There are many methods of stable controller design for nonlinear systems. In seeking to go beyond the minimum requirement of stability, Adaptive Dynamic Programming in Discrete Time approaches the challenging topic of optimal control for nonlinear systems using the tools of adaptive dynamic programming (ADP). The range of systems treated is extensive; affine, switched, singularly perturbed and time-delay nonlinear systems are discussed as are the uses of neural networks and techniques of value and policy iteration. The text features three main aspects of ADP in which the methods proposed for stabilization and for tracking and games benefit from the incorporation of optimal control methods:
infinite-horizon control for which the difficulty of solving partial differential Hamilton Jacobi Bellman equations directly is overcome, and proof provided that the iterative value function updating sequence converges to the infimum of all the value functions obtained by admissible control law sequences;
finite-horizon control, implemented in discrete-time nonlinear systems showing the reader how to obtain suboptimal control solutions within a fixed number of control steps and with results more easily applied in real systems than those usually gained from infinite-horizon control;
nonlinear games for which a pair of mixed optimal policies are derived for solving games both when the saddle point does not exist, and, when it does, avoiding the existence conditions of the saddle point.
Non-zero-sum games are studied in the context of a single network scheme in which policies are obtained guaranteeing system stability and minimizing the individual performance function yielding a Nash equilibrium.
In order to make the coverage suitable for the student as well as for the expert reader, Adaptive Dynamic Programming in Discrete Time: establishes the fundamental theory involved clearly with each chapter devoted to a clearly identifiable control paradigm;
demonstrates convergence proofs of the ADP algorithms to deepen understanding of the derivation of stability and convergence with the iterative computational methods used; and
shows how ADP methods can be put to use both in simulation and in real applications.
This text will be of considerable interest to researchers interested in optimal control and its applications in operations research, applied mathematics computational intelligence and engineering. Graduate students working in control and operations research will also find the ideas presented here to be a source of powerful methods for furthering their study.

Emerging Trends in Computing, Informatics, Systems Sciences, and Engineering includes a set of rigorously reviewed world-class manuscripts addressing and detailing state-of-the-art research projects in the areas of Industrial Electronics, Technology & Automation, Telecommunications and Networking, Systems, Computing Sciences and Software Engineering, Engineering Education, Instructional Technology, Assessment, and E-learning. This book includes the proceedings of the International Joint Conferences on Computer, Information, and Systems Sciences, and Engineering (CISSE 2010). The proceedings are a set of rigorously reviewed world-class manuscripts presenting the state of international practice in Innovative Algorithms and Techniques in Automation, Industrial Electronics and Telecommunications.

During the past decade model predictive control (MPC), also referred to as receding horizon control or moving horizon control, has become the preferred control strategy for quite a number of industrial processes. There have been many significant advances in this area over the past years, one of the most important ones being its extension to nonlinear systems. This book gives an up-to-date assessment of the current state of the art in the new field of nonlinear model predictive control (NMPC). The main topic areas that appear to be of central importance for NMPC are covered, namely receding horizon control theory, modeling for NMPC, computational aspects of on-line optimization and application issues. The book consists of selected papers presented at the International Symposium on Nonlinear Model Predictive Control - Assessment and Future Directions, which took place from June 3 to 5, 1998, in Ascona, Switzerland.
The book is geared towards researchers and practitioners in the area of control engineering and control theory. It is also suited for postgraduate students as the book contains several overview articles that give a tutorial introduction into the various aspects of nonlinear model predictive control, including systems theory, computations, modeling and applications.

Hydraulic Servo-systems details the basic concepts of many recent developments of nonlinear identification and nonlinear control and their application to hydraulic servo-systems: developments such as feedback linearisation and fuzzy control. It also reviews the principles, benefits and limitations associated with standard control design approaches such as linear state feedback control, feedforward control and compensation for static nonlinearities, because of their continued practical importance. Featuring: theoretical (physically based) modelling of hydraulic servo-systems; experimental modelling (system identification); control strategies for hydraulic servo-systems; case studies and experimental results. Appendices outline the most important fundamentals of (nonlinear) differential geometry and fuzzy control. The book is very application-oriented and provides the reader with detailed working procedures and hints for implementation routines and software tools. It will interest scientists and qualified engineers involved in the analysis and design of hydraulic control systems, especially in advanced hydraulic industries, the aeronautical and space and automotive industries.

