Abstract
In this chapter, we consider the problem of practical output regulation and output tracking for a linear \(2\times 2\) hyperbolic Partial Differential Equation (PDE) system with actuation and load dynamics. Indeed, it is actuated via an Ordinary Differential Equation (ODE) at one boundary and the output to be controlled is the output of an ODE at the other boundary. The main focus is on load tracking. Here, we propose to extend existing results on approximate output regulation to a class of systems similar to that considered in [8] and to extend filtering techniques to a dynamically augmented system with finite-dimensional exosystems considering possible trajectory and disturbance inputs. Issues with respect to small delays in the state reconstruction and feedback loop are considered. Due to the nature of the disturbances, the state estimation and disturbance reconstruction problems are also considered. This scenario finds applications in many systems of engineering interest, such as drilling systems [3], pneumatic systems [17], or electric transmission lines [22].
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Note that an explicit expression of \(g_w, g_\upsilon \) could have been obtained using the transform \(\mathcal {L}_{\text{ obs }}\) with direct formulation. However, it would have led to more complex terms in the boundary conditions (57).
- 2.
Due to the use of an adequate low-pass filter, this will however not prevent the output feedback control law to be robust with regard to small delays.
- 3.
In this section, note that since the first component of X(t) is a flat output, a scalar control should be sufficient.
References
Aamo, O.M.: Disturbance rejection in 2\(\times \)2 linear hyperbolic systems. IEEE Trans. Autom. Control 58(5), 1095–1106 (2013)
Aarsnes, U.J., Di Meglio, F., Shor, R.J.: Avoiding stick slip vibrations in drilling through startup trajectory design. J. Process Control 70, 24–35 (2018)
Aarsnes, U.J.F., Di Meglio, F., Evje, S., Aamo, O.-M.: Control-oriented drift-flux modeling of single and two-phase flow for drilling. In: ASME 2014 Dynamic Systems and Control Conference (2014)
Auriol, J., Aarsnes, U.J.F., Martin, P., Di Meglio, F.: Delay-robust control design for heterodirectional linear coupled hyperbolic PDEs. IEEE Trans. Autom. Control (2018)
Auriol, J., Kazemi, N., Innanen, K., Shor, R.: Combining formation seismic velocities while drilling and a PDE-ODE observer to improve the drill-string dynamics estimation. In: IEEE American Control Conference (ACC) (2020)
Bastin, G., Coron, J.-M.: Stability and Boundary Stabilization of 1-D Hyperbolic Systems. Springer (2016)
Bou Saba, D., Bribiesca-Argomedo, F., Di Loreto, M., Eberard, D.: Backstepping stabilization of 2 \(\times \) 2 linear hyperbolic PDEs coupled with potentially unstable actuator and load dynamics. In: IEEE 56th Annual Conference on Decision and Control (CDC), pp. 2498–2503 (2017)
Saba, D.B., Bribiesca-Argomedo, F., Di Loreto, M., Eberard, D.: Strictly proper control design for the stabilization of \(2 \times 2\) linear hyperbolic ODE-PDE-ODE systems. In: IEEE 58th Conference on Decision and Control (CDC) (2019)
Deutscher, J., Gehring, N., Kern, R.: Output feedback control of general linear heterodirectional hyperbolic ODE-PDE-ODE systems. Elsevier Autom. 95, 472–480 (2018)
Deutscher, J., Gehring, N., Kern, R.: Output feedback control of general linear heterodirectional hyperbolic ODE-PDE-ODE systems. Automatica 95, 472–480 (2018)
Deutscher, J., Gabriel, J.: A backstepping approach to output regulation for coupled linear wave-ODE systems. Elsevier Autom. 123, 109338 (2021)
Di Meglio, F., Argomedo, F.B., Hu, L., Krstic, M.: Stabilization of coupled linear heterodirectional hyperbolic PDE–ODE systems. Elsevier Autom. 87, 281–289 (2018)
Di Meglio, F., Lamare, P.-O., Aarsnes, U.J.F.: Robust output feedback stabilization of an ODE-PDE-ODE interconnection. Elsevier Autom. 119, 109059 (2020)
Francis, B.A., Wonham, W.M.: The internal model principle for linear multivariable regulators. Appl. Math. Optim. 2(2), 170–194 (1975)
Guerrero, M.E., Mercado, D.A., Lozano, R., García, C.D.: Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing. In: 54th IEEE Conference on Decision and Control (CDC), pp. 6718–6723 (2015)
Hale, J.K., Lunel, S.M.V.: Introduction to Functional Differential Equations. Springer (1993)
Kern, R., Gehring, N., Deutscher, J., Meissner, M.: Design and experimental validation of an output feedback controller for a pneumatic system with distributed parameters. In: S18th International Conference on Control, Automation and Systems (ICCAS), pp. 1391–1396 (2018)
Krstic, M., Smyshlyaev, A.: Backstepping boundary control for first-order hyperbolic PDEs and application to systems with actuator and sensor delays. Syst. Control Lett. 57(9), 750–758 (2008)
Krstic, M., Smyshlyaev, A.: Boundary control of PDEs: a course on backstepping designs. SIAM 16 (2008)
Logemann, H., Rebarber, R., Weiss, G.: Conditions for robustness and nonrobustness of the stability of feedback systems with respect to small delays in the feedback loop. SIAM J. Control Optim. 34(2), 572–600 (1996)
Redaud, J., Argomedo, F.B., Auriol, J.: Output regulation and tracking for linear ODE-hyperbolic PDE-ODE systems. Elsevier Autom. (to be submitted) (2022)
Schmuck, C., Woittennek, F., Gensior, A., Rudolph, J.: Flatness-based feed-forward control of an HVDC power transmission network. In: IEEE 33rd International Telecommunications Energy Conference (INTELEC), pp. 1–6 (2011)
Smith, O.: A controller to overcome dead time. ISA J. 6, 28–33 (1959)
Vazquez, R., Krstic, M., Coron, J.-M.: Backstepping boundary stabilization and state estimation of a 2 \(\times \) 2 linear hyperbolic system. In: 50th IEEE Conference on Decision and Control (CDC), pp. 4937–4942 (2011)
Wang, J., Krstic, M.: Delay-compensated control of sandwiched ODE-PDE-ODE hyperbolic systems for oil drilling and disaster relief. Elsevier Autom. 120, 109131 (2020)
Yoshida, K.: Lectures on differential and integral equations. Intersci. Publ. 10 (1960)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this chapter
Cite this chapter
Redaud, J., Bribiesca-Argomedo, F., Auriol, J. (2022). Practical Output Regulation and Tracking for Linear ODE-hyperbolic PDE-ODE Systems. In: Auriol, J., Deutscher, J., Mazanti, G., Valmorbida, G. (eds) Advances in Distributed Parameter Systems. Advances in Delays and Dynamics, vol 14. Springer, Cham. https://doi.org/10.1007/978-3-030-94766-8_7
Download citation
DOI: https://doi.org/10.1007/978-3-030-94766-8_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-94765-1
Online ISBN: 978-3-030-94766-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)