### | Positions | Description | Bib | | UP | Research HOME |

Optimal Placement of Sensors and Actuators

## Optimal Placement of Sensors and Actuators

Hemanshu R. Pota
Ian R. Petersen

### Positions Available

Positions are immediately available for part-time and full-time research students for both master's and PhD. A very generous financial support from the School of IT&EE and scholarship support from UNSW@ADFA and other schemes is also available.

### Project Description

I have collaborated in this research with Dr M. Vidyasagar (Executive Vice-President, Tata Consultancy Services, Hyderabad, India), Professor Thomas Alberts (Old Dominion University, Norfolk, VA), Professor Wayne Book (Georgia Institute of Technology), researchers at the University of Tennessee, Knoxville, Associate Professor Reza Moheimani (the University of Newcastle, NSW), and Professor Ian Petersen .

In this area I have made some fundamental contributions. My first contribution in this area was the theoretical proof of the passivity of modified output feedback for the control of flexible links. The use of modified output is now considered as one of the best choices for the design of practical controllers for flexible structures. I proved the passivity for a class of these modified output transfer functions. Flexible structures have infinite degrees-of-freedom and consequently the combinations of inputs and outputs is infinite. In practice a few of these combinations are used. It is important to characterise these classes of transfer functions for effective control design. I made a fundamental contribution in this area by obtaining complete transfer functions, using symbolic methods, which enabled a characterisation of these transfer function. Based on this fundamental contribution, I proved a pole-zero cancellation result in the area of feedforward control of flexible structures. In the area of the control of flexible structures there is much in common with the control of acoustical systems. In the description of my research in acoustical system control I mentioned three distinct methods on which I have worked. These methods have been applied to flexible structures as well. In particular the design of resonant controllers and spatial controllers have been my novel contributions to this area.

