Parameter identifiability for distributed parameter systems of hyperbolic type

In this paper we study questions regarding parameter identifiability for distributed parameter systems of hyperbolic type. The unknown parameters are input distribution functions. We consider the systems with continuous-time input-output data and the systems with discrete-time inputs-output data. For these systems we present the necessary and sufficient conditions for identifiability, in the case of a finite number of sensors. We investigate the relations between the continuous-time input-output systems and the discrete-time input-output systems from the viewpoint of identifiability. Moreover we give the sets of input distribution functions which are N-step identifiable, for the discrete-time input-output systems.     

On uniform asymptotic stability of time-varying parameterized discrete-time cascades

Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper, we develop novel tools that can be used within this framework and that are useful for tracking problems. In particular, results for stability analysis of parameterized time-varying discrete-time cascaded systems are given. This class of models arises naturally when one uses an approximate discrete-time model to design a stabilizing or tracking controller for a sampled-data plant. While some of our results parallel their continuous-time counterparts, the stability properties that are considered, the conditions that are imposed, and the the proof techniques that are used, are tailored for approximate discrete-time systems and are technically different from those in the continuous-time context. A result on constructing strict Lyapunov functions from nonstrict ones that is of independent interest, is also presented. We illustrate the utility of our results in the case study of the tracking control of a mobile robot. This application is fairly illustrative of the technical differences and obstacles encountered in the analysis of discrete-time parameterized systems.     

A novel hybrid metaheuristic algorithm for model order reduction in the delta domain: a unified approach

Delta operator parameterization provides a unified framework in modeling, analysis and design of discrete-time systems, in which the resultant model converges to its continuous-time counterpart at high sampling limit. Capitalizing this unique property of delta operator, a new hybrid algorithm combining gray wolf optimizer and firefly algorithm has been proposed for model order reduction of high-dimensional linear discrete-time system. It has been shown that the reduced discrete-time model inherits all the dominant characteristics of the higher-order discrete-time model and with the increase in sampling frequency it converges to the continuous-time reduced model. The effectiveness of the proposed method is illustrated with the help of an example.

     

Stability analysis and synthesis of fuzzy singularly perturbed systems

In this paper, we investigate the stability analysis and synthesis problems for both continuous-time and discrete-time fuzzy singularly perturbed systems. For continuous-time case, both the stability analysis and synthesis can be parameterized in terms of a set of linear matrix inequalities (LMIs). For discrete-time case, only the analysis problem can be cast in LMIs, while the derived stability conditions for controller design are nonlinear matrix inequalities (NMIs). Furthermore, a two-stage algorithm based on LMI and iterative LMI (ILMI) techniques is developed to solve the resulting NMIs and the stabilizing feedback controller gains can be obtained. For both continuous-time and discrete-time cases, the reduced-control law, which is only dependent on the slow variables, is also discussed. Finally, an illustrated example based on the flexible joint inverted pendulum model is given to illustrate the design procedures.     

Discrete-time minimal control synthesis adaptive algorithm

This article proposes a discrete-time Minimal Control Synthesis (MCS) algorithm for a class of single-input single-output discrete-time systems written in controllable canonical form. As it happens with the continuous-time MCS strategy, the algorithm arises from the family of hyperstability-based discrete-time model reference adaptive controllers introduced in (Landau, Y. (1979), Adaptive Control: The Model Reference Approach, New York: Marcel Dekker, Inc.) and is able to ensure tracking of the states of a given reference model with minimal knowledge about the plant. The control design shows robustness to parameter uncertainties, slow parameter variation and matched disturbances. Furthermore, it is proved that the proposed discrete-time MCS algorithm can be used to control discretised continuous-time plants with the same performance features. Contrary to previous discrete-time implementations of the continuous-time MCS algorithm, here a formal proof of asymptotic stability is given for generic n-dimensional plants in controllable canonical form. The theoretical approach is validated by means of simulation results.     