This book presents the synthesis and analysis of fuzzy controllers and its application to a class of mechanical systems. It mainly focuses on the use of type-2 fuzzy controllers to account for disturbances known as hard or nonsmooth nonlinearities. The book, which summarizes the authors' research on type-2 fuzzy logic and control of mechanical systems, presents models, simulation and experiments towards the control of servomotors with dead-zone and Coulomb friction, and the control of both wheeled mobile robots and a biped robot. Closed-loop systems are analyzed in the framework of smooth and nonsmooth Lyapunov functions.

The 6th International Asia Conference on Industrial Engineering and Management Innovation is sponsored by the Chinese Industrial Engineering Institution and organized by Tianjin University. The conference aims to share and disseminate information on the most recent and relevant researches, theories and practices in industrial and system engineering to promote their development and application in university and enterprises.

This book uses techniques of Fourier series and functional analysis to deal with certain problems in differential equations. The Fourier series and functional analysis are merely tools; the authors' real interest lies in the differential equations that they study. It has been known since 1967 that a wide variety of sets {ewikt} of complex exponential functions play an important role in the control theory of systems governed by partial differential equations. However, this book is the first serious attempt to gather all of the available theory of these "nonharmonic Fourier series" in one place, combining published results with new results by the authors, to create a unique source of such material for practicing applied mathematicians, engineers and other scientific professionals.

This book highlights electromagnetic actuation (EMA) and sensing systems for a broad range of applications including targeted drug delivery, drug-release-rate control, catheterization, intravitreal needleless injections, wireless magnetic capsule endoscopy, and micromanipulations. It also reviews the state-of-the-art magnetic actuation and sensing technologies with remotely controlled targets used in biomedicine.

Piezoelectric-Based Vibration-control Systems: Applications in Micro/Nano Sensors and Actuators covers: Fundamental concepts in smart (active) materials including piezoelectric and piezoceramics, magnetostrictive, shape-memory materials, and electro/magneto-rheological fluids; Physical principles and constitutive models of piezoelectric materials; Piezoelectric sensors and actuators; Fundamental concepts in mechanical vibration analysis and control with emphasis on distributed-parameters and vibration-control systems; and Recent advances in piezoelectric-based microelectromechanical and nanoelectromechanical systems design and implementation.

This book presents novel algorithms for designing Discrete-Time Sliding Mode Controllers (DSMCs) for Networked Control Systems (NCSs) with both types of fractional delays namely deterministic delay and random delay along with different packet loss conditions such as single packet loss and multiple packet loss that occur within the sampling period. Firstly, the switching type and non-switching type algorithms developed for the deterministic type fractional delay where the delay is compensated using Thiran's approximation technique. A modified discrete-time sliding surface is proposed to derive the discrete-time sliding mode control algorithms. The algorithm is further extended for the random fractional delay with single packet loss and multiple packet loss situations. The random fractional delay is modelled using Poisson's distribution function and packet loss is modelled by means of Bernoulli's function. The condition for closed loop stability in all above situations are derived using the Lyapunov function. Lastly, the efficacy of the proposed DSMC algorithms are demonstrated by extensive simulations and also experimentally validated on a servo system.

Designing Inclusive Interactions contains the proceedings of the fifth Cambridge Workshop on Universal Access and Assistive Technology (CWUAAT), incorporating the 8th Cambridge Workshop on Rehabilitation Robotics, held in Cambridge, England, in March 2010. It contains contributions from an international group of leading researchers in the fields of Universal Access and Assistive Technology. This conference will mainly focus on the following principal topics: 1. Designing assistive and rehabilitation technology for working and daily living environments 2. Measuring inclusion for the design of products for work and daily living 3. Inclusive interaction design and new technologies for inclusive design 4. Assembling new user data for inclusive design 5. The design of accessible and inclusive contexts: work and daily living environments 6. Business advantages and applications of inclusive design 7. Legislation, standards and government awareness of inclusive design

