IDC-LPV

Development and application of LPV Identification, Diagnosis and Control techniques for complex systems, CICYT DPI2005-4722.

Objectives

The overall goal of the project was to develop, adapt, and/or modify time-varying identification and control techniques for practical application. To achieve this, the goal was to contribute to the recent field of Linear Parameter-Varying Systems (LPVs), both in model identification and controller design, focusing on theoretical aspects, but primarily solving practical problems that currently prevent the application of these techniques to real-world problems of certain complexity, especially in time-varying and/or nonlinear phenomena.

The objectives set were:

Develop new Identification (ID) techniques using LPV models to represent complex systems with time-varying dynamics.

Develop new LPV control techniques to control complex systems.

Develop new LPV Fault Tolerant Control and Diagnosis techniques to control complex systems under failure situations.

Apply these techniques to complex systems of acoustic, hydrological, and aerospace nature.

Main Results

Theoretical Results

The theoretical results achieved in the course of the project were:

1. Reduced-order LPV control: PID LPV and static LPV
2. Generalization of the robust Smith Predictor to MIMO models
3. Analysis and design under time-varying sampling intervals
4. Identification/Invalidation/Control of nonlinear and/or LPV systems using η-gap metric
5. Efficiency in the placement of sensors/actuators
6. Fault-tolerant control based on the concept of Unfalsified control

Applications

The project resulted in the development of the following applications:

1. Implementation of an experiment for ID and CAR in an acoustic tube
2. Development of an experiment for noise attenuation in a motorcycle helmet
3. Sensor and actuator placement experiments in an acoustic tube
4. Evaluation of water channel control in the Saint Venant simulator and LPV control in the LUNAX Dam Simulator
5. Development of a UAV helicopter and ID and control tests

Most Relevant Publications

R. Sánchez Peña, Y. Bolea, V. Puig, "MIMO Smith Predictor: General Performance and Robustness results", Journal of Process Control, 19:163-177, <doi:10.1016/j.jprocont.2007.12.004>, 2009.
F. Bianchi, R. Sánchez Peña, "Robust identification/invalidation in an LPV framework", International Journal of Robust and Nonlinear Control, 20:301-312, published online <doi: 10.1002/rnc.1430>, 2009.
R. Castañé Selga, R. Sánchez Peña, "Active Noise Hybrid Time-Varying Control for Motorcycle Helmets", IEEE Transactions on Control Systems Technology, 18(3):602-612, <doi:10.1109/TCST.2009.2025187>, 2009.
R. Sánchez Peña, M.A. Cugueró, A. Masip, J. Quevedo, V. Puig, "Robust Identification and Feedback Design: an Active Noise Control Case Study", Control Engineering Practice, 16(11):1265-1274, <doi:10.1016/j.conengprac.2008.02.004>, 2008.
R. Castañé Selga, R. Sánchez Peña, "Active Noise Control in Motorcycle Helmets", Revista Iberoamericana de Automática e Informática Industrial, 4(3), <doi: 10.4995/>, 2007.