Thesis (Ph. D.)--University of Wyoming, 2006. / Title from PDF title page (viewed on June 16, 2008). Includes bibliographical references (p. 113-119).

Recent developments in the practice control field have heightened the need for performance enhancement. The designed controller should not only guarantee the variables to follow their set point values, but also ought to focus on the performance of systems like quality, efficiency, etc. Hence, with the fact that the inevitable noises are widely existing during industry processes, the randomness of the tracking errors can be considered as a critical performance to improve further. In addition, due to the fact that some controllers for industrial processes cannot be changed once the parameters are designed, it is crucial to design a control algorithm to minimise the randomness of tracking error without changing the existing closed-loop control. In order to achieve the above objectives, a class of novel algorithms are proposed in this thesis for different types of systems with unmeasurable states. Without changing the existing closed-loop proportional integral(PI) controller, the compensative controller is extra added to reduce the randomness of tracking error. That means the PI controller can always guarantee the basic tracking property while the designed compensative signal can be removed any time without affecting the normal operation. Instead of just using the output information as PI controller, the compensative controller is designed to minimise the randomness of tracking error using estimated states information. Since most system states are unmeasurable, proper filters are employed to estimate the system states. Based on the stochastic system control theory, the criterion to characterise the system randomness are valid to different systems. Therefore a brief review about the basic concepts of stochastic system control contained in this thesis. More specifically, there are overshoot minimisation for linear deterministic systems, minimum variance control for linear Gaussian stochastic systems, and minimum entropy control for non-linear and non-Gaussian stochastic systems. Furthermore, the stability analysis of each system is discussed in mean-square sense. To illustrate the effectiveness of presented control methods, the simulation results are given. Finally, the works of this thesis are summarised and the future work towards to the limitations existed in the proposed algorithms are listed.

Submitted in fulfillment of the requirements for the Doctors Degree in Engineering (Electrical Engineering: Light Current), Durban University of Technology, Durban, South Africa, 2017. / Controller performance assessment (CPA) is concerned with the design of analytical tools that are utilized to evaluate the performance of process control loops. The objective of the CPA is to ensure that control systems operate at their full potential, and also to indicate when a controller design is performing unsatisfactorily under current closed loop conditions. Such monitoring efforts are imperative to minimize product variability, improve production rates and reduce wastage. Various studies conducted on process control loop performance indicate that as many as 60% of control loops often suffer from some kind of performance problem. It is therefore an important task to detect unsatisfactory control loop behavior and suggest remedial action. Such a monitoring system must be integrated into the control system life span as plant changes and hardware issues become apparent. CPA is well established for linear systems. However, not much research has been conducted on CPA for nonlinear systems. Traditional CPA analytical tools depend on the theoretical minimum variance control law that is derived from models of linear systems. In systems exhibiting dominant nonlinear behavior, the accuracy of linear based CPA is compromised. In light of this, there is a need to broaden existing CPA knowledge base with comprehensive benchmarking indices for the performance analysis of nonlinear process control systems. The research efforts presented in this thesis focuses on the development and analysis of such CPA tools for univariate nonlinear process control loops experiencing the negative effects of dominant nonlinearities emanating from the process. Two novel CPA frameworks are proposed; first a model based nonlinear assessment index is developed using an open loop model of the plant in an artificial neural network NARMAX (NNARMAX) representation. The nonlinear control loop is optimized offline using a proposed Nelder Mead-Particle Swarm Optimization (NM-PSO) hybrid search to determine global optimal control parameters for a gain scheduled PID controller. Application of the benchmark in real-time utilizes a synthetic process output derived from the NNARMAX system which is compared to the actual closed loop performance. In the case where no process model is available, a second method is presented. An autonomous data driven approach based on Multi-Class Support Vector Machines (MC- SVMs) is developed and analyzed. Unlike the model based method, the closed loop performance is classified according to five distinct class groups. MC-SVM classifier requires minimal process loop information other than routine operating closed loop data. Several simulation case studies conducted using MATLAB™ software package demonstrate the effectiveness of the proposed performance indices. Furthermore, the methodologies presented in this work were tested on real world systems using control loop data sets from a computer interfaced full scale pilot pH neutralization plant and pulp and paper industry. / D

