Computer aided design in control systems 1988 : selected papers from the 4th IFAC Symposium, Beijing, PRC, 23-25 August 1988

456 Pages·1989·15.764 MB·English

by  Zhen-Yu Chen

IFA C PROCEEDINGSS ERIES
Editor-in-Chief
JANOS GERTLER,D epartmeonftE lectriacnadCl o mputeErn gineering,
GeorgMea sonU niversiFtayi,r faVxi,r ginUiSaA,
NORRIE TURNER:A utomatifoonr M ineraRle sourcDee velopment( 1986N,o .1 )
&
CHRETIEN:A utomatCiocn troilnS pace (1896,N o.2 )
DA CUNHA: Plannianngd O peratioofnE lectErniecr gSyy stems (1986N,o .3 )
VALADARES TAVARES EVARISTOD A SILVA: SystAenmalsy sAipsp lietdoW atera ndR elatLeda nd
&
Resources( 1986N,o .4 )
LARSEN HANSEN: Computer Aidedi nDC eosnitgrnoa ln dE ngineerSiynsgt ems (1986N,o .5 )
&
PAUL: Digital CoAmpppultiecra titooPn rso cess Contr(o1l9 86N,o .6 )
YANG JIACHIC:o ntroSlc ienacned T echnolofgoyrD evelopment( 1986N,o .7 )
MANCINI,J OHANNSEN MARTENSSON:A nalysDiess,i gann dE valuatoifoM na n-MachinSey stems
&
(1986N,o .8 )
BASANEZ,F ERRATE SARIDISR:o botC ontro"lS yroco (1986N,o .9 )
& '85"
JOHNSON:M odellianngd C ontroolfB iotechnoloPgrioccaels ses( 1986N,o .
JO)
TAL':I nformatCioonnt roPlr oblemisnM anufacturTiencgh nology( 1987N,o .1 )
SINHA TELKSNYS: StochCaosnttirco l (1987N,o .2 )
&
RAUCH: ControolfD istribuPtaerda metSeyrs tems (1987N,o .3 )
FLORIAN HAASE: SoftwfaorrCe o mputer Contr(o1l9 87N,o .4 )
&
MARTOS, PAU ZIERMANN:D ynamic ModelalnidCn ogn troolfN ationEaclo nomies (1987N,o .5 )
&
CENSER,E TSCHMAIER,H ASEGAWA STROBEL:C ontroilnT ransportaStyisotne ms (1987N,o .6 )
&
ADALI TUNALI:M icrocompuAtpeprl icatiinoP nr oceCsosn trol (1987N,o .7 )
&
WANG PINGYA NG: PowerS ystemasn dP owerP lanCto ntrol (1987N,o .8 )
BALCHEN:A utomatiaonnd D ataP rocessiinnA gq uaculture( 1987N,o .9 )
YOSHITANI:A utomatiionnM iningM,i neraaln dM etaPlr ocessing( 1987N,o .
JO)
GEERING MANSOUR: LargeS calSey stemTsh:e orayn dA pplication(s1 987N,o .1 1)
&
ROOS:E conomiacnsd A rtificIinatle lligen(c1e9 87N,o .1 2)
TROCH,K OPACEK BREITENECKER:S imulatoifoC no ntroSly stems (1987N,o .1 3)
&
KA YA WILLIAMS: InstrumenatnadtA iutoonm atiionnt heP aperR,u bberP,l astaincdsP olymerization
&
Industrie(s1 987N,o .1 4)
HRUZ CICEL:A utomatMieca suremeanntd C ontroilnW oodworkiInngd ustry( 1988N,o .1 )
&
ALBERTOS DE LA PUENTE:C omponentIsn,s trumeanntdsT echniqufoers L owC ostA utomatiaonnd
&
Application(s1 988N,o .2)
KOPACEK,T ROCH DESOYER:T heoroyf R obots (1988N,o .3 )
&
McGREAVY:D ynamicasn dC ontroolfC hemical ReaacntdoD riss tillCaotliuomnn s (1988N,o .4 )
RAMAMOORTY: Automatiaonnd I nstrumentaftoirPo onw erP lants (1988N,o .5 )
ISERMANN:A utomatCiocn tro(lT enth TriWeonrnliCdao ln gress()1 988N,o s6.- 15)
EHRENBERGER:S afetRye lateCdo mputerisna nE xpandinMga rke(tS AFECOMP (1988N,o .1 6)
'88)
COBELL! MARIANI:M odellianngd C ontroilnB iomedicSayls tems (1989N,o .1 )
&
MACLEOD HEHER: Softwafroer C omputeCro ntro(lS OCOCO (1989N,o .2 )
& '88)
RANTA: AnalysDiess,i gann dE valuatoifoM na n-MachiSnyes tems (1989N,o .3 )
MLADENOV: DistribuItnetde lligSeynsctee ms: MetahnodAd psp lication(s1 989N,o .4 )
LINKENS ATHERTON: Trendisn C ontroaln dM easuremeEndtu cation( 1989N,o .5 )
&
KUMMEL: AdaptivCeon troolfC hemicaPlr ocesses( 1989N,o .6 )
CHEN ZHEN-YU:C omputeAri dedD esiginn C ontroSly stems (1989N,o .7 )
CHEN HAN-FU:I dentificaantdiS oyns tePma rametEesrt imation( 1989N,o .8 )
CALVAER:P owerS ystemMso,d ellianngd C ontroAlp plication(s1 989N,o .9 )
REMBOLD: Robot Co(nStYrRoOlC O (1989N,o .
'88) JO)
JELLALIS:y stemAsn alysAipsp lietdo M anagemenotf W aterR esources( 1989N,o .1 1)
NOTICET O READERS
Ify oulri briansro yat l reaas dtya ndoinntgi/ncuoartdiceourns toomrse urb sctroit bhesires r imeasyw, er ecommtehnadt yoaus tpalnadcien g/
continoursa utbiosnc roirpdtteiorro e nc eiimvmee diuaptoepnlu yb licaalntlei vwoo nl umSehso.uy lodfiu n dt htahte vsoel unmoel so ngseerty voeu r
neeydosu orr dcearbn e c ancealtal netydi mwei thnooutti ce.
