Publications by Mark Edward John Butcher

An Inertial Uni-Axial Interferometer-Based Accelerometer for Harsh Environments

Mark Edward John Butcher, Gerard Aliana Cervera

For high-impact devices, subsequent vibrations have as much influence on the deterioration of the mechanical structure as the impact itself. To mitigate the consequences of both impacts and resulting vibrations, it is crucial to accurately understand the p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Data-driven tuning of linear parameter varying precompensators

Alireza Karimi, Mark Edward John Butcher

Methods for direct data-driven tuning of the parameters of precompensators for LPV systems are developed. Since the commutativity property is not always satisfied for LPV systems, previously proposed methods for LTI systems that use this property cannot be ...

Wiley-Blackwell2010

Linear Parameter Varying Iterative Learning Control with application to a Linear Motor System

Alireza Karimi, Mark Edward John Butcher

In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown ...

Institute of Electrical and Electronics Engineers2010

Data-driven methods for tracking improvement

Mark Edward John Butcher

The tracking precision required by modern industrial applications is continuously increasing. Feedback control alone is often no longer capable of giving the necessary tracking accuracy and so the use of two-degree-of-freedom controllers, which include a f ...

EPFL2009

Linear Parameter Varying Iterative Learning Control

Alireza Karimi, Mark Edward John Butcher

In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown ...

2009

Model-Free Precompensator Tuning Based on the Correlation Approach

Alireza Karimi, Roland Longchamp, Mark Edward John Butcher

High performance output tracking can be achieved by precompensator or feedforward controllers based on the inverse of either the closed-loop system or the plant model, respectively. However, it has been shown that these inverse controllers can adversely af ...

2008

Data-driven Precompensator Tuning for Linear Parameter Varying Systems

Alireza Karimi, Roland Longchamp, Mark Edward John Butcher

Methods for direct data-driven tuning of the parameters of precompensators for LPV systems are developed. Since the commutativity property is not always satisfied for LPV systems, previously proposed methods for LTI systems that use this property cannot be ...

IEEE2008

A Statistical Analysis of Certain Iterative Learning Control Algorithms

Alireza Karimi, Roland Longchamp, Mark Edward John Butcher

Iterative Learning Control (ILC) is a technique used to improve the tracking performance of systems carrying out repetitive tasks, which are affected by deterministic disturbances. The achievable performance is greatly degraded, however, when non-repeating ...

2008

On the Consistency of Certain Identification Methods for Linear Parameter Varying Systems

Alireza Karimi, Roland Longchamp, Mark Edward John Butcher

The consistency of certain identification methods for Linear Parameter Varying systems is considered. More precisely, methods for the identification of SISO input-output models are analysed. In order to perform a consistency analysis the application of erg ...

2008

Iterative Learning Control based on Stochastic Approximation

Alireza Karimi, Roland Longchamp, Mark Edward John Butcher

In this paper stochastic approximation theory is used to produce Iterative Learning Control algorithms which are less sensitive to stochastic disturbances, a typical problem for the learning process of standard ILC algorithms. Two algorithms are developed, ...

2008