stability of peakons the peakons are peaked solitary wave solutions of a certain nonlinear dispersive equation that is a model in shallow water theory and the theory of hyperelastic rods we give a very simple proof of the orbital stability of the peakons in the h1 norm 2000 john wiley sons inc

analyticity of periodic traveling free surface water waves with vorticity we prove that the prole of a periodic traveling wave propagating at the surface of water above a at bed in a ow with a real analytic vorticity must be real analytic provided the wave speed exceeds the horizontal uid velocity throughout the ow the real analyticity of each streamline be

optimization of lyapunov invariants in verification of software systems the paper proposes a control theoretic framework for verification of numerical software systems and puts forward software verification as an important application of control and systems theory the idea is to transfer lyapunov functions and the associated computational techniques from control systems analysis and convex optimization to verification of various software safety and performance specifications these include but are not limited to absence of overflow absence of division by zero termination in finite time absence of dead code and certain user specified assertions central to this framework are lyapunov invariants these are properly constructed functions of the program variables and satisfy certain properties analogous to those of lyapunov functions along the execution trace the search for the invariants can be formulated as a convex optimization problem if the associated optimization problem is feasible the result is a certificate for the specification

gibbs measures on brownian currents motivated by applications to quantum field theory we consider gibbs measures for which the reference measure is wiener measure and the interaction is given by a double stochastic integral and a pinning external potential in order properly to characterize these measures through dlr equations we are led to lift wiener measure and other objects to a space of configurations where the basic observables are not only the position of the particle at all times but also the work done by test vector fields we prove existence and basic properties of such gibbs measures in the small coupling regime by means of cluster expansion

a clustering technique for the identification of piecewise affine systems we propose a new technique for the identification of discrete time hybrid systems in the piecewise affine pwa form this problem can be formulated as the reconstruction of a possibly discontinuous pwa map with a multi dimensional domain in order to achieve our goal we provide an algorithm that exploits the combined use of clustering linear identification and pattern recognition techniques this allows to identify both the affine submodels and the polyhedral partition of the domain on which each submodel is valid avoiding gridding procedures moreover the clustering step used for classifying the datapoints is performed in a suitably defined feature space which allows also to reconstruct different submodels that share the same coefficients but are defined on different regions measures of confidence on the samples are introduced and exploited in order to improve the performance of both the clustering and the final linear regression procedure

some critical minimization problems for functions of bounded variations using a new elementary method we prove the existence of minimizers for various critical problems in bv omega and also in w 1 w p omega 1 p infinity c 2010 elsevier inc all rights reserved

equivalent piecewise affine models of linear hybrid automata in this technical note we examine the relationship between linear hybrid automata lha and piecewise affine pwa systems while a lha is an autonomous non deterministic model a pwa is a deterministic model with inputs through the key idea of modeling the uncertainty associated with lha transitions as input disturbances in a pwa model by extending continuous time pwa models to include the dynamics of discrete states and resets we show in a constructive way that a lha can be equivalently represented as a pwa system where equivalent means that the two systems generate the same trajectories besides filling in a missing theoretical link between the lha modelling framework and the pwa modelling framework the result has the practical advantage of enabling the use of several existing control theoretical tools developed for pwa models to a wider class of hybrid systems

survey constrained model predictive control stability and optimality model predictive control is a form of control in which the current control action is obtained by solving at each sampling instant a finite horizon open loop optimal control problem using the current state of the plant as the initial state the optimization yields an optimal control sequence and the first control in this sequence is applied to the plant an important advantage of this type of control is its ability to cope with hard constraints on controls and states it has therefore been widely applied in petro chemical and related industries where satisfaction of constraints is particularly important because efficiency demands operating points on or close to the boundary of the set of admissible states and controls in this review we focus on model predictive control of constrained systems both linear and nonlinear and discuss only briefly model predictive control of unconstrained nonlinear and or time varying systems we concentrate our attention on research dealing with stability and optimality in these areas the subject has developed in our opinion to a stage where it has achieved sufficient maturity to warrant the active interest of researchers in nonlinear control we distill from an extensive literature essential principles that ensure stability and use these to present a concise characterization of most of the model predictive controllers that have been proposed in the literature in some cases the finite horizon optimal control problem solved on line is exactly equivalent to the same problem with an infinite horizon in other cases it is equivalent to a modified infinite horizon optimal control problem in both situations known advantages of infinite horizon optimal control accrue

