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 Long Cheng
Andrew Chi Sing Leung
Seiichi Ozawa (Eds.)
LNCS 11307

Neural
Information Processing
25th International Conference, ICONIP 2018
Siem Reap, Cambodia, December 13–16, 2018
Proceedings, Part VII

123
Lecture Notes in Computer Science 11307
Commenced Publication in 1973
Founding and Former Series Editors:
Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen

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Lancaster University, Lancaster, UK
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Carnegie Mellon University, Pittsburgh, PA, USA
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University of Surrey, Guildford, UK
Jon M. Kleinberg
Cornell University, Ithaca, NY, USA
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ETH Zurich, Zurich, Switzerland
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Stanford University, Stanford, CA, USA
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Weizmann Institute of Science, Rehovot, Israel
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Indian Institute of Technology Madras, Chennai, India
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TU Dortmund University, Dortmund, Germany
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University of California, Berkeley, CA, USA
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More information about this series at http://www.springer.com/series/7407
Long Cheng Andrew Chi Sing Leung
•

Seiichi Ozawa (Eds.)

Neural
Information Processing
25th International Conference, ICONIP 2018
Siem Reap, Cambodia, December 13–16, 2018
Proceedings, Part VII

123
Editors
Long Cheng Seiichi Ozawa
The Chinese Academy of Sciences Kobe University
Beijing, China Kobe, Japan
Andrew Chi Sing Leung
City University of Hong Kong
Kowloon, Hong Kong SAR, China

ISSN 0302-9743 ISSN 1611-3349 (electronic)

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 Preface

The 25th International Conference on Neural Information Processing (ICONIP 2018),

the annual conference of the Asia Pacific Neural Network Society (APNNS), was held
in Siem Reap, Cambodia, during December 13–16, 2018. The ICONIP conference
series started in 1994 in Seoul, which has now become a well-established and
high-quality conference on neural networks around the world. Siem Reap is a gateway
to Angkor Wat, which is one of the most important archaeological sites in Southeast
Asia, the largest religious monument in the world. All participants of ICONIP 2018 had
a technically rewarding experience as well as a memorable stay in this great city.
In recent years, the neural network has been significantly advanced with the great
developments in neuroscience, computer science, cognitive science, and engineering.
Many novel neural information processing techniques have been proposed as the
solutions to complex, networked, and information-rich intelligent systems. To dis-
seminate new findings, ICONIP 2018 provided a high-level international forum for
scientists, engineers, and educators to present the state of the art of research and
applications in all fields regarding neural networks.
With the growing popularity of neural networks in recent years, we have witnessed
an increase in the number of submissions and in the quality of submissions. ICONIP
2018 received 575 submissions from 51 countries and regions across six continents.
Based on a rigorous peer-review process, where each submission was reviewed by at
least three experts, a total of 401 high-quality papers were selected for publication in
the prestigious Springer series of Lecture Notes in Computer Science. The selected
papers cover a wide range of subjects that address the emerging topics of theoretical
research, empirical studies, and applications of neural information processing tech-
niques across different domains.
In addition to the contributed papers, the ICONIP 2018 technical program also
featured three plenary talks and two invited talks delivered by world-renowned
scholars: Prof. Masashi Sugiyama (University of Tokyo and RIKEN Center for
Advanced Intelligence Project), Prof. Marios M. Polycarpou (University of Cyprus),
Prof. Qing-Long Han (Swinburne University of Technology), Prof. Cesare Alippi
(Polytechnic of Milan), and Nikola K. Kasabov (Auckland University of Technology).
We would like to extend our sincere gratitude to all members of the ICONIP 2018
Advisory Committee for their support, the APNNS Governing Board for their guid-
ance, the International Neural Network Society and Japanese Neural Network Society
for their technical co-sponsorship, and all members of the Organizing Committee for all
their great effort and time in organizing such an event. We would also like to take this
opportunity to thank all the Technical Program Committee members and reviewers for
their professional reviews that guaranteed the high quality of the conference pro-
ceedings. Furthermore, we would like to thank the publisher, Springer, for their
sponsorship and cooperation in publishing the conference proceedings in seven vol-
umes of Lecture Notes in Computer Science. Finally, we would like to thank all the
VI Preface

speakers, authors, reviewers, volunteers, and participants for their contribution and
support in making ICONIP 2018 a successful event.

October 2018 Jun Wang

Long Cheng
Andrew Chi Sing Leung
Seiichi Ozawa
 ICONIP 2018 Organization

General Chair
Jun Wang City University of Hong Kong,
Hong Kong SAR, China

Advisory Chairs
Akira Hirose University of Tokyo, Tokyo, Japan
Soo-Young Lee Korea Advanced Institute of Science and Technology,
South Korea
Derong Liu Institute of Automation, Chinese Academy of Sciences,
China
Nikhil R. Pal Indian Statistics Institute, India

Program Chairs
Long Cheng Institute of Automation, Chinese Academy of Sciences,
China
Andrew C. S. Leung City University of Hong Kong, Hong Kong SAR,
China
Seiichi Ozawa Kobe University, Japan

Special Sessions Chairs

Shukai Duan Southwest University, China
Kazushi Ikeda Nara Institute of Science and Technology, Japan
Qinglai Wei Institute of Automation, Chinese Academy of Sciences,
China
Hiroshi Yamakawa Dwango Co. Ltd., Japan
Zhihui Zhan South China University of Technology, China

Tutorial Chairs
Hiroaki Gomi NTT Communication Science Laboratories, Japan
Takashi Morie Kyushu Institute of Technology, Japan
Kay Chen Tan City University of Hong Kong, Hong Kong SAR,
China
Dongbin Zhao Institute of Automation, Chinese Academy of Sciences,
China
VIII ICONIP 2018 Organization

Publicity Chairs
Zeng-Guang Hou Institute of Automation, Chinese Academy of Sciences,
China
Tingwen Huang Texas A&M University at Qatar, Qatar
Chia-Feng Juang National Chung-Hsing University, Taiwan
Tomohiro Shibata Kyushu Institute of Technology, Japan

Publication Chairs
Xinyi Le Shanghai Jiao Tong University, China
Sitian Qin Harbin Institute of Technology Weihai, China
Zheng Yan University Technology Sydney, Australia
Shaofu Yang Southeast University, China

Registration Chairs
Shenshen Gu Shanghai University, China
Qingshan Liu Southeast University, China
Ka Chun Wong City University of Hong Kong,
Hong Kong SAR, China

Conference Secretariat
Ying Qu Dalian University of Technology, China

Program Committee
Hussein Abbass University of New South Wales at Canberra, Australia
Choon Ki Ahn Korea University, South Korea
Igor Aizenberg Texas A&M University at Texarkana, USA
Shotaro Akaho National Institute of Advanced Industrial Science
and Technology, Japan
Abdulrazak Alhababi UNIMAS, Malaysia
Cecilio Angulo Universitat Politècnica de Catalunya, Spain
Sabri Arik Istanbul University, Turkey
Mubasher Baig National University of Computer and Emerging
Sciences Lahore, India
Sang-Woo Ban Dongguk University, South Korea
Tao Ban National Institute of Information and Communications
Technology, Japan
Boris Bačić Auckland University of Technology, New Zealand
Xu Bin Northwestern Polytechnical University, China
David Bong Universiti Malaysia Sarawak, Malaysia
Salim Bouzerdoum University of Wollongong, Australia
Ivo Bukovsky Czech Technical University, Czech Republic
 ICONIP 2018 Organization IX

