Controlador adaptativo backstepping a estrutura variavel com Observadores de estado

This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time invariant systems with relative degree one. Therefore, the lters were replaced by a Luenberger Adaptive Observer and the control algorithm uses switching laws. The presented simulations compare the controller performance, considering when the state variables are estimated by an observer, with the case that the variables are available for measurement. Even with numerous performance advantages, adaptive backstepping controllers still have very complex algorithms, especially when the system state variables are not measured, since the use of lters on the plant input and output is not something trivial. As an attempt to make the controller design more intuitive, an adaptive observer as an alternative to commonly used K lters can be used. Furthermore, since the states variables are considered known, the controller has a reduction on the dependence of the unknown plant parameters on the design. Also, switching laws could be used in the controller instead of the traditional integral adaptive laws because they improve the system transient performance and increase the robustness against external disturbances in the plant input

Controle adaptativo por modelo de referencia e estrutura variável discreto no tempo

With the technology progess, embedded systems using adaptive techniques are being used frequently. One of these techniques is the Variable Structure Model- Reference Adaptive Control (VS-MRAC). The implementation of this technique in embedded systems, requires consideration of a sampling period which if not taken into consideration, can adversely affect system performance and even takes the system to instability. This work proposes a stability analysis of a discrete-time VS-MRAC accomplished for SISO linear time-invariant plants with relative degree one. The aim is to analyse the in uence of the sampling period in the system performance and the relation of this period with the chattering and system instability

Dinâmica e estrutura de redes complexas no modelo de afinidade

In this work we elaborate and discuss a Complex Network model which presents connectivity scale free probability distribution (power-law degree distribution). In order to do that, we modify the rule of the preferential attachment of the Bianconi-Barabasi model, including a factor which represents the similarity of the sites. The term that corresponds to this similarity is called the affinity, and is obtained by the modulus of the difference between the fitness (or quality) of the sites. This variation in the preferential attachment generates very interesting results, by instance the time evolution of the connectivity, which follows a power-law distribution ki / ( t t0 )fi, where fi indicates the rate to the site gain connections. Certainly this depends on the affinity with other sites. Besides, we will show by numerical simulations results for the average path length and for the clustering coefficient

Efeitos de detritos e nutrientes alóctones sobre estrutura e dinâmica trófica de ecossistemas lacustres tropicais

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

O graben de Palestina: contribuição à estratigrafia e estrutura do estágio rifte na bacia do Araripe, nordeste do Brasil

The Palestina Graben is one of the NE-trending asymmetric grabens of the Araripe Basin. This basin rests on the precambrian terrains of the Transversal Zone, Borborema Province, immediately to the south of the Patos Lineament. It is part of the Interior Basins province of Northeastern Brazil, being related to the fragmentation of the Gondwana supercontinent and the opening of the South Atlantic ocean. The Palestina Graben trends NE-SW and presents an asymmetric geometry, controled by the NW extensional eocretaceous strain. The graben borders display distinct geometries. The SE border is a flexural margin, characterized by the non conformity of the eopaleozoic Mauriti Formation (the oldest unit of the basin) overlying the crystalline basement, but also affected by normal faults with small displacements. On the opposite, the NW border is continuous and rectilinear, being marked by normal faults with major displacements, that control the general tilting of the layers to the NW. In this sense, the Mauriti Formation is overlain by the Brejo Santo, Missão Velha (which also occurs in the Brejo Santo-Mauriti horst, to the NW of the fault border) and Abaiara formations, the latter restricted to the graben. The interpretation of available gravity data and a seismic line indicates that the main fault has a variable dip slip component, defining two deeper portions within the graben, in which the sedimentary column can reach thicknesses of up to 2 km. Regarding to the stratigraphy of Araripe Basin in the study area, the sedimentary package includes three distinct tectonosequences. The Paleozoic Syneclisis Tectonosequence is composed by the Mauriti Formation, deposited by a braided fluvial system. The Jurassic Tectonosequence, whose tectonic setting is still debatable (initial stage of the Neocomian rift, or a pre-rift syneclisis ?), is represented by the Brejo Santo Formation, originated in a distal floodplain related to ephemeral drainages. The Rift Tectonosequence, of neocomian age, includes the Missão Velha Formation, whose lower section is related to a braided to meandering fluvial system, outlining the Rift Initiation Tectonic Systems Tract. The upper section of the Missão Velha Formation is separated from the latter by a major unconformity. This interval was originated by a braided fluvial system, overlain by the Abaiara Formation, a deltaic system fed by a meandering fluvial system. Both sections correspond to the Rift Climax Tectonic Systems Tract. In the area, NE-trending normal to oblique faults are associated with NW transfer faults, while ENE to E-W faults display dominant strike slip kinematics. Both NE and E-W fault sets exhibit clear heritage from the basement structures (in particular, shear zones), which must have been reactivated during the eocretaceous rifting. Faults with EW trends display a dominant sinistral shear sense, commonly found along reactivated segments of the Patos Lineament and satellyte structures. Usually subordinate, dextral directional movements, occur in faults striking NNW to NE. Within this framework bearing to the Palestina Graben, classical models with orthogonal extension or pull-apart style deserve some caution in their application. The Palestina Graben is not limited, in its extremeties, by E-W transcurrent zones (as it should be in the case of the pull-apart geometry), suggesting a model close to the classic style of orthogonal opening. At the same time, others, adjacent depocenters (like the Abaiara-Jenipapeiro semi-graben) display a transtensional style. The control by the basement structures explains such differences

