Table Of ContentAdvances in Industrial Control
Forfurthervolumes:
www.springer.com/series/1412
Othertitlespublishedinthisseries:
DigitalControllerImplementation ModellingandControlofMini-Flying
andFragility Machines
RobertS.H.IstepanianandJamesF. PedroCastillo,RogelioLozanoand
Whidborne(Eds.) AlejandroDzul
OptimisationofIndustrialProcesses ShipMotionControl
atSupervisoryLevel TristanPerez
DorisSáez,AldoCiprianoandAndrzejW.
HardDiskDriveServoSystems(2ndEd.)
Ordys
BenM.Chen,TongH.Lee,KemaoPeng
RobustControlofDieselShipPropulsion andVenkatakrishnanVenkataramanan
NikolaosXiros
Measurement,Control,and
HydraulicServo-systems CommunicationUsingIEEE1588
MohieddineMaliandAndreasKroll JohnC.Eidson
Model-basedFaultDiagnosisinDynamic PiezoelectricTransducersforVibration
SystemsUsingIdentificationTechniques ControlandDamping
SilvioSimani,CesareFantuzziandRonJ. S.O.RezaMoheimaniandAndrewJ.
Patton
Fleming
StrategiesforFeedbackLinearisation
ManufacturingSystemsControlDesign
FreddyGarces,VictorM.Becerra,
StjepanBogdan,FrankL.Lewis,Zdenko
ChandrasekharKambhampatiandKevin
Kovacˇic´andJoséMirelesJr.
Warwick
WindupinControl
RobustAutonomousGuidance
PeterHippe
AlbertoIsidori,LorenzoMarconi
andAndreaSerrani NonlinearH2/H∞ConstrainedFeedback
Control
DynamicModellingofGasTurbines
MuradAbu-Khalaf,JieHuang
GennadyG.KulikovandHaydnA.
andFrankL.Lewis
Thompson(Eds.)
PracticalGrey-boxProcessIdentification
ControlofFuelCellPowerSystems
TorstenBohlin
JayT.Pukrushpan,AnnaG.Stefanopoulou
andHueiPeng ControlofTrafficSystemsinBuildings
SandorMarkon,HajimeKita,HiroshiKise
FuzzyLogic,IdentificationandPredictive
andThomasBartz-Beielstein
Control
JairoEspinosa,JoosVandewalle WindTurbineControlSystems
andVincentWertz FernandoD.Bianchi,HernánDeBattista
andRicardoJ.Mantz
OptimalReal-timeControlofSewer
Networks AdvancedFuzzyLogicTechnologies
MagdaleneMarinakiandMarkos inIndustrialApplications
Papageorgiou YingBai,HanqiZhuangandDaliWang
(Eds.)
ProcessModellingforControl
BenoîtCodrons PracticalPIDControl
ComputationalIntelligenceinTimeSeries AntonioVisioli
Forecasting
AjoyK.PalitandDobrivojePopovic (continuedafterIndex)
Alfonso Baños (cid:2) Antonio Barreiro
Reset Control
Systems
AlfonsoBaños AntonioBarreiro
Fac.Informática Depto.IngenieríadeSistemasyAutomática
Depto.InformáticaySistemas ETSII
GrupodeInformáticaIndustrial UniversidaddeVigo
UniversidaddeMurcia CampusdeLagoas-Marcosende
Murcia30071 Vigo36310
Spain Spain
[email protected] [email protected]
ISSN1430-9491 AdvancesinIndustrialControl
ISBN978-1-4471-2216-6 e-ISBN978-1-4471-2250-0
DOI10.1007/978-1-4471-2250-0
SpringerLondonDordrechtHeidelbergNewYork
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©Springer-VerlagLondonLimited2012
Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,asper-
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specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree
forgeneraluse.
Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation
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thatmaybemade.
Coverdesign:VTeXUAB,Lithuania
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
ToAngelesand Alfonso(A.Baños)
ToRosa,María, andMarta (A.Barreiro)
Series Editors’ Foreword
TheseriesAdvancesinIndustrialControlaimstoreportandencouragetechnology
transfer in control engineering. The rapid development of control technology has
animpactonallareasofthecontroldiscipline.Newtheory,newcontrollers,actu-
ators,sensors,newindustrialprocesses,computermethods,newapplications,new
philosophiesallleadtonewchallenges.Muchofthisdevelopmentworkresidesin
industrialreports,feasibilitystudypapersandthereportsofadvancedcollaborative
projects.Theseriesoffersanopportunityforresearcherstopresentanextendedex-
position of such new work in all aspects of industrial control for wider and rapid
dissemination.
ThenameofIsaacHorowitzisusuallyassociatedwithquantitativefeedbackthe-
ory(QFT),buthisfirst-orderresetelement(FORE)isprobablynotsowellknown.
