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Dissertationen zum Thema „System Linearization“
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1
Lee, Jungkun. "Optimal linearization of anharmonic oscillators /." Online version of thesis, 1991. http://hdl.handle.net/1850/11021.
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2
Liu, Yong. "NEURAL ADAPTIVE NONLINEAR TRACKING USING TRAJECTORY LINEARIZATION." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1177092159.
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3
Yang, Bo. "Output Feedback Control of Nonlinear Systems with Unstabilizable/Undetectable Linearization." Case Western Reserve University School of Graduate Studies / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=case1132634014.
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4
Maeda, Ken. "Nonlinear control system of inverted pendulum based on input-output linearization." Diss., Online access via UMI:, 2006.
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5
Han, JeongHeon. "An LMI approach to stochastic linear system design using alternating linearization /." Diss., Connect to a 24 p. preview or request complete full text in PDF format. Access restricted to UC campuses, 2005. http://wwwlib.umi.com/cr/ucsd/fullcit?p3184209.
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6
Huang, Rui. "OUTPUT FEEDBACK TRACKING CONTROL OF NONLINEAR TIME-VARYING SYSTEMS BY TRAJECTORY LINEARIZATION." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1178906759.
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7
Eriksson, Marcus. "Analysis of Digital Predistortion in a Wideband Arbitrary Waveform Generator." Thesis, Linköpings universitet, Kommunikationssystem, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-123410.
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Digital predistortion is a signal processing technique used to remove undesired distortions caused by nonlinear system effects. This method is predominately used to linearize power amplifiers in communication systems in order to achieve efficient transmitter circuits. However, the technique can readily be applied to cancel undesired nonlinear behavior in other types of systems. This thesis investigates the effectiveness of digital predistortion in the context of a wideband arbitrary waveform generator. A theoretical foundation discussing nonlinear system models, predistortion architectures and system identification methods is complemented with a simulation study and followed by verification on a real system. The best predistorter is able to fully suppress the undesired distortions for any fixed two-tone sinusoidal signal. Furthermore, the results indicate the existence of a wideband predistorter which yield acceptable suppression over a frequency range of several hundred MHz.<br>Digital predistorsion är en signalbehandlingsteknik som används för att undertrycka oönskade distorsioner orsakade av icke-linjära effekter i elektriska system. Denna metod används i huvudsak för att linjärisera effektförstärkare i kommunikationssystem för att erhålla effektiva sändarkedjor men tekniken kan utan större problem även tillämpas på andra typer av icke-linjära system. Denna uppsats undersöker i vilken utsräckning digital predistorsion kan användas för att undertrycka oönskade signaldistorsioner i en bredbandig signalgenerator. Uppsatsen presenterar en bakgrund som utgår ifrån teorin om icke-linjära systemmodeller, arkiteturer för predistorsion och systemidentifieringsmetoder. En kvantitativ studie i en simuleringsmiljö åtföjs av en utvärdering på ett verkligt system. Det bästa predistorsionssystemet åstadkommer en fullständig linjärisering i testfallet med en fix tvåtonssignal. Resultaten indikerar även att det existerar ett system som linjäriserar signaler i ett frekvensområde som uppgår till hundratals MHz.
8
Gettman, Chang-Ching Lo. "Multivariable control of the space shuttle remote manipulator system using linearization by state feedback." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/46419.
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9
Lindahl, Karl-Olof. "On the linearization of non-Archimedean holomorphic functions near an indifferent fixed point." Doctoral thesis, Växjö : Växjö University Press, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:vxu:diva-1713.
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10
Rothman, Keith Eric. "Validation of Linearized Flight Models using Automated System-Identification." DigitalCommons@CalPoly, 2009. https://digitalcommons.calpoly.edu/theses/81.
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Optimization based flight control design tools depend on automatic linearization tools, such as Simulink®’s LINMOD, to extract linear models. In order to ensure the usefulness and correctness of the generated linear model, this linearization must be accurate. So a method of independently verifying the linearized model is needed. This thesis covers the automation of a system identification tool, CIFER®, for use as a verification tool integrated with CONDUIT®, an optimization based design tool. Several test cases are built up to demonstrate the accuracy of the verification tool with respect to analytical results and matches with LINMOD. Several common nonlinearities are tested, comparing the results from CIFER and LINMOD, as well as analytical results where possible. The CIFER results show excellent agreement with analytical results. LINMOD treated most nonlinearity as a unit gain, but some nonlinearities linearized to a zero, causing the linearized model to omit that path. Although these effects are documented within Simulink, their presence may be missed by a user. The verification tool is successful in identifying these problems when present. A section is dedicated to the diagnosis of linearization errors, suggesting solutions where possible.
11
Huang, Jeffrey B. "Exploring predistortion training algorithms in a Cartesian feedback-trained digital predistortion system for RF power amplifier linearization." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36799.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.<br>Includes bibliographical references (p. 117-118).<br>A Cartesian feedback-trained digital predistortion system for RF power amplifier linearization offers many advantages with its combination of two different linearization techniques. This thesis describes such a system, focusing on the important issue of predistorter training. It examines and analyzes in great detail the promising loop filter pre-charging optimization and the tradeoffs associated with such training, developing a model that provides many valuable system design insights. In order establish a means to experimentally verify the theory and explore predistortion training algorithms, this thesis presents the design, development, and characterization of a mock-up prototype that models the essential features of the actual Cartesian feedback-trained digital predistortion system. The mock-up serves as a standalone proof-of-concept system that demonstrates the benefits and tradeoffs of loop filter pre-charging in predistorter training. It confirms the theory while also revealing practical issues pertaining to the limits on performance.<br>by Jeffrey B. Huang.<br>M.Eng.
12
Althaus, Joseph H. "An Embedded Nonlinear Control Implementation for a Hovering Small Unmanned Aerial System." Ohio University / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1275530221.
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13
Coskun, Arslan Hakan. "Stochastic Characterization And Mathematical Analysis Of Feedforward Linearizers." Phd thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/626721/index.pdf.