Solving time-varying nonlinear inequalities using continuous and discrete-time Zhang dynamics

A special kind of neural dynamics, termed Zhang dynamics (ZD), is proposed, generalized and investigated for the online solution of time-varying scalar-valued nonlinear inequalities by following Zhang et al.’s design method. The continuous-time ZD (CTZD) model based on an exponent-type design formula can be guaranteed to exponentially converge to the time-varying solution set of the problem in an error-free manner. For potential hardware implementation on digital circuits, the corresponding discrete-time ZD (DTZD) model is generated through the well-known Euler forward difference rule. Newton-type algorithm is also developed for comparison purposes. In addition, the simplified CTZD (S-CTZD) and DTZD (S-DTZD) models are developed for solving static scalar-valued nonlinear inequalities. Numerical simulative examples further demonstrate and verify the efficacy of the ZD models for solving time-varying and static scalar-valued nonlinear inequalities. Besides, the DTZD model possesses the lower complexity and higher accuracy, as compared with the Newton-type algorithm.     

Experimental validation of the discrete-time MCS adaptive strategy

This paper is concerned with the implementation and experimental validation of a discrete-time model reference adaptive control strategy, known as Minimal Control Synthesis (MCS) algorithm. After discussing the proof of stability of the algorithm when applied to discretized models of continuous-time plants, the problem of controlling a highly nonlinear electro-mechanical device is taken as a representative case of study. It is shown that the discrete-time MCS is an effective strategy to solve the problem while guaranteeing robustness to unmodeled nonlinear dynamics over a wide range of test manoeuvres.     

Stochastic nonlinear stabilization - I: A backstepping design

While the current robust nonlinear control toolbox includes a number of methods for systems affine in deterministic bounded disturbances, the problem when the disturbance is unbounded stochastic noise has hardly been considered. We present a control design which achieves global asymptotic (Lyapunov) stability in probability for a class of strict-feedback nonlinear continuous-time systems driven by white noise. In a companion paper, we develop inverse optimal control laws for general stochastic systems affine in the noise input, and for strict-feedback systems. A reader of this paper needs no prior familiarity with techniques of stochastic control.     

Model-based periodic event-triggered stabilization for continuous-time stochastic nonlinear systems

In this paper, we investigate a model-based periodic event-triggered control framework for continuous-time stochastic nonlinear systems. In this framework, an auxiliary approximate discrete-time model of stochastic nonlinear systems is constructed in the controller module, which is utilized not only to design a discrete-time controller but also as a state predictor within trigger intervals. This discrete controller design approach, the strategy of state prediction, and the periodic detection strategy for the trigger rule not only provide a manner of more direct and easier implementation on the digital platform but also effectively reduce the communication load while a satisfactory control performance is maintained. Additionally, the mean-square exponentially stabilization for continuous-time stochastic nonlinear systems is achieved, in which a guideline for determining the maximum admissible sampling period is provided and the periodic event trigger rule is designed. The final numerical simulation also supports the effectiveness of our proposed framework.     

Model predictive control of continuous-time nonlinear systems with piecewise constant control

A new model predictive control (MPC) algorithm for nonlinear systems is presented. The plant under control, the state and control constraints, and the performance index to be minimized are described in continuous time, while the manipulated variables are allowed to change at fixed and uniformly distributed sampling times. In so doing, the optimization is performed with respect to sequences, as in discrete-time nonlinear MPC, but the continuous-time evolution of the system is considered as in continuous-time nonlinear MPC.     

Identifiability of discrete-time nonlinear systems: The local state isomorphism approach

A new theorem is provided to test the identifiability of discrete-time systems with polynomial nonlinearities. That extends to discrete-time systems the local state isomorphism approach for continuous-time systems. Two examples are provided to illustrate the approach.     

The equivalent discrete-time optimal control problem for time-varying continuous-time systems with white stochastic parameters

The transformation into discrete-time equivalents of digital optimal control problems, involving continuous-time linear systems with white stochastic parameters, and quadratic integral criteria, is considered. The system parameters have time-varying statistics. The observations available at the sampling instants are in general nonlinear and corrupted by discrete-time noise. The equivalent discrete-time system has white stochastic parameters. Expressions are derived for the first and second moment of these parameters and for the parameters of the equivalent discrete-time sum criterion, which are explicit in the parameters and statistics of the original digital optimal control problem. A numerical algorithm to compute these expressions is presented. For each sampling interval, the algorithm computes the expressions recursively, forward in time, using successive equidistant evaluations of the matrices which determine the original digital optimal control problem. The algorithm is illustrated with three examples. If the observations at the sampling instants are linear and corrupted by multiplicative and/or additive discrete-time white noise, then, using recent results, full and reduced-order controllers that solve the equivalent discrete-time optimal control problem can be computed.     

