Search NASA⌕ Search

SEARCH · Search NASA

Results for “observer-based controller”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Closed-loop transfer recovery with observer-based controllers. II - Design

The paper focuses on the design problem related to the recovery of a target closed-loop transfer function using both full-order and reduced-order observer-based controllers. Design schemes for the reduced-order observer-based controllers are similar to those of full-order controllers; hence, for simplicity, only the case for full-order observer-based controller designs is given. Three types of design schemes are discussed in detail. The first one is an asymptotic time-scale eigenstructure assignment method, and the other two are optimization-based methods where a certain norm of the recovery matrix is minimized. Asymptotic behavior associated with each design method is highlighted. Relative advantages and disadvantages of both the ATEA and optimization-based schemes are discussed. A numerical example is used to illustrate the design possibilities from each of these methods, the available design freedom, and the significance of selecting the limit of the recovery matrix, especially in the case of a nonrecoverable design.

Chen, Ben M.↗
NASA NTRS1992

Closed-loop transfer recovery with observer-based controllers. I - Analysis. II - Design

A detailed study is presented of three fundamental issues related to the problem of closed-loop transfer (CLT) recovery. The first issues concerns what can and cannot be achieved for a given system and for an arbitrary target CLT function (TCLTF). The second issue involves developing necessary and/or sufficient conditions for a TCLTF to be recoverable either exactly or approximately. The third issue involves the necessary and/or sufficient conditions on a given system such that it has at least one recoverable TCLTF. The results of the analysis identify some fundamental limitations of the given system as a consequence of its structural properties which enables designers to appreciate at the outset different design limitations incurred in the synthesis of output-feedback controllers. Then, the actual design of full-order or reduced-order observer-based controllers is addressed which will achieve as close as possibly the desired TCLTF. Three design methods are considered: (1) the ATEA method, (2) a method that minimizes the H2-norm of a recovery matrix, and (3) a method that minimizes the respective H(infinity) norm. The relative merits of the methods are discussed.

Chen, Ben M.↗
NASA NTRS1991

Closed-loop transfer recovery with observer-based controllers. I - Analysis

The description of a novel problem in loop transfer recovery is presented. The problem of closed-loop recovery (CLTR) is examined using a measurement feedback-control law where the closed-loop transfer function from the external signal to the controlled output can be made either exactly equal or approximately close to the so-called target closed-loop transfer function achieved under full-state feedback. The analysis of CLTR applies specifically to the general class of observer-based controllers and focuses on three fundamental issues. The first issue is concerned with what can and cannot be achieved for a given system and for an arbitrary target closed-loop transfer function. The second issue is to develop necessary and/or sufficient conditions for a target closed-loop transfer function to be recoverable either exactly or approximately. The third issue deals with the necessary and/or sufficient conditions on a given system such that it has at least one recoverable target closed-loop transfer function. The result is applied to the lateral autopilot design for a commercial transport airplane.

Chen, Ben M.↗
DOE OSTI2025

Observer-Based Nonlinear Control Scheme to Reduce Oscillations and Zero Crossing in Skid-Steer Vehicles

Motion sickness is a common condition experienced by drivers of skid-steer vehicles, primarily caused by zero crossing and oscillations in undamped systems. This study proposes an observer-based nonlinear control scheme to reduce transient oscillations and zero-crossing phenomena in skid-steer vehicles, thereby potentially alleviating motion sickness. Reducing transient oscillations and zero crossing in the transient response may alleviate motion sickness. A nonlinear damping controller is designed to improve transient response by reducing oscillations and zero-crossing. To design the controller, a reduced-order kinematic model based on coordinate transformation is developed. This transformation not only converts the system modeling into a controllable form but also enhances control performance. Modeling error is addressed by considering the distance between the center of the vehicle and the sensor location. Despite these improvements, model uncertainties and external disturbances remain, which may degrade control performance. To ensure robustness and estimate such disturbances, a high-order sliding mode observer (HOSMO) is incorporated. The effectiveness of the proposed method is validated through MATLAB/Simulink and TruckMaker simulations. From the simulation results, it was shown that the proposed method reduced the mean squared error of the tracking error to within 10 % compared to the state feedback controller with the HOSMO.

Seo, Jiwon [Chung-Ang University, Seoul (Korea, Re↗
NASA NTRS1992

A reliable algorithm for optimal control synthesis

In recent years, powerful design tools for linear time-invariant multivariable control systems have been developed based on direct parameter optimization. In this report, an algorithm for reliable optimal control synthesis using parameter optimization is presented. Specifically, a robust numerical algorithm is developed for the evaluation of the H(sup 2)-like cost functional and its gradients with respect to the controller design parameters. The method is specifically designed to handle defective degenerate systems and is based on the well-known Pade series approximation of the matrix exponential. Numerical test problems in control synthesis for simple mechanical systems and for a flexible structure with densely packed modes illustrate positively the reliability of this method when compared to a method based on diagonalization. Several types of cost functions have been considered: a cost function for robust control consisting of a linear combination of quadratic objectives for deterministic and random disturbances, and one representing an upper bound on the quadratic objective for worst case initial conditions. Finally, a framework for multivariable control synthesis has been developed combining the concept of closed-loop transfer recovery with numerical parameter optimization. The procedure enables designers to synthesize not only observer-based controllers but also controllers of arbitrary order and structure. Numerical design solutions rely heavily on the robust algorithm due to the high order of the synthesis model and the presence of near-overlapping modes. The design approach is successfully applied to the design of a high-bandwidth control system for a rotorcraft.

