2,541 research outputs found
A Data-driven Approach to Robust Control of Multivariable Systems by Convex Optimization
The frequency-domain data of a multivariable system in different operating
points is used to design a robust controller with respect to the measurement
noise and multimodel uncertainty. The controller is fully parametrized in terms
of matrix polynomial functions and can be formulated as a centralized,
decentralized or distributed controller. All standard performance
specifications like , and loop shaping are considered in a
unified framework for continuous- and discrete-time systems. The control
problem is formulated as a convex-concave optimization problem and then
convexified by linearization of the concave part around an initial controller.
The performance criterion converges monotonically to a local optimal solution
in an iterative algorithm. The effectiveness of the method is compared with
fixed-structure controllers using non-smooth optimization and with full-order
optimal controllers via simulation examples. Finally, the experimental data of
a gyroscope is used to design a data-driven controller that is successfully
applied on the real system
Strong Stationarity Conditions for Optimal Control of Hybrid Systems
We present necessary and sufficient optimality conditions for finite time
optimal control problems for a class of hybrid systems described by linear
complementarity models. Although these optimal control problems are difficult
in general due to the presence of complementarity constraints, we provide a set
of structural assumptions ensuring that the tangent cone of the constraints
possesses geometric regularity properties. These imply that the classical
Karush-Kuhn-Tucker conditions of nonlinear programming theory are both
necessary and sufficient for local optimality, which is not the case for
general mathematical programs with complementarity constraints. We also present
sufficient conditions for global optimality.
We proceed to show that the dynamics of every continuous piecewise affine
system can be written as the optimizer of a mathematical program which results
in a linear complementarity model satisfying our structural assumptions. Hence,
our stationarity results apply to a large class of hybrid systems with
piecewise affine dynamics. We present simulation results showing the
substantial benefits possible from using a nonlinear programming approach to
the optimal control problem with complementarity constraints instead of a more
traditional mixed-integer formulation.Comment: 30 pages, 4 figure
Approximation of the critical buckling factor for composite panels
This article is concerned with the approximation of the critical buckling factor for thin composite plates. A new method to improve the approximation of this critical factor is applied based on its behavior with respect to lamination parameters and loading conditions. This method allows accurate approximation of the critical buckling factor for non-orthotropic laminates under complex combined loadings (including shear loading). The influence of the stacking sequence and loading conditions is extensively studied as well as properties of the critical buckling factor behavior (e.g concavity over tensor D or out-of-plane lamination parameters). Moreover, the critical buckling factor is numerically shown to be piecewise linear for orthotropic laminates under combined loading whenever shear remains low and it is also shown to be piecewise continuous in the general case. Based on the numerically observed behavior, a new scheme for the approximation is applied that separates each buckling mode and builds linear, polynomial or rational regressions for each mode. Results of this approach and applications to structural optimization are presented
An unconditionally energy stable finite difference scheme for a stochastic Cahn-Hilliard equation
In this work, the MMC-TDGL equation, a stochastic Cahn-Hilliard equation is
solved numerically by using the finite difference method in combination with a
convex splitting technique of the energy functional. For the non-stochastic
case, we develop an unconditionally energy stable difference scheme which is
proved to be uniquely solvable. For the stochastic case, by adopting the same
splitting of the energy functional, we construct a similar and uniquely
solvable difference scheme with the discretized stochastic term. The resulted
schemes are nonlinear and solved by Newton iteration. For the long time
simulation, an adaptive time stepping strategy is developed based on both
first- and second-order derivatives of the energy. Numerical experiments are
carried out to verify the energy stability, the efficiency of the adaptive time
stepping and the effect of the stochastic term.Comment: This paper has been accepted for publication in SCIENCE CHINA
Mathematic
Inference for Generalized Linear Models via Alternating Directions and Bethe Free Energy Minimization
Generalized Linear Models (GLMs), where a random vector is
observed through a noisy, possibly nonlinear, function of a linear transform
arise in a range of applications in nonlinear
filtering and regression. Approximate Message Passing (AMP) methods, based on
loopy belief propagation, are a promising class of approaches for approximate
inference in these models. AMP methods are computationally simple, general, and
admit precise analyses with testable conditions for optimality for large i.i.d.
transforms . However, the algorithms can easily diverge for general
. This paper presents a convergent approach to the generalized AMP
(GAMP) algorithm based on direct minimization of a large-system limit
approximation of the Bethe Free Energy (LSL-BFE). The proposed method uses a
double-loop procedure, where the outer loop successively linearizes the LSL-BFE
and the inner loop minimizes the linearized LSL-BFE using the Alternating
Direction Method of Multipliers (ADMM). The proposed method, called ADMM-GAMP,
is similar in structure to the original GAMP method, but with an additional
least-squares minimization. It is shown that for strictly convex, smooth
penalties, ADMM-GAMP is guaranteed to converge to a local minima of the
LSL-BFE, thus providing a convergent alternative to GAMP that is stable under
arbitrary transforms. Simulations are also presented that demonstrate the
robustness of the method for non-convex penalties as well
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