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Nonlinear Model Identification and State-observer 旧
Nonlinear Model Identification and State-observer 旧
Nonlinear Model Identification and State-observer 旧
D. Georges
A b s t r a c t : This paper discusses the nonlinear liinitcd iiuinber of well-chosen fow and/or level
model identification and the state-observer d e mea.siirements Y Flows dynamics in water tfistri-
sign for water distribution systems. A nonlinear hution systems are goveriicd by a set of nonlin-
niodel of the flows dynamics is put forward, on ear cciupieti liyperbolic partial tlifferential equa-
the basis of the Saint-Venaiit equations. Since t,ioiis. lillo\V1l i t s the Saint-Venant equatioiis. A
some of the model parameters are not k i i u w ~;iiirplilietliiiotlcl is put forward on tlie basis of
or may be slowly time-varying, an identificat ioii a. simple first order s p t i a l discretizat.ion. TIE
procedure is needed. Our approa.ch is based air f i r s t hection presents tlie niodelling aspec.ts, the
output-error minimization, by use of non1iiie;ir second one deals with soiiiii identification issues
programming techniques. On tlie basis 0 1 t lie [ struc tural identifiability, identification algori-
identified model, the problem of state-observcbr tlritns I . The third section is devoted to the non-
design is t.hen stated. 1iiiea.r state-observer desigir . In the last section,
0 1 1 1 . i (Ien t i ii cat ion algori t h i I i s a.nd s t a.to-observer
Keywords: Nonlinear systems, systeni itlciiti- are applied to a stretch of it rea,] water distribii-
fication, nonlinear state-observer, observali1it.y tioil systeni.
Gramia,iis assignement.
INTRODUCTION
dr
< 0);
X C RZN-': X = { X E R2N-';gi L: X, L:
J(z,z, q)-the friction slope: -r j , g j , z j > 0 , i = 1,...,2N - 1). Input vec-
tor U is also supposed to belong t o a compact
set U = { u / g L: U L: n}. These assumptions
are realistic because, for physical reasons, water
where T is a friction coefficient.(J may be also
level and water flows are bounded.
defined by: J = "" with D = K s ( - ) ~and
-
0 2
s
P
2
ing nonlinear programming; algoritlinis. suclt <LS i iig to the following iterative formilla:
Gauss-Newton, Levenberg-~'larquardtor flE'C;S
quasi-h-ewton algorithms. Evaluation of C;i.;tcli-
eiit r f ( p ) is needed i n all ciises. V f ( p )is gi\,c.n
by sensitivity calculatioii:
N,
DY,n
~ f ( i v=i 2C--(ti,p)7'~~i[y7n(l,,~1)- ti)]
i=l
(911
BFGS a l g o r i t h m : pk+' =: pk f u I ; d I ; . where tli;
is given by:
STATE-OBSERVER DESIGN
on the linearized flow dynamics, obtained at the which defines a change of coordinates of for,n
vicinity of an equilibrium point (x,, u e ) : 0 = T ( x ) . In new coordinates U , the dynamits
becomes:
6 y = C6x
where pair (A,,C,) is observable by construc-
with62 = x - x Z e , 6 u = u - u e r 6 y = y - y e where
(E) are evaluated a t
tion. Then we need to introduce a fundamental
lemma:
with respect t o x, for u = 0, has a full rank (C2) There exists P satisfying lemma 4,
2N - 1 (observability condition), w e can select for given Q, and with A , and CO given
a subset of full rank: by equations (16). (This condition is met
because pair ( A o ,C,) is observable).
{Ul, ...,0z‘V-1> = IlYl, ..., LpF’Yl,..., yp, ... L$YP}
)
89 1
Tests of identification a l g o r i t h m s
with y = (X,(Q<,) - 2X,y(P)bq)/2Xs(Pj > 0.
Then e is bounded and the c~bservationei ror tly-
namics is exponentially stable. This c:anal stretch has beclii divided in 10 seg-
nients. Then a model ( 2 ) and ( 3 ) of order 19
Theorem 5 If conditions ( C l ) a'nd (C2) hold is oblnined. The a.im of this section is to com-
pare the efficiency of the Gau:is-Newton algo-
and assuming that Ar(Qo) :> 2Xs(P)bd. the 0 6 -
servation error dyiiciniics resulting from o b s r m r' rithm. the Levenberg-Marclua.rdt algorithm and
t,lie BFGS a.lgoritlim, on the basis of the identifi-
(18) is exponentially stable in D .
cation of width paraiiieters p = ( L 1 ,Lz. ..., Llo,)T,
using water level time-serirs zl(ti) and il,)(t,),
R e m a r k s . We cannot guarantee that estimated t; = I , ...A.,I The following results have been
state 0 will not leave compact set D , during obtaii ed, with the same precision, using M A T
r-
transients. Condition X,[Qu) > 2Xs( P)6,++ini- LAB optimization toolbox:
posed by theorem 5 gives a restriction to the
maximum value of deviation 6 d .
Gauss-Newton
NUMERICAL SIMULATIONS L~,veiiberg-Marquardt1
BFGS
S t a t e - o b s e r v e r design a n d s i m u l a t i o n
I
I
f-- 4. Tr
7a
*d- U
A.
______.-.
g (3
* I
wI
094
2.5
-
0.5 - ,' -
0 .'
0.5 - /