Automatic Analysis and Synthesis of Controllers for Dynamical Systems Based on Phase-Space Knowledge
Abstract
This thesis presents a novel design methodology for the synthesis of automatic controllers, together with a computational environment-the Control Engineer's Workbench-integrating a suite of programs that automatically analyze and design controllers for high-performance, global control of nonlinear systems. This work demonstrates that difficult control synthesis tasks can be automated, using programs that actively exploit and efficiently represent knowledge of nonlinear dynamics and phase space and effectively use the representation to guide and perform the control design. The Control Engineer's Workbench combines powerful numerical and symbolic computations with spatial reasoning techniques. The two major programs in the Workbench-Phase Space Navigator and MAPS-work together to model and reason about the phase-space geometry and topology of a given sys to plan global control reference trajectories. and to navigate the system along the planned trajectories. They use a novel technique of 'flow pipes' to group in finite numbers of distinct behaviors into a manageable discrete set that becomes the basis for establishing the reference trajectories. As a demonstration of this approach, I exhibit the automatic design of a non controller for a magnetic levitation system.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1992
- Accession Number
- ADA259491
Entities
People
- Feng Zhao
Organizations
- Massachusetts Institute of Technology