This study is motivated by the need of efficient dynamics-based methodologies for overall design of legged robots (LR). LR have to be considered as functionally directed compositions of mutually influencing components: controllers, actuators, mechanical structure, and sensors. Along with the basic design requirement for strength/load capacity, additional design criteria for LR from a control pe...

A frequency domain design method of fixed structure multivariable PID controllers that satisfy the performance index of the standard H∞ control problem with the LMI (linear matrix inequality) constraints of the PID gains is proposed. Frequency dependent bilinear matrix inequalities on the PID gain are derived and they are approximated by LMI’s for each frequency. By solving an LMI problem itera...

In this paper, a new method for the identification of self-optimizing control structure designs (CSDs) based on generalized singular value decomposition (GSVD) is proposed. The method is primarily dedicated to find optimal CSDs where all controlled variables (CVs) are represented by a common set of linear combinations of process variables (PVs). It is shown that the implementation of the GSVD i...

Most of the current research in the field of structural control for mitigation of responses due to environmental loads neglects the effects of control-structure interaction in the analysis and design. The importance of including control-structure interaction when modeling a control system is discussed herein. A specific model for hydraulic actuators typical of those used in many protective syst...

This paper presents an application of a design method of robust H∞ optimal control to a structural control system. A dynamic model for a building structure under earthquake and wind excitations is considered. Structured uncertainties are introduced to reflect errors between the model and the reality. To obtain the best possible performance in the face of uncertainties, robust H∞ optimal control...

A new approach to control structure analysis and design for nonlinear multivariable systems is proposed in this paper. By integrating the concept of gap metric, factorial design and multivariate projection methods, a systematic analysis of control structures, operating conditions and operating regime based control strategies can be established. The application to an extractive fermentation proc...

We demonstrate the potential of branch and bound methods for handling the combinatorial problems arising in control structure design. The method efficiently solves large-scale benchmark problems for selection of controlled variables using minimum singular value rule and variable selection for stabilization. We also provide an overview of some other interesting problems that can be solved in the...

The control structure has the dominant effect on control performance. Developing systematic methods for selecting the structure is challenging because of the multi-criteria nature of the problem. Some criteria include dynamic behavior of the controlled and manipulated variables, equipment capacities, and loop integrity. In this paper, a method is presented to address the complex nature of the p...

This paper discusses the application of the plantwide control design procedure of Skogestad [Skogestad, S. (2004a). Control structure design for complete chemical plants. Computers and Chemical Engineering, 28, 219–234] to the ammonia synthesis process. Threemodes of operation are considered: (I) given feed rate, (IIa) maximum throughput, and (IIb) “optimized” throughput. Two control structures...

This paper presents a new humanoid robot control structure-Man-Function humanoid robot. The sensing devices worn on the human body, these devices will produce signals of joints’ change when people move. Computer of the control system receiving the signals and processing them, then issue control signals to the servos of the robot at the same time, control the robot’s behavior. For this reason, a...