C. James Taylor

State space control system design based on non-minimal state-variable feedback: Further generalization and unification results

This paper shows how proportional-integral-plus linear-quadratic (PIP-LQ) control, based on non-minimal state space (NMSS) control system design, can be constrained to yield exactly the same control algorithm as both generalized predictive control (GPC) and standard, minimal state, linear quadratic gaussian (LQG) design methods. However, while NMSS includes these other approaches as special cases, it is less constrained and so more flexible in general terms: for example, while PIP-LQ has the simplicity of GPC, it is formulated like LQG in the powerful context of state variable feedback (SVF) control, which allows for ready access to modern robust control methods. Furthermore, the paper suggests that the NMSS approach provides the greater design freedom, with a wider range of possible LQ solutions than its minimal state space equivalent.

Data-based mechanistic modelling (DBM) and control of mass and energy transfer in agricultural buildings

Abstract This paper discusses the Data-Based Mechanistic (DBM) approach to modelling the micro-climate in agricultural buildings. Here, the imperfect mixing processes that dominate the system behaviour during forced ventilation are first modelled objectively, in purely data-based terms, by continuous-time transfer function relationships In their equivalent differential equation form, however, these models can be interpreted in terms of the Active Mixing Volume (AMV) concept, developed previously at Lancaster in connection with pollution transport in rivers and soils and, latterly, in modelling the microclimate of horticultural glasshouses. The data used in the initial stages of the research project, as described in the paper, have been obtained from a series of planned ventilation experiments carried out in a large instrumented chamber at Leuven. The overall objectives of this collaborative study are two-fold: first, to gain a better understanding of the mass and heat transfer dynamics in the chamber; and second, to develop models that can form the basis for the design of optimal Proportional-Integral-Plus, Linear Quadratic (PIP-LQ) climate control systems for livestock buildings of a kind used previously for controlling the micro-climate in horticultural glasshouses.

Multi-objective performance optimisation for model predictive control by goal attainment

This article proposes an approach for performance tuning of model predictive control (MPC) using goal-attainment optimisation of the cost function weighting matrices. The approach is developed for three formulations of the control problem: (i) minimal and (ii) non-minimal design based on the same cost function and (iii) a non-minimal MPC approach with an explicit integral-of-error state variable and modified cost function. This approach is based on earlier research into multi-objective optimisation for proportional-integral-plus control systems. Simulation experiments for a 3-input, 3-output Shell heavy oil fractionator model illustrate the feasibility of MPC goal attainment for multivariable decoupling and attainment of a specific output response. For this example, the integral-of-error state variable offers improved design flexibility and hence, when it is combined with the proposed tuning method, yields an improved closed-loop response in comparison to minimal MPC.

True digital control:statistical modelling and non–minimal state space design

Develops a true digital control design philosophy that encompasses data–based model identification, through to control algorithm design, robustness evaluation and implementation. With a heritage from both classical and modern control system synthesis, this book is supported by detailed practical examples based on the authors’ research into environmental, mechatronic and robotic systems. Treatment of both statistical modelling and control design under one cover is unusual and highlights the important connections between these disciplines. Starting from the ubiquitous proportional–integral controller, and with essential concepts such as pole assignment introduced using straightforward algebra and block diagrams, this book addresses the needs of those students, researchers and engineers, who would like to advance their knowledge of control theory and practice into the state space domain; and academics who are interested to learn more about non–minimal state variable feedback control systems. Such non–minimal state feedback is utilised as a unifying framework for generalised digital control system design. This approach provides a gentle learning curve, from which potentially difficult topics, such as optimal, stochastic and multivariable control, can be introduced and assimilated in an interesting and straightforward manner.

Design and application of PIP controllers: robust control of the IFAC93 benchmark:

Proportional-integral-plus (PIP) controllers exploit the full power of optimal state variable feedback within a nonminimum state space (NMSS) setting. They are simple to implement and provide a logical extension of conventional proportional-integral/proportional-integral-derivative (PI/PID) controllers, with additional dynamic feedback and input compensators introduced automatically when the process is of greater than first order or has appreciable pure time delays. The present paper provides a tutorial introduction to the NMSS/PIP control design methodology and associated system identification procedure. The latter is based on the utilization of the simplified refined instrumental variable (SRIV) algorithm for the estimation of transfer function models. The practical utility of these techniques is illustrated by their application to the IFAC93 benchmark system, a seventh-order stochastic simulation whose parameters vary randomly within specified ranges. This benchmark provides a good simulation example for tutorial purposes, since it requires the control engineer to work through all the usual design steps, including identification of a low-order control model, control system design, and implementation using a standard programming language, in this case ‘C’. Finally, note that the statistical estimation tools described in the paper have been assembled as a tool-box within the Matlab™ software environment.

