Local controllability of nonlinear systems

The local controllability of control systems with an arbitrary number of controls is considered, first on an open set and then at a given point; necessary conditions are derived concerning the Lie algebra T′ generated by the input vector fields, and applied to gradient systems.The main results are a geometric sufficient condition for local controllability at a point, and an equivalent condition based on the computation of Lie brackets, assuming T′ to be (n − 1)-dimensional.     

QFT template generation for time-delay plants based on zero-inclusion test

Plant template generation is the key step in applying quantitative feedback theory (QFT) to design robust control for uncertain systems. In this paper we propose a technique for generating plant templates for a class of linear systems with an uncertain time delay and affine parameter perturbations in coefficients. The main contribution lies in presenting a necessary and sufficient condition for the zero inclusion of the value set f(T,Q)={f(τ,q): τT[τ⁻,τ⁺], qQ∏_k=0^m−1[q_k⁻,q_k⁺]}, where f(τ,q)=g(q)+h(q)e^−jτω*, g(q) and h(q) are both complex-valued affine functions of the m-dimensional real vector q, and ω^* is a fixed frequency. Based on this condition, an efficient algorithm which involves, in the worst case, evaluation of m algebraic inequalities and solution of m2^m−1 one-variable quadratic equations, is developed for testing the zero inclusion of the value set f(T,Q). This zero-inclusion test algorithm allows one to utilize a pivoting procedure to generate the outer boundary of a plant template with a prescribed accuracy or resolution. The proposed template generation technique has a linear computational complexity in resolution and is, therefore, more efficient than the parameter gridding and interval methods. A numerical example illustrating the proposed technique and its computational superiority over the interval method is included.     

The μ-basis of a planar rational curve—properties and computation

A moving line L(x,y;t)=0 is a family of lines with one parameter t in a plane. A moving line L(x,y;t)=0 is said to follow a rational curve P(t) if the point P(t₀) is on the line L(x,y;t₀)=0 for any parameter value t₀. A μ-basis of a rational curve P(t) is a pair of lowest degree moving lines that constitute a basis of the module formed by all the moving lines following P(t), which is the syzygy module of P(t). The study of moving lines, especially the μ-basis, has recently led to an efficient method, called the moving line method, for computing the implicit equation of a rational curve [3 and 6]. In this paper, we present properties and equivalent definitions of a μ-basis of a planar rational curve. Several of these properties and definitions are new, and they help to clarify an earlier definition of the μ-basis [3]. Furthermore, based on some of these newly established properties, an efficient algorithm is presented to compute a μ-basis of a planar rational curve. This algorithm applies vector elimination to the moving line module of P(t), and has O(n²) time complexity, where n is the degree of P(t). We show that the new algorithm is more efficient than the fastest previous algorithm [7].     

Filtering of some nonlinear diffusions satisfying the general Bene condition

Under some regularity assumptions and the following generalization of the well-known Bene condition [1]:

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, where F(t,z) = g⁻²(t)∫f(t,z)dz, F_t, F_z, F_zz, are partial derivatives of F, we obtain explicit formulas for the unnormalized conditional density q_t(z, x) α Px_t ε dz| y_s, 0 st, where diffusion x_t on R¹ solves x₀ = x, dx_t = [β(t) + α(t)x_t + f(t, x_t] dt + g(t) dw₁, and observation y_t = ∫_o^th(s)x_s ds + ∫_o^t(s) dw_2t, with w = (w₁, w₂) a two-dimensional Wiener process.     

Maximum flow and critical cutset as descriptors of multi-state systems with randomly capacitated components

Let G = (V, E, s, t) denote a directed network with node set V, arc set E = {1,…, n}, source node s and sink node t. Let Γ denote the set of all minimal s−t cutsets and b₁(τ), …, B_n(τ), the random arc capacities at time τ with known joint probability distribution function. Let Λ(τ) denote the maximum s−t flow at time τ and D(τ), the corresponding critical minimal s−t cutset. Let Ω denote a set of minimal s−t cutsets. This paper describes a comprehensive Monte Carlo sampling plan for efficiently estimating the probability that D(τ)εΩ-Γ and x<λ(τ)y at time τ and the probability that D(τ) Ω given that x < Λ(τ) y at time τ. The proposed method makes use of a readily obtainable upper bound on the probability that Λ(τ) > x to gain its computational advantage. Techniques are described for computing confidence intervals and credibility measures for assessing that specified accuracies have been achieved. The paper includes an algorithm for performing the Monte Carlo sampling experiment, an example to illustrate the technique and a listing of all steps needed for implementation.     

