Abstract: The paper provides a reasonably accessible and self-contained tutorial exposition on model predictive control (MPC). It is aimed at readers with control expertise, particularly practitioners, who wish to broaden their perspective in the MPC area of control technology. We introduce the concepts, provide a framework in which the critical issues can be expressed and analyzed, and point out how MPC allows practitioners to address the trade-offs that must be considered in implementing a control technology.

Abstract: This paper discusses linear iterative learning and repetitive control, presenting general purpose control laws with only a few parameters to tune The method of tuning them is straightforward, maki

Abstract: We present a method to design controllers for safety specifications in hybrid systems. The hybrid system combines discrete event dynamics with nonlinear continuous dynamics: the discrete event dynamics model linguistic and qualitative information and naturally accommodate mode switching logic, and the continuous dynamics model the physical processes themselves, such as the continuous response of an aircraft to the forces of aileron and throttle. Input variables model both continuous and discrete control and disturbance parameters. We translate safety specifications into restrictions on the system's reachable sets of states. Then, using analysis based on optimal control and game theory for automata and continuous dynamical systems, we derive Hamilton-Jacobi equations whose solutions describe the boundaries of reachable sets. These equations are the heart of our general controller synthesis technique for hybrid systems, in which we calculate feedback control laws for the continuous and discrete variables, which guarantee that the hybrid system remains in the "safe subset" of the reachable set. We discuss issues related to computing solutions to Hamilton-Jacobi equations. Throughout, we demonstrate out techniques on examples of hybrid automata modeling aircraft conflict resolution, autopilot flight mode switching, and vehicle collision avoidance.

Abstract: Describes the design of an automated highway system (AHS) developed over the past ten years in the California PATH program. The AHS is a large, complex system, in which vehicles are automatically controlled. The design and implementation of the AHS required advances in actuator and sensor technologies, as well as the design, analysis, simulation, and testing of large-scale, hierarchical hybrid control systems. The paper focuses on the multilayer AHS control architecture and some questions of implementation. It discusses in detail the design and safety verification of the on-board vehicle control system and the design of the link-layer traffic-flow controller.

Abstract: Do you ever know the book? Yeah, this is a very interesting book to read. As we told previously, reading is not kind of obligation activity to do when we have to obligate. Reading should be a habit, a good habit. By reading, you can open the new world and get the power from the world. Everything can be gained through the book. Well in brief, book is very powerful. As what we offer you right here, this geometric control theory is as one of reading book for you.

Abstract: Fundamental limits on the controllability of physical systems are discussed in the light of information theory. It is shown that the second law of thermodynamics, when generalized to include information, sets absolute limits to the minimum amount of dissipation required by open-loop control. In addition, an information-theoretic analysis of control systems shows feedback control to be a zero sum game: each bit of information gathered from a dynamical system by a control device can serve to decrease the entropy of that system by at most one bit additional to the reduction of entropy attainable without such information. Consequences for the control of discrete state systems and chaotic maps are discussed.

Abstract: An advanced control block that implements multiple-input/multiple-output control, such as model predictive control, within a process control system is initiated by creating an initial control block having generic control logic and desired control inputs and control outputs communicatively connected to process outputs and process inputs within a process control routine. A waveform generator within the control block systematically upsets each of the process inputs via the control block outputs using excitation waveforms designed for use in developing a process model. At the same time, a data collection routine collects data indicating the response of each of the process outputs to the waveforms delivered at each of the process inputs. After sufficient data has been collected, a process modeling routine generates a process model from the collected data and a control logic parameter creation routine creates control logic parameters for the control logic from the process model. The control logic parameters and the process model are then downloaded to the control block to complete formation of the advanced control block. Thereafter, the advanced control block is used to provide advanced process control within the process control routine. Likewise, the process model is used to provide simulation of the process or to produce virtual process outputs.

Abstract: This paper presents a direct model-reference approach to the off-line design of linear controllers, suited to deal with plants described by a single set of open-loop I/O measurements only. The method is direct inasmuch as the controller parameters are directly estimated with no preliminary identification of any model to describe the plant. The design can be carried out off-line and, in the present formulation, leads to a nonadaptive controller. The basic idea is that of interpreting the open-loop I/O measurements of the plant as closed-loop data produced by a "virtual" reference signal that can be computed by backpropagating the measured output of the plant through the reference model; thus, the controller design reduces to a standard identification problem, in which the "output" signal to be matched is the measured input of the plant. Both a deterministic (noise-free) and a stochastic setting, are considered.

Abstract: This paper concerns an implementation of a fuzzy logic controller (FLC) on a reconfigurable field-programmable gate array (FPGA) system. In the proposed implementation method, the FLC is partitioned into many temporally independent functional modules, and each module is implemented individually on the FLC automatic design and implementation system, which is an integrated development environment for performing many subtasks such as automatic VHSIC hardware description language description, FPGA synthesis, optimization, placement and routing, and downloading. Each implemented module forms a downloadable hardware object that is ready to configure the FPGA chip. Then, the FPGA chip is consequently reconfigured with one module at a time by using the run-time reconfiguration method. This implementation method is effective when a single FPGA chip cannot fit the FLC due to the limited size of its constituent cells. We test the proposed implementation method by building the FLC for the truck backer-upper control on VCC Corporation's EVC-1 reconfigurable FPGA board directly.

