10 Sensor fusion. Main idea.

Give a typical structural

scheme of the system with sensor fusion.

Sensor fusion is the combining of sensory data or data derived from sensory data from disparate
sources such that the resulting information is in some sense better than would be possible when
these sources were used individually. The term better in this case can mean more accurate, more
complete, or more dependable, or refer to the result of an emerging view, such
as stereoscopicvision (calculation of depth information by combining two-dimensional images
from two cameras at slightly different viewpoints)
The data sources for a fusion process are not specified to originate from identical sensors. One
can distinguish direct fusion, indirect fusion and fusion of the outputs of the former two. Direct
fusion is the fusion of sensor data from a set of heterogeneous or homogeneous sensors, soft
sensors, and history values of sensor data, while indirect fusion uses information sources like a
prioriknowledge about the environment and human input.
One application of sensor fusion is GPS/INS, where Global Positioning System and Inertial
Navigation System data is fused together using various different methods, e.g. the Extended
Kalman Filter. This is useful, for example, in determining the attitude of an aircraft using low-
cost sensors.[4]

Integrated GPS+INS navigation

11 What types of restrictions are imposed on the structure

and parameters of optimal controller of the closed loop
system during synthesis?
Optimal control deals with the problem of finding a control law for a given system such that a
certain optimality criterion is achieved. A control problem includes a cost functional that is a
function of state and control variables. An optimal control is a set of differential equations
describing the paths of the control variables that minimize the cost functional. The optimal
control can be derived using Pontryagin's maximum principle (a necessary condition also known
as Pontryagin's minimum principle or simply Pontryagin's Principle[2]), or by solving
the Hamilton–Jacobi–Bellman equation (a sufficient condition).
We begin with a simple example. Consider a car traveling on a straight line through a hilly road.
The question is, how should the driver press the accelerator pedal in order to minimize the total
traveling time? Clearly in this example, the term control law refers specifically to the way in
which the driver presses the accelerator and shifts the gears. The "system" consists of both the
car and the road, and the optimality criterion is the minimization of the total traveling time.
Control problems usually include ancillary constraints. For example the amount of available fuel
might be limited, the accelerator pedal cannot be pushed through the floor of the car, speed
limits, etc.
A proper cost functional is a mathematical expression giving the traveling time as a function of
the speed, geometrical considerations, and initial conditions of the system. It is often the case
that the constraints are interchangeable with the cost functional.
Another optimal control problem is to find the way to drive the car so as to minimize its fuel
consumption, given that it must complete a given course in a time not exceeding some amount.
Yet another control problem is to minimize the total monetary cost of completing the trip, given
assumed monetary prices for time and fuel.
A more abstract framework goes as follows. Minimize the continuous-time cost functional

subject to the first-order dynamic constraints

the algebraic path constraints

and the boundary conditions

where   is the state,   is the control,   is the independent variable (generally
speaking, time),   is the initial time, and   is the terminal time. The terms   
and   are called theendpoint cost and Lagrangian, respectively. Furthermore, it is noted that
the path constraints are in general inequality constraints and thus may not be active (i.e., equal to
zero) at the optimal solution. It is also noted that the optimal control problem as stated above
may have multiple solutions (i.e., the solution may not be unique). Thus, it is most often the case
that any solution   to the optimal control problem is locally minimizing.

12 Give a general block scheme of tracking system. Describe its structural elements.
Tracking mode can be described as a stabilization one by defined deterministic or stochastic
program.
Such systems are intended for:
- stabiliy of “object-regulator” system while object is unstable
- to decrease disturbing factors and noises of measurement

so,
Let the object to stabilize would be ddescribed by such a system of equations:
Px=Mu + psy

but determinant |P| is a urwitz, and vector psy is n-dimensional central randon pricess with knwn
matrice Spsypsy.

Structural scheme of ideal stabilization system.

regulator is

Matrix W using the algorithm of onesided poles extraction is possible to write down as

where W10,W20, W1,W2 are polynomial...and

the matrix of transfer functions of closed loop system from input psy to output x is Fx,
the matrix of transfer functions of closed loop system from input psy to output u is Fu,

hence

then
the synthesis problem is described with a task to find such a structure of matrix W , that will
provide stability of closed loop system and satisfy the minimal of

where are matrices of spectr densities of x and u vectors, R,C are weight
matrices.

13 Optimal controller design problem statement for closed

loop stabilization system.
the unstability of obkject under stabilizatio limits huge restrictions on optimal structure of
regulator, that is synthesized. When the object is stable, then the issue of synthesis is rather easy
to solve.

Let the object to stabilize would be ddescribed by such a system of equations:

Px=Mu + psy

but determinant |P| is a urwitz, and vector psy is n-dimensional central randon pricess with knwn
matrice Spsypsy

Structural scheme of ideal stabilization system.

regulator is

Matrix W using the algorithm of onesided poles extraction is possible to write down as

where W10,W20, W1,W2 are polynomial...and

the matrix of transfer functions of closed loop system from input psy to output x is Fx,
the matrix of transfer functions of closed loop system from input psy to output u is Fu,

hence

then

the synthesis problem is described with a task to find such a structure of matrix W , that will
provide stability of closed loop system and satisfy the minimal of

where are matrices of spectr densities of x and u vectors, R,C are weight
matrices.

14 What kind of the system is called optimal?

Optimal system is a system where the variables representing the various states are so
determined that a given criterion function is minimized subject to given constraints.

Optimal Control System 

an automatic control system that ensures functioning of the object of control that is the best, or
optimal, from a particular point of view. The characteristics of the object, and also the external
disturbing influences, may change in an unforeseen manner but usually remain within certain
limits.
The optimal functioning of a control system is described by the criterion of optimal control, also
called the criterion of optimality or the target function, which is a quantity that defines the
efficiency of achieving the goal of control and depends on the change in time or space of the
coordinates and parameters of the system. Various technical and economic indexes of the
functioning of the object may be the criterion of optimality; among them are efficiency, speed of
operation, average or maximum deviation of system parameters from assigned values, prime cost
of the product, and certain indexes of product quality or a generalized quality index. The
criterion of optimality may apply to a transient process, a stable process, or both.