With the help of rapidly advancing communication technology, control systems are increasingly integrated via communication networks. Networked control systems (NCSs) bring significant advantages such as flexible and scalable structures, easy implementation and maintenance, and efficient resources distribution and allocation. NCSs empowers to finish some complicated tasks using some relatively simple systems in a collaborated manner. However, there are also some challenges and constraints subject to the imperfection of communication channels. In this thesis, the stabilization problems and the performance limitation problems of control systems subject to networked-induced constraints are studied. Overall, the thesis mainly includes two parts: 1) Consensus and consensusability of multi-agent systems (MASs); 2) Delay margins of NCSs. Chapter 2 and Chapter 3 deal with the consensus problems of MASs, which aim to properly design the control protocols to ensure the state convergence of all the agents. Chapter 4 and Chapter 5 focus on the consensusability analysis, exploring how the dynamics of the agents and the networked induced constraints impact the overall systems for achieving consensus. Chapter 6 pays attention to the delay margins of discrete-time linear time-invariant (LTI) systems, studying how the dynamics of the plants limit the time delays that can be tolerated by LTI controllers. In Chapter 2, the leader-following consensus problem of MASs with general linear dynamics and arbitrary switching topologies is considered. The MAS with arbitrary switching topologies is formulated as a switched system. Then the leaderfollowing consensus problem is transformed to the stability problem of the corresponding switched system. A necessary and sufficient consensus condition is derived. The condition is also extended to MASs with time-varying delays. In Chapter 3, the consensus problem of MASs with general linear dynamics is studied. Motivated by the multiple-input multiple-output (MIMO) communication technique, a general framework is considered in which different state variables are exchanged in different independent communication topologies. This novel framework could improve the control system design flexibility and potentially improve the system performance. Fully distributed consensus protocols are proposed and analyzed for the settings of fixed and switching multiple topologies. The protocols can be applied using only local information. And the control gains can be designed depending on the dynamics of the individual agent. By transforming the overall MASs into cascade systems, necessary and sufficient conditions are provided to guarantee the consensus under fixed and switching state-variables-dependent topologies, respectively. Chapter 4 investigates the consensusability problem for MASs with time-varying delays. The bounded delays can be arbitrarily fast time-varying. The communication topology is assumed to be undirected and fixed. Considering general linear dynamics under average state protocols, the consensus problem is then transformed into a robust control problem. Sufficient frequency domain criteria are established in terms of small-gain theorem by analyzing the delay dependent gains for both continuoustime and discrete-time systems. The controller synthesis problems can be solved by applying the frequency domain design methods. The consensusablity problem of general linear MASs considering directed topologies are explored from a frequency domain perspective in Chapter 5. By investigating the properties of Laplacian spectra, a consensus criterion is established based on the stability of several complex weighted closed-loop systems. Furthermore, for singleinput MASs, frequency domain consensusability criteria are proposed on the basis of the stability margins, which depend on the H∞ norm of the complementary sensitivity function determined by the agents’ unstable poles. The corresponding design procedure is also developed. Chapter 6 studies the delay margin problem of discrete-time LTI systems. For general LTI plants with multiple unstable poles and nonminimum phase zeros, we employ analytic function interpolation and rational approximation techniques to derive bounds on delay margins. Readily computable and explicit lower bounds are found by computing the real eigenvalues of a constant matrix, and LTI controllers can be synthesized based on the H∞ control theory to achieve the bounds. The results can be also consistently extended to the case of systems with time-varying delays. For first-order unstable plants, we also obtain bounds achievable by proportionalintergral- derivative (PID) controllers, which are of interest to PID control design and implementation. It is worth noting that unlike its continuous-time counterpart, the discrete-time delay margin problem being considered herein constitutes a simultaneous stabilization problem, which is known to be rather difficult. While previous work on the discrete-time delay margin led to negative results, the bounds developed in this chapter provide instead a guaranteed range of delays within which the delayed plants can be robustly stabilized, and in turn solve the special class of simultaneous stabilization problems in question. Finally, in Chapter 7, the thesis is summarized and some future research topics are also presented. / Graduate