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Feedforward is known to be one of the best methods for power amplifier
linearization due to its superior linearization performance and broadband stable
operation. However feedforward systems have relatively poor power efficiency and
are complicated due to the presence of two nonlinear amplifiers and the requirements
of amplitude, phase and delay matching within two different loops. In this thesis
stochastic characterization of a simple feedforward system with autocorrelation
analysis has been presented for Code Division Multiple Access (CDMA)
applications taking the amplitude and delay mismatches into consideration. It has
been assumed that, the input signal can be represented as Gaussian noise, main and
error amplifiers can be modeled with third order AM/AM nonlinearities and there
exists no phase mismatch within the loops. Hence closed form expressions, which
relate the main channel and distorted adjacent channel power at any point in the
feedforward circuitry to the system parameters, have been obtained. Consequently, a
mathematical handy tool is achieved towards specifying the circuit parameters
rapidly for optimum linearity performance and efficiency. The developed analytical
model has been verified by Radio Frequency (RF) and system simulations. An
alternative approach towards modeling feedforward systems for arbitrary signals has
also been brought into consideration and has been verified with system simulations.
14
Bhatia, Abhishek. "Multivariable Feedback Control of Unstable Aircraft Dynamics." University of Cincinnati / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1479809412341377.
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15
Maštera, Martin. "Měřicí a linearizační zobrazovací jednotka pro průtokoměry." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221061.
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Linearization display unit will receive pulses from a gear flow meter KRACHT whose frequency corresponds to a flow. The measured value is flow that nonlinearly depends on the temperature and viscosity of the medium. The dependency is described by calibration curves for each flow meter. The task of the diploma thesis is to design, implement, and verify the operation of the display unit, which calculates the actual flow rate from the input data (pulse rate, temperature, viscosity, and flow meter calibration curves). The device will contain a suitable user interface to display all measured values, inputs for connecting measuring sensors, and outputs for transmission of measured data. A part of the device will be a USB interface for configuration and uploading calibration curves from a PC application, which is designed by diploma student.
16
Persson, Jonas. "Bandwidth-reduced Linear Models of Non-continuous Power System Components." Doctoral thesis, Stockholm : Electric Power Systems, School of Electrical Engineering, Royal Institute of Technology, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3984.
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17
Enqvist, Martin. "Linear Models of Nonlinear Systems." Doctoral thesis, Linköping : Linköpings universitet, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-5330.
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18
Chen, Haofei. "Estimation of model parameters in twisted string actuation system via extended kalman filter." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/17860/.
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This paper is based on a twisted string actuation system that allows the implementation of simple, powerful, compact and lightweight tendon-based driving systems by using small-size DC motors as actuators characterized by high speed and low torque. This actuation system is well-suited for the implementation in highly-robotic devices due to its properties. The results obtained with this simple and compact actuation system can be used in the field of robotic devices such as robotic hands and exoskeletons.
In this paper, the basic working principle of the actuation system is introduced, and the constitutive equations of the system are presented. Then the dynamic model of the actuation system is built, and the dynamic equations are derived. Furthermore. An extended Kalman filter is used in the system in order to estimate the states and some unknown parameters of the system. At last, a control algorithm based on feedback linearization and regulated by the extended Kalman filter is evaluated by the simulation, this algorithm guarantees a high robustness against disturbances.
19
Raich, Raviv. "Nonlinear system identification and analysis with applications to power amplifier modeling and power amplifier predistortion." Diss., Available online, Georgia Institute of Technology, 2004:, 2004. http://etd.gatech.edu/theses/available/etd-04072004-130800/unrestricted/raich%5Fraviv%5F200405%5Fphd.pdf.
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Thesis (Ph. D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2004.<br>Xiaoming Huo, Committee Member ; J. Stevenson Kenney, Committee Member ; Douglas Williams, Committee Member ; Erik Verriest, Committee Member ; G. Tong Zhou, Committee Chair. Vita. Includes bibliographical references (leaves 170-179).
20
Baschieri, Lorenzo. "Feasible predistortion loop for the linearization of Radio-over-Fiber system based on 850 nm Vertical Cavity Surface Emitting Laser and standard G.652 fiber." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22266/.
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The main purpose of the work is to investigate a low-cost solution for systems designed for the distribution of the RF signal employing the Radio Over Fiber (RoF) technology, including the additional feature of a possible digital predistortion of the modulating signal to compensate the detrimental effects of the system nonlinearities.
A Vertical Cavity Surface Emitting Laser (VCSEL) operating at 850 nm and the standard single mode fiber G-652 have been used with this purpose, since their combination is one of the cheapest possible solutions that can be implemented.
The main problem present in this configuration is due to the fact that, using this kind of lasers in a fiber like G-652, that has been realized to work at wavelengths higher than 1260 nm, an undesired bimodal behavior is present in the fiber connection.
We have then tested a solution based on commercial 1310nm/1550nm couplers, which are theoretically able to separate in different branches the two modes arising at 850 nm. This allows to realize an almost-Single Mode RoF link based on G-652 fiber and 850 nm VCSEL with the additional feature of making available a possible feedback signal to realize an appropriate signal pre-distortion.
Aim of this thesis work is then to insert the coupler at the laser section, using the direct path to feed link based on G-652 fiber, while using the feedback path in order to digitally pre-distort the signal which modulates the laser itself.
The improvements in the sysetm performance will be presented in terms of NMSE (nominal mean square error), ACPR (adjacent channel power ratio), EVM (error vector magnitude) and spectral regrowth reduction, and will allow to appreciate the beneficial effect of signal digital predistortion feature introduced.
21
Prešinský, Ján. "Návrh a rozbor LQ-regulátoru pro podélný a stranový pohyb letadla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232106.
