On the transposition of Gm–C filters to DC stabilized log‐domain filters

High‐order log‐domain filters could be designed by transposing the already known linear‐domain G_m–C filter topologies to the corresponding topologies in the log‐domain. This is achieved by using a non‐linear transconductor configuration, where the output current is exponentially related to its input and output voltages. A drawback of the non‐linear transconductor configuration already introduced in the literature is that a number of the transposed log‐domain filter topologies suffer from DC instability, while in some others a DC offset current appears at their output. In order to eliminate the aforementioned problems a modified non‐linear transconductor configuration for transposing G_m–C filter topologies to log‐domain filter topologies is introduced in this paper. The achieved improvements are demonstrated through a number of log‐domain filter configurations derived using the already introduced and the proposed transposition schemes. Copyright © 2006 John Wiley & Sons, Ltd.     

Adaptive sliding mode control for fuzzy singular systems with time delay and input nonlinearity

This paper addresses the sliding mode control problem for a class of uncertain Takagi‐Sugeno fuzzy singular systems with state delay and subject to input nonlinearity. Our purpose is focused on designing an adaptive sliding mode controller for such a complex system. First, a new fuzzy integral‐type sliding function is designed. Then, an adaptive sliding mode control scheme is established such that the resulting closed‐loop system is insensitive to all admissible uncertainties and satisfies the reaching condition. Moreover, delay‐dependent sufficient conditions are derived such that the admissibility and the L₂‐L_∞ performance requirement of the sliding mode dynamics can be guaranteed in the presence of time delays, external disturbances, and sector nonlinearity input. Finally, the validity and applicability of the proposed theory are illustrated by a numerical example.     

基于改进滑模观测器的PMSM无位置传感器矢量控制系统

将用于预测永磁同步电动机转子位置和转速的滑模观测器进行了改造,并构建了无位置传感器矢量控制系统;并在此基础上提出了一种用于补偿转子位置角预测误差的改进方法;最后用Matlab仿真验证了算法的有效性,对结果进行了分析讨论.     

Robust disturbance attenuation with unknown input observer and sliding mode controller

For a linear system with mismatched disturbance, a robust sliding mode control algorithm using only output feedback is developed in this paper. Although the system with intrinsic issues of unknown input and nonminimum phase is inherited, an improved reduced-order unknown input observer is to be presented in estimating the state of the system. The manipulation of H _∞ control theory along with the implementation of estimated system state can result in robust stabilization with disturbance attenuation when designing integral sliding surface of a system in the sliding mode. A controller is also designed to satisfy the reaching and sliding condition in line with the estimated system state. Finally, a numerical example is explained for showing the applicability of the proposed scheme.     

An integrated fault estimation and fault tolerant control method using H∞-based adaptive observers

An integrated fault estimation/fault-tolerant control (FTC) scheme is developed in this article for nonlinear Lipschitz systems in the presence of external disturbances and actuator failures. To address this problem, coupled uncertainties between the observer error dynamics and the control system are considered, which is conveniently ignored in control approaches based on the separation principle. An H_∞ -based adaptive observer is proposed to simultaneously estimate the system states and actuator faults without the restrictive strictly positive realness or persistent excitation conditions. The FTC is constructed by sliding mode control using the estimated states generated by the developed observer. A novel sufficient condition is derived in terms of linear matrix inequality (LMI) including both the system control dynamics and the estimation errors; then, the control parameters and observer gains are simultaneously obtained via solving the mentioned LMI based on the H_∞ optimization. Finally, a flexible joint robot is considered to illustrate the effectiveness of the developed method.     

