This dissertation develops efficient solution techniques for general and problem-specific applications within nonconvex optimization, exploiting the constructs of the Reformulation-Linearization Technique (RLT). We begin by developing a technique to enhance general problems in nonconvex optimization through the use of a new class of RLT cuts, called semidefinite cuts. While these cuts are valid for any general problem for which RLT is applicable, we demonstrate their effectiveness in optimizing a nonconvex quadratic objective function over a simplex. Computational results indicate that on average, the semidefinite cuts have reduced the number of nodes in the branch-and-bound tree by a factor of 37.6, while decreasing solution time by a factor of 3.4. The semidefinite cuts have also led to a significant reduction in the optimality gap at termination, in some cases producing optimal solutions for problems that could not be solved using RLT alone. We then narrow our focus to the class of mixed-integer programming (MIP) problems, and develop a modification of Benders' decomposition method using concepts from RLT and lift-and-project cuts. This method is particularly motivated by the class of two-stage stochastic programs with integer recourse. The key idea is to design an RLT or lift-and-project cutting plane scheme for solving the subproblems where the cuts generated have right-hand sides that are functions of the first-stage variables. An illustrative example is provided to elucidate the proposed approach. The focus is on developing a first comprehensive finitely convergent extension of Benders' methodology for problems having 0-1 mixed-integer subproblems. We next address a specific challenging MIP application known as the facility layout problem, and we significantly improve its formulation through outer-linearization techniques and concepts from disjunctive programming. The enhancements produce a substantial increase in the accuracy of the layout produced, while at the same time, providing a dramatic reduction in computational effort. Overall, the maximum error in department size was reduced from about 6% to nearly zero, while solution time decreased by a factor of 110. Previously unsolved test problems from the literature that had defied even approximate solution methods have been solved to exact optimality using our proposed approach. / Ph. D.

Conventional multicell wireless systems operate with out-of-cell interference treated as background noise; consequently, their performance faces two major limitations: 1)Signal processing is performed on a per-cell basis; and 2)Intercell interference detection is infeasible as intercell interference, although significantly above the noise level, is typically quite weak. In this thesis, we consider a multicell downlink scenario, where base-stations are equipped with multiple transmit antennas, the remote users are equipped with a single antenna, and multiple remote users are active simultaneously via spatial division multiplexing. We propose solutions for the above limitations by considering techniques for mitigating interference. The first part of the thesis proposes solutions for the first limitation. It considers the benefit of coordinating base-stations across multiple cells, where multiple base-stations may jointly optimize their respective beamformers to improve the overall system performance. It focuses on the design criteria of minimizing either the total weighted transmitted power or the maximum per-antenna power across the base-stations subject to signal-to-interference-and-noise-ratio (SINR) constraints at the remote users. The main contribution of this part is an efficient algorithm for finding the joint globally optimal beamformers across all base-stations. The proposed algorithm is based on a generalization of uplink-downlink duality to the multicell setting using the Lagrangian duality theory. An important feature is that it naturally leads to a distributed implementation in time-division duplex (TDD) systems. Simulation results suggest that coordinating the beamforming vectors alone already provides appreciable performance improvements as compared to the conventional per-cell optimized network. The second part of the thesis considers the transmission of both private and common messages for the sole purpose of intercell interference mitigation. It solves the issues of the second limitation mentioned above. It considers the benefit of designing decodable interference signals by allowing common-private message splitting at the transmitter and common message decoding by users in adjacent cells. It solves a network optimization problem of jointly determining the appropriate users in adjacent cells for rate splitting, the optimal beamforming vectors for both common and private messages, and the optimal common-private rates to minimize the total transmit power across the base-stations subject to service rate requirements for remote users. Observe that for fixed user selection and fixed common-private rate splitting, the optimization of beamforming vectors can be performed using a semidefinite programming approach. Further, this part of the thesis proposes a heuristic user-selection and rate splitting strategy to maximize the benefit of common message decoding. This part proposes a heuristic algorithm to characterize the improvement in the feasible rates with common-message decoding. Simulation results show that common message decoding can significantly improve both the total transmit power and the feasibility region for cell-edge users when base-stations are closely spaced from each other.