improved algorithm for mixed integer quadratic programs and a computational study in a recent paper 6 we suggested an algorithm for solving complicated mixed integer quadratic programs based on an equivalent formulation that employs a nonsingular transformation of variables the objectives of the present paper are two first to present an improved version of this algorithm which reduces substantially its computational requirements second to report on the results of a computational study with the revised algorithm

switching stabilizability for continuous time uncertain switched linear systems this paper investigates the switching stabilizability problem for a class of continuous time switched linear systems with time variant parametric uncertainties first a necessary and sufficient condition for the asymptotic stabilizability of such uncertain switched linear system is derived under the assumption that the closed loop switched system does not generate sliding motions then an additional condition is introduced to exclude the possibility of unstable sliding motions finally a necessary and sufficient for the asymptotic stabilizability of such continuous time uncertain switched linear systems is presented this result improves upon conditions found in the literature which are either sufficient only or necessary only

cardinality constrained linear quadratic optimal control as control implementation often incurs not only a variable cost associated with the magnitude or energy of the control but also a setup cost we consider a discrete time linear quadratic lq optimal control problem with a limited number of control implementations termed in this technical note the cardinality constrained linear quadratic optimal control cclq we first derive a semi analytical feedback policy for cclq problems using dynamic programming dp due to the exponential growth of the complexity in calculating the action regions however dp procedure is only efficient for cclq problems with a scalar state space recognizing this fact we develop then two lower bounding schemes and integrate them into a branch and bound bnb solution framework to offer an efficient algorithm in solving general cclq problems adopting the devised solution algorithm for cclq problems we can solve efficiently the linear quadratic optimal control problem with setup costs

a control problem for affine dynamical systems on a full dimensional polytope given an affine system on a full dimensional polytope the problem of reaching a particular facet of the polytope using continuous piecewise affine state feedback is studied necessary conditions and sufficient conditions for the existence of a solution are derived in terms of linear inequalities on the input vectors at the vertices of the polytope special attention is paid to affine systems on full dimensional simplices in this case the necessary and sufficient conditions are equivalent and a constructive procedure yields an affine feedback control law that solves the reachability problem under consideration

enumeration based approach to solving parametric linear complementarity problems this paper presents a solution method for parametric linear complementarity problems plcp that relies on an enumeration technique to discover all feasible bases the enumeration procedure is based on evaluating all possible combinations of active constraints and testing for feasibility although the enumeration approach is known to grow exponentially in the number of constraints the formulation of the plcp allows incorporation of cheap rank tests to quickly prune the infeasible directions in the exploration the motivation for the development of the enumeration based plcp solver is that it represents a direct method to solve parametric linear and quadratic optimization problems as well as their mixed integer counterparts these types of problems often arise in the field of model predictive control for linear and hybrid systems the enumeration based plcp solver offers another alternative to compute explicit solutions in the field of hybrid model predictive control that can be extremely effective in some important cases

numerical experience with lower bounds for miqp branch and bound the solution of convex mixed integer quadratic programming miqp problems with a general branch and bound framework is considered it is shown how lower bounds can be computed efficiently during the branch and bound process improved lower bounds such as the ones derived in this paper can reduce the number of quadratic programming qp problems that have to be solved the branch and bound approach is also shown to be superior to other approaches in solving miqp problems numerical experience is presented which supports these conclusions

brief paper tracking and synchronisation for a class of pwa systems in this paper the tracking problem for a class of discontinuous piecewise affine pwa systems is addressed we propose an observer based output feedback control design consisting of a feedforward a piecewise affine feedback law and a model based observer solving the tracking problem these synthesis results can also be employed to tackle the master slave synchronisation problem for pwa systems it is shown that for certain classes of pwa systems the design is characterised in terms of linear matrix inequalities the results are illustrated by application to mechanical systems with discontinuous friction characteristics

stability of peakons for the degasperis procesi equation the degasperis procesi equation can be derived as a member of a oneparameter family of asymptotic shallow water approximations to the euler equations with the same asymptotic accuracy as that of the camassaholm equation in this paper we study the orbital stability problem of the peaked solitons to the degasperis procesi equation on the line by constructing a liapunov function we prove that the shapes of these peakon solitons are stable under small perturbations

stabilizing polynomial approximation of explicit mpc a given explicit piecewise affine representation of an mpc feedback law is approximated by a single polynomial computed using linear programming this polynomial state feedback control law guarantees closed loop stability and constraint satisfaction the polynomial feedback can be implemented in real time even on very simple devices with severe limitations on memory storage

