On estimation of attraction domain for port-controlled Hamiltonian systems subject to actuator saturation

This paper investigates the estimation of domain of attraction for nonlinear port controlled Hamiltonian （PCH） systems with actuator saturation （AS）. Several conditions are established under which an ellipsoid is contractively invariant, and thus can be employed to find the biggest ellipsoid contained in the domain of attraction. It is shown that the proposed conditions can be expressed in the form of the linear matrix inequalities （LMIs） optimization problem with constraints. Study of an illustrative example shows that the proposed method works very well in estimating the domain of attraction for some classes of nonlinear PCH systems with AS.

Expanding Annular Domain Algorithm to Estimate Domains of Attraction for Power System Stability Analysis

This paper presents an Expanding Annular Domain(EAD)algorithm combined with Sum of Squares(SOS)programming to estimate and maximize the domain of attraction(DA)of power systems.The proposed algorithm can systematically construct polynomial Lyapunov functions for power systems with transfer conductance and reliably determine a less conservative approximated DA,which are quite difficult to achieve with traditional methods.With linear SOS programming,we begin from an initial estimated DA,then enlarge it by iteratively determining a series of so-called annular domains of attraction,each of which is characterized by level sets of two successively obtained Lyapunov functions.Moreover,the EAD algorithm is theoretically analyzed in detail and its validity and convergence are shown under certain conditions.In the end,our method is tested on two classical power system cases and is demonstrated to be superior to existing methods in terms of computational speed and conservativeness of results.

Empirical Likelihood Statistical Inference for Compound Poisson Vector Processes under Infinite Covariance Matrix

The paper discusses the statistical inference problem of the compound Poisson vector process(CPVP)in the domain of attraction of normal law but with infinite covariance matrix.The empirical likelihood(EL)method to construct confidence regions for the mean vector has been proposed.It is a generalization from the finite second-order moments to the infinite second-order moments in the domain of attraction of normal law.The log-empirical likelihood ratio statistic for the average number of the CPVP converges to F distribution in distribution when the population is in the domain of attraction of normal law but has infinite covariance matrix.Some simulation results are proposed to illustrate the method of the paper.

Anti-windup compensation design for a class of distributed time-delayed cellular neural networks

Both time-delays and anti-windup(AW)problems are conventional problems in system design,which are scarcely discussed in cellular neural networks(CNNs).This paper discusses stabilization for a class of distributed time-delayed CNNs with input saturation.Based on the Lyapunov theory and the Schur complement principle,a bilinear matrix inequality(BMI)criterion is designed to stabilize the system with input saturation.By matrix congruent transformation,the BMI control criterion can be changed into linear matrix inequality(LMI)criterion,then it can be easily solved by the computer.It is a one-step AW strategy that the feedback compensator and the AW compensator can be determined simultaneously.The attraction domain and its optimization are also discussed.The structure of CNNs with both constant timedelays and distribute time-delays is more general.This method is simple and systematic,allowing dealing with a large class of such systems whose excitation satisfies the Lipschitz condition.The simulation results verify the effectiveness and feasibility of the proposed method.

Stability analysis for linear discrete-time systems subject to actuator saturation

In this paper, stability of discrete-time linear systems subject to actuator saturation is analyzed by combining the saturation-dependent Lyapunov function method with Finsler’s lemma. New stability test conditions are proposed in the enlarged space containing both the state and its time difference which allow extra degree of freedom and lead to less conservative estimation of the domain of attraction. Furthermore, based on this result, a useful lemma and an iterative LMI-based optimization algorithm are also developed to maximize an estimation of domain of attraction. A numerical example illustrates the effectiveness of the proposed methods.

PID Control of Planar Nonlinear Uncertain Systems in the Presence of Actuator Saturation

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator saturation.Based on the bounds on the growth rates of the nonlinear uncertain function in the system model,the system is placed in a linear differential inclusion.Each vertex system of the linear differential inclusion is a linear system subject to actuator saturation.By placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law,we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop system.The equilibrium point corresponds to the desired set point for the system output.Thus,the location of the equilibrium point and the size of the domain of attraction determine,respectively,the set point that the output can achieve and the range of initial conditions from which this set point can be reached.Based on these conditions,the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities(LMIs).Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.

