Closed-loop system identification and validation are important components in dynamic system modelling. In this dissertation, a comprehensive literature survey is compiled on system identification with a specific focus on closed-loop system identification and issues of identification experiment design and model validation. This is followed by simulated experiments on known linear and non-linear systems and experiments on a pilot scale distillation column. The aim of these experiments is to study several sensitivities between identification experiment variables and the consequent accuracy of identified models and discrimination capacity of validation sets given open and closed-loop conditions. The identified model structure was limited to an ARX structure and the parameter estimation method to the prediction error method. The identification and validation experiments provided the following findings regarding the effects of different feedback conditions: <ul> <li>Models obtained from open-loop experiments produced the most accurate responses when approximating the linear system. When approximating the non-linear system, models obtained from closed-loop experiments were found to produce the most accurate responses.</li> <li>Validation sets obtained from open-loop experiments were found to be most effective in discriminating between models approximating the linear system while the same may be said of validation sets obtained from closed-loop experiments for the nonlinear system.</li> </ul> These finding were mostly attributed to the condition that open-loop experiments produce more informative data than closed-loop experiments given no constraints are imposed on system outputs. In the case that system output constraints are imposed, closed-loop experiments produce the more informative data of the two. In identifying the non-linear system and the distillation column it was established that defining a clear output range, and consequently a region of dynamics to be identified, is very important when identifying linear approximations of non-linear systems. Thus, since closed-loop experiments produce more informative data given output constraints, the closed-loop experiments were more effective on the non-liner systems. Assessment into other identification experiment variables revealed the following: <ul> <li>Pseudo-random binary signals were the most persistently exciting signals as they were most consistent in producing models with accurate responses.</li> <li>Dither signals with frequency characteristics based on the system’s dominant dynamics produced models with more accurate responses.</li> <li>Setpoint changes were found to be very important in maximising the generation of informative data for closed-loop experiments</li></ul> Studying the literature surveyed and the results obtained from the identification and validation experiments it is recommended that, when identifying linear models approximating a linear system and validating such models, open-loop experiments should be used to produce data for identification and cross-validation. When identifying linear approximations of a non-linear system, defining a clear output range and region of dynamics is essential and should be coupled with closed-loop experiments to generate data for identification and cross-validation. / Dissertation (MEng)--University of Pretoria, 2009. / Chemical Engineering / unrestricted

The master’s thesis deals with building mechatronics model of machine tool head delivered by company TOSHULIN,a.s. for purpose of damping vibration. Mechanical part of the model is based on modeling of system of flexible bodies. Components are modeled in FEM program ANSYS and subsequently reduced using Craig-Bampton method. The system of flexible bo-dies is created in MBS program ADAMS. Model is linearized and subsequently reduced. As a element of active damping is used linearized model of magnetic bearing. For control is desig-ned PID controller. The comparison of damped and undamped model is conducted in the end.

Die vorliegende Bachelorarbeit befasst sich mit dem Learning Tools Interoperability Standard, kurz LTI Standard. Ziel ist es hierbei nicht nur den LTI Standard an sich in seiner Anwendung zu evaluieren sondern ebenso eine eigene Implementierung dieser Schnittstellendefinition zu erarbeiten. Um eine solche Implementierung zu erreichen wird sich Eingangs intensiv mit dem Standard in seinen verschiedenen Versionen auseinandergesetzt und anschließend der praktische Einsatz dieser Schnittstelle durch die Evaluation bestehender Kopplungsmöglichkeiten erprobt. Zur Evaluierung wird eine Auswahl von Lehrumgebungen und Lernanwendungen, bei welchen im Anschluss unter verschiedenen Gesichtspunkten die Kopplungen betrachtet und diskutiert werden.

As we begin to analyze and construct extremely complex systems, a theory for understanding and designing the underlying architecture becomes very important. To move in the direction of a precise theory of architecture, this thesis will provide some concrete tools to analyze and design complex systems with a given network structure. The first main result of this thesis analyzes the vulnerability of a system and shows that a system's vulnerability depends on its network structure. We will consider destabilization attacks acting on a single link in a system's logical interconnection structure. The concept of a vulnerable link is characterized and necessary and sufficient conditions for identifying these links are provided. The vulnerability of various system architectures are then characterized by the vulnerability of their weakest link, and it is shown that every transfer function has a completely secure architecture with no vulnerable links. The second part of this thesis focuses on synthesizing controllers with a specified network structure. It presents a new approach to distributed controller design that exploits the dynamical structure function representation of linear time invariant systems to characterize the structure of a system. The design technique sequentially constructs each link in an arbitrary controller signal structure, and the main theorem proves that either the resulting controller is stabilizing or that no controller with the desired structure can stabilize the system.