Particle composition and heat capacity of high‐temperature SF6 present at constant volume: Discussion on formula expressing relationship between constant‐pressure and constant‐volume heat capacities

Until now, the high‐temperature properties of SF₆ have been derived as a function of T for a given constant pressure P. This was based on the adoption of T and P as gas state parameters. In contrast, this paper adopts T and the gas volume V as the gas state parameters and then evaluates the particle composition and gas pressure for high‐temperature SF₆ present at a constant volume state. This evaluation is achieved by the minimization of Helmholtz free energy of the high‐temperature SF₆. A further derivation for the SF₆ gas at constant volume is performed to reveal the temperature dependence of the molar heat capacity C_Vm [J/(mol·K)] and the specific heat C_Vg [J/(kg·K)]. Use of the obtained C_Vm enabled us to discuss whether the formula C_Pm−C_Vm=R_m holds true for the high‐temperature SF₆ or not, where C_Pm and R_m are the molar heat capacity at constant pressure and the universal gas constant, respectively. Similar discussion is also performed on the formula indicating the relation between C_Pg and C_Vg, where C_Pg is the specific heat at constant pressure. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于模糊滑模观测器的永磁同步电机进给系统速度估计

为解决目前伺服系统中采用机械位置传感器所存在的诸多缺点,提出一种用于永磁同步电机(PMSM)进给系统的模糊滑模速度观测器,实现无速度传感器控制。针对传统滑模观测器的抖振问题,采用Sigmoid函数代替传统理想开关函数,并引用模糊控制器自适应调整滑模增益以减小抖振,实现软切换连续控制。估计反电动势可以直接由控制函数的输出获得,省略了传统观测器中的低通滤波器和相角补偿。利用李亚普诺夫函数证明了设计的滑模观测器的渐进稳定性。仿真结果表明:设计的模糊滑模观测器能够对PMSM转子速度进行精确辨识,并有良好的动、稳态性能。     

Multivariable performance‐constrained sliding mode control for ship yaw‐motion systems with perturbations*

A performance‐constrained sliding mode controller will be proposed to satisfy the pole assignment, H_∞ norm, and individual variance constraints for linear perturbed MIMO systems. Application of this controller involves a simulation of the linearized perturbed ship steering yaw‐motion systems which will be provided for demonstration of the effectiveness of the present methodology. The control law developed in this paper is designed in the framework of a combination of the concept of the sliding mode control with the theory of upper bound covariance control. Copyright © 2000 John Wiley & Sons, Ltd.     

Robust H∞ filtering for uncertain Markovian jump systems with mode‐dependent distributed delays

This paper deals with the problem of robust H_∞ filter design for Markovian jump systems with norm‐bounded time‐varying parameter uncertainties and mode‐dependent distributed delays. Both the state and the measurement equations are assumed to be with distributed delays. Sufficient conditions for the existence of robust H_∞ filters are obtained. Via solving a set of linear matrix inequalities, a desired filter can be constructed. The developed theory is illustrated by a simulation example. Copyright © 2009 John Wiley & Sons, Ltd.     

电动叉车稳定性控制系统传感器故障重构

针对电动叉车稳定性控制系统的多个传感器故障检测和重构问题,提出了一种具有自适应调节律的滑模观测器,实现传感器故障的检测和重构。从叉车三自由度模型入手,构造出具有输出扰动的线性状态方程作为其等效的叉车传感器故障模型,并通过定义辅助的状态变量作为输出信号滤波器,将传感器故障转化成执行器故障。依据故障模型和滑模控制理论,给出了基于滑模观测器的传感器故障检测和重构方法并通过自适应算法使观测器设计具有无需知道未知故障上限值的优点。最后通过实验结果,表明该方法是有效的。     

Geometry of adaptive control: optimization and geodesics

Two incompatible topologies appear in the study of adaptive systems: the graph topology in control design, and the coefficient topology in system identification. Their incompatibility is manifest in the stabilization problem of adaptive control. We argue that this problem can be approached by changing the geometry of the sets of control systems under consideration: estimating n_p parameters in an n_p‐dimensional manifold whose points all correspond to stabilizable systems. One way to construct the manifold is using the properties of the algebraic Riccati equation. Parameter estimation can be approached as an optimal control problem akin to the deterministic Kalman filter, leading to algorithms that can be used in conjunction with standard observers and controllers to construct stable adaptive systems. Copyright © 2004 John Wiley & Sons, Ltd.     

