control (MRAC) framework. There, the inputs and outputs of the unknown plant are the only quantities available by measurement in terms of which any form of modeling of the unknown plant may be made. Inputs to the reference model have been taken from certain restricted classes of bounded signals. In particular, the three classes of inputs considered are piecewise continuous bounded functions which asymptotically approach
• a nonzero constant,
• a sinusoid, and
• a sinusoid with a nonzero shift.
Moreover, the control law is such that adaptation is carried out at specific instants separated by progressively larger intervals of time. The schemes there have been proved to be e-optimal in the sense of a suitably formulated optimality criterion.
If, however, the reference model inputs be extended to the class of piecewise continuous bounded functions, that would compound the complexity of the adaptive control problem. Only one attempt [78] in adaptive control in such a setting has come to our notice. The problem there has been tackled by an application of the theory of Pade Approximations to time moments of an LTI system. Based on a time moments estimation procedure, a simple adaptive scheme for Single-Input Single-Output (SISO) systems with only a cascade compensator has been reported.
The first chapter is essentially meant to ensure that the problem we seek to address in the field of adaptive control indeed has scope for research. Having defined Adaptive Control, we selectively scan through the literature on LTI systems, with focus on MRAC. We look out in particular for studies involving plants of which not much is known regarding their order and systems which are possibly nonminimum phase. We found no evidence to assert that the problem of adaptive control of stable LTI systems, not necessarily minimum phase and of unknown upper bound on the order, was explored enough, save two attempts involving
SISO systems. Taking absence of evidence (of in-depth study) for evidence of absence, we make a case for the problem and formally state it. We preview the thesis.
We set two targets before us in Chapter 2. The first is to review one of the existing procedures attacking the problem we intend to address. Since the approach is based on the notion of time moments of an LTI system, and as we are to employ Pade Approximations as a tool, we uncover these concepts to the limited extent of our requirement. The adaptive procedure, Plant Command Modifier Scheme (PCMS) [78], for SISO plants is reported in some detail. It stands supported on an algorithm specially designed to estimate the time moments of an LTI system given no more than its input and output. Model following there has been sought to be achieved by matching the first few time moments of the reference model by the corresponding ones of the overall compensated plant. The plant time moment estimates have been taken to represent the unknown plant. The second of the goals is to analyze PCMS critically so that it may serve as a forerunner to our work. We conclude the chapter after accomplishing these goals.
In Chapter 3, we devise a time moment estimator for SISO systems from a perspective which is conceptually equivalent to, yet functionally different from, that appropriated in [78]. It is a recipe to obtain estimates of time moments of a system by computing time moment estimates of system input and output signals measured up to current time. Pade approximations come by handy for this purpose. The lacunae exposed by a critical examination of PCMS in Chapter 2 guide us to progressively refine the estimator. Infirmities in the control part of PCMS too have come to light on our probing into it. A few of these will be fixed by way of fabricating two exclusively cascade compensators. We encounter some more issues, traceable to the estimator, which need redressal. Instead of directly fine-tuning the estimator itself, as is the norm, we propose the idea of 'estimating' the lopsidedness of the estimator by using it on the fully known reference model. This will enable us to effect corrections and obtain admissible estimates. Next, we explore the possibility of incorporating feedback compensation in addition to the existing cascade compensation. With output error minimization in mind, we come up with three schemes in this category. In the process, we anticipate the risk of instability due to feedback and handle it by means of an instability preventer with an inbuilt instability detector. Extensive simulations with minimum and rionminimum phase unknown plants employing the various schemes proposed are presented. A systematic study of simulation results reveals a dyad of hierarchies of progressively enhanced overall performance. One is in the sequence of the proposed schemes and the other in going for matching more and more moments. Based on our experiments we pick one of the feedback schemes as the best.
Chapter 4 is conceived of as a bridge between SISO and multivariable systems. A transition from SISO to Multi-Input Multi-Output (MIMO) adaptive control is not a proposition confined to the mathematics of dimension-enhancement. A descent from the MIMO to the SISO case is expected to be relatively simple, though. So to transit as smoothly and gracefully as possible, some issues have to be placed in perspective before exploring multivariable systems. We succinctly debate on the efforts in pursuit of the exact vis-a-vis the accurate, and their implications. We then set some notations and formulate certain results which serve to unify and simplify the development in the subsequent three chapters. We list a few standard results from matrix theory which are to be of frequent use in handling multivariable systems.
We derive control laws for Single-Input Multi-Output (SIMO) systems in Chapter 5. Expectedly, SIMO systems display traits of observability and uncontrollability. Results of
illustrative simulations are furnished.
In Chapter 6, we formulate control laws for Multi-Input Single-Output (MISO) systems. Characteristics of unobservability and controllability stand out there. We present case studies. Before actually setting foot onto MIMO systems, we venture to conjecture on what to expect there.
We work out all the cascade and feedback adaptive schemes for square and nonsquare MIMO systems in Chapter 7. We show that MIMO laws when projected to MISO, SIMO and SISO cases agree with the corresponding laws in the respective cases. Thus the generality of our treatment of MIMO systems over other multivariable and scalar systems is established. We report simulations of instances depicting satisfactory performance and highlight the limitations of the schemes in tackling the family of plants of unknown upper bound on the order and possibly nonminimum phase. This forms the culmination of our exercise which took off from the reported work involving SISO systems [78].
Up to the end of the 7th chapter, we are in pursuit of solutions for the problem as general as in §1.4. For SISO systems, with input restrictions, the problem has been addressed in [79]. The laws proposed there carry out adaptation only at certain discrete instants; with respect to a suitably chosen cost, the final laws are proved to be e>optimal. In Chapter 8, aided by initial suboptimal control laws, we finally devise two algorithms with continuous-time adaptation and prove their optimality. Simulations with minimum and nonminimum phase plants reveal the effectiveness of the various laws, besides throwing light on the bootstrapping and auto-rectifying features of the algorithms.
In the tail-piece, we summarize the work and wind up matters reserved for later deliberation. As we critically review the present work, we decant the take-home message. A short note on applications followed by some loud thinking as a spin-off of this report will take us to finis.
13
Seuret, Alexandre, Dimos V. Dimarogonas, and Karl Henrik Johansson. "Consensus under communication delays." KTH, Reglerteknik, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-28520.
Анотація:
This paper deals with the consensus problem under communication network inducing delays. It is well-known that introducing a delay leads in general to a reduction of the performance or to instability due to the fact that timedelay systems are infinite dimensional. For instance, the set of initial conditions of a time-delay system is not a vector but a function taken in an interval. Therefore, investigating the effect of time-delays in the consensus problem is an important issue. In the present paper, we assume that each agent receives instantaneously its own state information but receives the state information from its neighbors after a constant delay. Two stability criteria are provided based on the frequency approach and on Lyapunov-Krasovskii techniques given in terms of LMI. An analytic expression of the consensus equilibrium which depends on the delay and on the initial conditions taken in an interval is derived. The efficiency of the method is tested for different network communication schemes.QC 20110120
14
DURBHA, SRIRAM. "A METHODOLOGY FOR ANALYZING HARDWARE ACCELERATED CONTINUOUS-TIME METHODS FOR MIXED SIGNAL SIMULATION." University of Cincinnati / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1091060658.
