Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.

House price dynamics and their reaction to macroeconomic changes

This article applies a three-regime Markov switching model to investigate the impact of the macroeconomy on the dynamics of the residential real estate market in the US. Focusing on the period between 1960 and 2011, the methodology implemented allows for a clearer understanding of the drivers of the real estate market in “boom”, “steady-state” and “crash” regimes. Our results show that the sensitivity of the real estate market to economic changes is regime-dependent. The paper then proceeds to examine whether policymakers are able to influence a regime switch away from the crash regime. We find that a decrease in interest rate spreads could be an effective catalyst to precipitate such a change of state.

On the predictive content of leading indicators: the case of U.S. real estate markets

This paper employs a probit and a Markov switching model using information from the Conference Board Leading Indicator and other predictor variables to forecast the signs of future rental growth in four key U.S. commercial rent series. We find that both approaches have considerable power to predict changes in the direction of commercial rents up to two years ahead, exhibiting strong improvements over a naïve model, especially for the warehouse and apartment sectors. We find that while the Markov switching model appears to be more successful, it lags behind actual turnarounds in market outcomes whereas the probit is able to detect whether rental growth will be positive or negative several quarters ahead.

QoS Evaluation of BandwidthSchedulers in IPTV Networks OfferedSRD Fluid Video Traffic

Internet protocol TV (IPTV) is predicted to be the key technology winner in the future. Efforts to accelerate the deployment of IPTV centralized model which is combined of VHO, encoders, controller, access network and Home network. Regardless of whether the network is delivering live TV, VOD, or Time-shift TV, all content and network traffic resulting from subscriber requests must traverse the entire network from the super-headend all the way to each subscriber's Set-Top Box (STB).IPTV services require very stringent QoS guarantees When IPTV traffic shares the network resources with other traffic like data and voice, how to ensure their QoS and efficiently utilize the network resources is a key and challenging issue. For QoS measured in the network-centric terms of delay jitter, packet losses and bounds on delay. The main focus of this thesis is on the optimized bandwidth allocation and smooth datatransmission. The proposed traffic model for smooth delivering video service IPTV network with its QoS performance evaluation. According to Maglaris et al [5] First, analyze the coding bit rate of a single video source. Various statistical quantities are derived from bit rate data collected with a conditional replenishment inter frame coding scheme. Two correlated Markov process models (one in discrete time and one incontinuous time) are shown to fit the experimental data and are used to model the input rates of several independent sources into a statistical multiplexer. Preventive control mechanism which is to be include CAC, traffic policing used for traffic control.QoS has been evaluated of common bandwidth scheduler( FIFO) by use fluid models with Markovian queuing method and analysis the result by using simulator andanalytically, Which is measured the performance of the packet loss, overflow and mean waiting time among the network users.

QoS evaluation of Bandwidth Schedulers in IPTV Networks Offered SRD Fluid Video Traffic

Internet protocol TV (IPTV) is predicted to be the key technology winner in the future. Efforts to accelerate the deployment of IPTV centralized model which is combined of VHO, encoders, controller, access network and Home network. Regardless of whether the network is delivering live TV, VOD, or Time-shift TV, all content and network traffic resulting from subscriber requests must traverse the entire network from the super-headend all the way to each subscriber's Set-Top Box (STB). IPTV services require very stringent QoS guarantees When IPTV traffic shares the network resources with other traffic like data and voice, how to ensure their QoS and efficiently utilize the network resources is a key and challenging issue. For QoS measured in the network-centric terms of delay jitter, packet losses and bounds on delay. The main focus of this thesis is on the optimized bandwidth allocation and smooth data transmission. The proposed traffic model for smooth delivering video service IPTV network with its QoS performance evaluation. According to Maglaris et al [5] first, analyze the coding bit rate of a single video source. Various statistical quantities are derived from bit rate data collected with a conditional replenishment inter frame coding scheme. Two correlated Markov process models (one in discrete time and one in continuous time) are shown to fit the experimental data and are used to model the input rates of several independent sources into a statistical multiplexer. Preventive control mechanism which is to be including CAC, traffic policing used for traffic control. QoS has been evaluated of common bandwidth scheduler( FIFO) by use fluid models with Markovian queuing method and analysis the result by using simulator and analytically, Which is measured the performance of the packet loss, overflow and mean waiting time among the network users.

