Table Of ContentAdvanced Computing Concepts
and Techniques in Control Engineering
NATO ASI Series
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Series F: Computer and Systems Sciences Vol. 47
Advanced Computing Concepts
and Techniques
in Control Engineering
Edited by
Michael J. Denham
Department of Computing
Plymouth Polytechnic, Drake Circus
Plymouth, Devon, PL4 BAA, UK
Alan J. Laub
Department of Electrical and Computer Engineering
University of California
Santa Barbara, CA 93106, USA
Springer-Verlag Berlin Heidelberg GmbH
Proceedings of the NATO Advanced Study Institute on The Application of Advanced
Computing Concepts and Techniques in Control Engineering, held in II Ciocco, Italy,
September 14-25, 1987.
ISBN 978-3-642-83550-6 ISBN 978-3-642-83548-3 (eBook)
DOI 10.1007/978-3-642-83548-3
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is
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©Springer-Verlag Berlin Heidelberg 1988
Originally published by Springer-Verlag Berlin Heidelberg New York in 1988
Softcover reprint of the hardcover 1st edition 1988
Preface
Computational concepts and techniques have always played a major role in
control engineering since the first computer-based control systems were
put into operation over twenty years ago. This role has in fact been
accelerating over the intervening years as the sophistication of the
computing methods and tools available, as well as the complexity of the
control problems they have been used to solve, have also increased. In
particular, the introduction of the microprocessor and its use as a low-cost
computing element in a distributed computer control system has had a
profound effect on the way in which the design and implementation of a
control system is carried out and, to some extent, on the theory which
underlies the basic design strategies. The development of interactive
computing has encouraged a substantial growth in the use of computer
aided design methods and robust and efficient numerical algorithms have
been produced to support these methods. Major advances have also taken
place in the languages used for control system implementation, notably the
recent introduction of Ada'", a language whose design is based on some
very fundamental computer science concepts derived and developed over
the past decade.
With the extremely high rate of change in the field of computer science,
the more recent developments have outpaced their incorporation into new
control system design and implementation techniques. This is particularly
true in those areas which have been the subject of intensive study in the
last few years under various strategic governmental programmes, many of
which were started in response to the japanese "'Fifth Generation"
initiative. These areas include:
artificial intelligence
software engineering methods and tools for distributed systems
parallel computing algorithms and architectures
The interface between the disciplines of computer science and control
engineering is growing rapidly, not just in these areas but also in the fields
of data communication networks and human-computer interaction. Unless
a substantial effort is devoted to the study of the potential application and
benefit of these powerful new computing techniques in control
engineering, as is happening now in othe'r fields such as office automation,
it is possible that control engineers will be severely limited in their access
to new hardware and software tools and technology with the result that
both their own productivity and the efficiency of the systems they design
will be seriously degraded.
The aim of this NATO Advanced Study Institute, held 14th-25th September,
1987 in I1 Ciocca, Italy, was to gather together a multidisciplinary group of
experts who are at the forefront of the application of advanced computing
concepts and techniques in control engineering to present a set of lectures
on underlying concepts and methods and their application. This volume
contains a set of papers based on these invited lectures, together with some
papers contributed by the participants in the Institute.
VI
The volume is organized in four main sections, the first three of which
contain the invited papers corresponding to the three principal themes of
the Institute:
I. Artificial Intelligence and Expert Systems
II. Discrete-event and Distributed Systems
III. Algorithms for Advanced Architectures
IV. Contributed Papers
Artificial intelligence techniques, in particular expert systems techniques,
are finding increasing use in the design and implementation of control
systems. Section I begins with a tutorial overview of some of the major
expert system concepts and is followed by three additional papers which
cover specific additional topics in the artificial intelligence and expert
systems area together with applications of special interest to control
engineers.
Section II is concerned with the fields of discrete-event and distributed
systems. These fields have been studied intensely for some time now by
computer scientists but a rapidly growing theory for the control of such
systems is beginning to emerge. An overview paper on the control of
discrete-event systems is followed by five additional papers on various
aspects of the control of discrete-event and distributed systems.