15
Da, Silva De Aguiar Raquel Stella. "Optimization-based design of structured LTI controllers for uncertain and infinite-dimensional systems." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0020/document.
Анотація:
Les techniques d’optimisation non-lisse permettent de résoudre des problèmes difficiles de l’ingénieur automaticien qui étaient inaccessibles avec les techniques classiques. Il s’agit en particulier de problèmes de commande ou de filtrage impliquant de multiples modèles ou faisant intervenir des contraintes de structure pour la réduction des couts et de la complexité. Il en résulte que ces techniques sont plus à même de fournir des solutions réalistes dans des problématiques pratiques difficiles. Les industriels européens de l’aéronautique et de l’espace ont récemment porté un intérêt tout particulier à ces nouvelles techniques. Ces dernières font parfois partie du "process" industriel (THALES, AIRBUS DS Satellite, DASSAULT A) ou sont utilisées dans les bureaux d’étude: (SAGEM, AIRBUS Transport). Des études sont également en cours comme celle concernant le pilotage atmosphérique des futurs lanceurs tels d’Ariane VI. L’objectif de cette thèse concerne l'exploration, la spécialisation et le développement des techniques et outils de l'optimisation non-lisse pour des problématiques d'ingénierie non résolues de façon satisfaisante - incertitudes de différente nature - optimisation de l'observabilité et de la contrôlabilité - conception simultanée système et commande Il s’agit aussi d’évaluer le potentiel de ces techniques par rapport à l’existant avec comme domaines applicatifs l’aéronautique, le spatial ou les systèmes de puissance de grande dimension qui fournissent un cadre d’étude particulièrement exigeantNon-smooth optimization techniques help solving difficult engineering problems that would be unsolvable otherwise. Among them, control problems with multiple models or with constraints regarding the structure of the controller. The thesis objectives consist in the exploitation, specialization and development of non smooth optmization techniques and tools for solving engineering problems that are not satisfactorily solved to the present
16
Moelja, Agoes Ariffin. "H2 control of systems with I/O delays." Enschede : University of Twente [Host], 2005. http://doc.utwente.nl/50859.
17
Derrick, Benjamin John. "Bio-inspired dynamic control systems with time delays." Thesis, Durham University, 2014. http://etheses.dur.ac.uk/10593/.
Анотація:
The world around us exhibits a rich and ever changing environment of startling, bewildering and fascinating complexity. Almost everything is never as simple as it seems, but through the chaos we may catch fleeting glimpses of the mechanisms within. Throughout the history of human endeavour we have mimicked nature to harness it for our own ends. Our attempts to develop truly autonomous and intelligent machines have however struggled with the limitations of our human ability. This has encouraged some to shirk this responsibility and instead model biological processes and systems to do it for us. This Thesis explores the introduction of continuous time delays into biologically inspired dynamic control systems. We seek to exploit rich temporal dynamics found in physical and biological systems for modelling complex or adaptive behaviour through the artificial evolution of networks to control robots. Throughout, arguments have been presented for the modelling of delays not only to better represent key facets of physical and biological systems, but to increase the computational potential of such systems for the synthesis of control. The thorough investigation of the dynamics of small delayed networks with a wide range of time delays has been undertaken, with a detailed mathematical description of the fixed points of the system and possible oscillatory modes developed to fully describe the behaviour of a single node. Exploration of the behaviour for even small delayed networks illustrates the range of complex behaviour possible and guides the development of interesting solutions. To further exploit the potential of the rich dynamics in such systems, a novel approach to the 3D simulation of locomotory robots has been developed focussing on minimising the computational cost. To verify this simulation tool a simple quadruped robot was developed and the motion of the robot when undergoing a manually designed gait evaluated. The results displayed a high degree of agreement between the simulation and laser tracker data, verifying the accuracy of the model developed. A new model of a dynamic system which includes continuous time delays has been introduced, and its utility demonstrated in the evolution of networks for the solution of simple learning behaviours. A range of methods has been developed for determining the time delays, including the novel concept of representing the time delays as related to the distance between nodes in a spatial representation of the network. The application of these tools to a range of examples has been explored, from Gene Regulatory Networks (GRNs) to robot control and neural networks. The performance of these systems has been compared and contrasted with the efficacy of evolutionary runs for the same task over the whole range of network and delay types. It has been shown that delayed dynamic neural systems are at least as capable as traditional Continuous Time Recurrent Neural Networks (CTRNNs) and show significant performance improvements in the control of robot gaits. Experiments in adaptive behaviour, where there is not such a direct link between the enhanced system dynamics and performance, showed no such discernible improvement. Whilst we hypothesise that the ability of such delayed networks to generate switched pattern generating nodes may be useful in Evolutionary Robotics (ER) this was not borne out here. The spatial representation of delays was shown to be more efficient for larger networks, however these techniques restricted the search to lower complexity solutions or led to a significant falloff as the network structure becomes more complex. This would suggest that for anything other than a simple genotype, the direct method for encoding delays is likely most appropriate. With proven benefits for robot locomotion and the open potential for adaptive behaviour delayed dynamic systems for evolved control remain an interesting and promising field in complex systems research.
18
Huang, Fei. "On Reducing Delays in P2P Live Streaming Systems." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/29006.
Анотація:
In the recent decade, peer-to-peer (P2P) technology has greatly enhanced the scalability of multimedia streaming on the Internet by enabling efficient cooperation among end-users. However, existing streaming applications are plagued by the problems of long playback latency and long churn-induced delays. First of all, many streaming applications, such as IPTV and video conferencing, have rigorous constraints on end-to-end delays. Moreover, churn-induced delays, including delays from channel switching and streaming recovery, in current P2P streaming applications are typically in the scale of 10-60 seconds, which is far below the favorable user experience as in cable TV systems. These two issues in terms of playback latency and churn-induced delays have hindered the extensive commercial deployment of P2P systems. Motivated by this, in this dissertation, we focus on reducing delays in P2P live streaming systems. Specifically, we propose solutions for reducing delays in P2P live streaming systems in four problem spaces: (1) minimizing the maximum end-to-end delay in P2P streaming; (2) minimizing the average end-to-end delay in P2P streaming; (3) minimizing the average delay in multi-channel P2P streaming; and (4) reducing churn-induced delays.
We devise a streaming scheme to minimize the maximum end-to-end streaming delay under a mesh-based overlay network paradigm. We call this problem, the MDPS problem. We formulate the MDPS problem and prove its NP-completeness. We then present a polynomial-time approximation algorithm, called Fastream-I, for this problem, and show that the performance of Fastream-I is bounded by a ratio of O(SQRT(log n)), where n is the number of peers in the system. We also develop a distributed version of Fastream-I that can adapt to network dynamics. Our simulation study reveals the effectiveness of Fastream-I, and shows a reasonable message overhead.
While Fastream-I yields the minimum maximum end-to-end streaming delay (within a factor of O(SQRT(log n)), in many P2P settings, users may desire the minimum average end-to-end P2P streaming delay. Towards this, we devise a streaming scheme which optimizes the bandwidth allocation to achieve the minimum average end-to-end P2P streaming delay. We call this problem, the MADPS problem. We first develop a generic analytical framework for the MADPS problem. We then present Fastream-II as a solution to the MADPS problem. The core part of Fastream-II is a fast approximation algorithm, called APX-Fastream-II, based on primal-dual schema. We prove that the performance of APX-Fastream-II is bounded by a ratio of 1+w, where w is an adjustable input parameter. Furthermore, we show that the flexibility of w provides a trade-off between the approximation factor and the running time of Fastream-II.
