Advanced Computing Concepts and Techniques in Control Engineering PDF
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Advanced Computing Concepts and Techniques in Control Engineering NATO ASI Series Advanced Science Institutes Series A series presenting the results of activities sponsored by the NATO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences Plenum Publishing Corporation B Physics London and New York C Mathematical and Kluwer Academic Publishers Physical Sciences Dordrecht, Boston and London D Behavioural and Social Sciences E Applied Sciences F Computer and Springer -Verlag Systems Sciences Berlin Heidelberg New York G Ecological Sciences London Paris Tokyo H Cell Biology Series F: Computer and Systems Sciences Vol. 47 Advanced Computing Concepts and Techniques in Control Engineering Edited by Michael J. Denham Department of Computing Plymouth Polytechnic, Drake Circus Plymouth, Devon, PL4 BAA, UK Alan J. Laub Department of Electrical and Computer Engineering University of California Santa Barbara, CA 93106, USA Springer-Verlag Berlin Heidelberg GmbH Proceedings of the NATO Advanced Study Institute on The Application of Advanced Computing Concepts and Techniques in Control Engineering, held in II Ciocco, Italy, September 14-25, 1987. ISBN 978-3-642-83550-6 ISBN 978-3-642-83548-3 (eBook) DOI 10.1007/978-3-642-83548-3 This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in other ways, and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9, 1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law. ©Springer-Verlag Berlin Heidelberg 1988 Originally published by Springer-Verlag Berlin Heidelberg New York in 1988 Softcover reprint of the hardcover 1st edition 1988 Preface Computational concepts and techniques have always played a major role in control engineering since the first computer-based control systems were put into operation over twenty years ago. This role has in fact been accelerating over the intervening years as the sophistication of the computing methods and tools available, as well as the complexity of the control problems they have been used to solve, have also increased. In particular, the introduction of the microprocessor and its use as a low-cost computing element in a distributed computer control system has had a profound effect on the way in which the design and implementation of a control system is carried out and, to some extent, on the theory which underlies the basic design strategies. The development of interactive computing has encouraged a substantial growth in the use of computer aided design methods and robust and efficient numerical algorithms have been produced to support these methods. Major advances have also taken place in the languages used for control system implementation, notably the recent introduction of Ada'", a language whose design is based on some very fundamental computer science concepts derived and developed over the past decade. With the extremely high rate of change in the field of computer science, the more recent developments have outpaced their incorporation into new control system design and implementation techniques. This is particularly true in those areas which have been the subject of intensive study in the last few years under various strategic governmental programmes, many of which were started in response to the japanese "'Fifth Generation" initiative. These areas include: artificial intelligence software engineering methods and tools for distributed systems parallel computing algorithms and architectures The interface between the disciplines of computer science and control engineering is growing rapidly, not just in these areas but also in the fields of data communication networks and human-computer interaction. Unless a substantial effort is devoted to the study of the potential application and benefit of these powerful new computing techniques in control engineering, as is happening now in othe'r fields such as office automation, it is possible that control engineers will be severely limited in their access to new hardware and software tools and technology with the result that both their own productivity and the efficiency of the systems they design will be seriously degraded. The aim of this NATO Advanced Study Institute, held 14th-25th September, 1987 in I1 Ciocca, Italy, was to gather together a multidisciplinary group of experts who are at the forefront of the application of advanced computing concepts and techniques in control engineering to present a set of lectures on underlying concepts and methods and their application. This volume contains a set of papers based on these invited lectures, together with some papers contributed by the participants in the Institute. VI The volume is organized in four main sections, the first three of which contain the invited papers corresponding to the three principal themes of the Institute: I. Artificial Intelligence and Expert Systems II. Discrete-event and Distributed Systems III. Algorithms