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LQG/LTR control of input-delayed discrete-time systems

Horla D., Krolikowski A.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2019

Vol. 67, nr 6

1049--1058

A simple robust cheap LQG control is considered for discrete-time systems with constant input delay. It is well known that the full loop transfer recovery (LTR) effect measured by error function ∆(z) can only be obtained for minimum-phase (MPH) systems without time-de-lay. Explicit analytical expressions for ∆(z) versus delay d are derived for both MPH and NMPH (nonminimum-phase) systems. Obviously, introducing delay deteriorates the LTR effect. In this context the ARMAX system as a simple example of noise-correlated system is examined. The robustness of LQG/LTR control is analyzed and compared with state prediction control whose robust stability is formulated via LMI. Also, the robustness with respect to uncertain time-delay is considered including the control systems which are unstable in open-loop. An analysis of LQG/LTR problem for noise-correlated systems, particularly for ARMAX system, is included and the case of proper systems is analyzed. Computer simulations of second-order systems with constant time-delay are given to illustrate the performance and recovery error for considered systems and controllers.

Vision of the Decision Support Model on Board of the Vessel with Use of the Shore Based IT Tools

Bibik L., Krolikowski A., Czaplewski K., Duda D.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2008

Vol. 2, no. 3

255--258

The Maritime Safety Committee (MSC) at its 81st session decided to include, in the work programmes of the NAV and COMSAR Sub-Committees, a high priority item on "Development of an e–navigation strategy”. E-navigation is meant to integrate existing and new electronic navigational tools (ship and shore based) into one comprehensive system that will contribute to enhanced navigational safety and security while reducing the workload of the mariner (navigator). This paper describes present IT created to support navigational and administrative activities related to vessel movement and cargo transhipment. Direction of development of existing systems is drafted with reference to E-Navigation concept. Information sets available for the vessel in Polish Sea Areas are grouped.