The third problem space of the dissertation is minimizing the average delay in multi-channel P2P streaming systems. Toward this, we present an algorithm, called Fastream-III. To reduce the influence from frequent channel-switching behavior, we build Fastream-III for the view-upload decoupling (VUD) model, where the uploaded content from a serving node is independent of the channel it views. We devise an approximation algorithm based on primal-dual schema for the critical component of Fastream-III, called APX-Fastream-III. In contrast to APX-Fastream-II, APX-Fastream-III addresses the extra complexity in the multichannel scenario and maintains the approximation bound by a ratio of 1+w.
Besides playback lag, delays occurring in P2P streaming may arise from two other factors: node churn and channel switching. Since both stem from the re-connecting request in churn, we call them churn-induced delays. Optimizing churn-induced delays is the dissertation's fourth problem space. Toward this, we propose NAP, a novel agent-based P2P scheme, that provides preventive connections to all channels. Each channel in NAP selects powerful peers as agents to represent the peers in the channel to minimize control and message overheads. Agents distill the bootstrapping peers with superior bandwidth and lifetime expectation to quickly serve the viewer in the initial period of streaming. We build a queueing theory model to analyze NAP. Based on this model, we numerically compare NAP's performance with past efforts. The results of the numerical analysis reveal the effectiveness of NAP.Ph. D.
19
ZAREH, ESHGHDOUST MEHRAN. "Consensus in multi-agent systems with time-delays." Doctoral thesis, Università degli Studi di Cagliari, 2015. http://hdl.handle.net/11584/266600.
Анотація:
Different consensus problems in multi-agent systems have been addressed in this thesis. They represent improvements with respect to the state of the art. In the first part of the thesis in luding Chapters 2, 3, and 4, the state of the art of the representation and stability analysis of consensus problems, time-delay systems, and sampled-data systems have been presented. Novel contributions have been illustrated in Chapters 5-8. Particularly, in Chapter 5 we reported the results of Zareh et al. (2013b), where we investigated the consensus problem for networks of agents with double integrator dynamics affected by time-delay in their coupling. We provided a stability result based on the Lyapunov-Krasovskii functional method and a numerical proc edure based on an LMI condition which depends only on the algebraic connectivity of the considered network topologies, thus reducing greatly the computational complexity of the procedure. Obviously, this result implies the existence of a minimum dwell time such that the proposed consensus protocol is stable for slow swit things between network topologies with suffient algebraic connectivity. Future work will involve actually computing such a dwell time by adopting a multiple Lyapunov function method and evaluating the worst case sider only delayed relative measurements instead of delayed absolute values of the neighbors' state variables. The results of Zareh et al. (2013a) were addressed in Chapter 6, in which a on- tinuous time version of a consensus on the average protocol for arbitrary strongly connected directed graphs is proposed and its convergence properties with respect to time delays in the local state update are characterized. The convergenc e properties of this algorithm depend upon a tuning parameter that an be made arbitrary small to prove stability of the networked system. Simulations have been presented to corroborate the theoretical results and show that the existenc e of a small time delay an a tually improve the algorithm performance. Future work will include an extension of the mathematical characterization of the proposed algorithm to consider possibly heterogeneous or time-varying delays. In Chapter 7 we proposed a PD-like consensus algorithm for a second-order multi- agent system where, at non-periodic sampling times, agents transmit to their neighbors information about their position and veloc ity, while each agent has a perfect knowledge of its own state at any time instant. Conditions have been given to prove onsensus to a ommon xed point, based on LMIs verification. Moreover, we also show how it is possible to evaluate an upper bound on the de ay rate of exponential convergence of stable modes. In Chapter 8, mainly based on our paper Zareh et al. (2014b), we considered the same problem as in Chapter 7. The main contribution consists in proving consensus to a common fixed point, based on LMIs verification, under the assumption that the network topology is not known and the only information is an upper bound on the connectivity. Two are the main directions of our future research in this framework. First, we want to compute analytically an upper bound on the value of the second largest eigenvalue of the weighted adjacency matrix that guarantees consensus, as a function of the other design parameters. Second, we plan to study the case where agents do not have a perfect knowledge of their own state.
20
Gallolu, Kankanamalage Hasala Senpathy Karunaratne. "Output Stability Analysis for Nonlinear Systems with Time Delays." Thesis, Florida Atlantic University, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10617407.
Анотація:
Systems with time delays have a broad range of applications not only in control systems but also in many other disciplines such as mathematical biology, financial economics, etc. The time delays cause more complex behaviours of the systems. It requires more sophisticated analysis due to the infinite dimensional structure of the space spaces. In this thesis we investigate stability properties associated with output functions of delay systems.
Our primary target is the equivalent Lyapunov characterization of input-to-output stability (IOS). A main approach used in this work is the Lyapunov Krasovskii functional method. The Lyapunov characterization of the so called output-Lagrange stability is technically the backbone of this work, as it induces a Lyapunov description for all the other output stability properties, in particular for IOS. In the study, we consider two types of output functions. The first type is defined in between Banach spaces, whereas the second type is defined between Euclidean spaces. The Lyapunov characterization for the first type of output maps provides equivalence between the stability properties and the existence of the Lyapunov-Krasovskii functionals. On the other hand, as a special case of the first type, the second type output renders flexible Lyapunov descriptions that are more efficient in applications. In the special case when the output variables represent the complete collection of the state variables, our Lyapunov work lead to Lyapunov characterizations of ISS, complementing the current ISS theory with some novel results.
We also aim at understanding how output stability are affected by the initial data and the external signals. Since the output variables are in general not a full collection of the state variables, the overshoots and decay properties may be affected in different ways by the initial data of either the state variables or just only the output variables. Accordingly, there are different ways of defining notions on output stability, making them mathematically precisely. After presenting the definitions, we explore the connections of these notions. Understanding the relation among the notions is not only mathematically necessary, it also provides guidelines in system control and design.
21
Dalwai, Ebrahim. "Systems delays in the management of malignant breast disease." Master's thesis, University of Cape Town, 2016. http://hdl.handle.net/11427/20298.
Анотація:
Centralised multidisciplinary management of breast cancer occurs in KwaZulu-Natal, South Africa and requires a diagnostic and staging pathway at the referring hospital. Delays in this pathway are unknown. This study, conducted at a referring hospital, R K Khan (RKK), quantifies and analyses these delays. A retrospective folder review included all patients with breast cancer diagnosed at RKK from January 2008 to January 2009. Data extraction included demographic data, time to diagnosis and initial staging using a standardised datasheet. Specific care steps were identified, namely delays to initial imaging with mammography, pathology confirmation, staging workup and eventual referral to a centralised breast clinic.
22
Wetzel, Lucas. "Effect of Distributed Delays in Systems of Coupled Phase Oscillators." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2013. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-98456.