The purpose of this research is to investigate fault management methodologies within Integrated Modular Avionics (IMA) systems, and develop techniques by which the use of dynamic reconfiguration can be implemented to restore higher levels of systems redundancy in the event of a systems fault. A proposed concept of dynamic configuration has been implemented on a test facility that allows controlled injection of common faults to a representative IMA system. This facility allows not only the observation of the response of the system management activities to manage the fault, but also analysis of real time data across the network to ensure distributed control activities are maintained. IMS technologies have evolved as a feasible direction for the next generation of avionic systems. Although federated systems are logical to design, certify and implement, they have some inherent limitations that are not cost beneficial to the customer over long life-cycles of complex systems, and hence the fundamental modular design, i.e. common processors running modular software functions, provides a flexibility in terms of configuration, implementation and upgradability that cannot be matched by well-established federated avionic system architectures. For example, rapid advances of computing technology means that dedicated hardware can become outmoded by component obsolescence which almost inevitably makes replacements unavailable during normal life-cycles of most avionic systems. To replace the obsolete part with a newer design involves a costly re-design and re-certification of any relevant or interacting functions with this unit. As such, aircraft are often known to go through expensive mid-life updates to upgrade all avionics systems. In contrast, a higher frequency of small capability upgrades would maximise the product performance, including cost of development and procurement, in constantly changing platform deployment environments. IMA is by no means a new concept and work has been carried out globally in order to mature the capability. There are even examples where this technology has been implemented as subsystems on service aircraft. However, IMA flexible configuration properties are yet to be exploited to their full extent; it is feasible that identification of faults or failures within the system would lead to the exploitation of these properties in order to dynamically reconfigure and maintain high levels of redundancy in the event of component failure. It is also conceivable to install redundant components such that an IMS can go through a process of graceful degradation, whereby the system accommodates a number of active failures, but can still maintain appropriate levels of reliability and service. This property extends the average maintenance-free operating period, ensuring that the platform has considerably less unscheduled down time and therefore increased availability. The content of this research work involved a number of key activities in order to investigate the feasibility of the issues outlined above. The first was the creation of a representative IMA system and the development of a systems management capability that performs the required configuration controls. The second aspect was the development of hardware test rig in order to facilitate a tangible demonstration of the IMA capability. A representative IMA was created using LabVIEW Embedded Tool Suit (ETS) real time operating system for minimal PC systems. Although this required further code written to perform IMS middleware functions and does not match up to the stringent air safety requirements, it provided a suitable test bed to demonstrate systems management capabilities. The overall IMA was demonstrated with a 100kg scale Maglev vehicle as a test subject. This platform provides a challenging real-time control problem, analogous to an aircraft flight control system, requiring the calculation of parallel control loops at a high sampling rate in order to maintain magnetic suspension. Although the dynamic properties of the test rig are not as complex as a modern aircraft, it has much less stringent operating requirements and therefore substantially less risk associated with failure to provide service. The main research contributions for the PhD are: 1. A solution for the dynamic reconfiguration problem for assigning required systems functions (namely a distributed, real-time control function with redundant processing channels) to available computing resources whilst protecting the functional concurrency and time critical needs of the control actions. 2. A systems management strategy that utilises the dynamic reconfiguration properties of an IMA System to restore high levels of redundancy in the presence of failures. The conclusion summarises the level of success of the implemented system in terms of an appropriate dynamic reconfiguration to the response of a fault signal. In addition, it highlights the issues with using an IMA to as a solution to operational goals of the target hardware, in terms of design and build complexity, overhead and resources.

