Observer-based robust-H-infinity control laws for uncertain linear systems
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Wang, Yeih J.↗
Engineering topics
Shieh, Leang S.
Publications and source records attributed to Shieh, Leang S..
Order reduction of z-transfer functions via multipoint Jordan continued-fraction expansion
The order reduction problem of z-transfer functions is solved by using the multipoint Jordan continued-fraction expansion (MJCFE) technique. An efficient algorithm that does not require the use of complex algebra is presented for obtaining an MJCFE from a stable z-transfer function with expansion points selected from the unit circle and/or the positive real axis of the z-plane. The reduced-order models are exactly the multipoint Pade approximants of the original system and, therefore, they match the (weighted) time-moments of the impulse response and preserve the frequency responses of the system at some characteristic frequencies, such as gain crossover frequency, phase crossover frequency, bandwidth, etc.
Lee, Ying-Chin↗
Hybrid suboptimal control of multi-rate multi-loop sampled-data systems
A hybrid state-space controller is developed for suboptimal digital control of multirate multiloop multivariable continuous-time systems. First, an LQR is designed for a continuous-time subsystem which has a large bandwidth and is connnected in the inner loop of the overall system. The designed LQR would optimally place the eigenvalues of a closed-loop subsystem in the common region of an open sector bounded by sector angles + or - pi/2k for k = 2 or 3 from the negative real axis and the left-hand side of a vertical line on the negative real axis in the s-plane. Then, the developed continuous-time state-feedback gain is converted into an equivalent fast-rate discrete-time state-feedback gain via a digital redesign technique (Tsai et al. 1989, Shieh et al. 1990) reviewed here. A real state reconstructor is redeveloped utilizing the fast-rate input-output data of the system of interest. The design procedure of multiloop multivariable systems using multirate samplers is shown, and a terminal homing missile system example is used to demonstrate the effectiveness of the proposed method.
Shieh, Leang S.↗
Robust stabilization, robust performance, and disturbance attenuation for uncertain linear systems
This paper presents a linear quadratic regulator approach to the robust stabilization, robust performance, and disturbance attenuation of uncertain linear systems. The state-feedback designed systems provide both the robust stability with optimal performance and the disturbance attenuation with H-infinity-norm bounds. The proposed approach can be applied to matched and/or mismatched uncertain linear systems. For a matched uncertain linear system, it is shown that the disturbance attenuation robust-stabilizing controllers with or without optimal performance always exist and can be easily determined without searching; whereas, for a mismatched uncertain linear system, the introduced tuning parameters greatly enhance the flexibility of finding the disturbance-attenuation robust-stabilizing controllers.
Wang, Yeih J.↗
Hybrid state-space self-tuning control using dual-rate sampling
This paper presents a hybrid state-space self-tuning control scheme using dual-rate sampling for suboptimal digital adaptive control of linear time-invariant continuous-time multivariable stochastic systems with unknown parameters. An equivalent fast-rate discrete-time state-space innovation model (with estimated states) of the continuous-time system is constructed by using the estimated system parameters and Kalman gain. To utilize the existing optimal regional-pole assignment method developed in the continuous-time domain, the constructed fast-rate discrete-time model is converted into an equivalent continuous-time model for the development of a state-feedback optimal control law with pole placement in a specific region. The developed analog optimal control law is then converted into an equivalent pseudo-slow-rate digital control law via the proposed digital redesign technique, which can be realized via slow-rate digital electronics. The proposed method enables the development of a digitally implementable advanced control algorithm for digital adaptive control of continuous-time multivariable stochastic systems which may be unstable and/or have nonminimum phase.
Shieh, Leang S.↗
Observer-based robust-H-infinity control laws for uncertain linear systems
Based on the algebraic Riccati equation approach, this paper presents a simple and flexible method for designing observer-based robust-H-infinity control laws for linear systems with structured parameter uncertainty. The observer-based robust-H-infinity output-feedback control law, obtained by solving three augmented algebraic Riccati equations, provides both robust stability and disturbance attenuation with H-infinity-norm bound for the closed-loop uncertain linear system. Several tuning parameters are embedded into the augmented algebraic Riccati equations so that flexibility in finding the symmetric positive-definite solutions (and hence, the robust-H-infinity control laws) is significantly increased. A benchmark problem associated with a mass-spring system, which approximates the dynamics of a flexible structure, is used to illustrate the design methodologies, and simulation results are presented.
