<p>Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. The aim of this thesis is to give an insight into this approach and its practical application.</p><p>The contribution of this work is primarily the experimental validation of the theory. A step by step procedure of this methodology is given for motion planning, as well as for controller design. Three particular setups were chosen for experiments: the inertia wheel pendulum, the Furuta pendulum and the two-link planar pendulum. These under-actuated mechanical systems are well known benchmarking setups for testing advanced control design methods.</p><p>Further application is intended for cases such as biped robot walking/running, human and animal locomotion analysis, etc.</p>

In this paper we establish the regularity, exponential stability of global (weak) solutions and existence of uniform compact attractors of semiprocesses, which are generated by the global solutions, of a two-parameter family of operators for the nonlinear 1-d non-autonomous viscoelasticity. We employ the properties of the analytic semigroup to show the compactness for the semiprocess generated by the global solutions.

Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. The aim of this thesis is to give an insight into this approach and its practical application. The contribution of this work is primarily the experimental validation of the theory. A step by step procedure of this methodology is given for motion planning, as well as for controller design. Three particular setups were chosen for experiments: the inertia wheel pendulum, the Furuta pendulum and the two-link planar pendulum. These under-actuated mechanical systems are well known benchmarking setups for testing advanced control design methods. Further application is intended for cases such as biped robot walking/running, human and animal locomotion analysis, etc.

>Magister Scientiae - MSc / HIV/AIDS is nowadays considered as the greatest public health disaster of modern time. Its progression has challenged the global population for decades. Through mathematical modelling, researchers have studied different interventions on the HIV pandemic, such as treatment, education, condom use, etc. Our research focuses on different compartmental models with emphasis on the effect of public health education. From the point of view of statistics, it is well known how the public health educational programs contribute towards the reduction of the spread of HIV/AIDS epidemic. Many models have been studied towards understanding the dynamics of the HIV/AIDS epidemic. The impact of ARV treatment have been observed and analysed by many researchers. Our research studies and investigates a compartmental model of HIV with treatment and education campaign. We study the existence of equilibrium points and their stability. Original contributions of this dissertation are the modifications on the model of Cai et al. [1], which enables us to use optimal control theory to identify optimal roll-out of strategies to control the HIV/AIDS. Furthermore, we introduce randomness into the model and we study the almost sure exponential stability of the disease free equilibrium. The randomness is regarded as environmental perturbations in the system. Another contribution is the global stability analysis on the model of Nyabadza et al. in [3]. The stability thresholds are compared for the HIV/AIDS in the absence of any intervention to assess the possible community benefit of public health educational campaigns. We illustrate the results by way simulation The following papers form the basis of much of the content of this dissertation, [1 ] L. Cai, Xuezhi Li, Mini Ghosh, Boazhu Guo. Stability analysis of an HIV/AIDS epidemic model with treatment, 229 (2009) 313-323. [2 ] C.P. Bhunu, S. Mushayabasa, H. Kojouharov, J.M. Tchuenche. Mathematical Analysis of an HIV/AIDS Model: Impact of Educational Programs and Abstinence in Sub-Saharan Africa. J Math Model Algor 10 (2011),31-55. [3 ] F. Nyabadza, C. Chiyaka, Z. Mukandavire, S.D. Hove-Musekwa. Analysis of an HIV/AIDS model with public-health information campaigns and individual with-drawal. Journal of Biological Systems, 18, 2 (2010) 357-375. Through this dissertation the author has contributed to two manuscripts [4] and [5], which are currently under review towards publication in journals, [4 ] G. Abiodun, S. Maku Vyambwera, N. Marcus, K. Okosun, P. Witbooi. Control and sensitivity of an HIV model with public health education (under submission). [5 ] P.Witbooi, M. Nsuami, S. Maku Vyambwera. Stability of a stochastic model of HIV population dynamics (under submission).