Distributed H2/H∞ filtering over infinite horizon

This paper studies distributed H₂/H_∞ filtering problem with the aid of neighbors’ information. It is assumed that there are both bounded power uncertainty and stochastic white noise in the model of the considered system. A 2‐step design approach is proposed to calculate the observer gain and the coupling gain in the proposed observers. In order to reduce the computation load of solving coupled matrix equations, a simplified design procedure is also proposed. Simulation of 2 examples shows the effectiveness of the proposed filter design procedure.     

Multiple operating points in a square‐root domain first‐order filter

In this paper novel corrective circuits to avoid multiple operating points in a square‐root domain first‐order filter are proposed. By employing a DC test it is demonstrated that the filter possesses three operating points (two stable and one unstable) and the corrective circuits enforce the proper operating mode. The corrective circuits and filter are able to operate with very low supply voltages (as low as V_GS+2V_DSsat). Moreover, a detailed analysis concerning the impact that produces the corrective circuits on the filter performance is discussed. Both measurement and simulation results are provided to validate the circuits and analysis employed. Copyright © 2006 John Wiley & Sons, Ltd.     

Harmonic fold back reduction at the N‐path filters

In this paper, a method is proposed to reduce harmonic fold back (HFB) problem of N‐path filters, without increasing the input reference clock (f_CLK ) frequency. The HFB at the N‐path filter is analyzed, and simple expressions are extracted to model this problem. Using the results of the analysis, an M‐of‐N‐path filter has been proposed that behaves like an M × N‐path filter in terms of HFB problem; however, the f_CLK frequency of this structure is the same as an N‐path filter. To demonstrate the feasibility of the proposed idea, a 3‐of‐4‐path filter is designed, and its characteristics are compared with 4‐path and 12‐path filters by simulation. Impacts of different non‐idealities like clock‐phase error, mismatch, and parasitic capacitance are investigated. The transistor‐level implementation of this filter is performed in 0.18 µm Complementary Metal Oxide Semiconductor (CMOS) technology. The simulation results show that the filter has the pass‐band gain of 17 dB, tuning range of 0.2–1.2 GHz, −3 dB bandwidth of 25 MHz, quality factor of 8–48, 18 dB out‐of‐band rejection, 16 dB rejection of the third harmonic of switching frequency (f_s ), and the noise figure of 4.35 dB (using ideal G_m cells) and 6.95 dB (for practical G_m cells). The strongest harmonic folding to the filter pass‐band occurs around 11f_s with the attenuation of 23.8 dB. Each G_m cell draws about 12.4 mA from 1.8 V supply, and the out‐of‐band IIP3 and P _{1 dB,CP} are 17 and 4 dBm, respectively. Copyright © 2016 John Wiley & Sons, Ltd.     

Structure generation and performance comparison of elliptic Gm‐C filters

Starting from a set of matrices describing a general G_m‐C filter topology, a procedure is developed for generating structures of lowpass filters. As the matrices and the filter topologies have a one‐to‐one correspondence, an algebraic method is used to identify filter topologies with desired properties, here, transfer functions with finite jω‐axis transmission zeros, specifically elliptic filters. Sensitivity expressions for these structures are derived and a performance comparison based on a set of chosen criteria is made. For a specified elliptic transfer function, filters with only grounded capacitors and those containing also floating capacitors emerge as alternative realizations, as are filters with a single input and those with distributed inputs. For third‐order functions, a detailed comparison is performed of leapfrog (LF) and inverse follow‐the‐leader‐feedback (IFLF), the most popular special cases, and of topologies that have also floating capacitors (LF_f, IFLF_f), as well as of a novel configuration that uses also distributed inputs (DI_f) and leads to a reduced element count. Design guidelines and restrictions are given, which follow from the derived results with focus on the circuits' sensitivity performance and other properties important for IC implementation. Copyright © 2004 John Wiley & Sons, Ltd.     

