@article{GawWan06,
author = {Peter J. Gawthrop and Liuping Wang},
title = {Intermittent predictive control of an inverted pendulum},
journal = {Control Engineering Practice},
year = 2006,
volume = 14,
number = 11,
pages = {1347-1356},
month = {November},
doi = {10.1016/j.conengprac.2005.09.002},
abstract = {Intermittent predictive pole-placement control is successfully applied
to the constrained-state control of a prestabilised experimental inverted pendulum.}
}
@article{CheGaw06,
author = {Wen-Hua Chen and Peter J. Gawthrop},
title = {Constrained predictive pole-placement control with linear models},
journal = {Automatica},
year = 2006,
volume = {42},
number = {4},
pages = {613-618},
month = {April},
doi = {10.1016/j.automatica.2005.09.020},
abstract = {Predictive pole-placement (PPP) control is a
continuous-time MPC using a particular set of basis functions
leading to pole-placement behaviour in the unconstrained case. This
paper presents two modified versions of the PPP controller which are
each shown to have desirable stability properties when controlling
systems with input, output and state constraints.}
}
@article{VinBalGaw06,
author = {D. Vink and D. Ballance and P. Gawthrop},
title = {Bond graphs in model matching control},
journal = {Mathematical and Computer Modelling of Dynamical Systems},
year = 2006,
volume = 12,
number = {2-3},
pages = {249 - 261},
doi = {10.1080/13873950500068278},
abstract = {
Bond graphs are primarily used in the network modeling of lumped
parameter physical systems, but controller design with this graphical
technique is relatively unexplored. It is shown that bond graphs can
be used as a tool for certain model matching control designs. Some
basic facts on the nonlinear model matching problem are recalled. The
model matching problem is then associated with a particular
disturbance decoupling problem, and it is demonstrated that bicausal
assignment methods for bond graphs can be applied to solve the
disturbance decoupling problem as to meet the model matching
objective. The adopted bond graph approach is presented through a
detailed example, which shows that the obtained controller induces
port-Hamiltonian error dynamics. As a result, the closed loop system
has an associated standard bond graph representation, thereby
rendering energy shaping and damping injection possible from within a
graphical context.
}
}
@article{GawWalNeiWag06,
author = {P.J. Gawthrop and M.I. Wallace and S.A. Neild and D.J. Wagg},
title = {Robust real-time substructuring techniques for under-damped systems},
journal = {Structural Control and Health Monitoring},
volume = {14},
number = {4},
pages = {591-608},
month = {June},
year = 2007,
abstract = {This paper considers the hybrid simulation of
under-damped dynamical systems using numerical-experimental
real-time substructuring. Substructuring joins together a physical
plant with a numerical model using real-time control techniques,
such that the combined model emulates the behaviour of the entire
system. Due to the low damping, the control of substructured systems
can be highly sensitive to delay and uncertainty. We present a
technique for calculating the critical delay of the substructured
system using a phase margin approach. In addition, it is shown that
robustness techniques, drawn from feedback control theory, can be
used to reduce the destabilising effect of uncertainty. To
demonstrate this, a comparison of three different robustness
compensators is presented, using a well-known linear system. The
level of uncertainty is deliberately increased to compare their
performances and a discussion is made on when each may be most
useful.},
doi = {10.1002/stc.174},
note = {Published on-line: 19 May 2006}
}
@article{LorGawLak06,
author = {Loram, Ian David and Gawthrop, Peter and Lakie, Martin},
title = {{The frequency of human, manual adjustments in balancing an inverted pendulum is constrained by intrinsic physiological factors}},
journal = {J Physiol (Lond)},
volume = 577,
number = 1,
pages = {403-416},
doi = {10.1113/jphysiol.2006.118786},
year = 2006,
abstract = {
While standing naturally and when manually or pedally balancing an
equivalent inverted pendulum, the load sways slowly (characteristic
unidirectional duration ~1s) and the controller, calf muscles or hand,
makes more frequent adjustments (characteristic unidirectional
duration 400ms). Here we test the hypothesis that these durations
reflect load properties rather than some intrinsic property of the
human neuromuscular system. Using a specialised setup mechanically
analogous to real standing, subjects manually balanced inverted
pendulums with different moments of inertia through a compliant spring
representing the Achilles tendon. The spring bias was controlled by a
sensitive joystick via a servo motor and accurate visual feedback was
provided on an oscilloscope. As moment of inertia decreased inverted
pendulum sway size increased and it became difficult to sustain
successful balance. The mean duration of unidirectional balance
adjustments did not change. Moreover, the mean duration of
unidirectional inverted pendulum sway reduced only slightly remaining
around 1 s. The simplest explanation is that balance was maintained by
a process of manual adjustments intrinsically limited to a mean
frequency of 2 to 3 unidirectional adjustments per second
corresponding to intermittent control observed in manual tracking
experiments. Consequently the inverted pendulum sway duration,
mechanically related to the bias duration, reflects an intrinsic
constraint of the neuromuscular control system. Given the similar
durations of sway and muscle adjustments observed in real standing, we
postulate that the characteristic duration of unidirectional standing
sway reflects intrinsic intermittent control rather than the inertial
properties of the body.
},
note = {Published on-line: September 14, 2006.}
}
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