Este trabalho investiga a influência da quantização em sistemas de controle em rede. São tratados problemas de estabilidade e estabilização de sistemas lineares de tempo discreto envolvendo quantização finita nas entradas da planta controlada, considerando dois tipos de quantizadores: os uniformes e os logarítmicos. Como consequência da quantização finita, ocorrem também efeitos de saturação e zonamorta dos sinais de entrada. Tais comportamentos não-lineares são considerados explicitamente na análise. Para plantas instáveis, o objetivo é estimar a região onde os estados estarão confinados em regime permanente. Esta região, denominada atrator dos estados, é estimada por meio de um conjunto elipsoidal. Ao mesmo tempo, determina-se um conjunto elipsoidal de condições iniciais admissíveis, para o qual se garante a convergência das trajetórias para o atrator em tempo finito. Primeiramente, esses conjuntos são determinados para o caso de um controlador dado e, posteriormente, sintetiza-se um controlador que minimiza o atrator. Em se tratando de plantas estáveis, investiga-se como o desempenho dinâmico é afetado pela quantização. Para tanto, utiliza-se como critério o coeficiente de decaimento exponencial que é garantido para o sistema. Nesta parte, excluem-se os comportamentos na região de saturação e na região da zona-morta. Primeiramente, o coeficiente de decaimento garantido é estimado para um sistema com controlador dado. Neste caso, faz-se uma análise de degradação de desempenho induzida pela quantização com relação ao comportamento do sistema em malha fechada sem quantização. Posteriormente, sintetiza-se um controlador que minimiza este coeficiente na presença da quantização. Na obtenção dos resultados, utilizam-se condições de setor respeitadas pelas não linearidades e formulam-se os problemas na forma de inequações matriciais que podem ser resolvidas a partir de problemas de otimização baseados em LMIs. / This work investigates the in uence of quantization over networked control systems. At rst, we tackle stability and stabilization problems of discrete-time linear systems involving nite quantization on the input of the controlled plant, considering two kinds of quantizers: uniform and logarithmic. As a consequence of the nite quantization, saturation and dead-zone e ects on the input signals are also present. These non-linear behaviors are explictly considered in the analysis. For unstable plants, the objective is to estimate the region where the states will be ultimately bounded. This region, which we call the attractor of the states, is estimated through an ellipsoidal set. Simultaneously, we determine an ellipsoidal set of admissible initial conditions, for which the trajectories will converge to the attractor in nite time. At rst, the sets are determined for the case where the controller is given and, in the sequel, a controller that minimizes the attractor is designed. When dealing with stable plants, we investigate how the dynamic performance is a ected by the quantization. To do that, we use as criterion the exponential decay rate which is guaranteed for the system. At this point, we exclude the behaviour in the saturation and deadzone regions. At rst, the guaranteed decay rate is estimated for a system where the controller is given. In this case, we analyze the deterioration of the performance in uenced by the quantization, compared to the behavior of the closed-loop system without quantization. In the sequel, a controller that minimizes that rate in the presence of quantization is designed. To obtain the results, we use sector conditions which are respected by the nonlinearities and we state the problems as matrix inequalities which can be solved using LMI-based optimization problems.

