New Trends in Observer-Based Control: An Introduction to Design Approaches and Engineering Applications

467 Pages·2019·28.375 MB·English

by  Olfa Boubaker (editor), Quanmin Zhu (editor), Magdi S. Mahmoud (editor), Jose Ragot (editor), Hamid Reza Karimi (editor), Jorge Dávila (editor)

New Trends in Observer-based Control:
An Introduction to Design Approaches
and Engineering Applications
NEW TRENDS IN
OBSERVER-BASED
CONTROL
An Introduction to Design
Approaches and Engineering
Applications
VOLUME 1
EDITEDBY
Olfa Boubaker
Quanmin Zhu
Magdi S. Mahmoud
José Ragot
Hamid Reza Karimi
Jorge Dávila
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Contributors
Carlos-Manuel Astorga-Zaragoza Electronic Engineering Department, Tec-
nológicoNacionaldeMéxico/CENIDET,Cuernavaca,Morelos,Mexico
Fazia Bedouhene Laboratory of Pure and Applied Mathematics, University
MouloudMammeri,Tizi-Ouzou,Algeria
Cherifa Bennani Laboratory of Pure and Applied Mathematics, University
MouloudMammeri,Tizi-Ouzou,Algeria
Talel Bessaoudi Department of Electrical Engineering, National Higher Engi-
neeringSchoolofTunis,UniversityofTunis,Tunis,Tunisia
HamzaBibi LaboratoryofPureandAppliedMathematics,UniversityMouloud
Mammeri,Tizi-Ouzou,Algeria
FaouziBouani NationalEngineeringSchoolofTunis,LR11ES20,Laboratoryof
Analysis, Conception and Control of Systems, University of Tunis El Manar,
Tunis,Tunisia
OlfaBoubaker NationalInstituteofAppliedSciencesandTechnology,Univer-
sityofCarthage,Tunis,Tunisia
Latifa Boutat-Baddas Research Center for Automatic Control of Nancy, UMR-
CNRS7039,UniversitédeLorraine/IUTdeLongwy,Cosnes-et-Romains,France
Jérôme Cieslak IMS-Lab, Automatic Control Group, University of Bordeaux,
Talence,France
Jorge Dávila School of Mechanical and Electrical Engineering, IPN Instituto
PolitécnicoNacional,MexicoCity,Mexico
Mohamed Darouach Research Center for Automatic Control of Nancy, UMR-
CNRS7039,UniversitédeLorraine/IUTdeLongwy,Cosnes-et-Romains,France
DavidGómez-Gutiérrez TecnologicodeMonterrey,SchoolofEngineeringand
Science,Jalisco,Mexico
Stefano Di Gennaro University of L’Aquila, Department of Information
Engineering,ComputerScienceandMathematics,CenterofExcellenceDEWS,
L’Aquila,Italy
David Henry IMS-Lab, Automatic Control Group, University of Bordeaux,
Talence,France
FayçalBenHmida DepartmentofElectricalEngineering,NationalHigherEngi-
neeringSchoolofTunis,UniversityofTunis,Tunis,Tunisia
Chien-ShuHsieh DepartmentofElectricalandElectronicEngineering,TaHwa
UniversityofScienceandTechnology,Qionglin,Hsinchu,Taiwan,ROC
Dalil Ichalal IBISC, Univ Evry, Université Paris Saclay, 91020 Courcouronnes,
France
xi
xii
CONTRIBUTORS
BinJiang CollegeofAutomationEngineering,NanjingUniversityofAeronautics
andAstronautics,Nanjing,China
Hamid Reza Karimi Department of Mechanical Engineering, Politecnico di
Milano,Milan,Italy
Houria Kheloufi Laboratory of Pure and Applied Mathematics, University
MouloudMammeri,Tizi-Ouzou,Algeria
KhaledLaboudi UniversitédeReimsChampagneArdenne,CRESTICEA3804,
Reims,France
MihaiLungu FacultyofElectricalEngineering,UniversityofCraiova,Craiova,
Romania
Magdi S. Mahmoud Systems Engineering Department, KFUPM, Dhahran,
SaudiArabia
NoureddineManamanni UniversitédeReimsChampagneArdenne,CRESTIC
EA3804,Reims,France
ZehuiMao CollegeofAutomationEngineering,NanjingUniversityofAeronau-
ticsandAstronautics,Nanjing,China
DidierMaquin CRAN,UniversitédeLorraine-CNRS,54000Nancy,France.