Copioefas lp lr evipouubslliyvs ohleudam reaesv ailAa fbulldele.ys cricpattiavlweoi glulge l asdelnyot nr equest.
be
ROBERMTA PuXbWlEiLsLh er
IFA C PROCEEDINGSS ERIES
Editor-in-Chief
JANOS GERTLER,D epartmeonftE lectriacnadCl o mputeErn gineering,
GeorgMea sonU niversiFtayi,r faVxi,r ginUiSaA,
NORRIE TURNER:A utomatifoonr M ineraRle sourcDee velopment( 1986N,o .1 )
&
CHRETIEN:A utomatCiocn troilnS pace (1896,N o.2 )
DA CUNHA: Plannianngd O peratioofnE lectErniecr gSyy stems (1986N,o .3 )
VALADARES TAVARES EVARISTOD A SILVA: SystAenmalsy sAipsp lietdoW atera ndR elatLeda nd
&
Resources( 1986N,o .4 )
LARSEN HANSEN: Computer Aidedi nDC eosnitgrnoa ln dE ngineerSiynsgt ems (1986N,o .5 )
&
PAUL: Digital CoAmpppultiecra titooPn rso cess Contr(o1l9 86N,o .6 )
YANG JIACHIC:o ntroSlc ienacned T echnolofgoyrD evelopment( 1986N,o .7 )
MANCINI,J OHANNSEN MARTENSSON:A nalysDiess,i gann dE valuatoifoM na n-MachinSey stems
&
(1986N,o .8 )
BASANEZ,F ERRATE SARIDISR:o botC ontro"lS yroco (1986N,o .9 )
& '85"
JOHNSON:M odellianngd C ontroolfB iotechnoloPgrioccaels ses( 1986N,o .
JO)
TAL':I nformatCioonnt roPlr oblemisnM anufacturTiencgh nology( 1987N,o .1 )
SINHA TELKSNYS: StochCaosnttirco l (1987N,o .2 )
&
RAUCH: ControolfD istribuPtaerda metSeyrs tems (1987N,o .3 )
FLORIAN HAASE: SoftwfaorrCe o mputer Contr(o1l9 87N,o .4 )
&
MARTOS, PAU ZIERMANN:D ynamic ModelalnidCn ogn troolfN ationEaclo nomies (1987N,o .5 )
&
CENSER,E TSCHMAIER,H ASEGAWA STROBEL:C ontroilnT ransportaStyisotne ms (1987N,o .6 )
&
ADALI TUNALI:M icrocompuAtpeprl icatiinoP nr oceCsosn trol (1987N,o .7 )
&
WANG PINGYA NG: PowerS ystemasn dP owerP lanCto ntrol (1987N,o .8 )
BALCHEN:A utomatiaonnd D ataP rocessiinnA gq uaculture( 1987N,o .9 )
YOSHITANI:A utomatiionnM iningM,i neraaln dM etaPlr ocessing( 1987N,o .
JO)
GEERING MANSOUR: LargeS calSey stemTsh:e orayn dA pplication(s1 987N,o .1 1)
&
ROOS:E conomiacnsd A rtificIinatle lligen(c1e9 87N,o .1 2)
TROCH,K OPACEK BREITENECKER:S imulatoifoC no ntroSly stems (1987N,o .1 3)
&
KA YA WILLIAMS: InstrumenatnadtA iutoonm atiionnt heP aperR,u bberP,l astaincdsP olymerization
&
Industrie(s1 987N,o .1 4)
HRUZ CICEL:A utomatMieca suremeanntd C ontroilnW oodworkiInngd ustry( 1988N,o .1 )
&
ALBERTOS DE LA PUENTE:C omponentIsn,s trumeanntdsT echniqufoers L owC ostA utomatiaonnd
&
Application(s1 988N,o .2)
KOPACEK,T ROCH DESOYER:T heoroyf R obots (1988N,o .3 )
&
McGREAVY:D ynamicasn dC ontroolfC hemical ReaacntdoD riss tillCaotliuomnn s (1988N,o .4 )
RAMAMOORTY: Automatiaonnd I nstrumentaftoirPo onw erP lants (1988N,o .5 )
ISERMANN:A utomatCiocn tro(lT enth TriWeonrnliCdao ln gress()1 988N,o s6.- 15)
EHRENBERGER:S afetRye lateCdo mputerisna nE xpandinMga rke(tS AFECOMP (1988N,o .1 6)
'88)
COBELL! MARIANI:M odellianngd C ontroilnB iomedicSayls tems (1989N,o .1 )
&
MACLEOD HEHER: Softwafroer C omputeCro ntro(lS OCOCO (1989N,o .2 )
& '88)
RANTA: AnalysDiess,i gann dE valuatoifoM na n-MachiSnyes tems (1989N,o .3 )
MLADENOV: DistribuItnetde lligSeynsctee ms: MetahnodAd psp lication(s1 989N,o .4 )
LINKENS ATHERTON: Trendisn C ontroaln dM easuremeEndtu cation( 1989N,o .5 )
&
KUMMEL: AdaptivCeon troolfC hemicaPlr ocesses( 1989N,o .6 )
CHEN ZHEN-YU:C omputeAri dedD esiginn C ontroSly stems (1989N,o .7 )
CHEN HAN-FU:I dentificaantdiS oyns tePma rametEesrt imation( 1989N,o .8 )
CALVAER:P owerS ystemMso,d ellianngd C ontroAlp plication(s1 989N,o .9 )
REMBOLD: Robot Co(nStYrRoOlC O (1989N,o .
'88) JO)
JELLALIS:y stemAsn alysAipsp lietdo M anagemenotf W aterR esources( 1989N,o .1 1)
NOTICET O READERS
Ify oulri briansro yat l reaas dtya ndoinntgi/ncuoartdiceourns toomrse urb sctroit bhesires r imeasyw, er ecommtehnadt yoaus tpalnadcien g/
continoursa utbiosnc roirpdtteiorro e nc eiimvmee diuaptoepnlu yb licaalntlei vwoo nl umSehso.uy lodfiu n dt htahte vsoel unmoel so ngseerty voeu r
neeydosu orr dcearbn e c ancealtal netydi mwei thnooutti ce.
