New Trends in Observer-Based Control: An Introduction to Design Approaches and Engineering Applications PDF
Preview New Trends in Observer-Based Control: An Introduction to Design Approaches and Engineering Applications
New Trends in Observer-based Control: An Introduction to Design Approaches and Engineering Applications NEW TRENDS IN OBSERVER-BASED CONTROL An Introduction to Design Approaches and Engineering Applications VOLUME 1 EDITEDBY Olfa Boubaker Quanmin Zhu Magdi S. Mahmoud José Ragot Hamid Reza Karimi Jorge Dávila AcademicPressisanimprintofElsevier 125LondonWall,LondonEC2Y5AS,UnitedKingdom 525BStreet,Suite1650,SanDiego,CA92101,UnitedStates 50HampshireStreet,5thFloor,Cambridge,MA02139,UnitedStates TheBoulevard,LangfordLane,Kidlington,OxfordOX51GB,UnitedKingdom ©2019ElsevierInc.Allrightsreserved. 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LibraryofCongressCataloging-in-PublicationData AcatalogrecordforthisbookisavailablefromtheLibraryofCongress BritishLibraryCataloguing-in-PublicationData AcataloguerecordforthisbookisavailablefromtheBritishLibrary ISBN978-0-12-817038-0 ForinformationonallAcademicPresspublicationsvisitour websiteathttps://www.elsevier.com/books-and-journals Publisher:MaraConner AcquisitionEditor:SonniniR.Yura DevelopmentEditor:GabrielaD.Capille ProductionProjectManager:AnithaSivaraj CoverDesigner:MilesHitchens TypesetbySPiGlobal,India Contributors Carlos-Manuel Astorga-Zaragoza Electronic Engineering Department, Tec- nológicoNacionaldeMéxico/CENIDET,Cuernavaca,Morelos,Mexico Fazia Bedouhene Laboratory of Pure and Applied Mathematics, University MouloudMammeri,Tizi-Ouzou,Algeria Cherifa Bennani Laboratory of Pure and Applied Mathematics, University MouloudMammeri,Tizi-Ouzou,Algeria Talel Bessaoudi Department of Electrical Engineering, National Higher Engi- neeringSchoolofTunis,UniversityofTunis,Tunis,Tunisia HamzaBibi LaboratoryofPureandAppliedMathematics,UniversityMouloud Mammeri,Tizi-Ouzou,Algeria FaouziBouani NationalEngineeringSchoolofTunis,LR11ES20,Laboratoryof Analysis, Conception and Control of Systems, University of Tunis El Manar, Tunis,Tunisia OlfaBoubaker NationalInstituteofAppliedSciencesandTechnology,Univer- sityofCarthage,Tunis,Tunisia Latifa Boutat-Baddas Research Center for Automatic Control of Nancy, UMR- CNRS7039,UniversitédeLorraine/IUTdeLongwy,Cosnes-et-Romains,France Jérôme Cieslak IMS-Lab, Automatic Control Group, University of Bordeaux, Talence,France Jorge Dávila School of Mechanical and Electrical Engineering, IPN Instituto PolitécnicoNacional,MexicoCity,Mexico Mohamed Darouach Research Center for Automatic Control of Nancy, UMR- CNRS7039,UniversitédeLorraine/IUTdeLongwy,Cosnes-et-Romains,France DavidGómez-Gutiérrez TecnologicodeMonterrey,SchoolofEngineeringand Science,Jalisco,Mexico Stefano Di Gennaro University of L’Aquila, Department of Information Engineering,ComputerScienceandMathematics,CenterofExcellenceDEWS, L’Aquila,Italy David Henry IMS-Lab, Automatic Control Group, University of Bordeaux, Talence,France FayçalBenHmida DepartmentofElectricalEngineering,NationalHigherEngi- neeringSchoolofTunis,UniversityofTunis,Tunis,Tunisia Chien-ShuHsieh DepartmentofElectricalandElectronicEngineering,TaHwa UniversityofScienceandTechnology,Qionglin,Hsinchu,Taiwan,ROC Dalil Ichalal IBISC, Univ Evry, Université Paris Saclay, 91020 Courcouronnes, France xi xii CONTRIBUTORS BinJiang CollegeofAutomationEngineering,NanjingUniversityofAeronautics andAstronautics,Nanjing,China Hamid Reza Karimi Department of Mechanical Engineering, Politecnico di Milano,Milan,Italy Houria Kheloufi Laboratory of Pure and Applied Mathematics, University MouloudMammeri,Tizi-Ouzou,Algeria KhaledLaboudi UniversitédeReimsChampagneArdenne,CRESTICEA3804, Reims,France MihaiLungu