CHALLENGES AND PARADIGMS IN APPLIED ROBUST CONTROL doc

CHALLENGES AND PARADIGMS IN APPLIED ROBUST CONTROL Edited by Andrzej Bartoszewicz Challenges and Paradigms in Applied Robust Control Edited by Andrzej Bartoszewicz Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. As for readers, this license allows users to download, copy and build upon published chapters even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. Notice Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published chapters. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Sandra Bakic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright Rudchenko Liliia, 2011 Used under license from Shutterstock.com First published November, 2011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Challenges and Paradigms in Applied Robust Control, Edited by Andrzej Bartoszewicz p. cm. ISBN 978-953-307-338-5 free online editions of InTech Books and Journals can be found at www.intechopen.com Contents Preface IX Part 1 Robust Control in Aircraft, Vehicle and Automotive Applications 1 Chapter 1 Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion 3 Abhijit Das, Frank L. Lewis and Kamesh Subbarao Chapter 2 Advanced Control Techniques for the Transonic Phase of a Re-Entry Flight 25 Gianfranco Morani, Giovanni Cuciniello, Federico Corraro and Adolfo Sollazzo Chapter 3 Fault Tolerant Depth Control of the MARES AUV 49 Bruno Ferreira, Aníbal Matos and Nuno Cruz Chapter 4 Robust Control Design for Automotive Applications: A Variable Structure Control Approach 73 Benedikt Alt and Ferdinand Svaricek Chapter 5 Robust Active Suspension Control for Vibration Reduction of Passenger's Body 93 Takuma Suzuki and Masaki Takahashi Chapter 6 Modelling and Nonlinear Robust Control of Longitudinal Vehicle Advanced ACC Systems 113 Yang Bin, Keqiang Li and Nenglian Feng Part 2 Control of Structures, Mechanical and Electro-Mechanical Systems 147 Chapter 7 A Decentralized and Spatial Approach to the Robust Vibration Control of Structures 149 Alysson F. Mazoni, Alberto L. Serpa and Eurípedes G. de O. Nóbrega VI Contents Chapter 8 Robust Control of Mechanical Systems 171 Joaquín Alvarez and David Rosas Chapter 9 Robust Control of Electro-Hydraulic Actuator Systems Using the Adaptive Back-Stepping Control Scheme 189 Jong Shik Kim, Han Me Kim and Sung Hwan Park Chapter 10 Discussion on Robust Control Applied to Active Magnetic Bearing Rotor System 207 Rafal P. Jastrzebski, Alexander Smirnov, Olli Pyrhönen and Adam K. Piłat Part 3 Distillation Process Control and Food Industry Applications 233 Chapter 11 Reactive Distillation: Control Structure and Process Design for Robustness 235 V. Pavan Kumar Malladi and Nitin Kaistha Chapter 12 Robust Multivariable Control of Ill-Conditioned Plants – A Case Study for High-Purity Distillation 257 Kiyanoosh Razzaghi and Farhad Shahraki Chapter 13 Loop Transfer Recovery for the Grape Juice Concentration Process 281 Nelson Aros Oñate and Graciela Suarez Segali Part 4 Power Plant and Power System Control 303 Chapter 14 A Robust and Flexible Control System to Reduce Environmental Effects of Thermal Power Plants 305 Toru Eguchi, Takaaki Sekiai, Naohiro Kusumi, Akihiro Yamada, Satoru Shimizu and Masayuki Fukai Chapter 15 Wide-Area Robust H 2 /H ∞ Control with Pole Placement for Damping Inter-Area Oscillation of Power System 331 Chen He and Bai Hong Part 5 Selected Issues and New Trends in Robust Control Applications 347 Chapter 16 Robust Networked Control 349 Wojciech Grega Chapter 17 An Application of Robust Control for Force Communication Systems over Inferior Quality Network 373 Tetsuo Shiotsuki Contents VII Chapter 18 Robust Control for Single Unit Resource Allocation Systems 391 Shengyong Wang, Song Foh Chew and Mark Lawley Chapter 19 Design of Robust Policies for Uncertain Natural Resource Systems: Application to the Classic Gordon-Schaefer Fishery Model 415 Armando A. Rodriguez, Jeffrey J. Dickeson, John M. Anderies and Oguzhan Cifdaloz Chapter 20 Robustness and Security of H  -Synchronizer in Chaotic Communication System 443 Takami Matsuo, Yusuke Totoki and Haruo Suemitsu Preface The main purpose of control engineering is to steer the regulated plant in such a way that it operates in a required manner. The desirable performance of the plant should be obtained despite the unpredictable influence of the environment on all parts of the control system, including the plant itself, and no matter if the system designer knows precisely all the parameters of the plant. Even though the parameters may change with time, load and external circumstances, still the system should preserve its nominal properties and ensure the required behavior of the plant. In other words, the principal objective of control engineering is to design and implement