OpenLLM-France/wikimedia huggingface dataset:
# New Zealand History/Recent History

‹ Back to Politics in the Twentieth Century

## New Zealand's Recent History
### Major Events in the Twenty First Century - 2000-2007

2003
The population of New Zealand reached four million.
2004
The Foreshore and Seabed Controversy
The foreshore and seabed controversy was under heavy debate in 2004. The foreshore and seabed debate involved the Maori wanting ownership of New Zealand beaches, as they saw it a customary right. This claim was based around the fact that Maori used to 'own' the beaches before Europeans came to New Zealand, and the Treaty of Waitangi stated that Maori could keep their lands and possessions.
The New Zealand public were surprised and shocked by the claim to the beaches. The Prime Minister at the time, Helen Clark, said that the Government would be passing law to ensure that beaches remained in public hands. However, the law incorporated Maori being consulted over foreshore and seabed matters. Due to this, the Labour Party was heavily attacked by National Party leader, Don Brash, who said the Government showed favouritism towards Maoris. Soon afterwards National was ahead of Labour in an opinion poll.
On the 18th of November 2004, the Labour Government passed the Foreshore and Seabed Bill and it became law. The Act made the foreshore and seabed property of the Crown. However, the Act was still subject to dispute, with some calling for modifications to the law.
The Maori Party Formed
The Maori Party was launched on the 7th of July 2004. It was formed around a former Labour Party Cabinet Minister, Tariana Turia, and as its name suggests, it is based on the indigenous Maori population. The foreshore and seabed controversy was one of the main reasons for setting up the party.
The Maori Party contested the 2005 general elections, and won four of the seven Maori seats and 2.12% of the party vote.
2007
Anti-smacking Bill Passed as Law
The Crimes (Substituted Section 59) Amendment Act 2007, commonly known as the anti-smacking Bill, was a highly controversial Bill introduced by Green Party MP Sue Bradford, which amended Section 59 of the Crimes Act. The Bill removed legal defence of 'reasonable force' for parents prosecuted of assaulting their children.
There was large-scale public opposition to the Bill. In opinion polls, there was overwhelming public opposition to the Bill. Despite this, the Bill was passed on the 16th of May 2007, with a large majority of 113 votes against 8.
Forward to New Zealand Prime Ministers of the Twenty First Century ›
# New Zealand History/Twentieth Century

‹ Back to The Colonial Government

## The Dawn of the Twentieth Century
### Major Events from 1900 to 1914

1900
Second Boer War
By the beginning of the twentieth century, New Zealand was already engaged in its first overseas military campaign, the Second Boer War, in which it helped the British Empire fight against the two independent Boer republics, the Orange Free State and the South African Republic (Transvaal Republic). There were two notable campaigns in 1900:
* 15th of January 1900: The New Zealand Mounted Rifles defeated a Boer assault at Slingersfontein, South Africa.
* 15th of February 1900: New Zealand troops were part of the relief of Kimberley.
1901
The Cook Islands and other Pacific Islands were annexed by New Zealand.
1903
Richard Pearse Carries out what is Believed to be the First Manned Heavier-than-air Flight
Richard Pearse, a New Zealand farmer and inventor, was a pioneer in aviation. On the 31st of March 1903, Richard Pearse achieved a semi-controlled flight near Timaru in his home-built plane, approximately nine months before the Wright brothers did.
Pearse built the plane in a workshop on his farm, out of bamboo wire and canvas. When he tested the plane on the 31st of March 1903, it managed to fly several hundred metres before crashing into a hedge. The flight was hardly controlled, however.
Although there were a number of witnesses to this event, Richard Pearse was not very eager to have his achievement widely publicised, or have his planes put into mass production, so his flight is not nearly as well known as the Wright Brothers' flight.
1907
* Fire destroyed Parliament buildings.
* Dominion of New Zealand was declared after New Zealand decided not to join the Australian Federation.
1908
* North Island Main Trunk Railway Line opened.
* New Zealand's population reached one million.
Forward to New Zealand's Involvement in World War I ›
# New Zealand History/World War II

