Systems involving quantisation arise in many areas of engineering, especially when digital implementations are involved. In this thesis we consider different aspects of quantisation in feedback control systems. We study two topics of interest: (a) quantisers that quadratically stabilise a given system and are efficient in the use of their quantisation levels and (b) the derivation of ultimate bounds for perturbed systems, especially when the perturbations arise from the use of quantisers. In the first part of the thesis we address problem (a) above. We consider quadratic stabilisation of discrete-time multiple-input systems by means of quantised static feedback and we measure the efficiency of a quantiser via the concept of quantisation density. Intuitively, the lower the density of a quantiser is, the more separated its quantisation levels are. We thus deal with the problem of optimising density over all quantisers that quadratically stabilise a given system with respect to a given control Lyapunov function. Most of the available results on this problem treat single-input systems, and the ones that deal with the multiple-input case consider only two-input systems. In this thesis, we derive several new results for multiple-input systems and also provide an alternative approach to deal with the single-input case. Our new results for multiple-input systems include the derivation of the structure of optimal quantisers and the explicit design of multivariable quantisers with finite density that are able to quadratically stabilise systems having an arbitrary number of inputs. For single-input systems, we provide an alternative approach to the analysis and design of optimal quantisers by establishing a link between the separation of the quantisation levels of a quantiser and the size of its quantisation regions. In the second part of the thesis we address problem (b) above. In the presence of perturbations, asymptotic stabilisation may not be possible. However, there may exist a bounded region that contains the equilibrium point and has the property that the system trajectories converge to this bounded region. When this bounded region exists, we say that the system trajectories are ultimately bounded, and that this bounded region is an ultimate bound for the system. The size of the ultimate bound quantifies the performance of the system in steady state. Hence, it is important to derive ultimate bounds that are as tight as possible. This part of the thesis addresses the problem of ultimate bound computation in settings involving several scalar quantisers, each having different features. We consider each quantised variable in the system to be a perturbed copy of the corresponding unquantised variable. This turns the original quantised system into a perturbed system, where the perturbation has a natural \emph{componentwise} bound. Moreover, according to the type of quantiser employed, the perturbation bound may depend on the system state. Typical methods to estimate ultimate bounds are based on the use of Lyapunov functions and usually require a bound on the norm of the perturbation. Applying these methods in the setting considered here may disregard important information on the structure of the perturbation bound. We therefore derive ultimate bounds on the system states that explicitly take account of the componentwise structure of the perturbation bound. The ultimate bounds derived also have a componentwise form, and can be systematically computed without having to, e.g. select a suitable Lyapunov function for the system. The results of this part of the thesis, though motivated by quantised systems, apply to more general perturbations, not necessarily arising from quantisation. / PhD Doctorate

Thesis (M. Sc.)--University of Hong Kong, 2006. / Title proper from title frame. Also available in printed format.

We present results of molecular simulations, quantum mechanical calculations, and experimental data aimed towards the rational design of solvent formulations. In particular, we have found that the rate limitation of oxidation of methionine groups is determined by the breaking of O-O bonds in hydrogen peroxide, not by the rate of acidic catalysis as previously thought. We have used this understanding to design molecular level parameters which are correlated to experimental data. Rate data has been determined both for G-CSF and for hPTH(1-34). / Singapore-MIT Alliance (SMA)

Immediately following public offerings, underwriters often repurchase shares of poorly performing IPOs in an apparent attempt to stabilize the price. Using proprietary Nasdaq data for a large sample of IPOs, I study the price effects and cross-sectional determinants of price support. Some of the key findings are: (1) Price stabilization is substantial, inducing significant price rigidity at and below the offer price. Stabilization appears, at least in the short run, to raise the equilibrium stock price. (2) Many studies suggest that stabilization helps to mitigate information asymmetry problems in the IPO market. I find no evidence that stocks with larger ex-ante information asymmetries are stabilized more strongly. (3) The characteristics of the lead underwriter emerge as the strongest determinants of price support. Larger and more reputable investment banks stabilize more, perhaps to protect their reputations with investors. But there are substantial differences in price support even among the largest underwriters (after controlling for IPO characteristics and underwriter size). (4) Investment banks with retail brokerage operations stabilize much more than other large investment banks. This puzzling result seems inconsistent with the common view that stabilization benefits primarily institutional investors, and I outline and examine several alternative explanation

Thesis (Ph. D.)--University of Hong Kong, 2006. / Title proper from title frame. Also available in printed format.

