Modelling the influence of non-minimum phase zeros on gradient based linear iterative learning control

The subject of this paper is modeling of the influence of non-minimum phase plant dynamics on the performance possible from gradient based norm optimal iterative learning control algorithms. It is established that performance in the presence of right-half plane plant zeros typically has two phases. These consist of an initial fast monotonic reduction of the L2 error norm followed by a very slow asymptotic convergence. Although the norm of the tracking error does eventually converge to zero, the practical implications over finite trials is apparent convergence to a non-zero error. The source of this slow convergence is identified and a model of this behavior as a (set of) linear constraint(s) is developed. This is shown to provide a good prediction of the magnitude of error norm where slow convergence begins. Formulae for this norm are obtained for single-input single-output systems with several right half plane zeroes using Lagrangian techniques and experimental results are given that confirm the practical validity of the analysis

Iterative learning control for constrained linear systems

This paper considers iterative learning control for linear systems with convex control input constraints. First, the constrained ILC problem is formulated in a novel successive projection framework. Then, based on this projection method, two algorithms are proposed to solve this constrained ILC problem. The results show that, when perfect tracking is possible, both algorithms can achieve perfect tracking. The two algorithms differ however in that one algorithm needs much less computation than the other. When perfect tracking is not possible, both algorithms can exhibit a form of practical convergence to a "best approximation". The effect of weighting matrices on the performance of the algorithms is also discussed and finally, numerical simulations are given to demonstrate the e®ectiveness of the proposed methods

Multivariable norm optimal iterative learning control with auxiliary optimization

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously converging to the solution of a constrained quadratic optimization problem. The theory is presented in a general functional analytical framework using operators between chosen real Hilbert spaces. This is applied to solve problems in continuous time where tracking is only required at selected intermediate points of the time interval but, simultaneously, the solution is required to minimize a specified quadratic objective function of the input signals and chosen auxiliary (state) variables. Applications to the discrete time case, including the case of multi-rate sampling, are also summarized. The algorithms are motivated by practical need and provide a methodology for reducing undesirable effects such as payload spillage, vibration tendencies and actuator wear whilst maintaining the desired tracking accuracy necessary for task completion. Solutions in terms of NOILC methodologies involving both feedforward and feedback components offer the possibilities of greater robustness than purely feedforward actions. Robustness of the feedforward implementation is discussed and the work is illustrated by experimental results from a robotic manipulator

Non-Commutative Inflation

We show how a radiation dominated universe subject to space-time quantization may give rise to inflation as the radiation temperature exceeds the Planck temperature. We consider dispersion relations with a maximal momentum (i.e. a mimimum Compton wavelength, or quantum of space), noting that some of these lead to a trans-Planckian branch where energy increases with decreasing momenta. This feature translates into negative radiation pressure and, in well-defined circumstances, into an inflationary equation of state. We thus realize the inflationary scenario without the aid of an inflaton field. As the radiation cools down below the Planck temperature, inflation gracefully exits into a standard Big Bang universe, dispensing with a period of reheating. Thermal fluctuations in the radiation bath will in this case generate curvature fluctuations on cosmological scales whose amplitude and spectrum can be tuned to agree with observations.Comment: 4 pages, 3 figure

Comments on Noncommutative ADHM Construction

We extend the method of matrix partition to obtain explicitly the gauge field for noncommutative ADHM construction in some general cases. As an application of this method we apply it to the U(2) 2-instanton and get explicit result for the gauge fields in the coincident instanton limit. We also easily apply it to the noncommutative 't Hooft instantons in the appendix.Comment: 17 pages, LaTeX; an appendix added, typos corrected, refs adde

Economic assessment of use of pond ash in pavements

The paper introduces a new type of industrial waste-based subbase material which can replace conventional subbase material (CSM) in pavement construction. Utilisation of this industrial waste, namely pond coal ash produced from a thermal power plant in road construction will help to reduce the disposal problem of this waste and also will help to reduce the problem of scarcity of CSM. Lime and fibre were also added to the pond ash at various percentages to improve the suitability of this type of mix as subbase material. The optimum service life of pavement is studied with the help of numerical modelling and the cost benefit is also presented in the current study. The study reveals that stabilisation of the coal ash with 2% lime may produce an optimal material and, even though a greater thickness may be required to deliver the same pavement performance, direct cost savings of around 10% may be achieved in addition to less easily quantifiable environmental benefits. Design charts are provided to exploit the findings

Electronic Structure of the BaFe2_2As2_2 Family of Iron Pnictides

We use high resolution angle-resolved photoemission spectroscopy to study the band structure and Fermi surface topology of the BaFe$_2$As$_2$ iron pnictides. We observe two electron bands and two hole bands near the X-point, $(\pi,\pi)$ of the Brillouin zone, in the paramagnetic state for different doping levels, including electron-doped Ba(Co$_{0.06}$Fe$_{0.94}$)$_2$As$_2$, undoped BaFe$_2$As$_2$, and hole-doped Ba$_{0.6}$K$_{0.4}$Fe$_2$As$_2$. Among these four bands, only the electron bands cross the Fermi level, forming two electron pockets around X, while the hole bands approach but never reach the Fermi level. We show that the band structure of the BaFe$_2$As$_2$ family matches reasonably well with the prediction of LDA calculations after a momentum-dependent shift and renormalization. Our finding resolves a number of inconsistencies regarding the electronic structure of pnictides.Comment: 5 pages, 4 figure

D0-D4 brane tachyon condensation to a BPS state and its excitation spectrum in noncommutative super Yang-Mills theory

We investigate the D0-D4-brane system for different B-field backgrounds including the small instanton singularity in noncommutative SYM theory. We discuss the excitation spectrum of the unstable state as well as for the BPS D0-D4 bound state. We compute the tachyon potential which reproduces the complete mass defect. The relevant degrees of freedom are the massless (4,4) strings. Both results are in contrast with existing string field theory calculations. The excitation spectrum of the small instanton is found to be equal to the excitation spectrum of the fluxon solution on R^2_theta x R which we trace back to T-duality. For the effective theory of the (0,0) string excitations we obtain a BFSS matrix model. The number of states in the instanton background changes significantly when the B-field becomes self-dual. This leads us to the proposal of the existence of a phase transition or cross over at self-dual B-field.Comment: a4 11pt Latex2e 40 pages; v2: typos fixed, refined comments on renormalisation, refs added, v3: ref added, version publishe

Propagators in Noncommutative Instantons

We explicitly construct Green functions for a field in an arbitrary representation of gauge group propagating in noncommutative instanton backgrounds based on the ADHM construction. The propagators for spinor and vector fields can be constructed in terms of those for the scalar field in noncommutative instanton background. We show that the propagators in the adjoint representation are deformed by noncommutativity while those in the fundamental representation have exactly the same form as the commutative case.Comment: 28 pages, Latex, v2: A few typos correcte