quantized consensus and averaging on gossip digraphs we study distributed consensus problems of multi agent systems on directed networks and subject to quantized information flow for the communication among component agents particular attention is given to the gossip type which models their asynchronous behavior for quantization effect each agent s state is abstracted to be an integer the central question investigated is how to design distributed algorithms and what connectivity of networks that together lead to consensus this investigation is carried out for both general consensus and average consensus for each case a class of algorithms is proposed under which a necessary and sufficient graphical condition is derived to guarantee the corresponding consensus in particular the obtained graphical condition ensuring average consensus is weaker than those in the literature for either real valued or quantized states in the sense that it does not require symmetric or balanced network topologies

impulsive and hybrid dynamical systems stability dissipativity and control s book review w m haddad v s chellaboina and s g nersesov

optimistic optimization for model predictive control of max plus linear systems model predictive control for max plus linear discrete event systems usually leads to a nonsmooth nonconvex optimization problem with real valued variables which may be hard to solve efficiently an alternative approach is to transform the given problem into a mixed integer linear programming problem however the computational complexity of current mixed integer linear programming algorithms increases in the worst case exponentially as a function of the prediction horizon the focus of this paper is on making optimistic optimization suited to solve the given problem optimistic optimization is a class of algorithms that can find an approximation of the global optimum for general nonlinear optimization a key advantage of optimistic optimization is that one can specify the computational budget in advance and guarantee bounds on the suboptimality with respect to the global optimum we prove that optimistic optimization can be applied for the given problem by developing a dedicated semi metric and by proving it satisfies the necessary requirements for optimistic optimization moreover we show that the complexity of optimistic optimization is exponential in the control horizon instead of the prediction horizon hence using optimistic optimization is more efficient when the control horizon is small and the prediction horizon is large

a two component generalization of the degasperis procesi equation we present two different hamiltonian extensions of the degasperis procesi equation to two component equations the construction is based on the observation that the second hamiltonian operator of the degasperis procesi equation could be considered as the dirac reduced poisson tensor of the second hamiltonian operator of the boussinesq equation the first extension is generated by the hamiltonian operator which is a dirac reduced operator of the generalized but degenerated second hamiltonian operator of the boussinesq equation the second one is obtained by the n 2 supersymmetric extension of the aforementioned method as the byproduct of this procedure we obtain the hamiltonian system of interacting equations which contains the camassa holm and degasperis procesi equations

optimal control of continuous time switched affine systems this paper deals with optimal control of switched piecewise affine autonomous systems where the objective is to minimize a performance index over an infinite time horizon we assume that the switching sequence has a finite length and that the decision variables are the switching instants and the sequence of operating modes we present two different approaches for solving such an optimal control problem the first approach iterates between a procedure that finds an optimal switching sequence of modes and a procedure that finds the optimal switching instants the second approach is inspired by dynamic programming and identifies the regions of the state space where an optimal mode switch should occur therefore providing a state feedback control law

rigorous derivation and propagation speed property for a two component degasperis procesi system in shallow water regimes we study the propagation speed property for a two component degasperis procesi system proposed by m popowicz first we rederive the system from the euler equation with constant vorticity in shallow water regime then we investigate the propagation behavior of compactly supported solutions namely whether solutions which are initially compactly supported will retain this property through their lifespan finally we give an exponential decay structure result on the first component function to the system

control of systems integrating logic dynamics and constraints this paper proposes a framework for modeling and controlling systems described by interdependent physical laws logic rules and operating constraints denoted as mixed logical dynamical mld systems these are described by linear dynamic equations subject to linear inequalities involving real and integer variables mld systems include linear hybrid systems finite state machines some classes of discrete event systems constrained linear systems and nonlinear systems which can be approximated by piecewise linear functions a predictive control scheme is proposed which is able to stabilize mld systems on desired reference trajectories while fulfilling operating constraints and possibly take into account previous qualitative knowledge in the form of heuristic rules due to the presence of integer variables the resulting on line optimization procedures are solved through mixed integer quadratic programming miqp for which efficient solvers have been recently developed some examples and a simulation case study on a complex gas supply system are reported

dynamic programming for constrained optimal control of discrete time linear hybrid systems in this paper we study the solution to optimal control problems for constrained discrete time linear hybrid systems based on quadratic or linear performance criteria the aim of the paper is twofold first we give basic theoretical results on the structure of the optimal state feedback solution and of the value function second we describe how the state feedback optimal control law can be constructed by combining multiparametric programming and dynamic programming