ThisHorowitzFOREcompensatorwasageneralisationoftheseminalCleggInte-
grator(1958)inwhichintegralcontrolwascoupledwitharesetmechanismtoin-
culcateadditionalperformanceanddesignbenefits.Thesetwocompensatorsarethe
originalinspirationandsourcefortheresultsandapplicationsreportedinthisAd-
vancesinIndustrialControlmonograph,ResetControlSystems,byAlfonsoBaños
and Antonio Barreiro. In fact, the authors’ whole reset control research project
seems to have been much motivated by original meetings in Spain with Professor
Horowitz.
The monograph is a comprehensive presentation of reset control systems, cov-
eringthefundamentaltheoreticalfoundations,designrulesandapplicationsexperi-
ence.Themonographhasfourchaptersontheoreticalfundamentals.Openingthese
is an invaluable introductory chapter (Chap. 1) that guides the reader through the
historicaldevelopmentofresetcontrol.Thisparticularchapteralsosetsoutthethe-
oreticalcontextofresetsystemsandidentifiestheirrelationshipwithotherrelated
theoreticalfields,forexampleimpulsiveandhybridsystems.Chapters.2to4con-
tainthecoretheoreticalresultsofthemonographandsetout,possiblyforthefirst
time,acompletesystemsanalysisframeworkforresetcontrol.
Designfor resetcontrolis treatedinChap.5,wherethefocus isonidentifying
the type of systems for which reset control offers good design and performance
benefits. Alongside this; sets of useful compensator tuning rules are presented for
vii
viii SeriesEditors’Foreword
differentcompensatorandsystemtypes.Thechapteralsoinvestigatestheproperties
oftheauthors’ownnovelPI+CIresetcompensator.
In control engineering, the assessment of usefulness, effectiveness, design ease
and performancegain is throughreal applicationsstudies. In this respect, the case
studiesofChap.6provideatrioofdemanding“benchmark”applications.Theau-
thors expose all the steps of trying to accomplish successful reset control system
designs. The applications are from process control (a pilot heat exchanger plant),
controlbytele-operation(aremotecontrolledprocessapplicationthatusestheInter-
netforcommunication)andutilityprocessoperations(asolarcollectorfieldcontrol
problem).Thischapterallowsboththepractitionerandthetheoreticiantoseehow
reset control works in practice, and the insights provided will undoubtedlyinspire
newdevelopmentsfortheresetcontrolfield.
ThisinvaluableandcomprehensivestudyofresetcontrolsystemsbyProfessors
BañosandBarreirojoinsseveralotherrecentAdvancesinIndustrialControlmono-
graphsthatgivemorefundamentalpresentationsofnewpotentialapplicabletopics.
OnesuchmonographisProcessControlbyJieBaoandPeterL.Lee(ISBN978-1-
84628-892-0,2007)thatwasreceivedenthusiastically;anotherisFractional-order
SystemsandControlsbyConcepciónA.Monje,YangQuanChen,BlasM.Vinagre,
Dingyü Xue and Vicente Feliu (ISBN 978-1-84996-334-3, 2010), and a third is,
Internet-based Control Systems by Shuang-Hua Yang (ISBN 978-1-84996-358-9,
2011).Theindustrialcontrolengineer,thecontrolacademicorcontrolpostgraduate
researchermayfindthesethree“fundamentalswithapplications”textsalongwith,
ResetControlSystemsessentialvolumesforinclusioninacompletecontrollibrary.
IndustrialControlCentre,Glasgow,Scotland,UK M.J.Grimble
M.A.Johnson
Foreword
Aspartofthesmallcommunityofcontrolresearchers,oftenreferredtoastheQFT-
ers,IfirstmetAlfonsoBañosin1997ataninternationalQFTconferenceinGlas-
gow, Scotland. We kept in touch throughout the years via emails, and in 2008 he
arranged for his PhD student, Joaquín Carrasco, to spend a few months in my re-
searchlab.Joaquín’sthesisfocusedonresetcontrol,andhewantedtolearnabout
our activities in that area. Since then, I continued to follow their work and have
cometofullyappreciatetheircontributionstotheareaofresetcontrol.
My foray into reset control research was somewhat accidental. While working
on challenging industrial robust control problems, we ‘stumbled’ upon a series of
papersfromthe1970swrittenbythelateprofessorI.Horowitz,thefounderofQFT,
andhisstudents.Irecallthatrightawaywenoticedsomethinguniqueaboutthese
papers. Horowitz presented nontraditional solutions to overcome the limitations
of linear, time-invariant (LTI) control. Horowitz was already familiar with Clegg-
integratorandsimilarconceptsthatwereintroducedafewdecadesearlieronpurely
empiricalgrounds.Horowitz’sresultsonClegg-integratorandFirst-OrderResetEl-
ement(FORE)offeredthepracticingcontrolengineerasystematicandtransparent
procedureforusingsuchnonlinearelementsinfeedbackcontroldesign.Inourown
work, we initially attempted to use these ideas in experiments, and motivated by
successfulresults,wedecidedtoinvestigateifonecanexplainsuchresultstheoreti-
cally.OrhanBeker,aPhDstudentofCVHollotandI,wasabletoproveforthefirst
timethatresetcontrolcanovercomeclassicLTIperformancelimitationsinafeed-
backsystemcomprisingaplantwithanintegrator.Ibelievethattheseencouraging
resultsmayhavespurnedothergroups,includingBaños’sandBarreiro’s,toprobe
deeperintothisareawhichfallsunderthemoregeneralsubjectsofhybridcontrol
systemsandimpulsivecontrol.