Copioefas lp lr evipouubslliyvs ohleudam reaesv ailAa fbulldele.ys cricpattiavlweoi glulge l asdelnyot nr equest.
be
ROBERMTA PuXbWlEiLsLh er
COMPUTERA IDEDD ESIGNI N
CONTROL SYSTEMS1 988
SelePcatpefedrr ostm h4 etI hFA CS ymposium
BeijiPnRgC2,,3 -2A5u gus19t8 8
Edited
by
CHEN ZHEN-YU
ApplicCaotmimoiontCf th eienA essseo coiAfau ttioomna tion,
P.OB.o x BeijiPnRgC,
919,
Publishfoerd t he
INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL
by
PERGAMON PRESS
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Libraryo fC ongreCsast aloging-inD-aPutab lication
IFASCy mposium onA iCdoeDmdep suiotgfeCn ro ntrol Systems
(4th:Ple9k8i8Cn:hg i,n a)
Compuatiedrde eds iigncn o ntsryoslt 1e9m8s8 : selected papers
frotmh 4et IhF ASCy mposBieuimj,Pi RnCg2,,3 -A2u5g u1s89t8
editbeyCd h eZnh en-Yu.
p.c m.-(IpFrAoCc eesdeirnigess n:o 7.1) 9 89.
Incliunddeesx .
I.A utomcaotnitcr olp-rDoacteas sing-Congresses.
2.C ompeurt-aiddeesdi gn-Congresses.
IC.h enZh.e n-YTui.t lIeI..
IISIe.r ies
TJ122.23.8I83 1988 629.8'1995--<i c 88-37577
ISBN 0-08-035738-5
Thesper oceedwienrgrese produbyc meeda nosf t hpeh oto-opfrfosceuetss isn tgh mea nuscrsiuppptlsi bye dt he
authoorfts h deif ferpeanpte rTsh.em anuscrhiapvtbese etynp euds indgif fertyepnetw riatnedrty sp efacTehse.
lay-out.faingdtu arbelosefs s o mpea pedridsn oatg receo mplewtietlthyh se t andraerqdu iremceonntsse:q uently
three produdcoteinsoo ndt i spclaoym pluentifeo rmiTtyoe. n surraep ipdu blicatthiidosisn c repacnocyu lndo bte
changneodr:c oultdhE en glibsech h eckceodm pletTehleyr.e ftohrreee ,a daerraess ketdoe xcuasneyd eficiencies
oft hipsu blicawthiiocmnha yb ed uet ot haeb ovmee ntiorneeads ons.
TheE ditor
PrinteidnG reaBtr itabyi n WheatonC o. Exeter
A. f:J Ltd.,
4TH IFACS YMPOSIUMO N COMPUTER AIDEDD ESIGNI N
CONTROL SYSTEMS
Sponsboyr ed
InternatiFoendaelr atoifoA nu tomatCiocn tro(lI FAC)
ApplicatCioomnmsi tte(eA PCOM)
SystemEsn gineerCionmgm itte(eS ECOM)
EducatiCoonm mitte(eE DCOM)
ComputerCso mmitte(eC OMPUT)
TheorCyo mmitte(eT HEORY)
ChinesAes sociatoifAo unt omation
ChinAas sociatfioorSn c ienacned T echnology
ChinIan ternatiCoonnafle renCceen teforr Scienacned T echnology
NationNaalt uraSlc ienFcoeu ndatioofnC hina
InternaPtrioognraaClmo mmem ittee
A.v anC auwenbergBheel,g iu(mC hairman)T .M cAvoyU,S A
ChenZ hen-YuP,R C (Co-Chairman) J.H .A ndersoAnu,s tralia
QinH ua-ShuP,R C (Vice-Chairman) W. SchaufelberSgweirt,z erland
P.K opaceAku,s tria F.C onradD,e nmark
K.C . DaAluys,t ralia P.M . LarseDne,n mark
M. MansourS,w itzerland G.D avousFtr,a nce
M.K ummelD,e nmark R.I sermanFnR,G
A.T itlFir,a nce H.R akeF,R G
H.U nbehaueFnR,G K.F urutJaa,p an
C.S chmidF,R G P.v and enB oschT,h eN etherlands
L.K eviczkHyu,n gary WangY ing-LuPoR,C
A.T yssoT,h eN etherlands WangZ hi-BaPoR,C
B.A .O gunnaikNeI, K.J .A stromS,w eden
HanJ ing-QiPnRgC, J.C olantuoUnSiA,
T.S oderstrSowme,d en M.J .S hahU,S A
N.M unroU,K G.S tephanopouUlSoAs ,
G.L einingUeSrA, J.T ayloUrS,A
C.J .H ergetU,S A C.G eorgakUiSsA,
H.A .S pangI IIU,S A
NatioOnragla niCzoimnmgi ttee
Yu Jing-Yua(nC,h airman) DaiG una-Zhong
WangZ heng-Zho(nVgi,c e-Chairman) LiS hu-Ying
ZhangZ hen-Hua Tu Qi-Lie
MaoJ ian-Qin Wu Zhi-Ming
Han Zhi-Gang ShuD i-Qian
XiongG uang-Leng Ye Qing-Kai
WangZ i-Ping Mao Xu-Qin
PREFACE
This volumec ontainsa selectiono f papersp resenteda t the Symposiumo n
ComputerA ided Desiignn Control Systehmesl d in Beijing, People's Republic of
China, August
23-25 1988.
The purposeo f the Symposiumw as to presentt he latesta chievementasn d the
state-of-the-airnt CADCS,t o exchangei deasa nd informatioonn the fieldso f
CADCSa nd to promotet he developmenotf CADCSs ciencea nd technologya nd the
friendshipb etween scientisatnsd experts. The Symposiumw as attendedb y
136
scientistsa nd expertsf rom countriesa nd regions.
26
The Proceedingbse ganw ith six plenaryp apers,f ollowedb y six speciali nvited
papers. Twenty-thretee chnicals essionsw ere presented devotteod themes;
5
CADCSp ackages,s oftwarea nd hardware,s ystemsd esignm ethods,e xperts ystems,
applicationasn d roundt abled iscussion.