Анотація:
Communication delays are common in many complex systems. It has been shown that these delays cannot be neglected when they are long enough compared to other timescales in the system. In systems of coupled phase oscillators discrete delays in the coupling give rise to effects such as multistability of steady states. However, variability in the communication times inherent to many processes suggests that the description with discrete delays maybe insufficient to capture all effects of delays. An interesting example of the effects of communication delays is found during embryonic development of vertebrates. A clock based on biochemical reactions inside cells provides the periodicity for the successive and robust formation of somites, the embryonic precursors of vertebrae, ribs and some skeletal muscle.
Experiments show that these cellular clocks communicate in order to synchronize their behavior. However, in cellular systems, fluctuations and stochastic processes introduce a variability in the communication times. Here we account for such variability by considering the effects of distributed delays. Our approach takes into account entire intervals of past states, and weights them according to a delay distribution. We find that the stability of the fully synchronized steady state with zero phase lag does not depend on the shape of the delay distribution, but the dynamics when responding to small perturbations about this steady state do. Depending on the mean of the delay distribution, a change in its shape can enhance or reduce the ability of these systems to respond to small perturbations about the phase-locked steady state, as compared to a discrete delay with a value equal to this mean. For synchronized steady states with non-zero phase lag we find that the stability of the steady state can be altered by changing the shape of the delay distribution.
We conclude that the response to a perturbation in systems of phase oscillators coupled with discrete delays has a sharper functional dependence on the mean delay than in systems with distributed delays in the coupling. The strong dependence of the coupling on the mean delay time is partially averaged out by distributed delays that take into account intervals of the past.
23
Sanz, Díaz Ricardo. "Robust control strategies for unstable systems with input/output delays." Doctoral thesis, Universitat Politècnica de València, 2018. http://hdl.handle.net/10251/111830.
Анотація:
Los sistemas con retardo temporal aparecen con frecuencia en el ámbito de la ingeniería, por ejemplo en transmisiones hidráulicas o mecánicas, procesos metalúrgicos o sistemas de control en red. Los retardos temporales han despertado el interés de los investigadores en el ámbito del control desde finales de los años 50. Se ha desarrollado una amplia gama de herramientas para el análisis de su estabilidad y prestaciones, especialmente durante las dos últimas décadas.
Esta tesis se centra en la estabilización de sistemas afectados por retardos temporales en la actuación y/o la medida. Concretamente, las contribuciones que aquí se incluyen tienen por objetivo mejorar las prestaciones de los controladores existentes en presencia de perturbaciones. Los retardos temporales degradan, inevitablemente, el desempeño de un bucle de control. No es de extrañar que el rechazo de perturbaciones haya sido motivo de estudio desde que emergieron los primeros controladores predictivos para sistemas con retardo. Las estrategias presentadas en esta tesis se basan en la combinación de controladores predictivos y observadores de perturbaciones. Estos últimos han sido aplicados con éxito para mejorar el rechazo de perturbaciones de controladores convencionales. Sin embargo, la aplicación de esta metodología a sistemas con retardo es poco frecuente en la literatura, la cual se investiga exhaustivamente en esta tesis.
Otro inconveniente de los controladores predictivos está relacionado con su implementación, que puede llevar a la inestabilidad si no se realiza cuidadosamente. Este fenómeno está relacionado con el hecho de que las leyes de control predictivas se expresan mediante una ecuación integral. En esta tesis se presenta una estructura de control alternativa que evita este problema, la cual utiliza un observador de dimensión infinita, gobernado por una ecuación en derivadas parciales de tipo hiperbólico.Time-delay systems are ubiquitous in many engineering applications, such as mechanical or fluid transmissions, metallurgical processes or networked control systems. Time-delay systems have attracted the interest of control researchers since the late 50's. A wide variety of tools for stability and performance analysis has been developed, specially over the past two decades. This thesis is focused on the problem of stabilizing systems that are affected by delays on the actuator and/or sensing paths. More specifically, the contributions herein reported aim at improving the performance of existing controllers in the presence of external disturbances. Time delays unavoidably degrade the control loop performance. Disturbance rejection has been a matter of concern since the first predictive controllers for time-delay systems emerged. The key idea of the strategies presented in this thesis is the combination of predictive controllers and disturbance observers. The latter have been successfully applied to improve the disturbance rejection capabilities of conventional controllers. However, the application of this methodology to time-delay systems is rarely found in the literature. This combination is extensively investigated in this thesis. Another handicap of predictive controllers has to do with their implementation, which can induce instability if not done carefully. This issue is related to the fact that predictive control laws take the form of integral equations. An alternative control structure that avoids this problem is also reported in this thesis, which employs an infinite-dimensional observer, governed by a hyperbolic partial differential equation.
Sanz Díaz, R. (2018). Robust control strategies for unstable systems with input/output delays [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/111830
TESIS
24
Lunniss, William Richard Elgon. "Cache related pre-emption delays in embedded real-time systems." Thesis, University of York, 2014. http://etheses.whiterose.ac.uk/8162/.
Анотація:
Real-time systems are subject to stringent deadlines which make their temporal behaviour just as important as their functional behaviour. In multi-tasking real-time systems, the execution time of each task must be determined, and then combined together with information about the scheduling policy to ensure that there are enough resources to schedule all of the tasks. This is usually achieved by performing timing analysis on the individual tasks, and then schedulability analysis on the system as a whole. In systems with cache, multiple tasks can share this common resource which can lead to cache-related pre-emption delays (CRPD) being introduced. CRPD is the additional cost incurred from resuming a pre-empted task that no longer has the instructions or data it was using in cache, because the pre-empting task(s) evicted them from cache. It is therefore important to be able to account for CRPD when performing schedulability analysis. This thesis focuses on the effects of CRPD on a single processor system, further expanding our understanding of CRPD and ability to analyse and optimise for it. We present new CRPD analysis for Earliest Deadline First (EDF) scheduling that significantly outperforms existing analysis, and then perform the first comparison between Fixed Priority (FP) and EDF accounting for CRPD. In this comparison, we explore the effects of CRPD across a wide range of system and taskset parameters. We introduce a new task layout optimisation technique that maximises system schedulability via reduced CRPD. Finally, we extend CRPD analysis to hierarchical systems, allowing the effects of cache when scheduling multiple independent applications on a single processor to be analysed.
25
Krause, Christoph. "Simulation of dynamic station dwell time delays on high frequency rail transport systems. : Representing dynamic station delays with opentrack." Thesis, KTH, Trafik och logistik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-149541.
Анотація:
The railway simulation software solutions available today are increasingly used for other purposes than they initially have been created for. These software products aimed at first to recreate the operations on a normal railroad network, with often a schedule allowing for minor delays. However, nowadays light rail as well as underground railway networks, which are highly congested and have high passenger exchange within the cities, are also simulated. Although these systems do have the same basic functionality as the full railway, there are effects that sometimes can’t be represented easily with the existing software solutions. One of these effects is the dynamic delay build up at the stations during peak-hour traffic: a vehicle that is already delayed will get more people at the next station, making the passenger exchange longer, and therefore accumulating delays. This often leads to the widely known effect of bunching, where several vehicles follow each other closely. This master thesis will show a method to implement the effect of dynamic dwell time delays on high frequency, high passenger frequentation systems in an existing microscopic railway simulation. The application of this effect is based on the analysis of the red lines of the Stockholm Tunnelbana system simulated with the OpenTrack software during a case study. There, the results show clearly that the effect of a dynamically growing delay can be achieved with the implemented method
26
Anderlucci, Maria. "A geometric approach to systems over rings with applications to linear systems with delays." Doctoral thesis, Università Politecnica delle Marche, 2006. http://hdl.handle.net/11566/242524.
