@article{GawBev07,
author = {Peter J Gawthrop and Geraint P Bevan},
title = {Bond-Graph Modeling: A tutorial introduction for control engineers},
journal = {IEEE Control Systems Magazine},
year = 2007,
volume = 27,
number = 2,
pages = {24--45},
month = {April},
doi = {10.1109/MCS.2007.338279}
}
@article{GawWan07,
author = {Peter J Gawthrop and Liuping Wang},
title = {Intermittent Model Predictive Control},
journal = {Proceedings of the Institution of Mechanical Engineers
Pt. I: Journal of Systems and Control Engineering},
year = 2007,
volume = 221,
number = 7,
pages = {1007-1018},
doi = {10.1243/09596518JSCE417},
abstract = {Intermittent control, where a sequence of open-loop
trajectories are punctuated by intermittent feedback, is described
and a number of design methods presented. A generalised hold
representation is derived and shown to be useful for both
implementation and analysis. The relationship between predictive
control of a time delay system and intermittent control is examined
and it is shown that a simplified predictor can be used in the
latter case.
The applicability of intermittent control to the implementation of
MPC is discussed and illustrated by the control of a difficult
mechanical system -- a self-balancing seesaw.
}
}
@article{GawWanYou07,
author = {Peter J. Gawthrop and Liuping Wang and Peter C. Young},
title = {Continuous-time non-minimal state-space design},
journal = {Int. J. Control},
year = 2007,
volume = 80,
number = 10,
pages = {690 - 1697},
note = {Published on-line: 26 July 2007},
doi = {10.1080/00207170701546006},
abstract = {
A continuous time non-minimal state-space (NMSS) representation is
shown to be explicitly related to the underlying minimal state-space
observer/state feedback design method and, moreover, the corresponding
state feedback gains are explicitly related. This result provides a
starting point for NMSS methods in the continuous-time
domain. Numerical examples are given which illustrate the underlying
relationship.}
}
@article{GawWagNei07,
author = {P.J. Gawthrop and D.J. Wagg and S.A. Neild},
title = {Bond Graph Based Control and Substructuring},
journal = {Simulation Modelling Practice and Theory},
year = 2009,
volume = {17},
number = {1},
pages = {211-227},
month = {January},
note = {Available online 19 November 2007},
doi = {10.1016/j.simpat.2007.10.005},
abstract = {A bond graph framework giving a unified treatment of both physical
model based control and hybrid experimental-numerical simulation
(also known as real-time dynamic substructuring) is presented. The
framework consists of two subsystems, one physical and one
numerical, connected by a mph{transfer system} representing
non-ideal actuators and sensors. Within this context, a two-stage
design procedure is proposed: firstly, design and/or analysis of the
numerical and physical subsystem interconnection as if the transfer
system were not present; and secondly removal of as much as possible
of the transfer system dynamics while having regard for the
stability margins established in the first stage. The approach
allows the use of engineering insight backed up by well-established
control theory; a number of possibilities for each stage are given.
The approach is illustrated using two laboratory systems: an
experimental mass-spring-damper substructured system and swing up
and hold control of an inverted pendulum. Experimental results are
provided in the latter case.
}
}
@article{GawVirNeiWag07,
author = {Gawthrop, P. J.
and Virden, D. W.
and Neild, S. A.
and Wagg, D. J.},
title = {Emulator-based control for actuator-based hardware-in-the-loop testing},
year = {2008},
journal = {Control Engineering Practice},
volume = 16,
number = 8,
pages = {897-908},
keyword = {Hardware-in-the-loop},
keyword = {Feedback control},
keyword = {Robustness},
keyword = {Automotive engineering},
doi = {10.1016/j.conengprac.2007.10.009},
note = {Available online 3 December 2007},
abstract = {Hardware-in-the-loop (HWiL) is a form of component testing where hardware components are linked with software models. In order to test mechanical components an additional transfer system is required to link the software and hardware subsystems. The transfer system typically comprises sensors and actuators and the dynamic effects of these components need to be eliminated to give accurate results. In this paper an emulator-based control strategy is presented for actuator-based HWiL. Emulator-based control can solve the twin problems of stability and fidelity caused by the unwanted transfer system (actuator) dynamics. Significantly EBC can emulate the inverse of a transfer system which is not causally invertible, allowing a wider range of more complex transfer systems to be controlled. A robustness analysis is given and experimental results presented.}
}
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