An NMOS output-capacitorless low-dropout regulator with dynamic-strength event-driven charge pump

In this paper,an NMOS output-capacitorless low-dropout regulator(OCL-LDO)featuring dual-loop regulation has been proposed,achieving fast transient response with low power consumption.An event-driven charge pump(CP)loop with the dynamic strength control(DSC),is proposed in this paper,which overcomes trade-offs inherent in conventional structures.The presented design addresses and resolves the large signal stability issue,which has been previously overlooked in the event-driven charge pump structure.This breakthrough allows for the full exploitation of the charge-pump structure's poten-tial,particularly in enhancing transient recovery.Moreover,a dynamic error amplifier is utilized to attain precise regulation of the steady-state output voltage,leading to favorable static characteristics.A prototype chip has been fabricated in 65 nm CMOS technology.The measurement results show that the proposed OCL-LDO achieves a 410 nA low quiescent current(IQ)and can recover within 30 ns under 200 mA/10 ns loading change.

A Capacitor-Free CMOS Low-Dropout Regulator for System-on-Chip Application

A stable CMOS low drop-out regulator without an off-chip capacitor for system-on-chip application is presen- ted. By using an on-chip pole splitting technique and an on-chip pole-zero canceling technique, high stability is achieved without an off-chip capacitor. The chip was implemented in CSMC＇s 0.5μm CMOS technology and the die area is 600μm×480μm. The error of the output voltage due to line variation is less than -＋ 0.21% ,and the quiescent current is 39.8μA. The power supply rejection ratio at 100kHz is -33.9dB, and the output noise spectral densities at 100Hz and 100kHz are 1.65 and 0.89μV √Hz, respectively.

CMOS low-dropout regulator with 3.3 μA quiescent current without off-chip capacitor

A CMOS （complementary metal-oxide-semiconductor transistor） low-dropout regulator （LDO） with 3. 3 V output voltage and 100 mA output current for system-on-chip applications to reduce board space and external pins is presented. By utilizing a dynamic slew-rate enhancement（SRE） circuit and nested Miller compensation （NMC） on the LDO structure, the proposed LDO provides high stability during line and load regulation without off-chip load capacitors. The overshot voltage is limited within 550 mV and the settling time is less than 50 μs when the load current decreases from 100 mA to 1 mA. By using a 30 nA reference current, the quiescent current is 3.3 μA. The proposed design is implemented by CSMC 0. 5 μm mixed-signal process. The experimental results agree with the simulation results.

Theoretical Study of Double Cost Function Linear Quadratic Regulator(LQR)

Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function.

Adaptive Linear Quadratic Regulator for Continuous-Time Systems With Uncertain Dynamics

In this paper, adaptive linear quadratic regulator(LQR) is proposed for continuous-time systems with uncertain dynamics. The dynamic state-feedback controller uses inputoutput data along the system trajectory to continuously adapt and converge to the optimal controller. The result differs from previous results in that the adaptive optimal controller is designed without the knowledge of the system dynamics and an initial stabilizing policy. Further, the controller is updated continuously using input-output data, as opposed to the commonly used switched/intermittent updates which can potentially lead to stability issues. An online state derivative estimator facilitates the design of a model-free controller. Gradient-based update laws are developed for online estimation of the optimal gain. Uniform exponential stability of the closed-loop system is established using the Lyapunov-based analysis, and a simulation example is provided to validate the theoretical contribution.

An Ultra-Low Quiescent Current CMOS Low-Dropout Regulator with Small Output Voltage Variations

An ultra-low quiescent current low-dropout regulator with small output voltage variations and improved load regulation is presented in this paper. It makes use of dynamically-biased shunt feedback as the buffer stage and the LDO regulator can be stable for all load conditions. The proposed structure also employs a momentarily current-boosting circuit to reduce the output voltage to the normal value when output is switched from full load to no load. The whole circuit is designed in a 0.18 μm CMOS technology with a quiescent current of 550 nA. The maximum output voltage variation is less than 20 mV when used with 1 μF external capacitor.

