Controle robusto chaveado de sistemas lineares variantes no tempo com aplicação em falhas estruturais

Pós-graduação em Engenharia Elétrica - FEIS

On Switched Regulator Design of Uncertain Nonlinear Systems Using Takagi-Sugeno Fuzzy Models

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Epidemiological Models of Directly Transmitted Diseases: An Approach via Fuzzy Sets Theory

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Response of pullets to digestible lysine intake

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Flutter analysis including structural uncertainties

The common practice in industry is to perform flutter analyses considering the generalized stiffness and mass matrices obtained from finite element method (FEM) and aerodynamic generalized force matrices obtained from a panel method, as the doublet lattice method. These analyses are often reperformed if significant differences are found in structural frequencies and damping ratios determined from ground vibration tests compared to FEM. This unavoidable rework can result in a lengthy and costly process of analysis during the aircraft development. In this context, this paper presents an approach to perform flutter analysis including uncertainties in natural frequencies and damping ratios. The main goal is to assure the nominal system’s stability considering these modal parameters varying in a limited range. The aeroelastic system is written as an affine parameter model and the robust stability is verified solving a Lyapunov function through linear matrix inequalities and convex optimization

A new approach for modeling and control of nonlinear systems via norm-bounded linear differential inclusions

A systematic approach to model nonlinear systems using norm-bounded linear differential inclusions (NLDIs) is proposed in this paper. The resulting NLDI model is suitable for the application of linear control design techniques and, therefore, it is possible to fulfill certain specifications for the underlying nonlinear system, within an operating region of interest in the state-space, using a linear controller designed for this NLDI model. Hence, a procedure to design a dynamic output feedback controller for the NLDI model is also proposed in this paper. One of the main contributions of the proposed modeling and control approach is the use of the mean-value theorem to represent the nonlinear system by a linear parameter-varying model, which is then mapped into a polytopic linear differential inclusion (PLDI) within the region of interest. To avoid the combinatorial problem that is inherent of polytopic models for medium- and large-sized systems, the PLDI is transformed into an NLDI, and the whole process is carried out ensuring that all trajectories of the underlying nonlinear system are also trajectories of the resulting NLDI within the operating region of interest. Furthermore, it is also possible to choose a particular structure for the NLDI parameters to reduce the conservatism in the representation of the nonlinear system by the NLDI model, and this feature is also one important contribution of this paper. Once the NLDI representation of the nonlinear system is obtained, the paper proposes the application of a linear control design method to this representation. The design is based on quadratic Lyapunov functions and formulated as search problem over a set of bilinear matrix inequalities (BMIs), which is solved using a two-step separation procedure that maps the BMIs into a set of corresponding linear matrix inequalities. Two numerical examples are given to demonstrate the effectiveness of the proposed approach.

Un modello matematico in epidemologia

Fornisce una breve trattazione di due tipi di modelli matematici applicabili nel campo dell'epidemologia, prendendo spunto da un articolo del biologo matematico A. Korobeinikov, "Lyapunov function and global properties for SEIR and SEIS epidemic models".

Sampling-Design Effects on Properties of Species-Area Relationships - A Case Study from Estonian Dry Grassland Communities

Despite widespread use of species-area relationships (SARs), dispute remains over the most representative SAR model. Using data of small-scale SARs of Estonian dry grassland communities, we address three questions: (1) Which model describes these SARs best when known artifacts are excluded? (2) How do deviating sampling procedures (marginal instead of central position of the smaller plots in relation to the largest plot; single values instead of average values; randomly located subplots instead of nested subplots) influence the properties of the SARs? (3) Are those effects likely to bias the selection of the best model? Our general dataset consisted of 16 series of nested-plots (1 cm(2)-100 m(2), any-part system), each of which comprised five series of subplots located in the four corners and the centre of the 100-m(2) plot. Data for the three pairs of compared sampling designs were generated from this dataset by subsampling. Five function types (power, quadratic power, logarithmic, Michaelis-Menten, Lomolino) were fitted with non-linear regression. In some of the communities, we found extremely high species densities (including bryophytes and lichens), namely up to eight species in 1 cm(2) and up to 140 species in 100 m(2), which appear to be the highest documented values on these scales. For SARs constructed from nested-plot average-value data, the regular power function generally was the best model, closely followed by the quadratic power function, while the logarithmic and Michaelis-Menten functions performed poorly throughout. However, the relative fit of the latter two models increased significantly relative to the respective best model when the single-value or random-sampling method was applied, however, the power function normally remained far superior. These results confirm the hypothesis that both single-value and random-sampling approaches cause artifacts by increasing stochasticity in the data, which can lead to the selection of inappropriate models.

