An algorithm is presented which computes a state feedback for a standard linear system which not only stabilizes, but also dampens the closed-loop system dynamics. In other words, a feedback gain vector is computed such that the eigenvalues of the closed-loop state matrix are within the region of the left half-plane where the magnitude of the real part of each eigenvalue is greater than the imaginary part. This may be accomplished by solving one periodic algebraic Riccati equation and one degenerate Riccati equation. The solution to these equations are computed using numerically robust algorithms. Finally, the periodic Riccati equation is unusual in that it produces one symmetric and one skew symmetric solution, and as a result two different state feedbacks. Both feedbacks dampen the system dynamics, but produce different closed-loop eigenvalues, giving the controller designer greater freedom in choosing a desired feedback.

Les travaux présentés dans ce mémoire constituent une contribution à la conception de méthodes systématiques pour l’analyse et la commande de systèmes périodiques et incertains. Une partie importante de cette thèse est également consacrée au contrôle d’attitude de satellites dont la dynamique se prête naturellement à une représentation sous forme de modèles périodiques soumis à des incertitudes. La première partie propose une présentation unifiée des résultats d’analyse et de synthèse de modèles périodiques et incertains à temps-discret via des méthodes basées sur des inégalités linéaires matricielles (LMI) et en s’appuyant sur la théorie de Lyapunov. Par la suite, l’accent est mis sur une nouvelle classe de correcteurs périodiques à mémoire pour lesquels l’entrée de commande est construite en utilisant l’historique des états du système conservés en mémoire. Des exemples numériques démontrent que ces nouveaux degrés de liberté permettent de repousser les limites des performances robustes. La seconde partie s’intéresse aux aspects de périodicité et de robustesse du contrôle d’attitude de satellite rencontrés notamment lors de l’utilisation des magnéto-coupleurs. Ces actionneurs s’appuient sur le champ géomagnétique variant périodiquement le long de l’orbite du satellite. Différentes stratégies de commande sont mises en œuvre et comparées entre elles avec le souci constant de tenir compte des principales limitations des actionneurs. Cette démarche conduit à une nouvelle loi de commande périodique régulant le moment cinétique des roues à réactions sans perturber le contrôle d’attitude dont l’effort de commande est réparti sur l’ensemble des actionneurs. / This manuscript reviews contributions to the development of systematic methods for analysis and control of periodic uncertain systems. An important part of this thesis is also dedicated to the design of attitude control systems for satellites whose dynamics is naturally represented as a periodic model subject to uncertainties. The first part is devoted to the developpement of a unifying presentation of the analysis and synthesis results of periodic, uncertain and discrete-time models via methods relying on linear matrix inequalities (LMI) and based on Lyapunov theory. Subsequently, the focus is on a new class of periodic control laws with memory for which the control input is constructed using history of the states of the system kept in memory. Numerical experiments show that these new degrees of freedom can outperformed the existing results. The second part deals with periodic and robustness aspects of attitude control of a satellite using magnetorquers. These actuators use the geomagnetic field that varies periodically along the orbital trajectory. Different control strategies are implemented and compared with one another with the constant concern of taking the main limitations of the actuators into account. This approach leads to a new control law regulating the momentum of the reaction wheels without disturbing attitude control for which the control effort is shared by all actuators.

A flapping-wing micro-air-vehicle (FWMAV) represents a complex multi-disciplinary system whose analysis invokes the frontiers of the aerospace engineering disciplines. From the aerodynamic point of view, a nonlinear, unsteady flow is created by the flapping motion. In addition, non-conventional contributors, such as the leading edge vortex, to the aerodynamic loads become dominant in flight. On the other hand, the flight dynamics of a FWMAV constitutes a nonlinear, non-autonomous dynamical system. Furthermore, the stringent weight and size constraints that are always imposed on FWMAVs invoke design with minimal actuation. In addition to the numerous motivating applications, all these features of FWMAVs make it an interesting research point for engineers. In this Dissertation, some challenging points related to FWMAVs are considered. First, an analytical unsteady aerodynamic model that accounts for the leading edge vortex contribution by a feasible computational burden is developed to enable sensitivity and optimization analyses, flight dynamics analysis, and control synthesis. Second, wing kinematics optimization is considered for both aerodynamic performance and maneuverability. For each case, an infinite-dimensional optimization problem is formulated using the calculus of variations to relax any unnecessary constraints induced by approximating the problem as a finite-dimensional one. As such, theoretical upper bounds for the aerodynamic performance and maneuverability are obtained. Third, a design methodology for the actuation mechanism is developed. The proposed actuation mechanism is able to provide the required kinematics for both of hovering and forward flight using only one actuator. This is achieved by exploiting the nonlinearities of the wing dynamics to induce the saturation phenomenon to transfer energy from one mode to another. Fourth, the nonlinear, time-periodic flight dynamics of FWMAVs is analyzed using direct and higher-order averaging. The region of applicability of direct averaging is determined and the effects of the aerodynamic-induced parametric excitation are assessed. Finally, tools combining geometric control theory and averaging are used to derive analytic expressions for the textit{Symmetric Products}, which are vector fields that directly affect the acceleration of the averaged dynamics. A design optimization problem is then formulated to bring the maneuverability index/criterion early in the design process to maximize the FWMAV maneuverability near hover. / Ph. D.