Stability analysis for continuous-time systems with actuator saturation

The aim of this paper is to study the determination of the stability regions for continuous-time systems subject to actuator saturation. Using an affine saturation-dependent Lyapunov function, a new method is proposed to obtain the estimation of the domain of attraction of the closed-loop system. A family of linear matrix inequalities （LMIs） that provides sufficient conditions for the existence of this type of Lyapunov function are presented. The results obtained in this paper can reduce the conservativeness compared with the existing ones. Numerical examples are given to illustrate the effectiveness of the proposed results.

Adaptive fault-tolerant control of linear time-invariant systems in the presence of actuator saturation

This paper studies the problem of designing adaptive fault-tolerant controllers for linear tirne-invariant systems with actuator saturation. New methods for designing indirect adaptive fault-tolerant controllers via state feedback are presented for actuator fault compensations. Based on the on-line estimation of eventual faults, the adaptive fault-tolerant controller parameters are updating automatically to compensate the fault effects on systems. The designs are developed in the framework of linear matrix inequality （LMI） approach, which can enlarge the domain of attraction of closed-loop systems in the cases of actuator saturation and actuator failures. Two examples are given to illustrate the effectiveness of the design method.

Analysis and design of output feedback control systems with actuator saturation

A dynamic output feedback controller design approach based on cone complementary linearisation procedure is proposed for linear time-invariant （LTI） systems with actuator saturation. First, the estimation of the domain of attraction is given. Then, a design method to find a larger estimation of the domain of attraction is presented. In the process of design, nonconvex conditions are obtained, so a cone complementary linearisation procedure is exploited to solve the nonconvex feasibility problem. Two examples are given to illustrate the efficiency of the design method.

Design of a bilinear fault detection observer for singular bilinear systems

A bilinear fault detection observer is proposed for a class of continuous time singular bilinear systems subject to unknown input disturbance and fault. By singular value decomposition on the original system, a bilinear fault detection observer is proposed for the decomposed system via an algebraic Riccati equation, and the domain of attraction of the state estimation error is estimated. A design procedure is presented to determine the fault detection threshold. A model of flexible joint robot is used to demonstrate the effectiveness of the proposed method.

Extreme value distributions of mixing two sequences with different MDA＇s

Suppose {Xi, i≥1} and {Yi, i≥1} are two independent sequences with distribution functions FX(x) and FY(x), respectively. Zi is the combination of Xi and Yi with a probability pn for each i with 1≤i≤n. The extreme value distribution ,n GZ(x) of this particular triangular array of the i.i.d. random variables Z1, , Z2, ,…, Zn n n ,nis discussed. We found a new form of the extreme value distribution ΛA(ρx)Λ(x)(0<ρ <1), which is not max-stable. It occurs if FX(x) and FY(x) belong to the same MDA(Λ). GZ(x) does not exist as mixture forms of the different types of extreme value distributions.

On the stability of two-step predictive controller based on state observer

For input saturated Hammerstein systems, the two-step predictive control strategy is adopted. The first step calculates the desired intermediate variable applying unconstrained linear modal and predictive control. The second step obtains the real-time control action by solving algebraic equation and desaturation. The case of immeasurable state is considered where the observer gain matrix is solved by Sylvester equation. The sufficient closed-loop stability condition is given and the designing and tuning algorithm for the domain of attraction is proposed. The theoretical results are validated by an example.

Design of bilinear observer for singular bilinear systems

A bilinear observer is proposed for a class of singular bilinear system subject to unknown input disturbance. Based on singular value decomposition technique, the existence of the solution to the decomposed system is presented. Then a bilinear observer is proposed for the decomposed system based on an algebraic Riccati equation, and the domain of attraction of the state estimation error is derived. Finally, a detailed design procedure is given to design a bilinear observer for a model of flexible joint robot, which demonstrates the effectiveness of the proposed method.

More general results on mixed extreme value distributions

The sequences {Zi,n, 1≤i≤n}, n≥1 are multi-nomial distribution among i.i.d, random variables {X1,i, i≥1}, {X2,i, i≥1 } {Xm,i, i≥1 }. The extreme value distribution Gz（x） of this particular triangular array of i.i,d, random variables Z1,n, Z2 n,...,Zn,n is discussed. A new type of not max-stable extreme value distributions which are Fréchet mixture, Gumbel mixture and Weibull mixture has been found if Fj,…… Fm belong to the same MDA. Whether mixtures of different types of extreme value distributions exist or not and the more general case are discussed in this paper. We found that Gz（x） does not exist as mixture forms of the different types of extreme value distributions after we investigated all cases.

