MIMO nonlinear PID predictive controller

A class of nonlinear generalised predictive controllers (NGPC) is derived for multi-input multi-output (MIMO) nonlinear systems with offset or steady-state response error. The MIMO composite controller consists of an optimal NGPC and a nonlinear disturbance observer. The design of the nonlinear disturbance observer to estimate the offset is particularly simple, as is the associated proof of overall nonlinear closed-loop system stability. Moreover, the transient error response of the disturbance observer can be arbitrarily specified by simple design parameters. Very satisfactory performance of the proposed MIMO nonlinear predictive controller is demonstrated for a three-link nonlinear robotic manipulator example

Work, heat and entropy production in bipartite quantum systems

In bipartite quantum systems commutation relations between the Hamiltonian of each subsystem and the interaction impose fundamental constraints on the dynamics of each partition. Here we investigate work, heat and entropy production in bipartite systems characterized by particular commutators between their local Hamiltonians and the interaction operator. We consider the formalism of [Weimer, EPL, 83:30008, 2008], in which heat (work) is identified with energy changes that (do not) alter the local von Neumann entropy, as observed in an effective local measurement basis. We demonstrate the consequences of the commutation relations on the work and heat fluxes into each partition, and extend the formalism to open quantum systems where one, or both, partitions are subject to a Markovian thermal bath. We also discuss the relation between heat and entropy in bipartite quantum systems out of thermal equilibrium, and reconcile the aforementioned approach with the second law of thermodynamics.Comment: 16 pages, 2 figures (to appear in NJP

To identify the incidence, severity and timing of hypophosphataemia in Glasgow Royal Infirmary Intensive Care Unit (ICU) [poster]

No abstract available