Die vorliegende Arbeit ist ein Beitrag auf dem Gebiet der theoretischen Chemie und beschäftigt sich mit der Entwicklung effizienter Berechnungsmethoden für die Elektronendichte und die Energie des Grundzustands molekularer und periodischer Systeme im Rahmen der Kohn-Sham-Dichtefunktionaltheorie (Kohn-Sham-DFT) und unter Verwendung von lokalen Basisfunktionen. Im Vordergrund steht dabei die einheitliche Beschreibung von Molekülen und ausgedehnten Systemen beliebiger Periodizität (zum Beispiel Volumenkristalle, dünne Filme und Polymere) mit einfachen Algorithmen bei einem hohen Maß an numerischer Genauigkeit und Recheneffizienz. Dafür hat der Verfasser bewährte molekulare Simulationsmethoden in neuartiger Form auf periodische Randbedingungen erweitert und zu einer vollständigen DFT-Methode vereint. Von diesen Methoden ist das völlig neue Konzept für die RI-Methode (resolution of identity, Zerlegung der Einheit), die auf den Coulomb-Term angewendet wird, die Schlüsseltechnologie in dieser Arbeit. Ein Merkmal der Methode ist, dass sie ausschließlich im direkten Raum arbeitet. Neben der RI-Methode wurden weitere methodische Ansätze entwickelt werden, um eine gute Speicher- und Zeiteffizienz der gesamten DFT-Methode zu gewährleisten. Dazu gehören die Komprimierung der speicherintensiven Dichte- und Kohn-Sham-Matrizes und die numerische Integration des Austausch-Korrelationsterms durch die Anwendung eines adaptiven, numerischen Integrationsschemas. Die vorgestellten Methoden werden zum Prototypen eines RI-DFT-Programms zusammengefügt. Dieses Programm ermöglicht die Berechnung von single point-Energien am Gamma-Punkt für Systeme mit abgeschlossenen Schalen. Anhand von Berechnungen werden die numerische Genauigkeit und Effizienz bewertet. Das Programm bildet die Basis für ein effizientes und leistungsfähiges DFT-Programm, das Moleküle und periodische Systeme methodisch einheitlich und numerisch genau behandelt. / This work contributes to the field of theoretical chemistry and is aimed at the development of efficient methods for computation of the electron density and the energy belonging to the ground state of molecular and periodic systems. It is based on the use of Kohn Sham density functional theory (Kohn Sham DFT) and local basis functions. In this scope, the molecular and the periodic systems of any dimensionality (e.g., bulk crystals, thin films, and polymers) are treated on an equal footing using methods which are easy to implement, numerically accurate, and highly efficient. For this, the author has augmented established methods of molecular simulations for their use with periodic boundary conditions applying novel techniques. These methods have been combined to a complete DFT method. Among these methods, the innovative approach for the RI (resolution of identity) method applied to the Coulomb term represents the key technology of this work. As a striking feature, this approach operates exclusively in real space. Although the RI method is the chief ingredient, the development of further methods is required to achieve overall efficiency for the consumption of storage and time. One of these methods is used to compress the density and Kohn Sham matrices. Moreover, numerical integration of the exchange-correlation term has been improved applying an adaptive numerical integration scheme. The methods presented in this thesis are combined to the prototype of an RI-DFT program. Using this program single point energies on the gamma point can be calculated for systems with closed shells. Calculations have been performed and the results are used to assess the accuracy and efficiency achieved. This program forms the foundation of an efficient and competitive DFT code. It works numerically accurate and treats molecules and periodic systems on an equal footing.