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This diploma thesis is focused on designing and specifying a linear quadratic regulator for longitudinal and lateral motion of the aircraft. The regulator is designed for a linear system obtained from a linearization of our nonlinear dynamic dynamic model of aircraft around the basic reference state (trimmed state-and-level ight). To nd a complete description of this reference state, some optimality problem has to be solved and the solution of this problem is called a trimmed state.
22
DeBruin, Luke Andrew. "Modeling and Control for Advanced Automotive Thermal Management System." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016.
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23
Wise, Zachary Gordon Lee. "System Optimization and Patient Translational Motion Correction for Reduction of Artifacts in a Fan-Beam CT Scanner." Wright State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=wright1347918440.
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24
Ghazaany, Tahereh S. "Design and implementation of adaptive baseband predistorter for OFDM nonlinear transmitter. Simulation and measurement of OFDM transmitter in presence of RF high power amplifier nonlinear distortion and the development of adaptive digital predistorters based on Hammerstein approach." Thesis, University of Bradford, 2011. http://hdl.handle.net/10454/5680.
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The objective of this research work is to investigate, design and measurement of a digital
predistortion linearizer that is able to compensate the dynamic nonlinear distortion of a High
Power Amplifier (PA). The effectiveness of the proposed baseband predistorter (PD) on the
performance of a WLAN OFDM transmitter utilizing a nonlinear PA with memory effect is
observed and discussed. For this purpose, a 10W Class-A/B power amplifier with a gain of 22
dB, operated over the 3.5 GHz frequency band was designed and implemented.
The proposed baseband PD is independent of the operating RF frequency and can be used in
multiband applications. Its operation is based on the Hammerstein system, taking into account
PA memory effect compensation, and demonstrates a noticeable improvement compared to
memoryless predistorters.
Different types of modelling procedures and linearizers were introduced and investigated, in
which accurate behavioural models of Radio Frequency (RF) PAs exhibiting linear and
nonlinear memory effects were presented and considered, based on the Wiener approach
employing a linear parametric estimation technique. Three new linear methods of parameter
estimation were investigated, with the aim of reducing the complexity of the required filtering
process in linear memory compensation. Moreover, an improved wiener model is represented to
include the nonlinear memory effect in the system. The validity of the PA modelling approaches
and predistortion techniques for compensation of nonlinearities of a PA were verified by several
tests and measurements. The approaches presented, based on the Wiener system, have the
capacity to deal with the existing trade-off between accuracy and convergence speed compared
to more computationally complex behavioural modelling algorithms considering memory
effects, such as those based on Volterra series and Neural Networks.
In addition, nonlinear and linear crosstalks introduced by the power amplifier nonlinear
behaviour and antennas mutual coupling due to the compact size of a MIMO OFDM transmitter
have been investigated.
25
Sadeghpour, Ghazaany Tahereh. "Design and implementation of adaptive baseband predistorter for OFDM nonlinear transmitter : simulation and measurement of OFDM transmitter in presence of RF high power amplifier nonlinear distortion and the development of adaptive digital predistorters based on Hammerstein approach." Thesis, University of Bradford, 2011. http://hdl.handle.net/10454/5680.
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The objective of this research work is to investigate, design and measurement of a digital predistortion linearizer that is able to compensate the dynamic nonlinear distortion of a High Power Amplifier (PA). The effectiveness of the proposed baseband predistorter (PD) on the performance of a WLAN OFDM transmitter utilizing a nonlinear PA with memory effect is observed and discussed. For this purpose, a 10W Class-A/B power amplifier with a gain of 22 dB, operated over the 3.5 GHz frequency band was designed and implemented. The proposed baseband PD is independent of the operating RF frequency and can be used in multiband applications. Its operation is based on the Hammerstein system, taking into account PA memory effect compensation, and demonstrates a noticeable improvement compared to memoryless predistorters. Different types of modelling procedures and linearizers were introduced and investigated, in which accurate behavioural models of Radio Frequency (RF) PAs exhibiting linear and nonlinear memory effects were presented and considered, based on the Wiener approach employing a linear parametric estimation technique. Three new linear methods of parameter estimation were investigated, with the aim of reducing the complexity of the required filtering process in linear memory compensation. Moreover, an improved wiener model is represented to include the nonlinear memory effect in the system. The validity of the PA modelling approaches and predistortion techniques for compensation of nonlinearities of a PA were verified by several tests and measurements. The approaches presented, based on the Wiener system, have the capacity to deal with the existing trade-off between accuracy and convergence speed compared to more computationally complex behavioural modelling algorithms considering memory effects, such as those based on Volterra series and Neural Networks. In addition, nonlinear and linear crosstalks introduced by the power amplifier nonlinear behaviour and antennas mutual coupling due to the compact size of a MIMO OFDM transmitter have been investigated.
26
Lederer, Christian. "Konjugation stochastischer und zufälliger stationärer Differentialgleichungen und eine Version des lokalen Satzes von Hartman-Grobman für stochastische Differentialgleichungen." Doctoral thesis, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät II, 2001. http://dx.doi.org/10.18452/14675.
