| [1] | E. Ronco, P. J. Gawthrop, and D. J. Hill. A practical continuous-time nonlinear generalised predictive controller. CSC Research Report CSC-99001, Centre for Systems and Control, University of Glasgow, 1999. [ bib ] |
| [2] | Wen-Hua Chen, D. J. Ballance, P. J. Gawthrop, J. J. Gribble, and J. O'Reilly. A nonlinear disturbance observer for robotic manipulators. CSC Research Report CSC-99008, Centre for Systems and Control, University of Glasgow, 1999. [ bib ] |
| [3] | W.-H. Chen, D. J. Ballance, and P. J. Gawthrop. Nonlinear generalised predictive control and optimal dynamic inversion control. In Proceedings of the 14th IFAC World Congress, volume E, pages 415--420, Beijing, P.R.C., 1999. [ bib | .pdf ] |
| [4] | W.-H. Chen, D. J. Ballance, P. J. Gawthrop, J. J. Gribble, and J. O'Reilly. A nonlinear disturbance observer for two-link robotic manipulators. In Proceedings of the 38th IEEE Conference on Decision and Control, Phoenix, Arizona, U.S.A., December 1999. [ bib | .pdf ] |
| [5] |
W.-H. Chen, D. J. Ballance, P. J. Gawthrop, J. J. Gribble, and J. O'Reilly.
Nonlinear PID predictive controller.
IEE Proceedings Part D: Control Theory and Applications,
146(6):603--611, November 1999.
[ bib |
.pdf ]
A new class of nonlinear PID controllers are derived for nonlinear systems using a nonlinear generalised predictive control (NGPC) approach. First, the disturbance decoupling ability of the NGPC is discussed. For a nonlinear system where the disturbance cannot be decoupled, a nonlinear observer is designed to estimate the offset. By selecting the nonlinear gain function in the observer, it is shown that the closed-loop system under optimal generalised predictive control with the nonlinear observer is asymptotically stable. It is pointed out that this composite controller is equivalent to a nonlinear controller with integral action. As a special case, for a nonlinear system with a low relative degree, the proposed nonlinear controller reduces to a nonlinear PI or PID predictive controller, which consists of a nonlinear PI or PID controller and a prediction controller. The design method is illustrated by an example nonlinear mechanical system
|
| [6] | W.-H. Chen, Donald J. Ballance, and P. J. Gawthrop. Analytic approach to generalised predicitve control of nonlinear systems. In IEE Workshop on Model Predictive Control: Techniques and Applications, London, 1999. [ bib | .pdf ] |
| [7] |
P. J. Gawthrop.
Thermal modelling using mixed energy and pseudo bond graphs.
Proceedings of the Institution of Mechanical Engineers Part I:
Journal of Systems and Control Engineering, 213(3):201--216, June 1999.
[ bib |
DOI |
.pdf ]
Pseudo and true Bond Graphs have been seen as competing approaches to modelling thermodynamic systems. This paper provides a simple mechanism for mixing the two approaches to obtain the best features of each. In so doing, an alternative and more accessible approach to thermodynamic modelling than that provided by classical texts is given.
|
| [8] | P. J. Gawthrop and D. J. Ballance. Symbolic computation for manupulation of hierachical bond graphs. In Neil Munro, editor, Symbolic methods in control systems analysis and design, number 56 in Control engineering series, chapter 2, pages 23--51. IEE, Stevenage, UK, 1999. [ bib ] |
| [9] |
Peter J. Gawthrop, Donald J. Ballance, and Genevieve Dauphin-Tanguy.
Controllability indicators from bond graphs.
In J. J. Granda and F. Cellier, editors, Proceedings of the 1999
International Conference On Bond Graph Modeling and Simulation (ICBGM'99),
volume 31 of Simulation Series, pages 359--364, San Francisco,
California, U.S.A., January 1999. Society for Computer Simulation.
[ bib |
.pdf ]
Bicausal bond graphs are used to investigate the controllability of systems in terms of properties of the inverse system.
|
| [10] | P. J. Gawthrop and E. Ronco. Local model networks and self-tuning predictive control. In S. G. Tzafestas, editor, Soft Computing in Systems and Control Technology, pages 99--113. World Scientific, 1999. [ bib ] |
| [11] | Andrew McGregor, Eduardo Miranda, and Peter Gawthrop. A bond graph approach to physical modelling of musical instruments. In Anais do XIX Congresso Nacional da Sociedade Brasiliera de Computacao, volume III, pages 17--26, 1999. [ bib | .pdf ] |
| [12] |
Roger F Ngwompo and Peter J Gawthrop.
Bond graph based simulation of nonlinear inverse systems using
physical performance specifications.
Journal of the Franklin Institute, 336(8):1225--1247, November
1999.
[ bib |
DOI |
.pdf ]
Analysis and simulation of non-linear inverse systems are sometimes necessary in the design of control systems particularly when trying to determine an input control required to achieve some predefined output specifications. But unlike physical systems which are proper, the inverse systems are very often improper leading to numerical problems in simulation as their models sometimes have a high index when written in the form of differential-algebraic equations (DAE). This paper provides an alternative approach whereby performance specifications and the physical system are combined within a single bond graph leading to a greatly simplified simulation problem.
|
| [13] |
E. Ronco, T. Arsan, and P. J. Gawthrop.
Open-loop intermittent feedback control: Practical continuous-time
GPC.
IEE Proceedings Part D: Control Theory and Applications,
146(5):426--434, September 1999.
[ bib |
DOI ]
A conceptual, and practical difficulty with the continuous-time generalised predictive controller is solved by replacing the continuously moving horizon by an intermittently moving horizon. This allows slow optimisation to occur concurrently with a fast control action. Some nonlinear simulations illustrate the potential of this approach.
|
| [14] |
E. Ronco and P. J. Gawthrop.
Incremental polynomial model-controller network: A self-organising
nonlinear controller.
IEE Proceedings Part D: Control Theory and Applications,
146(6):527--543, November 1999.
[ bib |
.pdf ]
An `incremental polynomial model-controller network' (IPMCN) is introduced. Smooth control switching is obtained from the use of odd polynomial controllers. The decomposition of the operating space, together with the construction of the network, is achieved on-line while controlling the system. The performance and robustness of this scheme are illustrated through various simulations.
|
This file was generated by bibtex2html 1.98.