This paper presents the new concept of symbolic-based continuous (infinite) modal approach for systems control and operation in varying parameters environment. In this approach, the system is run under varying parameters form where the variations are sensed and fed back in a continuous manner for determining using symbolic-based expressions the corresponding control functions. The approach permits the simultaneous manipulation of system control and operation with the online changes of system parameters. The generic symbolic approach enables high system operation flexibility, while the continuous (infinite) modal operation ensures complete smoothing system behavior and full operation modal compatibility all over various system varying parameters regions. The realization of the continuous (infinite) modal design is carried out through symbolic-based embedded control expressions and using computational mathematics. The proof of concept of the presented scheme is demonstrated through both an illustrative example and an application representing the implementation of control of inverted pendulum system with varying cart mass operation. It is successfully elucidated that the exact generic tracking of changing parameters could effectively be achieved in very smoothly and with complete continuous modal compatibility and full auto or self-modality. Moreover, the proposed scheme enables providing more performance flexibility compared to the known unimodal and multimodal operation approaches and adds a new dimension for future system control and operation specially in the fields of mechatronics and robotics where smooth and flexible system behavior are to be maintained all over the modes of system operation. Finally, the applications of the suggested approach to examples of parameters varying direct and networked cyber-physical systems are addressed such that the varying parameters are monitored online and continuously fed to the symbolic-control function to yield at the end the exact/generic flexible control scheme. |
