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Shiv Nadar University

An algorithm for the trajectory control of robot manipulators by decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple, computationally easy, and robust to parametric uncertainties and payload variations.

World University root node

Electrical Engineering

(SoE) School of Engineering

DECENTRALISED VARIABLE STRUCTURE MODEL FOLLOWING CONTROLLER FOR ROBOT MANIPULATORS.

A simple approach for designing decentralized regulators for interconnected systems via an aggregation technique based on scalar Lyapunov functions is presented in this paper. The proposed method is illustrated through an example of two-area power system.

Journal of the Institution of Engineers (India): Electrical Engineering Division

DECENTRALIZED STABILIZATION OF INTERCONNECTED SYSTEMS.

The design problem of an optimal deadbeat state observer for discrete-time systems has been discussed in this paper. The non-measurable states of the plant are reconstructed with a reduced-order dynamic observer. The problem of estimation is treated as a regulator problem wherein the quadratic performance index, which penalizes the error in estimation, is minimized in an average sense over a set of observer gain matrices which force observer poles to the origin. An efficient computational procedure based on direct cost optimization using gradient type algorithm is also reported. A case study of a boiling water reactor power plant has been presented to illustrate the usefulness of the proposed optimal deadbeat observer.

Journal of the Institution of Engineers. India. Electronics and telecommunication engineering division

DESIGN OF AN OPTIMAL DEADBEAT REDUCED-ORDER OBSERVER FOR A NUCLEAR BOILING WATER REACTOR.

Application of optimal control theory to a pressurised water reactor is the theme of this paper. The multi-input mathematical model of the H.B. Robinson pressurised water reactor plant, reported by Kerlin et al is simplified to a single-input one. The optimal control problem of the linear model is treated as a regulator problem wherein the given quadratic index of performance including a sensitivity term is minimised in an average sense. An efficient computational procedure based on direct cost optimization using a gradient type algorithm is also reported. Copyright © 1987 by The Institute of Electrical and Electronics Engineers, Inc.

IEEE Transactions on Nuclear Science

Sensitivity-Reduced design for a nuclear pressurized water reactor

Application of optimal control theory to aboiling water nuclear reactor is the theme of this paper. The nonlinear model of the direct cycle 159 MW (th) Big Rock Point boiling water reactor derived on the basis of physical laws and empirical relations is linearized around an operating point and the model is verified against experimental results. The optimal control problem of the linearized model is treated as a regulator problem wherein the given quadratic index of performance includling a sensitivity term is minimized in an average sense over a set of feedback gainmatrices which ensure prescribed closed-loop eigenvalues. An efficient computational procedure based on direct cost optimization using a gradient type algorithm is also reported. With the new optimal control strategy proposed in this paper, the stability and sensitivitycharacteristics of the system response can easily bemanipulated. © 1985 IEEE

A new optimal control strategy for a nuclear boiling water reactor

A method is proposed for the design of constant gain optimal feedback control laws for discrete-time systems which reduce trajectory sensitivity to small system parameter variations and ensure the closed-loop eigenvalues at the prescribed locations. The selected performance index is of standard linear regulator type, modified to include a quadratic sensitivity term. An efficient computational procedure based on direct cost oprimization using gradient type algorithm is also reported. A case study of a Boiling Water Reactor power plant has been presented to illustrate the application of the design procedure. © 1985.

Annual Review in Automatic Programming

A new digital control strategy for a nuclear boiling water reactor

In this paper a scheme for a decentralized controller based on the modelling of interaction in large interconnected power systems is proposed. An example of a two-area power system is presented to illustrate the application of the proposed design procedure in both the continuous-time and discrete-time case. The computer simulation results revealed that the performance of the proposed decentralized controller is comparable to that of a centralized controller. © 1985 Taylor and Francis Group, LLC.

International Journal of Systems Science

On decentralized controllers for interconnected power systems

A scheme for decentralized estimation based on the modeling of interaction in large dynamical systems is proposed. An example of a two-area power system is presented to illustrate the application of the proposed design procedure. The computer simulation results revealed that the performance of decentralized and centralized observers designed to optimize the same performance index is quite comparable. © 1985 IEEE

IEEE Transactions on Systems, Man and Cybernetics

An Application of Decentralized Observer Theory to Interconnected Power Systems

A method is proposed for the design of constant-gain optimal feedback control laws for discrete-time systems, which reduce trajectory sensitivity to small system parameter variations and ensure the closed-loop eigenvalues at the prescribed locations. The selected performance index is of standard linear regulator type, modified to include a quadratic sensitivity term. An efficient computational procedure, based on direct cost optimization and using a gradient-type algorithm, is also reported. A case study of a boiling-water reactor power plant has been presented to illustrate the application of the design procedure.

