Projeto de controlador gain scheduling usando realimentação derivativa via LMI

Pós-graduação em Engenharia Elétrica - FEIS

LMI trends.

Description based on: Jan. 1982.

LMI trends. Champaign-Urbana-Rantoul SMSA (Champaign County) /

"Job service Illinois."

LMI trends. Beltline of Illinois counties (Coles, Cumberland, Macoupin, Montgomery, Christian, and Shelby).

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Functional observer-based fault detection of time-delay systems via an LMI approach

This paper presents a novel residual generator that uses minimum-order functional observers to trigger actuator and component faults in time-delay systems. We first present a fault detection scheme and derive existence conditions of the residual generator and functional observer. The observer and residual parameters are then systematically determined via solving some coupled generalized Sylvester matrix equations. To deal with the time-delay issue, a stabilizability condition expressed in terms of linear matrix inequality (LMI) is derived to ensure the time-delay observer error system converges to zero with a prescribed convergence rate. Our design approach has the advantage that the designed fault detection scheme has lower order than existing results in the literature. Two numerical examples are given to illustrate the effectiveness of our results.

An LMI-based functional estimation scheme of large-scale time-delay systems with strong interconnections

In this paper, the problem of distributed functional state observer design for a class of large-scale interconnected systems in the presence of heterogeneous time-varying delays in the interconnections and the local state vectors is considered. The resulting observer scheme is suitable for strongly coupled subsystems with multiple time-varying delays, and is shown to give better results for systems with very strong interconnections while only some mild existence conditions are imposed. A set of existence conditions are derived along with a computationally simple observer constructive procedure. Based on the Lyapunov-Krasovskii functional method (LKF) in the framework of linear matrix inequalities (LMIs), delay-dependent conditions are derived to obtain the observer parameters ensuring the exponential convergence of the observer error dynamics. The effectiveness of the obtained results is illustrated and tested through a numerical example of a three-area interconnected system.

Characteristics evaluation of an LMI-synthesis H∞ controller for a superconducting magnetic energy systems applied in power systems

© 2015 IEEE.This paper presents an H« controller synthesised based on linear matrix inequalities (LMI) for a current source converter based superconducting magnetic energy systems (SMESs) connected to a node of power systems where the regulation of grid current has considered as a control objective. To facilitate the control design, the system is represented in terms of state space realization with uncertainties. The control design involves selecting proper weighting functions and performing LMI-synthesis. The controller order is reduced by Henkel-norm method. Simulations are carried out to evaluate the characteristics of the controller under parametric uncertainties. It is found out that the proposed controller is inherently stable, possesses significantly small tracking error, and preserves robust performance for the SMES.

Study of robust H(infinity) filtering application in loosely coupled INS/GPS system

Since a celebrate linear minimum mean square (MMS) Kalman filter in integration GPS/INS system cannot guarantee the robustness performance, a H(infinity) filtering with respect to polytopic uncertainty is designed. The purpose of this paper is to give an illustration of this application and a contrast with traditional Kalman filter. A game theory H(infinity) filter is first reviewed; next we utilize linear matrix inequalities (LMI) approach to design the robust H(infinity) filter. For the special INS/GPS model, unstable model case is considered. We give an explanation for Kalman filter divergence under uncertain dynamic system and simultaneously investigate the relationship between H(infinity) filter and Kalman filter. A loosely coupled INS/GPS simulation system is given here to verify this application. Result shows that the robust H(infinity) filter has a better performance when system suffers uncertainty; also it is more robust compared to the conventional Kalman filter.

Early growth and adult health: focus on blood pressure, glucose tolerance status and body composition