In this thesis we study the problem of stabilizing smooth embedded submanifolds in the state space of smooth, nonlinear, autonomous, deterministic control-affine systems. Our motivation stems from a realization that important applications, such as path following and synchronization, are best understood in the set stabilization framework. Instead of directly attacking the above set stabilization problem, we seek feedback equivalence of the given control system to a normal form that facilitates control design. The process of putting a control system into the normal form of this thesis is called transverse feedback linearization. When feasible, transverse feedback linearization allows for a decomposition of the nonlinear system into a “transverse” and a “tangential” subsystem relative to the goal submanifold. The dynamics of the transverse subsystem determine whether or not the system’s state approaches the submanifold. To ease controller design, we ask that the transverse subsystem be linear time-invariant and controllable. The dynamics of the tangential subsystem determine the motion on the submanifold. The main problem considered in this work, the local transverse feedback linearization problem (LTFLP), asks: when is such a decomposition possible near a point of the goal submanifold? This problem can equivalently be viewed as that of finding a system output with a well-defined relative degree, whose zero dynamics manifold coincides with the goal submanifold. As such, LTFLP can be thought of as the inverse problem to input-output feedback linearization. We present checkable, necessary and sufficient conditions for the existence of a local coordinate and feedback transformation that puts the given system into the desired normal form. A key ingredient used in the analysis is the new notion of transverse controllability indices of a control system with respect to a set. When the goal submanifold is diffeomorphic to Euclidean space, we present sufficient conditions for feedback equivalence in a tubular neighbourhood of it. These results are used to develop a technique for solving the path following problem. When applied to this problem, transverse feedback linearization decomposes controller design into two separate stages: transversal control design and tangential control design. The transversal control inputs are used to stabilize the path, and effectively generate virtual constraints forcing the system’s output to move along the path. The tangential inputs are used to control the motion along the path. A useful feature of this twostage approach is that the motion on the set can be controlled independently of the set stabilizing control law. The effectiveness of the proposed approach is demonstrated experimentally on a magnetically levitated positioning system. Furthermore, the first satisfactory solution to a problem of longstanding interest, path following for the planar/vertical take-off and landing aircraft model to the unit circle, is presented. This solution, developed in collaboration with Luca Consolini and Mario Tosques at the University of Parma, is made possible by taking a set stabilization point of view.

This thesis investigates the set stabilization problem for systems with Lie group symmetry. Initially, we examine left-invariant systems on Lie groups where the target set is a left or right coset of a closed subgroup. We broaden the scope to systems defined on smooth manifolds that are invariant under a Lie group action. Inspired by the solution of this problem for linear time-invariant systems, we show its equivalence to an equilibrium stabilization problem for a suitable quotient control system. We provide necessary and sufficient conditions for the existence of the quotient control system and analyze various properties of such a system. This theory is applied to the formation stabilization of three kinematic unicycles, the path stabilization of a particle in a gravitational field, and the conversion and temperature control of a continuously stirred tank reactor.

This thesis investigates the set stabilization problem for systems with Lie group symmetry. Initially, we examine left-invariant systems on Lie groups where the target set is a left or right coset of a closed subgroup. We broaden the scope to systems defined on smooth manifolds that are invariant under a Lie group action. Inspired by the solution of this problem for linear time-invariant systems, we show its equivalence to an equilibrium stabilization problem for a suitable quotient control system. We provide necessary and sufficient conditions for the existence of the quotient control system and analyze various properties of such a system. This theory is applied to the formation stabilization of three kinematic unicycles, the path stabilization of a particle in a gravitational field, and the conversion and temperature control of a continuously stirred tank reactor.

University of Macau / Faculty of Science and Technology / Department of Civil and Environmental Engineering

In this thesis we study the problem of stabilizing smooth embedded submanifolds in the state space of smooth, nonlinear, autonomous, deterministic control-affine systems. Our motivation stems from a realization that important applications, such as path following and synchronization, are best understood in the set stabilization framework. Instead of directly attacking the above set stabilization problem, we seek feedback equivalence of the given control system to a normal form that facilitates control design. The process of putting a control system into the normal form of this thesis is called transverse feedback linearization. When feasible, transverse feedback linearization allows for a decomposition of the nonlinear system into a “transverse” and a “tangential” subsystem relative to the goal submanifold. The dynamics of the transverse subsystem determine whether or not the system’s state approaches the submanifold. To ease controller design, we ask that the transverse subsystem be linear time-invariant and controllable. The dynamics of the tangential subsystem determine the motion on the submanifold. The main problem considered in this work, the local transverse feedback linearization problem (LTFLP), asks: when is such a decomposition possible near a point of the goal submanifold? This problem can equivalently be viewed as that of finding a system output with a well-defined relative degree, whose zero dynamics manifold coincides with the goal submanifold. As such, LTFLP can be thought of as the inverse problem to input-output feedback linearization. We present checkable, necessary and sufficient conditions for the existence of a local coordinate and feedback transformation that puts the given system into the desired normal form. A key ingredient used in the analysis is the new notion of transverse controllability indices of a control system with respect to a set. When the goal submanifold is diffeomorphic to Euclidean space, we present sufficient conditions for feedback equivalence in a tubular neighbourhood of it. These results are used to develop a technique for solving the path following problem. When applied to this problem, transverse feedback linearization decomposes controller design into two separate stages: transversal control design and tangential control design. The transversal control inputs are used to stabilize the path, and effectively generate virtual constraints forcing the system’s output to move along the path. The tangential inputs are used to control the motion along the path. A useful feature of this twostage approach is that the motion on the set can be controlled independently of the set stabilizing control law. The effectiveness of the proposed approach is demonstrated experimentally on a magnetically levitated positioning system. Furthermore, the first satisfactory solution to a problem of longstanding interest, path following for the planar/vertical take-off and landing aircraft model to the unit circle, is presented. This solution, developed in collaboration with Luca Consolini and Mario Tosques at the University of Parma, is made possible by taking a set stabilization point of view.