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Für zufällige dynamische Systeme mit stetiger Zeit existieren zwei wichtige Klassen von Generatoren: Zum einen stationäre zufällige ifferentialgleichungen, i.e. gewöhnliche Differentialgleichungen, die von einem stationärer zufälligen Vektorfeld getrieben werden, und zum anderen stochastische Stratonovichdifferentialgleichungen mit weißem Rauschen. Während die erste Klasse sich gut in den ergodentheoretischen Rahmen der Theorie der zufälligen dynamischen Systeme einfügt, widersetzte sich die zweite Klasse lange Zeit der dynamischen Untersuchung aufgrund des "Konflikts zwischen Ergodentheorie und stochastischer Analysis". In dieser Arbeit wird gezeigt, daß beide Klassen von zufälligen dynamischen Systemen nicht wesentlich verschieden sind, genauer: Zu jeder stochastischen Stratonovichdifferentialgleichung mit weißem Rauschen (unter den üblichen Regularitätsforderungen an die Vektorfelder, die die Existenz von Flüssen garantieren) existiert eine stationäre zufällige Differentialgleichung derart, daß die erzeugten zufälligen dynamischen Systeme konjugiert sind. Als Anwendung wird eine Version des lokalen Linearisierungssatzes von Hartman/Grobman für stochastische Stratonovichdifferentialgleichungen bewiesen.<br>For continuous time random dynamical systems there exist two important classes of generators: on the one hand stationary random differential quations, i.e. ordinary differential equations driven by a stationary random vector field, and on the other hand stochastic Stratonovich differential equations with white noise. While the first class fits well into the framework of the theory of random dynamical systems, the second class resisted for a long time the dynamical investigation due to the "conflict between ergodic theory and stochastic analysis". The main result of this thesis is that both classes of random dynamical systems are not essentially distinct, more precisely: For each stochastic Stratonovich differential equation with white noise (under usual regularity assumptions) there exists a stationary random differential equation such that the corresponding random dynamical systems are conjugate. As an application a version of the local Hartman/Grobman theorem for stochastic differential equations is proved.
27
Abdul-Jalal, Rifqi I. "Engine thermal management with model predictive control." Thesis, Loughborough University, 2016. https://dspace.lboro.ac.uk/2134/24274.
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The global greenhouse gas CO2 emission from the transportation sector is very significant. To reduce this gas emission, EU has set an average target of not more than 95 CO2/km for new passenger cars by the year 2020. A great reduction is still required to achieve the CO2 emission target in 2020, and many different approaches are being considered. This thesis focuses on the thermal management of the engine as an area that promise significant improvement of fuel efficiency with relatively small changes. The review of the literature shows that thermal management can improve engine efficiency through the friction reduction, improved air-fuel mixing, reduced heat loss, increased engine volumetric efficiency, suppressed knock, reduce radiator fan speed and reduction of other toxic emissions such as CO, HC and NOx. Like heat loss and friction, most emissions can be reduced in high temperature condition, but this may lead to poor volumetric efficiency and make the engine more prone to knock. The temperature trade-off study is conducted in simulation using a GT-SUITE engine model coupled with the FE in-cylinder wall structure and cooling system. The result is a map of the best operating temperature over engine speed and load. To quantify the benefit of this map, eight driving styles from the legislative and research test cycles are being compared using an immediate application of the optimal temperature, and significant improvements are found for urban style driving, while operation at higher load (motorway style driving) shows only small efficiency gains. The fuel consumption saving predicted in the urban style of driving is more than 4%. This assess the chance of following the temperature set point over a cycle, the temperature reference is analysed for all eight types of drive cycles using autocorrelation, lag plot and power spectral density. The analysis consistently shows that the highest volatility is recorded in the Artemis Urban Drive Cycle: the autocorrelation disappears after only 5.4 seconds, while the power spectral density shows a drop off around 0.09Hz. This means fast control action is required to implement the optimal temperature before it changes again. Model Predictive Control (MPC) is an optimal controller with a receding horizon, and it is well known for its ability to handle multivariable control problems for linear systems with input and state limits. The MPC controller can anticipate future events and can take control actions accordingly, especially if disturbances are known in advance. The main difficulty when applying MPC to thermal management is the non-linearity caused by changes in flow rate. Manipulating both the water pump and valve improves the control authority, but it also amplifies the nonlinearity of the system. Common linearization approaches like Jacobian Linearization around one or several operating points are tested, by found to be only moderately successful. Instead, a novel approach is pursued using feedback linearization of the plant model. This uses an algebraic transformation of the plant inputs to turn the nonlinear systems dynamics into a fully or predominantly linear system. The MPC controller can work with the linear model, while the actual control inputs are found using an inverse transformation. The Feedback Linearization MPC of the cooling system model is implemented and testing using MathWork Simulink®. The process includes the model transformation approach, model fitting, the transformation of the constraints and the tuning of the MPC controller. The simulation shows good temperature tracking performance, and this demonstrates that a MPC controller with feedback linearization is a suitable approach to thermal management. The controller strategy is then validated in a test rig replicating an actual engine cooling system. The new MPC controller is again evaluated over the eight driving cycles. The average water pump speed is reduced by 9.1% compared to the conventional cooling system, while maintaining good temperature tracking. The controller performance further improves with future disturbance anticipation by 20.5% for the temperature tracking (calculated by RMSE), 6.8% reduction of the average water pump speed, 47.3% reduction of the average valve movement and 34.0% reduction of the average radiator fan speed.
28
Karakas, Deniz. "Nonlinear Modeling And Flight Control System Design Of An Unmanned Aerial Vehicle." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/3/12608926/index.pdf.
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The nonlinear simulation model of an unmanned aerial vehicle (UAV) in MATLAB®<br>/Simulink®<br>environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. Trim and linearization of the developed nonlinear model are accomplished and various related analyses are carried out. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches<br>namely, classical and optimal, linear controllers are designed. For the classical approach, Simulink Response Optimization (SRO) tool of MATLAB®<br>/Simulink®<br>is utilized, whereas for the optimal controller approach, linear quadratic (LQ) controller design method is implemented, again by the help of the tools put forth by MATLAB®<br>. The controllers are designed for control of roll, heading, coordinated turn, flight path, pitch, altitude, and airspeed, i.e., for the achievement of all low-level control functions. These linear controllers are integrated into the nonlinear model, by carrying out gain scheduling with respect to airspeed and altitude, controller input linearization regarding the perturbed states and control inputs, and anti integral wind-up scheme regarding the possible wind-up of the integrators in the controller structures. The responses of the nonlinear model controlled with the two controllers are compared based on the military flight control requirements. The advantages and disadvantages of these two frequently used controllers in industry are investigated and discussed. These results are to be evaluated by the designers themselves based on the design criteria of a project that is worked on.
29
Gebo, Charles H. "Self-tuning feedback linearization /." *McMaster only, 2002.
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30
Korkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.