Theory of developmental origins of adult health and disease proposes that experiences during critical periods of early development may have consequences on health throughout a lifespan. Thesis studies aimed to characterize associations between early growth and some components of the metabolic syndrome cluster. Participants belong to two epidemiological cohorts with data on birth measurements and, for the younger cohort, on serial recordings of weight and height during childhood. They were born as singletons between 1924-33 and 1934-44 in the Helsinki University Central Hospital, and 500 and 2003 of them, respectively, attended clinical studies at the age of 65-75 and 56-70 years, respectively. In the 65-75 year old men and women, the well-known inverse relationship between birth weight and systolic blood pressure (SBP) was confined to people who had established hypertension. Among them a 1-kg increase in birth weight was associated with a 6.4-mmHg (95% CI: 1.0 to 11.9) decrease in SBP. This relationship was further confined to people with the prevailing Pro12Pro polymorphism of the peroxisome proliferator-activated receptor-γ2 (PPARγ2) gene. People with low birth weight were more likely to receive angiotensin-converting enzyme inhibitors/angiotensin-receptor blockers (ACEI/ARB, p=0.03), and, again, this relationship was confined to the carriers of the Pro12Pro (p=0.01 for interaction). These results suggest that the inverse association between birth weight and systolic BP becomes focused in hypertensive people because pathological features of BP regulation, associated with slow fetal growth, become self-perpetuating in adult life. Insulin resistance of the Pro12Pro carriers with low birth weight may interact with the renin-angiotensin system leading to raised BP levels. Habitual physical activity protected men and women who were small at birth, and thus at increased risk for the development of type 2 diabetes, against glucose intolerance more strongly. Among subjects with birth weight ≤3000 g, the odds ratio (OR) for glucose intolerance was 5.2 (95% CI: 2.1 to 13) in those who exercised less than 3 times per week compared to regular exercisers; in those who scored their exercise light compared with moderate exercisers (defined as comparable to brisk walking) the OR was 3.5 (1.5 to 8.2). In the 56-70 year old men a 1 kg increase in birth weight corresponded to a 4.1 kg (95% CI: 3.1 to 5.1) and in women to a 2.9 kg (2.1 to 3.6) increase in adult lean mass. Rapid gain in body mass index (BMI), i.e. crossing from an original BMI percentile to a higher one, before the age of 2 years increased adult lean mass index (LMI, lean mass/height squared) without excess fat accumulation whereas rapid gain in BMI during later childhood, despite the concurrent rise in LMI, resulted in a relatively higher increase in adult body fat mass. These findings illustrate how genes, the environment and their interactions, early growth patterns, and adult lifestyle modify adult health risks which originate from early life.

Modified ILMI algorithm for practical PID/PD implementation on a Micro Air Vehicle

This paper extends the iterative linear matrix inequality algorithm (ILMI) for systems having non-ideal PI, PD and PID implementations. The new algorithm uses the practical implementation of the feedback blocksto form the equivalent static output feedback plant. The LMI based synthesis techniques are used in the algorithm to design a multi-loop, multi-objective fixed structure control. The benefits of such a control design technique are brought out by applying it to the lateral stabilizing and tracking feedback control problem of a 30cm wingspan micro air vehicle.

Stability analysis and observer design for discrete-time SEIR epidemic models

This paper applies Micken's discretization method to obtain a discrete-time SEIR epidemic model. The positivity of the model along with the existence and stability of equilibrium points is discussed for the discrete-time case. Afterwards, the design of a state observer for this discrete-time SEIR epidemic model is tackled. The analysis of the model along with the observer design is faced in an implicit way instead of obtaining first an explicit formulation of the system which is the novelty of the presented approach. Moreover, some sufficient conditions to ensure the asymptotic stability of the observer are provided in terms of a matrix inequality that can be cast in the form of a LMI. The feasibility of the matrix inequality is proved, while some simulation examples show the operation and usefulness of the observer.

Algorithm for identification in the v-gap metric

This paper suggests a method for identification in the v-gap metric. For a finite number of frequency response samples, a problem for identification in the v-gap metric is formulated and an approximate solution is described. It uses an iterative technique for obtaining an L2-gap approximation. Each stage of the iteration involves solving an LMI optimisation. Given a known stabilising controller and the L2-gap approximation, it is shown how to derive a v-gap approximation.

