Showing papers in "IFAC Proceedings Volumes in 1987"

TL;DR: In this paper, a visual feedback control system was developed which is able to guide road vehicles on well structured roads at high speeds by using contour correlation and curvature models together with the laws of perspective projection.

TL;DR: A new multi-scalar model of the induction motor is introduced, to which nonlinear control system has been applied and the new control system is compared with the field-oriented system.

TL;DR: In this article, a Generalized Predictive Control (GPC) approach is presented for controlling complex plant such as unstable/inverse unstable systems, where the selection of particular "horizons" (the "costing horizons" and the "control horizon") leads to well-understood basic techniques such as dead-beat, pole-placement, Generalized Minimum Variance and LQ.

TL;DR: A predictive control technique (PFC) is introduced where the project of the future manipulated variable depends on the dynamic set point and no error lag is obtained.

TL;DR: In this paper, the authors treat systems with controls as discontinuous functions of the system state, reference inputs and disturbances, and postulate discontinuity of control before the performace criteria choice and design stages.

TL;DR: A modular approach to the synthesis of state feedback controls for the problem of maintaining a predicate on the state set of a discrete dynamic system invariant by determining conditions under which it is possible to synthesize the appropriate control in a modular fashion.

TL;DR: The proposed methodology is applied to the high-level discrete control of a two-arm robotic assembly cell and guarantees the absence of system deadlocks and proper resource allocation for the MPN models.

TL;DR: In this article, an adaptive control method which is inspired from three different control algorithms: pole placement, multiple reference model simultaneously on inputs and outputs and predictive control is presented, which is easily extented to multivariable case where decoupling is solved in the general case of non stably invertible systems.

TL;DR: Finite convergence of a totally asynchronous (chaotic), distributed version of the massively parallelizable algorithm in which some processors compute faster than others, some processors communicate faster thanOthers, and there can be arbitrarily large communication delays is shown.

TL;DR: In this paper, a new method for precise positioning is introduced based on the following well known kinematic phenomenon: when a small impulsive force is applied on one end of a solid body placed on a plane surface, the body will move in the direction of the force with a very small displacement.

TL;DR: In this article, an adaptive inverse identification process is used to obtain a stable controller, even if the plant is non-minimum phase and no direct feedback is used, except that the plant output is monitored and utilized in order to adjust the parameters of the controller.

TL;DR: In this article, the authors deal with the problem of robust fault detection and isolation in dynamic systems using analytical redundancy in order to reduce the effect of process parameter variations, two observer schemes for FDI are described.

TL;DR: In this article, the authors survey theoretical results on robustness of direct adaptive control and other types of modeling uncertainties, namely, time-variations, mismatched delay, and nonlinearities.

TL;DR: An overview of design methods for on-line and off-line algorithms is presented and problems of detection, estimation and diagnosis of changes in dynamical models of signals or systems are addressed.

TL;DR: In this paper, the authors show that the estimates are asymptotically Gaussian distributed and that the instruments and data prefilters influence the covariance matrix of the estimates.

TL;DR: This paper generalizes the design methods showing that up to 10 different kinds can be constructed and that they can be categorized into 4 groups, and introduces a novel approach to reducing parameter sensitivity based on using all degrees of freedom inherent in the flux observer’s gain matrix.

TL;DR: A review of the state-of-the-art in engine modeling can be found in this article, where the authors compare different types of models to their relevance for engine control design.

TL;DR: In this article, the authors describe the results of an analytical and experimental investigation of some new design principles of force control systems which are based on the application of an electro-hydraulic servovalve controlling the volume rate flow to a hydraulic motor.

TL;DR: The authors present a survey of prior work, and a framework of specific criteria and design suggestions for real-time expert systems for process control, which includes consideration of large knowledge bases, knowledge maintenance, knowledge validation, representation of deep knowledge and other issues.

TL;DR: This chapter is concerned with sequential detection of changes in stochastic systems based upon the local approach for testing statistical hypotheses and different extensions of the cumulative sum algorithm.

TL;DR: In this paper, the authors highlight the nonlinear features of adaptive control algorithms and demonstrate that in the presence of undermodeling errors, nonlinear phenomena in the feedback gain such as limit cycles and even chaos arise.

TL;DR: This paper is the first contribution which reports a success of efficient parallel processing of robot dynamics simulation on an actual multiprocessor system.

TL;DR: With CRIC, optimal power flows may be completely decoupled; new sensitivity computations are described; a very fast reactive optimal power flow algorithm is presented and will allow to take decisions for reactive powers without disturbing active power control.

TL;DR: A theoretical analysis of the original MIT rule is pursued to support the existing simulation evidence and to indicate mechanisms for treating questions of robustness of MIT-rule-based adaptive controllers with undermodelling effects.

TL;DR: The richness of its command repertoire and the advanced algorithms it uses for implementing its functions make SIMKON-IV one of the most complete and advanced system engineering tools for control applications in the process industry.

TL;DR: In this paper, an explicit deterministic adaptive controller is designed for non-minimum phase plants, which eliminates the need for assumptions about the plant order and time-delay, and is more robust than the conventional model-based approach.

TL;DR: In this paper, the authors present a review of μ-based methods for analyzing the performance and robustness properties of feedback systems that will be used in the companion case-study papers.

TL;DR: An extended macroscopic model is presented which overcomes these malfunctions by simple but effective modifications of the model equations and is improved impressively when applied to urban freeways with many on- and off-ramps and bottlenecks.

TL;DR: The problem of approximating a stable transfer function of a McMillan degree n by one of the degrees k of k is studied in this paper, where the objective is to approximate the transfer function with respect to one of k degrees k.

TL;DR: Improvements of the Generalized Predictive Control method are presented and experimental results obtained with a real tracking system are reported.