Conventional multicell wireless systems operate with out-of-cell interference treated as background noise; consequently, their performance faces two major limitations: 1)Signal processing is performed on a per-cell basis; and 2)Intercell interference detection is infeasible as intercell interference, although significantly above the noise level, is typically quite weak. In this thesis, we consider a multicell downlink scenario, where base-stations are equipped with multiple transmit antennas, the remote users are equipped with a single antenna, and multiple remote users are active simultaneously via spatial division multiplexing. We propose solutions for the above limitations by considering techniques for mitigating interference. The first part of the thesis proposes solutions for the first limitation. It considers the benefit of coordinating base-stations across multiple cells, where multiple base-stations may jointly optimize their respective beamformers to improve the overall system performance. It focuses on the design criteria of minimizing either the total weighted transmitted power or the maximum per-antenna power across the base-stations subject to signal-to-interference-and-noise-ratio (SINR) constraints at the remote users. The main contribution of this part is an efficient algorithm for finding the joint globally optimal beamformers across all base-stations. The proposed algorithm is based on a generalization of uplink-downlink duality to the multicell setting using the Lagrangian duality theory. An important feature is that it naturally leads to a distributed implementation in time-division duplex (TDD) systems. Simulation results suggest that coordinating the beamforming vectors alone already provides appreciable performance improvements as compared to the conventional per-cell optimized network. The second part of the thesis considers the transmission of both private and common messages for the sole purpose of intercell interference mitigation. It solves the issues of the second limitation mentioned above. It considers the benefit of designing decodable interference signals by allowing common-private message splitting at the transmitter and common message decoding by users in adjacent cells. It solves a network optimization problem of jointly determining the appropriate users in adjacent cells for rate splitting, the optimal beamforming vectors for both common and private messages, and the optimal common-private rates to minimize the total transmit power across the base-stations subject to service rate requirements for remote users. Observe that for fixed user selection and fixed common-private rate splitting, the optimization of beamforming vectors can be performed using a semidefinite programming approach. Further, this part of the thesis proposes a heuristic user-selection and rate splitting strategy to maximize the benefit of common message decoding. This part proposes a heuristic algorithm to characterize the improvement in the feasible rates with common-message decoding. Simulation results show that common message decoding can significantly improve both the total transmit power and the feasibility region for cell-edge users when base-stations are closely spaced from each other.

Les robots flexibles sont de plus en plus utilisés dans les applications pratiques. Ces robots sont caractérisés par une conception mécanique légère, réduisant ainsi leur encombrement, leur consommation d’énergie et améliorant leur sécurité. Cependant, la présence de vibrations transitoires rend difficile un contrôle précis de la trajectoire de ces systèmes. Cette thèse est précisément consacrée à l’asservissement en position des manipulateurs flexibles dans les espaces articulaire et opérationnel. Des méthodes de commande avancées, basées sur des outils de la commande robuste et de l’optimisation convexe, ont été proposées. Ces méthodes font en particulier appel à la théorie des systèmes linéaires à paramètres variants (LPV) et aux inégalités matricielles linéaires (LMI). En comparaison avec des lois de commande non-linéaires disponibles dans la littérature, les lois de commande LPV proposées permettent de considérerdes contraintes de performance et de robustesse de manière simple et systématique. L’accent est porté dans notre travail sur la gestion appropriée de la dépendance paramétrique du modèle LPV, en particulier les dépendances polynomiale et rationnelle. Des simulations numériques effectuées dans des conditions réalistes, ont permis d’observer une meilleure robustesse de la commande LPV par rapport à la commande non-linéaire par inversion de modèle face aux bruits de mesure, aux excitations de haute fréquence et aux incertitudes de modèle. / Flexible robots are becoming more and more common in practical applications. This type of robots is characterized by the use of lightweight materials, which allows reducing their size, their power consumption and improves their safety. However, an accurate trajectory tracking of these systems is difficult to achieve because of the transient vibrations they undergo. This PhD thesis work is particularly devoted to the position control of flexible robotic manipulators at the joint and end-effector levels. Advanced control methods, based on some tools of the robust control theory and convex optimization, have been proposed. These methods are based on the theory of Linear Parameter Varying (LPV) systems and Linear Matrix Inequalities (LMI). Compared to some nonlinear control laws available in the literature that involve model inversion, theproposed LPV control laws make it possible to consider performance and robustness constraints in a simple and systematic manner. Our work particularly emphasizes on the appropriate management of the parametric dependence of the LPV model, especially the polynomial and rational dependences. Numerical simulations carried out in realistic operating conditions have shown a better robustness of the LPV control compared to the inversion-based nonlinear control withrespect to measurement noise, high frequency inputs and model uncertainties.