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Esta tesis discute diferentes metodologías de modelado para extraer mejores prestaciones o resultados de estabilidad que aquéllas que el modelado convencional basado en sector no-lineal de sistemas Takagi-Sugeno (también denominados cuasi-LPV) es capaz de producir. En efecto, incluso si las LMIs pueden probar distintas cotas de prestaciones o márgenes de estabilidad (tasa de decaimiento, $\mathcal H_\infty$, etc.) para sistemas politópicos, es bien conocido que las prestaciones probadas dependen del modelo elegido y, dado un sistema no-lineal, dicho modelo politópico no es único. Por tanto, se presentan exploraciones hacia cómo obtener el modelo que es menos perjudicial para la medida de prestaciones elegida. Como una última contribución, mejores resultados son obtenidos mediante la extensión del modelado politópico Takagi-Sugeno a un marco de inclusiones en diferencias cuasi-convexas con planificación de ganancia. En efecto, una versión sin planificación de ganancia fue propuesta por un equipo de investigadores de la Universidad de Sevilla (Fiaccini, Álamo, Camacho) para generalizar el modelado politópico, y esta tesis propone una version aún más general de algunos de dichos resultados que incorpora planificación de ganancia. / This thesis discusses different modelling methodologies to eke out best performance/stability results than conventional sector-nonlinearity Takagi-Sugeno (also known as quasi-LPV) systems modelling techniques are able to yield. Indeed, even if LMIs can prove various performance and stability bounds (decay rate, $\mathcal H_\infty$, etc.) for polytopic systems, it is well known that the proven performance depends on the chosen model and, given a nonlinear dynamic systems, the polytopic embeddings available for it are not unique. Thus, explorations on how to obtain the model which is less deletereous for performance are presented. As a last contribution, extending the polytopic Takagi-Sugeno setup to a gain-scheduled quasi-convex difference inclusion framework allows to improve the results over the polytopic models. Indeed, the non-scheduled convex difference inclusion framework was proposed by a research team in University of Seville (Fiacchini, Alamo, Camacho) as a generalised modelling methodology which included the polytopic one; this thesis poses a further generalised gain-scheduled version of some of these results. / Aquesta tesi discuteix diferents metodologies de modelatge per extreure millors prestacions o resultats d'estabilitat que aquelles que el modelatge convencional basat en sector no-lineal de sistemes Takagi-Sugeno (també anomenats quasi-LPV) és capaç de produir. En efecte, fins i tot si les LMIs poden provar diferents cotes de prestacions o marges d'estabilitat (taxa de decaïment, $\mathcal H_\infty$, etc.) per a sistemes politòpics, és ben conegut que les prestacions provades depenen del model triat i, donat un sistema no-lineal, el dit model politòpic no és únic. Per tant, es presenten exploracions cap a com obtenir el model que és menys perjudicial per a la mesura de prestacions triada. Com una darrera contribució, millors resultats són obtinguts mitjançant l'extensió del modelatge politòpic Takagi-Sugeno a un marc d'inclusions en diferències quasi-convexes amb planificació de guany. En efecte, una versió sense planificació de guany va ser proposada per un equip d'investigadors de la Universitat de Sevilla (Fiaccini, Álamo, Camacho) per a generalitzar el modelatge politòpic, i aquesta tesi proposa una versió més general d'alguns d'aquests resultats que incorpora planificació de guany. / Robles Ruiz, R. (2018). Contributions to nonlinear system modelling and controller synthesis via convex structures [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/100848

No / In structural mechanics there are several occasions where a linearized formulation of the original nonlinear problem reduces considerably the computational effort for the response analysis. In a broader sense, a linearized formulation can be viewed as a first-order expansion of the dynamic equilibrium of the system about a `static¿ configuration; yet caution should be exercised when identifying the `correct¿ static configuration. This paper uses as a case study the rocking response of a rigid block stepping on viscoelastic supports, whose non-linear dynamics is the subject of the companion paper, and elaborates on the challenge of identifying the most appropriate static configuration around which a first-order expansion will produce the most dependable results in each regime of motion. For the regime when the heel of the block separates, a revised set of linearized equations is presented, which is an improvement to the unconservative equations published previously in the literature. The associated eigenvalues demonstrate that the characteristics of the foundation do not affect the rocking motion of the block once the heel separates.