Ke-Cai Cao Nanjing University of Posts and Telecommunications,

China
Elisa Capecci Auckland University of Technology, New Zealand
Rapeeporn Chamchong Mahasarakham University, Thailand
Jonathan Chan King Mongkut’s University of Technology Thonburi,
Thailand
Rosa Chan City University of Hong Kong, Hong Kong SAR,
China
Guoqing Chao East China Normal University, China
He Chen Nankai University, China
Mou Chen Nanjing University of Aeronautics and Astronautics,
China
Qiong Chen South China University of Technology, China
Wei-Neng Chen Sun Yat-Sen University, China
Xiaofeng Chen Chongqing Jiaotong University, China
Ziran Chen Bohai University, China
Jian Cheng Chinese Academy of Sciences, China
Long Cheng Chinese Academy of Sciences, China
Wu Chengwei Bohai University, China
Zheru Chi The Hong Kong Polytechnic University, SAR China
Sung-Bae Cho Yonsei University, South Korea
Heeyoul Choi Handong Global University, South Korea
Hyunsoek Choi Kyungpook National University, South Korea
Supannada Chotipant King Mongkut’s Institute of Technology Ladkrabang,
Thailand
Fengyu Cong Dalian University of Technology, China
Jose Alfredo Ferreira Costa Federal University of Rio Grande do Norte, Brazil
Ruxandra Liana Costea Polytechnic University of Bucharest, Romania
Jean-Francois Couchot University of Franche-Comté, France
Raphaël Couturier University of Bourgogne Franche-Comté, France
Jisheng Dai Jiangsu University, China
Justin Dauwels Massachusetts Institute of Technology, USA
Dehua Zhang Chinese Academy of Sciences, China
Mingcong Deng Tokyo University of Agriculture and Technology,
Japan
Zhaohong Deng Jiangnan University, China
Jing Dong Chinese Academy of Sciences, China
Qiulei Dong Chinese Academy of Sciences, China
Kenji Doya Okinawa Institute of Science and Technology, Japan
El-Sayed El-Alfy King Fahd University of Petroleum and Minerals,
Saudi Arabia
Mark Elshaw Nottingham Trent International College, UK
Peter Erdi Kalamazoo College, USA
Josafath Israel Espinosa Auckland University of Technology, New Zealand
Ramos
Issam Falih Paris 13 University, France
X ICONIP 2018 Organization

Bo Fan Zhejiang University, China

Yunsheng Fan Dalian Maritime University, China
Hao Fang Beijing Institute of Technology, China
Jinchao Feng Beijing University of Technology, China
Francesco Ferracuti Università Politecnica delle Marche, Italy
Chun Che Fung Murdoch University, Australia
Wai-Keung Fung Robert Gordon University, UK
Tetsuo Furukawa Kyushu Institute of Technology, Japan
Hao Gao Nanjing University of Posts and Telecommunications,
China
Yabin Gao Harbin Institute of Technology, China
Yongsheng Gao Griffith University, Australia
Tom Gedeon Australian National University, Australia
Ong Sing Goh Universiti Teknikal Malaysia Melaka, Malaysia
Iqbal Gondal Federation University Australia, Australia
Yue-Jiao Gong Sun Yat-sen University, China
Shenshen Gu Shanghai University, China
Chengan Guo Dalian University of Technology, China
Ping Guo Beijing Normal University, China
Shanqing Guo Shandong University, China
Xiang-Gui Guo University of Science and Technology Beijing, China
Zhishan Guo University of Central Florida, USA
Christophe Guyeux University of Franche-Comte, France
Masafumi Hagiwara Keio University, Japan
Saman Halgamuge The University of Melbourne, Australia
Tomoki Hamagami Yokohama National University, Japan
Cheol Han Korea University at Sejong, South Korea
Min Han Dalian University of Technology, China
Takako Hashimoto Chiba University of Commerce, Japan
Toshiharu Hatanaka Osaka University, Japan
Wei He University of Science and Technology Beijing, China
Xing He Southwest University, China
Xiuyu He University of Science and Technology Beijing, China
Akira Hirose The University of Tokyo, Japan
Daniel Ho City University of Hong Kong, Hong Kong SAR,
China
Katsuhiro Honda Osaka Prefecture University, Japan
Hongyi Li Bohai University, China
Kazuhiro Hotta Meijo University, Japan
Jin Hu Chongqing Jiaotong University, China
Jinglu Hu Waseda University, Japan
Xiaofang Hu Southwest University, China
Xiaolin Hu Tsinghua University, China
He Huang Soochow University, China
Kaizhu Huang Xi’an Jiaotong-Liverpool University, China
Long-Ting Huang Wuhan University of Technology, China
 ICONIP 2018 Organization XI

Panfeng Huang Northwestern Polytechnical University, China

Tingwen Huang Texas A&M University, USA
Hitoshi Iima Kyoto Institute of Technology, Japan
Kazushi Ikeda Nara Institute of Science and Technology, Japan
Hayashi Isao Kansai University, Japan
Teijiro Isokawa University of Hyogo, Japan
Piyasak Jeatrakul Mae Fah Luang University, Thailand
Jin-Tsong Jeng National Formosa University, Taiwan
Sungmoon Jeong Kyungpook National University Hospital, South Korea
Danchi Jiang University of Tasmania, Australia
Min Jiang Xiamen University, China
Yizhang Jiang Jiangnan University, China
Xuguo Jiao Zhejiang University, China
Keisuke Kameyama University of Tsukuba, Japan
Shunshoku Kanae Junshin Gakuen University, Japan
Hamid Reza Karimi Politecnico di Milano, Italy
Nikola Kasabov Auckland University of Technology, New Zealand
Abbas Khosravi Deakin University, Australia
Rhee Man Kil Sungkyunkwan University, South Korea
Daeeun Kim Yonsei University, South Korea
Sangwook Kim Kobe University, Japan
Lai Kin Tunku Abdul Rahman University, Malaysia
Irwin King The Chinese University of Hong Kong,
Hong Kong SAR, China
Yasuharu Koike Tokyo Institute of Technology, Japan
Ven Jyn Kok National University of Malaysia, Malaysia
Ghosh Kuntal Indian Statistical Institute, India
Shuichi Kurogi Kyushu Institute of Technology, Japan
Susumu Kuroyanagi Nagoya Institute of Technology, Japan
James Kwok The Hong Kong University of Science
and Technology, SAR China
Edmund Lai Auckland University of Technology, New Zealand
Kittichai Lavangnananda King Mongkut’s University of Technology Thonburi,
Thailand
Xinyi Le Shanghai Jiao Tong University, China
Minho Lee Kyungpook National University, South Korea
Nung Kion Lee University Malaysia Sarawak, Malaysia
Andrew C. S. Leung City University of Hong Kong, Hong Kong SAR,
China
Baoquan Li Tianjin Polytechnic University, China
Chengdong Li Shandong Jianzhu University, China
Chuandong Li Southwest University, China
Dazi Li Beijing University of Chemical Technology, China
Li Li Tsinghua University, China
Shengquan Li Yangzhou University, China
XII ICONIP 2018 Organization

Ya Li Institute of Automation, Chinese Academy of Sciences,

China
Yanan Li University of Sussex, UK
Yongming Li Liaoning University of Technology, China
Yuankai Li University of Science and Technology of China, China
Jie Lian Dalian University of Technology, China
Hualou Liang Drexel University, USA
Jinling Liang Southeast University, China
Xiao Liang Nankai University, China
Alan Wee-Chung Liew Griffith University, Australia
Honghai Liu University of Portsmouth, UK
Huaping Liu Tsinghua University, China
Huawen Liu University of Texas at San Antonio, USA
Jing Liu Chinese Academy of Sciences, China
Ju Liu Shandong University, China
Qingshan Liu Huazhong University of Science and Technology,
China
Weifeng Liu China University of Petroleum, China
Weiqiang Liu Nanjing University of Aeronautics and Astronautics,
China
Dome Lohpetch King Mongkut’s University of Technology
North Bangoko, Thailand
Hongtao Lu Shanghai Jiao Tong University, China
Wenlian Lu Fudan University, China
Yao Lu Beijing Institute of Technology, China
Jinwen Ma Peking University, China
Qianli Ma South China University of Technology, China
Sanparith Marukatat Thailand’s National Electronics and Computer
Technology Center, Thailand
Tomasz Maszczyk Nanyang Technological University, Singapore
Basarab Matei LIPN Paris Nord University, France
Takashi Matsubara Kobe University, Japan
Nobuyuki Matsui University of Hyogo, Japan
P. Meesad King Mongkut’s University of Technology
North Bangkok, Thailand
Gaofeng Meng Chinese Academy of Sciences, China
Daisuke Miyamoto University of Tokyo, Japan
Kazuteru Miyazaki National Institution for Academic Degrees and Quality
Enhancement of Higher Education, Japan
Seiji Miyoshi Kansai University, Japan
J. Manuel Moreno Universitat Politècnica de Catalunya, Spain
Naoki Mori Osaka Prefecture University, Japan
Yoshitaka Morimura Kyoto University, Japan
Chaoxu Mu Tianjin University, China
Kazuyuki Murase University of Fukui, Japan
Jun Nishii Yamaguchi University, Japan
 ICONIP 2018 Organization XIII