A produção capitalista do espaço: os loteamentos, os condomínios fechados e o seu papel na formação do Bairro de Nova Parnamirim/Parnamirim-RN

This work exposed desired to investigate the function of evolution of closed allotment, of market of the earth and of forms of extraction of the lace of earth, in the processes capitalist production of urban space in Nova Parnamirim, community of Parnamirim/RN. This tendentious urbanization were marked for an expressive increase of number of horizontal and vertical closed residences joint ownership concerning at social groups more privileged financial position. Go after, set off, a temporal investigation, based in the forms of appropriation of space in the middle intermediate by action of the several producers agent of capitalist capital. This way, make necessary understand the past of local structure earth, in order that to make possible analyze the beginning of the process. Not enough, appealed the publics institutions as immobile notary s office and secretary municipal for to collect the more important information, and in the field through of application of formulary together the population of ward, in order that of examine the motivation of residential establishment inside. Make this, confirmed that the actual spatial organization of ward of Nova Parnamirim started of two allotments: the Vale do Pitimbú Park and Eucaliptos Park, both divided in several little allotments. Before of begin the ward, allotments reproduced set off from that native has been consigned during the 80, 90 decade s and begin the actual century, resigning a complicated urban structure earth, dynamized by exploration of a promising residential area. Leashed of this, confirmed the installation of logic of segregation and auto-segregation conducted by an immobile market which exclude the poor class and absorb rich class, motivate by perspective of obtaining of urban lace of earth by immobile promoter. However, perceived that the growth this market was promoted by migration of groups of capital, interior of state and others regions of country. Not distant, horizontal and vertical closed residences represent production forms of a new form of residence, corresponding the pattern architectonic as socioeconomics, strengthened by ideal of security, quality of life, necessity of reclusion and of proximity of Natal. Is in the capital which this individual found possibilities of attend satisfactory minimum of yours necessity in relation a consumption of bens and specialized and specifics services. Before this qualitative perceive that the social and spacial differential of Nova Parnamirim was the responsible by soil and habitation valorization of ward, that reinforce the promotion of segregation and of auto-segregation, and consequently, of capitalist reproduction of urban space

Cidades pequenas, grandes problemas :perfil urbano do Agreste Potiguar

In view of the diversity and the heterogeneity of the existing cities in Brazil, our approach refers to the urban and non-metropolitan areas. Aiming to foment the studies on small cities e to apprehend the sociospatial configuration of the urban environment in such cities, this piece of work elaborates and analyzes the urban profile of the small cities of the Agreste Potiguar region, using as a theoretical reference landmark the production of the urban and regional space, from the decade of 1970 to 2000. Starting from this reference, this piece of work presents an urban sociospatial characterization of the small cities of the Agreste Potiguar region, with emphasis on the economic framework, on the population dynamics, on the main social data, culminating in the main characteristics of the local daily life. The study of the small cities of the Agreste Potiguar region makes it possible the comprehension of the problems that involve the cities of this size, above all, those inserted in economically fragile regions. In the analyzed period, the changes occurred in the productive structure of the State of Rio Grande do Norte triggered a great crisis in the economy of the Agreste Potiguar region. This aspect, allied to the insufficient performance of the public power, contributed to the sprouting of some sociospatial problems, amongst which may be distinguished: the economic fragility, the generalized unemployment, the lack of security and the urban infrastructure absence sufficient to take care of the social demand. Even facing the existing problems, the small cities must be seen as potential spaces, capable to promote the regional development. To do so, it is necessary a process of democratization of the public administration, an ample popular participation and the establishment of a new urban policy, that aims at the social promotion of the individuals, the guarantee of basic necessities and the access to the necessary services to a dignified life