Les méthodes de synthèse et de validation de lois de pilotage utiliséesdans le milieu industriel aéronautique sont bien souvent longues et coûteuses àmettre en œuvre. Pourtant, des alternatives pour traiter les larges domaine d’évolutionexistent, comme l’inversion dynamique robuste. Ce travail de thèse chercheà en corriger les défauts, notamment grâce à une meilleure prise en compte desincertitudes du système et à une réjection des non-linéarités non compensées. Ceciest rendu possible grâce aux techniques de synthèse H¥ structurée multi-modèles,qui peuvent considérer plusieurs configurations pire-cas déterminées par des outilsd’analyse de robustesse. Une autre contribution est d’ailleurs l’amélioration destechniques permettant d’évaluer la marge de robustesse d’un système LTI, souventtrop conservatives ou nécessitant un temps de calcul prohibitif. Les méthodes proposéessont appliquées au pilotage automatique d’un avion civil et d’un drone àvoilure fixe, dont la modélisation est également traitée avec précision. / Control laws design and validation methods used in the aeronautical industryare generally time-consuming and costly to set up. However, alternativesexist to cope with large operating domains, such as robust dynamic inversion.This thesis work aims at fixing its drawbacks by better considering the systemuncertainties, and by rejecting the uncompensated nonlinearities. Thanks to recentadvances in structured multimodel H¥ design techniques, it is now possible toconsider multiple worst-case configurations, determined using robustness analysistools. Besides, another part of this work is devoted to the improvement of existingtechniques to evaluate the robustness margin of an LTI system, which are oftentoo conservative or computationally costly. All these contributions are applied tothe control of a civil aircraft and a small fixed-wing UAV, whose modeling is alsothoroughly described.

La surveillance des systèmes industriels et/ou embarqués constitue une préoccupation majeure en raison de l’accroissement de leur complexité et des exigences sur le respect des profilsde mission. La détection d’anomalies tient une place centrale dans ce contexte. Fondamentalement,les procédures de détection à base de modèles consistent à comparer le fonctionnement réel dusystème avec un fonctionnement de référence établi à l’aide d’un modèle sans défaut. Cependant,les systèmes à surveiller présentent souvent des dynamiques non linéaires et difficiles à caractériserde manière exacte. L’approche retenue dans cette thèse consiste à englober leur influencepar des incertitudes bornées. La propagation de ces incertitudes permet l’évaluation de seuils dedécision visant à assurer le meilleur compromis possible entre sensibilité aux défauts et robustesseaux perturbations tout en préservant une complexité algorithmique raisonnable. Pour cela, unepart importante du travail porte sur l’extension des classes de modèles dynamiques à incertitudesbornées pour lesquels des observateurs intervalles peuvent être obtenus avec les preuves d’inclusionet de stabilité associées. En s’appuyant sur des changements de coordonnées variant dans letemps, des dynamiques LTI, LPV et LTV sont considérées graduellement pour déboucher sur desclasses de dynamiques Non Linéaires à Incertitudes Bornées continues (NL-IB). Une transformationdes modèles NL-IB en modèles LPV-IB a été utilisée. Une première étude sur les non-linéaritésd’une dynamique de vol longitudinal est présentée. Un axe de travail complémentaire porte surune caractérisation explicite de la variabilité (comportement aléatoire) du bruit de mesure dansun contexte à erreurs bornées. En combinant cette approche à base de données avec celle à basede modèle utilisant un prédicteur intervalle, une méthode prometteuse permettant la détection dedéfauts relatifs à la position d’une surface de contrôle d’un avion est proposée. Une étude portenotamment sur la détection du blocage et de l’embarquement d’une gouverne de profondeur. / The monitoring of industrial and/or embedded systems is a major concern accordingto their increasing complexity and requirements to respect the mission profiles. Detection of anomaliesplays a key role in this context. Fundamentally, model-based detection procedures consist incomparing the true operation of the system with a reference established using a fault-free model.However, the monitored systems often feature nonlinear dynamics which are difficult to be exactlycharacterized. The approach considered in this thesis is to enclose their influence through boundeduncertainties. The propagation of these uncertainties allows the evaluation of thresholds aimingat ensuring a good trade-off between sensitivity to faults and robustness with respect to disturbanceswhile maintaining a reasonable computational complexity. To that purpose, an importantpart of the work adresses the extension of classes of dynamic models with bounded uncertaintiesso that interval observers can be obtained with the related inclusion and stability proofs. Based ona time-varying change of coordinates, LTI, LPV and LTV dynamics are gradually considered tofinally deal with some classes classes of nonlinear continuous dynamics with bounded uncertainties.A transformation of such nonlinear models into LPV models with bounded uncertainties has beenused. A first study on nonlinearities involved in longitudinal flight dynamics is presented. A complementarywork deals with an explicit characterization of measurement noise variability (randombehavior of noise within measurement) in a bounded error context. Combining this data-drivenapproach with a model-driven one using an interval predictor, a promising method for the detectionof faults related to the position of aircraft control surfaces is proposed. In this context, specialattention has been paid to the detection of runaway and jamming of an elevator.