IEE Proceedings D: Control Theory and Applications

SENSITIVITY-REDUCED OPTIMAL DISCRETE LINEAR REGULATOR WITH PRESCRIBED CLOSED-LOOP EIGENVALUES.

A method is proposed for the design of constant-gain feedback-control laws for linear multivariable discrete-time systems which reduce trajectory sensitivity to small system parameter variations and ensure the closed-loop eigenvalues at the origin. The given quadratic index of performance including a sensitivity term is minimized in an average sense. An efficient computational procedure based on direct cost optimization using gradient type algorithm is also reported. An example is worked out to illustrate the proposed technique. © 1985 Taylor & Francis Group, LLC.

International Journal of Control

On the design of a sensitivity-reducing optimal dead-beat controller

In this note, the design technique given by Sebakhy and Sorial [1], based on both pole placement and optimal control, is extended to obtain a sensitivity reduced optimal linear regulator with prescribed closed-loop eigenvalues. An efficient computational procedure based on direct cost optimization using a gradient type algorithm is also reported. Copyright © 1984 by The Institute of Electrical and Electronics Engineers, Inc.

IEEE Transactions on Automatic Control

Sensitivity Reduced Optimal Linear Regulator with Prescribed Closed-Loop Eigenvalues

A method is proposed for the design of constant-gain feedback control laws which reduce trajectory sensitivity to small system parameter variations and ensure the prescribed degree of stability for Discrete-Time Systems. The selected performance index is of standard linear regulator type; modified to include a quadratic sensitivity term and weighting function ( alpha )**2**k with alpha greater than 1, which ensures that the closed-loop poles will lie inside the circle of radius 1/ alpha in the complex plane. An example of a two-area load frequency control system is presented to illustrate the application of the design procedure.

SENSITIVITY REDUCED DESIGN OF DISCRETE LINEAR REGULATOR WITH PRESCRIBED DEGREE OF STABILITY.

A method is proposed for the design of constant gain output feedback control laws which reduce trajectory sensitivity to small system parameter variations and ensure the prescribed degree of stability for linear continuous-time systems. The selected performance index is of standard linear regular type: modified to include a quadratic sensitivity term and weighting function e**2** alpha **t with alpha greater than 0, which ensures that the closed loop poles will lie to the left of the line Re(s) equals minus alpha in complex s-plane. An example of a 2-area load frequency control system is presented to illustrate the application of the design procedure.

SENSITIVITY REDUCED DESIGN OF CONTINUOUS LINEAR REGULATOR WITH PRESCRIBED DEGREE OF STABILITY.

DECENTRALIZED CONTROLLERS AND OBSERVERS FOR AUTOMATIC GENERATION CONTROL OF MULTI-AREA POWER SYSTEMS.

A method to determine suboptimal control law for large scale dynamic systems using more than one reduced order aggregated models has been proposed in this paper. The suboptimal control law derived using this method yields better performance than the one obtained by a single subsystem or a simple combination of more than one subsystems and it is less sensitive to the selection of the eigenvalues. For large-scale systems (n greater than 8) the method is computationally very attractive.

IETE Journal of Research

SUBOPTIMAL CONTROL OF LARGE-SCALE DYNAMIC SYSTEMS.

The authors consider the application of a method based on control law reduction using Davison's model order reduction technique for multi-area load-frequency control systems. A decentralized suboptimal controller is obtained for a two-area power system. The results show that the method based on control law is computationally simpler and the performance of the controller obtained by this method compares well with those obtained by other available methods of design.

DECENTRALIZED CONTROL OF LOAD-FREQUENCY CONTROL SYSTEM USING CONTROL LAW REDUCTION.

Application of Marshall's and Davison's model order reduction methods to approximate a large dynamic system requires determination of the order up to which the model can tolerably be reduced and selection of eigen values and state variables to be retained in the model. This paper establishes the integral square error and the integral absolute error criteria for the selection of eigen values and determination of the order of the Marshall's reduced model. A suitable criterion for the Davison's reduced order model has also been derived.

SELECTION OF EIGEN VALUES FOR REDUCED ORDER MODELS.

— This note points out that the model order selection criteria proposed earlier for Davison's and Marshall’s reduced order models are not applicable in many of the practical cases. A new criterion is proposed to overcome the deficiencies of the earlier methods. © 1982 IEEE