This thesis constitutes the documentation for a Doctoral research program undertaken at the Industrial Research Institute of Swinburne University of Technology (IRIS) between 2001 and 2005. The focus of the research was an investigation of the open- and closed-loop response of piezoelectric micro-pumps for micro-fluidic applications, particularly for chemical and biomedical environments. Specifically, in order to successfully integrate micro-devices into functional systems, it was important to address issues of real-time performance monitoring and control. The research addresses some of these problems in the context of a piezoelectric-driven micro-pump, equipped with interferometric displacement feedback, which was used to measure the dynamic displacement of the micro-pump actuator surface. During the course of the research, both a discrete component and a fully integrated (laboratory-on-a-board) test system were developed for open-loop characterization of the micro-pump. The laboratory-on-a-board system was also used for closed-loop control application. Measurements showed significant differences in actuator velocity, displacement and settling time between different pumping media. In addition, transient underdamped vibration of the actuator surface was observed during the rapid excursion and recursion phases of the pump movement while pumping air. These non-contact measurements could be used to determine the open-loop characteristics of a micropump and provide information for design improvement or failure detection/analysis. The technique could also be used to provide continuous measurement for adaptive compensation, so that the pump performance criteria are always satisfied. To this end, an automated interference fringe counting algorithm was developed, so that the steadystate parameters could be mapped into the closed-loop control elements in real time. The performance of this algorithm is discussed herein, together with the implications for optimal control of the micro-pump, and eventual integration of the interferometer and micro-pump systems. The research indicated that there were potential benefits in closed-loop control of micro-pumps, particularly where failure detection was required and for pumping of non-homogeneous media. The thesis also documents the relative performance differences between open and closed-loop control in homogenous media.

No description available.

Prostate cancer is the most prevalent cancer and the third-leading cause of cancer-related death among men in the developed world, with the number of cases expected to double within the next 15 years. Conventional therapies offer good control of local disease but are associated with high complication rates reducing long-term health-related quality-of-life significantly. MRI-guided transurethral ultrasound therapy has emerged as an attractive, minimally-invasive alternative for the treatment of localized prostate cancer, where the entire gland is heated to temperatures sufficient to cause irreversible thermal coagulation. A device inserted in the urethra uses multiple ultrasound transducers to produce directional heating patterns directly in the prostate. Adjusting the ultrasound power, frequency and device rotation rate enables high spatial control of the thermal lesion. MRI provides information essential to the accurate targeting of the prostate; anatomical images for device positioning and treatment planning, and quantitative temperature measurements within the prostate to compensate for dynamic tissue changes, using feedback control. This thesis develops a complete treatment delivery strategy for producing conformal regions of thermal coagulation shaped to whole-gland prostate volumes, while limiting the thermal impact to the surrounding important anatomy. First, acoustic and thermal simulations incorporating a novel temperature feedback controller were used to model and shape regions of coagulation to human prostate geometries with a high degree of accuracy. Second, treatment delivery strategies were developed and simulated to reduce thermal injury to the surrounding anatomy, below the threshold for sustained damage. Third, experiments in tissue-mimicking gel phantoms confirmed the predictive accuracy of the simulations and the feasibility of producing conformal volumes of coagulation using transurethral ultrasound devices and MRI-temperature feedback. This work forms the basis of clinical treatment delivery methods and supports the use of the simulations as a planning tool to enhance the inherent compromise between safety and efficacy on a patient-specific basis.

