Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
Improving the H2/H∞ Control Performance Using Supervisory Based Switching
1
14
FA
Fatemeh
Jamshidi
fjamshidi@modares.ac.ir
Mohammad Taghi
Hamidi Beheshti
mbehesht@modares.ac.ir
In this paper, a supervisory based switching strategy is employed to solve the H2/H∞ multi objective controller design. Using linear matrix inequalities, two distinict controllers are designed to meet the H2 and H∞ performance specifications. A state realization for each controller transfer matrix is found such that the asymptotical stability of the closed-loop switching system is guaranteed for any switching sequence. A supervisor is used to diagnose the exogenous input changes and switch to the relevant controller. Simulation results show that switching strategy improves the performance of the controller and reduces the conservation in comparison with the common H2/H∞ controller
Linear Matrix inequality, Realization Theory, Stability Theory, Supervisor, Switching H2/H∞ control
http://joc.kntu.ac.ir/article-1-114-en.html
http://joc.kntu.ac.ir/article-1-114-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
Semi-polynomial Takagi-Sugeno-Kang Type Fuzzy System for System Identification and Pattern Classification
15
28
FA
Arash
Sharifi
a.sharifi@srbiau.ac.ir
Mahdi
Aliyari Shoorehdeli
m.aliyari@eetd.kntu.ac.ir
Mohammad
Teshnehlab
teshnehlab@eetd.kntu.ac.ir
In this study a new type of Takagi-Sugeno-Kang (TSK) type fuzzy system with dimension reduction section at the input stage called Semi-polynomial data Mapping Fuzzy Inference System (SPMFIS) is proposed. In the proposed method a semi-polynomial feature map is used to transform the input variables to new extracted features with low dimensions. At the next step, these new features are used as the input vector of ANFIS structure. Also gradient descent algorithm is chosen for training parameters of ANFIS and SPM parts of the proposed method. In order to evaluate the capability of the proposed method, its applications in classification of some different benchmark data sets, system identification, and time series prediction have been studied. The results show that the proposed method performs better than the conventional models in classification, identification and time series prediction.
TSK type fuzzy system, gradient descent algorithm, pattern classification, system identification and time series prediction
http://joc.kntu.ac.ir/article-1-115-en.html
http://joc.kntu.ac.ir/article-1-115-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
New Insight in the Pursue-Escape Geometry by the Inspiration of PN Guidance
29
35
FA
Jafar
Heyrani Nobari
nobari@eetd.kntu.ac.ir
By the inspiration of PN guidance law, the equations of the pursue-escape geometry in the general form of the three dimensional space, are derived. This inspiration shows itself in the coordination which is selected for deriving the equations. Whenever these equations are derived in the other coordination, the complexity causes the difficulty of the analysis and the insight. When the equations are derived in the coordination which we name the LOS coordination, these are became so easy and expressive that give skilled tools for analysis and can open the ways for proposal of the modern guidance law. In particular, this issue display in the analysis and the reasoning of the PN guidance law which the important results were given.
Pursue-escape, Proportional Navigation, Surface of Confront
http://joc.kntu.ac.ir/article-1-117-en.html
http://joc.kntu.ac.ir/article-1-117-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
A Fixed-Order Robust Decentralized Dynamic Output Feedback Controller Design for Large Scale Systems with Nonlinear Uncertainty
36
46
FA
Mahdi
Sojoodi
Vahid
Johari Majd
majd@modares.ac.ir
The objective of this paper is to propose a fixed-order non-fragile dynamic output control scheme within the LMI framework for robust decentralized stabilization of systems composed of linear dynamic subsystems coupled by static nonlinear interconnections satisfying quadratic constraints. The procedure utilizes the general linear dynamic feedback structure in presence of parameter uncertainty. In this design, the maximum robustness degree of the closed loop system is obtained through solving the optimization problem under stabilizing conditions given in the form of LMIs, and then the fixed order controller parameters are calculated based on the obtained results. A numerical example illustrates the applicability and effectiveness of the method.
Output dynamic feedback, large scale systems, non-fragile controller, fixed-order controller, linear matrix inequality (LMI).
http://joc.kntu.ac.ir/article-1-119-en.html
http://joc.kntu.ac.ir/article-1-119-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
Designing a Stochastic Adaptive Stable in Probability Observer, for Noisy Uncertain Chaotic Systems
47
55
FA
Moosa
Ayati
ayati@dena.kntu.ac.ir
Hamid
Khaloozadeh
H_khaloozadeh@kntu.ac.ir
In this paper a novel stochastic adaptive sliding mode observer is developed which is able to estimate the states of an uncertain chaotic system with model and parametric uncertainties. The type of the model uncertainty could be unknown and its upper bound is estimated by adaptive methods. The unknown parameters are estimated using a proposed adaptation law. In addition, the effects of noise are considered in the observer dynamics and then the response system is modeled via stochastic differential equations. Using stochastic calculus and stochastic Lyapunov stability, the stability in probability of the states’ error system is proved. Moreover, it is proved that the states of the proposed observer converge to the drive system states while the adaptation gains of the observer remain non-singular and bounded. Since the observer can suppress the effect of noise and uncertainties and the states’ convergence is proved, proposed observer is used in a noisy chaos synchronization system.
Sliding mode observer, Stochastic Lyapunov stability, Chaotic systems synchronization, Stochastic differential equation.
http://joc.kntu.ac.ir/article-1-120-en.html
http://joc.kntu.ac.ir/article-1-120-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
Fault Detection Filter Design for Uncertain LTI Systems using H∞ Norm Error Minimization
56
65
FA
Hamid
Ranjbar
Mohammad Ali
Nekoui
Due to the importance of fault detection in maintaining the performance and immunity of control process, various methods have been proposed where as well as fault detection, the robustness of the system with respect to uncertainty and disturbance has been also discussed. In this regard a compromise between error sesitivity of the system and its robustness should be considered. One of the proposed methods is based on transformation of robust fault detection problem to a standard H∞ model-matching one. In this paper after the selection of a proper reference model for the robust fault detection problem, a residual generator will be considered on the basis of an H∞ minimization of the difference between reference model the realastic residual generator using LMI technics. A design example has been chosen to demonstrate the effectiveness of the proposed approach.
Robust Fault Detection, Modelling Error, LMI
http://joc.kntu.ac.ir/article-1-118-en.html
http://joc.kntu.ac.ir/article-1-118-en.pdf
Iranian Society of Instrumentation and Control Engineers
Journal of Control
2008-8345
2538-3752
4
3
2010
12
1
Control of Closed Kinematic Chains Based on SPF Model Without Velocity Measurements
66
77
FA
Hossein
Bolandi
h_bolandi@iust.ac.ir
Amir Farhad
Ehyaei
ehyaei@ee.iust.ac.ir
In this paper, position control of a dual manipulator system for transporting a common payload is considered. In this regard, a centralized controller is designed for a reduced model developed based on a singularly perturbed formulation (SPF) which reduces the differential-algebraic dynamic equations of the system to a set of ordinary differential equations. In this approach, the controller does not rely on solving nonlinear algebraic constraints and is more applicable to real-time implementation. At the same time, a linear observer is designed to estimate the joint velocities which leads to elimination of velocity sensors and prevents noise injection into the system which may degrade the system performance. Finally, stability of the system is proved by using Lyapunov theorem. Simulation results illustrate the effectiveness of the proposed method.
Position control, Cooperative transportation, Closed kinematic chains, Velocity observer, Reduced model
http://joc.kntu.ac.ir/article-1-116-en.html
http://joc.kntu.ac.ir/article-1-116-en.pdf