regulation systems which are robust with respect to external disturbances and modeling uncertainty. This objective may very well be obtained in a number of ways which are discussed and demonstrated in this book. Book is divided into five sections. In section 1 selected aircraft, vehicle and automotive applications are presented. That section begins with a contribution on rotorcraft control. The first chapter presents input-output linearization based on sliding mode controller for a quadrotor. Chapter 2 gives a comparison of different advanced control architectures for transonic phase of space re-entry vehicle flight. Then chapter 3 discusses the problem of robust fault tolerant, vertical motion control of modular underwater autonomous robot for environment sampling. The last three chapters in section 1 present solutions of the most important control problems encountered in automotive industry. They describe the second order sliding mode control of spark ignition engine idle speed, new active suspension control method reducing the passenger’s seat vibrations and advanced adaptive cruise control system design. Section 2 begins with a chapter on H-infinity active controller design for minimizing mechanical vibration of structures. Then it focuses on robust control of mechanical systems, i.e. uncertain Lagrangian systems with partially unavailable state variables, and adaptive back-stepping control of electro-hydraulic actuators. The last chapter in that section is concerned with the control of active magnetic bearing suspension system for high-speed rotors. Section 3 consists of three contributions on the control of distillation and multi-step evaporation processes. The first chapter, concerned with a generic double feed two- reactant two-product ideal reactive distillation and the methyl acetate reactive X Preface distillation systems, demonstrates the implications of the nonlinearity, and in particular input and output multiplicity, on the open and closed loop distillation system operation. The next chapter shows that the desirable closed-loop performance can be achieved for an ill-conditioned high-purity distillation column by the use of a decentralized PID controller and the structured uncertainty model describing the column dynamics within its entire operating range. Then the last chapter of section 3 analyses a complex multi-stage evaporation process and presents a new full order Kalman filter based scheme to obtain full loop transfer recovery for the process. Section 4 comprises two chapters on the control of power plants and power systems. The first of the two chapters studies the problem of reducing environmental effects by operational control of nitrogen oxide and carbon monoxide emissions from thermal power plants. The second chapter is concerned with damping of inter-area oscillations in electric power systems. For that purpose a mixed H2/H-infinity output-feedback control with pole placement is applied. Section 5 presents a number of other significant developments in applied robust control. It begins with a noteworthy contribution on networked control which demonstrates that robust control system design not only requires a proper selection and tuning of control algorithms, but also must involve careful analysis of the applied communication protocols and networks, to ensure that they are appropriate for real- time implementation in distributed environment. A similar issue – in the context of force bilateral tele-operation – is discussed in the next chapter of that section, where it is shown that H-infinity design offers good robustness with reference to network induced time delays. Then the section discusses selected problems in resource allocation and control. These include development of robust controllers for single unit resource allocation systems with unreliable resources and real world natural resource robust management with the special focus on fisheries. The monograph concludes with the presentation of H-infinity synchronizer design and its application to improve the robustness of chaotic communication systems with respect to delays in the transmission line. In conclusion, the main objective of this book is to present a broad range of well worked out, recent engineering and non-engineering application studies in the field of robust control system design. We believe, that thanks to the authors, reviewers and the editorial staff of InTech Open Access Publisher this ambitious objective has been successfully accomplished. The editor and authors truly hope that the result of this joint effort will be of significant interest to the control community and that the contributions presented here will enrich the current state of the art, and encourage and stimulate new ideas and solutions in the robust control area. Andrzej Bartoszewicz Technical University of Łódź Poland [...]