Haruhiko Nishimura University of Hyogo, Japan

Grozavu Nistor Paris 13 University, France
Yamaguchi Nobuhiko Saga University, Japan
Stavros Ntalampiras University of Milan, Italy
Takashi Omori Tamagawa University, Japan
Toshiaki Omori Kobe University, Japan
Seiichi Ozawa Kobe University, Japan
Yingnan Pan Northeastern University, China
Yunpeng Pan JD Research Labs, China
Lie Meng Pang Universiti Malaysia Sarawak, Malaysia
Shaoning Pang Unitec Institute of Technology, New Zealand
Hyeyoung Park Kyungpook National University, South Korea
Hyung-Min Park Sogang University, South Korea
Seong-Bae Park Kyungpook National University, South Korea
Kitsuchart Pasupa King Mongkut’s Institute of Technology Ladkrabang,
Thailand
Yong Peng Hangzhou Dianzi University, China
Somnuk Phon-Amnuaisuk Universiti Teknologi Brunei, Brunei
Lukas Pichl International Christian University, Japan
Geong Sen Poh National University of Singapore, Singapore
Mahardhika Pratama Nanyang Technological University, Singapore
Emanuele Principi Università Politecnica elle Marche, Italy
Dianwei Qian North China Electric Power University, China
Jiahu Qin University of Science and Technology of China, China
Sitian Qin Harbin Institute of Technology at Weihai, China
Mallipeddi Rammohan Nanyang Technological University, Singapore
Yazhou Ren University of Science and Technology of China, China
Ko Sakai University of Tsukuba, Japan
Shunji Satoh The University of Electro-Communications, Japan
Gerald Schaefer Loughborough University, UK
Sachin Sen Unitec Institute of Technology, New Zealand
Hamid Sharifzadeh Unitec Institute of Technology, New Zealand
Nabin Sharma University of Technology Sydney, Australia
Yin Sheng Huazhong University of Science and Technology,
China
Jin Shi Nanjing University, China
Yuhui Shi Southern University of Science and Technology, China
Hayaru Shouno The University of Electro-Communications, Japan
Ferdous Sohel Murdoch University, Australia
Jungsuk Song Korea Institute of Science and Technology
Information, South Korea
Andreas Stafylopatis National Technical University of Athens, Greece
Jérémie Sublime ISEP, France
Ponnuthurai Suganthan Nanyang Technological University, Singapore
Fuchun Sun Tsinghua University, China
Ning Sun Nankai University, China
XIV ICONIP 2018 Organization

Norikazu Takahashi Okayama University, Japan

Ken Takiyama Tokyo University of Agriculture and Technology,
Japan
Tomoya Tamei Kobe University, Japan
Hakaru Tamukoh Kyushu Institute of Technology, Japan
Choo Jun Tan Wawasan Open University, Malaysia
Shing Chiang Tan Multimedia University, Malaysia
Ying Tan Peking University, China
Gouhei Tanaka The University of Tokyo, Japan
Ke Tang Southern University of Science and Technology, China
Xiao-Yu Tang Zhejiang University, China
Yang Tang East China University of Science and Technology,
China
Qing Tao Chinese Academy of Sciences, China
Katsumi Tateno Kyushu Institute of Technology, Japan
Keiji Tatsumi Osaka University, Japan
Kai Meng Tay Universiti Malaysia Sarawak, Malaysia
Chee Siong Teh Universiti Malaysia Sarawak, Malaysia
Andrew Teoh Yonsei University, South Korea
Arit Thammano King Mongkut’s Institute of Technology Ladkrabang,
Thailand
Christos Tjortjis International Hellenic University, Greece
Shibata Tomohiro Kyushu Institute of Technology, Japan
Seiki Ubukata Osaka Prefecture University, Japan
Eiji Uchino Yamaguchi University, Japan
Wataru Uemura Ryukoku University, Japan
Michel Verleysen Universite catholique de Louvain, Belgium
Brijesh Verma Central Queensland University, Australia
Hiroaki Wagatsuma Kyushu Institute of Technology, Japan
Nobuhiko Wagatsuma Tokyo Denki University, Japan
Feng Wan University of Macau, SAR China
Bin Wang University of Jinan, China
Dianhui Wang La Trobe University, Australia
Jing Wang Beijing University of Chemical Technology, China
Jun-Wei Wang University of Science and Technology Beijing, China
Junmin Wang Beijing Institute of Technology, China
Lei Wang Beihang University, China
Lidan Wang Southwest University, China
Lipo Wang Nanyang Technological University, Singapore
Qiu-Feng Wang Xi’an Jiaotong-Liverpool University, China
Sheng Wang Henan University, China
Bunthit Watanapa King Mongkut’s University of Technology, Thailand
Saowaluk Watanapa Thammasat University, Thailand
Qinglai Wei Chinese Academy of Sciences, China
Wei Wei Beijing Technology and Business University, China
Yantao Wei Central China Normal University, China
 ICONIP 2018 Organization XV

Guanghui Wen Southeast University, China

Zhengqi Wen Chinese Academy of Sciences, China
Hau San Wong City University of Hong Kong, Hong Kong SAR,
China
Kevin Wong Murdoch University, Australia
P. K. Wong University of Macau, SAR China
Kuntpong Woraratpanya King Mongkut’s Institute of Technology
Chaokuntaharn Ladkrabang, Thailand
Dongrui Wu Huazhong University of Science and Technology,
China
Si Wu Beijing Normal University, China
Si Wu South China University of Technology, China
Zhengguang Wu Zhejiang University, China
Tao Xiang Chongqing University, China
Chao Xu Zhejiang University, China
Zenglin Xu University of Science and Technology of China, China
Zhaowen Xu Zhejiang University, China
Tetsuya Yagi Osaka University, Japan
Toshiyuki Yamane IBM, Japan
Koichiro Yamauchi Chubu University, Japan
Xiaohui Yan Nanjing University of Aeronautics and Astronautics,
China
Zheng Yan University of Technology Sydney, Australia
Jinfu Yang Beijing University of Technology, China
Jun Yang Southeast University, China
Minghao Yang Chinese Academy of Sciences, China
Qinmin Yang Zhejiang University, China
Shaofu Yang Southeast University, China
Xiong Yang Tianjin University, China
Yang Yang Nanjing University of Posts and Telecommunications,
China
Yin Yang Hamad Bin Khalifa University, Qatar
Yiyu Yao University of Regina, Canada
Jianqiang Yi Chinese Academy of Sciences, China
Chengpu Yu Beijing Institute of Technology, China
Wen Yu CINVESTAV, Mexico
Wenwu Yu Southeast University, China
Zhaoyuan Yu Nanjing Normal University, China
Xiaodong Yue Shanghai University, China
Dan Zhang Zhejiang University, China
Jie Zhang Newcastle University, UK
Liqing Zhang Shanghai Jiao Tong University, China
Nian Zhang University of the District of Columbia, USA
Tengfei Zhang Nanjing University of Posts and Telecommunications,
China
Tianzhu Zhang Chinese Academy of Sciences, China
XVI ICONIP 2018 Organization

Ying Zhang Shandong University, China

Zhao Zhang Soochow University, China
Zhaoxiang Zhang Chinese Academy of Sciences, China
Dongbin Zhao Chinese Academy of Sciences, China
Qiangfu Zhao University of Aizu, Japan
Zhijia Zhao Guangzhou University, China
Jinghui Zhong South China University of Technology, China
Qi Zhou University of Portsmouth, UK
Xiaojun Zhou Central South University, China
Yingjiang Zhou Nanjing University of Posts and Telecommunications,
China
Haijiang Zhu Beijing University of Chemical Technology, China
Hu Zhu Nanjing University of Posts and Telecommunications,
China
Lei Zhu Unitec Institute of Technology, New Zealand
Pengefei Zhu Tianjin University, China
Yue Zhu Nanjing University, China
Zongyu Zuo Beihang University, China
 Contents – Part VII

Robotics and Control

Prescribed Performance Control of Double-Fed Induction Generator

with Uncertainties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Yuqi Liu, Haojie Li, Wenjie Wu, Dan Wang, and Zhouhua Peng

Event-Triggered Adaptive Dynamic Programming for Continuous-Time

Nonlinear Two-Player Zero-Sum Game . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Shan Xue, Biao Luo, Derong Liu, and Yueheng Li

A Learning Based Recovery for Damaged Snake-Like Robots . . . . . . . . . . . 26

Zhuoqun Guan, Jianping Huang, Zhiyong Jian, Linlin liu, Long Cheng,
and Kai Huang

Learning to Cooperate in Decentralized Multi-robot Exploration

of Dynamic Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Mingyang Geng, Xing Zhou, Bo Ding, Huaimin Wang, and Lei Zhang

Q Value-Based Dynamic Programming with Boltzmann Distribution

by Using Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Wenxin Yu, Liang Yu, Gang He, Yibo Fan, Gang He, Jiu Xu, Zhuo Yang,
and Zhiqiang Zhang

Data-Driven and Collision-Free Hybrid Crowd Simulation Model

for Real Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Qingrong Cheng, Zhiping Duan, and Xiaodong Gu