Modelo de comportamiento plástico y rotura en aleaciones de solidificación direccional

Esta investigación presenta un modelo de material para aleaciones de solidificación direccional que poseen un comportamiento mecánico transversalmente isótropo. Se han realizado una serie de ensayos de tracción sobre probetas cilíndricas a varias velocidades de deformación y a varias temperaturas sobre la superaleación de base níquel de solidificación direccional MAR-M 247 con objeto de conocer su comportamiento mecánico. Los ensayos se realizaron sobre probetas cilíndricas cuya dirección longitudinal forma 0º y 90º con la de la orientación de crecimiento de los granos. Para representar el comportamiento plástico anisótropo se ha formulado una función de plastificación de forma no cuadrática basada en la transformación lineal de tensores. Con el propósito de simplificar en todo lo posible el modelo se ha considerado un endurecimiento isótropo. Para probar la validez del modelo propuesto se ha implementado el mismo como modelo de material definido por el usuario en el código no lineal de elementos finitos LS-DYNA. In this research a material model for directionally solidified alloys with transversely isotropic mechanic behavior is presented. In order to characterize the mechanical behavior of the Mar-M 247 directionally solidified nickel based superalloy, tensile tests of axisymmetric smooth specimens were performed at various strain rates and temperatures. The specimens were machined making sure that the longitudinal axis of them was forming 0º and 90º with the grain growth orientation. To represent the plastic flow, a non-quadratic anisotropic function based on linear transformation of tensors has been formulated. For the sake of simplicity isotropic strain hardening of the material has been considered. To prove the validity of the model, a material subroutine has been implemented in LS-DYNA non-linear finite element code as a user defined material model.

Metodología de Diseño y Análisis de Sistemas Teleoperados Considerando Dinámica No Lineal

Cuando la separación física entre el sistema local y remoto es relativamente corta, el retardo no es perceptible; sin embargo, cuando el manipulador local y el manipulador remoto se encuentran a una distancia lejana uno del otro, el retardo de tiempo ya no es insignificante e influye negativamente en la realización de la tarea. El retardo de tiempo en un sistema de control introduce un atraso de fase que a su vez degrada el rendimiento del sistema y puede causar inestabilidad. Los sistemas de teleoperación pueden sacar provecho de la posibilidad de estar presente en dos lugares simultáneamente, sin embargo, el uso de Internet y otras redes de conmutación de paquetes, tales como Internet2, impone retardos de tiempo variables, haciendo que los esquemas de control ya establecidos elaboren soluciones para hacer frente a inestabilidades causadas por estos retardos de tiempo variables. En este trabajo de tesis se presenta el modelado y análisis de un sistema de teloperación bilateral no lineal de n grados de libertad controlado por convergencia de estado. La comunicación entre el sitio local y remoto se realiza mediante un canal de comunicación con retardo de tiempo. El análisis presentado en este trabajo considera que el retardo puede ser constante o variable. Los principales objetivos de este trabajo son; 1) Desarrollar una arquitectura de control no lineal garantizando la estabilidad del sistema teleoperado, 2) Evaluar la estabilidad del sistema considerando el retardo en la comunicación, y 3) Implementación de los algoritmos desarrollados para probar el desempeño de los mismos en un sistema experimental de 3 grados de libertad. A través de la teoría de Estabilidad de Lyapunov y el funcional Lyapunov-Krasovskii, se demuestra que el sistema de lazo cerrado es asintóticamente estable. Estas conclusiones de estabilidad se han obtenido mediante la integración de la función de Lyapunov y aplicando el Lema de Barbalat. Se demuestra también que se logra sincronizar las posiciones del manipulador local y remoto cuando el operador humano no mueve el manipulador local y el manipulador remoto se mueve libremente. El esquema de control propuesto se ha validado mediante simulación y en forma experimental empleando un sistema de teleoperación real desarrollado en esta tesis doctoral y que consta de un un manipulador serie planar de tres grados de libertad, un manipulador local, PHANTOM Omni, el cual es un dispositivo haptico fabricado que consta de 3 grados de libertad (en fuerza) y que proporciona realimentación de fuerza en los ejes x,y,z. El control en tiempo real se ha diseñado usando el Sistema Operativo en Tiempo Real QuaRC de QUARC en el lado local y el Simulink Real-Time Windows TargetTM en el lado remoto. Para finalizar el resumen se destaca el impacto de esta tesis en el mundo científico a través de los resultados publicados: 2 artículos en revistas con índice de impacto , 1 artículo en una revista indexada en Sistemas, Cibernética e Informática, 7 artículos en congresos y ha obtenido un premio en la 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010. ABSTRACT When the physical separation between the local and remote system is relatively short, the delay is not noticeable; however, when the local manipulator and the remote manipulator are at a far distance from each other, the time delay is no longer negligible and negatively influences the performance of the task. The time delay in a control system introduces a phase delay which in turn degrades the system performance and cause instability. Teleoperation systems can benefit from the ability to be in two places simultaneously, however, the use of Internet and other packet switched networks, such as Internet2, imposes varying time delays, making established control schemes to develop solutions to address these instabilities caused by different time delays. In this thesis work we present a modeling and analysis of a nonlinear bilateral teloperation system of n degrees of freedom controlled by state convergence strategy. Communication between the local and remote site is via a communication channel with time delay. The analysis presented in this work considers that the time-delay can be constant or variable. The main objectives of this work are; 1) Develop a nonlinear control schemes to ensure the stability of the teleoperated system, 2) Evaluate the system stability considering the delay in communication, and 3) Implementation of algorithms developed to test the performance of the teleoperation system in an experimental system of 3 degrees of freedom. Through the Theory of Stability of Lyapunov and the functional Lyapunov-Krasovskii, one demonstrates that the closed loop system is asymptotically stable.. The conclusions about stability were obtained by integration of the Lyapunov function and applying Barbalat Lemma. It further shows that the positions of the local and remote manipulator are synchronize when the human operator stops applying a constant force and the remote manipulator does not interact with the environment. The proposed control scheme has been validated by means of simulation and in experimental form using a developed system of real teleoperation in this doctoral thesis, which consists of a series planar manipulator of three degrees of freedom, a local manipulator, PHANTOM Omni, which is an haptic device that consists of 3 degrees of freedom (in force) and that provide feeback force in x-axis, and, z. The control in real time has been designed using the Operating system in Real time QuaRC of Quanser in the local side and the Simulink Real-Time Windows Target in the remote side. In order to finalize the summary, the highlights impact of this thesis in the scientific world are shows through the published results: 2 articles in Journals with impact factor, one article in a indexed Journal on Systemics, Cybernetics and Informatics, 7 articles in Conferences and has won an award in 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010.

