Robust nonlinear controller based on set propagation

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dc.contributor.advisorAttfield, Malcomen_ZA
dc.contributor.authorFish, Garron Aen_ZA
dc.date.accessioned2014-07-31T10:57:53Z
dc.date.available2014-07-31T10:57:53Z
dc.date.issued2003en_ZA
dc.descriptionBibliography: leaves 74-[76.]
dc.description.abstractA novel control method, based on interval analysis, that optimises the control surface (or u-surface) for sampled systems with output disturbances is demonstrated on a driven pendulum with actuator constraints. The fitness function to be maximized is the probability of each state of the system being controlled to the setpoint without being perturbed to regions that are more iterations away from the setpoint. The u-surface is designed by finding all the states that could go to the setpoint in an interval and optimising these states. This process is repeated (backwards in time) by optimising states that go to the previously optimised states until no more states that have not been optimised are found. The proposed control method has been applied to the problem of swinging up a driven pendulum from rest to the inverted position with constraints on the torque of the motor. This method is computationally intensive and time constraints limit its current application to systems of low order.en_ZA
dc.identifier.apacitationFish, G. A. (2003). <i>Robust nonlinear controller based on set propagation</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/5222en_ZA
dc.identifier.chicagocitationFish, Garron A. <i>"Robust nonlinear controller based on set propagation."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2003. http://hdl.handle.net/11427/5222en_ZA
dc.identifier.citationFish, G. 2003. Robust nonlinear controller based on set propagation. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Fish, Garron A AB - A novel control method, based on interval analysis, that optimises the control surface (or u-surface) for sampled systems with output disturbances is demonstrated on a driven pendulum with actuator constraints. The fitness function to be maximized is the probability of each state of the system being controlled to the setpoint without being perturbed to regions that are more iterations away from the setpoint. The u-surface is designed by finding all the states that could go to the setpoint in an interval and optimising these states. This process is repeated (backwards in time) by optimising states that go to the previously optimised states until no more states that have not been optimised are found. The proposed control method has been applied to the problem of swinging up a driven pendulum from rest to the inverted position with constraints on the torque of the motor. This method is computationally intensive and time constraints limit its current application to systems of low order. DA - 2003 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2003 T1 - Robust nonlinear controller based on set propagation TI - Robust nonlinear controller based on set propagation UR - http://hdl.handle.net/11427/5222 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/5222
dc.identifier.vancouvercitationFish GA. Robust nonlinear controller based on set propagation. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2003 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/5222en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Electrical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherElectrical Engineeringen_ZA
dc.titleRobust nonlinear controller based on set propagationen_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMScen_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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