I wish to expressm y thankst o the followingp ersonsf or contributintgo the
reviewingp roceduref or all the papersi ncludedi n this volume:C . Schmid,
D.K. Frederick,K . Furuta, McAvoy,J .M. MaciejewskiP,. Kopacek,
T.
Ad. van den Boom,H . Rake,J .O. Gray,C .J. Herget,H .A. Barker,K .C. Daly,
D.P. Athertona nd G.K.H.P ang.
Finally,i t was a greatp leasuref or me to have serveda s co-chairmaonf the
InternationaPlr ogramC ommitteea s well as the Editor.
Chen Zhen-Yu
Editor
VII
CopygrhitI©AF C C ompuAtiedrDe eds iignn PLENARYP APERS
ContSryoslt Beemisj,Pi RnCg1,,89 8
BENCHMARK PROBLEMS FOR COMPUTER­
AIDED CONTROL SYSTEM DESIGN
D.K .F rederaincdMk. * R imer**
*ElectCroimcpaualtn,edS ry t,se mEsn gineDeerpianrgt Rmeennsts,Pe olylateerc hnic
InstiTtruoNyte,ew Y, o r1k2 01,8U SA
**aSbtilCiotnyt,ar noFdll ,y iQnuga liGtrioeuBsp2 ,13 -5G,r ummAaenr osCpoparocrea tion,
BethpaNgeewY, o r1k1 174U,S A
AbstraThcet .n eedf orh avinbge nclunparrokb l�fmosr � e evaluatoifos no ftwaforre
computer-aciodnetdr soyls teamn alysainsa d esigins d iscus�Tehde.t wob enlulcl;ark
}!robletmhsah ta vbeee n releatsoed da tbey t heB en�lunWaorrkk mgG rouopf t heT echn}cal
CommittoeneC omputer-aCiodnetdr Soyls teDme sigonft. h .eIE EE ContrSoyls temSso ciety
ared escribeadsa ret hep lanfosr futuprreo bleInmfso.r matithoanth asb eenl e��eadb out
thep reparadtiisotnr,i buatniddo ins,s eminaotfri eosnu flottrsh itsy poef p robleimsm cluded.
Keywordcso.m puter-adiedseidg benn,c lunarpkr oblemcso,m putearn alysis, computer
progracmosn,t rol-sdyesstiegmn .
INTRODUCTION VirginiinaS eptemb1e9r 8(6R imearn dF rederick,
1986an)d a revisveedr siaopnp eariendt heC ontrol
Sincaeb ou1t9 8t0h erhea sbe en a rapidde velopmentS ystemMsa gaziinnet heA ugus1t9 8i7s su(eR imer
ins oftwaforre th e analyasnisdd esigonfa utomatica ndF rederi1c9k8,7 ).
contrsoyls temwsi,t mhu cho ft hei ncreabseei nign
commercial prAotdt uhcept rse.s etnitm ae software A seconbedn clunaprrko blewma sa nnounciendt he
usehra sa varieotfcy h oictehsa cta nbe madew hen Octob1er9 8i7s suoeft heC ontrSoyls temMsa gazine
acquirsionfgt waarned a nyu nbiasaesds istainnc e (FrederaincdRk i mer1,9 87an)d h adbe en described
this tiasg sekn erawlellyc omOen.e w ayt og ets uch in the Proceedinogfs t he September1 986
assistianstc ohe a vea seto fs tandaprrdo bletmhsa t Symposiuomn CACSD by Hawleya ndS tevens
canbe runo nt hed ifferesnotf twapraec kaguensd er (198A6t)t .h et imeo ft hiwsr ititnhges olutitoon s
evaluatainodtn h iissa na pproatchha itso fteuns ed thiss omewhamto ree xtensipvreo bleamr eb eing
byt hes eriobuusy eVri.e wefrdo m thep erspecotfi ve receivaendda dditiopnraolb leamrseb einpgre pared
thes oftwadree velopietcr a,nbe veriyn formattoi ve fors ubmisstioot nh ec ontrcoolm munitIyti. sc lear
comparet hep erformaonfoc nee 'osw nc odewi th thatfr om thee fforttsh atth es oftware devehlaovpee rs
of othepra ckagebys running tohne imd enticamla dei ns olvitnhget woe xistbeinncglu narkasn di n
problems.t hiwsa y usefuiln formaticoann b e preparwirnigt tmeant eridaels cribthiensges olutions
In
gaineadb outth ea ccuraocfty h er esulthtes r,a ngoef for thep ubliactl argteh atth eries a needbe ing
thec apabilitthieee ass,ae n dr obustnewsist whh ich servbeydt heeixri steanncdte h ed isseminaotfti hoen
thep roblceamn be seutp ,t her esourrceeqsu ireadn,d results.
thse peewdi twhh icthh ep roblreumn s.
Thatt hiisss os houlndo tb et oos urprisbeicnagu se
The essentiinaglre dieinntm akintgh es ituationbesn clunaprrko blehmasv ep layeadn i mportraonlte
descriabebdo vhea ppeinst hee xistaonfca e d iverse int hea reaosfc omputhearr dwaarneds oftwafroera
seto f benclunarkp roblemtsh ata re commonly lontgi meO.n eo ftehne arosft heW hetstotnees tthsa t
acceptaesdbe ingg oodm easuroefst hek eya spects areu sedt oe valuattheep erformanocfec omputers.
