Thomas decompositions of parametric nonlinear control systems

This paper presents an algorithmic method to study structural properties of nonlinear control systems in dependence of parameters. The result consists of a description of parameter configurations which cause different control-theoretic behaviour of the system (in terms of observability, flatness, etc.). The constructive symbolic method is based on the differential Thomas decomposition into disjoint simple systems, in particular its elimination properties

Thomas Decomposition of Algebraic and Differential Systems

In this paper we consider disjoint decomposition of algebraic and non-linear partial differential systems of equations and inequations into so-called simple subsystems. We exploit Thomas decomposition ideas and develop them into a new algorithm. For algebraic systems simplicity means triangularity, squarefreeness and non-vanishing initials. For differential systems the algorithm provides not only algebraic simplicity but also involutivity. The algorithm has been implemented in Maple

Algorithmic Thomas Decomposition of Algebraic and Differential Systems

In this paper, we consider systems of algebraic and non-linear partial differential equations and inequations. We decompose these systems into so-called simple subsystems and thereby partition the set of solutions. For algebraic systems, simplicity means triangularity, square-freeness and non-vanishing initials. Differential simplicity extends algebraic simplicity with involutivity. We build upon the constructive ideas of J. M. Thomas and develop them into a new algorithm for disjoint decomposition. The given paper is a revised version of a previous paper and includes the proofs of correctness and termination of our decomposition algorithm. In addition, we illustrate the algorithm with further instructive examples and describe its Maple implementation together with an experimental comparison to some other triangular decomposition algorithms.Comment: arXiv admin note: substantial text overlap with arXiv:1008.376

Bounds on the Automata Size for Presburger Arithmetic

Automata provide a decision procedure for Presburger arithmetic. However, until now only crude lower and upper bounds were known on the sizes of the automata produced by this approach. In this paper, we prove an upper bound on the the number of states of the minimal deterministic automaton for a Presburger arithmetic formula. This bound depends on the length of the formula and the quantifiers occurring in the formula. The upper bound is established by comparing the automata for Presburger arithmetic formulas with the formulas produced by a quantifier elimination method. We also show that our bound is tight, even for nondeterministic automata. Moreover, we provide optimal automata constructions for linear equations and inequations

Complexity of Resolution of Parametric Systems of Polynomial Equations and Inequations

Consider a system of n polynomial equations and r polynomial inequations in n indeterminates of degree bounded by d with coefficients in a polynomial ring of s parameters with rational coefficients of bit-size at most $\sigma$. From the real viewpoint, solving such a system often means describing some semi-algebraic sets in the parameter space over which the number of real solutions of the considered parametric system is constant. Following the works of Lazard and Rouillier, this can be done by the computation of a discriminant variety. In this report we focus on the case where for a generic specialization of the parameters the system of equations generates a radical zero-dimensional ideal, which is usual in the applications. In this case, we provide a deterministic method computing the minimal discriminant variety reducing the problem to a problem of elimination. Moreover, we prove that the degree of the computed minimal discriminant variety is bounded by $D:=(n+r)d^{(n+1)}$ and that the complexity of our method is $\sigma^{\mathcal{O}(1)} D^{\mathcal{O}(n+s)}$ bit-operations on a deterministic Turing machine

On the determination of cusp points of 3-R\underline{P}R parallel manipulators

This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a non-singular change of assembly mode. In previous works, the cusp points were calculated in sections of the joint space by solving a 24th-degree polynomial without any proof that this polynomial was the only one that gives all solutions. The purpose of this study is to propose a rigorous methodology to determine the cusp points of 3-R\underline{P}R manipulators and to certify that all cusp points are found. This methodology uses the notion of discriminant varieties and resorts to Gr\"obner bases for the solutions of systems of equations