‹ Back to New Zealand in the Great Depression

## New Zealand in World War II

New Zealand declared war on Germany at 9.30 pm on the 3rd of September 1939, thus entering World War II. New Zealand assisted Britain, as New Zealanders still felt loyal to their 'mother country'.
New Zealand provided men for service in the British Royal Air Force and Royal Navy. The New Zealand Royal Navy was placed at Britain's disposal, and new bombers waiting in the United Kingdom to be shipped to New Zealand were made available to the Royal Air Force.
The New Zealand Army contributed the New Zealand 2nd Division to the war.
In April 1941, New Zealand's 2nd Division was deployed to Greece, to help the British and Australians defend the country from the invading Italians. The Germans soon joined in the fight, overwhelming the British and Commonwealth forces. Due to this factor, the British and Commonwealth forces had to retreat to Crete and Egypt by the 6th of April. The last New Zealand troops had evacuated Greece by the 25th of April, having sustained losses of 291 men killed, 387 seriously wounded, and 1,826 men captured in this campaign.
Since most New Zealand 2nd Division troops had evacuated to Crete, they were very much involved in the defence of Crete against German soldiers in May 1941. By the end of the month, however, German soldiers had once again overwhelmed British and Commonwealth forces, and it was decided to evacuate to Alexandria by June. In battle, 671 New Zealanders were killed, 967 wounded and 2,180 captured.
On the 18th of November 1941, the New Zealand 2nd Division took part in the North Africa Operation Crusader campaign. Merged into the British Eighth Army, New Zealand troops crossed the Libyan frontier into Cyrenaica. Operation Crusader was an overall success for the British, and New Zealand troops withdrew to Syria to recover. The Operation Crusader campaign was the most costly the New Zealand 2nd Division fought in the Second World War, with 879 men killed, and 1700 wounded.
The New Zealand 3rd Division, which was active after December 1941, supplemented existing garrison troops in the South Pacific. However, New Zealand troops were eventually replaced by American soldiers, freeing up the New Zealand 3rd Division for service within the New Zealand 2nd Division, which was in Italy.
New Zealand participated in the war until its end in 1945.
Casualties
In total, around 140,000 men served overseas for the Allied war effort. The war had a high cost on the country, with 11,625 New Zealand men killed, a ratio of 6684 dead per million in the population which was the highest rate in the Commonwealth.
Forward to Mid to Late Twentieth Century ›
# New Zealand History/World War I

‹ Back to The Dawn of the Twentieth Century

## New Zealand's Involvement in World War I

After the United Kingdom declared war on Germany in 1914, New Zealand followed without second thoughts. New Zealand only had a small population of just over one million at the time, and was fairly isolated from the rest of the world, but due to New Zealand's strong ties to Britain it offered its services to the Allied Forces.
New Zealand's first act in the war was to seize German Samoa. New Zealand sent 1,413 men to conduct this action and took control of the territory without much resistance. It was the first German territory to be occupied in the name of King George V in the war.
On the 25th of April 1915, New Zealand sent troops to Gallipoli under the command of British General Alexander Godly, along with Australian soldiers, to help seize Constantinople. Due to a navigational error, however, they landed at the wrong point, and the steep cliffs in the cove they had disembarked at offered the Turkish defenders a significant vantage point. Advancement of the New Zealand-Australian forces was impossible. New Zealand suffered casualties of 2,721 dead and 4,852 wounded in the cove, and eventually it was decided to evacuate. The battle was the first great conflict of New Zealand, and the loss was felt greatly in New Zealand.
New Zealand forces also helped on the Western Front in France, in which, by the time they were relieved, had advanced three kilometres and taken eight kilometres of enemy front line. 1560 New Zealand men were killed, and 7048 were wounded.
Casualties
Out of the 103,000 men recruited, 16,697 New Zealanders serving in the war had been killed and 41,317 had been wounded; a 58 percent casualty rate. This was one of the highest rates per capita of any country involved in the war. Approximately a further thousand men died after the war, as a result of injuries suffered.
Forward to New Zealand in the Great Depression ›
# Newmarket Hill - A Sussex Downland History

Introduction →
This book is at a very early stage of development. It started as a history of a remote farm labourer's cottage on the South Downs between Lewes and Brighton. However it was soon discovered that the subject could easily be extended to enable an insight into the wider history of the Sussex Downs as a whole, and so be suitable for publication as a Wikibook.