Kalman Filter and H_(∞)Filter Based Linear Quadratic Regulator for Furuta Pendulum

This paper deals with Furuta Pendulum(FP)or Rotary Inverted Pendulum(RIP),which is an under-actuated non-minimum unstable non-linear process.The process considered along with uncertainties which are unmodelled and analyses the performance of Linear Quadratic Regulator(LQR)with Kalman filter and H∞filter as two filter configurations.The LQR is a technique for developing practical feedback,in addition the desired x shows the vector of desirable states and is used as the external input to the closed-loop system.The effectiveness of the two filters in FP or RIP are measured and contrasted with rise time,peak time,settling time and maximum peak overshoot for time domain performance.The filters are also tested with gain margin,phase margin,disk stability margins for frequency domain performance and worst case stability margins for performance due to uncertainties.The H-infinity filter reduces the estimate error to a minimum,making it resilient in the worst case than the standard Kalman filter.Further,when theβrestriction value lowers,the H∞filter becomes more robust.The worst case gain performance is also focused for the two filter configurations and tested where H∞filter is found to outperform towards robust stability and performance.Also the switchover between the two filters is dependent upon a user-specified co-efficient that gives the flexibility in the design of non-linear systems.The non-linear process is tested for set point tracking,disturbance rejection,un-modelled noise dynamics and uncertainties,which records robust performance towards stability.

POSITIVE PERIODIC SOLUTION FOR A NONAUTONOMOUS LOGISTIC MODEL WITH LINEAR FEEDBACK REGULATION

A nonautonomous delayed logistic model with linear feedback regulation is proposed in this paper. Sufficient conditions are derived for the existence, uniqueness and global asymptotic stability of positive periodic solution of the model

Adaptation in Stochastic Dynamic Systems—Survey and New Results III: Robust LQ Regulator Modification

The paper is intended to provide algorithmic and computational support for solving the frequently encountered linear-quadratic regulator (LQR) problems based on receding-horizon control methodology which is most applicable for adaptive and predictive control where Riccati iterations rather than solution of Algebraic Riccati Equations are needed. By extending the most efficient computational methods of LQG estimation to the LQR problems, some new algorithms are formulated and rigorously substantiated to prevent Riccati iterations divergence when cycled in computer implementation. Specifically developed for robust LQR implementation are the two-stage Riccati scalarized iteration algorithms belonging to one of three classes: 1) Potter style (square-root), 2) Bierman style (LDLT), and 3) Kailath style (array) algorithms. They are based on scalarization, factorization and orthogonalization techniques, which allow more reliable LQR computations. Algorithmic templates offer customization flexibility, together with the utmost brevity, to both users and application programmers, and to ensure the independence of a specific computer language.

Robust Leader-Following Output Regulation of Uncertain Multi-Agent Systems With Time-Varying Delay

In this paper, the robust analysis and design of leader-following output regulation for multi-agent systems described by general linear models is given in presence of timevarying delay and model uncertainty. To this aim, a new regulation protocol for the closed-loop multi-agent system under a directed graph is proposed. An important specification of the proposed protocol is to guarantee the leader-following output regulation for uncertain multi-agent systems with both stable and unstable agents. Since many signals can be approximated by a combination of the stationary and ramp signals, the presented results work for adequate variety of the leaders. The analysis and design conditions are presented in terms of certain matrix inequalities. The method proposed can be used for both stationary and ramp leaders. Simulation results are presented to show the effectiveness of the proposed method.

