MINES ParisTech CAS - Centre automatique et systèmes

Novel projection-based controllers to overcome fundamental performance limitations

Date : 10/11/2022 De 10h00 A 11h00

Lien / Link : https://mines-paristech.zoom.us/j/93361475106?pwd=R2lPdG5QYjdJSWRubmNUUEpiVXlUUT09 >
ID de la réunion / Meeting ID : 93361475106
Mot de passe / Password : 807433

Maurice Heemels, Eindhoven University of Technology

In this talk I will discuss a new hybrid control element, which I got very excited about recently! For this new element, we coined the term `hybrid integrator-gain system’ or HIGS for short. HIGS is a projection-based integrator designed to avoid the limitations typically associated with linear integrators. In fact, I will show that HIGS-based control can be used to overcome well-known fundamental performance limitations related to linear time-invariant (LTI) control systems. The main design philosophy behind HIGS is built on keeping the sign of its input and output equal, thereby inducing less phase lag than a linear integrator, much like the famous Clegg integrator. The HIGS achieves the reduced phase lag by projection of the controller dynamics instead of using resets of the integrator state, which forms a potential benefit of this new control element. To formally analyze HIGS-controlled systems and projection-based controllers in general, I will present appropriate mathematical frameworks for describing these novel systems. The modelling frameworks are based on both piecewise linear systems and extensions of projected dynamical systems. Using these frameworks, HIGS-controlled systems are proven to be well-posed in the sense of existence and forward completeness of solutions, under suitable assumptions. Moreover, I will propose initial approaches for analyzing (input-to-state and incremental) stability of the resulting hybrid closed-loop systems. Various case studies will illustrate the main results.

Maurice Heemels received M.Sc. (mathematics) and Ph.D. (control theory) degrees (summa cum laude) from the Eindhoven University of Technology (TU/e) in 1995 and 1999, respectively. From 2000 to 2004, he was with the Electrical Engineering Department, TU/e, as an assistant professor, and from 2004 to 2006 with the Embedded Systems Institute (ESI) as a research fellow. Since 2006, he has been with the Department of Mechanical Engineering, TU/e, where he is currently a Full Professor and vice-dean. Maurice held visiting professor positions at Swiss Federal Institute of Technology (ETH), Switzerland (2001), University of California at Santa Barbara (2008) and University of Lorraine, France (2020). His current research includes hybrid and cyber-physical systems, networked and event-triggered control systems and model predictive control. Dr. Heemels served/s on the editorial boards of Automatica, Nonlinear Analysis: Hybrid Systems, Annual Reviews in Control, and IEEE Transactions on Automatic Control. He was a recipient of a personal VICI grant awarded by NWO (Dutch Research Council) and recently obtained an ERC Advanced Grant. He is a Fellow of the IEEE and IFAC. He is currently chair of the IFAC Technical Committee on Networked Systems (2017-2023). He was the recipient of the 2019 IEEE L-CSS Outstanding Paper Award and was elected for the IEEE-CSS Board of Governors (2021-2023). He will be the Editor-in-Chief of the IFAC journal Nonlinear Analysis: Hybrid Systems as of 2023.