This book reports the results of exhaustive research work on modeling and control of vertical oil well drilling systems. It is focused on the analysis of the system-dynamic response and the elimination of the most damaging drill string vibration modes affecting overall perforation performance: stick-slip (torsional vibration) and bit-bounce (axial vibration). The text is organized in three parts. The first part, Modeling, presents lumped- and distributed-parameter models that allow the dynamic behavior of the drill string to be characterized; a comprehensive mathematical model taking into account mechanical and electric components of the overall drilling system is also provided. The distributed nature of the system is accommodated by considering a system of wave equations subject to nonlinear boundary conditions; this model is transformed into a pair of neutral-type time-delay equations which can overcome the complexity involved in the analysis and simulation of the partial differential equation model. The second part, Analysis, is devoted to the study of the response of the system described by the time-delay model; important properties useful for analyzing system stability are investigated and frequency- and time-domain techniques are reviewed. Part III, Control, concerns the design of stabilizing control laws aimed at eliminating undesirable drilling vibrations; diverse control techniques based on infinite--dimensional system representations are designed and evaluated. The control proposals are shown to be effective in suppressing stick-slip and bit-bounce so that a considerable improvement of the overall drilling performance can be achieved. This self-contained book provides operational guidelines to avoid drilling vibrations. Furthermore, since the modeling and control techniques presented here can be generalized to treat diverse engineering problems, it constitutes a useful resource to researchers working on control and its engineering application in oil well drilling.

Written by leading researchers, this book collects a number of articles considering the problems of finite-precision computing in digital controllers and filters. Topics range from analysis of fragility and finite-precision effects to the design of low-complexity digital controllers.

This book presents recent advances on the design of intelligent systems based on fuzzy logic, neural networks and nature-inspired optimization and their application in areas such as, intelligent control and robotics, pattern recognition, time series prediction and optimization of complex problems. The book is organized in eight main parts, which contain a group of papers around a similar subject. The first part consists of papers with the main theme of theoretical aspects of fuzzy logic, which basically consists of papers that propose new concepts and algorithms based on fuzzy systems. The second part contains papers with the main theme of neural networks theory, which are basically papers dealing with new concepts and algorithms in neural networks. The third part contains papers describing applications of neural networks in diverse areas, such as time series prediction and pattern recognition. The fourth part contains papers describing new nature-inspired optimization algorithms. The fifth part presents diverse applications of nature-inspired optimization algorithms. The sixth part contains papers describing new optimization algorithms. The seventh part contains papers describing applications of fuzzy logic in diverse areas, such as time series prediction and pattern recognition. Finally, the eighth part contains papers that present enhancements to meta-heuristics based on fuzzy logic techniques.

This monograph presents a new analytical approach to the design of proportional-integral-derivative (PID) controllers for linear time-invariant plants. The authors develop a computer-aided procedure, to synthesize PID controllers that satisfy multiple design specifications. A geometric approach, which can be used to determine such designs methodically using 2- and 3-D computer graphics is the result. The text expands on the computation of the complete stabilizing set previously developed by the authors and presented here. This set is then systematically exploited to achieve multiple design specifications simultaneously. These specifications include classical gain and phase margins, time-delay tolerance, settling time and H-infinity norm bounds. The results are developed for continuous- and discrete-time systems. An extension to multivariable systems is also included. Analytical Design of PID Controllers provides a novel method of designing PID controllers, which makes it ideal for both researchers and professionals working in traditional industries as well as those connected with unmanned aerial vehicles, driverless cars and autonomous robots.

H-infinity engineering continues to establish itself as a discipline of applied mathematics. As such, this extensively illustrated monograph makes a significant application of H-infinity theory to electronic amplifier design, demonstrating how recent developments in H-infinity engineering equip amplifier designers with new tools and avenues for research.

The presentation, at the interface of applied mathematics and engineering, emphasizes how to (1) compute the best possible performance available from any matching circuits; (2) benchmark existing matching solutions; and (3) generalize results to multiple amplifiers. As the monograph develops, many research directions are pointed out for both disciplines. The physical meaning of a mathematical problem is made explicit for the mathematician, while circuit problems are presented in the H-infinity framework for the engineer. A final chapter organizes these research topics into a collection of open problems ranging from electrical engineering, numerical implementations, and generalizations to H-infinity theory.

Fieldbus Technology (FT) is an enabling platform that is becoming the preferred choice for the next generation real-time automation and control solutions. This book incorporates a selection of research and development papers. Topics covered include: history and background, contemporary standards, underlying architecture, comparison between different Fieldbus systems, applications, latest innovations, new trends as well as issues such as compatibility, interoperability, and interchangeability.