Este trabalho investiga a influência da quantização em sistemas de controle em rede. São tratados problemas de estabilidade e estabilização de sistemas lineares de tempo discreto envolvendo quantização finita nas entradas da planta controlada, considerando dois tipos de quantizadores: os uniformes e os logarítmicos. Como consequência da quantização finita, ocorrem também efeitos de saturação e zonamorta dos sinais de entrada. Tais comportamentos não-lineares são considerados explicitamente na análise. Para plantas instáveis, o objetivo é estimar a região onde os estados estarão confinados em regime permanente. Esta região, denominada atrator dos estados, é estimada por meio de um conjunto elipsoidal. Ao mesmo tempo, determina-se um conjunto elipsoidal de condições iniciais admissíveis, para o qual se garante a convergência das trajetórias para o atrator em tempo finito. Primeiramente, esses conjuntos são determinados para o caso de um controlador dado e, posteriormente, sintetiza-se um controlador que minimiza o atrator. Em se tratando de plantas estáveis, investiga-se como o desempenho dinâmico é afetado pela quantização. Para tanto, utiliza-se como critério o coeficiente de decaimento exponencial que é garantido para o sistema. Nesta parte, excluem-se os comportamentos na região de saturação e na região da zona-morta. Primeiramente, o coeficiente de decaimento garantido é estimado para um sistema com controlador dado. Neste caso, faz-se uma análise de degradação de desempenho induzida pela quantização com relação ao comportamento do sistema em malha fechada sem quantização. Posteriormente, sintetiza-se um controlador que minimiza este coeficiente na presença da quantização. Na obtenção dos resultados, utilizam-se condições de setor respeitadas pelas não linearidades e formulam-se os problemas na forma de inequações matriciais que podem ser resolvidas a partir de problemas de otimização baseados em LMIs. / This work investigates the in uence of quantization over networked control systems. At rst, we tackle stability and stabilization problems of discrete-time linear systems involving nite quantization on the input of the controlled plant, considering two kinds of quantizers: uniform and logarithmic. As a consequence of the nite quantization, saturation and dead-zone e ects on the input signals are also present. These non-linear behaviors are explictly considered in the analysis. For unstable plants, the objective is to estimate the region where the states will be ultimately bounded. This region, which we call the attractor of the states, is estimated through an ellipsoidal set. Simultaneously, we determine an ellipsoidal set of admissible initial conditions, for which the trajectories will converge to the attractor in nite time. At rst, the sets are determined for the case where the controller is given and, in the sequel, a controller that minimizes the attractor is designed. When dealing with stable plants, we investigate how the dynamic performance is a ected by the quantization. To do that, we use as criterion the exponential decay rate which is guaranteed for the system. At this point, we exclude the behaviour in the saturation and deadzone regions. At rst, the guaranteed decay rate is estimated for a system where the controller is given. In this case, we analyze the deterioration of the performance in uenced by the quantization, compared to the behavior of the closed-loop system without quantization. In the sequel, a controller that minimizes that rate in the presence of quantization is designed. To obtain the results, we use sector conditions which are respected by the nonlinearities and we state the problems as matrix inequalities which can be solved using LMI-based optimization problems.

Este trabalho investiga a influência da quantização em sistemas de controle em rede. São tratados problemas de estabilidade e estabilização de sistemas lineares de tempo discreto envolvendo quantização finita nas entradas da planta controlada, considerando dois tipos de quantizadores: os uniformes e os logarítmicos. Como consequência da quantização finita, ocorrem também efeitos de saturação e zonamorta dos sinais de entrada. Tais comportamentos não-lineares são considerados explicitamente na análise. Para plantas instáveis, o objetivo é estimar a região onde os estados estarão confinados em regime permanente. Esta região, denominada atrator dos estados, é estimada por meio de um conjunto elipsoidal. Ao mesmo tempo, determina-se um conjunto elipsoidal de condições iniciais admissíveis, para o qual se garante a convergência das trajetórias para o atrator em tempo finito. Primeiramente, esses conjuntos são determinados para o caso de um controlador dado e, posteriormente, sintetiza-se um controlador que minimiza o atrator. Em se tratando de plantas estáveis, investiga-se como o desempenho dinâmico é afetado pela quantização. Para tanto, utiliza-se como critério o coeficiente de decaimento exponencial que é garantido para o sistema. Nesta parte, excluem-se os comportamentos na região de saturação e na região da zona-morta. Primeiramente, o coeficiente de decaimento garantido é estimado para um sistema com controlador dado. Neste caso, faz-se uma análise de degradação de desempenho induzida pela quantização com relação ao comportamento do sistema em malha fechada sem quantização. Posteriormente, sintetiza-se um controlador que minimiza este coeficiente na presença da quantização. Na obtenção dos resultados, utilizam-se condições de setor respeitadas pelas não linearidades e formulam-se os problemas na forma de inequações matriciais que podem ser resolvidas a partir de problemas de otimização baseados em LMIs. / This work investigates the in uence of quantization over networked control systems. At rst, we tackle stability and stabilization problems of discrete-time linear systems involving nite quantization on the input of the controlled plant, considering two kinds of quantizers: uniform and logarithmic. As a consequence of the nite quantization, saturation and dead-zone e ects on the input signals are also present. These non-linear behaviors are explictly considered in the analysis. For unstable plants, the objective is to estimate the region where the states will be ultimately bounded. This region, which we call the attractor of the states, is estimated through an ellipsoidal set. Simultaneously, we determine an ellipsoidal set of admissible initial conditions, for which the trajectories will converge to the attractor in nite time. At rst, the sets are determined for the case where the controller is given and, in the sequel, a controller that minimizes the attractor is designed. When dealing with stable plants, we investigate how the dynamic performance is a ected by the quantization. To do that, we use as criterion the exponential decay rate which is guaranteed for the system. At this point, we exclude the behaviour in the saturation and deadzone regions. At rst, the guaranteed decay rate is estimated for a system where the controller is given. In this case, we analyze the deterioration of the performance in uenced by the quantization, compared to the behavior of the closed-loop system without quantization. In the sequel, a controller that minimizes that rate in the presence of quantization is designed. To obtain the results, we use sector conditions which are respected by the nonlinearities and we state the problems as matrix inequalities which can be solved using LMI-based optimization problems.