27
Quan, Austin. "Noise, Delays, and Resonance in a Neural Network." Scholarship @ Claremont, 2011. http://scholarship.claremont.edu/hmc_theses/24.
Анотація:
A stochastic-delay differential equation (SDDE) model of a small neural network with recurrent inhibition is presented and analyzed. The model exhibits unexpected transient behavior: oscillations that occur at the boundary of the basins of attraction when the system is bistable. These are known as delay-induced transitory oscillations (DITOs). This behavior is analyzed in the context of stochastic resonance, an unintuitive, though widely researched phenomenon in physical bistable systems where noise can play in constructive role in strengthening an input signal. A method for modeling the dynamics using a probabilistic three-state model is proposed, and supported with numerical evidence. The potential implications of this dynamical phenomenon to nocturnal frontal lobe epilepsy (NFLE) are also discussed.
28
Jin, Gang-Gyoo. "Intelligent fuzzy logic control of processes with time delays." Thesis, Cardiff University, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.388058.
29
Ripley, Ian, and ian ripley@qr com au. "An Investigation of Brake Application Delays in Australian Train Brake Systems." Central Queensland University. Engineering, 2005. http://library-resources.cqu.edu.au./thesis/adt-QCQU/public/adt-QCQU20060720.100110.
Анотація:
An investigation of brake application delays in Australian train brake systems
began with a literature review of pneumatic train braking systems. Data located in the
review gave examples of brake application delays of pre 1990 designs from the U.K.,
India and North America. Information on application delays on later Australian designs
was scarce. Reading of literature has shown a difference between the Australian and
North American control valves in the way the propagation of the pressure reduction rate
in the brake pipe is maintained. Control valves of the North American style allow the
brake pipe air to be connected for a short time to a small cavity or quick service volume
of each valve. The quick service volume is then released to atmosphere. The action of
exhausting a small amount of air from the brake pipe helps to ensure a propagation of an
adequate pressure reduction rate as it travels to the next valve. Australian control valves
rely on the ratio of the volume of brake pipe between control valves and the size of the
quick service volume or bulb to ensure the propagation of an adequate pressure
reduction as it travels to the next valve. The air in a bulb of an Australian valve is not
expelled to atmosphere until a brake release is made.
The research explored possible reductions in application delays by utilizing an
experimental pipe test rack that included 4 control valves and 120 meters of brake pipe.
Experiments with different configurations of exhaust orifices or chokes, valves and
branch pipe lengths that supplied the valves gave a record acquired by data acquisition
of the timing of each valve and the local pressure drop from a valve or each valve for
comparison.
Experiments with exhaust chokes that gave a reduction drop rate in the brake pipe
that approached the minimum required to operate a control valve resulted in instability
of the application operation of the control valve. The quick service volume of different
sizes was included in the experiments to give comparisons in the propagation of the
pressure reduction toward the end of a long train. Further increases into the size of the
bulb of a control valve to enhance the propagation features toward the end of a long
train are discussed. The branch pipe with different diameters from 12 mm to 20 mm and
lengths from 160 mm to 800 mm when fitted to an adaptor pipe bracket were
investigated and results show that larger diameters gave larger gulps in the brake pipe.
Other components that were studied included the pipe bracket that is fitted on some
control valves. The pipe bracket and isolation cock was found to add 282 mm of
additional length to the air path and while not changing the operation of the valve, the
results showed a smaller drop in local pressure in the brake pipe to assist the pressure
reduction rate than shown in valves without pipe brackets.
30
Sandström, Marlene. "Investigation of and Compensation for Time-Delays in Driveline Control Systems." Thesis, KTH, Optimeringslära och systemteori, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-143783.
Анотація:
Time-delays occur in all real-time control systems. The driveline control system considered in this thesis is such a system. It is of interest to know if it is possible to move the cruise control from the engine management system to another control unit that communicates with the engine using CAN (Communication Area Network). Since the amount of data sent over CAN is increasing, it is of concern how large time-delays a controller can handle and if there is any simple method to compensate for time-delays while maintaining good performance. Measurements of time-delays between the control units of the engine and the gearbox have been done in a Scania heavy truck. The results show that the time-delays are very small and that a few percent of the sent messages are overwritten due to the time-delays varying in length and the clocks drifting in relation to each other. Four different methods for compensation of time-delays have been studied and compared to a prototype cruise controller from Scania. Three of the alternative controllers are PID controllers and the fourth is a Smith predictor. All of them are more robust to time-delays than the prototype, but all except one also have the disadvantage of not eliminating the impact of a load disturbance in a reasonably short time, which the prototype does. Since the time-delays on the concerned CAN bus are very small and the prototype controller is robust to time-delays of significantly larger magnitude, the conclusion is that it is probably safe to move the cruise control to another control unit that communicates with the engine using CAN, without compensating for time-delays. If compensation for time-delays were to be required in the future, there is no obvious choice out of the compensation methods evaluated in this work. They all have drawbacks but they might be applicable after some modifications to improve their performance.Tidsfördröjningar förekommer i alla realtidsstyrsystem. Drivlinestyrsystemet som behandlas i denna uppsats är ett sådant system. Det är av intresse att utreda om det är möjligt att flytta hastighetsregleringen från motorns styrenhet till en annan styrenhet som kommunicerar med motorn via CAN (Communication Area Network). Då mängden data som skickas över CAN ökar är det angeläget att ta reda på hur stora tidsfördröjningar en regulator klarar av och om det finns någon enkel metod att kompensera för tidsfördröjningar med som även ger god prestanda. Mätningar av tidsfördröjningar mellan motorns och växellådans styrenheter har genomförts i en Scanialastbil och resultaten visar att tidsfördröjningarna är mycket små samt att par procent av de skickade meddelandena skrivs dock över på grund av att tidsfördröjningarnas längd varierar och att styrenheternas klockkristaller driver i förhållande till varandra. Fyra olika metoder för kompensering av tidsfördröjningar har undersökts och jämförts med en prototyphastighetsregulator från Scania. Tre av de alternativa regulatorerna är PID-regulatorer och den fjärde är en Smithregulator. Samtliga är robustare mot tidsfördröjningar än prototypen men alla utom en dras med nackdelen att inte kunna eliminera en laststörning inom rimlig tid, vilket prototypen gör. Eftersom tidsfördröjningarna på den aktuella CAN-bussen är mycket små och prototypregulatorn är robust mot betydligt större tidsfördröjningar, så är slutsatsen att det troligtvis är säkert att flytta hastighetsregleringen till en annan styrenhet som kommunicerar med motorn via CAN utan att kompensera för tidsfördröjningar. Om kompensation för tidsfördröjningar skulle behövas i framtiden så finns inget självklart val av de kompenseringsmetoder som utretts i detta arbete. Alla har brister men skulle eventuellt kunna användas efter vissa modifikationer för att förbättra deras prestanda.