The stringent regulations of emission levels from heavy duty vehicles create a demand for new methods for reducing harmful emissions from diesel engines. This thesis deals with the modelling of the nitrogen oxide (NOx) emissions from heavy duty vehicles using a selective catalyst as an aftertreatment system, utilising ammonia (NH3) for its reduction. The process of the selective catalytic reduction (SCR) is nonlinear, since the result of the chemical reactions involved depends on the load operating point and the temperature. The purpose of this thesis is to investigate different methods for nonlinear system identification of SCR systems with control applications in mind. The main focus of the thesis is on finding suitable techniques for effective NOx reduction without the need of over dosage of ammonia. By using data collected from a simulator together with real measured data, new black-box identification techniques are developed. Scaling and convergence properties of the proposed algorithms are analysed theoretically. Some of the resulting models are used for controller development using e.g. feedback linearisation techniques, followed by validation in a simulator environment. The benefits of nonlinear modelling and control of the SCR system are highlighted in a comparison with control based on linear models of the system. Further, a multiple model approach is investigated for simultaneous control of NOx and tailpipe ammonia. The results indicate an improvement in terms of ammonia slip reduction in comparison with models that do not take the ammonia slip into account. Another approach to NOx reduction is achieved by controlling the SCR temperature using techniques developed for LPV systems. The results indicate a reduction of the accumulated NOx.

This dissertation examines conceptual reorganisation in second language learners by comparing event construal patterns in first language (L1) and second language (L2) discourse. Previous research suggests that the way grammatical aspect is encoded in the speaker's L1 can influence how events are conceptualised in their L2 (von Stutterheim & Carroll 2006). Given the lack of consensus regarding partial (Bylund 2011a) versus zero (Schmiedtová et al. 2011) susceptibility to reorganising L1 event construal patterns in L2, the present work contributes to this resonant discussion by investigating the extent to which language-specific grammatical aspectual operators influence message planning (Levelt 1989, Habel & Tappe 1999) in three typologically diverse L1 groups and four L2 groups. More specifically, film verbalisations and picture descriptions by Czech, Hungarian and English native speakers, and Czech and Hungarian learners of English at basic and advanced levels were elicited to test (a) whether crosslinguistic event construal contrasts are attributable to the differences in the grammatical means that are available for encoding temporality in a particular L1; (b) whether learners’ degree of susceptibility to reorganising L1 principles for temporal reference in the target language changes as a function of L2 proficiency; and (c) whether event construal patterns across groups remain unaffected by changes of modality (speech vs. writing) and task type. The main novel feature lies in testing L2 learners’ ability to adjust L1 thinking-for-speaking principles (Slobin 1996) in the target language through a systematic scrutiny of four conceptualisation processes abreast (i.e. event segmentation, information selection, temporal structuring and linearization).