global conservative solutions of the camassa holm equation this paper develops a new approach in the analysis of the camassa holm equation by introducing a new set of independent and dependent variables the equation is transformed into a semilinear system whose solutions are obtained as fixed points of a contractive transformation these new variables resolve all singularities due to possible wave breaking returning to the original variables we obtain a semigroup of global solutions depending continuously on the initial data our solutions are conservative in the sense that the total energy equals a constant for almost every time

propositional logic in control and monitoring problems by using linear constraints on integer variables logical inference can be incorporated within model predictive control and model based detection problems resulting in mixed integer quadratic or mixed integer linear programming problems qualitative knowledge can be used to prioritize control objectives or to improve performance of detection schemes this article demonstrates some capabilities of combining logic using integer variables with quantitative models

asymmetric poincare inequalities and solvability of capillarity problems abstract in this paper we first establish an asymmetric version of the poincare inequality in the space of bounded variation functions and then basically relying on this result we discuss the existence the non existence and the multiplicity of bounded variation solutions of a class of capillarity problems with asymmetric perturbations

stability and invariance analysis of uncertain discrete time piecewise affine systems this note proposes a method to analyze uniform asymptotic stability and uniform ultimate boundedness of uncertain piecewise affine systems whose dynamics are only defined in a bounded and possibly non invariant set x of states the approach relies on introducing fake dynamics outside x and on synthesizing a piecewise affine and possibly discontinuous lyapunov function via linear programming the existence of such a function proves stability properties of the original system and allows the determination of a region of attraction contained in x the procedure is particularly useful in practical applications for analyzing the stability of piecewise affine control systems that are only defined over a bounded subset x of the state space and to determine whether for a given set of initial conditions the trajectories of the state vector remain within the domain x

global existence and blow up phenomena for the degasperis procesi equation this paper is concerned with several aspects of the existence of global solutions and the formation of singularities for the degasperis procesi equation on the line global strong solutions to the equation are determined for a class of initial profiles on the other hand it is shown that the first blow up can occur only in the form of wave breaking a new wave breaking mechanism for solutions is described in detail and two results of blow up solutions with certain initial profiles are established

harsanyi power solutions in coalitional control systems in coalitional control the connections among the different parts of a control network evolve dynamically to achieve a trade off between communication burden and control performance and the coalition choices are made by selecting the network topology with minimal payoff this work analyzes how harsanyi power solutions for games in coalitional control schemes which generalize the shapley value in this context can be used to quantify the value of the communication links under different control topologies to this end a game among these links is considered and the payoff that each link receives is determined by the harsanyi power solutions which take into account the communication costs and the predicted infinite horizon costs for these topologies the concept of link power measure as a centrality index to configure the communication costs is also introduced as a result a more computationally efficient design method with respect to previous works has been proposed

infinite propagation speed for the degasperis procesi equation abstract we prove that any nontrivial classical solution of the degasperis procesi equation will not have compact support if its initial data has this property

consensus seeking in multiagent systems under dynamically changing interaction topologies this note considers the problem of information consensus among multiple agents in the presence of limited and unreliable information exchange with dynamically changing interaction topologies both discrete and continuous update schemes are proposed for information consensus this note shows that information consensus under dynamically changing interaction topologies can be achieved asymptotically if the union of the directed interaction graphs have a spanning tree frequently enough as the system evolves

the trajectories of particles in stokes waves analyzing a free boundary problem for harmonic functions we show that there are no closed particle paths in an irrotational inviscid traveling wave propagating at the surface of water over a flat bed within a period each particle experiences a backward forward motion with a slight forward drift

a unified framework for hybrid control model and optimal control theory we propose a very general framework that systematizes the notion of a hybrid system combining differential equations and automata governed by a hybrid controller that issues continuous variable commands and makes logical decisions we first identify the phenomena that arise in real world hybrid systems then we introduce a mathematical model of hybrid systems as interacting collections of dynamical systems evolving on continuous variable state spaces and subject to continuous controls and discrete transitions the model captures the identified phenomena subsumes previous models yet retains enough structure to pose and solve meaningful control problems we develop a theory for synthesizing hybrid controllers for hybrid plants in all optimal control framework in particular we demonstrate the existence of optimal relaxed and near optimal precise controls and derive generalized quasi variational inequalities that the associated value function satisfies we summarize algorithms for solving these inequalities based on a generalized bellman equation impulse control and linear programming