31
Feyzmahdavian, Hamid Reza. "Performance Analysis of Positive Systems and Optimization Algorithms with Time-delays." Doctoral thesis, KTH, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177651.
Анотація:
Time-delay dynamical systems are used to model many real-world engineering systems, where the future evolution of a system depends not only on current states but also on the history of states. For this reason, the study of stability and control of time-delay systems is of theoretical and practical importance. In this thesis, we develop several stability analysis frameworks for dynamical systems in the presence of communication and computation time-delays, and apply our results to different challenging engineering problems. The thesis first considers delay-independent stability of positive monotone systems. We show that the asymptotic stability of positive monotone systems whose vector fields are homogeneous is independent of the magnitude and variation of time-varying delays. We present explicit expressions that allow us to give explicit estimates of the decay rate for various classes of time-varying delays. For positive linear systems, we demonstrate that the best decay rate that our results guarantee can be found via convex optimization. We also derive a set of necessary and sufficient conditions for asymptotic stability of general positive monotone (not necessarily homogeneous) systems with time-delays. As an application of our theoretical results, we discuss delay-independent stability of continuous-time power control algorithms in wireless networks. The thesis continues by studying the convergence of asynchronous fixed-point iterations involving maximum norm pseudo-contractions. We present a powerful approach for characterizing the rate of convergence of totally asynchronous iterations, where both the update intervals and communication delays may grow unbounded. When specialized to partially asynchronous iterations (where the update intervals and communication delays have a fixed upper bound), or to particular classes of unbounded delays and update intervals, our approach allows to quantify how the degree of asynchronism affects the convergence rate. In addition, we use our results to analyze the impact of asynchrony on the convergence rate of discrete-time power control algorithms in wireless networks. The thesis finally proposes an asynchronous parallel algorithm that exploits multiple processors to solve regularized stochastic optimization problems with smooth loss functions. The algorithm allows the processors to work at different rates, perform computations independently of each other, and update global decision variables using out-of-date gradients. We characterize the iteration complexity and the convergence rate of the proposed algorithm, and show that these compare favourably with the state of the art. Furthermore, we demonstrate that the impact of asynchrony on the convergence rate of the algorithm is asymptotically negligible, and a near-linear speedup in the number of processors can be expected.Tidsfördröjningar uppstår ofta i tekniska system: det tar tid för två ämnen attblandas, det tar tid för en vätska att rinna från ett kärl till ett annat, och det tar tid att överföra information mellan delsystem. Dessa tidsfördröjningar lederofta till försämrad systemprestanda och ibland även till instabilitet. Det är därförviktigt att utveckla teori och ingenjörsmetodik som gör det möjligt att bedöma hur tidsfördröjningar påverkar dynamiska system. I den här avhandlingen presenteras flera bidrag till detta forskningsområde. Fokusligger på att karaktärisera hur tidsfördröjningar påverkar konvergenshastigheten hos olinjära dynamiska system. I kapitel 3 och 4 behandlar vi olinjära system varstillstånd alltid är positiva. Vi visar att stabiliteten av dessa positiva system är oberoende av tidsfördröjningar och karaktäriserar hur konvergenshastigheten hos olinjära positiva system beror på tidsfördröjningarnas storlek. I kapitel 5 betraktar vi iterationer som är kontraktionsavbildningar, och analyserar hur deras konvergens påverkas av begränsade och obegränsade tidsfördröjningar. I avhandlingens sistakapitel föreslår vi en asynkron algoritm för stokastisk optimering vars asymptotiska konvergenshastighet är oberoende av tidsfördröjningar i beräkningar och i kommunikation mellan beräkningselement.
QC 20151204
32
Bonalli, Riccardo. "Optimal control of aerospace systems with control-state constraints and delays." Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS388.
Анотація:
Dans ce travail, on s'est concentré sur le guidage optimal en temps réel de véhicules lanceurs, avec comme objectif, de développer un algorithme autonome pour la prédiction de stratégies de contrôle optimal, basé sur les méthodes indirectes, et capable de s'adapter à tout changement imprévu de scenario. Pour cela, tout d'abord nous fournissons une analyse géométrique précise dans le cas de contraintes mixtes, pour obtenir un cadre bien posé, et donc, appliquer correctement les méthodes indirectes. L'intégration numérique du problème est proposée par une combinaison efficace des méthodes indirectes avec des procédures d'homotopie, en améliorant, ainsi, à la fois robustesse et vitesse de calcul. De plus, nous améliorons le modèle dynamique en considérant des retards. Plus précisément, nous introduisons un cadre rigoureux d'homotopie pour résoudre des problèmes de contrôle optimal avec retards, à l'aide des méthodes indirectes. Nos contributions ont rendu possible le développement d'un logiciel automatique, indépendant et auto-régulé, propriété de l'ONERA, pour des applications réalistes dans le cadre de véhicules lanceurs, focalisé, en particulier, sur des scenarii d'interception optimaleIn this work, we address the real-time optimal guidance of launch vehicles with the objective of designing an autonomous algorithm for the prediction of optimal control strategies, based on indirect methods, able to adapt itself to unpredicted changes of the original scenario. To this aim, we first provide an accurate geometric analysis in the presence of mixed control-state constraints to recover a well-posed framework and correctly apply indirect methods. A practical numerical integration of the problem is proposed by efficiently combining indirect methods with homotopy procedures, increasing robustness and computational speed. Moreover, we improve dynamical models by considering delays. More specifically, we introduce a rigorous and well-posed homotopy framework to recover solutions for optimal control problems with delays via indirect methods. All our contributions made possible the development of a fully automatic, independent and self-regulating software, today property of ONERA-The French Aerospace Lab, for general realistic endo-atmospheric launch vehicle applications focused on optimal missile interception scenarios
33
Nguyen, Le Ha Vy. "Stability and stabilization of several classes of fractional systems with delays." Thesis, Paris 11, 2014. http://www.theses.fr/2014PA112387/document.
