Contract/grant sponsor: AFOSR, DARPA, NSF and ONR (2008)
Daniel Liberzon, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne, Copyright John Wiley
This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Contract/grant sponsor: AFOSR, DARPA, NSF and ONR (2008)
Daniel Liberzon, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne, Copyright John Wiley
This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Parametrization of all plants that have the same optimal LQG controller (2008)
Franky De Bruyne, Michel Gevers
Using the dual Youla parametrizations of controllerbased coprime factor plant perturbations and plantbased coprime factor controller perturbations, we characterize the set of all plants that have the...
ON A NONLINEAR CONTROLLER TUNING STRATEGY (2007)
Jonas Sjoberg, Franky De Bruyne
Abstract: In this work, we present a new algorithm to tune a linear controller for a nonlinear system. The algorithm iteratively minimizes a criterion of the control performance and it can be seen as...
Kenji Fujimoto, Franky De Bruyne
of all internally stabilizing plant and controller pairs via differentially coprime kernel representations
The Role of Experimental Conditions in Model Validation for Control (2007)
Michel Gevers, Xavierr Bombois, Benoît Codrons, Franky De Bruyne, Gérard Scorletti
Within a stochastic noise framework, the validation of a model yields an ellipsoidal parameter uncertainty set, from which a corresponding uncertainty set can be constructed in the space of transfer...
On State-Estimation of a 2-state Hidden Markov Model with Quantisation (2007)
Louis Shue Subhrakanti, Louis Shue, Subhrakanti Dey, Franky De Bruyne
We consider quantisation from the perspective of minimising filtering error when quantised instead of continuous measurements are used as inputs to a nonlinear filter, specialising to discretetime...
Coprimeness Properties of Nonlinear Fractional System Realizations (2007)
Natasha Linard, Brian Anderson, Franky De Bruyne
. In this paper, the relationship between the Bezout and the set theoretic approaches to left coprimeness is studied. It is shown that left coprimeness in the set theoretic sense implies left...
Closed-Loop Relevant Identification Of Input-Output And Noise Dynamics (2007)
In this paper, we present a new closed-loop parametric identification setup that allows the estimation of both the input-output and noise dynamics. The method is based on the minimization of a...
Benoît Codrons, Franky De Bruyne, Michel De Wan, Michel Gevers
Recently a model-free Iterative Feedback Tuning (IFT) scheme has been proposed for nonlinear plants and/or controllers; we refer the reader to [3, 8] for more details. This iterative control strategy...
Jogo Hespanha, Daniel Liberzonll, A. Stephen Morse, Thomas S. Brinsmead, Franky De Bruyne
This paper addresses the problem of controlling a continuous-time linear system with large modeling errors. We employ an adaptive control algorithm consisting of a family of linear candidate...
Model Validation in Closed Loop y (2007)
Michel Gevers, Franky De Bruyne
In [8] a new model validation method was proposed that is based on the estimation of an unbiased model of the model error which relates the inputs to the simulation errors. In this paper, we extend...
Kenji Fujimoto, Franky De Bruyne
Differentially coprime kernel representations and closed-loop identification of nonlinear systems
MODEL VALIDATION FOR ROBUST CONTROL AND CONTROLLER VALIDATION IN A PREDICTION ERROR FRAMEWORK (2007)
Michel Gevers, Xavier Bombois, Benot Codrons, Franky De Bruyne, Gerard Scorletti
This paper presents a coherent framework for model validation for control and for controller validation (for stability and for performance) in the context where the validated model uncertainty sets...
Multiple model adaptive control, part 1: Finite controller coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Multiple Model Adaptive Control, Part 1: Finite Controller Coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A. Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Multiple Model Adaptive Control, Part 1: Finite Controller Coverings (2000)
Thomas S. Brinsmead, Franky De Bruyne, João Hespanha, Daniel Liberzon, A. Stephen Morse
We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive control scheme. We show that, given mild assumptions on...
Minimal Discrete-Time Positive Realizations of Transfer Functions With Positive Real Poles (2000)
Luca Benvenuti, Lorenzo Farina, Franky De Bruyne
A standard result of linear system theory states that a SISO rational n-th order transfer function always has a n-th order realization. In some applications one is interested in having a realization...
The role of experimental conditions in model validation for control (1999)
Michel Gevers, Xavier Bombois, Benoît Codrons, Franky De Bruyne, Gérard Scorletti
Abstract. Within a stochastic noise framework, the validation of a model yields an ellipsoidal parameter uncertainty set, from which a corresponding uncertainty set can be constructed in the space of...
Model Validation in Closed Loop (1999)
Michel Gevers Benoit, Benoit Codrons, Franky De Bruyne
In [8] a new model validation method was proposed that is based on the estimation of an unbiased model of the model error which relates the inputs to the simulation errors. In this paper, we extend...
