Mutual Impact of Computing Power and Control Theory PDF
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Mutual Impact of Computing Power and Control Theory Mutual Impact of Computing Power and Control Theory Edited by M . Kärn y Institute of Information Theory and Automation Academy of Science sof the Czech Republic Prague, Czech Republic and K. Warwick Schoo lof Engineering and Information Sciences University of Reading Reading ,United Kingdom Springer Science+Business Media, LL C Library of Congress Cataloglng-ln-PublIcat1on Data Mutual impact of computing power and control theory / edited by M. Karny and K. Warwick, p. cm. Proceedings of an IFAC Workshop o n the Mutual Impact of Computing Power and Control Theory, held 9/1-2/92, in Prague, Czech Republic. Includes bibliographical references and index. ISBN 978-1-4613-6291-3 ISBN 978-1-4615-2968-2 (eBook) DOI 10.1007/978-1-4615-2968-2 1. Automatic control—Data processing—Congresses. 2. Control theory—Data processing—Congresses. I. Karny, M. II. Warwick, K. III. International Federation of Automati c Control. IV. IFAC Workshop on the Mutual Impact of Computing Power and Control Theory (1992 : Prague, Czech Republic) TJ212.2.M88 1993 629.8'9—dc20 93-26141 CIP Proceedings of an IFAC Workshop on the Mutual Impact of Computing Power and Control Theory, held September 1-2, 1992, in Prague, Czech Republic ISBN 978-1-4613-6291-3 © 1993 Springer Science+Business Media New York Originally published by Plenum Press, New York in 1993 All rights reserved No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording, or otherwise, without written permission from the Publisher IFAC Workshop on Mutual Impact of Computing Power and Control Theory Prague, Czechoslovakia, September 1-2, 1992 Sponsored by IFAC Technical Comittee on Theory Organized by Institute of Information Theory and Automation Czechoslovak Academy of Sciences, CSFR and School of Engineering & Information Sciences University of Reading, UK on behalf of Czechoslovak National Committee of Automatic Control International Programme Committee K. Warwick UK Chairman P. Van Dooren USA Vice-Chairman K. J. Astrom S M. A. Christodoulou GR R. M. C. De Keyser B G. C. Goodwin AUS K. M. Hangos H M. Karny CS R. Kulhavy CS E. Mosca I V. Peterka CS P. E. Wellstead UK National Organizing Committee M. Karny Chairman Workshop editor K. Warwick Workshop editor A. Halouskova D. Hrudkova P. Nedoma I. Warwick v Preface Recent rapid developments in computing power, such as parallel processing and neural networks, have stimulated new trends in control. However a discrepancy exists between available computing power and exploitable algorithms obtained classically from control theory. The aim of this book is to address the discrepancy from both the com putational power and control theory viewpoints. Areas such as identification, adaptive control, signal processing and neural networks therefore hold a prominent position in the text presented. The form of the book is such that it should be useful for readers at various levels, particularly those at the research and/or application stage. The book has resulted from the IFAC Workshop on the Mutual Impact of Computing Power and Control Theory, which was held at the Institute of Information Theory and Automation (UTIA), Prague, in September 1992. Organisation of the event was provided jointly by the Department of Adaptive Systems, UTIA, Prague and the School of Engineering and Information Sciences, University of Reading, UK. Selected papers from the Workshop have been chosen to give a good balance across the field, whilst at the same time highlighting important areas for future research. In this way the book represents edited Proceedings from the Workshop. One point, quickly apparent, is the international nature of the presentations themselves, which provide not only a technical appraisal of the field but also inject cultural aspects which are vitally important on the path ahead. The level of the book makes it suitable for practising engineers, final year under graduate degree students and both new and advanced researchers in the field. The book could easily be used as a support text for masters or final year programmes in which the computing aspects of control and/or the application aspects of computers are covered. The nature of the presentations in the book is such that abstract theoretical ideas are mostly minimized, whilst sensible suggestions and appraisals of problems in the field, e.g. computational numerical difficulties with control algorithms, are maximized. The diversity of articles presented in this book gives a clear indication of the com plexity of the field. Indeed it was a key aim of the Prague Workshop to address this diversity, and it was therefore pleasing when such a range of topics was discussed. The vast majority of other books in this field tend to specialise in specific problem areas, such as adaptive control or system identification. From this point of view, this book puts forward a broader scope, and in a sense is non-specialist. At the Workshop, the breadth of topic range was a very positive aspect, with much discussion being raised between the contributors, each of whom is a specialist in his own field. The articles included in this book span the divide between computing and control. At the one (computing) extreme, fundamental properties of computers are discussed, which nicely leads on to a logical analysis of complexity. Numerical properties of al gorithms sit about halfway between the two areas, and by moving through system identification and adaptive control a (control) end point of robustness of PID algo- vii rithms is reached. However some topics of considerable interest, in particular neural networks, span the entire field in their own right, and hence are given a good airing from fundamentals through to a range of application studies. Taken as a whole, the presentations which make up this book provide a good coverage of the area linking computers and control, and the possibilities likely in the future. Basic elements, e.g. computer implementation of a PID controller, are not discussed, indeed the book should not be regarded as a