Using Residual Estimators to Detect Outliers and Potential Controlling Observations in Structural Equation Modelling: QQ Plot Approach

The structural equation model (SEM) concept is generally influenced by the presence of outliers and controlling variables. To a very large extent, this could have consequential effects on the parameters and the model fitness. Though previous researches have studied outliers and controlling observations from various perspectives including the use of box plots, normal probability plots, among others, the use of uniform horizontal QQ plot is yet to be explored. This study is, therefore, aimed at applying uniform QQ plots to identifying outliers and possible controlling observations in SEM. The results showed that all the three methods of estimators manifest the ability to identify outliers and possible controlling observations in SEM. It was noted that the Anderson-Rubin estimator of QQ plot showed a more efficient or visual display of spotting outliers and possible controlling observations as compared to the other methods of estimators. Therefore, this paper provides an efficient way identifying outliers as it fragments the data set.

ON DECENTRALIZED OBSERVATION AND DECENTRALIZED CONTROL OF LARGE SCALE SYSTEMS

In this paper, the problem of decentralized observation and decentralized control of linear, time-invariant large scale systems is studied. Based on conventional observer theory, the necessary and sufficient conditions for existence of completely decentralized observer are obtained. Moreover, the necessary and sufficient condition is given for stabilization of large scale systems by local output with state of the subsystem estimated through the completely decentralized observer.

Enhanced Perturb and Observe Control Algorithm for a Standalone Domestic Renewable Energy System

The generation of electricity,considering environmental and eco-nomic factors is one of the most important challenges of recent years.In this article,a thermoelectric generator(TEG)is proposed to use the thermal energy of an electric water heater(EWH)to generate electricity independently.To improve the energy conversion efficiency of the TEG,a fuzzy logic con-troller(FLC)-based perturb&observe(P&O)type maximum power point tracking(MPPT)control algorithm is used in this study.An EWH is one of the major electricity consuming household appliances which causes a higher electricity price for consumers.Also,a significant amount of thermal energy generated by EWH is wasted every day,especially during the winter season.In recent years,TEGs have been widely developed to convert surplus or unused thermal energy into usable electricity.In this context,the proposed model is designed to use the thermal energy stored in the EWH to generate electricity.In addition,the generated electricity can be easily stored in a battery storage system to supply electricity to various household appliances with low-power-consumption.The proposed MPPT control algorithm helps the system to quickly reach the optimal point corresponding to the maximum power output and maintains the system operating point at the maximum power output level.To validate the usefulness of the proposed scheme,a study model was developed in the MATLAB Simulink environment and its performance was investigated by simulation under steady state and transient conditions.The results of the study confirmed that the system is capable of generating adequate power from the available thermal energy of EWH.It was also found that the output power and efficiency of the system can be improved by maintaining a higher temperature difference at the input terminals of the TEG.Moreover,the real-time temperature data of Abha city in Saudi Arabia is considered to analyze the feasibility of the proposed system for practical implementation.

ANALYSIS FOR THE BEZOUT IDENTITY OF GENERALIZED SYSTEMS

The state space representation of the Bezout identity for generalized systems proposed by (Wang and Balas, 1989) is discussed again. A more concise way of description and proof is presented and the physical significance of the result in is also analyzed. Thus, our work is of independent interest.

Stability analysis for an Euler-Bernoulli beam under local internal control and boundary observation

An Euler-Bernoulli beam system under the local internal distributed control and boundary point observation is studied. An infinite-dimensional observer for the open-loop system is designed. The closed-loop system that is non- dissipative is obtained by the estimated state feedback. By a detailed spectral analysis, it is shown that there is a set of generalized eigenfunctions, which forms a Riesz basis for the state space. Consequently, both the spectrum-determined growth condition and exponential stability are concluded.

