Sharif Digital Repository

This work presents a new necessary and sufficient condition for robust stability and robust performance of positive linear time invariant (LTI) systems with structured uncertainties. It is known that robustness analysis of LTI systems with structured uncertainties requires evaluation of structured singular value (SSV), which is known to be NP-hard. This paper shows that for positive systems, the structured singular value can be estimated efficiently using linear programming. Thus, the robustness analysis of positive systems is simplified to easily verifiable conditions that scale linearly with the dimensions of the system. This property finds great utility in analysis and synthesis of large... 

In this paper, a novel robust adaptive control method is proposed for controlling the Lorenz chaotic attractor. A new backstepping controller for the Lorenz system based on the Lyapunov stability theorem is proposed to overcome the singularity problem that appeared in using the typical backstepping control method. By exploiting the property of the system, the resulting controller is shown to be singularity free and the closed loop system is globally stable. Due to unavailability of system states measurement in practice, the controller is selected such that only one system state is needed. To overcome the problem of parameter uncertainty, an additional term to Lyapunov function is added and... 

Fuzzy logic has proved to be a powerful tool to represent imprecise and irregular patterns. This paper presents a novel fuzzy approach for recognizing online Persian (Farsi) handwriting which is also useful for multi-writer environments. In this approach, the representation of handwriting parameters is accomplished by fuzzy linguistic modeling. The representative features are selected to describe the shape of tokens. Fuzzy linguistic terms provide robustness against handwriting variations. The purposed method was run on a database of Persian isolated handwritten characters and achieved a relatively high recognition rate. © 2005 IEEE  

H∞ controller order reduction with stability and performance preservation pose unique challenges to designers. In the paper, an approach for controller order reduction based on minimization of the rank of a matrix variable, subject to linear matrix inequality constraints, is presented. In this approach, the rank of a residue matrix of a high-order controller subject to the error between the loop gain of the closed-loop nominal system and the loop gain of the closed-loop system with the reduced order controller is minimized. However, since solving this matrix rank minimization problem is very difficult, the rank objective function is replaced with the nuclear-norm that can be reduced to a... 

The problem of tuning a two-parameter controller has been formulated as finding the centroid of the admissible region specified by the set of constraints that the controller should satisfy. The constraints can be as general as the closed-loop system stability or they may include several requirements on various stability, sensitivity, or performance measures. The design of stabilizing proportional-derivative (PD) controllers using the centroid of the stability region in the controller parameter space is considered as a case study. To this end, analytical formulas are derived to describe the stability boundaries of a class of integrating time delay systems, the stability region of which has a... 

Representing nonlinear systems by linear models along with structured or unstructured uncertainties and applying robust control strategies could reduce the computational complexity in comparison with implementing the nonlinear model predictive controllers. In this paper design of robust model predictive controllers which are based on special classes of nonlinear systems representations called Wiener and Hammerstein are presented. The proposed algorithms approximate the nonlinear systems by uncertain linear models and reduce online the computational demands in the control implementation. The advantages of the proposed approaches are illustrated by two examples  

This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be... 

This paper addresses the robustness problem of automatic speech recognition systems for real applications in presence of noise. PMCC algorithm is proposed for combining PMC technique with CMS method. The proposed algorithm utilizes the CMS normalization ability in PMC method to takes the advantages of these methods to compensate the effect of both additive and convolutional noises. Also, we have investigated VTLN for speaker normalization and MLLR and MAP for speaker and acoustic adaptation. Different combinations of these methods are used to achieve robustness and making the system usable in real applications. Our evaluations are done on 4 different real noisy tasks on Nevisa recognition... 

Induction motor parameter estimation is generally needed for such purposes as fault detection and the achievement of high dynamic performance drives. This paper is an attempt to use variable structure control (VSC) methodology for the on-line estimation of several significant mechanical and electrical induction motor parameters. The estimated parameters are rotor resistance, magnetizing inductance, stator resistance and viscous damping coefficient In this combined control/estimation method, we propose to apply field-oriented control to the non-linear model of induction motor, and then transform the model by Input-state linearization into canonical form. Application of variable structure... 

This paper presents the design of a new robust model predictive control algorithm for nonlinear systems represented by a linear model with unstructured uncertainty. The linear model is obtained by linearizing the nonlinear system at an operating point and the difference between the nonlinear and linear model is considered as a Lipschitz nonlinear function. The controller is designed for the linear model, which fulfills the stabilization condition for the nonlinear term. Unlike previous studies that have not considered a valid Lipschitz matrix of nonlinear term in the design process, we propose an algorithm in this paper in which it is considered. Therefore, the closed loop stability of the... 