Ciclos internacionais de negócios : uma análise de mudança de regime markoviano para Brasil, Argentina e Estados Unidos

Este trabalho tem por objetivo promover uma análise dos ciclos econômicos de Brasil, Argentina e Estados Unidos, dando ênfase às mudanças de regimes ocorridas ao longo das flutuações experimentadas por esses países. Estudos recentes sobre ciclos têm argumentado em favor de ciclos internacionais de negócios. Nesse sentido, em especial, o trabalho visa testar a hipótese de um ciclo comum que afetaria ambos os países. A metodologia utilizada é a dos modelos MS-VAR – Markov switching vector autoregressions. Especificações univariadas são estimadas para o período de 1900 a 2000 e os resultados comparados aos fatos estilizados de cada país. Posteriormente um modelo multivariado é formulado para abrigar a hipótese de um ciclo conjunto, visto como mudanças comuns no processo estocástico do crescimento desses países. Os resultados sugerem que as evidências em favor desse ciclo comum são pouco robustas. As correlações contemporâneas estimadas apresentam valores bastante modestos. Em particular, existem significativas diferenças nos ciclos de Brasil, Argentina e Estados Unidos, cada um deles com características próprias e comportamentos singulares.

Real exchange rate misalignments

This paper characterizes episodes of real appreciations and depreciations for a sample of 85 countries, approximately from 1960 to 1998. First, the equilibrium real exchange rate series are constructed for each country using Goldfajn and Valdes (1999) methodology (cointegration with fundamentals). Then, departures from equilibrium real exchange rate (misalignments) are obtained, and a Markov Switching Model is used to characterize the misalignments series as stochastic autoregressive processes governed by two states representing di¤erent means. Three are the main results we …nd: …rst, no evidence of di¤erent regimes for misalignment is found in some countries, second, some countries present one regime of no misalignment (tranquility) and the other regime with misalignment (crisis), and, third, for those countries with two misalignment regimes, the lower mean misalignment regime (appreciated) have higher persistence that the higher mean one (depreciated).

Ensaios sobre precificação de ativos e previdência no Brasil

Esta tese é composta de três ensaios em finanças e previdência pública. O primeiro ensaio está relacionado à literatura sobre precificação de ativos e, mais especificamente, sobre o puzzle do prêmio de risco acionário. Os outros dois ensaios não guardam semelhança com o primeiro, estando ligados ao tema previdenciário. Ambos tratam do efeito das reformas da previdência sobre as decisões dos agentes quanto ao momento e ao tipo de suas aposentadoria. No primeiro ensaio, testamos o CCAPM com dados brasileiros utilizando quatro tipos de preferências: utilidade esperada; utilidade esperada generalizada; aversão a desapontamento; e aversão a desapontamento generalizada. A dotação conjunta de consumo e de dividendo foi modelada como um processo Markov switching heterocedástico bivariado de dois estados. A adoção desse modelo só se tornou possível após a criação de uma série de dividendos do IBOVESPA. A possibilidade de se solucionar o Equity Premium Puzzle deu-se através da generalização de preferências que exibem aversão a desapontamento como proposta por Routledge e Zin (2003). Dotando o agente representativo de aversão ao risco de primeira ordem dependente do estado e contra-cíclica, pudemos elevar o fator de desconto intertemporal ao mesmo tempo em que mantínhamos baixa a aversão ao risco efetiva. Assim, exceto pela volatilidade da taxa de juros e pela correlação desta com o prêmio de risco, conseguimos replicar todos os momentos requeridos para a explicação do puzzle com valores razoáveis de parâmetros. No segundo ensaio, estudamos os efeitos das reformas previdenciárias sobre a aposentadoria por invalidez, que, a partir de 2002, tornou-se a principal forma de aposentadoria dos servidores públicos civis do poder executivo federal brasileiro. Em 2005, gastos do governo federal com aposentadorias por invalidez chegaram a 16,4 bilhões de reais. Neste ensaio, investigamos o papel dos incentivos financeiros criados pelas reformas previdenciárias de 1998 e de 2003 no aumento do número de aposentados por invalidez. Os resultados indicam uma queda de 27 pontos percentuais na probabilidade de aposentadoria por invalidez de um servidor representativo caso esses incentivos sejam anulados. Além disso, os dados aqui analisados sugerem que 13 políticas inibidoras desse tipo de aposentadoria seriam mais eficazes se focalizadas no grupo de funcionários com as seguintes características: sexo masculino; 51 a 60 anos de idade; nível de escolaridade superior; vencimento bruto entre 3 e 6 salários mínimos; 21 a 30 anos de tempo de contribuição; e morador da região Centro-Oeste. O terceiro ensaio trata da escolha da idade da aposentadoria pelos servidores públicos. Em 1998, ano da promulgação da emenda constitucional no 20, conhecida como reforma previdenciária, os funcionários públicos civis do poder executivo federal brasileiro aposentavam-se, em média, aos 54,8 anos de idade. Em 2001, essa idade aumentou para 57,4 anos. Seis anos após a reforma, o percentual de aposentadorias antecipadas (aposentadorias com proventos proporcionais) diminuiu 35%. Argumentamos que a modificação do cálculo dos proventos pelas reformas teve papel significativo na decisão pela postergação da aposentadoria. Segundo regras de transição da reforma previdenciária de 1998, servidores receberiam um acréscimo no provento igual a 6,13%, em média, caso postergassem sua aposentadoria por um ano. Os resultados, usando dados do SIAPE, mostram que o aumento desse incentivo gerou uma queda de até 20 pontos percentuais na probabilidade de antecipação da aposentadoria por um servidor representativo.