Dans cette thèse, nous nous intéressons à la stabilisation par rétroaction des systèmes quantiques ouverts soumis à des mesures imparfaites en temps continu. Tout d'abord, nous introduisons la théorie du filtrage quantique pour décrire l'évolution temporelle de l'opérateur de densité conditionnelle représentant un état quantique en interaction avec un environnement. Ceci est décrit par une équation différentielle stochastique à valeurs matricielles. Deuxièmement, nous étudions le comportement asymptotique des trajectoires quantiques associées à des systèmes de spin à N niveaux pour des états initiaux donnés, pour les cas avec et sans loi de rétroaction. Dans le cas sans loi de rétroaction, nous montrons la propriété de réduction de l'état quantique à vitesse exponentielle. Ensuite, nous fournissons des conditions suffisantes sur la loi de contrôle assurant une convergence presque sûre vers un état pur prédéterminé correspondant à un vecteur propre de l'opérateur de mesure. Troisièmement, nous étudions le comportement asymptotique des trajectoires de systèmes ouverts à plusieurs qubits pour des états initiaux donnés. Dans le cas sans loi de rétroaction, nous montrons la réduction exponentielle de l'état quantique pour les systèmes N-qubit avec deux canaux quantiques. Dans le cas particulier des systèmes à deux qubits, nous donnons des conditions suffisantes sur la loi de contrôle assurant la convergence asymptotique vers un état cible de Bell avec un canal quantique, et la convergence exponentielle presque sûre vers un état cible de Bell avec deux canaux quantiques. Ensuite, nous étudions le comportement asymptotique des trajectoires des systèmes quantiques ouverts de spin-1/2 avec les états initiaux inconnus soumis à des mesures imparfaites en temps continu, et nous fournissons des conditions suffisantes au contrôleur pour garantir la convergence de l'état estimé vers l'état quantique réel lorsque le temps tend vers l'infini. En conclusion, nous discutons de manière heuristique du problème de stabilisation exponentielle des systèmes de spin à N niveaux avec les états initiaux inconnus et nous proposons des lois de rétroaction candidates afin de stabiliser le système de manière exponentielle. / In this thesis, we focus on the feedback stabilization of open quantum systems undergoing imperfect continuous-time measurements. First, we introduce the quantum filtering theory to obtain the time evolution of the conditional density operator representing a quantum state in interaction with an environment. This is described by a matrix-valued stochastic differential equation. Second, we study the asymptotic behavior of quantum trajectories associated with N-level quantum spin systems for given initial states, for the cases with and without feedback law. For the case without feedback, we show the exponential quantum state reduction. Then, we provide sufficient conditions on the feedback control law ensuring almost sure exponential convergence to a predetermined pure state corresponding to an eigenvector of the measurement operator. Third, we study the asymptotic behavior of trajectories of open multi-qubit systems for given initial states. For the case without feedback, we show the exponential quantum state reduction for N-qubit systems with two quantum channels. Then, we focus on the two-qubit systems, and provide sufficient conditions on the feedback control law ensuring asymptotic convergence to a target Bell state with one quantum channel, and almost sure exponential convergence to a target Bell state with two quantum channels. Next, we investigate the asymptotic behavior of trajectories of open quantum spin-1/2 systems with unknown initial states undergoing imperfect continuous-time measurements, and provide sufficient conditions on the controller to guarantee the convergence of the estimated state towards the actual quantum state when time goes to infinity. Finally, we discuss heuristically the exponential stabilization problem for N-level quantum spin systems with unknown initial states and propose candidate feedback laws to stabilize exponentially the system.

