A new view of anti‐windup design for uncertain linear systems in the frequency domain

This paper presents a new perspective on the stability problem for uncertain LTI feedback systems with actuator input amplitude saturation. The solution is obtained using the quantitative feedback theory and a 3 DoF non‐interfering control structure. Describing function (DF) analysis is used as a criterion for closed loop stability and limit cycle avoidance, but the circle or Popov criteria could also be employed. The novelty is the combination of a controller parameterization from the literature and describing function‐based limit cycle avoidance with margins for uncertain plants. Two examples are given. The first is a benchmark problem and a comparison is made with other proposed solutions. The second is an example that was implemented and tested on an X‐Y linear stage used for nano‐positioning applications. Design and implementation considerations are given. An example is given on how the method can be extended to amplitude and rate saturation with the help of the generalized describing function, and a novel anti‐windup compensation structure inspired by previous contributions. Copyright © 2015 John Wiley & Sons, Ltd.     

Open Embedded Control

Embedded control devices today usually allow parameter changes, and possibly activation of different pre-implemented algorithms. Full reprogramming using the complete source code is not allowed for safety, efficiency, and proprietary reasons. For these reasons, embedded regulators are quite rigid and closed concerning the control structure. In several applications, like industrial robots, there is a need to tailor the low level control to meet specific application demands. In order to meet the efficiency and safety demands, a way of building more generic and open regulators has been developed. The key idea is to use pieces of compiled executable code as functional operators, which in the simplest case may appear as ordinary control parameters. In an object oriented framework, this means that new methods can be added to controller objects after implementation of the basic control, even at run-time. The implementation was carried out in industrially well accepted languages such as C and C++. The dynamic binding at run-time differs from ordinary dynamic linking in that only a subset of the symbols can be used. This subset is defined by the fixed part of the system. The safety demands can therefore still be fulfilled. Encouraged by results from fully implemented test cases, we believe that extensive use of this concept will admit more open, still efficient, embedded systems.     

Surface energy measurements from Griffith cracks in boron fibres

Journal of Materials Science -     

The initial stages of growth and the origin of proximate voids in boron fibres

The formation of so-called proximate voids (i.e. voids near the core-mantle interface) in boron fibres has been studied experimentally. The mantle growth was interrupted in very early stages of nucleation and growth of boron nodules on the tungsten wire substrate. Scanning electron microscope investigations of surface topography and cross-sections revealed a morphology of preferential nucleation of boron nodules along axial die-mark ridges on the tungsten wire surface, where tight parallel axial rows of growing nodules are formed which, particularly around deep wire surface grooves, may hedge in axially extended voids of a morphology earlier found to be typical of proximate voids. The physical conditions of this mechanism are studied with respect to geometry, surface energy and diffusion parameters.     

Chemical composition of some forages and various residues from feeding value determinations

NDF, ADF, ‘cellulose’ and IVOMD residues, from feeding value determinations, were prepared from some forages, including straw, alkali-treated straw, grass and lucerne samples. The crude protein, cellulose, hemicellulose, uronic acid, Klason lignin, lignin and ash contents of these residues and the corresponding original forage samples were determined together with the relative composition of the neutral sugar constituents after acid hydrolysis. Cellulose, hemicellulose and Klason lignin were the main components in the NDF fractions but substantial amounts of crude protein (1–6%) also remained. Cellulose and Klason lignin were the main components in the ADF fractions, but 7–14% of the fractions was hemicellulose and 1–4% crude protein. Cellulose was the main component in the ‘cellulose’ fractions, but they also contained 8–13% hemicellulose, 2–7% Klason lignin and 2–11% ash. The composition of the IVOMD residues showed that cellulose and hemicellulose had been dissolved to about the same amounts (70–80%) and that most of the Klason lignin remained.     

Gas temperature measurements using fibre Bragg grating during fire experiments in a tunnel

Gas temperature measurements with thermocouples are affected by radiation. This effect means that the temperature measured by a thermocouple can be far from the actual gas temperature. To study this effect and to compare the thermocouple readings with the readings of a fibre Bragg grating (FBG) sensor, fire experiments were performed in a model-scale tunnel. In this paper the results from two such fire experiments are presented. The temperatures measured using thermocouples with different diameters and the FBG sensor are compared and discussed. The “true” gas temperature, corrected for radiation effects from the thermocouples, was calculated from the results from the thermocouples with different diameters. The results show that the temperature measured by the FBG sensor is closer to the “true” gas temperature than is the case for any of the thermocouples used in these tests.     

On the distributed stable full information H∞ minimax problem

We study the distributed parameter suboptimal full information H^∞ problem for a stable well-posed linear system with control u, disturbance w, state x, and output y. Here u, w, and y are L²-signals on (0,∞) with values in the Hilbert spaces U, W, and Y, and the state x is a continuous function of time with values in the Hilbert space H. The problem is to determine if there exists a (dynamic) γ-suboptimal feedforward compensator, i.e., a compensator 𝒰 such that the choice u = 𝒰w makes the norm of the input/output map from w to y less than a given constant γ. A sufficient condition for the existence of a γ-suboptimal compensator is that an appropriately extended input/output map of the system has a (J,S)-inner–outer factorization of a special type, and if the control and disturbance spaces are finite-dimensional and the system has an L¹ impulse response, then this condition is also necessary. Moreover, in this case there exists a central state feedback/feedforward controller, which can be used to give a simple parameterization of the set of all γ-suboptimal compensators. Our proof use a game theory approach. © 1998 John Wiley & Sons, Ltd.