oft hes oftwareu'ssa bilaintdyp erformanIcteh .a s The resulotfs othert esttsh atm easuredt he
beenw itthh iosb jectiinmv ien dt hatth eB enclunarksp erformanocfe sa bout1 00 computertsh,e ir
WorkinGgr oup( BWG) of theC omputer-Aideodp eratsiynsgt emasn,dt hep articucloamrp ilwehri le
ControlS ystemD esign( CACSD) Technicals olvinsgy stemosf lineaerq uatiohnasv ebe en
Committoefet heI EEEC ontrSoyls temSso ciewtays presentbeyd D ongerr(a1 987The)s.e testwse re
formed in1 984The. firpsrto blerme,l attiont gh e designteod evaluatthee s peedosf thes ubjer.t
G anF -1a4i rcrwaafstr ,e leasaettd h eS econd computearnsd n ott heicra pacitfoire sso lvitnhge
rumm
IEEE SymposiuomnC ACSD helidn S antBaa rbara, particuplraorb leomrt heir accurathceifi eesl.do f
Californiian March1 985S.ev ens olutiwoenrse computesri mulatoifo cno ntinuIno usd-ytniammei c
obtaintehdah ta db eend oneo na varieotfsy o ftware systemtsh erhea vebe en a number of defacto
packagaensdt here sultwse rep resentaetdt heT hird benclunarpkr obleimnsu sef ors omet imeA.m ong
IEEE Symposiuomn CACSD heldi nA rlington,t hesaer eP HYSB E: a PHYs iologiSciamlu lation
D.K .F rederickM . aRnidm er
2
BenchmEaxrpke ri(mMecnLte 1od9,6 6t)h amto dels CACSDa reiawt,a sd ecibdyet dhB eW Gt ofo cuosn
thfleo wo fb lotohdr otuhghehu mabno dy. them osqtu antiatsapteiocvftet s ho ev erparlolb lem
andl eatvheme o rseu bjeacstpievsceut csah sd esign
Tesptr oblheamvsbe e euns eidnt haer eoafn onlineaforrl ataecrt ivoirft oioret sh etrops u rsHueen.c teh,e
programfmoimrna gn yye atrose valutahtveea riousi nietffiaolrth sa vbeee nf ocuosneth de c omputational
computatailognoarli tthhmarests earchhearvse aspeocftt shs eo ftwiantr hede o maoifnc ontinuous­
proposFeodre. x ampElcek,e arn dK upferschmitdi mlei nseyasrt eThmes c.a pabiolrli itmiietsa otfi ons
(198h5a)v ceo mpartehdepe rformancoefts h eira given package forll ll:dm iotduses� lr building
ellipaslogiodr wiitththmh oosfefo uro thweird ely­intersfhaocubeelc do mken owtnop otenutsieatrlfs
useadl goriotnnh omfe sw etrh afni ftteyps rto blemst.h seo lvperro viadd eest adiolceudm tehnaettx plains
The importaasnpte ocftt h icso mpariists hoatnth ese howt hseo lutwiaosdn e veloapnedwd h atth rees ults
tesptr obleamres a llw ell-knaonwdnw ell­were.
documepnrtoebdl ie.mbeesn.,c ,h maprrko bltehmast,
havbeee nu sebdy o thweorr keirnts h afite lfodr a
numbeorf y ears. DegroefCe o mplexity
A notaebffloewr ats m adien t haere ao fd esifogrn Witrhe gatrodc omplextihtedy e,v eloopfet rhse
multivacroinatbsrlyoesl t ienm1 s9 7i7nt hwea yo fa benchmarmkussbe t careftuols triak ree asonable
benchmadreks ipgrno bl(eNma tioEnnagli neeribnagl abentcwee etnh tew oe xtreSmiemsp.pl reo blems
Consort1i9u7m7(,)S aiPne,c zkowasnkdMi e,l sa,t haetv erybcoadnay n dw ilslo lvbeu tt hadto n't
1978t)h aitn voldveevde locpoinntgr ofloltreh res provide much useftuolt heiu nsfoerrm ation
PraatntWd h itneFy- 1j00e etn giannecd u lminiant edc ommunsihtoyu bel da voidLeidk.e wtihsoeev ,e rly
ac onfereantwc hei cthhr ee suwletreps re sented. complperxo bltehman to o nei sw illtions go lve
becauosfet imceo nstraanitdnh tcesh anocfhe a ving
Althowuegw hi lplr obanbelvyeh ra vaen yw here inadveerrtraocnrotsr rtuhpreets ulwtisln lo bte o f
neatrh en umbeorfbe nchmaprrko blfoerm st he benefIistth .o ubel kde pitnm intdh afotrt htey poefs
analyasnidsd esiogfn c omputer-aided prcoobnlteernmovsli sioned exeaicttah nesarol lyuttiicoanls ,
systetmhsat thn eo nlipnreoagrr infgi ehladsi ,t orn umeriacrean lo,kt n owHne.n cteh,ce o mmunity
isi nth isd irectthiatothne e ff oamrmotfts h Bee nchmarkm usdte peonndo btaiantilnegsa esvtes roallu ttioo ns
WorkiGnrgo uapr hee adedt.h ree mainodfthe irs a given praonbdul seimns go mej udgemaestn to
artiwcel wei ldle scrtiInhbe et ypeosfbe nchmarkw hatth e anmsiwgebehr.tsT hefi rsptr oblneamm,e ly
probletmhsaw te envisbeiionng u sefiunlt he thadte alwiintgth h Ge anF -1a4i rc(rRaifmte r
CACSD aarnedpa r esseonmtde e taoinlt sh oen es anFdre deri1c9k8,w7 ruma)ms i ntentimoandtaeol be l oyf
thahta vbeee nre leasseofd a arn dt hotshea atre i n relatliovwoe rldyse ora st oe nsutrheaa tv arioeft y
preparThaetni woenw .i ldle scrwihbea hta sbe en respownosuelsbed r eceiOvnet dh.oe t hhearn tdh,e
learnetdo d ataeb outths eo ftwtahreai tsp resentsleyc opnrdo blwehmi,cre hl atteoas m issaiulteo pilot
availaanbdlw eh awte ,t hea uthohrasv,le e arned (HawlaenydS teve1n9s8,6h )a,as t otoaf7l 4 s tates
abotuhtpe r ocoefsd se veloepffiencgtbe invceh marki ni tmso scto mplveexr sion.
problaenmddsi ssemitnharete isnugl ts.
