Constrained Finite Receding Horizon Linear Quadratic Control

Issues of feasibility, stability and performance are considered for a finite horizon formulation of receding horizon control (RHC) for linear systems under mixed linear state and control constraints. It is shown that for a sufficiently long horizon, a receding horizon policy will remain feasible and result in stability, even when no end constraint is imposed. In addition, offline finite horizon calculations can be used to determine not only a stabilizing horizon length, but guaranteed performance bounds for the receding horizon policy. These calculations are demonstrated on two examples

Optimality of nonlinear design techniques: A converse HJB approach

The issue of optimality in nonlinear controller design is confronted by using the converse HJB approach to classify dynamics under which certain design schemes are optimal. In particular, the techniques of Jacobian linearization, pseudo-Jacobian linearization, and feedback linearization are analyzed. Finally, the conditions for optimality are applied to the 2-D nonlinear oscillator, where simple, nontrivial examples are produced in which the various design techniques are optimal

Kuhn-Tucker-based stability conditions for systems with saturation

This paper presents a new approach to deriving stability conditions for continuous-time linear systems interconnected with a saturation. The method presented can be extended to handle a dead-zone, or in general, nonlinearities in the form of piecewise linear functions. By representing the saturation as a constrained optimization problem, the necessary (Kuhn-Tucker) conditions for optimality are used to derive linear and quadratic constraints which characterize the saturation. After selecting a candidate Lyapunov function, we pose the question of whether the Lyapunov function is decreasing along trajectories of the system as an implication between the necessary conditions derived from the saturation optimization, and the time derivative of the Lyapunov function. This leads to stability conditions in terms of linear matrix inequalities, which are obtained by an application of the S-procedure to the implication. An example is provided where the proposed technique is compared and contrasted with previous analysis methods

Constrained nonlinear optimal control: a converse HJB approach

Extending the concept of solving the Hamilton-Jacobi-Bellman (HJB) optimization equation backwards [2], the so called converse constrained optimal control problem is introduced, and used to create various classes of nonlinear systems for which the optimal controller subject to constraints is known. In this way a systematic method for the testing, validation and comparison of different control techniques with the optimal is established. Because it naturally and explicitly handles constraints, particularly control input saturation, model predictive control (MPC) is a potentially powerful approach for nonlinear control design. However, nonconvexity of the nonlinear programs (NLP) involved in the MPC optimization makes the solution problematic. In order to explore properties of MPC-based constrained control schemes, and to point out the potential issues in implementing MPC, challenging benchmark examples are generated and analyzed. Properties of MPC-based constrained techniques are then evaluated and implementation issues are explored by applying both nonlinear MPC and MPC with feedback linearization

A receding horizon generalization of pointwise min-norm controllers

Control Lyapunov functions (CLFs) are used in conjunction with receding horizon control to develop a new class of receding horizon control schemes. In the process, strong connections between the seemingly disparate approaches are revealed, leading to a unified picture that ties together the notions of pointwise min-norm, receding horizon, and optimal control. This framework is used to develop a CLF based receding horizon scheme, of which a special case provides an appropriate extension of Sontag's formula. The scheme is first presented as an idealized continuous-time receding horizon control law. The issue of implementation under discrete-time sampling is then discussed as a modification. These schemes are shown to possess a number of desirable theoretical and implementation properties. An example is provided, demonstrating their application to a nonlinear control problem. Finally, stronger connections to both optimal and pointwise min-norm control are proved

OIDC2OIDC^2: Open Identity Certification with OpenID Connect

OpenID Connect (OIDC) is a widely used authentication standard for the Web. In this work, we define a new Identity Certification Token (ICT) for OIDC. An ICT can be thought of as a JSON-based, short-lived user certificate for end-to-end user authentication without the need for cumbersome key management. A user can request an ICT from his OpenID Provider (OP) and use it to prove his identity to other users or services that trust the OP. We call this approach $OIDC^2$ and compare it to other well-known end-to-end authentication methods. Unlike certificates, $OIDC^2$ does not require installation and can be easily used on multiple devices, making it more user-friendly. We outline protocols for implementing $OIDC^2$ based on existing standards. We discuss the trust relationship between entities involved in $OIDC^2$, propose a classification of OPs' trust level, and propose authentication with multiple ICTs from different OPs. We explain how different applications such as videoconferencing, instant messaging, and email can benefit from ICTs for end-to-end authentication and recommend validity periods for ICTs. To test $OIDC^2$, we provide a simple extension to existing OIDC server software and evaluate its performance

Trans-Pacific and regional atmospheric transport of anthropogenic semivolatile organic compounds in the western U.S.

The atmospheric transport of anthropogenic semivolatile organic compounds (SOCs) from Asian sources to the Western U.S. was investigated. In addition, the SOC extraction method was optimized. Hansen solubility parameter plots were used to aid in the pressurized liquid extraction (PLE) solvent selection of air sampling media in order to minimize polymeric matrix interferences. To estimate the emissions of anthropogenic semivolatile organic compounds (SOCs) from East Asia and to identify unique SOC molecular markers in Asian air masses, air samples were collected on the island of Okinawa, Japan in Spring 2004. Elevated concentrations of hexachlorobenzene (HCB), hexachlorocyclohexanes (HCHs), dichlorodiphenyltrichloroethanes (DDTs), and particulate-phase polycyclic aromatic hydrocarbons (PAHs) were attributed to air masses from China. A large proportion of the variation in the current use pesticides, gas-phase PAHs, and polychlorinated biphenyl (PCB) concentrations was explained by meteorology. Using measured PAH, carbon monoxide (CO), and black carbon concentrations and estimated CO and black carbon emission inventories, the emission of 6 carcinogenic particulate-phase PAHs were estimated to be 1518-4179 metric tons/year for all of Asia and 778-1728 metric tons/year for only China. Atmospheric measurements of anthropogenic SOCs were made at Mt. Bachelor Observatory (MBO), located in Oregon’s Cascade Range. PAH concentrations at MBO increased with the percentage of air mass time in Asia and, in conjunction with other data, provided strong evidence that particulate-phase PAHs are emitted from Asia and undergo trans-Pacific atmospheric transport to North America. Enhanced HCB, α-HCH, and γ-HCH concentrations also occurred during trans-Pacific atmospheric transport, compared with regional (Western U.S.) air masses during similar time periods. Gas-phase PAH and fluorotelomer alcohol (FTOH) concentrations significantly increased with the percentage of air mass time in California’s urban areas, while retene and PCB concentrations increased with the percentage of air mass time in Oregon and during regional fire events. Regional atmospheric transport in the Western U.S. also resulted in enhanced γ-HCH, dacthal, endosulfan, metribuzin, triallate, trifluralin, and chlorpyrifos concentrations, with episodic concentration enhancements during spring application periods. Elevated ΣPCB, Σchlordane, HCHs, HCB, and trifuralin concentrations were also associated with fires, which may be due to volatization of pesticides deposited to soils and vegetation