BenoîtMarx CRAN,UniversitédeLorraine-CNRS,54000Nancy,France.
Mamadou Mboup Université de Reims Champagne Ardenne, CRESTIC EA
3804,Reims,France
Nadhir Messai Université de Reims Champagne Ardenne, CRESTIC EA3804,
Reims,France
MokhtarMohamed Instrumentation,ControlandEmbeddedSystemsResearch
Group,SchoolofEngineeringandDigitalArts,UniversityofKent,Canterbury,
UnitedKingdom
RodolfoOrjuela IRIMAS,UniversitédeHaute-Alsace,68093,Mulhouse,France
Gloria-Lilia Osorio-Gordillo Electronic Engineering Department, Tecnológico
NacionaldeMéxico/CENIDET,Cuernavaca,Morelos,Mexico
JoséRagot CRAN,UniversitédeLorraine-CNRS,54000Nancy,France.
AntonioRamírez-Teviño CINVESTAV,Jalisco,Mexico
SouadBezzaouchaRebaï AutomaticControlResearchGroup,Interdisciplinary
Centre for Security, Reliability and Trust (SnT), University of Luxembourg,
LuxembourgCity,Luxembourg
Hichem Salhi National Engineering School of Tunis, LR11ES20, Laboratory of
Analysis, Conception and Control of Systems, University of Tunis El Manar,
Tunis,Tunisia
Abdulaziz Sherif Electrical Engineering Department, University of Tripoli,
Tripoli,Libya
Hieu Trinh School of Engineering, Faculty of Science Engineering and Built
Environment,DeakinUniversity,Geelong,VIC,Australia
Carlos Renato Vázquez Tecnologico de Monterrey, School of Engineering and
Science,Jalisco,Mexico
xiii
CONTRIBUTORS
Holger Voos Automatic Control Research Group, Interdisciplinary Centre for
Security, Reliability and Trust (SnT), University of Luxembourg, Luxembourg
City,Luxembourg
SeifeddineBenWarrad NationalInstituteofAppliedSciencesandTechnology,
UniversityofCarthage,Tunis,Tunisia
Xing-Gang Yan Instrumentation, Control and Embedded Systems Research
Group,SchoolofEngineeringandDigitalArts,UniversityofKent,Canterbury,
UnitedKingdom
Ali Zemouche CRAN UMR CNRS 7039, University of Lorraine, Cosnes et
Romain,France;EPIInriaDISCO,LaboratoiredesSignauxetSystèmes,CNRS-
CentraleSupelec,Gif-sur-Yvette,France
QuanMinZhu DepartmentofEngineeringDesignandMathematics,University
oftheWestofEngland,Bristol,UnitedKingdom
Foreword
For more than half a century, considerable efforts have been made in the
fieldofsystemcontrolandmonitoring.Theseactionsare,obviously,crucial
inthepresenceoftechnologicalrisksdirectlyimpactinghumanhealthand
the environment. Techniques to be developed aim, in general, to better
understand, at each moment, thestate of asystem. Theestimation phase
is, of course, insufficient, and should be completed by state analysis to
evaluateitsnormalorabnormalcharacter.Inthelattercase,theanalysisis
furtherrefinedtoaccuratelylocalizewheretheanomalyistobefound,to
specifywhichpartofthesystem,sensor,oractuator,isfaulty.Inorderto
judgetheimportanceoftheanomaly,itsmagnitudeshouldbeestimated.
Theultimatephaseofdiagnosisseekstospecifythecauseoftheanomaly.
Insomecases,althoughthisremainsmarginalbecauseofgreatdifficulty
at the moment, the future evolution estimation of the anomaly is made.