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In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The system equations of motion are derived recursively using Newton&ndash<br>Euler formulation. The inverse dynamics control algorithms are formulated and trajectory tracking control of the systems is achieved by assigning separate tasks for the end effector of the manipulator and for the underwater vehicle. The proposed inverse dynamics controller utilizes the full nonlinear model of the system and consists of a linearizing control law that uses the feedback of positions and velocities of the joints and the underwater vehicle in order to cancel off the nonlinearities of the system. The PD control is applied after this complicated feedback linearization process yielding second order error dynamics. The thruster dynamics is also incorporated into the control system design. The stability analysis is performed in the presence of parametric uncertainty and disturbing ocean current. The effectiveness of the control methods are demonstrated by simulations for typical underwater missions.
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Batista, Nathan Eduardo Ribeiro. "Previsão e simulação em modelos de equilíbrio geral dinâmico." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/3/3142/tde-18072016-103615/.
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O objetivo deste trabalho é estudar as principais características de uma família de modelos que busca retratar a dinâmica do equilíbrio geral de uma economia. Por equilíbrio em economia entende-se como sendo uma situação onde nenhum agente econômico tem qualquer incentivo para modificar a sua estratégia escolhida. Neste trabalhamos não haverá uma preocupação em demonstrar a existência, unicidade e estabilidade do equilíbrio, mas sim entender como alterações exógenas afetam o equilíbrio. Brevemente, podemos entender a definição de equilíbrio geral como sendo a perspectiva de análise de equilíbrio simultâneo entre todos os mercados de uma economia. No conceito de equilíbrio geral todos os mercados devem estar em equilíbrio, de modo que nenhuma mudança em um mercado específico não venha a recompensar um determinado agente. O equilíbrio geral é constratado com a perspectiva de equilíbrio parcial, no qual parte da economia é considerada, tomando-se como dado o que está acontecendo nos demais mercados. Os modelos de equilíbrio geral que envolvem dinâmica e choques estocástico são conhecidos pelo acrônimo DSGE, ou seja, Dynamic Stochastic General Equilibrium. Na realidade trata-se de uma família de modelos, pois compreendem uma gama variada de modelos com diferentes níveis de sofisticação. Neste exercício pelo caráter generalista da modelagem decidimos por estudar o modelo DSGE proposto por Smets-Wouters (2003). Veremos neste estudo uma descrição deste modelo, seus fundamentos teóricos, e uma simulação deste modelo, de modo a vermos quais as direções de política econômica que tal modelo nos permite compreender. Os resultados obtidos utilizando-se dados da economia americana nos permitiu inferir direções para as variáveis produto e consumo diante de um choque de inovação. Foi possível por meio do modelo adotado estimar uma direção para a trajetória do PIB para os próximos anos.<br>The purpose of this academic work is to study a family of models called stochastic economic general equilibrium models (DSGE), and implement a solution to a general model developed model by Smets-Wouters (2003). We will note in this essay a description of this model, its theoretical foundations, and a simulation of this model, so as to see what the economic policy directions that such a model allows us to understand. The results obtained using data from the US economy allowed us to infer directions for the variables product and consumption under a innovation shock. Yet we will be able to estimate a direction to the trajectory of PIB for years to next years.
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Leitner, Jesse. "Helicopter nonlinear control using adaptive feedback linearization." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/11985.
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Banaszuk, Andrzej. "Approximate feedback linearization of nonlinear control systems." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/29838.
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Wenzel, Moritz. "Development of a Metamaterial-Based Foundation System for the Seismic Protection of Fuel Storage Tanks." Doctoral thesis, Università degli studi di Trento, 2020. http://hdl.handle.net/11572/256685.
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Metamaterials are typically described as materials with ’unusual’ wave propagation properties. Originally developed for electromagnetic waves, these materials have also spread into the field of acoustic wave guiding and cloaking, with the most relevant of these ’unusual’ properties, being the so called band-gap phenomenon. A band-gap signifies a frequency region where elastic waves cannot propagate through the material, which in principle, could be used to protect buildings from earthquakes. Based on this, two relevant concepts have been proposed in the field of seismic engineering, namely: metabarriers, and metamaterial-based foundations.
This thesis deals with the development of the Metafoundation, a metamaterial-based foundation system for the seismic protection of fuel storage tanks against excessive base shear and pipeline rupture. Note that storage tanks have proven to be highly sensitive to earthquakes, can trigger sever economic and environmental consequences in case of failure and were therefore chosen as a superstructure for this study. Furthermore, when tanks are protected with traditional base isolation systems, the resulting horizontal displacements, during seismic action, may become excessively large and subsequently damage connected pipelines. A novel system to protect both, tank and pipeline, could significantly augment the overall safety of industrial plants.
With the tank as the primary structure of interest in mind, the Metafoundation was conceived as a locally resonant metamaterial with a band gap encompassing the tanks critical eigenfrequency. The initial design comprised a continuous concrete matrix with embedded resonators and rubber inclusions, which was later reinvented to be a column based structure with steel springs for resonator suspension. After investigating the band-gap phenomenon, a parametric study of the system specifications showed that the horizontal stiffness of the overall foundation is crucial to its functionality, while the superstructure turned out to be non-negligible when tuning the resonators.
Furthermore, storage tanks are commonly connected to pipeline system, which can be damaged by the interaction between tank and pipeline during seismic events. Due to the complex and nonlinear response of pipeline systems, the coupled tank-pipeline behaviour becomes increasingly difficult to represent through numerical models, which lead to the experimental study of a foundation-tank-pipeline setup. Under the aid of a hybrid simulation, only the pipeline needed to be represented via a physical substructure, while both tank and Metafoundation were modelled as numerical substrucutres and coupled to the pipeline. The results showed that the foundation can effectively reduce the stresses in the tank and, at the same time, limit the displacements imposed on the pipeline.
