Robust control of polytopic systems by convex optimization

Robust control synthesis of linear time-invariant SISO polytopic systems is investigated using the polynomial approach. A convex set of all stabilizing controllers for a polytopic system is given over an infinite-dimensional space. A finite-dimensional approximation of this set is obtained using the orthonormal basis functions and represented by a set of LMIs thanks to the KYP lemma. Then, an LMI based convex optimization problem for robust pole placement with sensitivity function shaping in two- and infinity-norm is proposed. The simulation results show the effectiveness of the proposed method.     

Robust estimation for circular data

The problems arising when there are outliers in a data set that follow a circular distribution are considered. A robust estimation of the unknown parameters is obtained using the methods of weighted likelihood and minimum disparity, each of which is defined for a general parametric family of circular data. The class of power divergence and the related residual adjustment function is investigated in order to improve the performance of the two methods which are studied for the Von Mises (circular normal) and the Wrapped Normal distributions. The techniques are illustrated via two examples based on a real data set and a Monte Carlo study, which also enables the discussion of various computational aspects.     

Consistency of robust estimators in multi-structural visual data segmentation

A theoretical framework is presented to study the consistency of robust estimators used in vision problems involving extraction of fine details. A strong correlation between asymptotic performance of a robust estimator and the asymptotic bias of its scale estimate is mathematically demonstrated where the structures are assumed to be linear corrupted by Gaussian noise. A new measure for the inconsistency of scale estimators is defined and formulated by deriving the functional forms of four recent high-breakdown robust estimators. For each estimator, the inconsistency measures are numerically evaluated for a range of mutual distances between structures and inlier ratios, and the minimum mutual distance between the structures, for which each estimator returns a non-bridging fit, is calculated.     

PTA装置自动控制系统实现安稳运行的对策

针对PTA装置的工艺生产特点，对自动控制系统当中出现的不同种类的问题，进行了多方面的简要探讨与分析，并提出实现安稳运行相应的对策。     

利用多变量控制器实现常压塔塔底液位控制

塔底液位控制在石油化工装置中非常普遍 ,大多数情况下 ,用于调节塔底液位的抽出量又是下一道工序的进料 ,所以需要采用均匀控制的思想来保证既维持塔底液位在一定的允许范围波动 ,又尽可能减少对下游工序的影响。现介绍了采用多变量预估控制器实现上述控制思想的方法 ,该方案在兰州石化公司炼油厂二套常减压装置得到了成功的应用     

Robust pole clustering in a good ride quality region of aircraft for matrices with structured uncertainties

This paper presents a general analysis of robust pole clustering in a good ride quality region (GRQR) of aircraft for matrices with structured uncertainties. This region is an intersection of a ring and a horizontal strip, located in the left half-plane, which is a specific non-Ω-transformable region providing good ride quality of aircraft. The paper applies the Rayleigh principle along the norm theory to analyze robust pole clustering within this region since the generalized Lyapunov theory is not valid for non-Ω-transformable regions. Concerned uncertainties are structured/parametric uncertainties, including interval matrices. The results are useful for robust control analysis and design, especially, of robust good ride quality of aircraft, shuttles, vehicles and space station, as well as some industrial systems. An example of the F-16 dynamics for which GRQR is suitable is included to illustrate the results.     

Robot control and parameter estimation with only joint position measurements

Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory.     

PROVOX系统在间歇反应聚丙烯装置上的应用

本文简要介绍了费希尔－罗斯蒙特公司的ＰＯＶＯＸ系统特点，以及在间歇反应聚丙烯装置中的应用。     

Design of internal model control based fractional order PID controller

This article presents a design of the internal model control(IMC)based single degree of freedom(SDF) fractional order(FO)PID controller with a desired bandwidth specification for a class of fractional order system(FOS). The drawbacks of the SDF FO-IMC are eliminated with the help of the two-degree of freedom(TDF)FO PID controller. The robust stability and robust performance of the designed controller are analyzed using an example.