Aligning Manifolds of Double Pendulum Dynamics Under the Influence

of Noise. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Fayeem Aziz, Aaron S. W. Wong, James S. Welsh,
and Stephan K. Chalup

Pinning Synchronization of Complex Networks with Switching Topology

and a Dynamic Target System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Guanghui Wen, Xinghuo Yu, Peijun Wang, and Wenwu Yu

The Deep Input-Koopman Operator for Nonlinear Systems . . . . . . . . . . . . . 97

Rongrong Zhu, Yang Cao, Yu Kang, and Xuefeng Wang

Multi-UAV Collaborative Monocular SLAM Focusing on Data Sharing. . . . . 108

Zhuoyue Yang, Dianxi Shi, Yongjun Zhang, Shaowu Yang, Fu Li,
and Ruoxiang Li
XVIII Contents – Part VII

Comparing Computing Platforms for Deep Learning

on a Humanoid Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Alexander Biddulph, Trent Houliston, Alexandre Mendes,
and Stephan K. Chalup

Min-Max Consensus Algorithm for Multi-agent Systems Subject

to Privacy-Preserving Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Aijuan Wang, Nankun Mu, and Xiaofeng Liao

Robot Navigation on Slow Feature Gradients . . . . . . . . . . . . . . . . . . . . . . . 143

Muhammad Haris, Mathias Franzius, and Ute Bauer-Wersing

Neurodynamics-Based Distributed Receding Horizon Trajectory

Generation for Autonomous Surface Vehicles . . . . . . . . . . . . . . . . . . . . . . . 155
Jiasen Wang and Jun Wang

Adaptive Finite-Time Synchronization of Inertial Neural Networks

with Time-Varying Delays via Intermittent Control . . . . . . . . . . . . . . . . . . . 168
Lin Cheng, Yongqing Yang, Xianyun Xu, and Xin Sui

Adaptive Critic Designs of Optimal Control for Ice Storage Air

Conditioning Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Zehua Liao and Qinglai Wei

Impulsive Constraint Control of Coupled Neural Network Model

with Actual Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Deqiang Ouyang, Tingwen Huang, Chuandong Li, Caiping Chen,
and Hongfei Li

Value Iteration Algorithm for Optimal Consensus Control

of Multi-agent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Qichao Zhang and Dongbin Zhao

Potential and Sampling Based RRT Star for Real-Time Dynamic Motion
Planning Accounting for Momentum in Cost Function. . . . . . . . . . . . . . . . . 209
Saurabh Agarwal, Ashish Kumar Gaurav, Mehul Kumar Nirala,
and Sayan Sinha

Dynamic Control of Storage Bandwidth Using Double Deep

Recurrent Q-Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Kumar Dheenadayalan, Gopalakrishnan Srinivasaraghavan,
and V. N. Muralidhara

Adaptive Modeling and Control of an Upper-Limb Rehabilitation Robot

Using RBF Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Liang Peng, Chen Wang, Lincong Luo, Sheng Chen, Zeng-Guang Hou,
and Weiqun Wang
 Contents – Part VII XIX

Modelling Predictive Information of Stochastic Dynamics in the Retina . . . . . 246

Min Yan, Yiko Chen, C. K. Chan, and K. Y. Michael Wong

Local Tracking Control for Unknown Interconnected Systems

via Neuro-Dynamic Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Bo Zhao, Derong Liu, Mingming Ha, Ding Wang, Yancai Xu,
and Qinglai Wei

Optimal Control for Dynamic Positioning Vessel Based

on an Approximation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Xiaoyang Gao, Tieshan Li, and Qihe Shan

Interactive Incremental Online Learning of Objects Onboard

of a Cooperative Autonomous Mobile Robot . . . . . . . . . . . . . . . . . . . . . . . 279
Stephan Hasler, Jennifer Kreger, and Ute Bauer-Wersing

Resilient Consensus for Multi-agent Networks with Mobile Detectors . . . . . . 291

Haofeng Yan, Yiming Wu, Ming Xu, Ting Wu, Jian Xu, and Tong Qiao

Multi-feature Fusion for Deep Reinforcement Learning: Sequential Control

of Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Haotian Wang, Wenjing Yang, Wanrong Huang, Zhipeng Lin,
and Yuhua Tang

Dynamics Based Fuzzy Adaptive Impedance Control for Lower Limb

Rehabilitation Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Xu Liang, Weiqun Wang, Zengguang Hou, Zihao Xu, Shixin Ren,
Jiaxing Wang, and Liang Peng

A New Overvoltage Control Method Based on Active and Reactive

Power Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Guangbin Li, Yanhong Luo, and Dongsheng Yang

A Neural Network Compensation Technique for an Inertia Estimation Error

of a Time-Delayed Controller for a Robot Manipulator . . . . . . . . . . . . . . . . 339
Seul Jung

Biomedical Applications

Estimating Criticality of Resting-State Phase Synchronization Network

Based on EEG Source Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Li Zhang, Bo Shi, Mingna Cao, Sai Zhang, Yiming Dai, and Yanmei Zhu

A Spatio-Temporal Fully Convolutional Network for Breast Lesion

Segmentation in DCE-MRI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
Mingjian Chen, Hao Zheng, Changsheng Lu, Enmei Tu, Jie Yang,
and Nikola Kasabov
XX Contents – Part VII

Glomerulus Detection on Light Microscopic Images of Renal Pathology

with the Faster R-CNN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Ying-Chih Lo, Chia-Feng Juang, I-Fang Chung, Shin-Ning Guo,
Man-Ling Huang, Mei-Chin Wen, Cheng-Jian Lin, and Hsueh-Yi Lin

One-Bit DNA Compression Algorithm. . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

Deloula Mansouri and Xiaohui Yuan

Robust Segmentation of Overlapping Cells in Cervical Cytology Using

Light Convolution Neural Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Shusong Xu, Chen Sang, Yulan Jin, and Tao Wan

Semantic Similarity Measures to Disambiguate Terms in Medical Text . . . . . 398

Kai Lei, Jiyue Huang, Shangchun Si, and Ying Shen

Age Estimation from MR Images via 3D Convolutional Neural Network

and Densely Connect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
Qi Qi, Baolin Du, Mingyong Zhuang, Yue Huang, and Xinghao Ding

Low-Shot Multi-label Incremental Learning for Thoracic

Diseases Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
Qingfeng Wang, Jie-Zhi Cheng, Ying Zhou, Hang Zhuang,
Changlong Li, Bo Chen, Zhiqin Liu, Jun Huang, Chao Wang,
and Xuehai Zhou

Continuous Convolutional Neural Network with 3D Input for EEG-Based

Emotion Recognition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Yilong Yang, Qingfeng Wu, Yazhen Fu, and Xiaowei Chen

3D Large Kernel Anisotropic Network for Brain Tumor Segmentation. . . . . . 444

Dongnan Liu, Donghao Zhang, Yang Song, Fan Zhang,
Lauren J. O’Donnell, and Weidong Cai

Saliency Supervision: An Intuitive and Effective Approach for Pain

Intensity Regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Conghui Li, Zhaocheng Zhu, and Yuming Zhao

Identification of Causality Among Gene Mutations Through Local Causal

Association Rule Discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Ruichu Cai, Qiqi Zhen, and Zhifeng Hao

EEG Sparse Representation Based Alertness States Identification Using

Gini Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
Muna Tageldin, Talal Al-Mashaikki, Hamza Bali, and Mostefa Mesbah

Attention-Based Network for Cross-View Gait Recognition . . . . . . . . . . . . . 489

Yuanyuan Huang, Jianfu Zhang, Haohua Zhao, and Liqing Zhang
 Contents – Part VII XXI

Experimental Validation of Minimum-Jerk Principle in Physical

Human-Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Chen Wang, Liang Peng, Zeng-Guang Hou, Lincong Luo,
Sheng Chen, and Weiqun Wang

Residual Semantic Segmentation of the Prostate from Magnetic

Resonance Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Md Sazzad Hossain, Andrew P. Paplinski, and John M. Betts

The Relationship Between the Movement Difficulty and Brain Activity

Before Arm Movements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
Tomoki Semoto, Isao Nambu, and Yasuhiro Wada

A Deep Learning Assisted Gene Expression Programming Framework

for Symbolic Regression Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Jinghui Zhong, Yusen Lin, Chengyu Lu, and Zhixing Huang

Automated Tongue Segmentation in Chinese Medicine Based

on Deep Learning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
Yushan Xue, Xiaoqiang Li, Pin Wu, Jide Li, Lu Wang, and Weiqin Tong

Deep Feature Learning and Visualization for EEG Recording

Using Autoencoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
Yue Yao, Jo Plested, and Tom Gedeon