Анотація:
Nous considérons deux classes de systèmes fractionnaires linéaires invariants dans le temps avec des ordres commensurables et des retards discrets. La première est composée de systèmes fractionnaires à entrées multiples et à une sortie avec des retards en entrées ou en sortie. La seconde se compose de systèmes fractionnaires de type neutre avec retards commensurables. Nous étudions la stabilisation de la première classe de systèmes à l'aide de l'approche de factorisation. Nous obtenons des factorisations copremières à gauche et à droite et les facteurs de Bézout associés: ils permettent de constituer l'ensemble des contrôleurs stabilisants. Pour la deuxième classe de systèmes, nous nous sommes intéressés au cas critique où certaines chaînes de pôles sont asymptotiques à l'axe imaginaire. Tout d'abord, nous réalisons une approximation des pôles asymptotiques afin de déterminer leur emplacement par rapport à l'axe. Le cas échéant, des conditions nécessaires et suffisantes de stabilité H-infini sont données. Cette analyse de stabilité est ensuite étendue aux systèmes à retard classiques ayant la même forme. Enfin, nous proposons une approche unifiée pour les deux classes de systèmes à retards commensurables de type neutre (standards et fractionnaires). Ensuite, la stabilisation d'une sous-classe de systèmes neutres fractionnaires est étudiée. Premièrement, l'ensemble de tous les contrôleurs stabilisants est obtenu. Deuxièmement, nous prouvons que pour une grande classe de contrôleurs fractionnaires à retards il est impossible d'éliminer dans la boucle fermée les chaînes de pôles asymptotiques à l'axe imaginaire si de telles chaînes sont présentes dans les systèmes à contrôlerWe consider two classes of linear time-invariant fractional systems with commensurate orders and discrete delays. The first one consists of multi-input single-output fractional systems with output or input delays. The second one consists of single-input single-output fractional neutral systems with commensurate delays. We study the stabilization of the first class of systems using the factorization approach. We derive left and right coprime factorizations and Bézout factors, which are the elements to constitute the set of all stabilizing controllers. For the second class of systems, we are interested in the critical case where some chains of poles are asymptotic to the imaginary axis. First, we approximate asymptotic poles in order to determine their location relative to the axis. Then, when appropriate, necessary and sufficient conditions for H-infinity-stability are derived. This stability analysis is then extended to classical delay systems of the same form and finally a unified approach for both classes of neutral delay systems with commensurate delays (standard and fractional) is proposed. Next, the stabilization of a subclass of fractional neutral systems is studied. First, the set of all stabilizing controllers is derived. Second, we prove that a large class of fractional controllers with delays cannot eliminate in the closed loop chains of poles asymptotic to the imaginary axis if such chains are present in the controlled systems
34
Grosic, Hasan, and Emir Hasanovic. "Optimizing Inter-core Data-propagation Delays in Multi-core Embedded Systems." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-44770.
Анотація:
The demand for computing power and performance in real-time embedded systems is continuously increasing since new customer requirements and more advanced features are appearing every day. To support these functionalities and handle them in a more efficient way, multi-core computing platforms are introduced. These platforms allow for parallel execution of tasks on multiple cores, which in addition to its benefits to the system's performance introduces a major problem regarding the timing predictability of the system. That problem is reflected in unpredictable inter-core interferences, which occur due to shared resources among the cores, such as the system bus. This thesis investigates the application of different optimization techniques for the offline scheduling of tasks on the individual cores, together with a global scheduling policy for the access to the shared bus. The main effort of this thesis focuses on optimizing the inter-core data propagation delays which can provide a new way of creating optimized schedules. For that purpose, Constraint Programming optimization techniques are employed and a Phased Execution Model of the tasks is assumed. Also, in order to enforce end-to-end timing constraints that are imposed on the system, job-level dependencies are generated prior and subsequently applied during the scheduling procedure. Finally, an experiment with a large number of test cases is conducted to evaluate the performance of the implemented scheduling approach. The obtained results show that the method is applicable for a wide spectrum of abstract systems with variable requirements, but also open for further improvement in several aspects.
35
Moreira, Ricco Isabel Maria. "Alternative oxidants and processing procedures for pyrotechnic time delays." Pretoria : [s.n.], 2004. http://upetd.up.ac.za/thesis/available/etd-09132005-115831.
36
鄺世凌 and Sai-ling Kwong. "Evolutionary design of fuzzy-logic controllers for manufacturing systems with production time-delays." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2002. http://hub.hku.hk/bib/B3124323X.
37
Kwong, Sai-ling. "Evolutionary design of fuzzy-logic controllers for manufacturing systems with production time-delays /." Hong Kong : University of Hong Kong, 2002. http://sunzi.lib.hku.hk/hkuto/record.jsp?B25100178.
38
Kárský, Vilém. "Modelování LTI SISO systémů zlomkového řádu s využitím zobecněných Laguerrových funkcí." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316278.
Анотація:
This paper concentrates on the description of fractional order LTI SISO systems using generalized Laguerre functions. There are properties of generalized Laguerre functions described in the paper, and an orthogonal base of these functions is shown. Next the concept of fractional derivatives is explained. The last part of this paper deals with the representation of fractional order LTI SISO systems using generalized Laguerre functions. Several examples were solved to demonstrate the benefits of using these functions for the representation of LTI SISO systems.
39
Morisset, Thomas (Thomas Marc). "Comparing capacities and delays at major European and American airports." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/67212.
Анотація:
Thesis (S.M. in Technology and Policy)--Massachusetts Institute of Technology, Engineering Systems Division, 2010.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 73-76).
Successful air transport systems must satisfy the demand for flights while maintaining a high level of service and safety. For airports, which have limited capacities, policy-makers must compromise between maximizing the number of flights served and avoiding excessive delays. Differences between policies adopted in the US and in Europe result in distinct airport performances, the analysis of which reveals best practices. The first point of comparison is over the capacities of a set of the busiest airports in the US and Europe. Under radar-based air traffic control procedures, Instrument Flight Rules (IFR), American airports achieve equal or higher capacities than European airports with similar runway layouts. These discrepancies cannot be explained by the differences in separation requirements alone. Besides, through their extensive use of Visual Flight Rules (VFR), weather permitting, American airports gain an important premium on their capacities. US air traffic control practices and policies clearly result in a more efficient use of airport infrastructure. Second, arrival delays relative to schedule increase over the course of the day at the US airports, while they remain mostly constant in Europe. Similarly the distributions of these delays show that schedule reliability at airports is significantly better in Europe than in the US. These comparisons underscore the benefits of Europe's policy of airport slot-controls, which cap the number of aircraft movements at a declared capacity. Moreover, arrival delays in the US are much higher under IFR (23 minutes average) than VFR (9 minutes). This shows that the high variability of the capacity of US airports depending on weather conditions, coupled with the tendency toward over-scheduling of flights, is damaging to the national airport system's stability and reliability. From these comparisons stem a few policy recommendations. Airline schedule reliability might benefit from additional controls or economic incentives to rationalize the scheduling of aircraft movements at some US airports. At the same time, some European airports could benefit from increasing their declared capacities. More generally, European aviation authorities should consider relaxing air traffic control separation procedures along the lines of US practices.
by Thomas Morisset.
S.M.in Technology and Policy
40
Deshpande, Paresh Ravindra. "Performance based coordination control of multi-agent systems subject to time delays." Thesis, University of Leicester, 2013. http://hdl.handle.net/2381/27802.
Анотація:
This thesis considers the design of distributed state and output feedback control algorithms for linear multi-agent systems with performance guarantees in the presence of delays. The multi-agent systems considered are assumed to exchange relative information over an information network. As a first contribution, a novel distributed state feedback control design method with a sub-optimal LQR performance is developed for a network of multiple agents. For the control design process, it is assumed that the exchange of relative information is instantaneous. A stability analysis of the proposed control law is performed by incorporating delays in relative information to ascertain the maximum possible delay that can be accommodated by the communication network. Subsequently, the assumption of the exchange of instantaneous relative information in the control design process is relaxed and the relative information is assumed to be delayed. The system is then represented as a time-delay system. Distributed state feedback control synthesis methods are then developed for the system with a certain level of LQR performance. In the above contributions, the time delay analysis and the development of delay based control methods, it is implicitly assumed that delays are detrimental to achieving cooperative tasks for a multi-agent system. Subsequently, positive effects of delays in communication of relative information are explored. For this a network of vehicles described by double integrator dynamics, which cannot be stabilized by static output feedback without delays, is considered. A novel control design method to achieve exponential stabilization of such a multi-agent system by static output feedback using delayed relative information is developed. Conclusions are drawn from the results of the research presented in this thesis and a few directions for future work are identified.