The political economy of exchange rate policy in Brazil: 1964-1999

This paper was developed as part of a broader research program on the political economy of exchange rate policies in Latin America and the Caribbean. We are grateful for helpful comments and suggestions from Jeff Frieden, Ernesto Stein, Jorge Streb, Marcelo Neri and seminar participants at Getulio Vargas Foundation, PUC-Rio, IDB workshop on The Political Economy of Exchange Rate Policies in Latin America and the Caribbean, and LACEA meeting in Buenos Aires. We thank René Garcia for providing us with a Fortran program for estimating the Markov Switching Model, Ilan Goldfajn for sending us updated estimates of the real exchange rate series of Goldfajn and Valdés (1996), Altamir Lopes and Ricardo Markwald for kindly furnishing data on Brazilian external accounts, and Carla Bernardes, Gabriela Domingues, Juliana Pessoa de Araújo, and, specially, Marcelo Pinheiro for excellent research assistant. Both authors thank CNPq for a research fellowship.

Interações entre as políticas monetária e fiscal no Brasil sob a ótica da teoria fiscal do nível de preços

Este trabalho tem como objetivo identificar a predominância de um regime de Dominância Monetária ou Fiscal no Brasil no período Pós-Real. Para isto, o desenvolvimento desta análise é baseado em um modelo proposto por Canzoneri, Cumby e Diba (2000). O modelo propõe uma relação entre as séries dívida pública/PIB e superávit primário/PIB através da metodologia VAR (Vetores Autoregressivos) com análise sobre suas funções de impulso resposta. Outro objetivo é estender o artigo de Muscatelli et. al. (2002) sobre interações entre políticas monetária e fiscal utilizando o instrumental econométrico MS-VAR (Markov-Switching Vector Autoregressive Model) apresentado por Krolzig (1997), visto que o relacionamento entre as políticas pode não ser constante ao longo do tempo. Concluiu-se que a coordenação macroeconômica entre as políticas monetária e fiscal no Brasil foi praticamente de caráter substituta em todo período analisado e com regime predominantemente fiscal segundo o pressuposto de políticas não-ricardianas da Teoria Fiscal do Nível de Preços.

