1. Introduction. 2. Linear Algebra. 3. Linear Systems. 4. H2 and Ha Spaces. 5. Internal Stability. 6. Performance Specifications and Limitations. 7. Balanced Model Reduction. 8. Uncertainty and Robustness. 9. Linear Fractional Transformation. 10. m and m- Synthesis. 11. Controller Parameterization. 12. Algebraic Riccati Equations. 13. H2 Optimal Control. 14. Ha Control. 15. Controller Reduction. 16. Ha Loop Shaping. 17. Gap Metric and ...u- Gap Metric. 18. Miscellaneous Topics. Bibliography. Index.

/pdf/essentials-of-robust-control-3kaks6yk3h.pdf

Essentials of Robust Control

Electrical energy storage technologies for stationary applications are reviewed. Particular attention is paid to pumped hydroelectric storage, compressed air energy storage, battery, flow battery, fuel cell, solar fuel, superconducting magnetic energy storage, flywheel, capacitor/supercapacitor, and thermal energy storage. Comparison is made among these technologies in terms of technical characteristics, applications and deployment status.

http://promexico.me/Rubenius/WhitePapers/sdarticle%20(1).pdf

Progress in electrical energy storage system: A critical review

This article surveyed the major results in iterative learning control (ILC) analysis and design over the past two decades. Problems in stability, performance, learning transient behavior, and robustness were discussed along with four design techniques that have emerged as among the most popular. The content of this survey was selected to provide the reader with a broad perspective of the important ideas, potential, and limitations of ILC. Indeed, the maturing field of ILC includes many results and learning algorithms beyond the scope of this survey. Though beginning its third decade of active research, the field of ILC shows no sign of slowing down.

A survey of iterative learning control

Pedestrians follow different trajectories to avoid obstacles and accommodate fellow pedestrians. Any autonomous vehicle navigating such a scene should be able to foresee the future positions of pedestrians and accordingly adjust its path to avoid collisions. This problem of trajectory prediction can be viewed as a sequence generation task, where we are interested in predicting the future trajectory of people based on their past positions. Following the recent success of Recurrent Neural Network (RNN) models for sequence prediction tasks, we propose an LSTM model which can learn general human movement and predict their future trajectories. This is in contrast to traditional approaches which use hand-crafted functions such as Social forces. We demonstrate the performance of our method on several public datasets. Our model outperforms state-of-the-art methods on some of these datasets. We also analyze the trajectories predicted by our model to demonstrate the motion behaviour learned by our model.

/pdf/social-lstm-human-trajectory-prediction-in-crowded-spaces-wwxok9svq7.pdf

Social LSTM: Human Trajectory Prediction in Crowded Spaces

Reinforcement learning offers to robotics a framework and set of tools for the design of sophisticated and hard-to-engineer behaviors. Conversely, the challenges of robotic problems provide both inspiration, impact, and validation for developments in reinforcement learning. The relationship between disciplines has sufficient promise to be likened to that between physics and mathematics. In this article, we attempt to strengthen the links between the two research communities by providing a survey of work in reinforcement learning for behavior generation in robots. We highlight both key challenges in robot reinforcement learning as well as notable successes. We discuss how contributions tamed the complexity of the domain and study the role of algorithms, representations, and prior knowledge in achieving these successes. As a result, a particular focus of our paper lies on the choice between model-based and model-free as well as between value-function-based and policy-search methods. By analyzing a simple problem in some detail we demonstrate how reinforcement learning approaches may be profitably applied, and we note throughout open questions and the tremendous potential for future research.

/pdf/reinforcement-learning-in-robotics-a-survey-4w4397qx9i.pdf

Reinforcement learning in robotics: A survey

An experiment is designed to identify input-output relations of a mechanical positioning system with excitation amplitude dependent mechanical behavior. When evaluated in the frequency domain, these relations constitute a fingerprint of the dynamical behavior of the system. Since the commonly used FFT based techniques for Frequency Response Function (FRF) estimations require stationary signals, an alternative technique is introduced. With a digital filtering based technique fixed frequency higher order can be estimated as function of time dependent excitation levels. The paper describes the data processing techniques and shows measurement results of the higher order FRFs of a system with strong amplitude dependent mechanical behavior caused by a friction induced resonance.

http://www.mate.tue.nl/mate/pdfs/4189.pdf

Identification of non-linear dynamics using higher order frequency response functions

Many powerful tools exist for control design in the frequency domain, but are theoretically only justified for linear systems. On the other hand, nonlinear control deals with control design methodologies that are theoretically justified for a larger and more realistic class of systems, but primarily dealing with stability and to a lesser extent with performance. In this technical note a standard linear notch filter is modeled in the port-Hamiltonian (PH) framework, thereby proving that the notch filter is a passive system. The notch filter can then be interconnected with any other (nonlinear) PH system, while preserving the overall passivity property. By doing so, we can combine a frequency-based control method to improve performance, the notch filter, with the nonlinear control methodology of passivity-based control.

/pdf/notch-filters-for-port-hamiltonian-systems-2gs4d4qd36.pdf

Notch Filters for Port-Hamiltonian Systems

http://www.mate.tue.nl/mate/pdfs/12800.pdf

ITER Upper Port Plug handling cask system assessment and design proposals

In high-performance motion systems, e.g. waferstages or pick-and-place machines, there is an increasing demand for higher throughput and accuracy. The current design paradigm aims at rigid-body behaviour and leads in an evolutionary way to increasingly heavier systems that require more and more power. This paradigm is rapidly approaching the boundary of its scalability. A new paradigm is to design a lightweight machine and to deal with the resulting flexibilities by over-actuation and over-sensing. Such systems offer freedom to explore new control strategies that exploit the over-actuation and -sensing. This paper presents a spatial feedforward method for over-actuated flexible motions systems, which aims at reducing the vibrations over the complete flexible structure during motion. The proposed method is experimentally validated and compared to the standard input shaping technique.

Spatial feedforward for over-actuated flexible motion systems

The performance and operating range of centrifugal compressors is limited by the occurrence of an aerodynamic instability called surge. This paper deals with the technological barriers for feedback stabilization of full-scale centrifugal compression systems. A dynamic model for a single stage compressor test rig is presented and a surge control strategy is discussed. Then the critical problems of model accuracy and sensor and actuator limitations are discussed. These problems are illustrated with simulation results and experimental data. We conclude by suggesting directions for further work in order to successfully implement active surge control in full-scale applications.

/pdf/practical-issues-in-model-based-surge-control-for-1ve3u7v5xb.pdf

M Maarten Steinbuch

Papers

Identification of non-linear dynamics using higher order frequency response functions

Notch Filters for Port-Hamiltonian Systems

ITER Upper Port Plug handling cask system assessment and design proposals

Spatial feedforward for over-actuated flexible motion systems

Practical issues in model-based surge control for centrifugal compressors