## Contents

* Introduction
* Geology
* Stone age hunter gatherers
* The first farmers - Neolithic to Saxon
* Medieval - shepherds and rabbits
* Conflict and change - 18th to early 19th century
* Newmarket Farm - 19th century
* Newmarket Farm - 20th century
* Newmarket Hill - post WW2 to present

## Note to editors

Please look at the talk page before editing this book. The editors of this book have come up with guidelines to follow when editing this book, and a list of things that it is wished to be done.
# Packing & Moving Household Goods/Proper Carrying and Lifting

Lift heavy items primarily with your legs. Squat directly in front of the load, pull it in tight to you and lift it with your legs, not your back. Set it back down the same way. If you must turn while carrying the load, then turn your whole body with your legs, don't swivel yourself at the waist. This simple moving tip can help you to avoid severe back injury while moving.
End tip big furniture pieces like sofas and armoires in order for the movers on both ends to get a good grip on the piece. When carrying the piece always be prepared to quickly set it down in case one or the other of the helpers is losing his grip or the piece is just too heavy for him to carry.
Use Teflon furniture glides such as Moving Men cups placed under big appliances and the legs of big furniture pieces in order to slide them around without damaging the floors. If you don’t have any glides then place a pad under the piece with enough hanging out to grip and pull the piece on it so the floor won’t get scratched.
If you can obtain some kind of a long, strong strap like a mover’s humpstrap do so. Then when you are carrying a large furniture piece up or down the stairs you can use it strung under the bottom of the piece to lift it without having to bend over to do so. The person on the top end of the carry uses it to hold the furniture piece so that he can stay upright all through the carry.
# Packing & Moving Household Goods/Packing Tips

Proper and complete packing is one of the most important things that you can do to save time, money, and aggravation on moving day! Packing as many of your household goods as possible protects them and makes them easy to carry and transport. If you are not fully packed when your moving crew arrives then they have to take time out from the moving task to help you finish your packing. If the packing is already done on moving day it will be much less aggravating for you and everyone concerned.
# Packing & Moving Household Goods/Pets and the Elderly
## Pets, Children and Elderly

Pets and small children or the elderly (who are no longer competent) should be present when the move occurs and be sure your moving people are advised that you have pets so that any with allergies can medicate beforehand. Take precautions so that your animals do not escape. Small children and the elderly although useless in many respects; should be allowed to help in their own ways. For example, a small child putting a small box of their own clothing on the moving van.
# Packing & Moving Household Goods/Plastic Containers

Utilize empty Tupperware or kitchen plastic containers to protect some of your smaller fragiles from shock. Paper wrap the fragile item and put it into the plastic container, seal its lid shut and put the container into a box with other fragiles. Well sealed small plastic containers make excellent double protectors.
# Packing & Moving Household Goods/Packing Table

Set up a worktable or cover your kitchen or dining room table so that you can do the majority of your packing on it in the upright position. Bending and stooping to pack will wear you out quickly and cause muscle aches. Keep this work area as open as possible to make the packing task easier for you.
Stack each packed box against a wall out of the way after it is sealed shut to await moving day. Keep clear, unobstructed paths in your residence to prevent the possibility of tripping.
# Packing & Moving Household Goods/Parking

Parking near your residence should be easily accessible for your truck. Do whatever you can to reserve adequate parking for your moving truck. Reserve spaces with your car, a friend's car, or saw horses. See your alderman or the police department to get no parking signs to save the spaces for the day of your move. Remember the moving van cannot block the street. Also, if your moving people have to walk half a block with your furniture because they could not block a street or an alley then the move will take a lot longer.
# Packing & Moving Household Goods/Plates

Plates should each be separated with disposable plastic or paper plates and wrapped in bundles of 4 to 6. Then stand the bundles on their side in a box with a cloud of soft stuff underneath - never lay plate bundles flat; all the weight would be on the bottom plate, and if the box is set down too strongly - the bottom plate could break!
# LMIs in Control/Click here to continue/Robust Controls

Robust Controls
* Continuous Time
** Robust Stabilization of Second-Order Systems
** Robust Stabilization of Hinf Optimal State Feedback Control
** H2-Optimal State Feedback Synthesis
* Discrete Time
* Robust Hinf state Feedback Control
* Robust Unconstrained Model Predictive Control
* Robust Model Predictive Control with input and output constraints
# LMIs in Control/Click here to continue/Optimal control systems/Mixed H2-Hinf-Optimal Observer

The goal of mixed $H_{2}-H\infty$-optimal state estimation is to design an observer that minimizes the $H_{2}$ norm of the closed-loop transfer matrix from $w_{1}$ to $z_{1}$, while ensuring that the $H\infty$ norm of the closed-loop transfer matrix from $w_{2}$ to $z_{2}$ is below a specified bound.

## The System

Consider the continuous-time generalized plant $P$ with state-space realization
    ${\begin{aligned}{\dot {x}}&=Ax+B_{1,1}w_{1}+B_{1,2}w_{2},\\y&=C_{2}x+D_{21,1}w_{1}+D_{21,1}w_{2}\\\end{aligned}}$
where it is assumed that $(A,C_{2})$ is detectable.