The large unlicensed 3 GHz overlapping bandwidth that is available worldwide at 60 GHz has resulted in renewed interest in 60 GHz technology. This frequency band has made it attractive for short-range gigabit wireless communication. The power amplifier (PA) directly influences the performance and quality of this entire communication chain, as it is one of the final subsystems in the transmitter. Spectral efficient modulation schemes used at 60 GHz pose challenging requirements for the linearity of the PA. To improve the linearity, several external linearisation techniques currently exist, such as feedback, feedforward, envelope elimination and restoration, linear amplification with non-linear components and predistortion. This thesis is aimed at investigating and characterising the distortion components found in PAs at mm-wave frequencies and evaluating whether an adaptive predistortion (APD) linearisation technique is suitable to reduce these distortion components. After a thorough literature study and mathematical analysis, it was found that the third-order intermodulation distortion (IMD3) components were the most severe distortion components. Predistortion was identified as the most effective linearisation technique in terms of minimising these IMD3 components and was therefore proposed in this research. It does not introduce additional complexity and can easily be integrated with the PA. Furthermore, the approach is stable and has lower power consumption when compared to the aforementioned linearisation techniques. The proposed predistortion technique was developed compositely through this research by making it a function of the PA’s output power that was measured using a power detector. A comparator was used with the detected output power and the reference voltages to control the dynamic bias circuit of the variable gain amplifier. This provided control and flexibility on when to apply the predistortion to the PA and therefore allowing the linearity of the PA to be optimised. Three-stage non-linear and linear PAs were also designed at 60 GHz and implemented to compare the performance of the APD technique and form part of the hypothesis verification process. The 130 nm silicon-germanium (SiGe) bipolar and complementary metal oxide semiconductor (BiCMOS) technology from IBM was used for the simulation of the entire APD and PA design and for the fabrication of the prototype integrated circuits (ICs). This technology has the advantage of integrating the high performance, low power intensive SiGe heterojunction bipolar transistors (HBTs) with the CMOS technology. The SiGe HBTs have a high cut-off frequency ( > 200 GHz), which is ideal for mm-wave PA applications and the CMOS components were integrated in the control logic of the digital circuitry. The simulations and IC layout were accomplished with Cadence Virtuoso. The implemented IC occupies an area of 1.8 mm by 2.0 mm. The non-linear PA achieves a of 11.97 dBm and an of -10 dBm. With the APD technique applied, the linearity of the PA is significantly improved with an of -6 dBm and an optimum IMD3 reduction of 10 dB. Based on the findings and results of the applied APD technique, APD reduced intermodulation distortion (especially the IMD3) and is thus suitable to improve the linearity of PAs at mm-wave frequencies. To the knowledge of this author, no APD technique has been applied for PAs at 60 GHz, therefore the contribution of this research will assist future PA designers to characterise and optimise the reduction of the IMD3 components. This will result in improved linear output power from the PA and the use of complex modulation schemes at 60 GHz. ## Die groot ongelisensieerde oorvleuelde bandwydte van 3 GHz wat wêreldwyd by 60 GHz beskikbaar is, het hernude belangstelling in 60 GHz-tegnologie tot gevolg gehad. Hierdie frekwensieband het dit aantreklik gemaak vir kortafstand-gigabis draadlose kommunikasie. Aangesien die drywingsversterker een van die finale subsisteme in die seintoestel is, het dit ’n direkte invloed op die werkverrigting en kwaliteit van die hele kommunikasieketting. Spektraaldoeltreffende modulasieskemas wat by 60 GHz gebruik word, stel uitdagende vereistes vir die lineariteit van die drywingsversterker. Om die lineariteit te verbeter, is daar tans verskeie eksterne linearisasietegnieke beskikbaar, soos terugvoer, vooruitvoer, omhullende eliminasie en -restorasie, lineêre versterking met nie-lineêre komponente en predistorsie. Hierdie tesis het ten doel om die distorsiekomponente wat by millimetergolffrekwensies in drywingsversterkers gevind word, te ondersoek en te karakteriseer en om te bepaal of ’n aanpassende predistorsielinearisasietegniek geskik is om hierdie distorsiekomponente te verminder. Na ’n deeglike literatuurstudie en wiskundige analise is gevind dat die derde-orde-intermodulasiedistorsiekomponente (IMD3) die ergste distorsiekomponente was. Predistorsie is geïdentifiseer as die mees effektiewe linearisasietegniek om hierdie IMD3-komponente te minimeer en die gebruik daarvan is gevolglik