טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
Ph.D Thesis
Ph.D StudentMaxim Kristalny
SubjectExploiting Previewed Information in Estimation and Control
DepartmentDepartment of Mechanical Engineering
Supervisor Full Professor Mirkin Leonid
Full Thesis textFull thesis text - English Version


Abstract

Information preview can be encountered in numerous control (e.g., robotics and automotive control) and signal processing applications. We appreciate this frequently when slowing down after seeing a speed bump ahead while driving. Although the availability of preview can improve control/estimation the performance, the question of how to exploit this potential is by no means trivial. In the current work this question is addressed in the general setting of model matching optimization, which can be considered as a unified framework for estimation and control problems.

The first part of the thesis is dedicated to the input-output stabilization problem, which can be  associated with asymptotic behavior constraints and considered as a preliminary step to the optimization. The existing stabilization methods are either constrained to a simpler one-sided version of the problem or lead to complicated parametrizations of all stabilizing solutions. In this work mild and intuitively clear assumptions are found, facilitating derivation of a convenient parametrization, given in terms of a single stable but otherwise arbitrary parameter. The derivation is based on a solution of rational bilateral Diophantine equation, which is a standalone mathematical result.

The second part of the thesis deals with the H 2 optimization with preview and asymptotic behavior constraints. Although the one-sided case of this problem is currently well studied, its general two-sided version has not been addressed in the literature. In this work an explicit and numerically efficient solution of the two-sided problem is derived. Advantages of the proposed solution are demonstrated by two laboratory experiments and simulations of an active suspension problem.

The last part of this thesis is dedicated to the one-sided H   model matching problem with multiple preview. Although in the H 2 setting this problem can be solved channel wise, this is not true in the H case. In this work the H problem is solved using the J-spectral factorization approach. The resulting formulae reveal the structure of the optimal solution and suggest a way to analyze the effects of the preview in different channels on the achievable performance.