Stochastic model predictive control (MPC) is a fascinating field for research and of increasing practical importance since optimal control techniques have been intensively investigated in modern control system design. With the development of computer technologies and communication networks, networked control systems (NCSs) or cyber-physical systems (CPSs) have become an interest of research due to the comprehensive integration of physical systems, such as sensors, actuators and plants, with intricate cyber components, possessing information communication and computation. In CPSs, advantages of low installation cost, high reliability, flexible modularity, improved efficiency, and greater autonomy can be obtained by the tight coordination of physical and cyber components. Several sectors, including robotics, transportation, health care, smart buildings, and smart grid, have witnessed the successful application of CPSs design. The integration of extensive cyber capability and physical plants with ubiquitous uncertainties also introduces concerns over communication efficiency, robustness and stability of the CPSs. Thus, to achieve satisfactory performance metrics of efficiency, robustness and stability, a detailed investigation into control synthesis of CPSs under the stochastic model predictive control framework is of importance. The stochastic model predictive control synthesis plays a vital role in CPSs design since the multivariable stochastic system subject to probabilistic constraints can be controlled in an optimized way. On the other hand, aperiodically sampled, or event-based, model predictive control has also been applied to CPSs extensively to improve communication efficiency. In this thesis, the control synthesis and analysis of aperiodically sampled stochastic model predictive control for CPSs is considered. Chapter 1 provides an introductory literature review of the current development of stochastic MPC, distributed stochastic MPC and event-based MPC. Chapter 2 presents a stochastic self-triggered model predictive control scheme for linear systems with additive uncertainty and with the states and inputs being subject to chance constraints. In the proposed control scheme, the succeeding sampling time instant and current control inputs are computed online by solving a formulated optimization problem. Chapter 3 discusses a stochastic self-triggered model predictive control algorithm with an adaptive prediction horizon. The communication cost is explicitly considered by adding a damping factor in the cost function. Sufficient conditions are provided to guarantee closed-loop chance constraints satisfactions. Furthermore, the recursive feasibility of the algorithm is analyzed, and the closed-loop system is shown to be stable. Chapter 4 proposes a distributed self-triggered stochastic MPC control scheme for CPSs under coupled chance constraints and additive disturbances. Based on the assumptions on stochastic disturbances, both local and coupled probabilistic constraints are transformed into the deterministic form using the tube-based method, and improved terminal constraints are constructed to guarantee the recursive feasibility of the control scheme. Theoretical analysis has shown that the overall closed-loop CPSs are quadratically stable. Numerical examples illustrate the efficacy of the proposed control method in terms of data transmission reductions. Chapter 5 concludes the thesis and suggests some promising directions for future research. / Graduate / 2022-01-15

Before the beginning of digital-computers era, a lot of research was carried out in order to find electric circuits the governing equations of which were analogous to the ones of mechanical systems. The mentioned circuits were called ectro-mechanical analogs. They were used as analogical computers for the simulation and the design of mechanical systems. The actual technological development of piezoelectric actuators, which are devices able to efficiently transduce energy between the electrical and mechanical form, induced us to consider again those electro-mechanical analogs in order to create coupled piezo-electro-mechanical systems. Our idea is that the coupling between electro-mechanical phenomena is maximum when the propagation of both electrical and mechanical waves are governed by similar equations. Let us remark that because of the propagating mechanical wave-speed is much lower than the light-speed for every material, it is not possible to search for an efficient electro-mechanical coupling inside a piezoelectric continuum. Consequently circuits able to support the propagation of electric-potential waves have been considered. In this work, the equations for the elastica and for the plate are considered and their circuital analogs are derived using their finite-difference approximation. Afterwards, the coupling between the two structures is modelled considering piezoelectric actuators uniformly distributed on the mechanical system and connected to the nodes of the electric circuit. Then the electro-mechanical coupled equations are derived, and an analytical solution is found for a particular case. Finally some numerical simulations showing the efficiently energy exchange is presented. / Master of Science

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Modern microprocessors require low supply voltage (about 1V), but very high current (maximum current is 300A in servers, 100A in desktop PCs and 70A in notebook PCs), and tighter voltage regulation. However, the size of a CPU Voltage Regulator (VR) needs to be reduced. To achieve much higher power density with decent efficiency in VR design is a major challenge. Moreover, the CPU current rating can vary from 40A to 300A for different kinds of computers, and CPU power supply specifications change quickly even for the same type of computers. Since the maximum power rating of one channel converter is limited, the VR channel number may vary over a large range to meet VR specifications. Traditionally, VR design with different channel numbers needs different types of VR controllers. To reduce the developing cost of different control ICs, and to maximize the market share of one design, scalable phase design based on the same type of IC is a new trend in VR design. To achieve higher power density and at the same time to achieve scalable phase design, the concept of Monolithic Voltage Regulator Channel (MVRC) is introduced in this dissertation. MVRC is a power IC with one channel converter's power MOSFETs, drivers and control circuitries monolithically integrated based on lateral device technology and working at high frequency. It can be used alone to supply a POL (Point of Load). And without the need for a separate