A note on two-sided stochastic control problems

We consider a class of two-sided stochastic control problems. For each continuous process π_t = π_t⁺ − π_t⁻ with bounded variation, the state process (x_t) is defined by x_t = B_t + f₀^t I(x_s - a)^d_πs+ − f₀^t I(x_s a)^dπ_s−, where a is a positive constant and (B_t) is a standard Brownian motion. We show the existence of an optimal policy so as to minimize the cost function J(π) = E [f₀^∞ e^−αsX_s² ds], with discount rate α > 0, associated with π.     

Robust stabilization of infinite dimensional systems by finite dimensional controllers

The problem of robustly stabilizing an infinite dimensional system with transfer function G, subject to an additive perturbation Δ is considered. It is assumed that: G ε ₀(σ) of systems introduced by Callier and Desoer [3]; the perturbation satisfies |W₁ΔW₂| < ε, where W₁ and W₂ are stable and minimum phase; and G and G + Δ have the same number of poles in ⁺. Now write W₁GW₂=G₁ + G₁, where G₁ is rational and totally unstable and G₂ is stable. Generalizing the finite dimensional results of Glover [12] this family of perturbed systems is shown to be stabilizable if and only if ε σ_min (G^*₁)( = the smallest Hankel singular value of G^*₁). A finite dimensional stabilizing controller is then given by where 2 is a rational approximation of G₂ such that

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) and K₁ robustly stabilizes G₁ to margin ε. The feedback system (G, K) will then be stable if |W₁ΔW₂| _∞< ε − Δ.     

Positive periodic solutions of second-order nonlinear differential systems with two parameters

By employing the Deimling fixed point index theory, we consider a class of second-order nonlinear differential systems with two parameters . We show that there exist three nonempty subsets of : Γ, Δ₁ and Δ₂ such that and the system has at least two positive periodic solutions for (λ,μ)Δ₁, one positive periodic solution for (λ,μ)Γ and no positive periodic solutions for (λ,μ)Δ₂. Meanwhile, we find two straight lines L₁ and L₂ such that Γ lies between L₁ and L₂.     

Optimal diagonal scaling for infinity-norm optimization

A solution is presented for the previously unsolved diagonally scaled multivariable infinity-norm optimization problem of minimizing D(s)(A(s) + Ψ(s) X(s))D⁻¹(s)_∞ over the set of stable minimum-phase diagonal D(s) and stable X(s). This problem is of central importance in the synthesis of feedback control laws for robust stability and insensitivity in the presence of ‘structured’ plant uncertainty. The result facilitates the design of feedback controllers which optimize the ‘excess stability margin’ [3] (or, equivalently, the ‘structured singular value μ’ [4]) of diagonally perturbed feedback systems.     

Riccati equations and normalized coprime factorizations for strongly stabilizable infinite-dimensional systems

The first part of the paper concerns the existence of strongly stabilizing solutions to the standard algebraic Riccati equation for a class of infinite-dimensional systems of the form Σ(A,B,S^−1/2B^*,D), where A is dissipative and all the other operators are bounded. These systems are not exponentially stabilizable and so the standard theory is not applicable. The second part uses the Riccati equation results to give formulas for normalized coprime factorizations over H_∞ for positive real transfer functions of the form D+S^−1/2B^*(author−A)⁻¹,B.     

Geometric conditions for generic structure of multivariable root-loci

Properties of the inverse (A − pBC)⁻¹ are used to characterise the parameters of the infinite zeros of the root-locus of an invertible, multivariable feedback system S(A, B, C) as the solutions of constrained eigenvalue problems and to generate generic subspace conditions that guarantee only integer order infinite zeros in terms of the subspaces in the {A, B}-invariant subspace algorithm.     

Amperometric phenol biosensor based on polyaniline

The catechol biosensor is constructed by cross-linking between polyphenol oxidase (PPO) and polyaniline (PANI) using glutaraldehyde as a cross-linking agent. The PANI, which is electrochemically synthesized in a solution containing ionic liquid, 1-ethyl-3-methylimidazolium ethyl sulfate, possesses good electroactivity and high conductivity above pH 6. In the presence of catechol as a substrate, the biosensor exhibits a linear range from 0.2 to 80 μmol dm⁻³. The maximum response current (I_max) and the Michaelis–Menten constant (k^′_m) are 9.44 μA and 117 μmol dm⁻³, respectively. The effects of pH and operating potential are also explored to optimize measurement conditions. The activation energy (E_a) of the PPO catalytic reaction is 30.23 kJ mol⁻¹ in the B–R buffer. Electrochemical impedance spectroscopy (EIS), UV–vis and SEM are used to characterize the PANI–PPO biosensor. The biosensor exhibits good long-term stability.     

