Nonlinearrationalmodelidentificationandcontrol.pptVIP

* 6 * * * * * * Nonlinear rational model identification and control Professor Quan M. Zhu Bristol Institute of Technology University of the West of England Frenchay Campus Coldharbour Lane, Bristol BS16 1QY, UK quan.zhu@uwe.ac.uk Contents 1) Background knowledge 2) Rational models and representations 3) Structure detection and parameter estimation 4) Correlation based validation 5) Controller design 6) Conclusions Model identification Input/output data from instrument measurements and expert perceptions Parametric model structure Parameter estimation Validity tests model training/ identification plant Model validation Examine residuals Correlation tests A valid model’s residuals should be reduced to uncorrelated sequence with zero mean and finite variance model examination/ diagnosis plant _ residual A general modelling and control structure plant model training control input output residual Target Rational models (1) --- Expression Rational models (2) --- Example Rational models (3) --- Characteristics 1) The model can be much more concise than a polynomial expansion, for example 2) The model can produce large deviations in the output, for example Rational models (4) --- Errors Rational models (5.1) --- Representations 1) The polynomial NARMAX models is a special case of RM by setting denominator polynomial b(t) = 1. 2) The model is non-linear in both the parameters and the regression terms, this is induced by the denominator polynomial. 3) Modelling of chemical kinetics, bio dynamics, brain image. Rational models (5.2) --- Representations 4) Fuzzy systems with centre defuzzifier, product inference rule, singleton fuzzifier, and Gaussian membership function. 5) The normalised radial basis function network is also a type of rational model. When the centres and widths need to be estimated this becomes a rational model parameter estimation problem. 6) Difference in time domain and frequency domain Structure detection and parameter estimation (1) Pred