Allthesestepscancontributetoconsideringhowtoreacttoanomaliesin
ordertoreducetheireffectsbymeansofappropriatecontrollaws.
This book does not attempt to address all these problems, but it can
be a good introduction to some of the techniques designed to estimate
the system states in different situations. In particular, the design of an
observertoreconstructthesystemstatesfrompartialmeasurements,how
touseastateobservertodetectandlocateanomalies,andhowtoadjusta
controllawtocountertheeffectofanomaliesonthebehaviorofasystem
will be discussed. In addition, a number of difficulties resulting from
realisticphysicalconstraintsareconsidered:thepresenceofuncertainties
and delays in system models; the influence of unmeasured exogenous
inputsonsystemdynamics;thenonlinearbehaviorofsystems;switching
systems, or systems with several operating modes and interconnected
systems. This diversity of objectives, systems, and constraints is covered
incomplementarychapters,andaddressesalargepartoftheproblemof
observerstateestimationanditsapplications.
Thisbookisatimelyandcomprehensivereferenceguideforgraduate
students, researchers, engineers, and practitioners in the areas of control
theory. The content has been written for investigators acting in the fields
of electrical, mechanical, aerospace, or mechatronics engineering. With
contributions by eminent scientists in the field of control theory and
systemsengineeringfrom22countries,thisbookcoversthelatestadvances
in observer-based control, from new design approaches to control engi-
neeringapplications.Readerswillfindthefundamentalsandapplications
xv
xvi
FOREWORD
relatedtothistopicalissue.Thebookcontainsexamplesthatmakeitideal
foradvancedcourses,aswellasforresearchersstartingtoworkinthefield,
orengineerswishingtoenterthefieldquicklyandefficiently.
The authors of the various chapters have tried to clearly present the
theoretical concepts underlying the proposed solutions, and to illustrate
them with pedagogical examples of modest dimensions; but allowing us
to clearly see the implementation of these solutions and to assess their
relevancethroughnumericaldata.Insomecases,shortMatlabprograms
complete the formulation. The book is structured in 13 chapters, and the
organizationisgivenasfollows.
Chapter 1 is dedicated to the class of descriptor systems. After some
reminders on proportional and proportional-integral observers, the
authors propose a new dynamical observer called “general observer
structure,”anditsextensiontothecaseofsystemswithdisturbinginput.
The stability analysis of the observer is proved via a Lyapunov method
andsolvedviaasetoflinearmatrixinequalities(LMIs).Severalacademic
examplesillustratetheperformanceoftheproposedstructure.
Chapter 2 proposes an observer design technique for nonlinear inter-
connected systems with uncertain variable parameters. The observer has
adaptiveparametersthatareadjustedfromastabilitystudyoftherecon-
structionerror.Thetwoexamplesthataregiven,coupledreversependu-
lumsandaquartervehiclesystem,illustratetheimplementation.
The case of a linear switching system is discussed in Chapter 3, incor-
porating two difficulties: the presence of unknown inputs, and a lack
of knowledge of the switching law. The observer is then designed to
estimate the continuous and discrete states of the system. The proposed
techniqueisappliedtoamodulation/demodulationprocedureinasecure
communicationsystemwithchaoticbehavior.
AnotherinterestingsituationisthesubjectofChapter4:stateestimation
for linear systems with unknown inputs and delays affecting their states
and inputs. A first method proposes the design of a delay-dependent
unknowninputobserver(UIO),whereasasecondonesuggeststhedesign
ofadelay-independentUIO.Thenumericalexampleofthequadruple-tank
benchmarkisusedtoillustratetheefficiencyofthetwoproposedmethods
forthecasestudy.
Chapter 5 presents the basics, progress, and outlook for the observer-
based control design problem in dynamical systems. After reviewing the
roots and needs of the problem, the authors have provided complete
analytical results pertaining to dynamic modeling, control design, and
computersimulationofseveraldistinctapproaches.Theauthorshavealso
investigated issues regarding robust stability and robust performance of
controldesignfordifferentsystemconfigurations.