Prostate cancer is the most prevalent cancer and the third-leading cause of cancer-related death among men in the developed world, with the number of cases expected to double within the next 15 years. Conventional therapies offer good control of local disease but are associated with high complication rates reducing long-term health-related quality-of-life significantly. MRI-guided transurethral ultrasound therapy has emerged as an attractive, minimally-invasive alternative for the treatment of localized prostate cancer, where the entire gland is heated to temperatures sufficient to cause irreversible thermal coagulation. A device inserted in the urethra uses multiple ultrasound transducers to produce directional heating patterns directly in the prostate. Adjusting the ultrasound power, frequency and device rotation rate enables high spatial control of the thermal lesion. MRI provides information essential to the accurate targeting of the prostate; anatomical images for device positioning and treatment planning, and quantitative temperature measurements within the prostate to compensate for dynamic tissue changes, using feedback control. This thesis develops a complete treatment delivery strategy for producing conformal regions of thermal coagulation shaped to whole-gland prostate volumes, while limiting the thermal impact to the surrounding important anatomy. First, acoustic and thermal simulations incorporating a novel temperature feedback controller were used to model and shape regions of coagulation to human prostate geometries with a high degree of accuracy. Second, treatment delivery strategies were developed and simulated to reduce thermal injury to the surrounding anatomy, below the threshold for sustained damage. Third, experiments in tissue-mimicking gel phantoms confirmed the predictive accuracy of the simulations and the feasibility of producing conformal volumes of coagulation using transurethral ultrasound devices and MRI-temperature feedback. This work forms the basis of clinical treatment delivery methods and supports the use of the simulations as a planning tool to enhance the inherent compromise between safety and efficacy on a patient-specific basis.

In this thesis, autopilots are developed for missiles with moderate dynamics and stationary targets. The aim is to use the designs in real applications. Since the real missile model is nonlinear, a linearization process is required to get use of systematic linear controller design techniques. In the scope of this thesis, the linear quadratic full state feedback approach is applied for developing missile autopilots. However, the limitations of measurement systems on the missiles restrict the availability of all the states required for feedback. Because of this fact, the linear quadratic design will be approximated by the use of projective control theory. This method enables the designer to use preferably static feedback or if necessary a controller plus a low order compensator combination to approximate the full state feedback reference. Autopilots are checked for the validity of linearization, robust stability against aerodynamic, mechanical and measurement uncertainties.

This thesis considers the control of combustion oscillations, motivated by the susceptibility of lean premixed combustion to such oscillations, and the long and expensive development and commissioning times that this is giving rise to. The controller used is both closed-loop, employing an actuator to modify some system parameter in response to a measured signal, and adaptive, meaning that it is able to maintain control over a wide range of operating conditions. The controller is applied to combustion systems with annular geometries, where instabilities can occur both longitudinally and azimuthally, and which require multiple sensors and multiple actuators for control. One of the requirements of Lyapunov-based adaptive control which is particularly troublesome for combustion systems is then addressed: that the sign of the high-frequency gain of the open-loop system is known. We address it by using an adaptive controller which employs a Nussbaum gain, and successfully apply it experimentally to combustion oscillations in a Rijke tube. Another type of fluid-acoustic resonance is then considered: the compressible flow past a shallow cavity. We start by finding a linear model of the cavity flow's dynamics, or its 'transfer function', which we identify from direct numerical simulations. We compare this measured transfer function to that given by a conceptual model which is based on the Rossiter mechanism, and which models each component of the flow physics separately. We then look at using closed-loop control to eliminate these cavity oscillations. We start by designing a robust H₂ controller based on a balanced reduced order model of the system, the model being provided by the Eigensystem Realization Algorithm (ERA). The robust controller provides closed-loop stability over a much wider Mach number range than seen in previous studies. Finally, we look at the suitability of the adaptive controller, earlier developed for combustion oscillations, for the cavity. Based on some general properties of the cavity flow, and by using collocated control, the oscillations are eliminated at all Mach numbers tested in the range 0.4 ≤ M ≤ 0.8.

No description available.