Shieh, Leang S.↗
Improved FFT-based numerical inversion of Laplace transforms via fast Hartley transform algorithm
The disadvantages of numerical inversion of the Laplace transform via the conventional fast Fourier transform (FFT) are identified and an improved method is presented to remedy them. The improved method is based on introducing a new integration step length Delta(omega) = pi/mT for trapezoidal-rule approximation of the Bromwich integral, in which a new parameter, m, is introduced for controlling the accuracy of the numerical integration. Naturally, this method leads to multiple sets of complex FFT computations. A new inversion formula is derived such that N equally spaced samples of the inverse Laplace transform function can be obtained by (m/2) + 1 sets of N-point complex FFT computations or by m sets of real fast Hartley transform (FHT) computations.
Hwang, Chyi↗
Optimal digital redesign of continuous-time controllers
This paper proposes a new optimal digital redesign technique for finding a dynamic digital control law from the available analog counterpart and simultaneously minimizing a quadratic performance index. The proposed technique can be applied to a system with a more general class of reference inputs, and the developed digital regulator can be implemented using low cost microcomputers.
Shieh, Leang S.↗
Sequential design of linear quadratic state regulators with prescribed eigenvalues and specified relative stability
This paper considers the problem of optimal regulator design of linear multivariable systems with prescribed pole locations and/or poles corresponding to specified relative stability. A sequential method based on the frequency-domain optimality condition is proposed for achieving the desired pole assignment and determination of the corresponding quadratic performance index. This design method enables the retention of some stable open-loop poles and the associated eigenvectors in the closed-loop system. An illustrative example is provided to demonstrate the effectiveness of the proposed method.
Ganesan, Sekar↗
Sequential design of discrete linear quadratic regulators via optimal root-locus techniques
A sequential method employing classical root-locus techniques has been developed in order to determine the quadratic weighting matrices and discrete linear quadratic regulators of multivariable control systems. At each recursive step, an intermediate unity rank state-weighting matrix that contains some invariant eigenvectors of that open-loop matrix is assigned, and an intermediate characteristic equation of the closed-loop system containing the invariant eigenvalues is created.
Shieh, Leang S.↗
Linear quadratic regulators with eigenvalue placement in a specified region
A linear optimal quadratic regulator is developed for optimally placing the closed-loop poles of multivariable continuous-time systems within the common region of an open sector, bounded by lines inclined at + or - pi/2k (k = 2 or 3) from the negative real axis with a sector angle of pi/2 or less, and the left-hand side of a line parallel to the imaginary axis in the complex s-plane. The design method is mainly based on the solution of a linear matrix Liapunov equation, and the resultant closed-loop system with its eigenvalues in the desired region is optimal with respect to a quadratic performance index.
Shieh, Leang S.↗
Model transformations for state-space self-tuning control of multivariable stochastic systems
The design of self-tuning controllers for multivariable stochastic systems is considered analytically. A long-division technique for finding the similarity transformation matrix and transforming the estimated left MFD to the right MFD is developed; the derivation is given in detail, and the procedures involved are briefly characterized.
Shieh, Leang S.↗
Fast and stable algorithms for computing the principal square root of a complex matrix
This note presents recursive algorithms that are rapidly convergent and more stable for finding the principal square root of a complex matrix. Also, the developed algorithms are utilized to derive the fast and stable matrix sign algorithms which are useful in developing applications to control system problems.
Shieh, Leang S.↗
Precise computer controlled positioning of robot end effectors using force sensors
A major problem in space applications of robotics and docking of spacecraft is the development of technology for automated precise positioning of mating components with smooth motion and soft contact. To achieve the above objective, a design method was developed for optimally placing the closed-loop poles of a discretized robotic control system at exact prescribed locations inside the unit circle of the complex z-plane. The design method combines the merits of the pole placement and the linear quadratic design approaches. The proposed design procedure is based on the assignment of one real eigenvalue or two complex conjugate (or real) eigenvalues at each design step. The method involves solutions of simple algebraic equations and this is considered to be efficient for on-line or off-line computations. Also, two methods for the linearization of the nonlinear model of a robotic manipulator were presented. Since automatic control of multi-degree freedom robotic manipulators involves high nonlinear equations of systems, a pilot project was proposed involving the control of a one-dimensional system. This simple system can be readily implemented for testing the concepts and algorithms.
Shieh, Leang S.↗
Inverse of polynomial matrices in the irreducible form
An algorithm is developed for finding the inverse of polynomial matrices in the irreducible form. The computational method involves the use of the left (right) matrix division method and the determination of linearly dependent vectors of the remainders. The obtained transfer function matrix has no nontrivial common factor between the elements of the numerator polynomial matrix and the denominator polynomial.
Chang, Fan R.↗
Linear quadratic regulators with eigenvalue placement in a horizontal strip
A method for optimally shifting the imaginary parts of the open-loop poles of a multivariable control system to the desirable closed-loop locations is presented. The optimal solution with respect to a quadratic performance index is obtained by solving a linear matrix Liapunov equation.
Shieh, Leang S.↗