On the application of optimal control techniques in lossy fieldbuses

The performance of real-time networks is under continuous improvement as a result of several trends in the digital world. However, these tendencies not only cause improvements, but also exacerbates a series of unideal aspects of real-time networks such as communication latency, jitter of the latency and packet drop rate. This Thesis focuses on the communication errors that appear on such realtime networks, from the point-of-view of automatic control. Specifically, it investigates the effects of packet drops in automatic control over fieldbuses, as well as the architectures and optimal techniques for their compensation. Firstly, a new approach to address the problems that rise in virtue of such packet drops, is proposed. This novel approach is based on the simultaneous transmission of several values in a single message. Such messages can be from sensor to controller, in which case they are comprised of several past sensor readings, or from controller to actuator in which case they are comprised of estimates of several future control values. A series of tests reveal the advantages of this approach. The above-explained approach is then expanded as to accommodate the techniques of contemporary optimal control. However, unlike the aforementioned approach, that deliberately does not send certain messages in order to make a more efficient use of network resources; in the second case, the techniques are used to reduce the effects of packet losses. After these two approaches that are based on data aggregation, it is also studied the optimal control in packet dropping fieldbuses, using generalized actuator output functions. This study ends with the development of a new optimal controller, as well as the function, among the generalized functions that dictate the actuator’s behaviour in the absence of a new control message, that leads to the optimal performance. The Thesis also presents a different line of research, related with the output oscillations that take place as a consequence of the use of classic co-design techniques of networked control. The proposed algorithm has the goal of allowing the execution of such classical co-design algorithms without causing an output oscillation that increases the value of the cost function. Such increases may, under certain circumstances, negate the advantages of the application of the classical co-design techniques. A yet another line of research, investigated algorithms, more efficient than contemporary ones, to generate task execution sequences that guarantee that at least a given number of activated jobs will be executed out of every set composed by a predetermined number of contiguous activations. This algorithm may, in the future, be applied to the generation of message transmission patterns in the above-mentioned techniques for the efficient use of network resources. The proposed task generation algorithm is better than its predecessors in the sense that it is capable of scheduling systems that cannot be scheduled by its predecessor algorithms. The Thesis also presents a mechanism that allows to perform multi-path routing in wireless sensor networks, while ensuring that no value will be counted in duplicate. Thereby, this technique improves the performance of wireless sensor networks, rendering them more suitable for control applications. As mentioned before, this Thesis is centered around techniques for the improvement of performance of distributed control systems in which several elements are connected through a fieldbus that may be subject to packet drops. The first three approaches are directly related to this topic, with the first two approaching the problem from an architectural standpoint, whereas the third one does so from more theoretical grounds. The fourth approach ensures that the approaches to this and similar problems that can be found in the literature that try to achieve goals similar to objectives of this Thesis, can do so without causing other problems that may invalidate the solutions in question. Then, the thesis presents an approach to the problem dealt with in it, which is centered in the efficient generation of the transmission patterns that are used in the aforementioned approaches.

A tributação direta das sociedades na União Europeia: perspetivas futuras

Na União Europeia a harmonização da tributação direta não tem acompanhado a harmonização da tributação indireta, sobretudo quando a análise se centra no Imposto sobre o Valor Acrescentado, o qual se encontra harmonizado. Esta situação fica a dever-se, essencialmente, à exigência da regra da unanimidade, por um lado, e ao receio dos Estados Membros da perda de soberania fiscal, por outro. No sentido de atenuar esta dicotomia, a Comissão Europeia, após a análise de diversas soluções para a tributação direta unitária das sociedades, aprovou, em 2011, uma Proposta de Diretiva relativa a uma matéria coletável comum consolidada do imposto sobre as sociedades (MCCCIS). Este modelo assenta na utilização de uma fórmula de repartição da matéria coletável, aplicada às sociedades e grupos de sociedades, que resulta da conjugação de diversos fatores: vendas, trabalho e ativos. À quota-parte da matéria coletável que cabe a cada Estado Membro, é aplicável a taxa interna (ou nacional) de imposto sobre as sociedades. Verifica-se que ainda existem algumas imprecisões e aspetos menos consensuais que necessitam de ser aperfeiçoados. Estuda-se a Proposta de Diretiva em pormenor comparativamente com normativo português, chegando-se à conclusão que, em termos substanciais, são maiores as convergências do que as divergências. Apresenta-se um exemplo prático que serve para fundamentar as tomadas de posição dos Estados Membros relativamente à adoção da MCCCIS e, recorrendo a cenários, chega-se à conclusão que os ganhos e as perdas estão diretamente relacionadas com a quota-parte da MCCCIS que corresponde a cada Estado Membro. Apesar de todas as virtudes e tendo em consideração todas as condicionantes deste regime, conclui-se que não se afigura uma realidade imediata e linear a adoção, por parte dos Estados Membros, da MCCCIS.