Table of Contents

Cover

Preface

Introduction

I.1. Architecture of computer-aided control systems
I.2. Dynamic processes to be controlled
I.3. Multifunction data acquisition (MDAQ) interface
I.4. Multimedia PC
I.5. Remote access stations
I.6. Organization of the book

Part 1: Advanced Elements and Test Bench of Computer-aided Feedback Control

1 Canonical Discrete State Models of Dynamic Processes
1. 1.1. Interest and construction of canonical state models
2. 1.2. Canonical realizations of a transfer function G(z)
3. 1.3. Canonical transformations of discrete state models
4. 1.4. Canonical decomposition diagram
5. 1.5. Discretization and canonical transformations using Matlab
6. 1.6. Exercises and solutions
2 Design and Simulation of Digital State Feedback Control Systems
1. 2.1. Principle of digital state feedback control
2. 2.2. Calculation of the gain K using pole placement
3. 2.3. State feedback with complete order observer
4. 2.4. Discrete state feedback with partial observer
5. 2.5. Discrete state feedback with set point tracking
6. 2.6. Block diagram of a digital control system
7. 2.7. Computer-aided simulation of a servomechanism
8. 2.8. Exercises and solutions
3 Multimedia Test Bench for Computer-aided Feedback Control
1. 3.1. Context and interest
2. 3.2. Hardware constituents of the platform
3. 3.3. Design elements of the ServoSys software application
4. 3.4. Design of the ServoSys software application
5. 3.5. Implementation of the ServoSys multimedia platform
6. 3.6. Overall tests of the platform
7. 3.7. Exercises and solutions

Part 2: Deterministic and Stochastic Optimal Digital Feedback Control

4 Deterministic Optimal Digital Feedback Control
1. 4.1. Optimal control: context and historical background
2. 4.2. General problem of discrete-time optimal control
3. 4.3. Linear quadratic regulator (LQR)
4. 4.4. Translation in discrete time of continuous LQR problem
5. 4.5. Predictive optimal control
6. 4.6. Exercises and solutions
5 Stochastic Optimal Digital Feedback Control
1. 5.1. Introduction to stochastic dynamic processes
2. 5.2. Stochastic LQR
3. 5.3. Discrete Kalman filter
4. 5.4. Linear Quadratic Gaussian regulator
5. 5.5. Exercises and solutions
6 Deployed Matlab/GUI Platform for the Design and Virtual Simulation of Stochastic Optimal Control Systems
1. 6.1. Introduction to OPCODE (Optimal Control Design) platform
2. 6.2. Fundamental OPCODE design elements
3. 6.3. Design of OPCODE using SFC
4. 6.4. Software implementation
5. 6.5. Examples of OPCODE use
6. 6.6. Production of deployed OPCODE.EXE application
7. 6.7. Exercises and solutions

Part 3: Remotely Operated Feedback Control Systems via the Internet

7 Elements of Remotely Operated Feedback Control Systems via the Internet
1. 7.1. Problem statement
2. 7.2. Infrastructural topologies
3. 7.3. Remotely operated laboratories via the Internet
4. 7.4. Exercises and solutions
8 Remotely Operated Automation Laboratory via the Internet
1. 8.1. Introduction to remotely operated automation laboratory
2. 8.2. Design and implementation of the experimental system
3. 8.3. Topology of the remotely operated automation laboratory
4. 8.4. Use of a remotely operated laboratory via the Internet
5. 8.5. Exercises and solutions

Appendices

Appendix 1: Table of z-transforms
Appendix 2: Matlab Elements Used in this Book
Appendix 3: Discretization of Transfer Functions
1. A3.1. Discretization of transfer functions of dynamic processes
2. A3.2. Discretization of transfer functions of analog controllers

Bibliography

Index

End User License Agreement

List of Tables

Introduction

Table I.1. Buses used in computer-aided instrumentation
Table I.2. Examples of basic functions of an MDAQ interface driver: case of K8055.dll driver of USB/VM110 card