InChapter6,theauthorshavedevelopednewsufficientLMIconditions
fortheproblemofstabilizationofdiscrete-timeuncertainswitchedlinear
xvii
FOREWORD
systemsunderarbitraryswitchingrules.Differentscenariosoftheuseof
Finsler’slemmaareproposedtoreducetheconservatismofexistingresults
intheliterature.Numericalexamplesandsimulationresultsarepresented
todemonstratetheeffectivenessoftheproposedmethods.
Modelpredictivecontrol(MPC)basedonstateobserversfornonlinear
multivariablesystemsisthesubjectofChapter7.Toovercomeclassicallim-
its,theauthorsdevelopedanadaptiveMPC-basedobserverfornonlinear
multivariable systems. The implementation of the proposed approach to
athree-tankbenchmarksystemisperformed,withacomparisonbetween
linearandnonlinearpredictivecontrollers.
TheauthorsofChapter8proposeanewdecentralizedobserver-based
controller design method for nonlinear discrete-time interconnected sys-
temswithnonlinearinterconnections.Anenhancedlinearmatrixinequal-
ity design condition is provided to guarantee asymptotic stability for
systems with both known and unknown interconnection bounds. Two
numericalexamplesillustratetheeffectivenessofthedesignapproach.
Chapter 9 presents results of the polytopic model (PM) approach to
copewiththemodeling,stabilityanalysis,statefeedbackcontrol,state,and
unknowninputestimation,andfinally,fault-tolerantcontrolofnonlinear
systems. The backbone of all presented results is the capacity of the PM
structure to represent nonlinearities in a selected operating range of the
system. It is proposed to design a fault-tolerant controller fed with the
simultaneousstateandunknowninputestimates.Thebenefitsoftheactive
fault-tolerant controller based on the PM approach are illustrated in an
exampleconsistingofthestabilizationofthelateraldynamicsofavehicle.
Chapter10studiestheapplicationofhigh-orderslidingmodeobservers
fortheestimationoffaultsandtheirlatercompensationinlinearsystems.
Thestudyisrestrictedtothesystemswithstronglyobservablefaults.The
mainideaistoexploitthefinite-timeconvergenceofthehigh-ordersliding
mode-basedobserverstoestimatethestates,andalsothedynamiceffects,
of the faults, showing that these are powerful tools not only to estimate
states,butalsounknownsignals.Themethodologyisillustratedwiththe
designofafault-tolerantcontroloftherollautopilotforamissilemode.
The authors of Chapter 11 consider the problem of simultaneous state
andfaultestimationoflineardescriptorandnonlineardescriptordiscrete-
time stochastic systems with arbitrary unknown disturbances. The study
isbasedoninputfilteringandtheuseofarobusttwo-stageKalmanfilter.
Chapter12investigatestheproblemofthesimultaneousestimationof
discrete state, continuous state, and faults of a class of switched linear
systemswithmeasurementnoise.Anewalgebraicapproachisdeveloped
inordertoestimate,inrealtime,andwithanegligibledelay,theswitching
times, and to reconstruct the discrete state. The proposed strategy is
illustrated by a system with three operating modes whose dynamics are
affectedbytwofaults.
xviii
FOREWORD
Chapter 13 introduces an appropriate model associating paradigms
fromcontroltheoryandcomputersciencetodealwiththesystemsubject
to both physical attacks and sensor/actuator attacks via the connected
network. Inspired by a combination of the classical fault-tolerant con-
trol approach and the event-triggered control, an observer-based, attack-
tolerant control solution is proposed. The control design is applied to a
laboratory benchmark including a three-tank system subject to physical
attacks.
Finally, on behalf of all the editors, I would like to express my grate-
fulnesstoalltheauthorsofthebookfortheirvaluablecontributions,and
allreviewersfortheirhelpfulandprofessionaleffortstoprovidevaluable
commentsandfeedback.
JoséRagot
UniversitédeLorraine,CNRS,CRAN,F54000Nancy,France