## The Data

The matrices needed as input are $A,B_{1},B_{2},C_{2},D_{21},D_{11}$.

## The Optimization Problem

The observer gain L is to be designed to minimize the $H_{2}$ norm of the closed-loop transfer matrix $T_{11}(s)$ from the exogenous input $w_{1}$ to the performance output $z_{1}$ while ensuring the $H\infty$ norm of the closed-loop transfer matrix $T_{22}(s)$ from the exogenous input $w_{2}$ to the performance output $z_{2}$ is less than $\gamma _{d}$, where
    ${\begin{aligned}T_{11}(s)=C_{1,1}(s1-(A-LC_{2}))^{-1}(B_{1,1}-LD_{21,1})\\T_{22}(s)=C_{1,2}(s1-(A-LC_{2}))^{-1}(B_{1,2}-LD_{21,2})+D_{11,22}\end{aligned}}$
is minimized. The form of the observer would be:
    ${\begin{aligned}{\dot {\hat {x}}}=A{\hat {x}}+L(y-{\hat {y}}),\\{\hat {y}}=C_{2}{\hat {x}}\\\end{aligned}}$
is to be designed, where $L\in \mathbb {R} ^{n_{x}\times n_{y}}$ is the observer gain.

## The LMI: $H_{\infty }$ Optimal Observer

The mixed $H_{2}-H\infty$-optimal observer gain is synthesized by solving for $P\in \mathbb {S} ^{n_{x}},G\in \mathbb {R} ^{n_{x}\times n_{y}}$, and $\nu \in \mathbb {R} _{>0}$ that minimize $\zeta (\nu )=\nu$ subject to $P>0,Z>0$,
       ${\begin{aligned}{\begin{bmatrix}PA+A^{T}P-GC_{2}-{C_{2}}^{T}G^{T}&&PB_{1}-GD_{21}\\\star &&-1\end{bmatrix}}<0\\{\begin{bmatrix}PA+A^{T}P-GC_{2}-{C_{2}}^{T}G^{T}&&PB_{1}-GD_{21}&&C_{1}\\\star &&-\gamma 1&&{D_{11}}^{T}\\\star &&\star &&-\gamma 1\end{bmatrix}}<0\\{\begin{bmatrix}P&&C{_{1,1}}^{T}\\\star &&Z\end{bmatrix}}>0\\trZ<\nu \end{aligned}}$

## Conclusion:

The mixed $H_{2}-H_{\infty }$ -optimal observer gain is recovered by $L=P^{-1}G$ , the $H_{2}$ norm of $T_{11}(s)$ is less than $\mu ={\sqrt {\nu }}$ and the $H_{\infty }$ norm of T(s) is less than $\gamma _{d}$.

## Implementation

Link to the MATLAB code designing $H_{2}-H\infty$- Optimal Observer
Code $H_{2}-H\infty$ Optimal Observer

## External Links

* LMI Methods in Optimal and Robust Control - A course on LMIs in Control by Matthew Peet.
* LMI Properties and Applications in Systems, Stability, and Control Theory - A List of LMIs by Ryan Caverly and James Forbes.
* LMIs in Systems and Control Theory - A downloadable book on LMIs by Stephen Boyd.

## Related LMIs

* $H_{2}$ Optimal observer
* $H\infty$ Optimal observer
# LMIs in Control/Click here to continue/Optimal control systems/Mixed H2-Hinf-optimal Full-state Feedback Control

Discrete-Time Mixed H2-H∞-Optimal Full-State Feedback Control
A discrete time system operates on a discrete time signal input and produces a discrete time signal output. They are used in digital signal processing, such as digital filters for images or sound. The class of discrete time systems that are both linear and time invariant, known as discrete time LTI systems.
A full-state feedback controller $K=K_{d}\in {R^{n_{u}*n_{x}}}$ (i.e., $uk=K_{d}x_{k}$) is to be designed to minimize the H2 norm of the closed loop transfer matrix $T11(z)$ from the exogenous input $w_{1,k}$ to the performance output $z_{1,k}$ while ensuring the H∞ norm of the closed-loop transfer matrix $T22(z)$ from the exogenous input $w_{2,k}$ to the performance output $z_{2,k}$ is less than $\gamma _{d}$.