As the technology behind renewable energy sources becomes more advanced and cost-effective, these sources have become an ever-increasing portion of the generation portfolios of power systems across the country. While the shift away from non-renewable resources is generally considered beneficial, the fact remains that intermittent renewable sources present special challenges associated with their unique operating characteristics. Because of the high variability of intermittent renewables, the frequency performance of the system to which they are connected can degrade. Generators assigned to regulate frequency, keeping it close to the desired 60 Hz, are forced to ramp up and down quickly in order to offset the rise and fall of the variable resources (in addition to the rise and fall of load), causing transient frequency deviations, power swings, major interface transfer variations and other significant issues. This research measures the impact of intermittent renewable resource penetration level on power system frequency performance, and offers methods for managing that performance. Currently, the generally accepted amount of regulation (rapidly-dispatchable reserve, used as a supplement to base generation on a short time scale to avoid performance issues) is 1% of peak load. Because of the high variability associated with intermittent renewables, including wind generation (the focus of this thesis), it is expected that this amount of regulation must increase in order to maintain adequate system frequency performance. Thus, the primary objective of this thesis is to quantify the amount of regulation necessary to maintain adequate frequency performance as a function of the penetration level of wind generation. Presently, balancing resource requirements are computed, in both industry and in the research literature, using static models, which rely entirely on statistical manipulation of net load, failing to capture the intricacies of dynamic system and generator interactions. Using a dynamic model with high temporal resolution data, instead of these statistical models, this thesis confirms the need for additional regulation as wind generation penetration increases. But beyond that, our research demonstrates an exponentially increasing relationship between necessary regulation and wind generation percentage, indicating that, without further technological breakthroughs, there is a practical limit to the amount of wind generation that a typical system can accommodate. Furthermore, we compare our dynamic model results with those of the statistical models, and show that the majority of current statistical models substantially under-predict the necessary amount of regulation to accommodate significant amounts of wind generation. Finally, we verify that the ramping capability of the regulating generators impacts the amount of necessary regulation, although it is generally ignored in current analysis and related literature.

Differential geometric nonlinear control of a multiple stage evaporator system of the liquor burning facility associated with the Bayer process for alumina production at Alcoa Wagerup alumina refinery, Western Australia was investigated.Mathematical models for differential geometric analysis and nonlinear controller synthesis for the evaporator system were developed. Two models, that were structurally different from each other, were used in the thesis for simulation studies. Geometric nonlinear control structure, consisting of nonlinear state feedback control laws and multi-loop single-input single-output proportional-integral controllers, were designed for the industrial evaporator system. The superiority of the geometric nonlinear control structure for regulatory control of the evaporator system was successfully demonstrated through computer simulations and real-time simulator implementation. The implementation trial has verified the practicality and feasibility of these type of controllers. It also re-solved some practical issues of the geometric nonlinear control structure for industrial control applications. In addition, the implementation trial also established a closer link between the academic nonlinear control theory and the industrial control practices.Geometric nonlinear output feedback controller, consisting of the geometric nonlinear control structure and reduce-order observer was proposed for actual plant implementation on the evaporator system on-site. Its superior performance was verified through computer simulations, but its feasibility on the evaporator system on-site has yet to be investigated either through simulator implementation or actual plant implementation. This investigation was not performed due to the time constraint on the preparation of this thesis and the inavailability of the plant personnel required for this implementation.Robust ++ / nonlinear control structures that are simple and computationally efficient have been proposed for enhancing the performance of geometric nonlinear controllers in the presence of plant/model mismatch and/or external disturbances. The robust nonlinear control structures are based on model error compensation methods. Robustness properties of the proposed robust nonlinear control structures on the evaporator system were investigated through computer simulations and the results indicated improved performance over the implemented geometric nonlinear controller in terms of model uncertainty and disturbance reductions.A software package was developed in MAPLE computing environment for the analysis of nonlinear processes and the design of geometric nonlinear controllers. This developed symbolic package is useful for obtaining fast and exact solutions for the analysis and design of nonlinear control systems. Procedures were also developed to simulate the geometric nonlinear control systems. It was found that MAPLE, while it is superior for the analyses and designs, is not viable for simulations of nonlinear control systems. This was due to limitation of MAPLE on the physical, or virtual, memory management. The use of both symbolic and numeric computation for solutions of nonlinear control system analysis, design and simulation is recommended.To sum up, geometric nonlinear controllers have been designed for an industrial multiple stage evaporator system and their simplicity, practicality, feasibility and superiority for industrial control practices have been demonstrated either through computer simulations or real-time implementation. It is hoped that the insights provided in this thesis will encourage more industry-based projects in nonlinear control, and thereby assist in closing the widening gap between academic nonlinear control theory and industrial control ++ / practice.Keywords: geometric nonlinear control, input-output linearization, multiple stage evaporator, robust geometric nonlinear control, control performance enhancement.

The main concern of this work is the development of methodsfor automatic condition monitoring of control loops withapplication to the process industry. By condition monitoringboth detection and diagnosis of malfunctioning control loops isunderstood, using normal operating data and a minimum amount ofprocess knowledge. The use of indices for quantifying loop performance is dealtwith in the first part of the thesis. The starting point is anindex proposed by Harris (1989). This index has been modifiedin order to cover a larger range of processes. The same conceptis then used to assess the sampling rate in control loops.Other index-based monitoring methods where some amount ofprocess knowledge is available are discussed. The evaluation of the performance indices discussed requiresknowledge of the process dead-time. Therefore a concept calledevent-triggered estimation is introduced in the second part ofthe thesis. Both automatic data selection and dead-timeestimation methods are proposed and conditions for successfulestimation are discussed. The last part of the thesis deals with the diagnosis ofoscillations. A method to automatically diagnose staticfriction (stiction) in the actuator is presented. Furthermore,two methods are proposed which allow automatic distinction ofexternally and internally generated oscillations. All describedmethods have been implemented in a MATLAB-based graphical userinterface which is briefly described.

