Dynamic output feedback control of single-link flexible manipulators

This paper presents an efficient technique to design dynamic feedback control scheme for single-link flexible manipulators.  A linear model can be derived for the robotic system using the assumed-mode method.  Conventional techniques such as pole-placement or LQR require physical measurements of all systme states,  posing a stringent requirement for its implementation.  To overcome this problem, a low-order state functional observer is proposed here for reconstruction of the state feedback control action.  The observer design involves solving an optimisation problem with the objective to generate a feedback gain that is as close as possible to that of the required feedback controller.  A condition for robust stability of the closed-loop system under the observer-based control scheme is given.  The attractive features of the propsed technique are the resulted functional state observer is of a very low order and it requires only sensor measurements of only the output- the tip position of the arm.

Dynamical analysis of neural networks with time-varying delays using the LMI approach

This study is concerned with the delay-range-dependent stability analysis for neural networks with time-varying delay and Markovian jumping parameters. The time-varying delay is assumed to lie in an interval of lower and upper bounds. The Markovian jumping parameters are introduced in delayed neural networks, which are modeled in a continuous-time along with finite-state Markov chain. Moreover, the sufficient condition is derived in terms of linear matrix inequalities based on appropriate Lyapunov-Krasovskii functionals and stochastic stability theory, which guarantees the globally asymptotic stable condition in the mean square. Finally, a numerical example is provided to validate the effectiveness of the proposed conditions.

Racionalidade limitada na decisão de consumo de etanol no Brasil: um estudo para o período de 2001 até 2011

Os estudos sobre consumo de etanol para veículos leves no Brasil geram bastante interesse para pesquisadores de diversas partes do mundo, dada a possibilidade de investigar características chaves sobre o comportamento do consumidor desse produto. Esta dissertação propõe um estudo que estima a equação de demanda de etanol no Brasil com o objetivo de investigar a existência de inércia na decisão de consumo, que neste trabalho chamaremos de hábito. Foi ajustado um modelo econométrico em dois estágios com dados mensais da ANP, utilizando-se variáveis instrumentais que controlaram a endogeneidade dos preços, para procurar evidências empíricas sobre a influência da inércia na decisão de consumo. Os estados foram classificados em termos das paridades de preço etanol-gasolina (próximos ou distantes do valor de 70%) e em termos de renda (ricos ou pobres). A análise foi dividida em dois períodos para se capturar a influência da entrada da frota flex-fuel na economia brasileira. Por fim foram construídos cenários baseados em médias móveis (para o cálculo das paridades de preço dos combustíveis) para investigar a influência do hábito na decisão de consumo. Concluiu-se que há diferenças significativas nos valores das elasticidades-preço próprias e cruzadas entre os dois períodos estudados e para as diferentes faixas de paridades de preços e classificação de renda. Evidências da influência da inércia na decisão do consumo foram encontradas apenas para os estados classificados como ricos, pois se encontrou diferenças nas magnitudes das elasticidades de preços entre faixas de paridade apenas ao se considerar os critérios de maior estabilidade no tempo, fornecendo indícios de que consumidores desses estados são capazes de adotar uma opção menos vantajosa (em termos de rendimento) como consequência da inércia na decisão de consumo. Para os estados classificados como pobre isto não foi evidenciado.

Estudo comparativo do desempenho de controladores robustos aplicados a um sistema de tanques acoplados.

Currently the uncertain system has attracted much academic community from the standpoint of scientific research and also practical applications. A series of mathematical approaches emerge in order to troubleshoot the uncertainties of real physical systems. In this context, the work presented here focuses on the application of control theory in a nonlinear dynamical system with parametric variations in order and robustness. We used as the practical application of this work, a system of tanks Quanser associates, in a configuration, whose mathematical model is represented by a second order system with input and output (SISO). The control system is performed by PID controllers, designed by various techniques, aiming to achieve robust performance and stability when subjected to parameter variations. Other controllers are designed with the intention of comparing the performance and robust stability of such systems. The results are obtained and compared from simulations in Matlab-simulink.