Whena benchmaprrko blheamsa higdhe groefe
compleaxsid toye,s otnhere e fertroae bdo vieti, s
importtaonh ta voen eo rm orsei mpvleerrs ions that
CHARACTERISOTFI CCSA CSD thseo lvcearnw orakn dfo rw hicrhe suclatnbes
BENCHMARPKR OBLEMS checkOetdh.e rwtihseeir,sea higphr obabtihlaitt y
errowrislo lc ciunre ithtehforer mulaotrii ontn h e
Havinogu tlionuerdr ationfoarl dee veloping
solutoifto hnce o mploenxet ,h erreebnyd etrhien g
benchmaprrko blefomrs C ACSDw e wilnlo w
results fouersv ealleusasct oinofuns,ti hnaegu dience
examitnhewe a yisn w hicthh eosbej ectciavnbe es
witehr roneionufso rmaatnidco anu,s innege dless
metw ithtihnve a ricoounss trtahiatntet csh nology,
frustroantt hipeoa nro tft hseo lvTehrec. o mplexity
thlei mitaotfoi uojrno sb asn,dt hseu bjecatsipveec ts
oft hper oblaelmsh oa ism plicaitnti howena syt hat
oft hper obliemmp oIsste h.o ubel kde pitnm intdh at
thep roblsetma temiesdn its triTbyuptiecda.al ly,
afa ilutroer ecognainzdae b idbeys omoef t hese
probldeema lwiintgah h igh-osrydsetwrei mlh la ve
constrwaiilrenlst usl itnh avitnhgpe r ocebsrse ak
manyn umeripcaarla mettoebe r ssp ecibfiyet dh e
downa ts omep oinlte,a vitnhgew orkeirnts h e
problcerme aatnoder n tebryee da cohft he solvers.
CACSDfi elwdi thosuotm oer a lolf t hpeo tential
Obvioutshleiyresa n i ncreparsoebda boifel rirtioynr
beneftihtaasrt ae t tainable.
eacohf t hepsreo cesasste hsec ompleoxfit thye
problienmc reases.
Typeso fP roblems
ResourRceeqsu ired
Thet ypoefsbe nchmaprrko bltehmaastr d ee veloped
shourledfl etchtec haracteorfit shtesi ocfst ware
Iti so bviotuhsat th per oblaeffme ctthsre e sources,
packag(easn dt os omee xtetnhte h ardware
e.gm.e,m orayn dc omputatsipoeneatdlh, a atr e
environimnew nhtisct hh eryu nt)h atth CeA CSD
required itfossro lutBieocna.uC sAeC SDs oftware
communwiitsyh teosm easuErxea.m ploefts h ese
maybe onm achines frroamnP gCistn olg a rge
characterairset:ni ucmse ricaaclc uraacnyd mainrunfr amtehssei, z aen dc ompleoxfti htpeyr oblem
robustnseiszsoe,f p roblceomm,p utatsipoeneadl,
wililm poresset ricotnti hosene sot fp otenstoilavle rs
useirn termfoadceel,- bucialpdaibniglc iltaoisfes s ,
antdh owsheo intereisntt hereeds ults.
problem,l inee.vager.r ,s us nocnolnitnienauro,u s­ are
timvee rsduiss cretaen-atliyvmseeir,ss d uess iogrn
synthesBiesc.a usteh ebe nchmarpkr oblem
developamcetnitvi isit nyi tesa rplhya sient he
BenchmParrokb lfeomCrso mpu-taeirdCeodn tSryoslt Deems ign 3
DissemionfaR teisounl ts form asi nterconnoefgc atibinlo oncsak nsdfi rsotr-
second-odrydnearm ibcl ockwsh oset ransfer
importaasnpte ocfbt e nchmparrokb lienmt sh e functiaorngesi veTnh.em odeclo meisnt hrelee vels
Anc ontrol-asryesiats et mhsem anneirnw hicthh e ofc omplexity.
resulatrse d issemitnoatt heedc ommuniotfy
interepsetoepdlB ee.c auosfet hen atuorfet he Thes impvleer siinovno lovnelthsye l ow-frequency
problietmi ssn otp ossitbolp er oviad ceo ncisea specotfst hep itcchh annaenldh as1 3s tate
measuorfpe e rformaascn acbene d onieno ther arveaarsi aTbhleei sn.t ermedvieartseii nocnl utdhereso ll
sucahsn onlionpetairm izawteia orinen. t eriens teadn dy awc hannaellsbsou ,ot m itthshe i gh-frequency
measuroinnlgty h ec ompIfu tatsipoeneoadrl t he termisnt haeu topiiltho ats4; 2 s tatTehsem. o st
accuroafsc eyl ecptoeldae nsdz erosw otuhlindso t difficuvletr siionnc lutdheers o lyla,w a,n dp itch
be ad ifficumlatt tHeorw.e veerx,p lriecsiutwl itlsl channweiltsah l olf t hefi lteirnst hea utopilot,
generailnlcyl updleo tosf f requeanncdyt ime bringtihnneug m beorf svtaartiea tbo7l 4e.s
respoannsdei sm plriecsiutm latyis n cltuhdseet eps
taketnofo rmulattheem odeolr t hec ommand eaccha steh es olviesar s ketdod etermtihnee
sequenucseetsdo d eveltohper esuAl tdse.t aileIncd l osede-ilgoeonpv aclluoesse,d s-tleorpoe ps ponses,
descriopfat s ioolnu ttioao c no mprehepnrsoibvlee ma ndo pen-lforoepq uernecsyp onwsietsshp ecified
sucahst hmei ssaiulteo poinlewo ittt hh rdeieff erenbtr eaiknts h sei gnpaalt Thosa .s siints hts eo lutthieo n
versiaonndus pt o7 4s tactoeusbel dv erlye ngttoh y valufoers t hee igenvatlhuawetes r oeb taibnye d
descr.i be Hawleayn dS teve(n1s9 8a6r)e i ncluidnet dh e
probldeems criapntbedic oonm aen e ssengtuiiatdloe
checkoiunttgh b eu ildoiftn hgie n termedainadft uel l
SubjecAtsipveec ts models.
