Most MPC (Model Predictive Control) algorithms used in industries and studied in the control academia use a two-term QP (quadratic programming), where the first term is the weighted norm of the output errors, and the second term is that of the input increments. In this work, a DMC (Dynamic Matrix Control) algorithm that uses three-term QP is studied, where the third term is the weighted norm of the output increments. In the analysis, a relationship between the three-term DMC and the two-term DMC is established; based on that, the closed-loop response curves are derived. Based on the analysis, two controller tuning procedures are developed for the three-term DMC, one for closed-loop step response and one for disturbance reduction. Finally, it will be proven that the three-term DMC can achieve a higher performance and robustness than the two-term DMC can. Simulation studies are used to demonstrate the findings and the tuning methods.

This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the smoothness of maneuvering through cluttered environments, especially targeting low-speed velocity profiles. In such a profile, external aerodynamic effects that are applied on the quadrotor can be neglected. Hence, we used a simplified motion model to represent the motion of the quadrotor when formulating the Nonlinear Model Predictive Control (NMPC)-based local planner. However, the simplified motion model causes residual dynamics between the high-level planner and the low-level controller. The Sparse Gaussian Process Regression-based technique is proposed to reduce these residual dynamics. The proposed technique is compared with Data-Driven MPC. The comparison results yield that an augmented residual dynamics model-based planner helps to reduce the nominal model error by a factor of 2 on average. Further, we compared the proposed complete framework with four other approaches. The proposed approach outperformed the others in terms of tracking the reference trajectory without colliding with obstacles with less flight time without losing computational efficiency.

Large language models (LLMs) providing generative AI have become popular to support software engineers in creating, summarizing, optimizing, and documenting source code. It is still unknown how LLMs can support control engineers using typical control programming languages in programming tasks. Researchers have explored GitHub CoPilot or DeepMind AlphaCode for source code generation but did not yet tackle control logic programming. The contribution of this paper is an exploratory study, for which we created 100 LLM prompts in 10 representative categories to analyze control logic generation for of PLCs and DCS from natural language. We tested the prompts by generating answers with ChatGPT using the GPT-4 LLM. It generated syntactically correct IEC 61131-3 Structured Text code in many cases and demonstrated useful reasoning skills that could boost control engineer productivity. Our prompt collection is the basis for a more formal LLM benchmark to test and compare such models for control logic generation.

Accurate estimation of multiple quality variables is critical for building industrial soft sensor models, which have long been confronted with data efficiency and negative transfer issues. Methods sharing backbone parameters among tasks address the data efficiency issue; however, they still fail to mitigate the negative transfer problem. To address this issue, a balanced Mixture-of-Experts (BMoE) is proposed in this work, which consists of a multi-gate mixture of experts (MMoE) module and a task gradient balancing (TGB) module. The MoE module aims to portray task relationships, while the TGB module balances the gradients among tasks dynamically. Both of them cooperate to mitigate the negative transfer problem. Experiments on the typical sulfur recovery unit demonstrate that BMoE models task relationship and balances the training process effectively, and achieves better performance than baseline models significantly.

Clustering is a common task in machine learning, but clusters of unlabelled data can be hard to quantify. The application of clustering algorithms in chemistry is often dependant on material representation. Ascertaining the effects of different representations, clustering algorithms, or data transformations on the resulting clusters is difficult due to the dimensionality of these data. We present a thorough analysis of measures for isotropy of a cluster, including a novel implantation based on an existing derivation. Using fractional anisotropy, a common method used in medical imaging for comparison, we then expand these measures to examine the average isotropy of a set of clusters. A use case for such measures is demonstrated by quantifying the effects of kernel approximation functions on different representations of the Inorganic Crystal Structure Database. Broader applicability of these methods is demonstrated in analysing learnt embedding of the MNIST dataset. Random clusters are explored to examine the differences between isotropy measures presented, and to see how each method scales with the dimensionality. Python implementations of these measures are provided for use by the community.

