Covariance assignment theory, introduced in the late 1980s, provided the only means to directly control the steady-state error properties of a linear system subject to Gaussian white noise and parameter uncertainty. This theory, however, does not extend to control of the transient uncertainties and to date there exist no practical engineering solutions to the problem of directly and optimally controlling the uncertainty in a linear system from one Gaussian distribution to another. In this thesis I design a dual-mode Receding Horizon Controller (RHC) that takes a controllable, deterministic linear system from an arbitrary initial covariance to near a desired stationary covariance in finite time. The RHC solves a sequence of free-time Optimal Control Problems (OCP) that directly controls the fundamental solution matrices of the linear system; each problem is a right-invariant OCP on the matrix Lie group GLn of invertible matrices. A terminal constraint ensures that each OCP takes the system to the desired covariance. I show that, by reducing the Hamiltonian system of each OCP from T?GLn to gln? x GLn, the transversality condition corresponding to the terminal constraint simplifies the two-point Boundary Value Problem (BVP) to a single unknown in the initial or final value of the costate in gln?. These results are applied in the design of a dual-mode RHC. The first mode repeatedly solves the OCPs until the optimal time for the system to reach the de- sired covariance is less than the RHC update time. This triggers the second mode, which applies covariance assignment theory to stabilize the system near the desired covariance. The dual-mode controller is illustrated on a planar system. The BVPs are solved using an indirect shooting method that numerically integrates the fundamental solutions on R4 using an adaptive Runge-Kutta method. I contend that extension of the results of this thesis to higher-dimensional systems using either in- direct or direct methods will require numerical integrators that account for the Lie group structure. I conclude with some remarks on the possible extension of a classic result called Lie?s method of reduction to receding horizon control.

京都大学 / 0048 / 新制・課程博士 / 博士(理学) / 甲第18044号 / 理博第3922号 / 新制||理||1566(附属図書館) / 30902 / 京都大学大学院理学研究科数学・数理解析専攻 / (主査)准教授 浅岡 正幸, 教授 加藤 毅, 教授 藤原 耕二 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DFAM

The Unruh effect is one of the most startling predictions of quantum field theory. Its interpretation has been controversially discussed, since the first publications of Fulling, Davies and Unruh in the 1970ties. In a recent paper Buchholz and Solveen proposed an application of basic thermodynamic definitions to clarify the meaning of temperature and thermal equilibrium in the Unruh effect. As a result the interpretation of the KMS-parameter as an expression of local temperature has been questioned. The main result of my diploma thesis asserts quasi-equivalence of the disputed KMS states on a subregion of Rindlerspace that infinitely extends in the direction of travel of a uniformly accelerated Rindler-observer. Exploring the consequences of this result, I will present new insights on the asymptotic behaviour of such KMS states and how this fits into the picture drawn by Buchholz and Solveen.

This dissertation presents some of the recent developments in the modelling of shape spaces. Forming the basis for a quantitative analysis of shapes, this is relevant for many applications involving image recognition and shape classification. All shape spaces discussed in this work arise from the general situation of a Lie group acting isometrically on some Riemannian manifold. The first chapter summarizes the most important results about this general set-up, which are well known in other branches of mathematics. A particular focus is laid on Hamiltonian methods that explore the relation of symmetry and conserved momenta. As a classical example these results are applied to Kendall’s shape space. More recent approaches of continuous shape models are then summarized and put in the same concise framework. In more detail the square root velocity shape representation, recently developed by Srivastava et al., is being discussed. In particular, the phenomenon of unclosed orbits under the action of reparametrization is addressed. This issue is partially resolved by an extended equivalence relation along with a well defined, non-degenerate, metric on the resulting quotient space.