The input-to-state stability condition and global stabilization ofdiscrete-time systems

In this paper the discrete-time analog of the input-to-state stability condition introduced by Sontag [1989-1991]for the continuous-time case is presented together with two theorems dealing with global stabilization of discrete-time systems. The corresponding proofs are discrete analogs of those presented for the continuous-time case. It is shown that the assumptions of the main results for the discrete-time case are weaker than those imposed in the continuous-time case     

A series of discrete-time models of a continuous-time system based on fluency signal approximation

A discrete-time system model based on the discretization of a continuous-time system has been called a sampled-data system. But, in such discretization of the continuous-time system, it has been assumed that input signal u(t) is a staircase signal, that is, u(τ) has a constant value of u(kh) = u_k over the integration interval. The present paper derives a series of discrete-time models of a continuous-time system based on m-order fluency signal approximation. It is revealed that the series of models includes and generalizes the conventional system model based on the assumption of staircase signal input (m = 1). Furthermore, the adaptive discretization is obtained by selecting the appropriate order m according to the characteristic (continuous differentiability) of the input signal of the continuous-time system we are dealing with. Thus, this concept provides a better family of the relationship between the discrete-time system model and the continuous-time system     

Delayed standard neural network models for control systems.

In order to conveniently analyze the stability of recurrent neural networks (RNNs) and successfully synthesize the controllers for nonlinear systems, similar to the nominal model in linear robust control theory, the novel neural network model, named delayed standard neural network model (DSNNM) is presented, which is the interconnection of a linear dynamic system and a bounded static delayed (or nondelayed) nonlinear operator. By combining a number of different Lyapunov functionals with S-procedure, some useful criteria of global asymptotic stability and global exponential stability for the continuous-time DSNNMs (CDSNNMs) and discrete-time DSNNMs (DDSNNMs) are derived, whose conditions are formulated as linear matrix inequalities (LMIs). Based on the stability analysis, some state-feedback control laws for the DSNNM with input and output are designed to stabilize the closed-loop systems. Most RNNs and neurocontrol nonlinear systems with (or without) time delays can be transformed into the DSNNMs to be stability-analyzed or stabilization-synthesized in a unified way. In this paper, the DSNNMs are applied to analyzing the stability of the continuous-time and discrete-time RNNs with or without time delays, and synthesizing the state-feedback controllers for the chaotic neural-network-system and discrete-time nonlinear system. It turns out that the DSNNM makes the stability conditions of the RNNs easily verified, and provides a new idea for the synthesis of the controllers for the nonlinear systems.     

Augmented hybrid method for continuous process identification from sampled data with coloured noise

The identification of a linear continuous-time model for a multivariable dynamic system from sampled input-output observations is considered. An augmented hybrid parametric method is proposed to overcome the interference of the coloured output noise in the sampled output. The parameters of the continuous-time process model are estimated from an augmented input-output realization which utilizes the dynamic information of the discrete-time noise model. Numerical examples are presented to illustrate how to obtain an adequate dynamic process model, considering the coloured output noise, by using a discrete-time noise model.     

An EM-based identification algorithm for a class of hybrid systems with application to power electronics

In this paper we present an identification algorithm for a class of continuous-time hybrid systems. In such systems, both continuous-time and discrete-time dynamics are involved. We apply the expectation-maximisation algorithm to obtain the maximum likelihood estimate of the parameters of a discrete-time model expressed in incremental form. The main advantage of this approach is that the continuous-time parameters can directly be recovered. The technique is particularly well suited to fast-sampling rates. As an application, we focus on a standard identification problem in power electronics. In this field, our proposed algorithm is of importance since accurate modelling of power converters is required in high- performance applications and for fault diagnosis. As an illustrative example, and to verify the performance of our proposed algorithm, we apply our results to a flying capacitor multicell converter.