Simple algebraic data types for C

Adt is a simple tool in the spirit of Lex and Yacc that makes monomorphic algebraic data types, polymorphic built‐in types like the list and an efficient form of pattern matching available in C programs. C programs built with ADTs typically use NULL pointers only to indicate don't care values, and not as sentinels. This reduces the scope for errors involving NULL pointers. The Adt tool generates runtime checks, which catch many of the remaining NULL pointer dereferences. The runtime checks may consume a significant amount of CPU time; hence they can be switched off once the program is suitably debugged. Copyright © 2011 John Wiley & Sons, Ltd.     

Design of state estimators for uncertain linear systems using quadratic boundedness

The notion of quadratic boundedness, which allows one to address the stability of a dynamic system in the presence of bounded disturbances, is applied to the design of state estimators for discrete-time linear systems with polytopic uncertainties. Necessary and sufficient stability conditions are stated and upper bounding sequences on the estimation error are derived. For the purpose of design, such conditions can be expressed in terms of linear matrix inequalities (LMIs), thus guaranteeing the numerical tractability. Simulation results are reported to show the effectiveness of the approach.     

应用代数规约和数据变异策略测试类

在应用基于代数规约测试类时,虽然可以有效解决测试数据生成和测试结果判断这两个测试难题,但是,因为该方法常常随机生成测试数据,会导致对于同一待测试类两次测试会得到不同的测试效果。为克服这个缺陷,提出应用数据变异方法,对已生成的测试用例进行变异。变异测试实验表明：该方法能够有效地改善代数测试方法的测试效果。     

A new design of robust filters for uncertain systems

In this paper, a structured polynomial parameter-dependent approach is proposed for robust H₂ filtering of linear uncertain systems. Given a stable system with parameter uncertainties residing in a polytope with s vertices, the focus is on designing a robust filter such that the filtering error system is robustly asymptotically stable and has a guaranteed estimation error variance for the entire uncertainty domain. A new polynomial parameter-dependent idea is introduced to solve the robust H₂ filtering problem, which is different from the quadratic framework that entails fixed matrices for the entire uncertainty domain, or the linearly parameter-dependent framework that uses linear convex combinations of s matrices. This idea is realized by carefully selecting the structure of the matrices involved in the products with system matrices. Linear matrix inequality (LMI) conditions are obtained for the existence of admissible filters and based on these, the filter design is cast into a convex optimization problem, which can be readily solved via standard numerical software. Both continuous and discrete-time cases are considered. The merit of the methods presented in this paper lies in their less conservatism than the existing robust filter design methods, as shown both theoretically and through extensive numerical examples.     

Optimal guaranteed cost filtering for uncertain discrete-time linear systems

This paper presents a result on the design of a steady-state robust state estimator for a class of uncertain discrete-time linear systems with normal bounded uncertainty. This result extends the steady state Kalman filter to the case in which the underlying system is uncertain. A procedure is given for the construction of a state estimator which minimizes a bound on the state error covariance. It is shown that this leads to a state estimator which is optimal with respect to a notion of quadratic guaranteed cost state estimation.     

Nonsynchronized state estimation of uncertain discrete-time piecewise affine systems

This paper investigates the problem of robust H-infinity state estimation for a class of uncertain discretetime piecewise affine systems where state space instead of measurable output space partitions are assumed so that the filter implementation may not be synchronized with plant state trajectory transitions. Based on a piecewise quadratic Lyapunov function combined with S-procedure and some matrix inequality convexifying techniques, two different approaches are developed to the robust filtering design for the underlying piecewise affine systems. It is shown that the filter gains can be obtained by solving a set of linear matrix inequalities (LMIs). Finally, a simulation example is provided to illustrate the effectiveness of the proposed approaches.     

Robust state estimation for a class of uncertain time-delay systems

This paper considers a robust state estimation problem for a class of uncertain time-delay systems. In this problem, the noise and uncertainty are modelled deterministically via an integral quadratic constraint. The robust state estimation problem involves constructing the set of all possible states at the current time consistent with given output measurements and the integral quadratic constraint. This set is found to be an ellipsoid which is constructed via a linear state estimator.     

压缩数据上的关系代数操作算法

针对在大数据管理中,在压缩的数据上无需解压即可进行相关操作的问题,在数据服从正态分布的前提下,根据列数据存储的特点,提出了一种新的面向列存储的压缩方法——CCA。首先,通过对列数据的长度进行归类;然后,采用抽样的方法获得重复度较高的前缀;最后,使用字典编码进行压缩,提出了列索引(CI)和列实体(CR)作为数据压缩结构来降低大数据存储的空间需求,从而直接有效地在压缩数据上支持选择、投影、连接等基本操作,并实现了基于CCA的数据库原型系统——D-DBMS。理论分析和在1 TB数据上的实验结果表明,该压缩算法能够显著提高大数据的存储效率和数据操作性能,与BAP和TIDC压缩方法相比,在压缩率分别提高了51%、14%;在执行速度上提高了47%、42%。     

Identification of linear relations from noisy data: Geometrical aspects

The problem of determining linear models from data corrupted by noise has been revisited by several authors in recent years. With reference to the Frisch scheme, this work presents some geometrical aspects regarding the sets of solutions obtained in the identification procedure. An analysis is made on how these sets vary as the amount of noise on the data varies; the existence of particular solutions for data linked by a number of linear relations greater than one, is also shown.     

