670 research outputs found
Conic Optimization Theory: Convexification Techniques and Numerical Algorithms
Optimization is at the core of control theory and appears in several areas of
this field, such as optimal control, distributed control, system
identification, robust control, state estimation, model predictive control and
dynamic programming. The recent advances in various topics of modern
optimization have also been revamping the area of machine learning. Motivated
by the crucial role of optimization theory in the design, analysis, control and
operation of real-world systems, this tutorial paper offers a detailed overview
of some major advances in this area, namely conic optimization and its emerging
applications. First, we discuss the importance of conic optimization in
different areas. Then, we explain seminal results on the design of hierarchies
of convex relaxations for a wide range of nonconvex problems. Finally, we study
different numerical algorithms for large-scale conic optimization problems.Comment: 18 page
Piecewise Linear Control Systems
This thesis treats analysis and design of piecewise linear control systems. Piecewise linear systems capture many of the most common nonlinearities in engineering systems, and they can also be used for approximation of other nonlinear systems. Several aspects of linear systems with quadratic constraints are generalized to piecewise linear systems with piecewise quadratic constraints. It is shown how uncertainty models for linear systems can be extended to piecewise linear systems, and how these extensions give insight into the classical trade-offs between fidelity and complexity of a model. Stability of piecewise linear systems is investigated using piecewise quadratic Lyapunov functions. Piecewise quadratic Lyapunov functions are much more powerful than the commonly used quadratic Lyapunov functions. It is shown how piecewise quadratic Lyapunov functions can be computed via convex optimization in terms of linear matrix inequalities. The computations are based on a compact parameterization of continuous piecewise quadratic functions and conditional analysis using the S-procedure. A unifying framework for computation of a variety of Lyapunov functions via convex optimization is established based on this parameterization. Systems with attractive sliding modes and systems with bounded regions of attraction are also treated. Dissipativity analysis and optimal control problems with piecewise quadratic cost functions are solved via convex optimization. The basic results are extended to fuzzy systems, hybrid systems and smooth nonlinear systems. It is shown how Lyapunov functions with a discontinuous dependence on the discrete state can be computed via convex optimization. An automated procedure for increasing the flexibility of the Lyapunov function candidate is suggested based on linear programming duality. A Matlab toolbox that implements several of the results derived in the thesis is presented
Basic Understanding of Condensed Phases of Matter via Packing Models
Packing problems have been a source of fascination for millenia and their
study has produced a rich literature that spans numerous disciplines.
Investigations of hard-particle packing models have provided basic insights
into the structure and bulk properties of condensed phases of matter, including
low-temperature states (e.g., molecular and colloidal liquids, crystals and
glasses), multiphase heterogeneous media, granular media, and biological
systems. The densest packings are of great interest in pure mathematics,
including discrete geometry and number theory. This perspective reviews
pertinent theoretical and computational literature concerning the equilibrium,
metastable and nonequilibrium packings of hard-particle packings in various
Euclidean space dimensions. In the case of jammed packings, emphasis will be
placed on the "geometric-structure" approach, which provides a powerful and
unified means to quantitatively characterize individual packings via jamming
categories and "order" maps. It incorporates extremal jammed states, including
the densest packings, maximally random jammed states, and lowest-density jammed
structures. Packings of identical spheres, spheres with a size distribution,
and nonspherical particles are also surveyed. We close this review by
identifying challenges and open questions for future research.Comment: 33 pages, 20 figures, Invited "Perspective" submitted to the Journal
of Chemical Physics. arXiv admin note: text overlap with arXiv:1008.298
Set-Membership Proportionate Affine Projection Algorithms
Proportionate adaptive filters can improve the convergence speed for the identification of sparse systems as compared to their conventional counterparts. In this paper, the idea of proportionate adaptation is combined with the framework of set-membership filtering (SMF) in an attempt to derive novel computationally efficient algorithms. The resulting algorithms attain an attractive faster converge for both situations of sparse and dispersive channels while decreasing the average computational complexity due to the data discerning feature of the SMF approach. In addition, we propose a rule that allows us to automatically adjust the number of past data pairs employed in the update. This leads to a set-membership proportionate affine projection algorithm (SM-PAPA) having a variable data-reuse factor allowing a significant reduction in the overall complexity when compared with a fixed data-reuse factor. Reduced-complexity implementations of the proposed algorithms are also considered that reduce the dimensions of the matrix inversions involved in the update. Simulations show good results in terms of reduced number of updates, speed of convergence, and final mean-squared error
Predictability, complexity and learning
We define {\em predictive information} as the mutual
information between the past and the future of a time series. Three
qualitatively different behaviors are found in the limit of large observation
times : can remain finite, grow logarithmically, or grow
as a fractional power law. If the time series allows us to learn a model with a
finite number of parameters, then grows logarithmically with
a coefficient that counts the dimensionality of the model space. In contrast,
power--law growth is associated, for example, with the learning of infinite
parameter (or nonparametric) models such as continuous functions with
smoothness constraints. There are connections between the predictive
information and measures of complexity that have been defined both in learning
theory and in the analysis of physical systems through statistical mechanics
and dynamical systems theory. Further, in the same way that entropy provides
the unique measure of available information consistent with some simple and
plausible conditions, we argue that the divergent part of
provides the unique measure for the complexity of dynamics underlying a time
series. Finally, we discuss how these ideas may be useful in different problems
in physics, statistics, and biology.Comment: 53 pages, 3 figures, 98 references, LaTeX2
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