Cette thèse s’intéresse à l’étude de la stabilité des systèmes à commutation qui évoluent sur un domaine de temps non uniforme en introduisant la théorie des échelles de temps. On s’intéresse essentiellement aux systèmes dynamiques linéaires à commutation définis sur une échelle de temps particulière T = P{tσk ,tk+1} = ∪∞k=0[tσk , tk+1]. Le système étudié commute entre un sous-système dynamique continu sur les intervalles ∪∞k=0[tσk , tk+1[ et un sous-système dynamique discret aux instants ∪∞k=0{tk+1} (à temps discret) avec un pas discret qui varie dans le temps. Dans une première partie, des conditions suffisantes sont données pour garantir la stabilité exponentielle de cette classe de systèmes à commutation. Ensuite, des conditions nécessaires et suffisantes de stabilité sont données en déterminant une région de stabilité exponentielle. Dans une deuxième partie, la stabilité de cette classe des systèmes à commutation avec des perturbations nonlinéaires a été traitée en utilisant des majorations de la solution, puis en introduisant l’approche de la fonction de Lyapunov commune. La troisième partie est consacrée au problème du consensus en présence d’interruptions de transmission d’informations où le système multi-agent en boucle fermée peut être représenté comme un système à commutation par une combinaison de modèles de systèmes linéaires à temps continu et de systèmes linéaires à temps discret. / This thesis deals with the stability analysis of switched systems that evolve on non uniform time domain by introducing the time scale theory. We are interested mainly in dynamical linear switched systems defined on particular time scale T = P{tσk ,tk+1} = ∪∞k=0[tσk, tk+1]. The studied system switches between a continuous-time dynamical subsystem on the intervals ∪∞k=0[tσk, tk+1[ and a discrete-time dynamical subsystem on instants ∪∞k=0{tk+1} (a discrete time) with a time-varying discrete step. In a first part, sufficient conditions are given to guarantee the exponential stability of this class of switched systems. Then necessary and sufficient conditions for stability are given by determining a region of exponential stability. In the second part, the stability of this class of switched systems with nonlinear uncertainties, is treated using majoration of the solution, and after that by introducing the approach of a common Lyapunov function. The third part is devoted to the consensus problem under intermittent information transmissions where the closed-loop multi-agent system can be represented as a switched system using a combination of linear continuous-time and linear discrete-time systems.

Hybrid systems with or without stochastic noise and with or without time delay are addressed and the qualitative properties of these systems are investigated. The main contribution of this thesis is distributed in three parts. In Part I, nonlinear stochastic impulsive systems with time delay (SISD) with variable impulses are formulated and some of the fundamental properties of the systems, such as existence of local and global solution, uniqueness, and forward continuation of the solution are established. After that, stability and input-to-state stability (ISS) properties of SISD with fixed impulses are developed, where Razumikhin methodology is used. These results are then carried over to discussed the same qualitative properties of large scale SISD. Applications to automated control systems and control systems with faulty actuators are used to justify the proposed approaches. Part II is devoted to address ISS of stochastic ordinary and delay switched systems. To achieve a variety stability-like results, multiple Lyapunov technique as a tool is applied. Moreover, to organize the switching among the system modes, a newly developed initial-state-dependent dwell-time switching law and Markovian switching are separately employed. Part III deals with systems of differential equations with piecewise constant arguments with and without random noise. These systems are viewed as a special type of hybrid systems. Existence and uniqueness results are first obtained. Then, comparison principles are established which are later applied to develop some stability results of the systems.