In the modern world of technology, highly sophisticated electronic systems pave the way for future's information technology breakthroughs. However, rapid growth on complexity and functions in such systems has also been a harbinger for the power increase. Power management techniques have thus been introduced to mitigate this urgent power crisis. Switching power converters are considered to be the best candidate due to their high efficiency and voltage conversion flexibility. Moreover, switching power converter systems are highly nonlinear, discontinuous in time, and variable. This makes it viable over a wide operating range, under various load and line disturbances. However, only one control scheme cannot optimize the whole system in different scenarios. Hybrid control schemes are thus employed in the power converters to operate jointly and seamlessly for performance optimization during start-up, steady state and dynamic voltage/load transient state.In this dissertation, three switching power converter topologies, along with different hybrid control schemes are studied. First, an integrated switching buck converter with a dual-mode control scheme is proposed. A pulse-train (PT) control, employing a combination of four pulse control patterns, is proposed to achieve optimal regulation performance. Meanwhile, a high-frequency pulse-width modulation (PWM) control is adopted to ensure low output ripples and avoid digital limit cycling. Second, an integrated buck-boost converter with a tri-mode digital control is presented. It employs adaptive step-up/down voltage conversion to enable a wide range of output voltage. This is beneficial to ever-increasing dynamic voltage scaling (DVS) enabled, modern power-efficient VLSI systems. DVS adaptively adjusts the supply voltage and operation frequency according to instantaneous power and performance demand, such that a system is constantly operated at the lowest possible power level without compromising its performance. Third, a digital integrated single-inductor multiple-output (SIMO) converter, tailored for DVS-enabled multicore systems is addressed. With a multi-mode control algorithm, DVS tracking speed and line/load regulation are significantly improved, while the converter still retains low cross regulation.All three integrated CMOS DC-DC converters have been designed and fabricated successfully, demonstrating the techniques proposed in this research. The measurements results illustrate superior line and load regulation performances and dynamic response in all these designs.

Reconfigurable antennas are attractive for many military and commercial applications where it is required to have a single antenna that can be dynamically reconfigured to transmit or receive on multiple frequency bands and patterns. RF-MEMS is a promising technology that has the potential to revolutionize RF and microwave system implementation for next generation telecommunication applications. Despite the efforts of top industrial and academic labs, commercialization of RFMEMS switches has lagged expectations. These problems are connected with switch design (high actuation voltage, low restoring force, low power handling), packaging (contamination layers) and actuation control (high impact force, wear, fatique). This Thesis focuses on the design and control of a novel ohmic RF-MEMS switch specified for reconfigurable antennas applications. This new switch design focuses on the failure mechanisms restriction, the simplicity in fabrication, the power handling and consumption, as well as controllability. Finally, significant attention has been paid in the switch’s electromagnetic characteristics. Efficient switch control implies increased reliability. Towards this target three novel control modes are presented. 1) Optimization of a tailored pulse under Taguchi’s statistical method, which produces promising results but is also sensitive to fabrication tolerances. 2) Quantification of resistive damping control mode, which produces better results only during the pull-down phase of the switch while it is possible to be implemented successfully in very stiff devices. 3) The “Hybrid” control mode, which includes both aforementioned techniques, offering outstanding switching control, as well as immunity to fabrication tolerances, allowing an ensemble of switches rendering an antenna reconfigurable, to be used. Another issue that has been addressed throughout this work is the design and optimization of a reconfigurable, in pattern and frequency, three element Yagi-Uda antenna. The optimization of the antenna’s dimensions has been accomplished through the implementation of a novel technique based on Taguchi’s method, capable of systematically searching wider areas, named as “Grid-Taguchi” method.