A Feature Filter for EEG Using Cycle-GAN Structure . . . . . . . . . . . . . . . . . 567

Yue Yao, Jo Plested, and Tom Gedeon

Influence of Difference of Spatial Information Obtained from a Moving

Virtual Sound Presentation on Auditory BCI . . . . . . . . . . . . . . . . . . . . . . . 577
Yuki Onodera, Isao Nambu, and Yasuhiro Wada

Association Study of Alzheimer’s Disease with Tree-Guided Sparse

Canonical Correlation Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Shangchen Zhou, Shuai Yuan, Zhizhuo Zhang, and Zenglin Xu

Relevance of Frequency of Heart-Rate Peaks as Indicator of ‘Biological’

Stress Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
Meena Santhanagopalan, Madhu Chetty, Cameron Foale, Sunil Aryal,
and Britt Klein

Development of a Real-Time Motor-Imagery-Based EEG

Brain-Machine Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
Gal Gorjup, Rok Vrabič, Stoyan Petrov Stoyanov,
Morten Østergaard Andersen, and Poramate Manoonpong

Robust Eye Center Localization Based on an Improved SVR Method . . . . . . 623

Zhiyong Wang, Haibin Cai, and Honghai Liu
XXII Contents – Part VII

Hardware

Hopfield Neural Network with Double-Layer Amorphous Metal-Oxide

Semiconductor Thin-Film Devices as Crosspoint-Type Synapse Elements
and Working Confirmation of Letter Recognition . . . . . . . . . . . . . . . . . . . . 637
Mutsumi Kimura, Kenta Umeda, Keisuke Ikushima, Toshimasa Hori,
Ryo Tanaka, Tokiyoshi Matsuda, Tomoya Kameda,
and Yasuhiko Nakashima

FPGA Based Hardware Implementation of Simple Dynamic Binary

Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647
Shunsuke Aoki, Seitaro Koyama, and Toshimichi Saito

Fast Depthwise Separable Convolution for Embedded Systems . . . . . . . . . . . 656

Byeongheon Yoo, Yongjun Choi, and Heeyoul Choi

An Analog Circuit Design for k-Winners-Take-All Operations . . . . . . . . . . . 666

Xiaoyang Liu and Jun Wang

NVM Weight Variation Impact on Analog Spiking Neural Network Chip . . . 676
Akiyo Nomura, Megumi Ito, Atsuya Okazaki, Masatoshi Ishii,
Sangbum Kim, Junka Okazawa, Kohji Hosokawa, and Wilfried Haensch

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687

Robotics and Control
 Prescribed Performance Control
of Double-Fed Induction Generator
with Uncertainties

Yuqi Liu, Haojie Li, Wenjie Wu, Dan Wang, and Zhouhua Peng(B)

School of Marine Electrical Engineering, Dalian Maritime University, Dalian, China

{dwang,zhpeng}@dlmu.edu.cn

Abstract. This paper considers the vector control of double-fed induc-

tion generator in the presence of uncertainties. An electromagnetic torque
controller and a rotor current controller are proposed based on an error
transformation technique and a reduced-order extended state observer.
Specifically, the error transformation technique is used to achieve the pre-
scribed transient and steady performance. The reduced-order extended
state observer is utilized to estimate and compensate for system uncer-
tainties in real time. By using the proposed controllers, the track-
ing performance of the system is improved. Compared with the full-
order extended state observer, the reduced-order extended state observer
reduces the adjustment parameters, which renders it easier to implement
in practice. The effectiveness of proposed scheme is validated via theo-
retical analysis and simulations.

Keywords: Double-fed induction generator

Extended state observer · Prescribed performance · Vector control

1 Introduction
In recent years, double-fed induction generator has been widely used as the core
component of variable speed constant frequency wind power generation system
[1]. Compared with synchronous generator and fixed speed asynchronous genera-
tor, double-fed induction generator has many advantages, such as variable speed
operation, four quadrant active power, reactive power regulation, low converter
cost and power loss [2].

D. Wang—This work was supported in part by the National Natural Science Founda-
tion of China under Grants 61673081, 51579023, and in part by the Innovative Talents
in Universities of Liaoning Province under Grant LR2017014, and in part by High Level
Talent Innovation and Entrepreneurship Program of Dalian under Grant 2016RQ036,
and in part by the National Key Research and Development Program of China under
Grant 2016YFC0301500, and in part by the Fundamental Research Funds for the Cen-
tral Universities under Grants 3132016313, 3132018306.
c Springer Nature Switzerland AG 2018
L. Cheng et al. (Eds.): ICONIP 2018, LNCS 11307, pp. 3–14, 2018.
https://doi.org/10.1007/978-3-030-04239-4_1
4 Y. Liu et al.

Most traditional double-fed induction generators are controlled based on lin-

earization technology. However, due to random wind speeds and some unavoid-
able disturbances, the work points of double-fed induction generators often
change randomly. Therefore, the control effect of the linearization control method
is not ideal, and the stability is not assured. Especially when the system param-
eters change, the linearization controller cannot guarantee the system perfor-
mance. In [3], prescribed performance control combined with adaptive control
is applied to the control of double-fed induction generator. In [4], robust differ-
entiator techniques are utilized to eliminate the need for an acceleration of the
wind and rotor. In [5], fuzzy logic system is applied to the angle control, which is
well known for its capability in dealing with nonlinear systems. However, most
control studies only focus on the steady-state performance of the system. There
is little research and discussion on the transient performance of the system. In
the controller design, analyzing the transient performance of the system has a
very important role in improving system performance.
This paper focuses on the vector control of double-fed induction generator.
A control strategy is used for guaranteeing the transient and steady control per-
formance. A reduced-order extended state observer is used to estimate and com-
pensate the uncertainty of the system in real time. Based on an error transfor-
mation technique and the reduced-order extended state observer, an electromag-
netic torque controller and a rotor current controller are designed. Specifically,
the error transformation technique is used to achieve the prescribed transient
and steady performance. By using the developed controller, the dependence on
system models and parameters are eliminated, the tracking performance of the
system is improved and the adjustment parameters are reduced.

2 Design and Analysis

2.1 Turbine Model

As the prime mover of wind power generation system, wind turbine is the pri-
mary component to convert the wind energy to mechanical energy in the entire
system. The performance of wind turbine determines the effective output power
of the wind power system and the safe, stable and reliable operation of wind tur-
bine. From the aerodynamic analysis, the mechanical power Pa and aerodynamic
torque Ta captured by the wind turbine from the wind are:

1 Pa 1 Cp (λ, β)
Pa = ρπR2 Cp (λ, β)v 3 , Ta = = ρπR2 v 3 (1)
2 ωr 2 ωr

where ρ is the air density, R is the radius of the rotor, Cp (λ, β) is the wind
energy utilization factor, v is the wind speed, and ωr is the rotation speed of the
wind wheel. The value of Cp (λ, β) depends on the pitch angle β and tip speed
ratio λ. According to Betz theory, the theoretical maximum value of Cp (λ, β) is
0.593, which is also known as the Betz limit. For horizontal axis wind turbines,
the value of Cp is generally less than 0.5. The tip speed ratio is expressed as:
 Prescribed Performance Control 5

λ = (ωr R)/v. In practical applications, the wind energy utilization factor

Cp (λ, β) is generally considered as a complex nonlinear function. Generally, the
following empirical formula is used: Cp (λ, β) = 0.5176(116/λ̄−0.4β−5)e−21/(λ̄) +
0.0068λ, 1/λ̄ = 1/(λ + 0.08β) − 0.035/(β 3 + 1). According to [6], the following
simplified model is utilized:

Jt ω̇mr = Ta − Kt ωmr − Tg . (2)