Leading up on this, an optimization algorithm was developed in the frequency domain, under the consideration of superstructure and ground motion spectrum. The advantages of optimizing in the frequency domain were on the one hand the reduction of computational effort, and on the other hand the consideration of the stochastic nature of the earthquake. Based on this, two different performance indices, investigating interstory drifts and energy dissipation, revealed that neither superstructure nor ground motion can be disregarded when designing a metamaterial-based foundation. Moreover, a 4 m tall optimized foundation, designed to remain elastic when verified with a response spectrum analysis at a return period of 2475 years (according to NTC 2018), reduced the tanks base shear on average by 30%. These results indicated that the foundation was feasible and functional in terms of construction practices and dynamic response, yet unpractical from an economic point of view.
In order to tackle the issue of reducing the uneconomic system size, a negative stiffness mechanism was invented and implemented into the foundation as a periodic structure. This mechanism, based on a local instability, amplified the metamaterial like properties and thereby enhanced the overall system performance. Note that due to the considered instability, the device exerted a nonlinear force-displacement relationship, which had the interesting effect of reducing the band-gap instead of increasing it. Furthermore, time history analyses demonstrated that with 50% of the maximum admissible negative stiffness, the foundation could be reduced to 1/3 of its original size, while maintaining its performance.
Last but not least, a study on wire ropes as resonator suspension was conducted. Their nonlinear behaviour was approximated with the Bouc Wen model, subsequently linearized by means of stochastic techniques and finally optimized with the algorithm developed earlier. The conclusion was that wire ropes could be used as a more realistic suspension mechanism, while maintaining the high damping values required by the optimized foundation layouts.
In sum, a metamaterial-based foundation system is developed and studied herein, with the main findings being: (i) a structure of this type is feasible under common construction practices; (ii) the shear stiffness of the system has a fundamental impact on its functionality; (iii) the superstructure cannot be neglected when studying metamaterial-based foundations; (iv) the complete coupled system can be tuned with an optimization algorithm based on calculations in the frequency domain; (v) an experimental study suggests that the system could be advantageous to connected pipelines; (vi) wire ropes may serve as resonator suspension; and (vii) a novel negative stiffness mechanism can effectively improve the system performance.
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Leabourne, Kortney Noell. "Continuous linearization control methodology for nonlinear dynamic systems." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/12119.
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Parish, Julie Marie Jones. "Direct linearization of continuous and hybrid dynamical systems." [College Station, Tex. : Texas A&M University, 2007. http://hdl.handle.net/1969.1/ETD-TAMU-2407.
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Nguyen, Thuong Anh. "Analyse systématique du concept de comportement linéaire équivalent en ingénierie sismique." Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1032/document.
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En ingénierie sismique, il est admis que le comportement d’une structure soumise à de forts séismes soit caractérisé par des boucles d’hystérésis qui peuvent être amples ou étroites selon le type de structure impactée. La prise en compte de ce type de comportement non-linéaire dans un calcul temporel présente des difficultés liées à l’identification des paramètres, au coût numérique élevé, au risque de non-convergence. Dans ce contexte, la méthode de linéarisation équivalente, a été introduite en géotechnique dès les années 70. Elle reste peu utilisée dans le domaine des structures malgré les efforts de nombreux auteurs. Ce travail de thèse a pour objet l’étude du comportement linéaire équivalent dans le contexte des méthodes simplifiées d'évaluation de la réponse non-linéaire d'une structure en ingénierie sismique. Nous passons en revue les critères de linéarisation adoptés par les différentes méthodes qui recherchent l’équivalence (1) du déplacement maximum ou (2) de la quantité d’énergie dissipée ou (3) de la force de rappel. Nos analyses montrent que ces trois critères ne sont pas pertinents et/ou efficaces, conduisant à des méthodes peu robustes qui conduisent dans certains cas à des résultats inexplicables. Nous montrons le rôle important, négligé par toutes les méthodes disponibles, du contenu fréquentiel respectif des signaux et du système dans la détermination de la ductilité appelée. Sur cette constatation, nous introduisons une nouvelle méthode de linéarisation équivalente basée sur la fonction de transfert. Nous utilisons cette méthode pour explorer un plan d’expérience numérique dans lequel nous calculons les caractéristiques de fréquence et d’amortissement équivalents en fonction de la ductilité appelée pour différente configurations caractérisées par (a) le rapport entre fréquence de l’oscillateur et fréquence centrale du signal excitateur, (b) la pente d’écrouissage et (c) le modèle de comportement qui varie continument de élastoplastique à endommageant. Nous proposons deux nouvelles approches du comportement linéaire équivalent. La première, visant à améliorer la procédure statique non-linéaire de l’ATC40, utilise la rigidité sécante et le déplacement maximal. Elle fait intervenir une estimation de l’amortissement différente de celle de l’ATC40. Sa pertinence est établie par le fait qu’elle permet d’évaluer avec exactitude le déplacement maximal de systèmes canoniques non-linéaires. La seconde consiste à restituer la dynamique de la réponse d'un oscillateur non-linéaire au travers de la fonction de transfert. Sa pertinence est démontrée au travers des critères d’Anderson, avec notamment un critère relatif au spectre transféré. La détermination du comportement linéaire équivalent par fonction de transfert est validée sur des structures réelles au travers des essais sur voiles en béton armé (SAFE) et sur systèmes des tuyauteries (BARC et EPRI)<br>In earthquake engineering, it is common that the behaviour of a structure undergoing a strong motion is characterized by wise or narrow hysteresis loops depending on the type of behaviour of the structure. Considering this non-linear behaviour in a transient calculation requires a huge need of resources in terms of calculation time and memory. In this context, the method of equivalent linearization, consisting in the evaluation of the non-linear response of the structure has been introduced by geotechnical engineers In the 1970s. Despite efforts of many authors, this method is still not used in structural field. The goal of this research is to examine the linear equivalent behaviour in the context of the simplified method of evaluating the non-linear response of a structure in earthquake engineering. We review the criteria of equivalence adopted by many methods searching for the equivalence of (1) the maximum of displacement or (2) quantity of dissipated energy or (3) the restore force. Our argumentative analyses carry out that these three criteria are not pertinent and/or efficient. This leads, in some cases, to some unexplained results. We show the important role, which is mostly neglected in existing method, of frequency content while evaluating the ductile demand. Based on this recognition, we introduce a new method of equivalent linearization based on the transfer function. We use this method in order to explore a numerical experimental plan in which we calculate the equivalent characteristics (frequency and damping) versus the ductile demand for different configuration characterized by (a) the ratio between the frequency of the oscillator and the central frequency of the input signal, (b) the hardening and (c) the behaviour which covers the elastoplastic and damaged ones. We propose two new approaches of the linear equivalent behaviour. The first one, aiming to improve the non-linear static procedure of ATC40, use the secant stiffness and the maximal displacement. This approach consists in an estimation of damping which is different to ATC40. Its pertinence is established by evaluating with accuracy the maximal displacement of the canonical non-linear systems. The second approach consists in restitution of the dynamic of the response of a non-linear oscillator by using the transfer function. The pertinence of this proposition is shown through the criteria of Anderson, especially in terms of transferred motion. In this effect, the linear equivalent behaviour based on the transfer function allows to cope the transferred motion through the non-linear oscillator without performing the non-linear transient calculation. The validation of the linear equivalent behaviour based on the transfer function has been examined on real structures through some experimental tests such as the reinforced concrete wall (SAFE) or piping systems (BARC and EPRI)
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Zagorski, Scott B. "Modeling, Control and State Estimation of a Roll Simulator." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1349900540.