La stimulation électrique fonctionnelle (SEF) a le potentiel de fournir une amélioration active aux blessés médullaires en termes de mobilité, de stabilité et de prévention des effets secondaires.Dans le domaine des système SEF pour les membres inférieurs, le couple articulaire adéquat doit être fournie de façon appropriée pour effectuer le mouvement prévu et maintenir l'équilibre postural. Toutefois, les changements d'état du muscle tels que la fatigue musculaire est une cause majeure qui dégrade ses performances. En outre, la plupart des patients, dont la blessure médullaire est complète, n'ont pas le retour sensorielle qui permet de détecter la fatigue et les capteurs de couples in-vivo ne sont pas disponible à l'heure actuelle. Les systèmes conventionnels de commande SEF sont soit en boucle ouverte ou pas assez robustes aux changements d'état du muscle. L'objectif de cette thèse est le développement de la prédiction du couple articulaire et la commande en boucle fermée afin d'améliorer les performances de la commande SEF en termes de précision, de robustesse et de sécurité pour les patients.Afin de prédire le couple articulaire induit de la SEF, l'électromyographie (EMG) induit est utilisé pour corréler l'activité musculaire électrique et mécanique. Bien que la fatigue musculaire représente une variation dans le temps, une dépendance aux sujets et aux protocoles, la méthode proposée d'identification adaptative, basée sur le filtre de Kalman, est capable de prédire le couple articulaire variant dans le temps de manière systématique. La robustesse de la prédiction du couple articulaire a été évaluée lors d'une tâche de suivi de la fatigue en expérimentation chez des sujets blessés médulaires.Les résultats montrent une bonne performance de suivi des variations d'état des muscles en présence de fatigue et face à d'autres perturbations. Basé sur les performances de précision de la méthode prédictive proposée, une nouvelle stratégie de commande basée sur le retour EMG, «EMG-Feedback Predictive Control» (EFPC), est proposée afin de contrôler de manière adaptative les séquences de stimulation en compensant la variation dans le temps de l'état du muscle. De plus, cette stratégie de commande permet explicitement d'éviter d'appliquer une stimulation excessive aux patients, et de générer les séquences de stimulation appropriées pour obtenir la trajectoire désirée des couples articulaires. / Functional electrical stimulation (FES) has the potential to provide active improvement to spinal cord injured (SCI) patients in terms of mobility, stability and side-effect prevention. In the domain of lower limb FES system, elicited muscle force must be provided appropriately to perform intended movement and the torque generation by FES should be accurate not to lose the posture balance. However, muscle state changes such as muscle fatigue is a major cause which degrades its performance. In addition, most of the complete SCI patients don't have sensory feedback to detect the fatigue and in-vivo joint torque sensor is not available yet. Conventional FES control systems are either in open-loop or not robust to muscle state changes. This thesis aims at a development of joint torque prediction and feedback control in order to enhance the FES performance in terms of accuracy, robustness, and safety to the patients.In order to predict FES-induced joint torque, evoked-Electromyography (eEMG) has been applied to correlate muscle electrical activity and mechanical activity. Although muscle fatigue represents time-variant, subject-specific and protocol-specific characteristics, the proposed Kalman filter-based adaptive identification was able to predict the time-variant torque systematically. The robustness of the torque prediction has been investigated in a fatigue tracking task in experiment with SCI subjects. The results demonstrated good tracking performance for muscle variations and against some disturbances.Based on accurate predictive performance of the proposed method, a new control strategy, EMG-Feedback Predictive Control (EFPC), was proposed to adaptively control stimulation pattern compensating to time-varying muscle state changes. In addition, this control strategy was able to explicitly avoid overstimulation to the patients, and conveniently generate appropriate stimulation pattern for desired torque trajectory.

This thesis describes the process of rebuilding an experimental model of a single pendulum on a cart into the double pendulum on a cart. The control algorithm in MATLAB/Simulink environment for stabilization of the pendulum in the inverse position is designed. For this purpose, LQR state feedback control was implemented. Also method for swinging the pendulum into inverse position from stable state (swing-up) was designed. Feedforward method was utilised for swing-up control. In the thesis, functionality of these algorithms is shown.

Master’s thesis deals with using a linear matrix inequality (LMI) in control of a dynamic systems. We can define a stability of a dynamic system with a LMI. We can use a LMI for research if the poles of a system are in a given regions in the left half-plane of the complex plane with a LMI or we can use a LMI for a state feedback control. In the work we describe a desing of a controller minimizing a norm from an input to an output of the system. There is also a desing of a LQ controller with a LMI. In the end of the work, there are two examples of a design a LQ controller, which minimize the norm from the input to the output of the system and moves a poles of a dynamic system in a given regions in the complex plane, with the LMI. We use a LMI for a design a continuos LQ controller in the first example. In the second example we use a LMI for a design a discrete LQ controller.