2.2 Generator Model

The DFIG is utilized in the wind turbine system. Compared with fully fed syn-
chronous generator, the DFIG can reduce converter costs and power consump-
tion. For the proposed control strategy, the dynamic model of the generator
expressed in a synchronously rotating frame dq is given by
⎧
⎪
⎪ usd = Rs isd + φ̇sd − ωs φsq
⎪
⎪
⎪
⎪ usq = Rs isq + φ̇sq − ωs φsd
⎪
⎪
⎪
⎪ urd = Rr ird + φ̇rd − ωr φrq
⎪
⎪
⎨ urq = Rr irq + φ̇rq − ωr φrd
⎪ φsd = Ls isd + Lm ird (3)
⎪
⎪ φ L i L i
⎪
⎪ sq = s sq + m rq
⎪
⎪
⎪ φrd = Lr ird + Lm isd
⎪
⎪
⎪
⎪ φrq = Lr irq + Lm isq
⎩
Tem = np Lm (ird isq − irq isd )

where urd , urq , usd and usq are the rotor and the stator d-axis and q-axis voltage
components, respectively. ird , irq , isd and isq are the rotor and the stator d-axis
and q-axis current components, respectively. φrd , φrq , φsd and φsq are the rotor
and the stator d-axis and q-axis flux components, respectively. Rr and Rs are
the rotor and the stator winding resistances. Lr and Ls are the self-inductances
of the rotor winding and the stator winding in a synchronous rotating coordinate
system. np is the number of pole pairs. Lm is the equivalent mutual inductance
in the stator windings in a synchronous rotating coordinate system.
According to the stator voltage orientation rule, the d-axis of the synchronous
rotational coordinate system is aligned with the stator voltage vector Us . Neglect-
ing the influence of stator resistance, the voltage equation is given by

urd = Rr ird + σLr i̇rd − ωsl (− ωL1m
Ls Us + σLr irq ) (4)
urq = Rr irq + σLr i̇rd + σLr ωsl ird

where ωsl is the rotational angular velocity, ωsl = ω1 − ωr . σ = 1 − L2m /(Ls Lr )

is the magnetic flux leakage parameter of DFIG. The electromagnetic torque
equation and stator output reactive power are given by

Tem = 32 np Uωs1LLms ird
(5)
Qs = − 2ω3U1 Ls s (Us + ω1 Lm irq ).
6 Y. Liu et al.

3 Problem Formulation
In different operating areas, the control objectives of wind power generators are
different. The wind turbines running at low wind speed are focused in this paper.
The control objective is to make the wind power generator run in the vicinity of
the maximum power point. When the wind power generator runs at the maximum
value of Cp , the reference value of the electromagnetic torque is [2]:

πρ5 Cpmax
Tref = kopt ωg2 , kopt = . (6)
2n3g λ3opt

The stator reactive power needs to be controlled to satisfy the grid require-
ments. When wind power plants do not require wind turbines to generate reactive
power, the DFIG can run under the unit power factor, i.e., Q = 0. From (5), the
reference value of the q-axis component of the rotor current can be calculated
Us
irq ref =− . (7)
ω1 Lm
In actual wind power system, electrical subsystems respond more quickly
than mechanical subsystems. Therefore, the controllers of generator and wind
power generator are designed separately. A double closed loop control structure
is used, in which the inner loop is concerned with the electrical subsystem and the
outer loop is concerned with the mechanical subsystem. The outer loop provides
reference torque input Tref for the inner loop. When designing the outer loop
controller, it is usually assumed that the inner loop of the electrical subsystem
can track the reference torque Tref in real time [7–12].
For the convenience of analysis, the electromagnetic torque tracking error
eTem and the reactive current tracking error eirq are defined as:

eTem = Tem − Tref , eirq = irq − irq ref . (8)

In this paper, the transient and stability performance of the controller are
considered. Therefore, the control target is described in detail as follows. By
controlling the dq-axis components of the rotor voltage urd , urq , we can achieve:
(1) Electromagnetic torque Tem tracks its reference signal Tref to achieve max-
imum power tracking;
(2) Reactive current irq tracks its reference signal irq ref to achieve unit power
factor operation;
(3) The system tracking error satisfies the prescribed transient and steady state
control performance.

More specifically, tracking error must be satisfied as

eTem < eTem < ēTem , eirq < eirq < ēirq (9)
 Prescribed Performance Control 7

where ēTem and eTem are the upper and lower bounds of torque tracking error
eTem respectively, and satisfy eTem (t) < 0, ēTem (t) > 0. ēirq and eirq are the upper
and lower bounds of current tracking error eirq respectively, and satisfy eirq (t) <
0, ēirq (t) > 0. By preselecting the upper and lower bound functions of the
appropriate tracking error, the pre-defined transient and stability performance
can be achieved. Taking the torque tracking error eTem as an example, select the
initial value eTem (0) and ēTem (0). The overshoot must be between eTem (0) and
ēTem (0). The shapes of eTem (t) and ēTem (t) determine the convergence rate of the
tracking error in the transient process. The steady-state error signal eTem (∞) is
maintained in a prescribed error domain, i.e., eTem (∞) < eTem (∞) < ēTem (∞).
For the design of the controller, the following assumption is needed.
Assumption 1. The upper and lower bounds of tracking error ēTem , eTem , ēirq ,
eirq and their derivatives are known and can be used directly in the controller
design.

3.1 Reduced-Order Extended State Observer

The extended state observer (ESO) has a good performance. It does not depend
on the accurate mathematical model. The ESO can be used not only to recover
the unmeasured system state, but also to estimate system uncertainty in real
time. By using the estimated information of uncertainty, a better control per-
formance can be achieved. Since the output of the general control system can
be measured directly, a reduced-order extended state observer (RESO) is used
to estimate the system uncertainty. In the RESO, only one parameter is needed
to adjust. The parameter selection is simpler, and it is easier to implement in
practice [13].
From (4) and (5), the state equation of the electromagnetic torque Tem and
the rotor current q-axis current irq can be obtained

Ṫem = f (·) + b1 urd , i̇rq = g(·) + b2 urq (10)

where f (·) = (3np Us Lm )/(2ω1 Ls )(−Rr /(σLs )ird+ωsl (irq −(Lm Us )/(σLr Ls ω1 ))+
1/(σLr )urd ) − b1 urd and g(·) = −Rr /(σLr )irq − ωsl ird + 1/(σLr )urq − b2 urq are
the system uncertainties, including motor parameters and coupling items. b1 and
b2 are control gains. Because the general motor parameters have a general value
  
(Lr , Ls , Lm ), let b1 = 3np Us Lm /(2σ  Lr ω1 Ls ), b2 = 1/(σ Lr ). This can reduce the
burden of ESO, and improve the estimation precision and estimation speed.
To estimate the unknown parts, two RESOs are proposed as follows
⎧
⎪
⎪ ṗ1 = −β1 p1 − β12 Tem − β1 b1 urd
⎨ˆ
f (·) = p1 β1 Tem
(11)
⎪
⎪ ṗ = −β2 p2 − β22 irq − β2 b2 urq
⎩ 2
ĝ(·) = p2 + β2 irq
where p1 and p2 are the auxiliary state variables of the extended state observer.
β1 and β2 are the observer gains. β1 > 0, β2 > 0. fˆ(·) and ĝ(·) are the estimated
value for f (·) and g(·), respectively.
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 Assistiu-lhe o piedoso bispo até o ultimo valle, e logo seu corpo foi
levado por homens principaes ao Hospicio de Nossa Senhora da
Penha dos Capuchinhos Francezes, o dia em que chegavam as
novas da restauração do famoso Palmar a Pernambuco, que havia
de ser o sexto da victoria, pois tanto gasta um caminheiro apressado
de um logar a outro. Mas é em vão busca-lo em Pitta, auctor
moderno que d’isto tracta como si não tractára. E mais me
escandalisa que passasse em sua mesma patria por um poeta de tal
nome seu contemporaneo, com quem devia gastar parte d’aquelles
elogios. Morreu finalmente no anno de 1696 com edade de setenta
e tres annos.
Este é o mais abreviado resumo que posso dar da vida do meu
suspirado, quão dilectissimo poeta lyrico; e oxalá podéra eu publicar
os prodigiosos fundamentos do meu amor, derramando entre as
gentes o manancial thesouro de suas graças! Singular foi a estrella
que dominou em seu engenho; porque a toda a circumferencia das
luzes apolineas brilhou com egualdade senhoril; e não menos
prodigioso aquelle não sei que de sua guarda, porque offendendo ás
claras muitas pessoas, de quem o menor movimento seria sem
duvida uma tyranna morte, sempre se atreveu, e nunca de seu motu
proprio cautelou perigos; morrendo intacto de tão prolongados
mezes.
Muitos eram os feridos do seu ferro que consultaram o remedio no
mesmo instrumento da chaga, beijando a Achilles a lança que os
traspassára. Raro testimunho d’esta fatalidade foi a resposta que
deu a um queixoso certo governador severamente resoluto: «Não
faça V. Mᶜᵉ. caso (disse), porque isso tambem passa por mim, sem
que por mim passe a minima tenção de o castigar.»
Testimunho d’esta fatalidade são as duas quartas de um soneto,
que se fez em sua morte; o qual não escrevo por inteiro em razão
de que si os seus principios professam a verdade pura, os fins
todavia contém temeraria petulancia:

Morreste emfim, Gregorio esclarecido,

Que sabendo tirar por varios modos
 A fama, a honra, o credito de todos,
D’esses mesmos te viste applaudido.