Vansteenwyk, Brett↗
NASA NTRS1989

A two axis skin friction balance nulling circuit using an optimal observer

An investigation is conducted of application of optimal observer-based control laws derived using both pole-placement techniques and optimal linear regulator theory. Although a pole-placement-derived control law with optimal observer provides fast response and excellent noise rejection, its observer requires an electrical input proportional to the unknown skin friction force, which is unavailable. To overcome this limitation, an optimal linear regulator design is proposed which estimates the unknown force input and provides excellent noise rejection, at the expense, however, of significantly slower transient response.

Tripp, John S.↗
NASA NTRS1992

Loop transfer recovery for general nonminimum phase discrete time systems. I - Analysis

A complete analysis of loop transfer recovery (LTR) for general nonstrictly proper, not necessarily minimum phase discrete time systems is presented. Three different observer-based controllers, namely, `prediction estimator' and full or reduced-order type `current estimator' based controllers, are used. The analysis corresponding to all these three controllers is unified into a single mathematical framework. The LTR analysis given here focuses on three fundamental issues: (1) the recoverability of a target loop when it is arbitrarily given, (2) the recoverability of a target loop while taking into account its specific characteristics, and (3) the establishment of necessary and sufficient conditions on the given system so that it has at least one recoverable target loop transfer function or sensitivity function. Various differences that arise in LTR analysis of continuous and discrete systems are pointed out.

Chen, Ben M.↗
NASA NTRS1989

An observer-based compensator for distributed delays in integrated control systems

This paper presents an algorithm for compensation of delays that are distributed within a control loop. The observer-based algorithm is especially suitable for compensating network-induced delays that are likely to occur in integrated control systems of the future generation aircraft. The robustness of the algorithm relative to uncertainties in the plant model have been examined.

Luck, Rogelio↗
NASA NTRS1991

Observer-based robust-H-infinity control laws for uncertain linear systems

Based on the algebraic Riccati equation approach, this paper presents a simple and flexible method for designing observer-based robust-H-infinity control laws for linear systems with structured parameter uncertainty. The observer-based robust-H-infinity output-feedback control law, obtained by solving three augmented algebraic Riccati equations, provides both robust stability and disturbance attenuation with H-infinity-norm bound for the closed-loop uncertain linear system. Several tuning parameters are embedded into the augmented algebraic Riccati equations so that flexibility in finding the symmetric positive-definite solutions (and hence, the robust-H-infinity control laws) is significantly increased. A benchmark problem associated with a mass-spring system, which approximates the dynamics of a flexible structure, is used to illustrate the design methodologies, and simulation results are presented.

Shieh, Leang S.↗
NASA NTRS1978

Specific-optimal control with a dual minimal-order observer-based compensator

The steady-state optimal control of a linear time-invariant stochastic system by means of a minimal-order dual-observer-based compensator is considered in this paper. The structure of the compensator is fixed while the associated gains are to be chosen so as to minimize a quadratic penalty on the plant state. Necessary and sufficient conditions for optimality are given, and an explicit solution is displayed. Salient features pertaining to the optimal system are: a decoupling property, a projection property, and an innovation property. Finally, it is shown that this design corresponds to a singular LQG problem, which is precisely the dual of another singular LQG problem: namely Newmann's problem. A complete picture is then given showing clearly the correspondence between the two designs.

Blanvillain, P. J.↗
DOE OSTI2025

Extended State Observer-Based Robust Model Predictive Velocity Control for Permanent Magnet Synchronous Motor

This article proposes an extended state observer based robust model predictive velocity control to decrease system prediction error under parameter uncertainties for permanent magnet synchronous motor (PMSM). We develop a new PMSM model that consists of velocity and acceleration to lump the system information and an external disturbance into a disturbance. The extended state observer (ESO) is designed to estimate the velocity, acceleration, and disturbance. By estimating the state variables and disturbance using the ESO, the model predictive control (MPC) finds the optimal control input by predicting future system behavior. Additionally, the direct current controller is designed so that the direct current converges to zero. Because the proposed method is not designed based on the cascade structure from the viewpoint of velocity control, the optimization control for the velocity and currents can be defined. Thus, the proposed method is robust against external disturbances and parameter uncertainties owing to feedback linearization, state feedback, and ESO-based MPC using the acceleration PMSM model. The proposed control algorithm was experimentally verified and it showed improved velocity tracking performance compared with ESO-based MPC using the conventional PMSM model.