in hierdie navorsing voorgestel. Dit bring nie addisionele kompleksiteit mee nie en kan maklik met die drywingsversterker geïntegreer word. Daarbenewens is die benadering stabiel, met laer kragverbruik in vergelyking met die linearisasietegnieke wat voorheen genoem is. Die voorgestelde predistorsietegniek is in hierdie navorsing ontwikkel deur dit ’n funksie van die drywingsversterker se uitsetkrag te maak, wat gemeet is deur ’n kragdetektor te gebruik. ’n Vergelyker is saam met die gemete uitsetkrag en die verwysingspannings gebruik om die dinamiese voorspanningsbaan van die veranderlike winsversterker te beheer. Dit het toegelaat vir beheer en buigsaamheid in die aanwending van die predistorsie op die drywingsversterker en gevolglik vir die optimering van die lineêriteit van die drywingsversterker. Driefase- nie-lineêre en lineêre drywingsversterkers is ook by 60 GHz ontwerp en geïmplementeer om die werkverrigting van die aanpassende predistorsietegniek te vergelyk en dit vorm deel van die verifikasieproses van die hipotese. Die 130 nm-silikon-germanium (SiGe) bipolêre en metaaloksiedhalfgeleier- (BiCMOS) tegnologie van IBM is gebruik vir die simulasie van die hele aanpassende predistorsietegniek- en drywingsversterkerontwerp en vir die vervaardiging van die prototipe- geïntegreerde stroombane. Hierdie tegnologie het die voordeel dat dit die hoë werkverrigting en lae krag-intensiewe SiGe-heterovoegvlak-bipolêre transistors (HBTs) met die CMOS-tegnologie integreer. Die SiGe-HBTs het ’n hoë afsnyfrekwensie ( > 200 GHz), wat ideaal is vir mm-golfdrywingsversterkeraanwendings en die CMOS-komponente is in die beheer-logika van die digitale stroombaan geïntegreer. Die geïntegreerde stroombaan beslaan ’n area van 1.8 mm by 2.0 mm. Die nie-lineêre drywingsversterker behaal ’n van 11.97 dBm en ’n van -10 dBm. As die APD-tegniek toegepas word, word die lineariteit van die drywingsversterker beduidend verbeter tot ’n van -6 dBm en ’n optimum-IMD3-vermindering van 10 dB. Volgens die bevindings en resultate van die APD-tegniek wat toegepas is, verminder APD intermodulasiedistorsie (veral die IMD3) en is gevolglik geskik om die lineariteit van drywingsversterkers by mm-golffrekwensies te verbeter. Na die wete van hierdie skrywer is daar nie voorheen enige APD tegniek toegepas vir drywingsversterkers by 60 GHz nie, gevolglik sal die bydrae van hierdie navorsing toekomstige drywingsversterkerontwerpers help om die vermindering van die IMD3-komponente te karakteriseer en optimeer. Dit sal verbeterde lineêre uitsetkrag van die drywingsversterker tot gevolg hê, asook meer komplekse modulasieskemas by 60 GHz toelaat. / Thesis (PhD)--University of Pretoria, 2014. / lk2014 / Electrical, Electronic and Computer Engineering / PhD / unrestricted

No description available.

The large unlicensed 3 GHz overlapping bandwidth that is available worldwide at 60 GHz has resulted in renewed interest in 60 GHz technology. This frequency band has made it attractive for short-range gigabit wireless communication. The power amplifier (PA) directly influences the performance and quality of this entire communication chain, as it is one of the final subsystems in the transmitter. Spectral efficient modulation schemes used at 60 GHz pose challenging requirements for the linearity of the PA. To improve the linearity, several external linearisation techniques currently exist, such as feedback, feedforward, envelope elimination and restoration, linear amplification with non-linear components and predistortion. This thesis is aimed at investigating and characterising the distortion components found in PAs at mm-wave frequencies and evaluating whether an adaptive predistortion (APD) linearisation technique is suitable to reduce these distortion components. After a thorough literature study and mathematical analysis, it was found that the third-order intermodulation distortion (IMD3) components were the most severe distortion components. Predistortion was identified as the most effective linearisation technique in terms of minimising these IMD3 components and was therefore proposed in this research. It does not introduce additional complexity and can easily be integrated with the PA. Furthermore, the approach is stable and has lower power consumption when compared to the aforementioned linearisation techniques. The proposed predistortion technique was developed compositely through this research by making it a function of the PA’s output power that was measured using a power detector. A comparator was used with the detected output power and the reference voltages to control the dynamic bias circuit of the variable gain amplifier. This provided control and flexibility on when to apply the predistortion to the PA and therefore allowing the linearity of the PA to be optimised. Three-stage non-linear and linear PAs were also designed at 60 GHz and implemented to compare the performance of the APD technique and form part of the hypothesis verification process. The 130 nm silicon-germanium (SiGe) bipolar and complementary