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Chen, Han. "Multiwavelength microwave photonic systems with n-th order linearization /." View abstract or full-text, 2005. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202005%20CHEN.
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Tami, Ramdane. "Formes normales d'observabilité : étendue, partielle et réduite." Thesis, Orléans, 2014. http://www.theses.fr/2014ORLE2039.
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L'observateur est un outil essentiel pour accéder à l'information, non mesurable directement, d'un système dynamique. Dans le cas des systèmes non linéaires, il y a une grande carence concernant la synthèse d'observateur. Motivée par l'absence d'une solution générique, cette thèse élargit la classe des systèmes non linéaires pour lesquels on peut appliquer les observateurs connus. Dans l'approche adoptée, le système non linéaire est transformé à travers un changement de coordonnées sous forme normale d'observabilité qui a une structure adéquate à la synthèse d'observateurs. Les difficultés liées aux conditions d'existence d'un changement de coordonnées sont mises en évidence et des solutions sont proposées. Par conséquent, la classe des systèmes non linéaires qui peuvent se mettre sous une forme normale d'observabilité est élargie. Dans un premier temps, nous avons proposé une forme normale d'observabilité étendue dépendante de la sortie en augmentant l'espace d'état par des variables auxiliaires. Ainsi, nous avons établi les conditions nécessaires et suffisantes à l'existence d’un changement de coordonnées permettant d’obtenir une telle forme. En outre, nous avons proposé, pour certains modèles, des procédures heuristiques pour la mise sous forme normale d'observabilité étendue dépendante de la sortie. Dans un deuxième temps, nous avons traité la mise sous forme normale d'observabilité d'un système non linéaire partiellement observable. Enfin, nous avons abordé la transformation d'une classe spéciale de systèmes non linéaires sous la forme normale d'observabilité réduite. L'efficacité et l'intérêt des méthodes développées sont établis au travers de plusieurs applications<br>Observer is an essential means to access to no-measurable information of a dynamical system. In the case of nonlinear systems, there is a great deficiency concerning the observer design theory. Motivated by the lack of a generic solution to observer design, this thesis enlarges the class of nonlinear systems which admit a standard observer. Using a geometrical approach, the considered nonlinear systems are transformed through a change of coordinates into observer form, which has an adequate structure to the observer design. The difficulties related to the conditions on the existence of such a change of coordinates are highlighted and solutions are proposed. Therefore, the class of nonlinear systems which can be transformed under an observer form is expanded. Firstly, we proposed an extended output depending observer form which does not preserve the size of the original state space and we established the sufficient conditions for the existence of a change of coordinates enabling to construct the proposed form. Moreover, we proposed a heuristic procedure to construct the extended output depending observer form of some models. Secondly, we dealt with the observer form for some partially observable nonlinear systems. Finally, we discussed the transformation into the reduced observer form for a class of nonlinear systems. The efficiency and interest of the developed methods is established through several applications
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Banach, Antoni StanisŁaw. "Feedback design for nonlinear distributed-parameter systems by extended linearization." Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/39429.
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A feedback design procedure known as extended linearization consists in replacing a mathematical model of a nonlinear dynamical system with its family of linearizations, parametrized by the operating point, and then combining feedback gains designed for representatives of the family into a single nonlinear feedback law.
The principles of the procedure, applicable both to lumped-parameter and distributed-parameter systems, are discussed at the outset. The development shows limits on feedback laws that can be designed, as well as nonuniqueness of solutions, inherent in the method.<br>Ph. D.
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Onawola, Oluseyi Olasupo Foster Winfred A. "A feedback linearization approach for panel flutter suppression with piezoelectric actuation." Auburn, Ala, 2008. http://hdl.handle.net/10415/1404.
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Fuggetti, Giuseppe. "Parameter Identification of a QuadPlane VTOL Drone Model by means of Reverse Engineering Techniques for Flight Control System Purposes." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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The aim of this thesis work is to identify the model parameters, both the inertial terms and the aerodynamic ones, of a new drone concept. Based on reverse engineering philosophy, the proposed techniques represents the new way the aerospace industry of drones is going to meet. All over the world the application of drones for the most disparate purposes is advancing exponentially and the need to bring new effective and efficient solutions to the market cannot ignore considering what has been done up to now for the drone industry. In this sense one wants to include reverse engineering in the process of developing new concepts. Working on a purchased commercial drone model in a quad-plane configuration, this work aims to demonstrate how it is possible to obtain models and tools useful for producing a new product optimized for a specific task or mission starting from a fully developed product. Particularly the thesis focuses on the need of a dynamic model for the design of a specific automatic flight control systems for the transition phase of the drone from hovering to level flight because, as from observations and tests, it has been revealed to be the most critic phase of the flight. In order to design such an autopilot the static parameters of the model of the longitudinal dynamics has been identified through CFD simulations and CAD tools. The 3D model of the drone has been obtained using the scan-to-cad technique.