FacultyofElectricalEngineering,UniversityofCraiova,Craiova, Romania Magdi S. Mahmoud Systems Engineering Department, KFUPM, Dhahran, SaudiArabia NoureddineManamanni UniversitédeReimsChampagneArdenne,CRESTIC EA3804,Reims,France ZehuiMao CollegeofAutomationEngineering,NanjingUniversityofAeronau- ticsandAstronautics,Nanjing,China DidierMaquin CRAN,UniversitédeLorraine-CNRS,54000Nancy,France. BenoîtMarx CRAN,UniversitédeLorraine-CNRS,54000Nancy,France. Mamadou Mboup Université de Reims Champagne Ardenne, CRESTIC EA 3804,Reims,France Nadhir Messai Université de Reims Champagne Ardenne, CRESTIC EA3804, Reims,France MokhtarMohamed Instrumentation,ControlandEmbeddedSystemsResearch Group,SchoolofEngineeringandDigitalArts,UniversityofKent,Canterbury, UnitedKingdom RodolfoOrjuela IRIMAS,UniversitédeHaute-Alsace,68093,Mulhouse,France Gloria-Lilia Osorio-Gordillo Electronic Engineering Department, Tecnológico NacionaldeMéxico/CENIDET,Cuernavaca,Morelos,Mexico JoséRagot CRAN,UniversitédeLorraine-CNRS,54000Nancy,France. AntonioRamírez-Teviño CINVESTAV,Jalisco,Mexico SouadBezzaouchaRebaï AutomaticControlResearchGroup,Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, LuxembourgCity,Luxembourg Hichem Salhi National Engineering School of Tunis, LR11ES20, Laboratory of Analysis, Conception and Control of Systems, University of Tunis El Manar, Tunis,Tunisia Abdulaziz Sherif Electrical Engineering Department, University of Tripoli, Tripoli,Libya Hieu Trinh School of Engineering, Faculty of Science Engineering and Built Environment,DeakinUniversity,Geelong,VIC,Australia Carlos Renato Vázquez Tecnologico de Monterrey, School of Engineering and Science,Jalisco,Mexico xiii CONTRIBUTORS Holger Voos Automatic Control Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg City,Luxembourg SeifeddineBenWarrad NationalInstituteofAppliedSciencesandTechnology, UniversityofCarthage,Tunis,Tunisia Xing-Gang Yan Instrumentation, Control and Embedded Systems Research Group,SchoolofEngineeringandDigitalArts,UniversityofKent,Canterbury, UnitedKingdom Ali Zemouche CRAN UMR CNRS 7039, University of Lorraine, Cosnes et Romain,France;EPIInriaDISCO,LaboratoiredesSignauxetSystèmes,CNRS- CentraleSupelec,Gif-sur-Yvette,France QuanMinZhu DepartmentofEngineeringDesignandMathematics,University oftheWestofEngland,Bristol,UnitedKingdom Foreword For more than half a century, considerable efforts have been made in the fieldofsystemcontrolandmonitoring.Theseactionsare,obviously,crucial inthepresenceoftechnologicalrisksdirectlyimpactinghumanhealthand the environment. Techniques to be developed aim, in general, to better understand, at each moment, thestate of asystem. Theestimation phase is, of course, insufficient, and should be completed by state analysis to evaluateitsnormalorabnormalcharacter.Inthelattercase,theanalysisis furtherrefinedtoaccuratelylocalizewheretheanomalyistobefound,to specifywhichpartofthesystem,sensor,oractuator,isfaulty.Inorderto judgetheimportanceoftheanomaly,itsmagnitudeshouldbeestimated. Theultimatephaseofdiagnosisseekstospecifythecauseoftheanomaly. Insomecases,althoughthisremainsmarginalbecauseofgreatdifficulty at the moment, the future evolution estimation of the anomaly is made. Allthesestepscancontributetoconsideringhowtoreacttoanomaliesin ordertoreducetheireffectsbymeansofappropriatecontrollaws. This book does not attempt to address all these problems, but it can be a good introduction to some of the techniques designed to estimate the system states in different situations. In particular, the design of an observertoreconstructthesystemstatesfrompartialmeasurements,how touseastateobservertodetectandlocateanomalies,andhowtoadjusta controllawtocountertheeffectofanomaliesonthebehaviorofasystem will be discussed. In addition, a number of difficulties resulting