A class of not max-stable extreme value distributions

The sequences {Zi , 1≤i≤n}, n≥1 have multi-nomial distribution among i.i.d. random variables {X1, , i≥1}, {X2, , ,n i i i≥1}, …, {Xm , i≥1}. The extreme value distribution GZ(x) of this particular triangular array of i.i.d. random variables Z1, , Z2, , …, ,i n n r ?1 Zn is discussed in this paper. We found a new type of not max-stable extreme value distributions, i) GZ (x) = ,n ∏Φα Ai(x)×Φαr (x); i i=1 r ?1 r?1 ii) GZ (x) = ∏Ψα Ai(x)×Ψαr (x); iii) GZ (x) = ∏Λ Ai(λix)×Λ(x), r≥2, 0<α1≤α2≤…≤αr and λi∈(0,1] for i, 1≤i≤r?1 which occur if i i=1 i=1 Fj, …, Fm belong to the same MDA.

A weak invariance principle for self-normalized products of sums of mixing sequences

Let variables in the {X, Xn, n ≥ 1} be a sequence of strictly stationary φ-mixing positive random domain of attraction of the normal law. Under some suitable conditions the principle for self-normalized products of partial sums is obtained.

Estimating Critical Clearing Time of Grid Faults Using DA of State-Reduction Model of Power Systems

This paper proposes a critical clearing time (CCT) estimation method by the domain of attraction (DA) of a state-reduction model of power systems using sum of squares (SOS) programming. By exploiting the property of the Jacobian matrix and the structure of the boundary of the DA, it is found the DA of the state-reduction model and that of the full model of a power system are topological isomorphism. There are one-to-one correspondence relationships between the number of equilibrium points, the type of equilibrium points, and solutions of the two system models. Based on these findings, an expanding interior algorithm is proposed with SOS programming to estimate the DA of the state-reduction model. State trajectories of the full model can be transformed to those of the state-reduction model by orthogonal or equiradius projection. In this way, CCT of a grid fault is estimated with the DA of the state-reduction model. The calculational burden of SOS programming in the DA estimation using the state-reduction model is rather small compared with using the full model. Simulation results show the proposed expanding interior algorithm is able to provide a tight estimation of DA of power systems with higher accuracy and lower time costs.

Enlarging the guaranteed region of attraction in nonlinear systems with bounded parametric uncertainty

A novel approach to enlarge the guaranteed region of attraction in nonlinear systems with bounded parametric uncertainties based on the design of a nonlinear controller is proposed.The robust domain of attraction(RDA) is estimated using the parameter-dependent quadratic Lyapunov function and enlarged by the optimal controlling parameters.The problem of extending the RDA is indicated in a form of three-layer optimization problem.Some examples illustrate the efficiency of the proposed strategy in enlarging RDA.

Stability analysis and antiwindup design of uncertain discrete-time switched linear systems subject to actuator saturation

This paper investigates the stability analysis and antiwindup design problem for a class of discrete-time switched linear systems with time-varying norm-bounded uncertainties and saturating actuators by using the switched Lyapunov function approach. Supposing that a set of linear dynamic output controllers have been designed to stabilize the switched system without considering its input saturation, we design antiwindup compensation gains in order to enlarge the domain of attraction of the closed-loop system in the presence of saturation. Then, in terms of a sector condition, the antiwindup compensation gains which aim to maximize the estimation of domain of attraction of the closed-loop system are presented by solving a convex optimization problem with linear matrix inequality （LMI） constraints. A numerical example is given to demonstrate the effectiveness of the proposed design method.

Further control synthesis for time-delay systems with actuator saturation

This paper is concerned with the control synthesis problem for systems with time-varying delay and actuator saturation. A new controller design method is proposed in which auxiliary feedback matrix method is adopted to handle the saturation term in the system. The improvement of the proposed method lies in the application of delay partitioning idea to further enlarge the estimated domain of attraction. All the results are given in terms of linear matrix inequalities. Finally, a numerical example is provided to demonstrate the effectiveness and superiority of our obtained results.