master controller, multiple MVRC chips can be paralleled together to supply a higher current load such as a CPU. To make MVRC a reality, the key is to develop a fully distributed control scheme and its associated analog IC circuitry, so that it can provide control functions required by microprocessors and the performance must be equal or better than a traditional a centralized VRM controller. These functions includes: multiphase interleaving, Adaptive Voltage Position (AVP) and current sharing. To achieve interleaving, this dissertation introduces a novel distributed interleaving scheme that can easily achieve scalable phase interleaving without channel number limitation. Each channel's interleaving circuitry can be monolithically integrated without any external components. The proposed scheme is verified by a hardware prototype. The key building block is a self-adjusting saw-tooth generator, which can produce accurate saw-tooth waveforms without trimming. The interleaving circuit for each channel has two self-adjusting saw-tooth generators. One behaves as a Phase Lock Loop to produce accurate phase delay, and the other produces carrier signals. To achieve Adaptive Voltage Position and current sharing, a novel distributed control scheme adopting the active droop control for each channel is introduced. Verified by hardware testing and transient simulations, the proposed distributed AVP and current sharing control scheme meets the requirements of Intel's guidelines for today and future's VR design. Monte Carlo simulation and statistics analysis show that the proposed scheme has a better AVP tolerance band than the traditional centralized control if the same current sensing scheme is used, and its current sharing performance is as good as the traditional control. It is critical for the current sensing to achieve a tight AVP regulation window and good current sharing in both the traditional centralized control scheme and the proposed distributed control scheme. Inductor current sensing is widely adopted because of the acceptable accuracy and no extra power loss. However, the Signal-to-Noise Ratio (SNR) of the traditional inductor current sensing scheme may become too small to be acceptable in high frequency VR design where small inductor with small DCR is often adopted. To improve the SNR, a novel current sensing scheme with an accurate V/I converter is proposed. To reduce the complexity of building an accurate V/I converter with traditional Opamps, an accurate monolithic transconductance (Gm) amplifier with a large dynamic range is developed. The proposed Gm amplifier can achieve accurate V/I conversion without trimming. To obtain further verification, above proposed control schemes are monolithically integrated in a dual channel synchronous BUCK controller using TSMC BiCMOS 0.5um process. Testing results show that all the proposed novel analog circuits work as expected. System testing results show good interleaving, current sharing and AVP performance. The silicon size of each channel is 1800×1000um². With proposed current sensing, interleaving, AVP and current sharing, as well as their associated analog IC implementations, the technical barriers to develop a MVRC are overcome. MVRC has the potential to become a generic power IC solution for today and future POL and CPU power management. The proposed distributed interleaving, AVP and current sharing schemes can also be used in any cellular converter system. The proposed analog building blocks like the self-adjusting saw-tooth generator and the accurate transconductance amplifier can be used as basic building blocks in any DC-DC controller. / Ph. D.

There is an increasing integration of distributed energy resources (DER), controllable loads, and other technologies that are making the grid more robust, reliable, and decentralized. Communication is a major aspect that enables this decentralization and can improve control of important system parameters by allowing different grid components to communicate their states with each other. This information exchange requires a reliable and fast communication infrastructure. Different communication techniques can be used towards this objective, but with recent technological advancements, 5G communication is proving to be a very viable option. 5G is being widely deployed throughout the world due to its high data rates combined with increased reliability compared with its predecessor technologies. This thesis focuses on application and performance analysis of a 5G network for different power system test cases. These test cases are microgrids, and consist of DERs that use distributed control for efficient operation. Under distributed control, the DERs communicate with each other to achieve fast and improved dynamic response. This work develops a co-simulation platform to analyze the impact that a 5G network has in this distributed control objective. This offers key insights on 5G's capability to support critical functions. Different scenarios including set point changes and transients are evaluated. Since distributed control is a time-critical application and DERs rely on the availability of up-to-date information, the scheduling aspect of 5G becomes very important and is given more focus. Information freshness measured using age of information (AoI) is used in this work. Information freshness is a measure of how recent and updated the information communicated by DERs is. This thesis compares the performance of AoI-based schedulers against standard schedulers. These different schedulers are then used on test systems employing distributed control. / Master of Science / Communication has become an important aspect of modern power systems due to increased integration of distributed energy resources (DER), controllable loads and other components that have communication capabilities for improved grid performance. Of the various communication techniques available for power systems, 5G is very promising due to its advantages over its predecessors and other wired communication methods. This work develops a cosimulation framework to implement a 5G network for different microgrid test cases that employ distributed control. Under distributed control, the DERs communicate with each other to achieve fast and improved dynamic response. Due to the time-critical nature of distributed control, DERs rely on the availability of up-to-date information. Hence the scheduling aspect of 5G becomes very important and is given more focus in this work. 5G schedulers that account for the availability of up-to-date information, also referred to as information freshness, are compared with standard 5G schedulers and their performance in distributed control test systems is analyzed.