In material research, structural characterization often requires multiple complementary techniques to obtain a holistic morphological view of the synthesized material. Depending on the availability of and accessibility of the different characterization techniques (e.g., scattering, microscopy, spectroscopy), each research facility or academic research lab may have access to high-throughput capability in one technique but face limitations (sample preparation, resolution, access time) with other techniques(s). Furthermore, one type of structural characterization data may be easier to interpret than another (e.g., microscopy images are easier to interpret than small angle scattering profiles). Thus, it is useful to have machine learning models that can be trained on paired structural characterization data from multiple techniques so that the model can generate one set of characterization data from the other. In this paper we demonstrate one such machine learning workflow, PairVAE, that works with data from Small Angle X-Ray Scattering (SAXS) that presents information about bulk morphology and images from Scanning Electron Microscopy (SEM) that presents two-dimensional local structural information of the sample. Using paired SAXS and SEM data of novel block copolymer assembled morphologies [open access data from Doerk G.S., et al. Science Advances. 2023 Jan 13;9(2): eadd3687], we train our PairVAE. After successful training, we demonstrate that the PairVAE can generate SEM images of the block copolymer morphology when it takes as input that sample's corresponding SAXS 2D pattern, and vice versa. This method can be extended to other soft materials morphologies as well and serves as a valuable tool for easy interpretation of 2D SAXS patterns as well as creating a database for other downstream calculations of structure-property relationships.

Voltage control is crucial to large-scale power system reliable operation, as timely reactive power support can help prevent widespread outages. However, there is currently no built in mechanism for power systems to ensure that the voltage control objective to maintain reliable operation will survive or sustain the uncertainty caused under adversary presence. Hence, this work introduces a Bayesian Reinforcement Learning (BRL) approach for power system control problems, with focus on sustained voltage control under uncertainty in a cyber-adversarial environment. This work proposes a data-driven BRL-based approach for automatic voltage control by formulating and solving a Partially-Observable Markov Decision Problem (POMDP), where the states are partially observable due to cyber intrusions. The techniques are evaluated on the WSCC and IEEE 14 bus systems. Additionally, BRL techniques assist in automatically finding a threshold for exploration and exploitation in various RL techniques.

To eliminate the static error, overshoot, and vibration of the series elastic actuator (SEA) position control, the resonance ratio control (RRC) algorithm is improved based on L1 adaptive control(L1AC)method. Based on the analysis of the factors affecting the control performance of SEA, the algorithm schema is proposed, the stability is proved, and the main control parameters are analyzed. The algorithm schema is further improved with gravity compensation, and the predicted error and reference error is reduced to guarantee transient performance. Finally, the effectiveness of the algorithm is validated by simulation and platform experiments. The simulation and experiment results show that the algorithm has good adaptability, can improve transient control performance, and can handle effectively the static error, overshoot, and vibration. In addition, when a link-side collision occurs, the algorithm automatically reduces the link speed and limits the motor current, thus protecting the humans and SEA itself, due to the low pass filter characterization of L1AC to disturbance.

Time series prediction is a prevalent issue across various disciplines, such as meteorology, traffic surveillance, investment, and energy production and consumption. Many statistical and machine-learning strategies have been developed to tackle this problem. However, these approaches either lack explainability or exhibit less satisfactory performance when the prediction horizon increases. To this end, we propose a novel plan for the designing of networks' architecture based on transformations, possessing the potential to achieve an enhanced receptive field in learning which brings benefits to fuse features across scales. In this context, we introduce four different transformation mechanisms as bases to construct the learning model including Fourier Transform (FT), Singular Value Decomposition (SVD), matrix multiplication and Conv block. Hence, we develop four learning models based on the above building blocks, namely, FT-Matrix, FT-SVD, FT-Conv, and Conv-SVD. Note that the FT and SVD blocks are capable of learning global information, while the Conv blocks focus on learning local information. The matrix block is sparsely designed to learn both global and local information simultaneously. The above Transformation Learning Networks (TLNets) have been extensively tested and compared with multiple baseline models based on several real-world datasets and showed clear potential in long-range time-series forecasting.

Integrating renewable energy into the power grid while balancing supply and demand is a complex issue, given its intermittent nature. Demand side management (DSM) offers solutions to this challenge. We propose a new method for DSM, in particular the problem of controlling a large population of electrical devices to follow a desired consumption signal. We model it as a finite horizon Markovian mean field control problem. We develop a new algorithm, MD-MFC, which provides theoretical guarantees for convex and Lipschitz objective functions. What distinguishes MD-MFC from the existing load control literature is its effectiveness in directly solving the target tracking problem without resorting to regularization techniques on the main problem. A non-standard Bregman divergence on a mirror descent scheme allows dynamic programming to be used to obtain simple closed-form solutions. In addition, we show that general mean-field game algorithms can be applied to this problem, which expands the possibilities for addressing load control problems. We illustrate our claims with experiments on a realistic data set.