The fuel efficiency and performance of novel vehicles with electric propulsion capability are largely limited by the performance of the energy storage system (ESS). This paper reviews state-of-the-art ESSs in automotive applications. Battery technology options are considered in detail, with emphasis on methods of battery monitoring, managing, protecting, and balancing. Furthermore, other ESS candidates such as ultracapacitors, flywheels and fuel cells are also discussed. Finally, hybrid power sources are considered as a method of combining two or more energy storage devices to create a superior power source.

Energy Storage Systems for Automotive Applications

This paper is concerned with linear systems containing time delay in control. A process-model control which utilizes a mathematical model of the process in the minor feedback loop around the conventional controller to overcome delay is developed. A new process-model control system which can yield zero steady-state error and desired transient responses to step disturbances and arbitrary initial conditions is proposed. The remarkable feature of the proposed system is that the states of the model and the integrator are unobservable in the output of the model. It is shown that this structural property is the key by which the major problems of process-model control can be solved.

A process-model control for linear systems with delay

Optimal State Estimation

The special stability properties of SISO systems incorporating Smith dead-time compensator controllers are investigated. It is shown that the conventional approach to the design of such systems may lead to practical instabilities. Necessary conditions for practical stability and sufficient conditions guaranteeing certain sensitivity and relative stability properties are stated and proven. The inaccuracies in the models are measured by means of an ' ignorance function '. Sufficient conditions expressed in terms of this function, from which conservative estimates on allowed mismatches in the models may be found, are stated. Illustrative examples demonstrating the main results are presented.

Stability properties of Smith dead-time compensator controllers

A Smith predictor has been known as an effective controller to overcome a dead time. If the plant, however, is unstable, the closed-loop system cannot be stabilized with a Smith predictor. In order to stabilize an unstable plant with time delay, we propose a predictive control which is composed of an observer, a predictor and a controller. We refer to the realization of the predictor, and indicate an available type of model for it. In addition, we suggest the possibility that predictive control with a stable approximate model may be applied to an astatic plant.

Predictive control for systems with time delay

A nonlinear dynamic model of the terminal voltagecurrent (V-I) characteristics of a mercury arc lamp operating at various power levels which can be used in the computer design of lamp ballast circuits is described. An experimental and efficient computational procedure is developed which determines the values for six model constants that cause the model to duplicate actual lamp behavior. This model is shown to be accurate within five percent in simulating lamp voltage and current waveforms when operated at frequencies from dc to 30 kHz. An example of a computer design of a high frequency ballast circuit is presented using the lamp model as the dynamic load in the ballast circuit.

A Model of a Mercury Arc Lamp's Terminal V-I Behavior

The relatively recent application of optimal control theory to the design of control systems for processes with delay has made available an alternative design approach to the classical Smith Predictor approach. Although the designs resulting from the two approaches have many features in common, there are also important differences, and neither the similarities or differences have been examined in any detail in the literature. This paper surveys the work to date in this area, reviews the development of and examines the general characteristics of the control systems resulting from application of the two approaches to a general class of multivariable systems with delay in the control, and presents a detailed comparison of the designs for the case in which the process to be controlled is first order with delay. An important result which emerges is that the design resulting from the optimal approach as developed in the literature to date does not perform as well as the Smith Predictor design in controlling against output disturbances.

A Comparison of the Smith Predictor and Optimal Design Approaches for Systems with Delay in the Control

Constant power acceleration has been shown to extend the range of electric vehicles However, this type of acceleration generally requires accelerations above a vehicles maximum attainable acceleration when the vehicle is at low velocities A practical approach is to accelerate at the maximum until a velocity is reached such that constant power acceleration from that point onward does not require accelerations larger than the maximum available To implement this approach it is necessary to know the time at which to begin constant power acceleration and the constant power to use This paper formulates and solves this problem

Constant Power Acceleration Profiles for Electric Vehicles

State estimation and control of the Fibonacci system

This paper investigates the characteristics of the Kalman filter for a broad class of complex Fibonacci systems and represents an extension to the complex domain of the state estimation problem for the real-valued Fibonacci system. Complex Fibonacci systems are obtained by modifying the real-valued Fibonacci recurrence relation to include complex coefficients, control and noise inputs, and a noisy output-measurement equation. Analytic expressions for the Kalman filter’s steady-state gain and error covariance matrices are obtained, and it is found that for a broad subclass of these complex systems the elements of the matrices are functions of the golden ratio.

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John F. Donoghue

Papers

A Model of a Mercury Arc Lamp's Terminal V-I Behavior

A Comparison of the Smith Predictor and Optimal Design Approaches for Systems with Delay in the Control

Constant Power Acceleration Profiles for Electric Vehicles

State estimation and control of the Fibonacci system

The Kalman Filter for Complex Fibonacci Systems