metal oxide semiconductor (BiCMOS) technology from IBM was used for the simulation of the entire APD and PA design and for the fabrication of the prototype integrated circuits (ICs). This technology has the advantage of integrating the high performance, low power intensive SiGe heterojunction bipolar transistors (HBTs) with the CMOS technology. The SiGe HBTs have a high cut-off frequency (fT > 200 GHz), which is ideal for mm-wave PA applications and the CMOS components were integrated in the control logic of the digital circuitry. The simulations and IC layout were accomplished with Cadence Virtuoso. The implemented IC occupies an area of 1.8 mm by 2.0 mm. The non-linear PA achieves a Psat of 11.97 dBm and an IP1dB of -10 dBm. With the APD technique applied, the linearity of the PA is significantly improved with an IP1dB of -6 dBm and an optimum IMD3 reduction of 10 dB. Based on the findings and results of the applied APD technique, APD reduced intermodulation distortion (especially the IMD3) and is thus suitable to improve the linearity of PAs at mm-wave frequencies. To the knowledge of this author, no APD technique has been applied for PAs at 60 GHz, therefore the contribution of this research will assist future PA designers to characterise and optimise the reduction of the IMD3 components. This will result in improved linear output power from the PA and the use of complex modulation schemes at 60 GHz. / Thesis (PhD)--University of Pretoria, 2014. / Electrical, Electronic and Computer Engineering / PhD

In this document we review the status of existing techniques for nonlinear model order reduction by investigating how well these techniques perform for typical industrial needs. In particular the TPWL-method (Trajectory Piecewise Linear-method) and the POD-approach (Proper Orthogonal Decomposion) is taken under consideration. We address several questions that are (closely) related to both the theory and application of nonlinear model order reduction techniques. The goal of this document is to provide an overview of available methods together with a classification of nonlinear problems that in principle could be handled by these methods.

With the rising popularity of ROVs and other UV solutions, more robust and high performance controllers have become a necessity. A model of the ROV or UV can be a valuable tool during control synthesis. The main objective of this thesis was to use a model in design and development of controllers for an ROV. In this thesis, an ROV from Blue Robotics was used. The ROV was equipped with 6 thrusters placed such that the ROV was capable of moving in 6-DOFs. The ROV was further equipped with an IMU, two pressure sensors and a magnetometer. The ROV platform was further developed with EKF-based sensor fusion, a control system and manual control capabilities. To model the ROV, the framework of Fossen (2011) was used. The model was estimated using two different methods, the prediction-error method and an EKF-based method. Using the prediction-error method, it was found that the initial states of the quaternions had a large impact on the estimated parameters and the overall fit to validation data. A Kalman smoother was used to estimate the initial states. To circumvent the problems with the initial quaternions, an \abbrEKF was implemented to estimate the model parameters. The EKF estimator was less sensitive to deviations in the initial states and produced a better result than the prediction-error method. The resulting model was compared to validation data and described the angular velocities well with around 70 % fit. The estimated model was used to implement feedback linearisation which was used in conjunction with an attitude controller and an angular velocity controller. Furthermore, a depth controller was developed and tuned without the use of the model. Performance of the controllers was tested both in real tests and simulations. The angular velocity controller using feedback linearisation achieved good reference tracking. However, the attitude controller could not stabilise the system while using feedback linearisation. Both controllers' performance could be improved further by tuning the controllers' parameters during tests. The fact that the feedback linearisation made the ROV unstable, indicates that the attitude model is not good enough for use in feedback linearisation. To achieve stability, the magnitude of the parameters in the feedback linearisation were scaled down. The assumption that the ROV's center of rotation coincides with the placement of the ROV's center of gravity was presented as a possible source of error. In conclusion, good performance was achieved using the angular velocity controller. The ROV was easier to control with the angular velocity controller engaged compared to controlling it in open loop. More work is needed with the model to get acceptable performance from the attitude controller. Experiments to estimate the center of rotation and the center of gravity of the ROV may be helpful when further improving the model.