41
Vidović, Tin, and Lamija Hasanagić. "TIGHTER INTER-CORE DELAYS IN MULTI-CORE EMBEDDED SYSTEMS UNDER PARTITIONED SCHEDULING." Thesis, Mälardalens högskola, Inbyggda system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48575.
Анотація:
There exists an increasing demand for computing power and performance in real-time embedded systems, as new, more complex customer requirements and function-alities are appearing every day. In order to support these requirements and func-tionalities without breaking the power consumption wall, many embedded systems areswitching from traditional single-core hardware architectures to multi-core architec-tures. Multi-core architectures allow for parallel execution of tasks on the multiplecores. This introduces many benets from the perspective of achievable performance,but in turn introduces major issues when it comes to the timing predictability ofthe real-time embedded system applications deployed on them. The problem arisesfrom unpredictable and potentially unbounded inter-core interferences, which occuras a result of contention for the shared resources, such as the shared system busor shared system memory. This thesis studies the possible application of constraintprogramming as a resource optimization technique for the purpose of creating oineschedules for tasks in real-time embedded system applications executing on a dual-core architecture. The main focus is placed on tightening inter-core data-propagationinterferences, which can result in lower over-all data-propagation delays. A proto-type of an optimization engine, employing constraint programming techniques on ap-plications comprised of tasks structured according to the Phased Execution Model isdeveloped. The prototype is evaluated through several experiments on a large numberof industry inspired intellectual-property free benchmarks. Alongside the experimentsa case study is conducted on an example engine-control application and the resultingschedule is compared to a schedule generated by the Rubus-ICE industrial tool suite.The obtained results show that the proposed method is applicable to a potentially widerange of abstract systems with dierent requirements. The limitations of the methodare also discussed and potential future work is debated based on these results.Presentation was held over Zoom, due to the COVID-19 situation.
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Mulay, Siddharth Pradeep. "Robustness Bounds For Uncertain Sampled Data Systems With Presence of Time Delays." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1365971507.
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Huang, Wei-Ping. "Quasilinear Control of Systems with Time-Delays and Nonlinear Actuators and Sensors." ScholarWorks @ UVM, 2018. https://scholarworks.uvm.edu/graddis/967.
Анотація:
This thesis investigates Quasilinear Control (QLC) of time-delay systems with nonlinear actuators and sensors and analyzes the accuracy of stochastic linearization for these systems. QLC leverages the method of stochastic linearization to replace each nonlinearity with an equivalent gain, which is obtained by solving a transcendental equation. The idea of QLC is to stochastically linearize the system in order to analyze and design controllers using classical linear control theory. In this thesis, the existence of the equivalent gain for a closed-loop time-delay system is discussed. To compute the equivalent gain, two methods are explored. The first method uses an explicit but complex algorithm based on delay Lyapunov equation to study the time-delay, while the second method uses Pade approximant. It is shown that, under a suitable criterion, Pade approximant can be effectively applied for QLC of time-delay systems. Furthermore, the method of Saturated-Root Locus (S-RL) is extended to nonlinear time-delay systems. It turns out that, in a time-delay system, S-RL always terminates prematurely as opposed to a delay-free system, which may or may not terminate prematurely. Statistical experiments are performed to investigate the accuracy of stochastic linearization compared to a system without time-delay. The impact of increasing the time-delay in the approach of stochastic linearization is also investigated. Results show that stochastic linearization effectively linearizes a nonlinear time-delay system, even though delays generally degrade accuracy. Overall, the accuracy remains relatively high over the selected parameters. Finally, this approach is applied to pitch control in a wind turbine system as a practical example of a nonlinear time-delay system, and its performance is analyzed to demonstrate the efficacy of the approach.
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Chrysanthou, A. "Digital control of linear multivariable plants with input and output time delays." Thesis, University of Salford, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.353969.
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Stupak, Noah. "Time-delays and system response times in human-computer interaction /." Online version of thesis, 2009. http://hdl.handle.net/1850/10867.
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Yang, Xue Jiao. "Supervisory wide-area control for multi-machine power system." Thesis, University of Manchester, 2012. https://www.research.manchester.ac.uk/portal/en/theses/supervisory-widearea-control-for-multimachine-power-system(6c0575f9-7b20-4751-9d67-276aaaa4c7b2).html.
Анотація:
With the increasing demand for electrical power and the growing need for the restructuring of the power industry, electric power systems have become highly complex with inherent complicated dynamics. Therefore, the study of power system stability has continued to receive significant attention from both academic researchers and industrial practitioners. This thesis focuses on supervisory wide-area control for rotor angle stability of multi-machine power systems using Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) control theory with guaranteed robustness. The supervisory controllers are developed in both continuous-time and discrete-time framework and their performances and robustness are assessed using both frequency-domain tools, and time-domain simulation results. The impact of the communication time-delays that commonly exist in wide-area power system control on the performance and robustness of the closed-loop system is investigated. In particular, different methods of incorporating such time-delays into the design of the supervisory LQG controller are considered. This thesis proposes a modified supervisory LQG controller that utilizes the Extended Kalman Filter to estimate the unknown/varying time-delays. Simulation results obtained using numerical examples involving non-linear power system models demonstrate the benefits of the proposed scheme for both time-invariant and time-varying delays. The resulting supervisory control scheme is well suited for maintaining power system stability in the presence of communication time-delays.
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Rai, Anurag. "Analysis and Design Tools for Structured Feedback Systems." BYU ScholarsArchive, 2012. https://scholarsarchive.byu.edu/etd/3270.
Анотація:
As we begin to analyze and construct extremely complex systems, a theory for understanding and designing the underlying architecture becomes very important. To move in the direction of a precise theory of architecture, this thesis will provide some concrete tools to analyze and design complex systems with a given network structure. The first main result of this thesis analyzes the vulnerability of a system and shows that a system's vulnerability depends on its network structure. We will consider destabilization attacks acting on a single link in a system's logical interconnection structure. The concept of a vulnerable link is characterized and necessary and sufficient conditions for identifying these links are provided. The vulnerability of various system architectures are then characterized by the vulnerability of their weakest link, and it is shown that every transfer function has a completely secure architecture with no vulnerable links. The second part of this thesis focuses on synthesizing controllers with a specified network structure. It presents a new approach to distributed controller design that exploits the dynamical structure function representation of linear time invariant systems to characterize the structure of a system. The design technique sequentially constructs each link in an arbitrary controller signal structure, and the main theorem proves that either the resulting controller is stabilizing or that no controller with the desired structure can stabilize the system.
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Wang, Qing. "Model reduction for dynamic systems with time delays a linear matrix inequality approach /." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B38645439.
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Rodriguez, Julio [Verfasser]. "Noise and delays in adaptive interacting oscillatory systems / Julio Rodriguez. Fakultät für Physik." Bielefeld : Universitätsbibliothek Bielefeld, Hochschulschriften, 2013. http://d-nb.info/1032277904/34.
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Wang, Qing, and 王卿. "Model reduction for dynamic systems with time delays: a linear matrix inequality approach." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B38645439.