Projeção de inflação no Brasil utilizando dados agregados e desagregados : um teste de poder preditivo por horizonte de tempo

O trabalho tem como objetivo comparar a eficácia das diferentes metodologias de projeção de inflação aplicadas ao Brasil. Serão comparados modelos de projeção que utilizam os dados agregados e desagregados do IPCA em um horizonte de até doze meses à frente. Foi utilizado o IPCA na base mensal, com início em janeiro de 1996 e fim em março de 2012. A análise fora da amostra foi feita para o período entre janeiro de 2008 e março de 2012. Os modelos desagregados serão estimados por SARIMA, pelo software X-12 ARIMA disponibilizado pelo US Census Bureau, e terão as aberturas do IPCA de grupos (9) e itens (52), assim como aberturas com sentido mais econômico utilizadas pelo Banco Central do Brasil como: serviços, administrados, alimentos e industrializados; duráveis, não duráveis, semiduráveis, serviços e administrados. Os modelos agregados serão estimados por técnicas como SARIMA, modelos estruturais em espaço-estado (Filtro de Kalman) e Markov-switching. Os modelos serão comparados pela técnica de seleção de modelo Model Confidence Set, introduzida por Hansen, Lunde e Nason (2010), e Dielbod e Mariano (1995), no qual encontramos evidências de ganhos de desempenho nas projeções dos modelos mais desagregados em relação aos modelos agregados.

A monthly indicator of Brazilian GDP. The Brazilian business cycle and growth cycle

This paper constructs an indicator of Brazilian GDP at the monthly ftequency. The peculiar instability and abrupt changes of regimes in the dynamic behavior of the Brazilian business cycle were explicitly modeled within nonlinear ftameworks. In particular, a Markov switching dynarnic factor model was used to combine several macroeconomic variables that display simultaneous comovements with aggregate economic activity. The model generates as output a monthly indicator of the Brazilian GDP and real time probabilities of the current phase of the Brazilian business cycle. The monthly indicator shows a remarkable historical conformity with cyclical movements of GDP. In addition, the estimated filtered probabilities predict ali recessions in sample and out-of-sample. The ability of the indicator in linear forecasting growth rates of GDP is also examined. The estimated indicator displays a better in-sample and out-of-sample predictive performance in forecasting growth rates of real GDP, compared to a linear autoregressive model for GDP. These results suggest that the estimated monthly indicator can be used to forecast GDP and to monitor the state of the Brazilian economy in real time.

The Taylor rule under inquiry: Hidden states

This work empirically evaluates the Taylor rule for the US and Brazil using Markov-Switching Regimes. I find that the inflation parameter of the US Taylor rule is less than one in many periods, contrasting heavily with Clarida, Gal´ı and Gertler (2000), and the same happens with Brazilian data. When the inflation parameter is greater than one, it encompasses periods that these authors considered they should be less than one. Brazil is used for comparative purposes because it experienced a high level inflation until 1994 and then a major stabilization plan reduced the growth in prices to civilized levels. Thus, it is a natural laboratory to test theories designed to work in any environment. The findings point to a theoretical gap that deserves further investigation and show that monetary policy in Brazil has been ineffective, which is coherent with the general attitude of population in relation to this measure.

Taylor rule with hidden states

This work evaluates empirically the Taylor rule for the US and Brazil using Kalman Filter and Markov-Switching Regimes. We show that the parameters of the rule change significantly with variations in both output and output gap proxies, considering hidden variables and states. Such conclusions call naturally for robust optimal monetary rules. We also show that Brazil and US have very contrasting parameters, first because Brazil presents time-varying intercept, second because of the rigidity in the parameters of the Brazilian Taylor rule, regardless the output gap proxy, data frequency or sample data. Finally, we show that the long-run inflation parameter of the US Taylor rule is less than one in many periods, contrasting strongly with Orphanides (forthcoming) and Clarida, Gal´i and Gertler (2000), and the same happens with Brazilian monthly data.

Testing for super-exogeneity in the presence of common deterministic shifts

This paper introduces the concept of common deterministic shifts (CDS). This concept is simple, intuitive and relates to the common structure of shifts or policy interventions. We propose a Reduced Rank technique to investigate the presence of CDS. The proposed testing procedure has standard asymptotics and good small-sample properties. We further link the concept of CDS to that of superexogeneity. It is shown that CDS tests can be constructed which allow to test for super-exogeneity. The Monte Carlo evidence indicates that the CDS test for super-exogeneity dominates testing procedures proposed in the literature.