Entendo que outro tal não tem nascido

Entre os Romanos, Gregos, Persas, Godos,
Que comtigo mereça ter apodos
Nos applausos, que assim has adquirido.

Muitas vezes quiz elle refrear o genio, que conhecia

prejudialmente peccaminoso, fazendo os actos de christão que em
seu logar veremos, mas debalde o intentava, porque o seu furor
intrepido imperava dominante na massa sanguinaria contra os
desacertos d’aquella edade, castigados por Deus com tão horrorosa
peste e tão repetidas fomes: como tambem veremos pelo decurso
d’estas obras. E não é de admirar que disparadas do throno da
divina justiça aquellas duas lanças de sua via, seguisse a terceira
com tão exquisito genero de guerra em um homem, que de sua mãe
unicamente tomou este appellido entre outros partos: ella o deu
appelidando-se—da Guerra—, e elle o foi sem aquella proposição
da, por ser a mesma guerra, e não o instrumento d’ella. Isto parece
que prophetizou corto inimigo seu, respondendo-lhe a uma satyra
com outra na seguinte fórma:

Porém si em nada és guerreiro,

Para que te chamas guerra,
E a fazes a toda a terra
Com a lingua, que é mor damno, &.

Deixou o dr. Gregorio de Mattos um filho de sua mulher Maria de

Povos, chamado Gonçalo de Mattos, cujo amor publica em várias
obras este livro, que em seus logares se verão sem enfadosas citas.

o quente da cama
Com Gonçalo, e com sua ama,
 Dizendo estava comei-me, &.
Por vida do meu Gonçalo,
Custodia formosa e linda, &.
Madrasta do Gonçalinho,
Que é lindo enteado a fé, &.
Sim, por vida de Gonçalo, &.
Mas por vida de Gonçalo, &.

D’este moço, que com sua mãe ficou em summa pobreza e

desamparo, correm noticias muito geraes que totalmente
degenerára d’aquella massa scientifica de seus estupendos
progenitores. Bem pudera eu duvida-lo em uma terra, onde sempre
se hão de tomar os echos da fama pelo contrario; pois nunca vi nella
abonar um sujeito que não mereça ser desterrado por máu, nem
vituperar outro que ao contrario desmereça elogios de bom.
Mas para cumprir com os relativos d’esta historia consultei dous
sujeitos que se criaram com Gonçalo de Mattos, ambos de instincto
capaz para uma informação, e entre elles achei a contradicção, que
póde servir de exemplo a quem se informa: um affirma com
juramento que era poeta natural, o outro jurando nega que tal fosse,
dizendo que elle nem o Padre Nosso era capaz de repetir. A este
seguem muitos, e nenhum áquelle: mas o primeiro chamado
Christovão Rodrigues diz que em sua adolescencia lhe dera o
seguinte mote:

Com que, porque, para que.

Defendia-se o Gonçalo temeroso de uma maldição condicional de

sua mãe, em respeito da qual não queria pegar na penna para fazer
versos, posto que no animo lhe pulsavam as Musas (tal foi o
escarmento que deixaram ellas naquelles cadaveres da paciencia
lastimosa). Mas como a condição do preceito tinha sua clausula, em
que fundar-se uma heresia graciosa, respondeu importunado:
«Pegae vós na penna, porque a maldição de minha mãe parece que
não me prohibe fazer versos, mas sim pegar na penna para elles.»
Repetiu-me então esta decima, que tanto ella como a resposta, si
são verdadeiras, vem a ser uns relampagos da esphera do fogo:

GLOSA.

Disse Clori que me amava

Para o intento que tem,
O qual não disse a ninguem,
Nem o porque declarava:
Eu então lhe perguntava
Com que genero de fé!
Suspensa a dama se vê;
Como nada respondeu,
Não pude saber o seu
Com que, porque, para que.

Persuado a crer o caso pelas suas circumstancias, e muito mais

quando vejo aqui umas reliquias mais separadas d’aquelle humor,
ou ramas menos fortes do enxerto do doutor Pedro de Mattos seu
tio, onde não ha resposta sem equivoco sem substancia do genero
mais nobre.
Foi o doutor Gregorio de Mattos de boa estatura, secco do corpo,
membros delicados, poucos cabellos e crespos, testa espaçosa,
sobrancelhas arqueadas, olhos garços, nariz aguilenho, bocca
pequena e engraçada, barba sem demasia, e no tracto cortezão.
Trajava commummente seu collete de pelles de ambar, volta de fina
renda, e era finalmente um composto de perfeições como poeta
portuguez, que são Esopos os de outras nações. Tinha phantasia
natural no passeio, e quando algumas vezes por recreação sulcava
os quietos mares da Bahia a remo compassado, com tão bizarra
confiança interpunha os oculos, examinando as janellas da sua
cidade, que muitos curiosos iam de proposito a vê-lo.
 Fiz tirar d’elle a presente cópia, por um antigo pintor, que foi seu
familiar, e conferindo-a com as memorias que d’elle têm algumas
pessoas antigas, tenho-a por mui conforme a seu original. Naquelle
tempo era pouco versado o uso das cabelleiras, e elle a trajava: mas
pareceu-me copia-lo sem ella, porque os homens de talento devem
patentear-nos as officinas capitaes que o produzem para informação
dos judiciosos.
SATYRICAS
 OBRAS POETICAS
DE
GREGORIO DE MATTOS GUERRA

AOS VICIOS
TERCETOS

Eu sou aquelle que os passados annos

Cantei na minha lyra maldizente
Torpezas do Brazil, vicios e enganos.

E bem que os descantei bastantemente,

Canto segunda vez na mesma lyra
O mesmo assumpto em plectro differente.

Já sinto que me inflamma e que me inspira

Thalia, que anjo é da minha guarda
Des’ que Apollo mandou que me assistira.

Arda Bayona, e todo o mundo arda,

Que a quem de profissão falta á verdade
Nunca a dominga das verdades tarda.

Nenhum tempo exceptua a christandade

Ao pobre pegureiro do Parnaso
Para fallar em sua liberdade.

A narração ha de egualar ao caso,

E si talvez ao caso não eguala,
Não tenho por poeta o que é Pegaso.

De que póde servir calar quem cala?

Nunca se ha de fallar o que se sente?!
Sempre se ha de sentir o que se falla.
Qual homem póde haver tão paciente,
Que, vendo o triste estado da Bahia,
Não chore, não suspire e não lamente?

Isto faz a discreta phantasia:

Discorre em um e outro desconcerto,
Condemna o roubo, increpa a hypocrisia.

O nescio, o ignorante, o inexperto,

Que não elege o bom, nem mau reprova,
Por tudo passa deslumbrado e incerto.

E quando vê talvez na doce trova

Louvado o bem, e o mal vituperado,
A tudo faz focinho, e nada approva.

Diz logo prudentaço e repousado:

—Fulano é um satyrico, é um louco,
De lingua má, de coração damnado.

Nescio, si d’isso entendes nada ou pouco,

Como mofas com riso e algazarras
Musas, que estimo ter, quando as invoco.

Si souberas fallar, tambem falláras,

Tambem satyrisáras, si souberas,
E si fôras poeta, poetisáras.

A ignorancia dos homens d’estas eras

Sizudos faz ser uns, outros prudentes,
Que a mudez canoniza bestas feras.

Ha bons, por não poder ser insolentes,

Outros ha comedidos de medrosos,
Não mordem outros não—por não ter dentes.
Quantos ha que os telhados têm vidrosos,
E deixam de atirar sua pedrada,
De sua mesma telha receiosos?

Uma só natureza nos foi dada;

Não creou Deus os naturaes diversos;
Um só Adão creou, e esse de nada.

Todos somos ruins, todos perversos,

Só nos distingue o vicio e a virtude,
De que uns são comensaes, outros adversos.

Quem maior a tiver, do que eu ter pude,

Esse só me censure, esse me note,
Calem-se os mais, chiton, e haja saude.
 BENZE-SE
O P. DE VARIAS ACÇÕES QUE OBSERVAVA NA SUA PATRIA

D’estes que campam no mundo

Sem ter engenho profundo,
E, entre gabos dos amigos,
Os vemos em papafigos
Sem tempestade, nem vento:
Anjo bento!

De quem com lettras secretas

Tudo o que alcança é por tretas,
Baculejando sem pejo,
Por matar o seu desejo,
Desde a manhãa té à tarde:
Deus me guarde!

Do que passeia farfante,

Muito presado de amante,
Por fóra luvas, galões,
Insignias, armas, bastões.
Por dentro pão bolorento:
Anjo bento!