42 ENGINEERING↗
NASA NTRS1979

Robustness with observers

The paper describes an adjustment procedure for observer-based linear control systems which asymptotically achieves the same loop transfer functions (and hence the same relative stability, robustness, and disturbance rejection properties) as full-state feedback control implementations. Full-state loop-transfer properties can be recovered asymptotically if the plant is minimum phase; this occurs at the expense of noise performance.

Doyle, J. C.↗
NASA NTRS1991

Structural control design based on reduced-order observer

An observer-based structural control design method is proposed in this paper. The method is a semi-inverse design procedure in that the control law is not designed before the observer system, but is a result that comes from the observer design. However, the observer design is not completely independent of the control design either, but seeks to yield a control law that is close to a prescribed control law. First, the observer design problem is considered as the reconstruction of a linear function of the state vector. The linear state function to be reconstructed is the given control law. Then, based on the derivation for linear state function observers, the observer design is formulated as a parameter optimization problem. The optimization objective is to generate a matrix that is close to the optimal feedback gain matrix. Based on that matrix, the form of the observer and a new control law can be determined. The semi-inverse design procedure can yield a reduced-order observer with dimension considerably smaller than that of the system. Two examples are used to demonstrate the proposed design procedure.

Su, Tzu-Jeng↗
NASA NTRS1976

On the optimal minimum order observer-based compensator and the limited state variable feedback controller

Four design problems are considered: two on the optimal minimum order observer-based compensator design and two on the optimal limited state variable feedback controller. The problem of designing an optimal discrete time linear time-invariant observer-based compensator for the regulation of an n dimensional linear discrete time time-invariant plant with m independent outputs is considered. This is a stochastic design problem to the extent that the initial plant state is assumed to be a random vector with known first and second order statistics. The compensator parameters are obtained by minimizing the expectation, with respect to the initial conditions, of the standard cost, quadratic in the state and control vectors with the inclusion of cross terms.

Llorens-Ortiz, B.↗
NASA NTRS1990

An observer-based compensator for distributed delays

This paper presents an algorithm for compensating delays that are distributed between the sensor(s), controller and actuator(s) within a control loop. This observer-based algorithm is specially suited to compensation of network-induced delays in integrated communication and control systems. The robustness of the algorithm relative to plant model uncertainties has been examined.

Luck, Rogelio↗
DOE OSTI2025

Reinforcement Learning‐Based Adaptation of Grid Following Inverter's Internal Controller to Networked Microgrids' Strengths

The varying topological configurations, generator commitments and dispatches, and dynamic load demand lead to changing system's strengths during the operations of networked microgrids. When the system's strengths significantly change, the fixed control gains at large devices may result in unsatisfactory system performance; this necessitates the tuning of the control gains at large devices to adapt to the changing system's strengths. In this paper, observer-based reinforcement learning (RL) is utilised to automatically tune the proportional-integral (PI) gains of phase lock loop (PLL) controller of grid-following (GFL) inverters to adapt to the changing strengths of microgrids and networked microgrids. The RL agent in this framework augments an observer predicting system's strengths, from which the RL control policy will adjust accordingly to tune the PLL controller's gains towards the system's strengths. Also, to enhance the control performance, the recently introduced Barrier function-based RL framework is leveraged for the design of reward function to prevent the high frequency nadir. An operational 26 kV electric distribution system, which is modelled as networked microgrids, is used to illustrate the need and effectiveness of the proposed RL-tuned control.

frequency response↗
DOE OSTI2026

From MAST-U to STEP: Power exhaust control challenges and opportunities

This work explores the challenges and opportunities for power exhaust control in STEP, informed by dedicated MAST-U experiments. The STEP system primarily relies on hydrogenic and argon gas injection into the divertors, compensating for transients originating in the plasma core. Fast transients (>10 Hz) that evolve too quickly for actuators to compensate must be absorbed passively; the enhanced transient buffering of the foreseen long-legged divertor provides a clear advantage over conventional geometries, as demonstrated in the MAST-U Super-X divertor. Experiments further indicate that STEP’s tight divertor baffling enables near-independent control of the upper and lower divertors. The most challenging transients are expected from power-sharing fluctuations, as MAST-U experiments observed extremely fast dynamics. Fluctuations from core pellet fuelling remain relatively benign due to the small pellet size according to simulations. Exhaust control in a reactor like STEP requires an integrated approach befitting its machine-critical nature. A predictive control element, integrated with core plasma control, allows pre-emptive preparation of the divertor for incoming transients. An observer-based diagnostic approach is foreseen to monitor the divertor in the challenging reactor environment, supported by an extended diagnostic set in the non-nuclear phase to validate the required dynamic models.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