Macroscopic traffic flow modelling and ramp metering control using Matlab/Simulink

Computer programs to simulate traffic flow offer an opportunity to evaluate new strategies for reducing delays, congestion, fuel consumption and pollution. This paper describes a Statistical Traffic Model or STM, which is based on accepted macro-modelling concepts, such as the conservation of vehicles and the fundamental traffic diagram. In this case, the model is constructed using the well known Matlab/Simulink™ software package, so providing an integrated approach for data processing, graphical presentation of data, control system design and macroscopic simulation in one straightforward to use, widely available environment. To illustrate the methodology, the STM is applied to a section of the M3/M27 Ramp Metering Pilot Scheme in the UK. This Highways Agency sponsored project, based in the Southampton area, utilises traffic lights at the on-ramp entrances to regulate access to the main carriageway of the motorway, in an attempt to maintain flow close to the capacity. The paper utilises the model to help design a locally-coordinated ramp metering algorithm, based on proportional-integral-plus (PIP) control methods. In this manner, the STM proves particularly valuable for the application of multi-objective optimisation techniques in the design of new traffic management systems.

Time-series analysis for online recognition and localization of sick pig (Sus scrofa) cough sounds

This paper considers the online localization of sick animals in pig houses. It presents an automated online recognition and localization procedure for sick pig cough sounds. The instantaneous energy of the signal is initially used to detect and extract individual sounds from a continuous recording and their duration is used as a preclassifier. Autoregression (AR) analysis is then employed to calculate an estimate of the sound signal, and the parameters of the estimated signal are subsequently evaluated to identify the sick cough sounds. It is shown that the distribution of just three AR parameters provides an adequate classifier for sick pig coughs. A localization technique based on the time difference of arrival is evaluated on field data and is shown that it is of acceptable accuracy for this particular application. The algorithm is applied on continuous recordings from a pig house to evaluate its effectiveness. The correct identification ratio ranged from 73% (27% false positive identifications) to 93% (7% false positive identifications) depending on the position of the microphone that was used for the recording. Although the false negative identifications are about 50% it is shown that this accuracy can be enough for the purpose of this tool. Finally, it is suggested that the presented application can be used to online monitor the welfare in a pig house, and provide early diagnosis of a cough hazard and faster treatment of sick animals.

Non-minimal state space model-based continuous-time model predictive control with constraints

This article proposes a model predictive control scheme based on a non-minimal state-space (NMSS) structure. Such a combination yields a continuous-time state-space model predictive control system that permits hard constraints to be imposed on both plant input and output variables, whilst using NMSS output-feedback without the need for an observer. A comparison between the NMSS and observer-based approaches using Monte Carlo uncertainty analysis shows that the former design is considerably less sensitive to plant-model mismatch than the latter. Through simulation studies, the article also investigates the role of the implementation filter in noise attenuation, disturbance rejection and robustness of the closed-loop predictive control system. The results show that the filter poles become a subset of the closed-loop poles and this provides a straightforward method of tuning the closed-loop performance to achieve a reasonable balance between speed of response, disturbance rejection, measurement noise attenuation and robustness.

Environmental test chamber for the support of learning and teaching in intelligent control

The paper describes the utility of a low cost, 1 m2 by 2m forced ventilation, micro-climate test chamber, for the support of research and teaching in mechatronics. Initially developed for the evaluation of a new ventilation rate controller, the fully instrumented chamber now provides numerous learning opportunities and individual projects for both undergraduate and postgraduate research students.

Recent developments in the CAPTAIN toolbox for matlab

The paper briefly reviews the main features of the CAPTAIN Toolbox, outlines some recent developments and presents a number of examples that demonstrate the performance of these new routines.