D’estes beatos fingidos,

Cabisbaixos, encolhidos,
Por dentro fataes maganos,
Sendo nas caras uns Janos,
Que fazem do vicio alarde:
Deus me guarde!
 Que vejamos teso andar
Quem mal sabe engatinhar,
Muito inteiro e presumido,
Ficando o outro abatido
Com maior merecimento:
Anjo bento!

D’estes avaros mofinos,

Que põem na meza pepinos,
De toda a iguaria isenta,
Com seu limão e pimenta,
Porque diz que queima e arde:
Deus me guarde!

Que pregue um douto sermão

Um alarve, um asneirão;
E que esgrima em demasia
Quem nunca lá na Sophia[1]
Soube pôr um argumento:
Anjo bento!

[1] Rua principal de Coimbra: allusão á Universidade.

D’esse sancto emmascarado,

Que falla do meu peccado,
E se tem por Sancto Antonio,
Mas em luctas com o demonio
Se mostra sempre cobarde:
Deus me guarde!
Que atropellando a justiça,
Só com virtude postiça,
Se premeie o delinquente,
Castigando o innocente
Por um leve pensamento:
Anjo bento!
 REPROVAÇÕES

Si sois homem valoroso,

Dizem que sois temerario,
Si valente—espadanchim,
E atrevido si esforçado.
Si resoluto—arrogante,
Si pacifico, sois fraco,
Si precatado—medroso,
E si o não sois—confiado.
Si usaes justiça, um Herodes,
Si favoravel, sois brando,
Si condemnaes, sois injusto,
Si absolveis, estaes peitado.
Si vos dão, sois um covarde,
E si daes sois deshumano,
Si vos rendeis, sois traidor,
Si rendeis—afortunado.
Si sois plebeu, sois humilde,
Soberbo, si sois fidalgo,
Si sois segundo sois pobre,
E tolo si sois morgado.
Si galeaes, sois fachada,
E si não—não sois bizarro,
Si vestis bem, sois gram moda,
Si mal vestis sois um trapo.
Si comeis muito, guloso,
E faminto, si sois parco,
Si comeis bem, regalão,
E si mal, nunca sois farto.
Si não soffreis, imprudente,
Si soffreis sois um coitado,
Si perdoaes, sois bom homem,
E si não sois—um tyranno.
Si brioso, tendes fumos,
 E si não, sois homem baixo,
Si sois serio, descortez,
Si cortez, afidalgado.
Si defendeis, sois amigo,
Si o não fazeis sois contrario,
Si sois amigo, suspeito,
Si o não sois—affeiçoado.
Si obraes mal, sois ignorante,
Si bem obraes, foi acaso,
Si não servis, sois isento,
E si servis, sois criado.
Si virtuoso, fingido,
E hypocrita si beato,
Si zeloso, impertinente,
E si não, sois um patrano.
Si sois sisudo, intractavel,
Si sois devoto, sois falso,
Pertinaz, si deffendente,
Si arguinte, porfiado.
Si discreto, prevenido,
E si não, sois insensato,
Si sois modesto, sois simples,
E si o não sois, sois um diabo.
Si sois gracioso, sois fatuo,
E si não sois, um marmanjo,
Si sois agudo tresledes,
E si o não sois, sois um asno.
Si não compondes, sois nescio,
Si escreveis, sois censurado,
Si fazeis versos sois louco,
E si o não fazeis, sois parvo.
Si previsto, feiticeiro,
E si não, desmazelado,
Si verdadeiro, bom homem,
Muito humilde, si sois lhano.
Si robusto, sois grosseiro,
Si delicado, sois brando,
 Si descansado, ocioso,
Si para pouco, sois tranco.
Si sois gordo, sois balôfo,
Sois phthisico, si sois magro,
Si pequeno, sois anão,
E gigante, si sois alto.
Si sois nobre, sois pelão,
E si official, sois baixo,
Si solteiro—extravagante,
Si noivo sois namorado.
Si corado, figadal,
Descorado, si sois alvo,
Si grande nariz—judeu,
Si trigueiro, sois mulato.
Si liberal sois perdido,
E si o não sois, sois escasso,
Si sois prodigo, vicioso,
E avarento, si poupado.
Si não despendeis—mesquinho,
Si despendeis, sois mui largo,
Si não gastaes—miseravel,
Si gastaes—esperdiçado.
Si honesto sois, não sois homem,
... si sois casto,
Si não namoraes, .....
Si o fazeis, sois estragado.
Si não luzis, não sois gente,
Si luzis, sois mui presado,
Si pedis, sois pobretão,
E si não, fazeis Calvarios.
Si andaes devagar—mimoso,
Si depressa sois cavallo,
Mal encarado, si feio,
Si gentil—affeminado.
Si fallaes muito, palreiro,
Si fallaes pouco, sois tardo,
Si em pé, não tendes assento,
 Preguiçoso, si assentado.
E assim não póde viver
Neste Brazil infestado,
Segundo o que vos refiro
Quem não seja reprovado.
 VERDADES

Ouve, ó amigo João,

Esta verdade que canto,
Si a verdade causa espanto
Esta causa admiração:
É certo, sem remissão,
E contra isto não ha nada,
Que a outra verdade usada
Com rebuços, mais enganos,
É verdade de maganos,
Mas esta é de gente honrada.

Domingos e dias sanctos

Nos manda a egreja guardar,
Nos mais dias trabalhar:
As mulheres trazem mantos:
Os doutos estão nos cantos,
Os ignorantes na praça,
Os cachorros vão á caça,
Os gatos furtam as ceias,
Os barbeiros rasgam veias
E as padeiras fazem massa.

Os homens fazem a guerra,

E as mulheres fazem renda,
Os tolos não têm emenda,
Os capos cavam a terra:
O bezerro sem mãe berra
Batem bandeiras alferes,
Os pobres buscam haveres,
Os peixes nadam no mar,
As purgas fazem purgar,
E os franciscanos colhéres.
Os cavallos comem herva,
Os despidos andam nús,
Come o Gentio cajús,
Os Tapuyas são caterva:
Não dorme de noite a cerva,
Os macacos fazem momos,
Os escripturarios tomos,
Os namorados passeiam,
As fragonas zombeteiam,
E as limas todas têm gomos.

Todos os ferrões têm ponta,

A agua do mar é salgada,
O hóspede logo enfada,
Todo o algarismo é conta:
A nau sem vela não monta,
O badalo dá no sino,
Chorar muito é desatino,
Muito comer enche a pança,
Bum-bum é agua em criança
E ter em pé, pino-pino.

Os caranguejos têm pernas,

Tocado o tambor faz bulha,
O arrelá desempulha,
O navio tem cavernas;
O fogo accende as lucernas
Os ... fedem á ..,
Quem degenera não herda,
O carvão todo é de lenha,
É só de lã a estamenha,
E a cabelleira tem cerda.
As hervas são todas folhas,
As larangeiras dão fructas,
Mulheres damas são .. ..,
Uma talha são dez polhas:
As botijas levam rolhas,
Toda a neve é branca e fria,
A irmãa de mãe é tia,
É o bronze todo duro,
Onde não ha luz, é escuro,
Quando não é noite é dia.

O sol e o fogo são quentes,

A chuva aonde cae molha,
Quem não tem vista não olha,
Ossos na boca são dentes:
É affronta dizer—mentes!
É ave grande a gallinha,
O cabello cae com tinha,
Quem é rouco tem catarrho,
Carregado canta o carro,
Mulher de rei é rainha.

Não ha barba sem cabello,

A arêa toda é de grãos,
Toca-se a harpa com as mãos,
É animal o camello:
Nenhuma calva tem pello,
Os ovos saem pelo ..
É marisco o sururú,
Todo o feijão é legume,
Coze-se o comer ao lume,
É abobora o gerumú.
Todo o unguento é mézinha
Não tem banha o bacalhau,
Papas ralas é mingau,
Trigo moido é farinha:
Couza alheia não é minha,
Não ha escada sem degraus,
Os picaros são maraus,
Tem aduellas a pipa,
Umbigo é ponto de tripa,
Sempre é loio o rei de paus.

Primeiro foi frango o gallo,

Palangana é prato fundo,
É redondo todo o mundo,
As luvas não fazem callo:
Tem quatro pés o cavallo,
Nunca mija o papagaio,
O chouriço grande é paio,
Não sabe ler a guariba,
Quem tem carcunda tem giba,
Antes de junho está maio.

Todo o chapeu é sombreiro,

As arvores são de pau,
Tudo o que não presta é mau,
E faz a barba o barbeiro:
O.. detraz é trazeiro,
É nervo a penna de pato,
Filho de parda, é mulato,
Mulheres todas são femeas,
Duas em um ventre são gemeas,
No pé se calça o sapato.