Dans une large variété d'applications industrielles, il existe une demande croissante pour améliorer la qualité de l'énergie fournie par les systèmes électriques. En plus de la fiabilité et de la disponibilité d'énergie électrique, la qualité de la puissance fournie devient maintenant une question importante. Parmi les causes de la pauvre qualité de puissance, les harmoniques sont considérés comme la raison qui contribue à la majorité de pannes de courant. Beaucoup d'efforts ont été développés pour résoudre le problème des perturbations harmoniques comme, par exemple, installer des dispositifs spéciaux tels que les filtres actifs. Ce travail de thèse traite le développement d’une commande directe de puissance utilisant l'approche prédictive hybride. La commande hybride considère chaque vecteur de tension du convertisseur comme une entité discrète qui sera appliquée pour commander un système linéaire continu. Un critère pour calculer le vecteur optimal de tension à appliquer sera établi à partir d’un modèle prédictif. Le vecteur optimal de tension à appliquer pour chaque période de commutation, et le correspondant temps d'application seront utilisés pour approcher la valeur réelle des variables d'état du système au point de référence désiré. Deux théories de puissance instantanées seront employées, p-q et p-q-r, pour une application de filtre active parallèle de puissance dans un système triphasé de 4 fils. Ces théories instantanées de puissance ont été développées pour être appliquées aux systèmes non équilibrés utilisant les variables de puissance pour obtenir les courants qui devraient être injectés par le filtre actif. Le filtre actif produira la puissance réactive demandée par la charge et compensera la composante d'ondulation de la puissance active de sorte que la source livre seulement la puissance active constante. / In a wide variety of industrial applications, an increasing demand exists to improve the quality of the energy provided by electrical systems. Besides the reliability and availability of electric power, the power quality is now becoming an important issue. Among the causes of the poor power quality, the harmonics are included as the reason which contributes the majority of power failures. Many efforts have been developed to solve the harmonics problem as, for instance, to install special devices such as active filters. This research work deals with the development of direct power control using the hybrid predictive control approach. The hybrid control considers each voltage vector of the converter as a discrete entity which will be applied to control a continuous linear system. One criterion to calculate the optimal voltage vector to apply will be established for the predictive control model. The optimal voltage vector to apply for each switching period, and the corresponding application time will be used to approach the actual value of the state variables of the system to the desired reference point. Two instantaneous power theories will be used, i.e. pq0 and pqr instantaneous power theory for a shunt active power filter application implemented in 3-phase 4-wire system. These instantaneous power theories have been developed to be applied to unbalanced systems using the power variables to obtain the currents that should be injected from active filters. The active filter will produce the required reactive power for the load and compensate the ripple component of active power so that the source only delivers constant active power.

This dissertation is concerned with the active control of local sound fields, as applied to an active headrest system. Using loudspeakers and microphones, an active headrest is capable of attenuating ambient noise and providing a comfortable acoustic environment for an occupant. A finite element (FE) model of an active headrest is built and analyzed such that the expected noise reduction levels could be quantified for various geometries as well as primary sound field conditions. Both plane wave and diffuse primary sound fields are considered and it is shown that the performance deteriorates for diffuse sound fields. It is then demonstrated that virtual sensing can greatly improve the spatial extent of the quiet zones as well as the attenuation levels. A prototype of the active headrest was constructed, with characteristics similar to those of the FE model, and tested in both anechoic and reverberant sound fields. Multichannel feedforward and feedback control architectures are implemented in real-time and it is shown that adaptive feedback systems are capable of attenuating band-limited disturbances. The spatial attenuation pattern surrounding the head is also measured by shifting the head to various positions and measuring the attenuation at the ears. Two virtual sensing techniques are compared in both feedback and feedforward architectures. The virtual microphone arrangement, which assumes that the primary sound field is equivalent at the physical and virtual locations, results in the best performance when used in a feedback system attenuating broadband disturbances. The remote microphone technique, which accounts for the transfer response between the physical and virtual locations, offers the best performance for tonal primary sound fields. In broadband sound fields, a causal relationship rarely exists between the physical and virtual microphones, resulting in poor performance. / PHD

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The recent interests in the necessity of high maneuverability and vertical launching triggered namely the unconventional control design techniques that are effective at high angle of attack flight regimes. For most of missile configurations, this interest required thrust vector control together with conventional aerodynamic control. In this study, nonlinear modeling and dynamical analysis of a surface to air missile with both aerodynamic and thrust vector control is investigated. Aerodynamic force and moment modeling of the presented missile includes the challenging high angle of attack aerodynamics behavior and the so called hybrid control, which utilizes both tail fins and jet vanes as control surfaces. Thrust vector and aerodynamic control effectiveness is examined during flight envelope. Different autopilot designs are accomplished with hybrid control. Midcourse and terminal guidance algorithms are implemented and performed on target sets including maneuverable targets. A different initial turnover strategy is suggested and compared with standard skid-to-turn maneuver. Comparisons of initial roll with aerodynamic and thrust vector control are examined. Afterwards, some critical maneuvers and hybrid control ratio is studied with a real coded genetic algorithm. Rapid turnover for low altitude targets, intercept maneuver analysis with hybrid control ratio and lastly, engagement initiation maneuver optimization is fulfilled.