Adaptive backstepping control for levitation system with load uncertainties and external disturbances

To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, load uncertainties and external disturbances are the main issues that should be solved in engineering. Under the assumptions that the loads and external disturbance are measurable, the backstepping module controller developed in this work can tackle the above problems effectively. In reality, the load is uncertain due to the additions of luggage and passengers, which will degrade the dynamic performance. A load estimation algorithm is introduced to track the actual load asymptotically and eliminate its influence by tuning the parameters of controller online. Furthermore,considering the external disturbances generated by crosswind, pulling motor and air springs, the extended state observer is employed to estimate and suppress the external disturbance. Finally, results of numerical simulations illustrating closed-loop performance are provided.

Design and simulation of fault diagnosis based on NUIO/LMI for satellite attitude control systems

This paper presents a scheme of fault diagnosis for flexible satellites during orbit maneuver. The main contribution of the paper is related to the design of the nonlinear input observer which can avoid false alarm arising from the disturbance from orbit control force. The effects of orbit control force on the fault diagnosis system for satellite attitude control systems, including the disturbing torque caused by the misalignments and the model uncertainty caused by the fuel consumed, are discussed, where standard Lu- enberger observer cannot work well. Then the nonlinear unknown input observer is proposed to decouple faults from disturbance, Besides, a linear matrix inequality approach is adopted to reduce the effect of nonlinear part and model uncertainties on the observer. The numerical and semi-physical simulation demonstrates the effectiveness of the proposed observer for the fault diagnosis system of the satellite during orbit maneuver.

Design of observer-based discrete repetitive-control system based on 2D model

A discrete observer-based repetitive control(RC) design method for a linear system with uncertainties was presented based on two-dimensional(2D) system theory. Firstly, a 2D discrete model was established to describe both the control behavior within a repetition period and the learning process taking place between periods. Next, by converting the designing problem of repetitive controller into one of the feedback gains of reconstructed variables, the stable condition was obtained through linear matrix inequality(LMI) and also the gain coefficient of repetitive system. Numerical simulation shows an exceptional feasibility of this proposal with remarkable robustness and tracking speed.

Application of linear active disturbance rejection control for photoelectric tracking system

Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.

STUDY ON CONTROLLABILITY AND OBSERVABILITY FOR THIN PLATE SYSTEM WITH PARAMETER UNCERTAINTY

The controllability and observability analysis of thin plate system with parameter uncertainty is presented using the degree of controllability/observability and the robustness index. It provides a guidance to the design of robust active vibration control for thin plate system.

Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference

This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.

Dynamic Modeling and Adaptive Fast Nonsingular Terminal Sliding Mode Control for Satellite with Double Rotary Payloads

A robust attitude control methodology is proposed for satellite system with double rotary payloads. The dynamic model is built by the Newton-Euler method and then the dynamic interconneetion between satellite＇s main body and payloads is described precisely. A nonlinear disturbance observer is designed for satellite＇s main body to estimate disturbance torque acted by motion of payloads. Meanwhile, the adaptive fast nonsingular terminal sliding-mode attitude stabilization controller is proposed for satellite＇s main body to quicken convergence speed of state variables. Similarly, the adaptive fast nonsingular terminal sliding-mode attitude maneuver controller is designed for each payload to weaken the disturbance effect of motion of satellite＇s main body. Simulation results verify the effectiveness of the proposed method.

Speed-assigned Position Tracking Control of SRM With Adaptive Backstepping Control

A novel speed-assigned method is applied to the position tracking control of switched reluctance motor(SRM).A speed control freedom can be drawn into the position control through speed assignment. Adaptive backstepping control is used to design the position controller for the SRM. The accuracy of position tracking of the SRM can be enhanced with speed assignment. A disturbance observer is further designed to enhance the estimation accuracy of the unknown load torque. Simulation results certify that the design scheme is right and effective.

Nonlinear Control Model of Synchronous Motor with Excitation and Damper Windings

In this paper, a new control method for synchronous motor with excitation and damper windings is presented. It is based on one type of nonlinear control; feedback linearization control. To make a realization in the sense of electric drive, symmetricM space vector PWM （pulse width modulation） is applied. Estimation of damper winding currents via Lyapunov function for the whole estimated system is done. The aim of control is to make tracking system for rotor speed and square of stator flux. Simulation of motor starting to predefined operating points is done, and also maintaining these points during step change of load torque is obtained. Simulations give good results.

