Unconstrained receding-horizon control of nonlinear systems

It is well known that unconstrained infinite-horizon optimal control may be used to construct a stabilizing controller for a nonlinear system. We show that similar stabilization results may be achieved using unconstrained finite horizon optimal control. The key idea is to approximate the tail of the infinite horizon cost-to-go using, as terminal cost, an appropriate control Lyapunov function. Roughly speaking, the terminal control Lyapunov function (CLF) should provide an (incremental) upper bound on the cost. In this fashion, important stability characteristics may be retained without the use of terminal constraints such as those employed by a number of other researchers. The absence of constraints allows a significant speedup in computation. Furthermore, it is shown that in order to guarantee stability, it suffices to satisfy an improvement property, thereby relaxing the requirement that truly optimal trajectories be found. We provide a complete analysis of the stability and region of attraction/operation properties of receding horizon control strategies that utilize finite horizon approximations in the proposed class. It is shown that the guaranteed region of operation contains that of the CLF controller and may be made as large as desired by increasing the optimization horizon (restricted, of course, to the infinite horizon domain). Moreover, it is easily seen that both CLF and infinite-horizon optimal control approaches are limiting cases of our receding horizon strategy. The key results are illustrated using a familiar example, the inverted pendulum, where significant improvements in guaranteed region of operation and cost are noted

Practices and meanings of non-professional stock-trading in Taiwan : a case of relational work

Accepted for workshop on 21/11/2014PreprintNon peer reviewe

Bias-free time-integrating optical correlator using a photorefractive crystal

An acoustooptic time-integrating correlator is demonstrated using a photorefractive crystal as the time-integrating detector

Functional Classification of Skeletal Muscle Networks. I. Normal Physiology

Extensive measurements of the parts list of human skeletal muscle through transcriptomics and other phenotypic assays offer the opportunity to reconstruct detailed functional models. Through integration of vast amounts of data present in databases and extant knowledge of muscle function combined with robust analyses that include a clustering approach, we present both a protein parts list and network models for skeletal muscle function. The model comprises the four key functional family networks that coexist within a functional space; namely, excitation-activation family (forward pathways that transmit a motoneuronal command signal into the spatial volume of the cell and then use Ca2+ fluxes to bind Ca2+ to troponin C sites on F-actin filaments, plus transmembrane pumps that maintain transmission capacity); mechanical transmission family (a sophisticated three-dimensional mechanical apparatus that bidirectionally couples the millions of actin-myosin nanomotors with external axial tensile forces at insertion sites); metabolic and bioenergetics family (pathways that supply energy for the skeletal muscle function under widely varying demands and provide for other cellular processes); and signaling-production family (which represents various sensing, signal transduction, and nuclear infrastructure that controls the turn over and structural integrity and regulates the maintenance, regeneration, and remodeling of the muscle). Within each family, we identify subfamilies that function as a unit through analysis of large-scale transcription profiles of muscle and other tissues. This comprehensive network model provides a framework for exploring functional mechanisms of the skeletal muscle in normal and pathophysiology, as well as for quantitative modeling