水下机器人多功能仿真平台及其鲁棒控制研究

为了辅助水下机器人控制系统的研究和开发，论文第一部分研究和建立水下机器人多功能仿真平台。基于现代仿真技术，先后研制成“7000米载人潜水器”多功能仿真平台HOV7000，“CR-02”6000米自主水下机器人多功能仿真平台CR6000和远程自主水下机器人多功能仿真平台LAUV。该种平台具有缩短研制水下机器人周期、减少试验成本、提高系统安全性和可靠性等特点。该平台的创新点在于水下机器人控制系统的硬件和软件与真实系统的硬件和软件完全一致，在多功能仿真平台上调试后的程序直接作为真实系统的控制程序运行。 论文第二部分针对7000米载人潜水器工作环境的复杂性，水下机器人本身参数摄动、外界扰动、传感器、执行机构、控制器不同程度存在不确定性、非线性和延迟，常规的控制方法一定程度上难以克服上述不确定性的影响等问题，研究了可以克服上述多环节不确定性、适合7000米载人潜水器水下作业场合的强鲁棒控制方法。其创新点为将运算量较大的多输入多输出鲁棒控制算法通过选择适当的加权函数应用于实际的水下机器人控制系统。本论文研究内容如下： 1、利用现代仿真技术研究水下机器人多功能仿真平台的实现方法。深入研究了水下机器人动力学模型、推进系统、海洋环境中海流、海底地形和水下机器人传感器等模型。利用机理仿真法，研究了水下机器人分立件推进系统模型和动力学模型；基于电子海图数据采用曲线/曲面拟合法建立了海流数据库模型，并提出了DTTCGSFD的海底地形生成方法；基于随机仿真法研究了水下机器人传感器的模拟方法；采用相似仿真法研究了基于势流理论、水面进行波、CFD的海流模拟方法和视觉传感器模拟方法；采用综合仿真法建立了一体化推进系统的模型。 2、研制成的水下机器人仿真平台具有下述9个方面的功能：基本原理、设计思想和方法的验证；控制系统软件和硬件的静态和动态调试；系统性能的测试与评价；下水前使命可实现性的全程实时验证；水下使命执行过程的伪在线监视；实时运行过程的离线重现；示教与训练；故障可能原因的仿真分析；演示与汇报。现场试验结果表明，多功能平台上的控制效果与现场湖试和海试的试验结果基本吻合。水下机器人多功能仿真平台的研制成功对于水下机器人的研究开发工作具有很大的实际意义，它使我们的研究工作从基于实际环境研究开发向基于虚拟环境研究开发转变，大大缩短了研究工作的周期，节省了大量的人力、物力和经费。 3、研究了基于MLQG的7000米载人潜水器控制方法。将7000米载人潜水器看作慢时变线性系统，采用带遗忘因子的递推最小二乘辨识算法及平方根算法辨识出水下机器人系统的时变参数，利用LQG控制具有克服零均值白噪声的特点设计2种MLQG鲁棒控制器。仿真试验结果表明MLQG控制算法对水下机器人系统存在海流扰动和参数时变两种不确定性均具有较好的鲁棒性。 4、研究基于混合灵敏度的H∞水下机器人鲁棒控制方法。由于水下机器人系统的模型摄动加权函数、输入加权函数、性能指标加权函数等加权函数的选择是水下机器人系统鲁棒稳定性和鲁棒性能的核心。深入研究并设计出适合于7000米载人潜水器的各加权函数后，将混合灵敏度问题转化为标准H∞问题，采用代数Riccati方程或LMI方法设计了可克服水下机器人多环节同时存在不确定性的鲁棒控制器。通过对频域和时域分析表明H∞鲁棒控制对于提高7000米载人潜水器系统快速性、减小系统稳态误差和克服系统不确定性具有更好的效果。在HOV7000多功能仿真平台上进行的控制系统试验——阶跃响应试验、动力定位试验以及H∞鲁棒控制和PID控制的比较试验验证了上述控制效果。 5、为了克服基于H∞鲁棒控制理论设计的控制器具有保守性的缺点，研究了基于结构奇异值µ的水下机器人鲁棒控制方法。在对结构奇异值µ理论深入研究后，讨论基于结构奇异值µ鲁棒控制和基于混合灵敏度的H∞鲁棒控制在系统模型摄动加权函数、输入加权函数、性能指标加权函数等加权函数的选择方面的区别与联系。设计出各相应加权函数后，采用D-K迭代方法设计了可克服水下机器人多环节同时存在不确定性的控制器参数。频域和时域内的理论分析结果，和HOV7000多功能仿真平台上的试验——系统阶跃响应试验、动力定位试验以及基于结构奇异值µ鲁棒控制与PID控制比较试验结果，表明采用基于结构奇异值µ的水下机器人鲁棒控制方法比基于H∞混合灵敏度的鲁棒控制方法具有更好的鲁棒稳定性和鲁棒性能。