The thesis consists of an introduction and four appended papers. In the introduction we give an overview of pulse-modulated systems and provide a few examples of such systems. Furthermore, we introduce the so-called dynamic phasor model which is used as a basis for analysis in two of the appended papers. We also introduce the harmonic transfer function and finally we provide a summary of the appended papers. The first paper considers stability analysis of a class of pulse-width modulated systems based on a discrete time model. The systems considered typically have periodic solutions. Stability of a periodic solution is equivalent to stability of a fixed point of a discrete time model of the system dynamics. Conditions for global and local exponential stability of the discrete time model are derived using quadratic and piecewise quadratic Lyapunov functions. A griding procedure is used to develop a systematic method to search for the Lyapunov functions. The second paper considers the dynamic phasor model as a tool for stability analysis of a general class of pulse-modulated systems. The analysis covers both linear time periodic systems and systems where the pulse modulation is controlled by feedback. The dynamic phasor model provides an $\textbf{L}_2$-equivalent description of the system dynamics in terms of an infinite dimensional dynamic system. The infinite dimensional phasor system is approximated via a skew truncation. The truncated system is used to derive a systematic method to compute time periodic quadratic Lyapunov functions. The third paper considers the dynamic phasor model as a tool for harmonic analysis of a class of pulse-width modulated systems. The analysis covers both linear time periodic systems and non-periodic systems where the switching is controlled by feedback. As in the second paper of the thesis, we represent the switching system using the L_2-equivalent infinite dimensional system provided by the phasor model. It is shown that there is a connection between the dynamic phasor model and the harmonic transfer function of a linear time periodic system and this connection is used to extend the notion of harmonic transfer function to describe periodic solutions of non-periodic systems. The infinite dimensional phasor system is approximated via a square truncation. We assume that the response of the truncated system to a periodic disturbance is also periodic and we consider the corresponding harmonic balance equations. An approximate solution of these equations is stated in terms of a harmonic transfer function which is analogous to the harmonic transfer function of a linear time periodic system. The aforementioned assumption is proved to hold for small disturbances by proving the existence of a solution to a fixed point equation. The proof implies that for small disturbances, the approximation is good. Finally, the fourth paper considers control synthesis for switched mode DC-DC converters. The synthesis is based on a sampled data model of the system dynamics. The sampled data model gives an exact description of the converter state at the switching instances, but also includes a lifted signal which represents the inter-sampling behavior. Within the sampled data framework we consider H-infinity control design to achieve robustness to disturbances and load variations. The suggested controller is applied to two benchmark examples; a step-down and a step-up converter. Performance is verified in both simulations and in experiments. / QC 20100628

This dissertation concerns the model reduction of linear periodic descriptor systems both in continuous and discrete-time case. In this dissertation, mainly the projection based approaches are considered for model order reduction of linear periodic time varying descriptor systems. Krylov based projection method is used for large continuous-time periodic descriptor systems and balancing based projection technique is applied to large sparse discrete-time periodic descriptor systems to generate the reduce systems. For very large dimensional state space systems, both the techniques produce large dimensional solutions. Hence, a recycling technique is used in Krylov based projection methods which helps to compute low rank solutions of the state space systems and also accelerate the computational convergence. The outline of the proposed model order reduction procedure is given with more details. The accuracy and suitability of the proposed method is demonstrated through different examples of different orders. Model reduction techniques based on balance truncation require to solve matrix equations. For periodic time-varying descriptor systems, these matrix equations are projected generalized periodic Lyapunov equations and the solutions are also time-varying. The cyclic lifted representation of the periodic time-varying descriptor systems is considered in this dissertation and the resulting lifted projected Lyapunov equations are solved to achieve the periodic reachability and observability Gramians of the original periodic systems. The main advantage of this solution technique is that the cyclic structures of projected Lyapunov equations can handle the time-varying dimensions as well as the singularity of the period matrix pairs very easily. One can also exploit the theory of time-invariant systems for the control of periodic ones, provided that the results achieved can be easily re-interpreted in the periodic framework. Since the dimension of cyclic lifted system becomes very high for large dimensional periodic systems, one needs to solve the very large scale periodic Lyapunov equations which also generate very large dimensional solutions. Hence iterative techniques, which are the generalization and modification of alternating directions implicit (ADI) method and generalized Smith method, are implemented to obtain low rank Cholesky factors of the solutions of the periodic Lyapunov equations. Also the application of the solvers in balancing-based model reduction of discrete-time periodic descriptor systems is discussed. Numerical results are given to illustrate the effciency and accuracy of the proposed methods.