Typicaalc loyn,ts ryoslt deems iginsfae cre dw itah Thipsr oblweams r eleabsyet dh eB WG viaa n
spectorftu ams rkasn gfrionmgm odedle velopmenatn,n ounceimne ntth eI EEEC ontrSoyls tems
modeblu ildwiinttghh seo ftwpaarcek aagnea,l yosfi sM agaziinnOe c tobe1r9 8(7F redearnidRc ikm er,
thmeo dealn,dt hdee siogfan c ontroOlftl heers.e 1987a)n ds tatemheanvtbeese ns entto o ve3r0
tasktsha,en alypshiassi est hlee assutjb ectainvde , potenstoilavleT rosd .a tsei sxo luthiaovnbese en
thed esipghna siesc ertatihneml oys stu jbectiver.e ceiivnae ddd,i ttioto hnoe n ep reparbeyHd a wley
AlthotuhgBehW G woulldi kteog etto d evelopinangd S teveAn ssu.m maorfyt hseo luthiaosben esn
benchmaprrko blfoermd se siigtnh ,a sd ecidteod presenbtyet dh ea utho(rRsi maenrd F rederick,
focuist isn itiali nte hffeo ratnsa lyssoia sst op ha1s9e8 8B)a.s eudp othne s olutrieocnesi svpeedc,i fied
minimtihzseeu j bectaisvpee ocftt shp er oblems arneds uflotersa cohf t hteh rleeev eolfts h per oblem
theeivra luations. havbeee nd uplicbayts eedv edriaffle rseonltv ers
usinsge vedriaffle rseonftt wpaarcek agesso.m e
castehs7e 4 -svteartsewi aosnn o sto lvbeeIndc ause the
sizeex ceedtehdel imitaotfit ohnesp articular
PRESENATN DF UTURE
softwpaarcek age.
BENCHMARPKR OBLEMS
A particcuhlaalrlleyan sgpienocgftt h ipsr obliesm
thisse ctwieo nw ilblr iedfleys crtihbete w o
Inbe nchmaprrko bltehmasht a vbee eins subeydth e thceo nstruocftt himeoo nd eilna fo rmf owrh icthh e
analycsainbes carroiuetdB. e cautsheme o deils
BenchmWaorrkk iGnrgo utpod ataen,wd e w ilslaa y
statientd e romfm aniyn terconbnleoccotkfoes rd d er
few wordasb oaudtd itipornoabllt ehmaastr uen der
zero, orotn weoa, n dbe causteh cea lculaatrieo ns
development.
moslti kebeliyn dg onoen a s tate-msopdaewclie t h
an" A"m atroifxd imens7i4ox n 7 4fo rt hhei gh­
ProblReemlse atsoDe adt e ordecras teh,e irsea substaanmtoiuanoltf w ork
requitroef do rmulattheem odeiln t hec omputer.
Probl1e:mG rummaFn- 1a4i rcrTahfiptsr. o blemW henr esuolftt sh es olutpiroonc easrsem ade
useas m athemamtoidceaollfa GrummaFn- 1i4n availbaybt lhese o lvietsr hso ubledi nstrutcot ive
levfleilg thhta cto ntasiisnxts a wtietsh aife ne dback examitnheae p proatchhaeetas c hha sta kaennd t he
loo(pl ongitduydnianmailtc asis,lu rfaaccet uatowro,r rke quitroge edn ertahatepe p ropmroidaetles .
controalnldfe irl,ta enrdas n)o tsheevre snt attehsa t
araes sociwaitttehhd ge e neraatnifdoi nl teorfti hneg
fouri npsuitg nTahlems o.d eilsl inaenacdro ntinuouPsr oblUenmdseD re velopment
timTeh.es olviesar s ketdof intdh vea luoefos p en­
Multi-sraamtpel eda-udtaotpai ltohte.pi arp er
and clospeodl-aelnsodz o epr ofrse,q uency-respHoanwsleea yn dS teve(n1s9 86d)e sIn crai bes econd
plottism,e -repslpooatnnssd,ae s socinautmeedr ical
benchmaprrko bltehmai tn volavl eisn meaurl ti-loop
valuAe tso.t oafsl e vseno lutwieornoesb taiannedd
multis-armaptlee da-udtpaoit lafoo rta m issThiel e.
the resualgtrse veedr wye lalm ontgh emi na ll
problceomm eisnt wol eveolfcs o mplexThiet y.
regaredxsc efpotrs omeo ft het ransfer-function
simplveerr sihoanst wof eedblaocokpw si th two
zeroTsh.es tateomfet nhpter oblaenmda s ummary
sampliener asc h loaorepo ptehraatat tti wnogr ates
oft hseo lutairogeni sv einnR imearn dF rederick
thahta vrea tioof4s : 1T.h em issdiylnea miacrse
(198a6n1 d9 87).
modelbeyda s econd-coorndteirn uotursa-ntsifemre
Probl2e:Cm o ntinuoumsi-stsiaimulete o piTlhoet .f unctiineo anc lho odpr ivbeyna zero-ohrodledr.
secopnrdo blreeml eabsyte hdBe W G wasp reparedTh eraer et wofi rst-order diignei atcahl filters
byH awleayn dS teve(n1s9 8a6n)d r elattoea s feedbapcakt ahn da first-fiolrtdoeenrtr h ien put,
missaiilref raanmdae u topTihleom to.d eilsl inearl eadtiont goa t sayls toermd oefrt e n.
andc ontinuouasn-dit spi rmees enitnge rda phical
4 D.K .F redearnidMc .kR imer
The morec omplevxe rsioofn t his prohbalse m WHAT HAS BEENL EARNEDS O FAR
higher-odrydnearm itce rmsa ddedt o botht he
continuousm-itsismimelo ed ealn dt hed iscrete-tiTmhee t hintghsa hta vebe en learnetdo d atfreo m the
filteorfst hea utopiAllostot. h eraer efo urs ampling benchmarkp roblemcsa nb e grouped into two
rateastr, a tioof1s : 4:20:A4l0lt. o gethtehre,ra er e2 9 categories,w hnaatmh ealsbe ye n learned athbeo ut
statvea riabilnet sh em odelA.s for thec ontinuousv­ariosuosf tware paacnkdwa hgaetts h ea uthohrasv e
timea utopiplrootb letmh,e s olveirs askedt o learneadb outth eb enchmarkpirnogc eAstst .h ipso int
computeei genvaltuiemsre,e sponsaensdfr, e quency int imiet i sp robabfaliyrt os ayt hamto reh asbe en
responses. learneadb outth el attteorp iIcn.a nye venwte, w ill
commenotn b otahr eaisnm ored etahielr e.