from realisticphysicalconstraintsareconsidered:thepresenceofuncertainties and delays in system models; the influence of unmeasured exogenous inputsonsystemdynamics;thenonlinearbehaviorofsystems;switching systems, or systems with several operating modes and interconnected systems. This diversity of objectives, systems, and constraints is covered incomplementarychapters,andaddressesalargepartoftheproblemof observerstateestimationanditsapplications. Thisbookisatimelyandcomprehensivereferenceguideforgraduate students, researchers, engineers, and practitioners in the areas of control theory. The content has been written for investigators acting in the fields of electrical, mechanical, aerospace, or mechatronics engineering. With contributions by eminent scientists in the field of control theory and systemsengineeringfrom22countries,thisbookcoversthelatestadvances in observer-based control, from new design approaches to control engi- neeringapplications.Readerswillfindthefundamentalsandapplications xv xvi FOREWORD relatedtothistopicalissue.Thebookcontainsexamplesthatmakeitideal foradvancedcourses,aswellasforresearchersstartingtoworkinthefield, orengineerswishingtoenterthefieldquicklyandefficiently. The authors of the various chapters have tried to clearly present the theoretical concepts underlying the proposed solutions, and to illustrate them with pedagogical examples of modest dimensions; but allowing us to clearly see the implementation of these solutions and to assess their relevancethroughnumericaldata.Insomecases,shortMatlabprograms complete the formulation. The book is structured in 13 chapters, and the organizationisgivenasfollows. Chapter 1 is dedicated to the class of descriptor systems. After some reminders on proportional and proportional-integral observers, the authors propose a new dynamical observer called “general observer structure,”anditsextensiontothecaseofsystemswithdisturbinginput. The stability analysis of the observer is proved via a Lyapunov method andsolvedviaasetoflinearmatrixinequalities(LMIs).Severalacademic examplesillustratetheperformanceoftheproposedstructure. Chapter 2 proposes an observer design technique for nonlinear inter- connected systems with uncertain variable parameters. The observer has adaptiveparametersthatareadjustedfromastabilitystudyoftherecon- structionerror.Thetwoexamplesthataregiven,coupledreversependu- lumsandaquartervehiclesystem,illustratetheimplementation. The case of a linear switching system is discussed in Chapter 3, incor- porating two difficulties: the presence of unknown inputs, and a lack of knowledge of the switching law. The observer is then designed to estimate the continuous and discrete states of the system. The proposed techniqueisappliedtoamodulation/demodulationprocedureinasecure communicationsystemwithchaoticbehavior. AnotherinterestingsituationisthesubjectofChapter4:stateestimation for linear systems with unknown inputs and delays affecting their states and inputs. A first method proposes the design of a delay-dependent unknowninputobserver(UIO),whereasasecondonesuggeststhedesign ofadelay-independentUIO.Thenumericalexampleofthequadruple-tank benchmarkisusedtoillustratetheefficiencyofthetwoproposedmethods forthecasestudy. Chapter 5 presents the basics, progress, and outlook for the observer- based control design problem in dynamical systems. After reviewing the roots and needs of the problem, the authors have provided complete analytical results pertaining to dynamic modeling, control design, and computersimulationofseveraldistinctapproaches.Theauthorshavealso investigated issues regarding robust stability and robust performance of controldesignfordifferentsystemconfigurations. InChapter6,theauthorshavedevelopednewsufficientLMIconditions