manual for the implementation of low level controllers. It is quite possible for the book to be made use of as a complete text, giving a fairly comprehensive coverage of the field, or in terms of specific articles detailing areas of particular interest. It is felt that the book is especially useful for those with a computing or control background who wish to find out more about the land which lies between the two subject areas. The editors would like to express their gratitude to all of the authors for their contributions and for the prompt attention that each gave in the completion of his final text. They would also like to thank those at Plenum Publishing Corporation, particularly Nicola Clark, for ensuring that the book would be published in good time. Special thanks must however go to those at UTIA who ensured that the Workshop from which this book originates ran both smoothly and successfully; they include PavIa Bednarova, Alena Halouskova and Dagmar Hrudkova. Kevin Warwick Miroslav Karny viii Contents Upcoming Numerical Linear Algebra Issues in Systems and Control Theory 1 P. Van Dooren On Design of Approximate Finite-Dimensional Estimators: the Bayesian View 13 R. Kulhavy Sidestepping the Certainty Equivalence in 2-DOF Adaptive Control Via Multiple Implicit Identifiers 41 E. Mosca, L. Chisci and L. Giard Simulation and Control of Gas Transport and Distribution by Large-Scale Pipeline Networks 65 Z. Vostry and J. Zaworka Complexity of Dynamic Models for Intelligent Control 77 K. M. Hangos The Most Simple Systolic Architectures for Parallel Probabilistic Searching Algorithms 97 1. Kramosil On the Riemannian Interpretation of the Gauss-Newton Algorithm 111 B. Hanzon and R. L. M. Peeters Recursive Least Squares Approximation of Bayesian Non-GaussianjNon-Linear Estimation 123 M. Kamy and I. Nagy Fundamental Properties of Real Computers 135 J. Sindelar A Numerical Method for Computing the Approximate Solution of the Infinite-Dimensional Discrete-Time Optimal Linear Filtering Problem 151 L. Jetto ix Smart Matrices 159 P. Kovanic Branch and Bound Algorithm for Global Optimization in Control Theory 169 S. Balemi and V. Balakrishnan Mapping LQ Control Design on Fixed-Size Array Processors 181 L. Chisci and G. Zappa Identification of Data-Compatible Models for Control Applications 195 R. P. Guidorzi and A. Stoian MIMO - A Set of SISO? Multivariate System Adaptively Controlled as a Set of Single-Input Single-Output Models 213 M. Karny, A. Halouskova and J. Bohm Extensions of Standard CADCS Environment for Parallel Computation and Real Time Control 225 P. Nedoma On the Ordering of Characteristic Input-Output Modes in MIMO Discrete-Time Systems 233 V. P. Deskov, G. M. Dimirovski and N. E. Gough Regularised Lattice-Ladder Adaptive Filter 245 J. Kadlec, F. M. F. Gaston and G. W. Irwin Neural Network Applications - Case Studies 259 I<. Warwick A Virtual Software Environment for Artificial Neural Networks on General Purpose Parallel Architectures 273 E. N. Houstis, T. S. Papatheodorou, S. I<. Kortesis and N. B. Tsantanis Shape Discrimination and Classification in Robotic Vision Using Scaled Normalized Central Moments 281 B. G. Mertzios Autotuned Predictive Control 289 P. Boucher, D. Dumur and S. Daumiiller Multivariable Constrained Adaptive Predictive Control Based on Pole Placement Design 301 M. Fikar and S. B. J¢rgensen x The Epsilon - Ritz Method for Solving Optimal Control Problems on Parallel Computers 311 P. A. Frick and D. F. Stech Robust PID Control 339 P. Kovanic and J. Bjjhm Advanced Algorithms Contra Lack of Computing Power 349 P. Ettler Personal-Computer-Oriented Systems of Adaptive Identification 353 V. A. Lototsky, A. A. Yaralov, A.S.Grinberg and R.I.Maizus Predictive Control with Constrained Spline Input Signal 357 B. Rohal-Ilkiv, Z. Orszaghova, R. Richter and P. Zelinka Expert System-Driven Controllers 369 O. KHi Index 379 xi UPCOMING NUMERICAL LINEAR ALGEBRA ISSUES IN SYSTEMS AND CONTROL THEORY Paul Van Dooren University of Illinois at Urbana-Champaign Coordinated Science Laboratory 307 N. Mathews Av., Urbana, IL 61801 Phone: (217)3330656, Fax: (217)2441642 E-mail: [email protected] Abstract. We discuss a number of novel issues in the interdisciplinary area of nu merical linear algebra and systems and control theory. Although we do not claim to be exhaustive we give a number of "upcoming issues" which we believe will play an important role in the near future. These are: sparse matrices, structured matrices, novel matrix decompositions and numerical shortcuts. Each of those is presented in relation to a particular (class of) control problems. These are respectively: large scale control systems, polynomial system models, control of periodic systems, and normalized coprime factorizations in robust control. Key words. Numerical algorithms; linear algebra; sparse matrices; polynomial sys tems; periodic systems; robust control. INTRODUCTION During the last few decades linear algebra has played an important role in advances being made in the area of systems and control [30]. The most profound impact has been in the computational and implementational aspects, where numerical linear algebraic algorithms have strongly influenced the ways in which problems are being solved. This paper discusses a number of novel numerical linear algebra issues in this interdisciplinary area. Although we do not claim to be exhaustive we give a number of "upcoming issues" which we believe will play an important role in the near future. These numerical linear algebra issues are: • Sparse matrices. Large plants in control typically arise from discretizations of continuum problems (such as those that appear in mechanics or chemistry). The models obtained from that are then automatically sparse, such as finite element methods used for mechanical problems. It is also commonly observed that large scale problems in other application areas typically involve matrices with some kind of sparsity or structure. A recent report on large matrix problems [9] shows Mutual Impact of Computing Power and Control Theory, Edited by M. Kant}' and K. Warwick, Plenum Press, New York, 1993
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