Least Squares Solution for Discrete Time Nonlinear Stochastic Optimal Control Problem with Model-Reality Differences

In this paper, an efficient computational approach is proposed to solve the discrete time nonlinear stochastic optimal control problem. For this purpose, a linear quadratic regulator model, which is a linear dynamical system with the quadratic criterion cost function, is employed. In our approach, the model-based optimal control problem is reformulated into the input-output equations. In this way, the Hankel matrix and the observability matrix are constructed. Further, the sum squares of output error is defined. In these point of views, the least squares optimization problem is introduced, so as the differences between the real output and the model output could be calculated. Applying the first-order derivative to the sum squares of output error, the necessary condition is then derived. After some algebraic manipulations, the optimal control law is produced. By substituting this control policy into the input-output equations, the model output is updated iteratively. For illustration, an example of the direct current and alternating current converter problem is studied. As a result, the model output trajectory of the least squares solution is close to the real output with the smallest sum squares of output error. In conclusion, the efficiency and the accuracy of the approach proposed are highly presented.

Suppression of thermal postbuckling and nonlinear panel flutter motions of variable stiffness composite laminates using piezoelectric actuators

Variable stiffness composite laminates(VSCLs)are promising in aerospace engineering due to their designable material properties through changing fiber angles and stacking sequences.Aiming to control the thermal postbuckling and nonlinear panel flutter motions of VSCLs,a full-order numerical model is developed based on the linear quadratic regulator(LQR)algorithm in control theory,the classical laminate plate theory(CLPT)considering von Kármán geometrical nonlinearity,and the first-order Piston theory.The critical buckling temperature and the critical aerodynamic pressure of VSCLs are parametrically investigated.The location and shape of piezoelectric actuators for optimal control of the dynamic responses of VSCLs are determined through comparing the norms of feedback control gain(NFCG).Numerical simulations show that the temperature field has a great effect on aeroelastic tailoring of VSCLs;the curvilinear fiber path of VSCLs can significantly affect the optimal location and shape of piezoelectric actuator for flutter suppression;the unstable panel flutter and the thermal postbuckling deflection can be suppressed effectively through optimal design of piezoelectric patches.

Computing of LQR Technique for Nonlinear System Using Local Approximation

The main idea behind the present research is to design a state-feedback controller for an underactuated nonlinear rotary inverted pendulum module by employing the linear quadratic regulator(LQR)technique using local approximation.The LQR is an excellent method for developing a controller for nonlinear systems.It provides optimal feedback to make the closed-loop system robust and stable,rejecting external disturbances.Model-based optimal controller for a nonlinear system such as a rotatory inverted pendulum has not been designed and implemented using Newton-Euler,Lagrange method,and local approximation.Therefore,implementing LQR to an underactuated nonlinear system was vital to design a stable controller.A mathematical model has been developed for the controller design by utilizing the Newton-Euler,Lagrange method.The nonlinear model has been linearized around an equilibrium point.Linear and nonlinear models have been compared to find the range in which linear and nonlinear models’behaviour is similar.MATLAB LQR function and system dynamics have been used to estimate the controller parameters.For the performance evaluation of the designed controller,Simulink has been used.Linear and nonlinear models have been simulated along with the designed controller.Simulations have been performed for the designed controller over the linear and nonlinear system under different conditions through varying system variables.The results show that the system is stable and robust enough to act against external disturbances.The controller maintains the rotary inverted pendulum in an upright position and rejects disruptions like falling under gravitational force or any external disturbance by adjusting the rotation of the horizontal link in both linear and nonlinear environments in a specific range.The controller has been practically designed and implemented.It is vivid from the results that the controller is robust enough to reject the disturbances in milliseconds and keeps the pendulum arm deflection angle to zero degrees.

A 3 A sink/source current fast transient response low-dropout Gm driven linear regulator

A 3 A sink/source G_m-driven CMOS low-dropout regulator（LDO）,specially designed for low input voltage and low cost,is presented by utilizing the structure of a current mirror G_m（transconductance）driving technique,which provides high stability as well as a fast load transient response.The proposed LDO was fabricated by a 0.5μm standard CMOS process,and the die size is as small as 1.0 mm^2.The proposed LDO dissipates 220μA of quiescent current in no-load conditions and is able to deliver up to 3 A of load current.The measured results show that the output voltage can be resumed within 2μs with a less than 1mV overshoot and undershoot in the output current step from-1.8 to 1.8 A with a 0.1μs rising and falling time at three 10μF ceramic capacitors.

