Simultaneous automated design of structured QFT controller and prefilter using nonlinear programming

Purohit, Harsh; Goldsztejn, Alexandre; Jermann, Christophe; Granvilliers, Laurent; Goualard, Frédéric; Nataraj, P. S. V.; Patil, Bhagyesh V.

doi:10.1002/rnc.3695

Cited by 3 publications

(4 citation statements)

References 33 publications

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“…The AUV model ( 25)- (26) with the above considerations taken into account fits the nonlinear dynamical model (1)…”

Section: Auv Ciscrea Modelmentioning

confidence: 99%

“…In the context of SM, its use has been as a complement to get on-line controllers with continuous adaptation of the command signal [22,23], or to add robustness to the controller design [24]. Nevertheless, global optimization based on interval arithmetic can also be used to synthesize controllers from different criteria or control methods, such as H ∞ criteria [25] or Quantitative Feedback Theory [26]. One of the objectives of this paper is to extend the global optimization approach to sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

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A global optimization approach for sliding mode tuning and existence maps generation

Rosendo

Monnet

Battista

et al. 2020

Int. J. Dynam. Control

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In this work, global optimization techniques based on interval arithmetic are proposed to analyze and synthesize sliding mode (SM) controllers. The proposed methodology allows generating a series of maps, called subpavings, which put in evidence the required relationships among tuning parameters, disturbances and control amplitude to fulfill the sufficient condition of SM in a guaranteed way. The a priori knowledge of the control power necessary to guarantee SM behavior of nonlinear systems despite parameter uncertainties and external disturbances is an advantage of this proposal compared to traditional tuning methods, which usually fall into over-sizing solutions. Although the methodology is developed in the context of conventional first-order SM controllers, it could be extended to any other SM design approach.

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“…The AUV model ( 25)- (26) with the above considerations taken into account fits the nonlinear dynamical model (1)…”

Section: Auv Ciscrea Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A global optimization approach for sliding mode tuning and existence maps generation

Rosendo

Monnet

Battista

et al. 2020

Int. J. Dynam. Control

View full text Add to dashboard Cite

show abstract

“…In [7], it is used to design a robust controller for hydraulic robots. The process of controller design is tedious [8] . Therefore, a method is needed to avoid it.…”

Section: Introductionmentioning

confidence: 99%

IGPC-QFT Cascade Control and Its Application in Superheated Steam Temperature Control System

Liu¹

2017

Proceedings of the 2017 6th International Conference on Energy, Environment and Sustainable Development (ICEESD 2017)

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Abstract. The superheated steam temperature control system is a complicated controlled object with large inertia and large time delay characteristics, and its model parameters change with the load. For this nonlinear system, an IGPC-QFT cascade control algorithm was proposed. The quantitative feedback theory (QFT) was used to suppress the uncertainties and disturbance in the leading region of the system. A simple method for QFT controller design was proposed to avoid the tedious shaping process of the QFT controller design. An improved implicit generalized predictive self-tuning controller (IGPC) was used to suppress the overshoot and overcome the large inertia and large time delay in the inert region. The numerical simulations show that the proposed IGPC-QFT algorithm can give the controlled system better dynamic performance than traditional GPC-P under different load and disturbance.

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“…[7][8][9] This contrasts with the considerable effort that has been put into the automatic tuning of QFT feedback controllers. [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28] Abbreviations: 2DOF, two-degree-of-freedom; QFT, quantitative feedback theory.This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.…”

mentioning

confidence: 99%

Automatic synthesis of feedforward elements in quantitative feedback theory

Elso

Ostolaza

2021

Intl J Robust & Nonlinear

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Recent developments in quantitative feedback theory (QFT) lead to feedforward design problems with both magnitude and phase constraints. In these cases, manual feedforward tuning becomes much more challenging and time consuming than the traditional prefilter shaping taking place on the Bode plot. This article presents a general procedure for the automatic synthesis of such elements. Feedforward bounds in the complex plane are expressed as constraints of a linear programming problem in which the Bode real-complex relation is implicitly considered, ensuring a stable rational solution. The methodology is successfully tested in a well-known benchmark problem. K E Y W O R D S2DOF, feedforward synthesis, QFT INTRODUCTIONQuantitative feedback theory (QFT) 1-4 owes its name to the fact that feedback is used in the minimum amount required to fight the effects of plant uncertainty and unknown disturbances. Deeply rooted in classical control theory, QFT aims to provide low-order, low-bandwidth feedback controllers fulfilling a set of frequency-domain specifications. By doing so, QFT leads to designs with minimum cost of feedback, understood as the effect of sensor noise in the system's actuator and plant. This philosophy defines the way in which QFT confronts two-degree-of-freedom (2DOF) problems, that is, problems in which both feedforward and feedback actions are involved. Unlike inversion-based techniques, in QFT the feedback element is designed first, and its purpose is to reduce the effect of uncertainty to a level in which a single feedforward element can handle the whole set of plants, making all of its members meet the specification. 1,5 The paradox is that the closer the feedback controller gets to its theoretical optimum, 6 the harder it is to find a solution to the feedforward synthesis problem. However, given that most designers accept certain overdesign in exchange for low order controllers, the feedforward design usually becomes a trivial task. This is particularly the case in the classical QFT tracking problem, in which specifications are defined as upper and lower tolerances on the magnitude of the tracking frequency response. With this kind of specification, the feedforward controller-a prefilter preceding the feedback loop-is easily tuned on the Bode plot. All this could explain why only a few articles deal with automated methods for prefilter shaping. [7][8][9] This contrasts with the considerable effort that has been put into the automatic tuning of QFT feedback controllers. [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26][27][28] Abbreviations: 2DOF, two-degree-of-freedom; QFT, quantitative feedback theory.This is an open access article under the terms of the Creative Commons Attribution-NonCommercial-NoDerivs License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.

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Simultaneous automated design of structured QFT controller and prefilter using nonlinear programming

Abstract: International audienc

Cited by 3 publications

References 33 publications

A global optimization approach for sliding mode tuning and existence maps generation

A global optimization approach for sliding mode tuning and existence maps generation

IGPC-QFT Cascade Control and Its Application in Superheated Steam Temperature Control System

Automatic synthesis of feedforward elements in quantitative feedback theory

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