### Publication Related to this Project

 S. O. Reza Moheimani, Ian R. Petersen, and Hemanshu R. Pota (2004). "Editorial --- Emerging technologies for active noise and vibration control systems." IFAC Journal of Control Engineering Practice. (to appear). html I. R. Petersen and H. R. Pota (2003). "Minimax LQG optimal control of a flexible beam." IFAC Journal of Control Engineering Practice, 11(11), 1273-1287. ISSN: 0967-0661. H. R. Pota, S. O. Reza Moheimani, and M. Smith (2002). "Resonant controllers for smart structures." Smart Materials and Structures, 11, 1-8. ISSN: 0964-1726. S. O. R. Moheimani, I. R. Petersen, and H. R. Pota (1999). "Broadband disturbance attenuation over an entire beam." Journal of Sound and Vibrations, 227(4), 807-832. ISSN 0022--460X. abs.ref S. O. Reza Moheimani, Hemanshu R. Pota, and Ian R. Petersen (1999). "Spatial Balanced Model Reduction for Flexible Structures." Automatica, 35, 269-277. ISSN 0005--1098. Hemanshu R. Pota and Thomas E. Alberts (1998). "Teaching Vibration Analysis using Symbolic Computation Software." International Journal of Mechanical Engineering Education, 26(2), 75-88. T. E. Alberts and H. R. Pota (1997). "Broadband Dynamic Modification Using Feedforward Control." ASME Journal of Dynamic Systems, Measurement and Control, 119(4), 700-706. H. R. Pota (1996). "{MIMO Systems---Transfer Function to State-Space." IEEE Transactions on Education, 39(1), 97-99. H. R. Pota and T. E. Alberts (1995). "Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam." Transactions of the ASME Journal of Dynamic Systems, Measurement, and Control, 117(3), 352-359. T. E. Alberts, T. V. DuBois, and H. R. Pota (1995). "Experimental Verification of Transfer Functions for a Slewing Piezoelectric Laminate Beam." IFAC Journal of Control Engineering Practice, 3(2), 163-170. ISSN: 0967-0661. H. R. Pota (1992). "A Prototype Flexible Robot Arm---An Interdisciplinary Undergraduate Project." IEEE Trans. on Education, 35(1), 83-89. Z. Mohamed, M. O. Tokhi, and H. R. Pota (2004). Chapter 6: Dynamic Characterisation of Flexible Manipulators using Symbolic Manipulation. Flexible Robot Manipulators - Modelling, Simulation and Control. IEE (UK). Eds. M. O. Tokhi and A. K. M. Azad (to be published). M. O. Tokhi, A. K. M. Azad, H. R. Pota, and K. Sneda (2004). Chapter 1: Introduction. Flexible Robot Manipulators - Modelling, Simulation and Control. IEE (UK). Eds. M. O. Tokhi and A. K. M. Azad (to be published). I. R. Petersen and H. R. Pota (2000). "Minimax LQG optimal control of a flexible beam." 3rd IFAC Symposium on Robust Control Design. June. Prague. H. R. Pota, S. O. Reza Moheimani, and M. Smith (1999). "Resonant Controllers for Flexible Structures." Proceedings of IEEE International 38th Conference on Decision and Control. 7-10 December. Phoenix, Arizona. (pp. 631-636). S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1998). "Active Control of Noise and Vibration in Acoustic Ducts and Flexible Structures --- A Spatial Control Approach." Proceedings of the American Control Conference. 24-26 June. Philadelphia, PA. (pp. 2601-2605). S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1998). "Spatial Control for Active Vibration Control of Piezoelectric Laminates." Proceedings of the Conference on Decision and Control. 16-18 Dec. Tampa, FL. (pp. 4308-4312). S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1998). "Active control of a piezo-electric laminate cantilevered beam." Proceedings of the International Symposium on Intelligent Robotic Systems. January. Bangalore, India. (pp. 505-512). S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1997). "Active control of vibrations in a piezo-electric laminate cantilevered beam - a spatial LQG approach.." Proceedings of Control 97. October. Sydney, Australia. S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1997). "Broadband disturbance attenuation over an entire beam." Proceedings European Control Conference. July. Brussels, Belgium. H. R. Pota and T. E. Alberts (1997). "Vibration Analysis using Symbolic Computation Software." Proceedings American Automatic Control Conference. June. Albuquerque, NM. (pp. 1400-1401). S. O. R. Moheimani, H. R. Pota, and I. R. Petersen (1997). "Spatial Balanced Model Reduction for Flexible Structures." Proceedings American Automatic Control Conference. June. Albuquerque, NM. (pp. 3098-3102). H. R. Pota (1996). "Slewing Beam with Joint Friction---A Simulation." Proceedings of 13th Triennial IFAC World Congress. June 30-July 5. San Francisco. (pp. 109-114). H. R. Pota (1995). "Colocated and Noncolocated Control of Distributed Parameter Systems." Proceedings of the International Symposium on Intelligent Robotic Systems (ISIRS95). 22-24 November. Bangalore, India. T. E. Alberts and H. R. Pota (1995). "Broadband Dynamic Modification Using Feedforward Control." Proceedings of the 1995 Design Engineering Technical Conference, DE-Vol. 84--2. 17-21 September. Boston. (pp. 735-744). T. E. Alberts, T. V. DuBois, and H. R. Pota (1993). "Experimental Verification of Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam." Proceedings of the 12th World Congress of the IFAC, Vol. 8. 18-23 July. Sydney, Australia. (pp. 515-518). T. E. Alberts, T. V. DuBois, and H. R. Pota (1993). "Experimental Verification of Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam." Proceedings of the 12th World Congress of the IFAC, Vol. 8. 18-23 July. Sydney, Australia. (pp. 515-518). T. E. Alberts, T. V. DuBois, and H. R. Pota (1993). "Experimental Verification of Multivariable Slewing Piezoelectric Laminate Beam Transfer Functions, with Both Minimum Phase and Non-minimum Phase Zeros." Proceedings of the Intl. Symp. on Intelligent Robotics,. Jan 7-9. Bangalore, India. (pp. 349-359). Hemanshu R. Pota, Thomas E. Alberts, and Ian R. Petersen (1993). "{$H^\infty$ Control of Flexible Slewing Link with Active Damping." Proceedings of the International Symposium on Smart Structures and Materials '93. February. (pp. 60-71). H. R. Pota and T. E. Alberts (1992). "Multivariable Transfer Functions for a Slewing Piezoelectric Laminate Beam." Proc. IEEE Int. Conf. on Systems Engineering. 17-19 Sept. Kobe, Japan. T. E. Alberts and H. R. Pota (1992). "Experiments in Control of Flexible Beam with Modified Outputs." \#SIT. (pp. 222-230). H. R. Pota and M. Vidyasagar (1991). "Passivity of Flexible beam Transfer Functions with Modified Outputs." Proceedings of the IEEE International Conference on Robotics and Automation. April 7-11. Sacramento, CA. (pp. 2826-2831). H. R. Pota and M. Vidyasagar (1991). "Passivity of Flexible beam Transfer Functions with Modified Outputs." Proc. Intl. Symp. on Intelligent Robotics. January. Bangalore, India. (pp. 236-241).