prikaz prve stranice dokumenta Time Optimal Control of Piecewise Affine Systems
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doctoral thesis
Time Optimal Control of Piecewise Affine Systems
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2007. urn:nbn:hr:168:849391
Vašak, Mario
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Vašak, M. (2007). Time Optimal Control of Piecewise Affine Systems (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:849391

Vašak, Mario. "Time Optimal Control of Piecewise Affine Systems." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2007. https://urn.nsk.hr/urn:nbn:hr:168:849391

Vašak, Mario. "Time Optimal Control of Piecewise Affine Systems." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2007. https://urn.nsk.hr/urn:nbn:hr:168:849391

Vašak, M. (2007). 'Time Optimal Control of Piecewise Affine Systems', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 January 2025, https://urn.nsk.hr/urn:nbn:hr:168:849391

Vašak M. Time Optimal Control of Piecewise Affine Systems [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2007 [cited 2025 January 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:849391

M. Vašak, "Time Optimal Control of Piecewise Affine Systems", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2007. Available at: https://urn.nsk.hr/urn:nbn:hr:168:849391

Metadata
TitleTime Optimal Control of Piecewise Affine Systems
Title (croatian)Vremenski optimalno upravljanje po dijelovima afinim sustavima
AuthorMario Vašak
MentorNedjeljko Perić (mentor)
Committee memberIvan Petrović (član povjerenstva)
Committee memberNedjeljko Perić (član povjerenstva)
Committee memberŽelimir Kurtanjek (član povjerenstva)
Committee memberDarko Žubrinić (član povjerenstva)
Committee memberMato Baotić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2007-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Process Computing
Universal decimal classification
(UDC)		51 - Mathematics
004 - Computer science and technology. Computing. Data processing
Abstract
This dissertation investigates the constrained time optimal control of nonlinear processes modeled in a discrete-time piecewise affine form. The control system states are in minimum time steered into the computed invariant set in which it is guaranteed that they can be kept for an arbitrarily long time. The control system design is based on computations with polytopic predecessor sets. We introduce procedures for efficient computation of the maximum controlled invariant set and of the time-optimal control law which reduces the number of switches between model dynamics. For the case of the polytope-bounded model uncertainty we introduce a new algorithm for the computation of robust predecessor sets and consequently robust invariant sets. The corresponding computation time is for complex models reduced by several orders of magnitude. We investigate the clustering-based identification procedure for piecewise affine process models. The original procedure is modified in order to enhance the approximative properties of the identified model. The developed identification and control methodology is validated on two challenging industrial control problems: the electronic throttle servosystem and the torque control of switched reluctance motors. Experimental results obtained on the electronic throttle servosystem show fast and accurate transients which is very important for the car driveability and for reducing the fuel consumption and the polluting gas emissions. The use of switched reluctance motors is significantly limited in the variable-speed applications due to the high level of induced motor torque ripples. We show how the torque control law design based on polytopic invariant sets can be applied to limit the torque ripples to their physical minimum.
Abstract (croatian)
Ova disertacija obrađuje vremenski optimalno upravljanje uz prisutna ograničenja, s naglaskom na nelinearne procese modelirane vremenski diskretnim po dijelovima afinim modelima. Varijable stanja sustava upravljanja dovode se u minimalnom vremenu u proračunan invarijantni skup za kojeg se jamči da se stanje u njemu može održavati proizvoljno dugo. Sinteza sustava upravljanja temelji se na proračunima s politopskim skupovima dohvatljivosti. Razvijeni su postupci za učinkoviti proračun maksimalnog upravljački invarijantnog skupa i vremenski optimalnog upravljačkog zakona koji smanjuje broj prekapčanja između dinamika modela. Za slučaj politopski ograničene neodređenosti modela uvodi se novi algoritam za proračun robusnih skupova dohvatljivosti i, posljedično, robusnih invarijantnih skupova. Njime se smanjuje pripadno vrijeme proračuna za nekoliko redova veličine, osobito za složenije modele. Disertacija obrađuje i postupak identifikacije po dijelovima afinih modela procesa postupkom koji je zasnovan na uskupljavanju. Izvorni postupak je dorađen kako bi se poboljšala aproksimativna svojstva identificiranog modela. Provjera valjanosti istražene metodologije identifikacije i upravljanja provedena je na dva zahtjevna industrijska problema upravljanja: slijednom sustavu elektroničke zaklopke automobilskog motora s unutarnjim izgaranjem i sustavu upravljanja momentom reluktantnog motora. Eksperimentalni rezultati na slijednom sustavu s elektroničkom zaklopkom pokazuju brze i točne prijelazne pojave što je od presudne važnosti za upravljivost vozila te za smanjenje potrošnje goriva i emisije štetnih plinova. Upotreba reluktantnih motora ima značajna ograničenja u primjenama elektromotornih pogona promjenjive brzine vrtnje zbog velikih pulzacija razvijenog momenta. Simulacijama se pokazuje da sustav upravljanja momentom reluktantnog motora temeljen na invarijantnim skupovima može ograničiti pulzacije razvijenog momenta na njihov fizikalni minimum.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:849391
Study programmeTitle: Electrical Engineering and Computing
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Type of resourceText
File originBorn digital
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Created on2020-04-02 06:32:54