fortheproblemofstabilizationofdiscrete-timeuncertainswitchedlinear xvii FOREWORD systemsunderarbitraryswitchingrules.Differentscenariosoftheuseof Finsler’slemmaareproposedtoreducetheconservatismofexistingresults intheliterature.Numericalexamplesandsimulationresultsarepresented todemonstratetheeffectivenessoftheproposedmethods. Modelpredictivecontrol(MPC)basedonstateobserversfornonlinear multivariablesystemsisthesubjectofChapter7.Toovercomeclassicallim- its,theauthorsdevelopedanadaptiveMPC-basedobserverfornonlinear multivariable systems. The implementation of the proposed approach to athree-tankbenchmarksystemisperformed,withacomparisonbetween linearandnonlinearpredictivecontrollers. TheauthorsofChapter8proposeanewdecentralizedobserver-based controller design method for nonlinear discrete-time interconnected sys- temswithnonlinearinterconnections.Anenhancedlinearmatrixinequal- ity design condition is provided to guarantee asymptotic stability for systems with both known and unknown interconnection bounds. Two numericalexamplesillustratetheeffectivenessofthedesignapproach. Chapter 9 presents results of the polytopic model (PM) approach to copewiththemodeling,stabilityanalysis,statefeedbackcontrol,state,and unknowninputestimation,andfinally,fault-tolerantcontrolofnonlinear systems. The backbone of all presented results is the capacity of the PM structure to represent nonlinearities in a selected operating range of the system. It is proposed to design a fault-tolerant controller fed with the simultaneousstateandunknowninputestimates.Thebenefitsoftheactive fault-tolerant controller based on the PM approach are illustrated in an exampleconsistingofthestabilizationofthelateraldynamicsofavehicle. Chapter10studiestheapplicationofhigh-orderslidingmodeobservers fortheestimationoffaultsandtheirlatercompensationinlinearsystems. Thestudyisrestrictedtothesystemswithstronglyobservablefaults.The mainideaistoexploitthefinite-timeconvergenceofthehigh-ordersliding mode-basedobserverstoestimatethestates,andalsothedynamiceffects, of the faults, showing that these are powerful tools not only to estimate states,butalsounknownsignals.Themethodologyisillustratedwiththe designofafault-tolerantcontroloftherollautopilotforamissilemode. The authors of Chapter 11 consider the problem of simultaneous state andfaultestimationoflineardescriptorandnonlineardescriptordiscrete- time stochastic systems with arbitrary unknown disturbances. The study isbasedoninputfilteringandtheuseofarobusttwo-stageKalmanfilter. Chapter12investigatestheproblemofthesimultaneousestimationof discrete state, continuous state, and faults of a class of switched linear systemswithmeasurementnoise.Anewalgebraicapproachisdeveloped inordertoestimate,inrealtime,andwithanegligibledelay,theswitching times, and to reconstruct the discrete state. The proposed strategy is illustrated by a system with three operating modes whose dynamics are affectedbytwofaults. xviii FOREWORD Chapter 13 introduces an appropriate model associating paradigms fromcontroltheoryandcomputersciencetodealwiththesystemsubject to both physical attacks and sensor/actuator attacks via the connected network. Inspired by a combination of the classical fault-tolerant con- trol approach and the event-triggered control, an observer-based, attack- tolerant control solution is proposed. The control design is applied to a laboratory benchmark including a three-tank system subject to physical attacks. Finally, on behalf of all the editors, I would like to express my grate- fulnesstoalltheauthorsofthebookfortheirvaluablecontributions,and allreviewersfortheirhelpfulandprofessionaleffortstoprovidevaluable commentsandfeedback. JoséRagot UniversitédeLorraine,CNRS,CRAN,F54000Nancy,France
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