data based identification and control of nonlinear systems via piecewise affine approximation the piecewise affine pwa model represents an attractive model structure for approximating nonlinear systems in this paper a procedure for obtaining the pwa autoregressive exogenous arx autoregressive systems with exogenous inputs models of nonlinear systems is proposed two key parameters defining a pwarx model namely the parameters of locally affine subsystems and the partition of the regressor space are estimated the former through a least squares based identification method using multiple models and the latter using standard procedures such as neural network classifier or support vector machine classifier having obtained the pwarx model of the nonlinear system a controller is then derived to control the system for reference tracking both simulation and experimental studies show that the proposed algorithm can indeed provide accurate pwa approximation of nonlinear systems and the designed controller provides good tracking performance

symplectic structures their backlund transformations and hereditary symmetries abstract it is shown that compatible symplectic structures lead in a natural way to hereditary symmetries we recall that a hereditary symmetry is an operator valued function which immediately yields a hierarchy of evolution equations each having infinitely many commuting symmetries all generated by this hereditary symmetry furthermore this hereditary symmetry usually describes completely the soliton structure and the conservation laws of these equations this result then provide us with a method for constructing hereditary symmetries and hence exactly solvable evolution equations in addition we show how symplectic structures transform under backlund transformations this leads to a method for generating a whole class of symplectic structures from a given one several examples and applications are given illustrating the above results also the connection of our results with those of gelfand and dikii and of magri is briefly pointed out

finite propagation speed for the camassa holm equation we prove that any classical solution of the camassa holm equation will have compact support if its initial data has this property

lyapunov stability of a class of discrete event systems discrete event systems des are dynamical systems which evolve in time by the occurrence of events at possibly irregular time intervals logical des are a class of discrete time des with equations of motion that are most often nonlinear and discontinuous with respect to event occurrences recently there has been much interest in studying the stability properties of logical des and several definitions for stability and methods for stability analysis have been proposed here the authors introduce a logical des model and define stability in the sense of lyapunov and asymptotic stability for logical des then the authors show that more conventional analysis of stability which employs appropriate lyapunov functions can be used for logical des the authors provide a general characterization of the stability properties of automata theoretic des models petri nets and finite state systems furthermore the lyapunov stability analysis approach is illustrated on a manufacturing system that processes batches of n different types of parts according to a priority scheme to prove properties related to the machine s ability to reorient itself to achieve safe operation and a load balancing problem in computer networks to study the ability of the system to achieve a balanced load to minimize underutilization

control to facet by piecewise affine output feedback the control to facet problem plays an important role in the design of feedback controllers for piecewise affine hybrid systems on polytopes in the literature necessary conditions and sufficient conditions for solvability by static state feedback exist in this paper we extend these results to the case of continuous piecewise affine static output feedback for the construction of a controller a triangulation of the output polytope is made which satisfies additional conditions to guarantee compatibility with the induced subdivision of the state polytope in the state feedback case the use of this special type of triangulation is not required

defect of compactness in spaces of bounded variation defect of compactness for non compact imbeddings of banach spaces can be expressed in the form of a profile decomposition let x be a banach space continuously imbedded into a banach space y and let d be a group of linear isometric operators on x a profile decomposition in x relative to d and y for a bounded sequence xk k n x is a sequence sk k n such that xk sk k n is a convergent sequence in y and furthermore sk has the particular form sk n ngk n w n with gk n d and w n x this paper extends the profile decomposition proved by solimini 10 for sobolev spaces h 1 p rn with 1 p n to the non reflexive case p 1 since existence of concentration profiles w n relies on weak star compactness and the space h 1 1 is not a conjugate of a banach space we prove a corresponding result for a larger space of functions of bounded variation the result extends also to spaces of bounded variation on lie groups

on the necessity of the invariance conditions for reach control on polytopes abstract we study the reach control problem rcp to make the solutions of an affine system defined on a polytopic state space reach and exit a prescribed facet of the polytope in finite time without first leaving the polytope so called invariance conditions are used to prevent solutions from leaving the polytope through facets which are not designated as the exit facet these conditions are known to be necessary for solvability of the rcp on polytopes by continuous state feedback we study whether the invariance conditions are also necessary for solvability of the rcp on polytopes by open loop controls we show by way of a counterexample that surprisingly the answer is negative we identify a suitable class of polytopes for which the invariance conditions remain necessary conditions