Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling

Seyed Amir Tafrishi; Xiaotian Dai; Yasuhisa Hirate; Alan Burns

doi:10.23919/ACC53348.2022.9867252

Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling

Seyed Amir Tafrishi, Xiaotian Dai, Yasuhisa Hirate, Alan Burns

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with consideration of the run-time behavior of the system. One of such research attempts is to design the controller along with the task scheduler, known as control-scheduling co-design, for more predictable timing behavior as well as surviving system overloads. Unlike traditional controller designs, which have equal-distance sampling periods, the co-design approach increases the system flexibility and resilience by explicitly considering timing properties, for example using an event-based controller or with multiple sampling times (non-uniform sampling and control). Within this context, we introduce the first work on the discretization of an energy-based controller that can switch arbitrarily between multiple periods and adjust the control parameters accordingly without destabilizing the system. A digital controller design based on this paradigm for a DC motor with an elastic load as an example is introduced and the stability condition is given based on the proposed Lyapunov function. The method is evaluated with various computer-based simulations which demonstrate its effectiveness.

Original language	English
Title of host publication	2022 American Control Conference (ACC)
Publisher	IEEE
Number of pages	6
ISBN (Electronic)	978-1-6654-5196-3
ISBN (Print)	978-1-6654-9480-9
DOIs	https://doi.org/10.23919/ACC53348.2022.9867252
Publication status	Published - 5 Sept 2022

Publication series

Name	Proceedings of the American Control Conference
ISSN (Electronic)	2378-5861

Access to Document

10.23919/ACC53348.2022.9867252

Cite this

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title = "Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling",

abstract = "Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with consideration of the run-time behavior of the system. One of such research attempts is to design the controller along with the task scheduler, known as control-scheduling co-design, for more predictable timing behavior as well as surviving system overloads. Unlike traditional controller designs, which have equal-distance sampling periods, the co-design approach increases the system flexibility and resilience by explicitly considering timing properties, for example using an event-based controller or with multiple sampling times (non-uniform sampling and control). Within this context, we introduce the first work on the discretization of an energy-based controller that can switch arbitrarily between multiple periods and adjust the control parameters accordingly without destabilizing the system. A digital controller design based on this paradigm for a DC motor with an elastic load as an example is introduced and the stability condition is given based on the proposed Lyapunov function. The method is evaluated with various computer-based simulations which demonstrate its effectiveness.",

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Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling. / Tafrishi, Seyed Amir; Dai, Xiaotian; Hirate, Yasuhisa et al.
2022 American Control Conference (ACC). IEEE, 2022. 9867252 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with consideration of the run-time behavior of the system. One of such research attempts is to design the controller along with the task scheduler, known as control-scheduling co-design, for more predictable timing behavior as well as surviving system overloads. Unlike traditional controller designs, which have equal-distance sampling periods, the co-design approach increases the system flexibility and resilience by explicitly considering timing properties, for example using an event-based controller or with multiple sampling times (non-uniform sampling and control). Within this context, we introduce the first work on the discretization of an energy-based controller that can switch arbitrarily between multiple periods and adjust the control parameters accordingly without destabilizing the system. A digital controller design based on this paradigm for a DC motor with an elastic load as an example is introduced and the stability condition is given based on the proposed Lyapunov function. The method is evaluated with various computer-based simulations which demonstrate its effectiveness.

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