Following the successful 1st CEAS (Council of European Aerospace Societies) Specialist Conference on Guidance, Navigation and Control (CEAS EuroGNC) held in Munich, Germany in 2011, Delft University of Technology happily accepted the invitation of organizing the 2nd CEAS EuroGNC in Delft, The Netherlands in 2013. The goal of the conference is to promote new advances in aerospace GNC theory and technologies for enhancing safety, survivability, efficiency, performance, autonomy and intelligence of aerospace systems using on-board sensing, computing and systems. A great push for new developments in GNC are the ever higher safety and sustainability requirements in aviation. Impressive progress was made in new research fields such as sensor and actuator fault detection and diagnosis, reconfigurable and fault tolerant flight control, online safe flight envelop prediction and protection, online global aerodynamic model identification, online global optimization and flight upset recovery. All of these challenges depend on new online solutions from on-board computing systems. Scientists and engineers in GNC have been developing model based, sensor based as well as knowledge based approaches aiming for highly robust, adaptive, nonlinear, intelligent and autonomous GNC systems. Although the papers presented at the conference and selected in this book could not possibly cover all of the present challenges in the GNC field, many of them have indeed been addressed and a wealth of new ideas, solutions and results were proposed and presented.

For the 2nd CEAS Specialist Conference on Guidance, Navigation and Control the International Program Committee conducted a formal review process. Each paper was reviewed in compliance with good journal practice by at least two independent and anonymous reviewers. The papers published in this book were selected from the conference proceedingsbased on the results and recommendations from the reviewers.

Fault-tolerant control aims at a gradual shutdown response in automated systems when faults occur. It satisfies the industrial demand for enhanced availability and safety, in contrast to traditional reactions to faults, which bring about sudden shutdowns and loss of availability. The book presents effective model-based analysis and design methods for fault diagnosis and fault-tolerant control. Architectural and structural models are used to analyse the propagation of the fault through the process, to test the fault detectability and to find the redundancies in the process that can be used to ensure fault tolerance. It also introduces design methods suitable for diagnostic systems and fault-tolerant controllers for continuous processes that are described by analytical models of discrete-event systems represented by automata. The book is suitable for engineering students, engineers in industry and researchers who wish to get an overview of the variety of approaches to process diagnosis and fault-tolerant control. The authors have extensive teaching experience with graduate and PhD students, as well as with industrial experts. Parts of this book have been used in courses for this audience. The authors give a comprehensive introduction to the main ideas of diagnosis and fault-tolerant control and present some of their most recent research achievements obtained together with their research groups in a close cooperation with European research projects. The third edition resulted from a major re-structuring and re-writing of the former edition, which has been used for a decade by numerous research groups. New material includes distributed diagnosis of continuous and discrete-event systems, methods for reconfigurability analysis, and extensions of the structural methods towards fault-tolerant control. The bibliographical notes at the end of all chapters have been up-dated. The chapters end with exercises to be used in lectures.

This book presents selected proceedings from the 22nd biennial IFIP conference on System Modeling and Optimization, held in Turin, Italy in July of 2005. This edition of the conference is dedicated to the achievements of Camillo Possio, who was killed sixty years ago during the last air raid over Turin.

System Modeling and Optimization covers optimization, oiptimization with PDE constraints, structural systems optimization, algorithms for linear and nonlinear programming, stochastic optimization, control and game theory, combinatorial and discrete optimization, identification and inverse problems, fault detection, shape identification, complex systems, stability and sensitivity analysis, neural networks, fractal and chaos, reliability, computational techniques in distributed systems and in information processing environments, transmission of information in complex systems, and database design.

In the last decade, signi?cant changes have occurred in the ?eld of vehicle motion planning, and for UAVs in particular. UAV motion planning is especially dif?cult due to several complexities not considered by earlier planning strategies: the - creased importance of differential constraints, atmospheric turbulence which makes it impossible to follow a pre-computed plan precisely, uncertainty in the vehicle state, and limited knowledge about the environment due to limited sensor capabilities. These differences have motivated the increased use of feedback and other control engineering techniques for motion planning. The lack of exact algorithms for these problems and dif?culty inherent in characterizing approximation algorithms makes it impractical to determine algorithm time complexity, completeness, and even soundness. This gap has not yet been addressed by statistical characterization of experimental performance of algorithms and benchmarking. Because of this overall lack of knowledge, it is dif?cult to design a guidance system, let alone choose the algorithm. Throughout this paper we keep in mind some of the general characteristics and requirements pertaining to UAVs. A UAV is typically modeled as having velocity and acceleration constraints (and potentially the higher-order differential constraints associated with the equations of motion), and the objective is to guide the vehicle towards a goal through an obstacle ?eld. A UAV guidance problem is typically characterized by a three-dimensional problem space, limited information about the environment, on-board sensors with limited range, speed and acceleration constraints, and uncertainty in vehicle state and sensor data.