BTT autopilot design for agile missiles with aerodynamic uncertainty

The approach to the synthesis of autopilot with aerody- namic uncertainty is investigated in order to achieve large maneu- verability of agile missiles. The dynamics of the agile missile with reaction-jet control system （RCS） are presented. Subsequently, the cascade control scheme based on the bank-to-turn （B-I-T） steering technique is described. To address the aerodynamic un- certainties encountered by the control system, the active distur- bance rejection control （ADRC） method is introduced in the autopi- lot design. Furthermore, a compound controller, using extended state observer （ESO） to online estimate system uncertainties and calculate derivative of command signals, is designed based on dynamic surface control （DSC）. Nonlinear simulation results show the feasibility of the proposed approach and validate the robust- ness of the controller with severe unmodeled dynamics.

THE MAXIMUM PRINCIPLE FOR PARTIALLY OBSERVED OPTIMAL CONTROL OF FORWARD-BACKWARD STOCHASTIC SYSTEMS WITH RANDOM JUMPS

This paper studies the problem of partially observed optimal control for forward-backward stochastic systems which are driven both by Brownian motions and an independent Poisson random measure. Combining forward-backward stochastic differential equation theory with certain classical convex variational techniques, the necessary maximum principle is proved for the partially observed optimal control, where the control domain is a nonempty convex set. Under certain convexity assumptions, the author also gives the sufficient conditions of an optimal control for the aforementioned optimal optimal problem. To illustrate the theoretical result, the author also works out an example of partial information linear-quadratic optimal control, and finds an explicit expression of the corresponding optimal control by applying the necessary and sufficient maximum principle.

Regularity for Euler-Bernoulli Equations with Boundary Control and Collocated Observation

This paper studies the regularity of Euler-Bernoulli equations on a bounded domain of Rn(n≥2)with boundary controls and collocated observations.The authors consider the Dirichlet controls in the case of hinged and clamped boundary controls respectively.It is shown that the systems are regular in the sense of G.Weiss.The feedthrough operators are founded to be zero.

ABSOLUTE OBSERVABILITIES OF NONLINEAR CONTROL SYSTEMS AND THEIR NORMAL FORMS

In this paper the concept of absolute observability of nonlinear control systems is advanced.Different from the linear time-invariant version, there are different definitions of absolute observability for nonlinear control systems.Two algorithms for maximal absolutely observable subsystems are given.Correspondingly,there are two relevant normal forms.The relations with the largest controlled invariant distribution contained in kerdh,zero dynamics etc.,are discussed from the view point of maximal absolute observabilities.

On the placement of actuators and sensors for flexible structures with closely spaced modes

This paper analyzed the fundamental limitations of previous work and developed a new method to optimally locate actuators and sensors for structures with close modes. Optimization criteria were defined based on the distinguishing modal controllability and observability measures of close modes. An appropriate genetic algorism was adopted as the optimization algorism. Solving the high order Lyapunov functions was avoided by means of the closed-form expressions for controllability and observability Grammians. Since structure with widely separated natural frequencies is approximately balanced, computational efficiency was improved by grouping close modes together and dealing with the resulting subsystems independently. Finally, the effectiveness and optimality of the novel placement scheme were verified on a model structure with close modes.

Low order vibration control for structures with highly correlated close modes

For the problem posed by closely spaced modes, this paper defined the MCC (modal correlation criterion) to measure the degree of correlation between close modes. It was proved that structures with certain features tend to have closely clustered modes and the corresponding mode shapes highly correlated. With this understanding, the closed-form expressions for controllability and observability Grammians were adopted to analyze the impacts of actuator/sensor placement on the controllability/observability of highly correlated close modes. On this basis, the problem of actuator/sensor placement, when the optimization criterion is based on modal controllability/observability, was simplified. Moreover, the dimension of the control/measurement vector in independent modal space control for highly correlated close modes was proved to have the potential to be reduced, therefore fewer actuators and sensors were required in this dimension-reduced control strategy. Finally, the desirable vibration suppression for an example structure showed that the theory and methods of this paper were accurate and effective.