Optimal Feedback Control of Nonlinear Variable-Speed Marine Current Turbine Using a Two-Mass Model

This paper presents a contribution related to the control of nonlinear variable-speed marine current turbine(MCT)without pitch operating below the rated marine current speed.Given that the operation of the MCT can be divided into several operating zones on the basis of the marine current speed,the system control objectives are different for each zone.To deal with this issue,we develop a new control approach based on a linear quadratic regulator with variable generator torque.Our proposed approach enables the optimization of the rotational speed of the turbine,which maximizes the power extracted by the MCT and minimizes the transient loads on the drivetrain.The novelty of our study is the use of a real profile of marine current speed from the northern coasts of Morocco.The simulation results obtained using MATLAB Simulink indicate the effectiveness and robustness of the proposed control approach on the electrical and mechanical parameters with the variations of marine current speed.

Programmable Voltage Regulating Method for 15 kV High Voltage DC Power Supply

In order to solve the disadvantages caused by mechanical slide rheostat that has big errors and low precision,a novel voltage regulation method for high voltage DC power supply was introduced.The key of this method were digital potentiometer MAXIM 5455 and linear photoelectric coupling LOC110,and application programs were compiled using Visual Basic which was graphical compiling language,furthermore the communication between exterior and computer was carried out by ICP7044D module,in consequence the output value of high voltage DC power supply could be regulated with computer.The measured results showed that this method could accurately,conveniently and rapidly regulate the output value of high voltage DC power supply.

Containment control for heterogeneous multi-agent systems with time delay via an output regulation approach

This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.

Regulation of the Reacted Layer Thickness in a Gas-Solid Reacting System

A mathematical model for the analysis of a gas-solid reacting system is presented. This model is an alternative to the classical shrinking-core model. The model has a structure that can be easily transformed into a canonical control form, which is proper for controller synthesis. Analytical solution of the model to describe the open-loop behavior is expressed in terms of the Lambert function. The Lambert function is evaluated from aTaylorexpansion series. Besides, a controller is proposed to regulate the reacted layer thickness using initially the diffusion coefficient as control input. The control law is synthesized employing the feedback linearization technique. Main contributions of this work are the synthesis of the layer thickness controller, and the employment of the process temperature as substitute of the diffusion coefficient as the control input.

General Integral Control Design via Feedback Linearization

Based on the feedback linearization technique, we present a systematic design method for the General Integral Control and a new integral control strategy along with a class of fire-new integrator. By using the linear system theory and Lyapunov method along with LaSalle’s invariance principle, the conditions on the control gains to ensure regionally as well as semi-globally asymptotic stability are provided. Theoretical analysis and simulation results demonstrated that: by using this design method, General Integral Control can deal with nonlinearity and uncertainties of dynamics more effectively;the optimum response can be achieved in the whole control domain, even under uncertain payload and varying-time disturbances. This means that General Integral Control has strong robustness, fast convergence, good flexibility, and then makes the engineers design a high performance controller more easily.

无人驾驶车辆路径跟踪混合控制策略研究

针对单一控制算法无法同时满足无人驾驶车辆对路径跟踪精度和控制器求解速度需求的问题,提出一种基于线性二次型调节器(LQR)和模型预测控制(MPC)的混合控制策略。该策略在低速工况下使用线性二次型调节器、在高速工况下使用模型预测控制算法进行路径跟踪控制,在此基础上设计基于有限状态机(FSM)的控制算法切换机制,并通过遗传算法(GA)对控制参数进行优化,基于CarSim和MATLAB/Simulink仿真平台对混合控制策略进行仿真验证,并进一步完成了实车试验。试验结果表明,所设计的混合控制策略能够在提高跟踪精度的基础上缩短计算时间,与单一控制算法相比,平均横向误差和平均航向误差分别减小了26.3%和39.6%,平均计算时间缩短了10.9%。