Robust filtering for uncertain linear systems: LMI based methods with parametric Lyapunov functions

This paper addresses the design of robust filters for linear continuous-time systems subject to parameter uncertainty in the state-space model. The uncertain parameters are supposed to belong to a given convex bounded polyhedral domain. Two methods based on parameter-dependent Lyapunov functions are proposed for designing linear stationary asymptotically stable filters that assure asymptotic stability and a guaranteed performance, irrespective of the uncertain parameters. The proposed filter designs are given in terms of linear matrix inequalities which depend on a scalar parameter that should be searched for in order to optimize the filter performance.     

Zonotopic guaranteed state estimation for uncertain systems

This paper presents a new approach for guaranteed state estimation based on zonotopes for linear discrete-time multivariable systems with interval multiplicative uncertainties, in the presence of bounded state perturbations and noises. At each sample time, the presented approach computes a zonotope which contains the real system state. A P$P$-radius-based criterion is minimized in order to decrease the size of the zonotope at each sample time and to obtain an increasingly accurate state estimation. The proposed approach allows one to efficiently handle the trade-off between the complexity of the computation and the accuracy of the estimation. An illustrative example is analyzed in order to highlight the advantages of the proposed state estimation technique.     

Adaptive control based on fast online algebraic identification and GPI control for magnetic levitation systems with time-varying input gain

This paper considers the position tracking problem of a voltage-controlled magnetic levitation system (MLS) in the presence of modelling errors caused by uncertainties in the system’s physical parameters. An adaptive control based on fast online algebraic parameter estimation and generalised proportional integral (GPI) output feedback control is considered as a control scheme candidate. The GPI controller guarantees an asymptotically exponentially stable behaviour of the controlled ball position and the possibilities of carrying out rest-to-rest trajectory tracking tasks. The nature of the control input gain in an MLS is that of a state-dependent time-varying gain, reflecting the nonlinear character of the magnetic force with regard to the distance and the properties of the metallic ball. The system gain has therefore been locally approximated using a periodically updated time polynomial function (of second degree), where the coefficients of the polynomial are estimated during a very short period of time. This estimation is achieved using the recently introduced algebraic online parameter estimation approach. The stability of the closed-loop system is demonstrated under the assumption that no external factors cause changes in the parameter during the time interval in which the stability is analysed. Finally, experimental results are presented for the controlled MLS demonstrating the excellent stabilisation and position tracking performance of the control system designed in the presence of significant nonlinearities and uncertainties of the underlying system.     

Direct data-driven filter design for uncertain LTI systems with bounded noise

This paper investigates the filter design problem for linear time-invariant dynamic systems when no mathematical model is available, but a set of initial experiments can be performed where also the variable to be estimated is measured. Instead of using the initial experimental data to identify a model on the basis of which a filter is designed, these data are used to directly design a filter. Assuming norm-bounded disturbances and noises, a Set Membership formulation is followed. For classes of filters with exponentially decaying impulse response, approximating sets are determined that guarantee to contain all the solutions to the optimal filtering problem, where the aim is the minimization of the induced norm from disturbances to the estimation error. A method is proposed for designing almost-optimal linear filters with finite impulse response, whose worst-case filtering error is at most twice the lowest achievable one. In the H_∞ SISO case, an efficient technique is presented, that allows the evaluation of bounds on the guaranteed worst-case filtering error of the designed filter. Numerical examples illustrate the effectiveness of the proposed solution.     

一类Delta算子不确定时滞系统保性能滤波

针对一类具有凸多面体参数不确定性的Delta算子时滞系统,研究其保性能滤波问题．采用线性矩阵不等式（LMI）方法,给出了滤波器存在的充分条件和显式表达式．给出的滤波器满足滤波误差动态渐近稳定和保性能方程最小．所提出的方法可将连续系统和离散系统统一到Delta算子框架下．仿真例子证明了该方法的可行性．     

Robust H-infinity filtering on uncertain systems under sampled measurements

This paper is concerned with the problem of robust H-infinity filtering on uncertain systems under sampled measurements, both continuous disturbance and discrete disturbance are considered in the systems. The parameter uncer- tainty is assumed to be time-varying norm-bounded. The aim is to design an asymptotically stable filter, using the locally sampled measurements, which ensures both the robust asymptotic stability and a prescribed level of H-infinity performance for the filtering error dynamics for all admissible uncertainties. The derivation process is simplified by introducing auxiliary systems and the sufficient condition for the existence of such a filter is proposed. During the study, the main results were expressed as LMIs by employing various matrix techniques. Using LMI toolbox of Matlab software, it is very convenient to obtain the appropriate filter. Finally, a numerical example shows that the method is effective and feasible.     

Robust H-infinity filtering on uncertain systems under sampled measurements

1 Introduction Sampled measurements systems consist of a continuous- time plant and discrete-time plant. The systems contain sig- nals that evolve in continuous time as well as signals that evolve in discrete time. It is rather difficult to apply the stan- dard analysis results for linear continuous-time systems and discrete-time systems to the analysis of sampled measure- ments systems [1]. This fact has motivated much of the re- search on the analysis and synthesis of sampled measure- ments …     

Frequency-domain identification of continuous-time ARMA models from sampled data

The subject of this paper is the direct identification of continuous-time autoregressive moving average (CARMA) models. The topic is viewed from the frequency domain perspective which then turns the reconstruction of the continuous-time power spectral density (CT-PSD) into a key issue. The first part of the paper therefore concerns the approximate estimation of the CT-PSD from uniformly sampled data under the assumption that the model has a certain relative degree. The approach has its point of origin in the frequency domain Whittle likelihood estimator. The discrete- or continuous-time spectral densities are estimated from equidistant samples of the output. For low sampling rates the discrete-time spectral density is modeled directly by its continuous-time spectral density using the Poisson summation formula. In the case of rapid sampling the continuous-time spectral density is estimated directly by modifying its discrete-time counterpart.