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Jayaraman, Gangadhar. "Computational schemes for exact linearization of discrete-time systems using a geometric approach." Case Western Reserve University School of Graduate Studies / OhioLINK, 1995. http://rave.ohiolink.edu/etdc/view?acc_num=case1058542922.
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Hernandez, Claudia Lizet Navarro. "Linearization techniques for nonlinear systems and applications to control engineering." Thesis, University of Sheffield, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.434516.
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Delgado, Rivera Jesus Alberto. "Input/output linearization of control affine systems using neural networks." Thesis, University of Reading, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.307801.
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Wu, Shang-Teh. "Input/output linearization of uncertain systems with time delay control." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/12612.
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Bobrow, Fabio. "Controle de um pêndulo invertido com 6 graus de liberdade e rodas de reação." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-21062016-142657/.
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Nesta dissertação, um tipo diferente de pêndulo invertido controlado por rodas de reação é apresentado. Sua principal diferença está em seu ponto de articulação, que é constituído por uma junta esférica que permite com que o pêndulo gire em torno de seus três eixos. Além disso, três rodas de reação são utilizadas para seu controle e estabilização. Primeiramente, um modelo do sistema é obtido a partir das equação de Euler-Lagrange, das leis de Newton e das leis de Kirchhoff. Em seguida, uma lei de controle que assegura a estabilização assintótica do sistema em um grande domínio é proposta. Por fim, simulações são realizadas para validar o controlador projetado. Esse sistema possui diversas características interessantes, tanto do ponto de vista teórico como do ponto de vista de pesquisa. Do ponto de vista teórico, o sistema é nãolinear e suas entradas são fortemente acopladas, o que torna particularmente adequado para o processo de projeto e implementação de diversas técnicas de estabilização. Do ponto de vista de pesquisa, são consideradas duas técnicas de controle não linear: linearização padrão e linearização exata. Para que o sistema seja robusto e não desperdice energia, essas duas leis de controle diferentes são comutadas para a obtencão de um número suficiente de domínio de estabilidade.<br>In this dissertation, a different kind of the reaction wheel pendulum is presented. The main difference is that its articulation point consists of a ball joint that allows the pendulum to rotate around its three axes. Furthermore, three reaction wheels are used for its control and stabilization. First, a model of the system is obtained from Euler-Lagrange equations, Newton laws and Kirchhoff laws. After that, a control law that assure asymptotic stabilization of the system in a large domain is proposed. Finally, simulations are performed to validate the designed controller. This system has several interesting features, both from a theoretical standpoint as from a research standpoint. From a theoretical standpoint, the system is nonlinear and its inputs are tightly coupled, making it particularly suitable for the design and implementation process of various stabilization techniques. From a research standpoint, two non-linear control techniques are considered: standard linearization and exact linearization. For the system to be robust and do not waste energy, these two different control laws are switched for obtaining a sufficiently large domain of stability.
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Benner, Peter, and Sabine Hein. "Model predictive control based on an LQG design for time-varying linearizations." Universitätsbibliothek Chemnitz, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-201000221.
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We consider the solution of nonlinear optimal control problems subject to stochastic perturbations with incomplete observations. In particular, we generalize results obtained by Ito and Kunisch in [8] where they consider a receding horizon control (RHC) technique based on linearizing the problem on small intervals. The linear-quadratic optimal control problem for the resulting time-invariant (LTI) problem is then solved using the linear quadratic Gaussian (LQG) design. Here, we allow linearization about an instationary reference trajectory and thus obtain a linear time-varying (LTV) problem on each time horizon. Additionally, we apply a model predictive control (MPC) scheme which can be seen as a generalization of RHC and we allow covariance matrices of the noise processes not equal to the identity. We illustrate the MPC/LQG approach for a three dimensional reaction-diffusion system. In particular, we discuss the benefits of time-varying linearizations over time-invariant ones.
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Vlk, Jan. "Návrh a evaluace moderních systémů řízení letu." Doctoral thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2021. http://www.nusl.cz/ntk/nusl-445472.
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Tato práce je zaměřena na výzkum moderních metod automatického řízení letu a jejich ověření s ohledem na současný stav poznání a budoucí využití bezpilotních letadlových systémů. Práce představuje proces návrhu automatického systému řízení letu s důrazem na přístupy z oblasti návrhu založeného na modelování (Model-Based Design). Nedílnou součástí tohoto procesu je tvorba matematického modelu letounu, který byl využit k syntéze zákonů řízení a k vytvoření simulačního rámce pro evaluaci stability a kvality regulace automatického systému řízení letu. Jádro této práce se věnuje syntéze zákonů řízení založených na unikátní kombinaci teorie optimálního a adaptivního řízení. Zkoumané zákony řízení byly integrovány do digitálního systému řízení letu, jenž umožňuje vysoce přesné automatické létání. Závěrečná část práce se zabývá ověřením a analýzou navrženého systému řízení letu a je rozdělena do 3 fází. První fáze ověření obsahuje evaluaci robustnosti a analyzuje stabilitu a robustnost navrženého systému řízení letu ve frekvenční oblasti. Druhá fáze, evaluace kvality regulace, probíhala v rámci počítačových simulací s využitím vytvořených matematických modelů v časové oblasti. V poslední fázi ověření došlo k integraci navrženého systému řízení letu do experimentálního letounu, sloužícího jako testovací platforma pro budoucí bezpilotní letadlové systémy a jeho evaluaci v rámci série letových experimentů.