This thesis describes the development of a general Fortran 90 framework for the solution of composite laminate design problems using a genetic algorithm (GA). The initial Fortran 90 module and package of operators result in a standard genetic algorithm (sGA). The sGA is extended to operate on a parallel processor, and a migration algorithm is introduced. These extensions result in the distributed genetic algorithm with migration (dGA). The performance of the dGA in terms of cost and reliability is studied and compared to an sGA baseline, using two types of composite laminate design problems. The nondeterminism of GAs and the migration and dynamic load balancing algorithm used in this work result in a changed (diminished) workload, so conventional measures of parallelizability are not meaningful. Thus, a set of experiments is devised to characterize the run time performance of the dGA. The migration algorithm is found to diminish the normalized cost and improve the reliability of a GA optimization run. An effective linear speedup for constant work is achieved, and the dynamic load balancing algorithm with distributed control and token ring termination detection yield improved run time performance. / Master of Science

This master's thesis deals with distributed control protocols for industrial applications. It explains term distributed control system, control protocol and it is dealing with properties, frame structures and ways of communication within CAN, Modbus, IEC60870-5-101 and DLMS protocols. This thesis includes informations, which are in most cases difficult to find. Second part of the thesis is dedicated to education system. This part is contained by information about protocols and their layers based on ISO/OSI model, pictures of structure of messages, knowledge test and an application based on JavaScript language. This JavaScript application emulates behavior of workstations, which are using communication based on IEC 60870-5-101 protocol. This application can set various conditions for influence of message transfer. These conditions are setting way of message transfer, data availability, filling of workstation’s buffer or intentional damage of message's content. It also contains a large amount of context help, activated after moving mouse cursor over most of application's elements. Even visitor without great knowledge of distributed control systems should understand how this protocol works, thanks to these context help and messages printed in lower part of the application. The conclusion of this work is aimed to positive and negative features and comparison of mentioned control protocols.

Modern power systems are characterized by an increasing penetration of renewable energy generating units. These aim to reduce the carbon emissions in the environment by replacing conventional energy generating units which rely on fossil fuels. In this new power systems composition, wind generators (WGs) dominate, being one of the largest and fastest-growing sources of renewable energy production. Nevertheless, their unpredictable and highly volatile power output hinders their efficient and secure large-scale deployment, and poses challenges for the transient stability of power systems. Given that, we identify two challenges in the operation of modern power systems: rendering WGs capable of reguating their power output while securing transient stabilization of conventional synchronous generators (SGs). This dissertation makes several contributions for effectively dealing with these major challenges by introducing new distributed control techniques for SGs, storage devices and state-of-the-art (SoA) WGs. Initially, this dissertation introduces a novel nonlinear control design which is able to coordinate a storage device and a SG to attain transient stabilization and concurrent voltage regulation on their terminal bus. Thereafter, it proposes control designs that SoA WGs can adopt to effectively regulate their power out- put to meet local or group objectives. In this context, the rst control design is a decentralized nonlinear energy-based control design, that can be employed by a wind double-fed induction generator (DFIG) with an incorporated energy storage device (namely a SoA WG) to regulate its power output by harnessing stored energy, with guaranteed performance for a wide-range of operating conditions. Recognizing that, today, albeit wind farms (WFs) are comprised of numerous WGs which are sparsely located in large geographical areas, they are required to respond rapidly and provide services to the grid in an efficient, reliable and timely fashion. To this end, this dissertation proposes distributed control methods for power output regulation of WFs comprised of SoA WGs. In particular, a novel distributed control design is proposed, which can be adopted by SoA WGs to continuously, dynamically and distributively self-organize and control their power outputs by leveraging limited peer-to-peer communication. By employing the proposed control design, WGs can exploit their storage devices in a fair load-sharing manner so that their total power output tracks a total power reference under highly dynamical conditions. Finally, this dissertation proposes a distributed control design for wind DFIGs without a storage device, the most common type of WGs deployed today. With this control design, wind DFIGs can dynamically, distributively and fairly self-dispatch and adjust the power they extract from the wind for the purpose of their total power tracking a dynamic reference. The effectiveness of the control designs proposed in this dissertation is illustrated through several case studies on a 3-bus power system and the IEEE 24-bus Reliability Test System.