Generalized dilations and the stabilization of uncertain systems via measurement feedback

We study the problem of semiglobally stabilizing uncertain nonlinear system

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, with (A,B) in Brunowski form. We prove that if p₁(z,u,t)u and p₂(z,u,t)u are of order greater than 1 and 0, respectively, with “generalized” dilation δ_l(z,u)=(l¹⁻ⁿz₁,…,l⁻¹z_n−1,z_n,lu) and uniformly with respect to t, where z_i is the ith component of z, then we can achieve semiglobal stabilization via arbitrarily bounded linear measurement feedback.     

A different class of homing problems

The problem of minimizing the expected time spent by a one-dimensional controlled diffusion process x(t) in the interval [−d,d], while taking the quadratic control costs into account, is considered. Both the infinitesimal mean and variance of the controlled process x(t) depend on the control variable u(t). The optimization problem reduces to a purely probabilistic problem.     

On the 2-induced norm of a sampled-data system

Formulas are given for the norms of SG and GH: G is a linear continuous-time system, S an ideal sampler, and H a zero-order hold; the signal spaces are ₂(−∞, ∞) (continuous-time) and l₂(Z) (discrete-time). These formulas are then applied to problems of uniformly optimal control of sampled-data systems.     

On the bounds of the trajectories of differential systems†

The behaviour of differential systems is investigated by considering the stability and instability of such systems with respect to certain sub-sets of the state space These Sets may in general be time-varying, and their properties do not only yield information about the stability of a system but also estimates of the bounds of the system trajectories. In all cases the results which are established yield sufficient conditions for stability and instability, and in general involve the existence of Lyapunov-like functions which do not appear to possess the usual definiteness requirements on V and [Vdot].

The developed theory is applied to two special cases: in one case, only time-invariant sub-sets are considered: in the second case, the time interval [t₀, ∞) over which the systems me defined is truncated to [t ₀, t _a  + T), T < ∞, So the that case of stability over a finite time interval may be considered.     

A geometric property of control systems with states in a Banach space

In this paper we are concerned with admissible trajectories x(·) of infinite-dimensional linear systems, defined on an interval [0, t₁] and such that x(0)−x(t₁) is small. We show that these trajectories satisfy certain geometric properties.     

Semigroup generation and stabilization by A-bounded feedback perturbations

Let A be a generator of a strongly continuous semigroup of operators, and assume that C and H are operators such that A + CH generates a strongly continuous semigroup S_H(t) on X. Let λ₀ be a real number in the resolvent set of A, and let ε [−1, 1]. Then there are some fairly unrestrictive conditions under which A+(λ₀ − A)CH(λ₀ − A)⁻ also generates a strongly continuous semigroup S_K(t) on X which has the same exponential growth rate as S_H(t). Given an input operator B, we can use this to identify a class of feedback perturbations K such that A + BK generates a strongly continuous semigroup. We can also use this result to identify classes of feedbacks which can and cannot uniformly stabilize a system. For example, we show that if the control on a cantilever beam in the state space H₀²[0, 1] × L²[0, 1] is a moment force on the free end, then we cannot stabilize the beam with an A^−1/2-bounded feedback, but we can find an A^−1/4-bounded feedback, for any > 0, which does stabilize the beam.     

Exponential stability in mean square of neutral stochastic differential functional equations

The aim of this paper is to investigate the exponential stability in mean square for a neutral stochastic differential functional equation of the form d[x(t) − G(x_t)] = [f(t,x(t)) + g(t, x_t)]dt + σ(t, x_t)dw(t), where x_t = {x(t + s): − τ s 0}, with τ > 0, is the past history of the solution. Several interesting examples are a given for illustration.     

The asymptotic self-similar behavior for the quasilinear heat equation with nonlinear boundary condition

In this paper the quasilinear heat equation with the nonlinear boundary condition is studied. The blow-up rate and existence of a self-similar solution are obtained. It is proved that the rescaled function

v(y,t)=(T−t)^{1/(2p+α−2)}u((T−t)^{(p−1)/(2p+α−2)}y,t),