3 Multimedia Test Bench for Computer-aided Feedback Control

Table 3.1. Commands of the K8055.DLL driver for C++ and MEX-C++

4 Deterministic Optimal Digital Feedback Control

Table 4.1. Landmarks in the history of dynamic optimization
Table 4.2. Matlab program “LqrScalaire.m” for the resolution

5 Stochastic Optimal Digital Feedback Control

Table 5.1. Results of the filter simulation

7 Elements of Remotely Operated Feedback Control Systems via the Internet

Table 7.1. Tools for rapid production of web and MMMI applications

8 Remotely Operated Automation Laboratory via the Internet

Table 8.1. Automation experiments and concepts of the REOPAULAB
Table 8.2. Instruction sheet for REOPAULAB remote operators
Table 8.3. Solution to exercise 8.7

Appendix 1: Table of z-transforms

Table A1.1. Table of z-transforms (T: sampling period)
Table A2.1. Matlab elements used in this book

Appendix 3: Discretization of Transfer Functions

Table A3.1. Discretization of transfer functions of the PID controllers
Table A3.2. Discretization of transfer functions of the PIDF controllers

List of Illustrations

Introduction

Figure I.1. Architecture of a complete system for computer-aided control
Figure I.2. Software structure unified by an MDAQ interface
Figure I.3. Operational diagram of real-time programming of an MDAQ interface

1 Canonical Discrete State Models of Dynamic Processes

Figure 1.1. Block diagram of a Jordan realization of G(z): case of distinct simple poles
Figure 1.2. Block diagram of a Jordan realization of G(z): case of multiple poles
Figure 1.3. Block diagram of a Jordan realization of G(z): case of complex poles
Figure 1.4. Block diagram of the controllable realization of G(z)
Figure 1.5. Block diagram of the observable realization of G(z)
Figure 1.6. Diagram of canonical decomposition
Figure 1.7. Discretization and canonical transformations of dynamic models using Matlab
Figure 1.8. Block diagram of a servomechanism controlled by a discrete PI controller
Figure 1.9. Jordan block diagrams of G(z) and D(z)
Figure 1.10. Block diagram of discrete state space control
Figure 1.11. Result of the Matlab-based simulation
Figure 1.12. Example of Matlab program for the simulation of the control system in the discrete state space

2 Design and Simulation of Digital State Feedback Control Systems

Figure 2.1. Block diagram of a digital control system in the discrete state space
Figure 2.2. Structure of a complete state observer
Figure 2.3. Block diagram of a state feedback control system with complete order observer
Figure 2.4. Algorithm of state feedback with complete observer
Figure 2.5. Detailed block diagram of the partial state observer
Figure 2.6. Diagram of state feedback control with partial observer
Figure 2.7. Algorithm of discrete state feedback with partial observer
Figure 2.8. Diagram of discrete state feedback with set point tracking
Figure 2.9. Block diagram of digital discrete state feedback controller with estimator
Figure 2.10. Block diagram of digital state feedback control with complete observer of a speed servomechanism
Figure 2.11. Graphic results of the step response of time delay servomechanism
Figure 2.12. Results of simulation of the step response of the digital state feedback control system of the servomechanism
Figure 2.13. Matlab “gain.m” program
Figure 2.14. Results of running the Matlab “gain.m” program
Figure 2.15. Matlab “RetEtaObsCom.m” program
Figure 2.16. Simulation results of a state feedback control system with and without complete order observer
Figure 2.17. Matlab “RetEtaObsRed.m” program
Figure 2.18. Results of the simulation of a state feedback control system with or without partial observer