Remarks on Filtering Error due to Quantisation of a 2-state Hidden Markov Model (1999)
Louis Shue Subhrakanti, Louis Shue, Subhrakanti Dey, Franky De Bruyne
This paper considers the problem of quantisation from the perspective of minimising filtering error when quantised instead of continuous measurements are used as inputs to the nonlinear filter,...
Recursive Iterative Feedback Tuning (1999)
Franky De Bruyne, Ioan D. Landau, Ioan D. L
In this paper, we propose a methodology for iterative recursive feedback tuning of a given controller structure. The algorithm and its convergence (stability) properties are analyzed. The algorithm...
Model Validation in Closed Loop (1999)
Michel Gevers, Benoît Codrons, Franky De Bruyne
In [8] a new model validation method was proposed that is based on the estimation of an unbiased model of the model error which relates the inputs to the simulation errors. In this paper, we extend...
Asymptotic Smoothing Errors for Hidden Markov Models (1999)
In this paper, the asymptotic smoothing error for hidden Markov models (HMM) is investigated using hypothesis testing ideas. A family of HMMs is studied parametrised by a positive constant , which is...
On A Nonlinear Controller Tuning Strategy (1999)
Jonas Sjöberg, Franky De Bruyne
: In this work a new algorithm to tune a linear controller for a nonlinear system is presented. The algorithm iteratively minimizes a criterion of the control performance and it can be seen as an...
Iterative Feedback Tuning With Guaranteed Stability (1999)
Franky De Bruyne, Leonardo C. Kammer
This paper presents an identification-based mechanism for introducing guaranteed stability when using a data-driven model-free iterative control design method known as Iterative Feedback Tuning....
Implementation Issues For A Nonlinear Version Of The Hansen Scheme (1999)
Franky De Bruyne, Brian Anderson, Natasha Linard
In this paper, we propose a method for the identification of a nonlinear plant under possibly nonlinear feedback. This procedure is a nonlinear extension of a method known as the Hansen scheme in the...
Luca Benvenuti, Lorenzo Farina, Franky De Bruyne
Abstract—A standard result of linear-system theory states that a SISO rational th-order transfer function always has an th-order realization. In some applications, one is interested in having a...
The Hansen Scheme Revisited (1998)
Franky De Bruyne, Brian Anderson, Natasha Linard
In this paper, we present a modification of a closed-loop identification scheme known as the "Hansen scheme". The advantage of the alternative procedure is that the order of the resulting...
On Closed-Loop Identification With A Tailor-Made Parametrization (1997)
Franky De Bruyne, Michel Gevers, Natasha Linard
In this paper, we present gradient expressions for a closed-loop parametric identification scheme. The method is based on the minimization of a standard identification criterion and a parametrization...
Iterative Controller Optimization For Nonlinear Systems (1997)
Franky De Bruyne, Michel Gevers, Natasha Linard
Recently, a data-driven model-free control design method has been proposed in [4, 6]. It is based on the minimization of a control criterion with respect to the controller parameters using an...
Iterative Feedback Tuning For MIMO Systems (1997)
In this contribution, we extend the Iterative Feedback Tuning (IFT) control method of [3, 4] to a multivariable setting. We report on an experimental study with this method when applied to a...
A Two Step Method For The Closed Loop Identification Of Nonlinear Systems (1997)
Natasha Linard, Franky De Bruyne
In recent years, several new methods for the identification of approximate models of an open loop plant on the basis of closed loop data have been presented. In this paper, we extend such a method to...
Closed Loop Identification Of Nonlinear Systems (1997)
Natasha Linard, Franky De Bruyne
: In recent years, several new methods for the identification of approximate models of an open loop plant on the basis of closed loop data have been presented. In this paper, we extend two of these...
Synthetic Generation Of The Gradient For An Iterative Controller Optimization Method (1996)
Recently, a data-driven model-free iterative control design method has been proposed in [4]. This contribution reports an experimental study with this method when applied to a ball-on-beam system....
Synthetic Generation Of The Gradient For An Iterative Controller Optimization Method (1996)
Franky De Bruyne, Pierre Carrette
Recently, a data-driven model-free iterative control design method has been proposed in [4]. This contribution reports an experimental study with this method when applied to a ball-on-beam system....
Computing LQG plant and controller perturbations (1994)
Franky De Bruyne, Michel Gevers
Using the dual Youla parametrizations of controller based coprime factor plant perturbations and plant based coprime factor controller perturbations, we provide a computational procedure for...
Identification for Control: Closing the Loop Gives More Accurate Controllers
Håkan Hjalmarsson, Michel Gevers, Franky De Bruyne, Juliette Leblond
We compare open loop versus closed loop identification when the identified model is used for control design, and when the system itself belongs to the model class, so that only variance errors are...