Section III is devoted to the area of parallel algorithms and architectures.
Computing environments for the implementation of various classes of
parallel algorithms are now a reality and this technology is certain to have
a dramatic impact on control engineering. An overview paper on various
advanced architectures, with particular emphasis on shared-memory
machines, is followed by three papers describing particular analysis and
design algorithms for control and signal processing for a variety of
advanced architectures including distributed memory and systolic
processors.
Finally, six papers based on talks contributed by participants in the
Institute are included as Section IV. These papers are arranged by topic in
roughly the order of the first three sections. Although the papers in the
first three sections are based on the invited talks and thus have a strong
didactic emphasis, the contributed papers also have considerable tutorial
value for both the research-oriented as well as practicing control
engineer.
What we are unable to record in this book are the large number of informal
discussions which took place both inside and outside the lecture room in the
course of what we believe, and we hope all the participants will agree,
proved to be a very interesting and productive two weeks. We do hope,
however, that this set of papers will serve to stimulate many future
discussions and new ideas for the further application of innovative
computing concepts and techniques in control engineering.
M.j. Denham March 1988
A.]. Laub
Acknowledgements
We gratefully acknowledge the support of the following organisations, in
respect of the Advanced Study Institute of which this volume constitutes
the proceedings:
North Atlantic Treaty Organization, Scientific Affairs Division
National Science Foundation, USA (for travel grants)
Olivetti, Italy (for the loan of computing equipment)
Table of Contents
I. Artificial Intelligence and Expert Systems
Aspects of Expert Systems 3
}.R.B. Cockett
Qualitative Modeling of Physical Systems for Knowledge Based Control 31
R. Leitch
Computer Algebra Algorithms for Nonlinear Control 53
0. Akhrif and G.L. Blankenship
Pandore 81
J.P. Chancelier, C. Gomez, J.P. Quadrat, and A. Sulem
Appendix: A Discounted 2-Dimensional Stochastic Control Problem
T. Pandore
II. Discrete-Event and Distributed Systems
A Control Theory for Discrete-Event Systems 129
W.M. Wonham
The Complexity of Some Basic Control Problems for Discrete Event 171
Systems
P.]. Ramadge
A Petri-Net Approach to the Control of Discrete-Event Systems 191
M.}. Denham
Temporal Logic and Extended State Machines in Discrete Event Control 215
}.S. Ostroff
An Overview of Distributed System Construction Using Conic 237
]. Kramer,]. Magee, and M. Sloman
Structural Design of Decentralized Control Systems 257
P.M. Larsen and F.]. Evans
III. Algorithms for Advanced Architectures
Matrix Computations on Shared-Memory Multiprocessors 289
K.A. Ga1Jiva11 and A.H. Sameh
Hypercube Implementation of Some Parallel Algorithms in Control 361
A.]. Laub and ].D. Gardiner
Load Balancing and Partitioning for Parallel Signal Processing and 391
Control Algorithms
G. Cybenko
Systolic Algorithms for Digital Signal Processing and Control 409
J.-P. Charlier, M. Vanbegin, and P. Van Dooren
X
IV. Contributed Papers
Microcomputer Based Expert Control and Adaptive PID Control 437
L.G. Lebow
Supervisory Control of Discrete Event Processes with Arbitrary 4S9
Controls
C.H. Golaszewski and P.j. Ramadge
High Speed RLS Parameter Estimation by Systolic-Like Arrays 471
L. Chisci
Intelligent Control Specification Language Compilers. the 487
Q-Parameterization, and Convex Programming: Concepts for an
Advanced Computer-Aided Control System Design Method
D.G. Meyer, V. Balakrishnan, C.H. Barratt, S.P. Boyd, N.M. Kraishi,
X.M. Li, and S.A. Norman
A Design Environment for Computer-Aided Control System Design 497
via Multi-Objective Optimisation
A.C. W. Grace and P.j. Fleming
Mariana: a Real-time Language for Control S1 3
j.R.B. Cockett