for Advanced Architectures IV. Contributed Papers Artificial intelligence techniques, in particular expert systems techniques, are finding increasing use in the design and implementation of control systems. Section I begins with a tutorial overview of some of the major expert system concepts and is followed by three additional papers which cover specific additional topics in the artificial intelligence and expert systems area together with applications of special interest to control engineers. Section II is concerned with the fields of discrete-event and distributed systems. These fields have been studied intensely for some time now by computer scientists but a rapidly growing theory for the control of such systems is beginning to emerge. An overview paper on the control of discrete-event systems is followed by five additional papers on various aspects of the control of discrete-event and distributed systems. Section III is devoted to the area of parallel algorithms and architectures. Computing environments for the implementation of various classes of parallel algorithms are now a reality and this technology is certain to have a dramatic impact on control engineering. An overview paper on various advanced architectures, with particular emphasis on shared-memory machines, is followed by three papers describing particular analysis and design algorithms for control and signal processing for a variety of advanced architectures including distributed memory and systolic processors. Finally, six papers based on talks contributed by participants in the Institute are included as Section IV. These papers are arranged by topic in roughly the order of the first three sections. Although the papers in the first three sections are based on the invited talks and thus have a strong didactic emphasis, the contributed papers also have considerable tutorial value for both the research-oriented as well as practicing control engineer. What we are unable to record in this book are the large number of informal discussions which took place both inside and outside the lecture room in the course of what we believe, and we hope all the participants will agree, proved to be a very interesting and productive two weeks. We do hope, however, that this set of papers will serve to stimulate many future discussions and new ideas for the further application of innovative computing concepts and techniques in control engineering. M.j. Denham March 1988 A.]. Laub Acknowledgements We gratefully acknowledge the support of the following organisations, in respect of the Advanced Study Institute of which this volume constitutes the proceedings: North Atlantic Treaty Organization, Scientific Affairs Division National Science Foundation, USA (for travel grants) Olivetti, Italy (for the loan of computing equipment) Table of Contents I. Artificial Intelligence and Expert Systems Aspects of Expert Systems 3 }.R.B. Cockett Qualitative Modeling of Physical Systems for Knowledge Based Control 31 R. Leitch Computer Algebra Algorithms for Nonlinear Control 53 0. Akhrif and G.L. Blankenship Pandore 81 J.P. Chancelier, C. Gomez, J.P. Quadrat, and A. Sulem Appendix: A Discounted 2-Dimensional Stochastic Control Problem T. Pandore II. Discrete-Event and Distributed Systems A Control Theory for Discrete-Event Systems 129 W.M. Wonham The Complexity of Some Basic Control Problems for Discrete Event 171 Systems P.]. Ramadge A Petri-Net Approach to the Control of Discrete-Event Systems 191 M.}. Denham Temporal Logic and Extended State Machines in Discrete Event Control 215 }.S. Ostroff An Overview of Distributed System Construction Using Conic 237 ]. Kramer,]. Magee, and M. Sloman Structural Design of Decentralized Control Systems 257 P.M. Larsen and F.]. Evans III. Algorithms for Advanced Architectures Matrix Computations on Shared-Memory Multiprocessors 289 K.A. Ga1Jiva11 and A.H. Sameh Hypercube Implementation of Some Parallel Algorithms in Control 361 A.]. Laub and ].D. Gardiner Load Balancing and Partitioning for Parallel Signal Processing and 391 Control Algorithms G. Cybenko Systolic Algorithms for Digital Signal Processing and Control 409 J.-P. Charlier, M. Vanbegin, and P. Van Dooren X IV. Contributed Papers Microcomputer Based Expert Control and Adaptive PID Control 437 L.G. Lebow Supervisory Control of Discrete Event Processes with Arbitrary 4S9 Controls C.H. Golaszewski and P.j. Ramadge High Speed RLS Parameter Estimation by Systolic-Like Arrays 471 L. Chisci Intelligent Control Specification Language Compilers. the 487 Q-Parameterization, and Convex Programming: Concepts for an Advanced Computer-Aided Control System Design Method D.G. Meyer, V. Balakrishnan, C.H. Barratt, S.P. Boyd, N.M. Kraishi, X.M. Li, and S.A. Norman A Design Environment for Computer-Aided Control System Design 497 via Multi-Objective Optimisation A.C. W. Grace and P.j. Fleming Mariana: a Real-time Language for Control S1 3 j.R.B. Cockett
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