A practical design method is presented which used the fuzzy logic advantages in adaptation of sliding mode control. The combined Fuzzy Adaptive Sliding Control (FASC) is designed in such a way to enhance satisfactory sliding performance and robustness with good level of chattering alleviation. The design approach is valid for a class of nonlinear uncertain MIMO systems. This control algorithm does not require the system model. A supervisory term is appended to the controller to assure the stability of fuzzy sliding mode control through Lyapunov theory. The design approach has been applied to a 2DOF twin propeler system with large uncertainty. Simulation results verified effectiveness of... 

Control of the air-handling units (AHU) is required to maintain satisfactory comfort conditions with low energy consumption. In the case of failure in sensor fusion systems of AHUs, full-order observers can be used as the supportive tool to provide an acceptable estimation of state variables. In this paper, a multivariable nonlinear model of the AHU is considered in the presence of uncertainties. The indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. In proposed hybrid control system, full and minimum-order observers are designed for the estimation of indoor temperature and relative humidity. Also, a regulator for... 

A fractional order PID controller is designed to stabilize fractional delay systems with commensurate orders and multiple commensurate delays, where the time delays in the system may belong to several distinct intervals. Moreover, the controller parameters should belong to given intervals. In order to stabilize the system, the D-subdivision method is employed to choose the stabilizing set of the controller parameters from their available values. Furthermore, the nearest values of the obtained stabilizing set to their mean values are selected as the controller parameters so that a non-fragile controller is concluded. Two numerical examples evaluate the proposed control design method  

Dictionary learning (DL) for sparse representation has been widely investigated during the last decade. A DL algorithm uses a training data set to learn a set of basis functions over which all training signals can be sparsely represented. In practice, training signals may contain a few outlier data, whose structures differ from those of the clean training set. The presence of these unpleasant data may heavily affect the learning performance of a DL algorithm. In this paper we propose a robust-to-outlier formulation of the DL problem. We then present an algorithm for solving the resulting problem. Experimental results on both synthetic data and image denoising demonstrate the promising... 

An effective iterative method is proposed for three-dimensional large-displacement analysis of structures consisting of slack cables as the primary load-bearing system. This approach takes advantage of substructuring technique that is specially tailored to address the analysis and form-finding problem of slack cables subjected to arbitrary loads, and to reduce the overall analysis costs. At the overall structural level, a robust procedure is employed for detecting the instabilities and limiting the corresponding incremental displacements. The effectiveness of the proposed method for the analysis of highly unstable or variable-form structures is demonstrated by a number of analysis examples... 

This paper considers a closed-loop system consisting of a fractional/integer order system and a fractional PID controller. Assuming that the uncertain coefficients of the fractional PID controller lie in some known intervals independently (i.e. that controller is a member of an interval family), the paper presents some easy to use theorems to investigate the robust bounded-input bounded-output stability of the resultant closed-loop system. Moreover, a finite frequency bound required in drawing the related graphs has also been provided. Finally, some numerical examples are presented to illustrate the results  

This paper proposes a control strategy for the autonomous (islanded) operation of a four-wire, electronically-coupled distributed generation (DG) unit which can feed a highly unbalanced load, e.g., due to the presence of single-phase loads. In the grid-connected mode, the power-electronic interface of the DG unit enables the exchange of real and reactive power with the distribution network, based on the conventional dq-frame current control strategy. The current control scheme is disabled subsequent to the detection of an islanding event, and the proposed controller is activated. The proposed control strategy utilizes: i) an internal oscillator to maintain the island frequency and ii) a... 

Robustness of a fractional proportional-integral-derivative (PID)-based control system is investigated. At first the largest pathwise connected region subset of a box in three-dimensional space of the parameters of the model is determined such that the closed-loop system is bounded-input bounded-output stable for any point inside it. Then a value that represents the size (in a specified sense) of the calculated region in the first stage and can be considered as a margin for the robustness of the closed-loop system is computed. Furthermore, lower and upper frequency bounds required in depiction of boundaries of the region and computing the mentioned margin are provided. Some special cases in... 

In this paper, a new interaction prediction approach for hierarchical control of non-linear large-scale systems is presented. The proposed approach uses a new gradient-type coordination scheme which is robust with respect to the parameters' variation, and also has a good convergence rate. In classical coordination strategies, which can be divided into the gradient-type and substitution-type approaches, it is not possible to improve the robustness and the convergence rate at the same time, since by increasing one the other decreases. The proposed approach has the main advantages of the gradient-type algorithms in being independent of the parameter's variation and also the initial guess of the...