This paper discusses the current and future drivetrain perspectives of powerful mobile machines, especially in regards to TCO and drive performance. For the TCO-impact, the power losses of the components plays a big role and, if they are designed for efficiency, they have a significant and measurable influence. From the braking function point of view, this paper demonstrates not only the advantages of a valve-based over a control algorithm based solution, but also its innovative development directions towards a more sophisticated engine speed controller with optimized heat conversion into the oil. Also for the drivetrain subsystems, innovative components are discussed, like the hybrid control, combining the benefits of a non-feedback and a displacement control in one single assembly, or the variable charge system for further reduced energy consumption of the overall drivetrain.

<p>An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can also maintain a desired time gap to the vehicle ahead. For this end, both the engine andthe brakes are controlled. </p><p>The purpose with this thesis has been to develop control strategies for an ACC used in heavy vehicles. The focus of the work has been the methods used for switching between the use of engine and brake. Two different methods have been studied, a hybrid controller and an MPC-controller. </p><p>For the hybrid controller, the main contribution has been to use the influence of the surroundings on the acceleration of the truck. This consists of several parts such as wind drag, road slope and rolling resistance. The estimated influence of the surroundings is used as a switch point between the use of engine and brakes. Ideally, these switch points give bumpless actuator switches. </p><p>The interest in the MPC-controller as an alternative solution was to achieve automatic actuator switching, thus with no explicitly defined switch points. The MPC-controller is based on a model of the system including bounds on the control signals. Using this knowledge, the MPC-controller will choose the correct actuator for the current driving situation. </p><p>Results from simulations show that both methods solve the actuator switch problem. The advantages with the hybrid controller are that it is implementable in a truck with the hardware used today and that it is relatively simple to parameterise. A drawback is that explicit switch points between the uses of the different actuators have to be included. The advantages with the MPC-controller are that no explicit switch points have to be introduced and that constraints and time delays on signals in the system can be handled in a simple way. Among the drawbacks, it can be mentioned that the variant of MPC, used in this thesis, is too complex to implement in the control system currently used in trucks. One further important drawback is that MPC demands a mathematical model of the system.</p>

Switched electronic systems are used in a huge number of everyday domestic and industrial utilities: liquid crystal displays, home appliances, lighting, personal computers, power plants, transportation vehicles and so on. Efficient operations of all such applications depend on the essential "hidden work" done by switched electronic systems, whose behavior is determined by a suitable interconnection and control of analog and digital devices. As a motivation of this work, we consider the DC-DC power converters. This thesis contributes to provide hybrid and nonlinear control problem solutions to several types of power converters. In the first part we are interested in the problem of voltage regulation of power converters operating in discontinuous conducting mode. Two power converters are considered: the boost converter and the buck-boost converter. The system does not admit a (continuous--time) average model approximation, hence is a hybrid system where the control objective is the generation of a periodic orbit and the actuator commands are switching times. Our main contribution is a simple robust algorithm that gives explicit formulas for the switching times without approximations. Simulation and experimental results that illustrate the robustness of the scheme to parameter uncertainty, as well as performance comparisons with current practice, are presented. In the second part a class of power converters that can be globally stabilized with an output-feedback PI controller has been identified. Moreover, we will prove that the I&I observer can be combined with the PI controller preserving the GAS properties of the closed-loop. The class is characterized by a simple linear matrix inequality. The new controller is illustrated with the widely-popular, and difficult to control, single-ended primary inductor converter, for which simulation and experimental results are presented.

To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the systems structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. <p>This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the true hybrid actuation configuration in which the constant velocity motor is not mimicked by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.