Exploiting uncertainty in nonlinear stochastic control problem

This work introduces a novel inversion-based neurocontroller for solving control problems involving uncertain nonlinear systems which could also compensate for multi-valued systems. The approach uses recent developments in neural networks, especially in the context of modelling statistical distributions, which are applied to forward and inverse plant models. Provided that certain conditions are met, an estimate of the intrinsic uncertainty for the outputs of neural networks can be obtained using the statistical properties of networks. More generally, multicomponent distributions can be modelled by the mixture density network. Based on importance sampling from these distributions a novel robust inverse control approach is obtained. This importance sampling provides a structured and principled approach to constrain the complexity of the search space for the ideal control law. The developed methodology circumvents the dynamic programming problem by using the predicted neural network uncertainty to localise the possible control solutions to consider. Convergence of the output error for the proposed control method is verified by using a Lyapunov function. Several simulation examples are provided to demonstrate the efficiency of the developed control method. The manner in which such a method is extended to nonlinear multi-variable systems with different delays between the input-output pairs is considered and demonstrated through simulation examples.

Vertical and horizontal scope economies in the regulated US electricity power industry

This paper investigates vertical economies between generation and distribution of electric power, and horizontal economies between different types of power generation in the U.S. electric utility industry. Our quadratic cost function model includes three generation output measures (hydro, nuclear and fossil fuels), which allows us to analyze the effect that generation mix has on vertical economies. Our results provide (sample mean) estimates of vertical economies of 8.1% and horizontal economies of 5.4%. An extensive sensitivity analysis is used to show how the scope measures vary across alternative model specifications and firm types. © 2012 Blackwell Publishing Ltd and the Editorial Board of The Journal of Industrial Economics.

A dual definition for the factor content of trade and its effect on factor rewards in US manufacturing sector

We introduce a dual definition of the Factor Content of Trade (FCT) using the concept of the Equivalent Autarky Equilibrium. Estimating a symmetric normalized quadratic revenue function for the U.S. manufacturing sector between 1965 and 1991, we find that the FCT for capital is positive, while the FCT for skilled and unskilled labor is negative, suggesting that the Leontief Paradox is not present. Then the growth rate of the factor rewards is decomposed to the FCT, endowments, and technological change effects. We find that technological change is the most important determinant in explaining wage inequality between skilled and unskilled labor.