Time-dependent wavepacket approach to the influence of intense fields on the population of molecular excited states

The influence of laser-field parameters, such as intensity and pulse width, on the population of molecular excited state is investigated by using the time-dependent wavepacket method. For a two-state system in intense laser fields, the populations in the upper and lower states are given by the wavefunctions obtained by solving the Schrodinger equation through split-operator scheme. The calculation shows that both the laser intensity and the pulse width have a strong effect on the population in molecular excited state, and that as the common feature of light-matter interaction (LMI), the periodic changing of the population with the evolution time in each state can be interpreted by Rabi oscillation and area-theorem. The results illustrate that by controlling these two parameters, the needed population in excited state of interest can be obtained, which provides the foundation of light manipulation of molecular processes. (C) 2005 Elsevier B.V. All rights reserved.

Health status of an elderly population in Sharpeville, South Africa

The objective of this cross-sectional study was a comprehensive nutrition and health assessment to provide a basis for future intervention strategies for an elderly population attending a day-care centre. Socio-demographic, health and 24-hour recall dietary intake questionnaires were administered and anthropometric and biochemical measurements taken. The results indicate that the majority of respondents had an income of between R501 and R1 000 (South African rand) per month and most of them reported an occasional lack of funds to meet basic household needs, confirming the presence of food insecurity. Daily dietary intakes (mean [+ or -] Standard Deviation [SD]) of the women were 5 395 [+ or -] 2 946 kJ energy, 47 [+ or -] 27 g protein, 28 [+ or -] 21 g fat and 196 [+ or -] 123 g carbohydrates compared to 8 641 [+ or -] 3 799 kJ, 86 [+ or -] 48 g, 49 [+ or -] 32 g and 301 [+ or -] 139 g of the men, respectively. The majority (83.6%) of the women were overweight (body mass index [BMI] [greater than or equal to] 25) or obese (BMI [greater than or equal to] 30) whilst 78% had a mid-upper arm circumference (MUAC) of [greater than or equal to] 21.7 cm. Mean intakes of micronutrients were low in comparison to reference standards and serum zinc levels were suboptimal. Obesity, hypertension and raised total serum cholesterol levels indicated an increased risk for coronary heart disease. It can be concluded that a low income, household food insecurity and risk factors associated with malnutrition and non-communicable diseases were prevalent in this elderly population. OPSOMMING Die doelwit van hierdie dwarssnitstudie was ‘n omvattende bepaling van voeding- en gesondheidstatus om as basis te dien vir toekomstige intervensiestrategieë vir ’n groep bejaardes wat ’n dagsentrum besoek. Sosiodemografiese, gesondheid- en 24-uur herroep-dieetinname vraelyste is voltooi en antropometriese en biochemiese metings is geneem. Die resultate het bevestig dat die meerderheid respondente ‘n maandelikse inkomste van tussen R501 en R1 000 (Suid-Afrikaanse rand) gehad het. Die meeste het ‘n geldtekort vir basiese huishoudelike behoeftes gerapporteer wat dui op huishoudelike voedselinsekuriteit. Daaglikse dieetinnames (gemiddeld±standaardafwyking [SA]) van die vroue was onderskeidelik 5 395±2 946 kJ energie, 47±27 g proteïen, 28±21 g vet en 196±123 g koolhidrate in vergelyking met 8 641±3 799 kJ, 86±48 g, 49±32 g en 301±139 g vir die mans. Die meerderheid (83.6%) van die vroue was oorgewig (liggaamsmassa-indeks [LMI] >25) of vetsugtig (LMI > 30) en 78% het ’n middel-bo-armomtrek (MUAC) van > 21.7 cm gehad. Gemiddelde mikronutriëntinnames was laag in vergelyking met die verwysingstandaarde en serumsink was suboptimaal. Vetsug, hipertensie en verhoogde totale serumcholesterolvlakke het op ‘n verhoogde risiko van kardiovaskulêre siekte gedui. Die resultate het dus bewys dat lae inkomste, huishoudelike voedselinsekuriteit en die risikofaktore wat met wanvoeding en leefstylsiektes geassosieer word, teenwoordig was.