... errors and velocities (with input disturbances) 10.2 10.1 10 9.9 9.8 9.7 Control Torques In N−m 0 5 10 Time in Sec 15 20 0.4 taophi 0.2 taotheta taosi 0 −0.2 −0.4 0 5 10 Time in Sec 15 Fig 12 Force and torque input variations (with input disturbances) 20 22 Challenges and Paradigms in Applied Robust Control 7 Conclusion Sliding mode approach using input-output linearization to design nonlinear controller... movement is obtained by increasing (reducing) the speed of the rear motor while reducing (increasing) the speed of the front motor The roll movement is obtained similarly using the lateral motors The yaw movement is obtained by increasing (decreasing) 5 Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion the speed of the front and rear motors while decreasing (increasing) the speed of... can be solved by back-stepping (Kanellakopoulos, Kokotovic, and Morse 1991; Khalil 2002; Slotine and Li 1991) Dynamic inversion (Stevens and F L Lewis 2003; Slotine and Li 1991; A Das et al 2004) is effective in the control of both linear and nonlinear systems and involves an inner inversion loop (similar to feedback linearization) which results in tracking if the residual or internal dynamics is stable... B L., and F L Lewis 2003 Aircraft Simulation and Control Wiley and Sons T Madani, and A Benallegue 2006 Backstepping control for a quadrotor helicopter In Beijing, China 24 Challenges and Paradigms in Applied Robust Control Wise, K A., J S Brinker, A J Calise, D F Enns, M R Elgersma, and P Voulgaris 1999 Direct Adaptive Reconfigurable Flight Control for a Tailless Advanced Fighter Aircraft International... Prasad, J V R., and A J Calise 1999 Adaptive nonlinear controller synthesis and flight evaluation on an unmanned helicopter In Kohala Coast-Island of Hawaii, USA Rysdyk, R., and A J Calise 2005 Robust Nonlinear Adaptive Flight Control for Consistent Handling Qualities IEEE Transaction of Control System Technology 13: 896-910 Slotine, Jean-Jacques, and Weiping Li 1991 Applied Nonlinear Control Prentice... Lewis, and C R Selmic 2000 Backlash Compensation in Discrete Time Nonlinear Systems Using Dynamic Inversion by Neural Networks In San Francisco, CA Castillo, P., A Dzul, and R Lozano 2004 Real-time Stabilization and Tracking of a FourRotor Mini Rotorcraft IEEE Transaction on Control System Technology 12: 510-516 Castillo, P., R Lozano, and A Dzul 2005 Modelling and Control of Mini Flying Machines Springer-Verlag... control law can be designed for fighter aircrafts using neural net and dynamic inversion Sometimes the inverse transformations required in dynamic inversion or feedback linearization are computed by neural network to reduce the inversion error by online learning In this chapter we apply dynamic inversion to tackle the coupling in quadrotor dynamics which is in fact an underactuated system Dynamic inversion... corresponding control inputs are also shown in Fig 9 and due to the full decoupling effect it is seen that   is almost zero The similar type of simulations are performed for y and z directional motions separately and similar plots are obtained showing excellent tracking 17 Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion 20 Positions in meter x d x y 10 d y z 0 d z −10 0 5 10 Time in. .. tracking control design of a helicopter model based on approximate linearization In Proceedings of the 37th Conference on Decision and Control Tampa, Florida: IEEE Lewis, F., S Jagannathan, and A Yesildirek 1999 Neural Network Control of Robot Manipulators and Nonlinear Systems London: Taylor and Francis Mistler, V., A Benallegue, and N K M'Sirdi 2001 Exact linearization and non- interacting control. .. position and position tracking errors for x command only 20 19 0.04 φ d 0.02 φ θd 0 θ −0.02 −0.04 Angular Position errors in rad Angular Positions in rad Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion 0 5 10 Time in Sec 15 20 −4 x 10 4 φd − φ 2 θd − θ 0 −2 −4 0 5 10 Time in Sec 15 20 15 20 Control Torques In N−m Control input U in Newton Fig 8 Angular variations due to change in x 9.818 . CHALLENGES AND PARADIGMS IN APPLIED ROBUST CONTROL Edited by Andrzej Bartoszewicz Challenges and Paradigms in Applied Robust Control Edited by Andrzej Bartoszewicz. l 1 f 1 M 2 M 2 f 3 M 3 f 4 M 4 f b x  b z  b y  x y z l 1 f 1 M 2 M 2 f 3 M 3 f 4 M 4 f b x  b z  b y  x y z Challenges and Paradigms in Applied Robust Control 6 The principal control inputs are defined as follows. Define       0 0 R F u (2) where u is the main thrust and defined. movement is obtained by increasing (decreasing) Sliding Mode Approach to Control Quadrotor Using Dynamic Inversion 5 the speed of the front and rear motors while decreasing (increasing) the speed