3 Multimedia Test Bench for Computer-aided Feedback Control

Figure 3.1. ServoSys hardware architecture
Figure 3.2. Range of ServoSys feedback control diagrams
Figure 3.3. Relational model of a MEX-C++ library with other Matlab environment software entities
Figure 3.4. Structure of a MEX-C++ program
Figure 3.5. Syntactic structure of a MEX-C++ function
Figure 3.6. Constituents of a Matlab/GUI application
Figure 3.7. Architectural diagram of the ServoSys platform
Figure 3.8. Main SFC of the ServoSys control part
Figure 3.9. M7 macro-step expansion SFC
Figure 3.10. M9 macro-step expansion SFC
Figure 3.11. Shot of the Matlab/GUI/MEX-C++ platform
Figure 3.12. Illustration of a second example of the “callback" function
Figure 3.13. Screenshot of the multimedia control panel. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.14. PIDF control with "sine" speed set point. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.15. PIDF control under “square” speed set point. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.16. Position control using the PIDF controller. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.17. Robustness of PIDF speed control under perturbation. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.18. Position state feedback control with observer. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.19. Robustness of speed state feedback control with observer under perturbation. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.20. Other obtained results. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.21. Other obtained results(continuation). For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 3.22. Aspect of an MMMI area of the ServoSys platform. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip

4 Deterministic Optimal Digital Feedback Control

Figure 4.1. Space of admissible trajectories
Figure 4.2. Diagram of LQR dynamic optimization
Figure 4.3. Gains, controls and costs generated by the “LqrScalaire.m” program
Figure 4.4. States and values generated by the “LqrScalaire.m” program
Figure 4.5. Block diagram of MPC
Figure 4.6. Structure of predictive optimal control
Figure 4.7. Simulation program for LQR and suboptimal LQR
Figure 4.8. Results of the simulation of a scalar LQR
Figure 4.9. Graph of S_∞(a) for – 1/2 ≤ a ≤ 1/2
Figure 4.10. Structural diagram of predictive control

5 Stochastic Optimal Digital Feedback Control

Figure 5.1. Illustrative diagram of semi-deterministic processes
Figure 5.2. Algorithmic diagram of the stochastic LQR
Figure 5.3. Algorithmic diagram of the discrete Kalman filter
Figure 5.4. Block diagram of the LQG regulator
Figure 5.5. Proposed program

6 Deployed Matlab/GUI Platform for the Design and Virtual Simulation of Stochastic Optimal Control Systems

Figure 6.1. Diagrams of deterministic optimal control of OPCODE
Figure 6.2. Palette of stochastic optimal control diagrams
Figure 6.3. Architectural diagram of the OPCODE platform
Figure 6.4. Main SFC of the OPCODE software platform
Figure 6.5. SFC for the expansion of macro-step M9
Figure 6.6. SFC for the expansion of macro-step M10
Figure 6.7. Default options of the OPCODE GUI. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 6.8. LQRT design. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 6.9. Design and simulation of a Kalman filter. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 6.10. LQGT∞ design. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 6.11. Folder of the deployed OPCODE.EXE application
Figure 6.12. Sample of the obtained results with deployed OPCODE.EXE. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 6.13. VMMI area

7 Elements of Remotely Operated Feedback Control Systems via the Internet

Figure 7.1. Basic infrastructural topology of a REOPCOS
Figure 7.2. Monoserver and multiprocess topology
Figure 7.3. Multiserver and multiprocess topology
Figure 7.4. Topology of cooperative REOPCOS
Figure 7.5. Universal topology
Figure 7.6. Topology featuring a controller on the web client side
Figure 7.7. MMMI image of a remotely operated laboratory
Figure 7.8. Image received after two time units

8 Remotely Operated Automation Laboratory via the Internet

Figure 8.1. Diagrams of the experimental system for lighting control
Figure 8.2. MMMI of the Labview client/server application. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.3. Diagrams of the REOPAULAB for lighting control. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.4. Snapshot of the remotely operated experimental platform [PAU 16]
Figure 8.5. MMMI display of the complete Labview application [PAU 16]. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.6. Examples of test results via a local Internet network. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.7. Further test results obtained using a local Internet network. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.8. REOPAULAB test results obtained from Lens in France. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.9. MMMI of the remotely operated automation laboratory. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip
Figure 8.10. Screenshot of MMMI of the remotely operated automation laboratory. For a color version of this figure, see www.iste.co.uk/mbihi/regulation.zip

First published 2018 in Great Britain and the United States by ISTE Ltd and John Wiley & Sons, Inc.

Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms and licenses issued by the CLA. Enquiries concerning reproduction outside these terms should be sent to the publishers at the undermentioned address:

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John Wiley & Sons, Inc.

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The rights of Jean Mbihi to be identified as the author of this work have been asserted by him in accordance with the Copyright, Designs and Patents Act 1988.

Library of Congress Control Number: 2018937753

British Library Cataloguing-in-Publication Data

A CIP record for this book is available from the British Library

ISBN 978-1-78630-249-6

Preface

This book presents an in-depth study of advanced design techniques and modern technology for the implementation of computer-aided feedback control systems for deterministic and stochastic dynamic processes.

It is addressed to stakeholders (students, teachers and researchers) in engineering schools, teacher training schools for technical education, PhD schools and applied science research centers.

This book will provide readers with:

– techniques for building canonical discrete state models of dynamic processes, as well as methods for the design of discrete state feedback digital controllers;
– a detailed case study of the creation and effective implementation of a new computer-aided multimedia test bench for servomechanisms, based on virtual toolboxes of PIDF (proportional, integral and derivative with filter) controllers, state feedback controllers (with or without observer) and virtual instruments;
– detailed algorithmic schemes of deterministic or stochastic optimal control, with finite or infinite optimization time;
– secrets of the creation and prototyping of a new remote virtual Matlab®/GUI platform, the rapid design of systems for deterministic and stochastic optimal control;
– infrastructural topologies of real-time remote feedback control systems;
– a detailed case study of the creation and effective implementation of a new remotely operated automation laboratory (REOPAULAB) via the Internet;
– Matlab programs for teaching purposes, allowing the replication, if needed, of the numerical and graphic results presented in this book;
– corrected exercises at the end of each chapter, aimed at consolidating the acquired technical knowledge.

The content of this book is the outcome of the experiences gathered by the author throughout the last 15 years with ENSET (École Normale Supérieure d’Enseignement Technique) and UFD (Unité de Formation Doctorale) in Engineering Sciences at the University of Douala, which involved multiple activities:

– lectures on “deterministic and stochastic optimal control” and “Matlab-aided advanced programming”;
– scientific research of new flexible teaching platforms;
– support for the development of computer-aided control technology in modern automated process engineering.

The author wishes to commend the state of Cameroon for the scientific research grant awarded via the Ministry of Higher Education, which allowed him to cover a part of the costs involved for preparing and editing this book.

The author wishes to sincerely thank:

– Prof. Womonou Robert, director and promoter of ESSET at the University of Douala and Nkongsamba, for his motivational support in completing this book.
– Prof. Nneme Nneme Léandre, director of ENSET at the University of Douala, who participated in the study of the remotely operated automation laboratory, which is presented in Chapter 8.
– Pauné Félix, PhD lecturer in the Computer Science Engineering department of ENSET at the University of Douala, who is the main author and the system administrator of the above-mentioned remotely operated automation laboratory, a subject that he has studied and implemented in his PhD thesis, conducted under the author’s supervision.
– Lonlac Konlac Karvin Jerry PhD lecturer and head of the department of Computer Science Engineering of ENSET at the University of Douala. While abroad, during his post-doctoral studies at Lens, in France, he was the first remote test operator without online assistance of the above-mentioned remote automation laboratory.
– The ISTE editorial team, for their excellent collaboration throughout all the editing phases of this book.
– His wife, Mrs. Mbihi, born Tsafack Pélagie Marthe, who offered her close assistance, and all those who have substantially contributed to the production of this book.

Jean MBIHI

March 2018