All publications by Gawthrop in 2006

Predictive pole-placement (PPP) control is a continuous-time MPC using a particular set of basis functions leading to pole-placement behaviour in the unconstrained case. This paper presents two modified versions of the PPP controller which are each shown to have desirable stability properties when controlling systems with input, output and state constraints.

Experiences at Glasgow University in using LEGO Mindstorms for Control Education are described and implementation details given.

This paper considers the hybrid simulation of under-damped dynamical systems using numerical-experimental real-time substructuring. Substructuring joins together a physical plant with a numerical model using real-time control techniques, such that the combined model emulates the behaviour of the entire system. Due to the low damping, the control of substructured systems can be highly sensitive to delay and uncertainty. We present a technique for calculating the critical delay of the substructured system using a phase margin approach. In addition, it is shown that robustness techniques, drawn from feedback control theory, can be used to reduce the destabilising effect of uncertainty. To demonstrate this, a comparison of three different robustness compensators is presented, using a well-known linear system. The level of uncertainty is deliberately increased to compare their performances and a discussion is made on when each may be most useful.

Intermittent predictive pole-placement control is successfully applied to the constrained-state control of a prestabilised experimental inverted pendulum.

A method for the constrained estimation of the physical system parameters of linear systems from measured data is described which uses a two-stage procedure: step response estimation via the frequency-sampled filter approach followed by a non-quadratic bounded optimisation to obtain the physical parameters. The method is illustrated using simulated data and evaluated using experimental data.

While standing naturally and when manually or pedally balancing an equivalent inverted pendulum, the load sways slowly (characteristic unidirectional duration  1s) and the controller, calf muscles or hand, makes more frequent adjustments (characteristic unidirectional duration 400ms). Here we test the hypothesis that these durations reflect load properties rather than some intrinsic property of the human neuromuscular system. Using a specialised setup mechanically analogous to real standing, subjects manually balanced inverted pendulums with different moments of inertia through a compliant spring representing the Achilles tendon. The spring bias was controlled by a sensitive joystick via a servo motor and accurate visual feedback was provided on an oscilloscope. As moment of inertia decreased inverted pendulum sway size increased and it became difficult to sustain successful balance. The mean duration of unidirectional balance adjustments did not change. Moreover, the mean duration of unidirectional inverted pendulum sway reduced only slightly remaining around 1 s. The simplest explanation is that balance was maintained by a process of manual adjustments intrinsically limited to a mean frequency of 2 to 3 unidirectional adjustments per second corresponding to intermittent control observed in manual tracking experiments. Consequently the inverted pendulum sway duration, mechanically related to the bias duration, reflects an intrinsic constraint of the neuromuscular control system. Given the similar durations of sway and muscle adjustments observed in real standing, we postulate that the characteristic duration of unidirectional standing sway reflects intrinsic intermittent control rather than the inertial properties of the body.

The autonomous underwater vehicles (AUVs) have been developed over three decades for potential uses in scientific, commercial, environmental, and military purposes. The improvement of the computer technology has allowed the expansion of control algorithms into untethered AUV's motions. For these reasons, the paper attempts to derive the method to control the dynamic motions of the vehicle. The nonlinear model of the AUVs is established in six degree of freedom and converts into well known state space model. The model predictive control (MPC) algorithm, using orthogonal functions, is developed to intermittent MPC to manipulate rudder and stern angle signals. The new method allows the MPC to work under strick conditions. An active set quadratic programming procedure is also implemented into the MPC to handle the constrained problems of the dynamic systems

Bond graphs are primarily used in the network modeling of lumped parameter physical systems, but controller design with this graphical technique is relatively unexplored. It is shown that bond graphs can be used as a tool for certain model matching control designs. Some basic facts on the nonlinear model matching problem are recalled. The model matching problem is then associated with a particular disturbance decoupling problem, and it is demonstrated that bicausal assignment methods for bond graphs can be applied to solve the disturbance decoupling problem as to meet the model matching objective. The adopted bond graph approach is presented through a detailed example, which shows that the obtained controller induces port-Hamiltonian error dynamics. As a result, the closed loop system has an associated standard bond graph representation, thereby rendering energy shaping and damping injection possible from within a graphical context.

A two-stage identification procedure is applied to the SYSID'06 benchmark example.