## The System

Discrete-Time LTI System with state space realization
${\begin{aligned}x_{k+1}&=A_{d}x_{k}+B_{d1,1}w_{1,k}+B_{d1,2}w_{2,k}+B_{d2}u_{k},\\{\begin{bmatrix}Z_{1,k}\\Z_{2,k}\end{bmatrix}}&={\begin{bmatrix}C_{d1,1}\\C_{d1,2}\end{bmatrix}}x_{k}+{\begin{bmatrix}0&D_{d11,12}\\D_{d11,21}&D_{d11,22}\end{bmatrix}}{\begin{bmatrix}w_{1,k}\\w_{2,k}\end{bmatrix}}+{\begin{bmatrix}D_{d12,1}\\D_{d12,2}\end{bmatrix}}u_{k}\\y_{k}&=x_{k}\\\end{aligned}}$

## The Data

The matrices: System $(A_{d},B_{d1,1},B_{d1,2},B_{d2},C_{d1,1},C_{d1,2},D_{d11,12},D_{d11,21},D_{d11,22},,D_{d12,1},D_{d12,2}),P,F_{d}$.

## The Optimization Problem

The following feasibility problem should be optimized:
Minimize the H2 norm of the closed loop transfer matrix $T11(z)$, while ensuring the H∞ norm of the closed-loop transfer matrix $T22(z)$ is less than $\gamma _{d}$, while obeying the LMI constraints.

## The LMI:

Discrete-Time Mixed H2-H∞-Optimal Full-State Feedback Controller is synthesized by solving for $P\in S^{n_{x}},Z\in S^{n_{w}},F_{d}\in R^{n_{u}*n_{x}}$, and $\mu \in R_{>0}$ that minimize $\mu$ subject to $P>0,Z>0$
The LMI formulation
H∞ norm < $\gamma _{d}$
H2 norm < $\mu$
${\begin{aligned}{\begin{bmatrix}P&A_{d}P-B_{d2}F_{d}&B_{d1,1}\\*&P&0\\*&*&1\end{bmatrix}}&>0\\{\begin{bmatrix}P&A_{d}P-B_{d2}F_{d}&B_{d1,2}&0\\*&P&0&PC_{d1,2}^{T}-F_{d}^{T}D_{d12,2}^{T}\\*&*&\gamma _{d}I&D_{d11,22}^{T}\\*&*&*&\gamma _{d}I\end{bmatrix}}&>0\\{\begin{bmatrix}Z&C_{d1,1}P-D_{d12,1}\\*&P\end{bmatrix}}&>0\\trace(Z)&<\mu ^{2}\end{aligned}}$

## Conclusion:

The H2-optimal full-state feedback controller gain is recovered by $K_{d}=F_{d}P^{-1}$

## Implementation

A link to CodeOcean or other online implementation of the LMI MATLAB Code

## Related LMIs

- Continuous Time Mixed H2-H∞ Optimal Full State Feedback Control

## External Links

A list of references documenting and validating the LMI.
* LMI Methods in Optimal and Robust Control - A course on LMIs in Control by Matthew Peet.
* LMI Properties and Applications in Systems, Stability, and Control Theory - A List of LMIs by Ryan Caverly and James Forbes.
* LMIs in Systems and Control Theory - A downloadable book on LMIs by Stephen Boyd.
# LMIs in Control/Click here to continue/Preface

Preface
This book will discuss Linear Matrix Inequalities in Control Systems. The recent introduction of Linear Matrix Inequality (LMI) methods in control has dramatically expanded the types and complexity of the systems we can control.
For example, consider the problems: Gain Scheduling for Missile Attitude Control (A switched system); Control of Robots over Noisy Communication Channels (sampled-data systems); Remote Control of Spacecraft Attitude (a delayed system); Behavioral Therapy (A system with binary inputs); or self-driving vehicles (a case of decentralized control). None of these systems can be studied using classical root-locus or PID control methods. Rather, advances in these fields have been made possible through the increased power and flexibility created by the LMI (optimization-based) approach to control.
The objective of this book is to let readers be able to use LMI solvers to synthesize optimal or suboptimal controllers and estimators for multiple classes of state-space systems. This book will require prior knowledge of linear algebra, integral and differential calculus, and at least some exposure to ordinary differential equations. Some background in control systems is also preferrable. In addition, a prior knowledge of integral transforms, specifically the Laplace transforms will be very beneficial. Access to MATLAB is also required, including the robust control toolbox. A guide on the installation and usage of software used in LMI and Optimization is given in this book. Use the links below for the reference on Control systems and transformation of Matrices.

## References

For Calculus, use this link: Calculus
For Linear Algebra, use this link: Linear Algebra
for Control Systems, use this link: Control systems