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Analysis and Design of Hybrid Control Systems

Malmborg, Jörgen LU (1998) In PhD Theses TFRT-1050.
Abstract
Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation.



A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy.



Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time... (More)
Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation.



A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy.



Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales.



The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool.



To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method. (Less)
Please use this url to cite or link to this publication:
author
opponent
  • Professor Sastry, Shankar, Berkeley, USA
organization
publishing date
type
Thesis
publication status
published
subject
keywords
Lyapunov theory, Mode switching, Multi-controllers, PID control, Simulation, Higher order sliding, Hybrid control, Sliding modes, Automation, robotics, control engineering, Automatiska system, robotteknik, reglerteknik
in
PhD Theses
volume
TFRT-1050
pages
138 pages
publisher
Department of Automatic Control, Lund Institute of Technology (LTH)
defense location
M:B, M-building
defense date
1998-05-28 10:15
external identifiers
  • scopus:0032260244
ISSN
0280-5316
language
English
LU publication?
yes
id
92413f48-7e3c-4fdf-82b6-56dd1b485c87 (old id 18889)
date added to LUP
2007-05-24 12:45:14
date last changed
2017-06-11 04:32:23
@phdthesis{92413f48-7e3c-4fdf-82b6-56dd1b485c87,
  abstract     = {Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation.<br/><br>
<br/><br>
A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy.<br/><br>
<br/><br>
Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales.<br/><br>
<br/><br>
The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool.<br/><br>
<br/><br>
To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method.},
  author       = {Malmborg, Jörgen},
  issn         = {0280-5316},
  keyword      = {Lyapunov theory,Mode switching,Multi-controllers,PID control,Simulation,Higher order sliding,Hybrid control,Sliding modes,Automation,robotics,control engineering,Automatiska system,robotteknik,reglerteknik},
  language     = {eng},
  pages        = {138},
  publisher    = {Department of Automatic Control, Lund Institute of Technology (LTH)},
  school       = {Lund University},
  series       = {PhD Theses},
  title        = {Analysis and Design of Hybrid Control Systems},
  volume       = {TFRT-1050},
  year         = {1998},
}