Thisp roblewmi lplo sep articcuhlaalrl enignet sh e
modelipnhga sdeu et ot hem ulti-sraamtpel iSnogm.e
packagemsa y havec apabiliftoirem su lti-ratTeh eS oftwaPraec kages
problebmust,i ft hiissn ott hec asteh es olvweirl ble
forcedt ou sea na nalytitceaclh niqsuuec ha st hat thisc ategotrhye raer er ealltyw o typeosf
In
developbeyKd a lmaann dB ertra(m1 959t)oc onvert informattihoinn:gt sh atth ep ublilce arnasb out the
the multi-rpartoeb letmo a single-ornaet.Ie n a packagaensd th eirc apabiliatnideth se, f lawasn d
problesmu cha st hiosn ew e aret estitnhges olver'sl imitattihoantts h ed evelopleerarns aboutt heir
analytaibcialli itnia edsd ittioot nh aotf t hep articulaprr oducTthse.F -14p robleimst heo nloyn et hahta s
softwapraec kage. gonet hrougthh ef ulcly cloef havinsgo lutions
collectmeadd,e availabblye t hes olverasn,d
Chemicparlo cecsosn trEoalc.ho ft het hreper oblems summarizfoerd theg eneral publica nd( Rimer
discussuepd to thisp ointh as the common Frederi1c9k8,6a nd1 987)B.e causteh aptr obleims
characteroifsbe tiincgl ineaanrd o fa erospaicne lineacro,n tinuousa-ntdiom fer ,e latilvoewlo yr der
origino.r detrop rovisdoem eo ft heb readtthha its therhea ven otbe ena nyg rearte velatoifwo enask ness
In
necesstaorh ya vea welbla lancseedot f b enchmarks,a mongt hes ixp ackagtehsa wte reu sedto o btatihne
we arew orkinogn a probletmh apte rtaitnots h e solutionAss. w as mentionaebdo vet,h eo nly
chemicparlo cecsosn trfoile lHde.r ew ew ouledx pect deviatioofn asn yc onsequenocteh,e trh anth ose
toe ncountneorn lineelaerm enatnsd p erhaptsi me causebdy ambiguitiine tsh es tatemeonft t he
delabyo,t ohf w hicahr ebe yondt hes copoef m ucho f problewme,r ei nt hec alculaotfit orna nsfer-function
thea nalysainsdd esign softthwaaitrs ce u rrentlyz erosTh.i s resulsth oulndo tb e toos urprising
available. becauseo fd ifficultthiaeatsr ek nownt obe their
associawtiethd d etermina(tEimoanm i-Naeainndi
Linearizaantdis ounb systienmt egraAtsip oanr.ot f a VanD oren1,9 82).
comprehensciovnet rsoyls tesmt udoyn em ays tart
witho ne or moren onlinesaurb systmeomd els Iti st ob ee xpecttehda tth er esulfotrs t hes econd
describtihnepg l anfti,n adn e quilibrciounmd ition,p roblemn,a melyt heh igh-orcdoenrt inuous-time
lineartihzeen onlinmeoadre lsc,a rroyu ta linear missialuet opiwlioltbel, more illuminabetcianugs e
analysainsd d esigann,d f inalsliym ulaat lei near ofi tssi zeB.a seudp onp relimirnaertyu rnwse, c an
controllweirt ht heo riginnaoln linepalra ntT.o sayt hatth erhea vbeee n solutiooftn hse i ntermediate
evaluattheec apabiliotfai ensu mbero fs oftware probleombt ainuesdi nsge vedni fferepnatc kagtehsa t
packagteosc arroyu ts ucah scenartiheofi rsatu thor agreaen df ivoef t hec omplepxr oblem.
andJ amesT ayloorf GeneraEll ectrCiocr porate
Researcahn d Developmehnatv e preparead thew ayo fa mores ubjectrievseu ltth,e rhea ve
In
benchmarpkr oblefomr internuasle I.ti sa nticipatebede n severraelp orttots h ea uthoorfss oftwabrueg s
thatth ipsr oblweiml bel modifieadn dr eleabsyet dh e thahta vebe en uncoverientd h ep roceosfso btaining
BWG ats omef ututriem e. itpsr esefonrtm the thesseo lutiTohnisks.i nodf r esuilsnt o tt het ypthea t
In
probleimn volvae sse cond-onrodnelri npelaarnt th at onep ubliciiznes sp ecifdiect abiult i so fm ajor
ist obe linearaibzoeudit t esq uilibcroinudmi tfoiro n importafnocret hel ong-tedrme velopmoefnm to re
a specifiinepdu atn dt heni nterconnweictthea d effectitvoeo lfso rc omputer-aided sycsotnetmr ol
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aret obe substitauntdet dh et imea ndf requency
responasreets o be evaluaatgeadi n.
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Althoutghhe o rdeorf th e probledmo esn ote xceed
fivei ti sc onstruicnta e wda ys oa st od emonstratNee xts,o meo ft hosteh ingtsh ahta vebe en learned
thef lexiboiflt ihtemy o delilnagn guawgiet rhe gard aboutth eben chmark priotcseewslisfl be l described.
tot hei nterconneocfts iuobns ystmeomd elsT.h e
requiremetnost i mulaetqeu,i librainadlt ien,e arai ze Thep roblesmt atemeIntit se. s senttioha alv ep recise
nonlinmeoadre lw hilbeei nga blet op erfortmh e statemeonftt sh ep robletmh alte avneo roomfo r
usuatly peosf l ineaanra lysmiasy necessitthaet e differiinngt erpretatbiyo tnhse v ariousso lvers.
coordinautseeod f a nonlinseiamru latpiroong ram Exampleosf s uchi temtsh acta nl eadt op eople
with lian eaanra lysoinseT .h ee xtetnotw hicthh is solvidnigff erenptr obleomrsp resentreisnugl tisn
typeo fi nteracctainobe n dones moothclayn be differefonrtm st hamta kec omparisons daitaff icult
inferrbeyd e xaminianng a nnotatdeida royf t he latteirm aer e:
solution. -unittsobe usedfo r numericvaall ueasn dp lots
(radivaenrss duesg rees),
-rangeosffr equenctioebe s usedf orf requency-