Designing MPC controllers by reverse-engineering existing LTI controllers

This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when constraints are inactive. The baseline controller is cast into an observer-compensator form and an inverse-optimal cost function is used as the basis of the MPC controller. The available degrees of design freedom are explored, and some guidelines provided for the selection of an appropriate observer-compensator realisation that will best allow exploitation of the constraint-handling and redundancy management capabilities of MPC. Consideration is given to output setpoint tracking, and the method is demonstrated with three different multivariable plants of varying complexity.

Fracture toughness of fibrous membranes

Random fibrous networks exist in both natural biological and engineering materials. While the nonlinear deformation of fibrous networks has been extensively studied, the understanding of their fracture behaviour is still incomplete. To study the fracture toughness of fibrous materials, the near-tip region is crucial because failure mechanisms such as fibril rupture occur in this region. The consideration of this region in fracture studies is, however, a difficult task because it involves microscopic mechanical responses at a small length scale. This paper extends our previous finite element analysis by incorporating the microscopic responses into a macroscopic domain by using a submodeling technique. The detailed study of microstructures at crack tips show a stochastic toughness of membranes due to the random nature of fibrous networks. Further, the sizes of crack tip region, which are sufficient to provide a reasonable prediction of fracture behaviour in a specific type of fibrous network, were presented. Future work includes improving the current linear assumption in the macroscopic models to become nonlinear.

Designing output-feedback predictive controllers by reverse-engineering existing LTI controllers

An approach to designing a constrained output-feedback predictive controller that has the same small-signal properties as a pre-existing output-feedback linear time invariant controller is proposed. Systematic guidelines are proposed to select an appropriate (non-unique) realization of the resulting state observer. A method is proposed to transform a class of offset-free reference tracking controllers into the combination of an observer, steady-state target calculator and predictive controller. The procedure is demonstrated with a numerical example. © 2013 IEEE.

Computational analysis of liquid crystalline elastomer membranes: Changing Gaussian curvature without stretch energy

Liquid crystalline elastomers (LCEs) can undergo extremely large reversible shape changes when exposed to external stimuli, such as mechanical deformations, heating or illumination. The deformation of LCEs result from a combination of directional reorientation of the nematic director and entropic elasticity. In this paper, we study the energetics of initially flat, thin LCE membranes by stress driven reorientation of the nematic director. The energy functional used in the variational formulation includes contributions depending on the deformation gradient and the second gradient of the deformation. The deformation gradient models the in-plane stretching of the membrane. The second gradient regularises the non-convex membrane energy functional so that infinitely fine in-plane microstructures and infinitely fine out-of-plane membrane wrinkling are penalised. For a specific example, our computational results show that a non-developable surface can be generated from an initially flat sheet at cost of only energy terms resulting from the second gradients. That is, Gaussian curvature can be generated in LCE membranes without the cost of stretch energy in contrast to conventional materials. © 2013 Elsevier Ltd. All rights reserved.