<p>The main concern of this work is the development of methodsfor automatic condition monitoring of control loops withapplication to the process industry. By condition monitoringboth detection and diagnosis of malfunctioning control loops isunderstood, using normal operating data and a minimum amount ofprocess knowledge.</p><p>The use of indices for quantifying loop performance is dealtwith in the first part of the thesis. The starting point is anindex proposed by Harris (1989). This index has been modifiedin order to cover a larger range of processes. The same conceptis then used to assess the sampling rate in control loops.Other index-based monitoring methods where some amount ofprocess knowledge is available are discussed.</p><p>The evaluation of the performance indices discussed requiresknowledge of the process dead-time. Therefore a concept calledevent-triggered estimation is introduced in the second part ofthe thesis. Both automatic data selection and dead-timeestimation methods are proposed and conditions for successfulestimation are discussed.</p><p>The last part of the thesis deals with the diagnosis ofoscillations. A method to automatically diagnose staticfriction (stiction) in the actuator is presented. Furthermore,two methods are proposed which allow automatic distinction ofexternally and internally generated oscillations. All describedmethods have been implemented in a MATLAB-based graphical userinterface which is briefly described.</p>

Regardless of whether organizations are in the private sector or in the public sector, there is a general agreement that human resources are critical to keeping organizations effective as well as maintaining a high level of organizational performance. While more serious effort has been made to empirically examine how human resources influence organizational performance (e.g., studies about turnover consequences, studies about the relationship between human resource management practices and organizational performance) in the private sector, it is rare to find similar empirical studies in the public sector partly because it is hard to define public organizational performance. In my dissertation, I basically investigate how human resources are critical to organizational performance in the public sector with a question, "Do human resources really matter in the public sector, too?" Focusing on the crime control performance of municipal police departments, I examine the relationships among turnover, police performance, and human resource management (HRM) characteristics by surveying police departments of the U.S. cities whose population range is between 100,000 to 500,000 (Out of 205 surveyed cities, 65 cities participated). Firstly, I explore how human resource management practices (individually and systematically) influence crime control performance of the police. Based on universalistic HRM perspective (i.e., best HRM practices) and control theory perspective, I hypothesize that commitment HRM system (and individual practices) will have positive effect on crime control performance of the police. Secondly, I investigate more specific questions such as if turnover has significant effect on crime control performance and if HRM system has moderating effect on turnover consequence. Results about turnover effect confirm human capital theory that predicts the negative effect of turnover when employees with specific knowledge quit. However, no significant relationships are found between commitment HRM system (and individual practices) and organizational performance. The results might help municipal police departments deal with sworn officers' turnover as well as set up proper HRM practices.

In this paper, we introduce a novel congestion control algorithm for TCP over multihop IEEE 802.11 wireless networks implementing rate-based scheduling of transmissions within the TCP congestion window. We show how a TCP sender can adapt its transmission rate close to the optimum using an estimate of the current 4-hop propagation delay and the coefficient of variation of recently measured round-trip times. The novel TCP variant is denoted as TCP with Adaptive Pacing (TCP-AP). Opposed to previous proposals for improving TCP over multihop IEEE 802.11 networks, TCP-AP retains the end-to-end semantics of TCP and does neither rely on modifications on the routing or the link layer nor requires cross-layer information from intermediate nodes along the path. A comprehensive simulation study using ns-2 shows that TCP-AP achieves up to 84% more goodput than TCP NewReno, provides excellent fairness in almost all scenarios, and is highly responsive to changing traffic conditions.

The purpose of this research was to examine operator workload and performance in a high risk, multi-task environment. Specifically, the research examined if a gunner of a Future Combat System, such as a Mounted Combat System, could effectively detect targets in the immediate environment while concurrently operating robotic assets in a remote environment. It also analyzed possible effects of individual difference factors, such as spatial ability and attentional control, on operator performance and workload. The experimental conditions included a gunner baseline and concurrent task conditions where participants simultaneously performed gunnery tasks and one of the following tasks: monitor an unmanned ground vehicle (UGV) via a video feed (Monitor), manage a semi-autonomous UGV, and teleoperate a UGV (Teleop). The analysis showed that the asset condition significantly impacted gunnery performance with the gunner baseline having the highest number of targets detected (M = 13.600 , SD = 2.353), and concurrent Teleop condition the lowest (M = 9.325 , SD = 2.424). The research also found that high spatial ability participants tended to detect more targets than low spatial ability participants. Robotic task performance was also affect by the asset condition. The results showed that the robotic target detection rate was lower for the concurrent task conditions. A significant difference was seen between the UGV-baseline (80.1%) when participants performed UGV tasks only and UGV-concurrent conditions (67.5%) when the participants performed UGV tasks concurrently with gunnery tasks. Overall, this study revealed that there were performance decrements for the gunnery tasks as well as the robotic tasks when the tasks were performed concurrently.