Reliable H∞ filtering for discrete time‐delay Markovian jump systems with partly unknown transition probabilities

In this paper, the reliable H_∞ filtering problem is studied for a class of discrete nonlinear Markovian jump systems with sensor failures and time delays. The transition probabilities of the jumping process are assumed to be partly unknown. The failures of sensors are quantified by a variable taking values in a given interval. The time‐varying delay is unknown with given lower and upper bounds. The purpose of the addressed reliable H_∞ filtering problem is to design a mode‐dependent filter such that the filtering error dynamics is asymptotically mean‐square stable and also achieves a prescribed H_∞ performance level. By using a new Lyapunov–Krasovskii functional and delay‐partitioning technique, sufficient delay‐dependent conditions for the existence of such a filter are obtained. The filter gains are characterized in terms of the solution to a convex optimization problem that can be easily solved by using the semi‐definite programme method. A numerical example is provided to demonstrate the effectiveness of the proposed design approach. Copyright © 2011 John Wiley & Sons, Ltd.     

Fault detection filter design for discrete‐time switched linear systems with mode‐dependent average dwell‐time

This paper is concerned with the problem of the fault detection (FD) filter design for discrete‐time switched linear systems with mode‐dependent average dwell‐time. The switching law is mode‐dependent and each subsystem has its own average dwell‐time. The FD filters are designed such that the augmented switched systems are asymptotically stable, and the residual signal generated by the filters achieves a weighted l₂‐gain for some disturbances and guarantees an H _? performance for the fault. By the aid of multiple Lyapunov functions combined with projection lemma, sufficient conditions for the design of the FD filters are formulated by linear matrix inequalities, furthermore, the filters gains are characterized in terms of the solution of a convex optimization problem. Finally, an application to boost convertor is given to illustrate the effectiveness and the applicability of the proposed design method. Copyright © 2013 John Wiley & Sons, Ltd.     

Design methodology for common‐mode stability of OTA‐based gyrators

This paper presents a design methodology for common‐mode (CM) stability of operational transconductance amplifier (OTA)‐based gyrators. The topology of g_m ? C active inductors is briefly reviewed. Subsequently, a comprehensive mathematical analysis on the CM stability of OTA‐based gyrators is presented. Sufficient requirements for the gyrator's CM stability, which easily can be considered during the design process of common‐mode feedback (CMFB) amplifiers, are defined. Based on these stability requirements, a design methodology and a design procedure are proposed. Finally, in order to validate the proposed procedure, a resonator with 20 MHz resonance frequency and a quality factor of 20 is fabricated with UMC 180 nm complementary metal‐oxide‐semiconductor technology, and its CM stability is examined. Copyright © 2015 John Wiley & Sons, Ltd.     

Robust H∞ filtering for switched linear discrete‐time systems with polytopic uncertainties

In this paper, the problem of robust H_∞ filtering for switched linear discrete‐time systems with polytopic uncertainties is investigated. Based on the mode‐switching idea and parameter‐dependent stability result, a robust switched linear filter is designed such that the corresponding filtering error system achieves robust asymptotic stability and guarantees a prescribed H_∞ performance index for all admissible uncertainties. The existence condition of such filter is derived and formulated in terms of a set of linear matrix inequalities (LMIs) by the introduction of slack variables to eliminate the cross coupling of system matrices and Lyapunov matrices among different subsystems. The desired filter can be constructed by solving the corresponding convex optimization problem, which also provides an optimal H_∞ noise‐attenuation level bound for the resultant filtering error system. A numerical example is given to show the effectiveness and the potential of the proposed techniques. Copyright © 2006 John Wiley & Sons, Ltd.