This book is an up-to-date self-contained compendium of the research carried out by the authors on model-based diagnosis of a class of discrete-event systems called active systems. After defining the diagnosis problem, the book copes with a variety of reasoning mechanisms that generate the diagnosis, possibly within a monitoring setting. The book is structured into twelve chapters, each of which has its own introduction and concludes with bibliographic notes and itemized summaries. Concepts and techniques are presented with the help of numerous examples, figures, and tables, and when appropriate these concepts are formalized into propositions and theorems, while detailed algorithms are expressed in pseudocode. This work is primarily intended for researchers, professionals, and graduate students in the fields of artificial intelligence and control theory.

Safety in industrial process and production plants is a concern of rising importance, especially if people would be endangered by a catastrophic system failure. On the other hand, because the control devices which are now exploited to improve the overall performance of industrial processes include both sophisticated digital system design techniques and complex hardware (input-output sensors, actuators, components and processing units), there is an increased probability of failure. As a direct consequence of this, control systems must include automatic supervision of closed-loop operation to detect and isolate malfunctions as early as possible. One of the most promising methods for solving this problem is the "analytical redundancy" approach, in which residual signals are obtained. The basic idea consists of using an accurate model of the system to mimic the real process behaviour. If a fault occurs, the residual signal, i.e., the difference between real system and model behaviours, can be used to diagnose and isolate the malfunction. This book focuses on model identification oriented to the analytical approach of fault diagnosis and identification. The problem is treated in all its aspects covering: choice of model structure; parameter identification; residual generation; fault diagnosis and isolation. Sample case studies are used to demonstrate the application of these techniques. Model-based Fault Diagnosis in Dynamic Systems Using Identification Techniques will be of interest to researchers in control and fault identification. Industrial control engineers interested in applying the latest methods in fault diagnosis will benefit from the practical examples and case studies.

This book presents an authoritative collection of contributions by researchers from 16 different countries (Austria, Chile, Georgia, Germany, Mexico, Norway, P.R. of China, Poland, North Macedonia, Romania, Russia, Spain, Turkey, Ukraine, the United Kingdom and United States) that report on recent developments and new directions in advanced control systems, together with new theoretical findings, industrial applications and case studies on complex engineering systems. This book is dedicated to Professor Vsevolod Mykhailovych Kuntsevich, an Academician of the National Academy of Sciences of Ukraine, and President of the National Committee of the Ukrainian Association on Automatic Control, in recognition of his pioneering works, his great scientific and scholarly achievements, and his years of service to many scientific and professional communities, notably those involved in automation, cybernetics, control, management and, more specifically, the fundamentals and applications of tools and techniques for dealing with uncertain information, robustness, non-linearity, extremal systems, discrete control systems, adaptive control systems and others. Covering essential theories, methods and new challenges in control systems design, the book is not only a timely reference guide but also a source of new ideas and inspirations for graduate students and researchers alike. Its 15 chapters are grouped into four sections: (a) fundamental theoretical issues in complex engineering systems, (b) artificial intelligence and soft computing for control and decision-making systems, (c) advanced control techniques for industrial and collaborative automation, and (d) modern applications for management and information processing in complex systems. All chapters are intended to provide an easy-to-follow introduction to the topics addressed, including the most relevant references. At the same time, they reflect various aspects of the latest research work being conducted around the world and, therefore, provide information on the state of the art.

This compact and original reference and textbook presents the most important classical and modern essentials of control engineering in a single volume. It constitutes a harmonic mixture of control theory and applications, which makes the book especially useful for students, practicing engineers and researchers interested in modeling and control of processes. Well written and easily understandable, it includes a range of methods for the analysis and design of control systems.