Thisbookpresentsacompilationofnumerousresultsderivedbytheauthorsand
colleagues.Thematerialiswritteninself-containedmannerandofferstheinterested
readeranexpositionofcurrentstate-of-the-artresults.Theauthorspresentstability
theoryinprogressionstartingfromreset-timesindependentresultsandreset-times
dependent results, to the more general passivity-based results. A whole chapter is
devotedtotime-delaysystemswhereLTIlimitationsareespeciallyharshandstabil-
ix
x Foreword
ity conditions take the form of linear matrix inequalities. Numerical examples are
sprinkledthroughoutthepresentationsotobringlifeintothetheory.
Inadditiontothebook’stheoreticalfocus,theauthorsappeartohavemadede-
liberate effort to remain true to the original motivationbehindHorowitz’s original
worktoprovidethecontrolengineerwithapracticaltechniquefordesignofreset
control systems in applications. They achieve this goal using describing function
analysis as a design tool, extend the notion of reset to a partial reset compensator
whereonlysomeofthecompensatorstatesarereset,andintroduceanewresetcom-
pensatorthatconsistsofaPIcompensatorwhoseintegratorisresetonlyatafraction
ofCleggintegratorresettimes.Anentirechapterpresentsexperimentalapplications
ofresetcontrolsystemsinatemperaturecontrolofaheatexchanger,abilateraltele-
operation,andatemperaturecontrolofasolarcollectorfield.
Inclosing,Iwouldliketothanktheauthorsforaskingmetowritethisforward.
Thiswellwrittenbookstrikesafinebalancebetweensophisticatedtheoryanden-
gineeringdesignandthereforeshouldbeaccessibletomostreaders.Inwritingthis
book,theauthorshavesucceededincontinuingHorowitz’sphilosophyforfeedback
controlresearch.
Amherst,USA YossiChait
Preface
Although the origin of reset control systems goes back to 1958 with the founding
work of Clegg, the subject is still in its infancy. The seminal works of Horowitz
and coworkers in the 1970s were the first attempts to build a synthesis theory for
basicresetcompensatorssuchastheCleggintegratorortheFORE(first-orderreset
element),butthelackofacontroltheory,approachingbasicquestionssuchaswell-
posednessandstability,forseveraldecadeshasputasideofthemainstreamfurther
developments in reset control, both in theory and applications. It is not until the
late 1990s that reset control starts to develop with the works of Chait, Hollot and
coworkers, givinga significativeimpetus to the field.In the meantime,the area of
hybrid control systems and impulsive control also give numerous results, having
clearconnectionswithresetcontrol.Forthelastdecade,anumberofinternational
groups have been working actively on reset control, and fortunately, reset control
has started to be seen as an attractive control design technique with a significant
potentialforpracticalcontrolapplications.
ThefirstdirectcontactoftheauthorswithresetcontrolwasinSeptember2000,
whenIsaacHorowitzwasvisitingourgroupinSpain.Wewereactivelyworkingin
nonlinearQFTatthattime,thatuseslinearcompensation,andinseveralfruitfuldis-
cussionshegaveusclearargumentsforthemanybenefitsofusingnonlinear/reset
compensationtoattackthe“nonlineartiger”andalsotoovercomefundamentallim-
itationsofLTIsystems.Westartedtoseriouslyworkonresetcontrolin2006,and
since then our goal has been to develop a formal theory to cover basic theoretical
aspects,andalsotodefinesimplecompensatorstructuresandtuningrulesforthem,
withthefocusonsomepracticalproblems,includingapplicationsinprocesscontrol
andteleoperation,andingeneralsystemswithtime-delays.
Thefirstchapterofthebookisanintroductiontoresetcontrolsystems,pursuing
twoobjectives.Thefirstobjectiveistogiveaquickandsimpledescriptionofwhat
a reset control is, and to provide basic explanations on why and when it is conve-
nient to use this strategy. This objective is covered by the first two sections and is
summarizedinthiskeyidea:aresetcontrolisasimplenonlinearcontroltechnique
very effectivefor linear plantssubject to fundamentaldesign limitations.The sec-
ond objective of the chapter is to give a brief survey on the literature on analysis
xi