This thesis deals with the design of multivariable controllers for stable linear time-invariant multi-input multi-output systems, with an unknown mathematical model, subject to constant reference/disturbance signals and actuator saturation constraints. A new controller parameter optimization approach, which can be carried out experimentally with no knowledge of the plant model nor of the order of the system, is proposed. The approach has the advantage that controllers can be optimized by perturbing only the initial conditions of the servocompensator, and that the order of the resulting controller obtained can be specified by the designer. Implementation of the proposed controller design approach is described, and an experimental application study of the proposed method applied to a multivariable system with industrial sensor/actuator components is presented to illustrate the feasibility of the design method in an industrial environment.

This thesis deals with the design of multivariable controllers for stable linear time-invariant multi-input multi-output systems, with an unknown mathematical model, subject to constant reference/disturbance signals and actuator saturation constraints. A new controller parameter optimization approach, which can be carried out experimentally with no knowledge of the plant model nor of the order of the system, is proposed. The approach has the advantage that controllers can be optimized by perturbing only the initial conditions of the servocompensator, and that the order of the resulting controller obtained can be specified by the designer. Implementation of the proposed controller design approach is described, and an experimental application study of the proposed method applied to a multivariable system with industrial sensor/actuator components is presented to illustrate the feasibility of the design method in an industrial environment.

Diploma thesis focus on the regulation of consumer housing loans market. Based on the analysis of the consumer housing loans market in the European Un-ion, the main regulations and factors affecting this market are identified. Panel data analysis is available to determine the effects of regulation and factors on mortgage lending. The explained variable is the growth of mortgage loans. The explanatory variables are macroeconomic factors and macroprudential policy in-struments. Results showing effects of macro-prudential instruments on the con-sumer housing loans market.

Les systèmes LTI à contrôler sont soumis à des contraintes physiques et technologiques. Nous avons montré que celles-ci limitent la bande passante atteignable en boucle fermée. Il s'en suit qu'il suffit de modéliser et d'analyser ces systèmes dans une bande de fréquences limitée, et non pas sur toutes les fréquences, et que l'utilisation de correcteurs d'ordres réduits est tout à fait efficace. Dans cette thèse, nous nous intéressons à la synthèse de correcteurs d'ordres réduits fixés sous contraintes de robustesse, et à la réduction de modèles pour de tels systèmes. La méthode proposée consiste à déterminer un correcteur de structure donnée qui optimise le rejet de la perturbation de commande de type échelon au sens de la norme H2, en respectant des contraintes de robustesse, i.e. marge de module minimum, marge de phase minimum et amplification maximum du bruit de mesure sur la commande. En s'appuyant sur une base de modèles génériques d'ordres réduits, la méthode aboutit à une formulation d'optimisation mixte H2/H-infini semi-analytique de la fonction objectif et de contraintes d'inégalités en termes des gains inconnus du correcteur. Lorsque le système à contrôler est d'ordre élevé, nous proposons une méthode de réduction de modèle avec garantie de marges de robustesse en boucle fermée afin d'obtenir les paramètres des modèles génériques d'ordres réduits. Si le modèle du système à contrôler n'est pas disponible, nous présentons une méthode d'identification expérimentale par la méthode du relais sur la base de modèles génériques. Dans le but de rendre l'approche proposée plus accessible à un usage industriel, nos développements in fine ont été intégrés à des outils logiciels d'aide à la conception d'un système de commande.