Abstract: Repetitive controllers are generally applied to reject periodic disturbances and to track periodic reference signals with a known period. Their design is based on the internal model principle, proposed by Francis and Wonham (1975). This paper describes a new finite-dimensional SISO repetitive controller for two different classes of nonlinear plants. Simulation results show asymptotic tracking of the periodic reference signal by the proposed repetitive controller in closed loop up to the Nth harmonic frequency. A proof of robustness of the repetitive control system to small nonlinearities, like actuator nonlinearities, is provided.

Abstract: We propose an optimal control approach to robust control design. Our goal is to design a state feedback to stabilize a system under uncertainty. We translate this robust control problem into an optimal control problem of minimizing a cost. Because the uncertainty bound is reflected in the cost, the solution to the optimal control problem is a solution to the robust control problem. Our approach can deal with both linear and non-linear systems. Furthermore it can handle both matched and unmatched uncertainties. It can also handle uncertainty in the control input matrix.

Abstract: In this paper we propose a way to improve the performance of networked control systems, which we define as systems with a feedback loop closed through a communication network. We propose two types of algorithms for estimating the plant outputs in between two successive transmission times: an open-loop structure predictor and a closed-loop structure predictor. We analyze both in detail and prove that they do not affect system stability. We conclude the paper with simulations showing the effect these predictors have on the system performance.

Abstract: The new integrated traffic-responsive urban corridor control strategy IN-TUC (integrated traffic-responsive urban control) is presented. IN-TUC was developed and applied to the M8 corridor network in Glasgow, Scotland, within the European Telematics Applications in Transport project Telematics Applications in Bavaria, Scotland, and Others. The aim of the strategy, which is built on the well-known methods of the automatic control and optimization theories, is to provide, at suitably defined constant control intervals, traffic-responsive settings for the various control elements included in a corridor network area. The results of the preliminary simulation investigations as well as the results of the field implementation and evaluation of the strategy seem promising both for the particular site and for integrated corridor control systems in general.

Abstract: Two distinct and parallel research communities have been working along the lines of the Model-Based Diagnosis approach: the FDI community and the DX community that have evolved in the fields of Automatic Control and Artificial Intelligence, respectively. This paper clarifies and links the concepts that underlie the FDI analytical redundancy approach and the DX logical approach. The formal match of the two approaches is demonstrated and the proof of their equivalence is provided under various assumptions.

Abstract: This paper studies the effects of stochastic time delays on automatic control systems which uses communication networks. We assume a linear process to be controlled and known delay probability distributions.The contribution of this paper is to extend the theory in(Nilsson 1998) to delays that may be longer than one sample period.Using a quadratic cost we find the optimal full-state-information controller. We also show that the standard Kalman filter is an optimal observer, and that the separation principle holds.

Abstract: In this paper the problem of automating the gearshift process of a manual transmission without synchronizers is investigated. The application is very interesting from an integrated powertrain control point of view, since it includes many different control tasks and encourages the use of the engine as an actuator to the rest of the powertrain. A model-based control law for the task of gearshifting is presented. The controller is designed based on the backstepping methodology. It includes control laws for transmission torque control as well as for engine speed control. Simulations have shown good results for the gearshift controller.

Abstract: A device for determining one or more respiratory parameters relating to an individual is disclosed, as well as a method for determining one or more respiratory parameters by means of the device, wherein the individual is suffering from hypoxemia or is at risk of hypoxemia. However, the method and the device may also be applied to healthy individual e.g. for testing of medicaments. The device is controlled by a computer equipped with suitable software and includes functionality for on-line continuous data collection, automatic assessment of the timing of measurements, automatic assessment of the next target (oxygen saturation of arterial blood (SpO2)), automatic assessment of the appropriate fraction of oxygen in inspired gas (FIO2) settings to achieve the target SpO2, automatic control of the FIO2, on-line parameter estimation, and automatic assessment of the number of measurememts requied.

Abstract: A system and method for controlling a device such that device operates in a smooth manner. The system may switch between control architectures or vary gain coefficients used in a control loop to control the device. As the architecture or gains are switched, the control signal may be smoothed so that the device does not experience an abrupt change in the control signal it receives. In one embodiment, the control signal may be smoothed by adding a decaying offset value to the control signal to create a smoothed control signal that is applied to the device.

Abstract: This paper considers the theoretical part for longitudinal control of merging maneuver for an automated highway system. The longitudinal control problem for merging is proposed for different road layouts. Then a unified mathematical model is established and a new concept called virtual platooning is proposed, which effectively avoids a two point boundary value problem. Based on it, a rather general adaptive algorithm is provided and proved. This algorithm has been implemented and tested with automated cars.