Ein fragment-basierter Ansatz zur Berechnung von vertikalen Anregungsenergien in periodischen Systemen wurde entwickelt. Das Ziel war eine wellenfunktions-basierte Hierarchie von lokalen post-Hartree-Fock Methoden, welche über das weitverbreitete Ein-Elektronen Bild der Bandlücke hinausgehen und eine Möglichkeit zur systematischen Verbesserung der Ergebnisse liefern. Darüber hinaus sollte durch die Verwendung von lokalen Orbitalen eine nahtlose Einbettung des Fragments ermöglicht und eine effektive Methode für die Untersuchung von Defekten in periodischen Systemen geschaffen werden. Als erster Schritt wird das fragment-basierte Configuration Interaction Singles (CIS) Model vorgestellt. Im Anschluss erfolgt der Wechsel zum fragment-basierten lokalen algebraic-diagrammatic construction Modells zweiter Ordnung (DF-LADC(2)). Beide Methoden wurden für ein neutrales Farbzentrum in Magnesiumoxid (MgO) getestet. Dabei wurden Fragmente mit bis zu 57 Atomen verwendet. Eine Konvergenz mit der Fragmentgröße, der Größe der Superzellen und des K-mesh konnte erreicht werden. Dennoch wurde eine erste Anregungsenergie von 5.9 eV erhalten, was 0.9 eV über dem veröffentlichten experimentellen Wert liegt. Mit hoher Wahrscheinlichkeit rührt die Abweichung vom Basissatzvollständigkeitsfehler her. ”Finite-Cluster”-Berechnungen bestätigen entsprechende Basissatzfehler. Interessanterweise stimmt die erste Anregungsenergie für ein Oberflächenfarbzentrum in MgO mit einigen experimentellen Werten überein. Allerdings decken die experimentellen Werte für diese Systeme einen weiten Bereich ab (1.15 - 4.2 eV). / An embedded-fragment approach for calculation of vertical excitation energies in periodic systems has been developed. The aim is a wave-function-based hierarchy of local post-Hartree-Fock models, which goes beyond the very common one-electron picture of the band gap and offers a way for systematic improvability of the results. The use of local occupied and virtual orbitals allows for a seamless embedding model for the fragment and becomes especially effective in studying defects in solids. As a first step in the hierarchy an embedded-fragment Configuration Interaction Singles (CIS) model is presented. The second step is an embedded-fragment local algebraic diagrammatic construction scheme of second order (DF-LADC(2)). Both methods are tested for an neutral color center in bulk and surface magnesium oxide (MgO). Different fragments with up to 57 atoms were studied. A convergence with fragment size, super-cell size and k-mesh has been achieved. However a first excitation energy of 5.9 eV is obtained for the bulk MgO, which is 0.9 eV above the reported experimental value. The deviation most likely originates from the basis set incompleteness error, which, according to finite cluster studies, can be sizable. Interestingly for a surface color center in MgO the observed first excitation energy of 4.1 eV agrees with some of the experimental values (4.2 eV). However for the surface color centers in MgO the scatter of the experimental results is very large (1.15 eV - 4.2 eV).

This dissertation concerns the model reduction of linear periodic descriptor systems both in continuous and discrete-time case. In this dissertation, mainly the projection based approaches are considered for model order reduction of linear periodic time varying descriptor systems. Krylov based projection method is used for large continuous-time periodic descriptor systems and balancing based projection technique is applied to large sparse discrete-time periodic descriptor systems to generate the reduce systems. For very large dimensional state space systems, both the techniques produce large dimensional solutions. Hence, a recycling technique is used in Krylov based projection methods which helps to compute low rank solutions of the state space systems and also accelerate the computational convergence. The outline of the proposed model order reduction procedure is given with more details. The accuracy and suitability of the proposed method is demonstrated through different examples of different orders. Model reduction techniques based on balance truncation require to solve matrix equations. For periodic time-varying descriptor systems, these matrix equations are projected generalized periodic Lyapunov equations and the solutions are also time-varying. The cyclic lifted representation of the periodic time-varying descriptor systems is considered in this dissertation and the resulting lifted projected Lyapunov equations are solved to achieve the periodic reachability and observability Gramians of the original periodic systems. The main advantage of this solution technique is that the cyclic structures of projected Lyapunov equations can handle the time-varying dimensions as well as the singularity of the period matrix pairs very easily. One can also exploit the theory of time-invariant systems for the control of periodic ones, provided that the results achieved can be easily re-interpreted in the periodic framework. Since the dimension of cyclic lifted system becomes very high for large dimensional periodic systems, one needs to solve the very large scale periodic Lyapunov equations which also generate very large dimensional solutions. Hence iterative techniques, which are the generalization and modification of alternating directions implicit (ADI) method and generalized Smith method, are implemented to obtain low rank Cholesky factors of the solutions of the periodic Lyapunov equations. Also the application of the solvers in balancing-based model reduction of discrete-time periodic descriptor systems is discussed. Numerical results are given to illustrate the effciency and accuracy of the proposed methods.