A bounded upwinding scheme for computing convection-dominated transport problems

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

A continuously differentiable upwinding scheme for the simulation of fluid flow problems

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

Numerical study of low-cost alternative orbits around the Moon

In this paper, we have investigated a region of direct stable orbits around the Moon, whose stability is related to the H2 Family of periodic orbits and to the quasi-periodic orbits that oscillate around them. The stability criteria adopted was that the path did not escape from the Moon during an integration period of 1000 days (remaining with negative two-body Moon-probe orbital energy during this period). Considering the three-dimensional four-body Sun-Earth-Moon-probe problem, we investigated the evolution of the size of the stability region, taking into account the eccentricity of the Earth's orbit, the eccentricity and inclination of the Moon's orbit, and the solar radiation pressure on the probe. We also investigated the evolution of the region's size and its location by varying the inclination of the probe's initial osculating orbit relative to the Moon's orbital plane between 0 degrees and 180 degrees. The size of the stability region diminishes; nevertheless, it remains significant for 0 <= i <= 25 degrees and 35 degrees <= i <= 45 degrees. The orbits of this region could be useful for missions by space vehicles that must remain in orbit around the Moon for periods of up to 1000 days, requiring low maintenance costs. (c) 2005 COSPAR. Published by Elsevier Ltd. All rights reserved.

Comparación de tres métodos para estimar estabilidad del rendimiento en nueve variedades de algodón

With the purpose of selecting and recommending promissory cultivars of cotton, Gossypium hirsutum (L) with high yield potential and stability, for crop areas in Venezuela, the yield (seed included) of nine cotton varieties was evaluated. The data from the 1995-96 and 1996-97 cycles was used. The experimental design was a randomized completed block design with four repetitions on twelve environments. Parameters of stability offered by the methods of Eberhart and Russell, (1966), Cruz et al. (1989) and the AMMI model were estimated and compared to determine the best method or combination. There was no coincidence between the best yield varieties, Unellez-2 and the commercial variety Delta Pine 16, in relation to stability criteria. According to Eberhart and Russell, these were classified as stable, while according to Cruz et al. they were adaptive to favorable environments and according to AMMI they were unstable with high interaction,.Of the three methods studied, the AMMI model allowed associating the response of high yield varieties to specific environments, gave more information and was easier to interpret.

Síntese de sistemas estritamente reais positivos através do critério de routh-hurwitz

Given a linear time-invariant plant Gol(s) with one input and q outputs, where q > 1, a method based on the Routh-Hurwitz Stability Criterion is proposed to obtain a constant tandem matrix F ∈ ℝq, such that FGOl(s) is a minimumphase system. From this solution, the system FGol(s) is represented in state space by {A, B, FC} and a constant output feedback matrix K0 ∈ ℝ is obtained such that the feedback system {A - BK0C, B, FC} is Strictly Positive Real (SPR). The proposed procedure offers necessary and sufficient conditions for both problems. Initially, the general case, with a generic q, is analyzed. Following, the particular cases q = 2 and q = 3 are studied.

A C2-continuous high-resolution upwind convection scheme

A bounded upwinding scheme for numerical solution of hyperbolic conservation laws and Navier-Stokes equations is presented. The scheme is based on convection boundedness criterion and total variation diminishing stability criteria and developed by employing continuously differentiable functions. The accuracy of the scheme is verified by assessing the error and observed convergence rate on 1-D benchmark test cases. A comparative study between the new scheme and conventional total variation diminishing/convection boundedness criterion-based upwind schemes to solve standard nonlinear hyperbolic conservation laws is also accomplished. The scheme is then examined in the simulation of Newtonian and non-Newtonian fluid flows of increasing complexity; a satisfactory agreement has been observed in terms of the overall behavior. Finally, the scheme is used to study the hydrodynamics of a gas-solid flow in a bubbling fluidized bed. © 2013 John Wiley & Sons, Ltd.

Controle robusto com realimentação derivativa de sistemas não lineares via LMI

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Avaliação da estabilidade de tensão do sistema brasileiro: um caso de estudo

Este artigo apresenta resultados de um estudo da atual condição de operação do sistema interligado brasileiro com relação à estabilidade de tensão. As análises são realizadas a partir de dados reais do planejamento e da operação. O sistema é dividido em 4 regiões: Norte, Nordeste, Sul e Sudeste/Centro-Oeste. A margem de estabilidade é obtida para cada uma destas regiões. Os resultados mostram que o sistema interligado brasileiro apresenta margem de estabilidade muito abaixo da sugerida pelos critérios existentes, a qual é limitada pela região Sudeste/Centro-Oeste. Uma análise detalhada para esta área crítica do sistema é realizada. Além de uma avaliação do comportamento da margem de estabilidade de tensão durante um dia típico de semana, esta trabalho apresenta uma análise de contingências. Utilizando a metodologia de análise modal verifica-se a abrangência das contingências, mensurando o impacto de cada contingência como local, de área ou sistêmico.

Estabilidade de pontos de equilíbrio e existência de soluções periódicas em alguns modelos bidimensionais

Pós-graduação em Matemática Universitária - IGCE

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