O objetivo desta tese é investigar aspectos práticos que facilitem a aplicação da teoria de controle H1 não linear em projetos de sistemas de controle. A primeira contribuição deste trabalho é a proposta do uso de funções ponderação com dinâmica no projeto de controladores H1 não lineares. Essas funções são usadas no projeto de controladores H1 lineares para rejeição de perturbações, ruídos, atenuação de erro de rastreamento, dentre outras especificações. O maior obstáculo para aplicação prática da teoria de controle H1 não linear é a dificuldade para resolver simultaneamente as duas equações de Hamilton-Jacobi-Isaacs relacionadas ao problema de realimentação de estados e injeção da saída. Não há métodos sistematicos para resolver essas duas equações diferenciais parciais não lineares, equivalentes µas equações de Riccati da teoria de controle H1 linear. A segunda contribuição desta tese é um método para obter a injeção da saída transformando a equação de Hamilton-Jacobi-Isaacs em uma sequencia de equações diferenciais parciais lineares, que são resolvidas usando o método de Galerkin. Controladores H1 não lineares para um sistema de levitação magnética são obtidos usando o método clássico de expansão em série de Taylor e o método de proposto para comparação. / The purpose of this thesis is to investigate practical aspects to facilitate the ap- plication of nonlinear H1 theory in control systems design. Firstly, it is shown that dynamic weighting functions can be used to improve the performance and robustness of the nonlinear H1 controller such as in the design of H1 controllers for linear plants. The biggest bottleneck to the practical applications of nonlinear H1 control theory has been the di±culty in solving the Hamilton-Jacobi-Isaacs equations associated with the design of a state feedback and an output injection gain. There is no systematic numerical approach for solving this ¯rst order, nonlinear partial di®erential equations, which reduces to Riccati equations in the linear context. In this work, successive ap- proximation and Galerkin approximation methods are combined to derive an algorithm that produces an output injection gain. Design of nonlinear H1 controllers obtained by the well established Taylor approximation and by the proposed Galerkin approxi- mation method applied to a magnetic levitation system are presented for comparison purposes.

O objetivo desta tese é investigar aspectos práticos que facilitem a aplicação da teoria de controle H1 não linear em projetos de sistemas de controle. A primeira contribuição deste trabalho é a proposta do uso de funções ponderação com dinâmica no projeto de controladores H1 não lineares. Essas funções são usadas no projeto de controladores H1 lineares para rejeição de perturbações, ruídos, atenuação de erro de rastreamento, dentre outras especificações. O maior obstáculo para aplicação prática da teoria de controle H1 não linear é a dificuldade para resolver simultaneamente as duas equações de Hamilton-Jacobi-Isaacs relacionadas ao problema de realimentação de estados e injeção da saída. Não há métodos sistematicos para resolver essas duas equações diferenciais parciais não lineares, equivalentes µas equações de Riccati da teoria de controle H1 linear. A segunda contribuição desta tese é um método para obter a injeção da saída transformando a equação de Hamilton-Jacobi-Isaacs em uma sequencia de equações diferenciais parciais lineares, que são resolvidas usando o método de Galerkin. Controladores H1 não lineares para um sistema de levitação magnética são obtidos usando o método clássico de expansão em série de Taylor e o método de proposto para comparação. / The purpose of this thesis is to investigate practical aspects to facilitate the ap- plication of nonlinear H1 theory in control systems design. Firstly, it is shown that dynamic weighting functions can be used to improve the performance and robustness of the nonlinear H1 controller such as in the design of H1 controllers for linear plants. The biggest bottleneck to the practical applications of nonlinear H1 control theory has been the di±culty in solving the Hamilton-Jacobi-Isaacs equations associated with the design of a state feedback and an output injection gain. There is no systematic numerical approach for solving this ¯rst order, nonlinear partial di®erential equations, which reduces to Riccati equations in the linear context. In this work, successive ap- proximation and Galerkin approximation methods are combined to derive an algorithm that produces an output injection gain. Design of nonlinear H1 controllers obtained by the well established Taylor approximation and by the proposed Galerkin approxi- mation method applied to a magnetic levitation system are presented for comparison purposes.

Effective management of the potential environmental impacts of naval sonar requires quantitative data on the behaviour and hearing physiology of cetaceans. Here, novel experimental and analytical methods were used to obtain such information and to test the effectiveness of an operational mitigation method for naval sonar. A Bayesian method was developed to estimate whale locations through time, integrating visual observations with measurements from on-animal inertial, acoustic, depth, and Fastloc-GPS sensors. The track reconstruction method was applied to 13 humpback whale (Megaptera novaeangliae) data sets collected during a multi-disciplinary behavioural response study in Norwegian waters. Thirty-one controlled exposure experiments with and without active transmissions of 1.3-2 kHz sounds were conducted using a moving vessel that towed a sonar source. Dose-response functions, representing the relationships between measured sonar dose and behavioural responses identified from the reconstructed tracks, predicted that 50% of the humpbacks would initiate avoidance at a relatively high received sound pressure level of 166 dB re 1 µPa. Very similar dose-response functions were obtained for cessation of feeding. In a laboratory study, behavioural reaction times of a harbour porpoise (Phocoena phocoena) to sonar-like sounds were measured using operant conditioning and a psychoacoustic method. Auditory weighting functions, which can be used to improve dose-response functions, were obtained for the porpoise based on the assumption that sounds of equal loudness elicit equal reaction time. Additional analyses of the humpback whale data set provided evidence that ramp-up of naval sonar mitigates harmful sound levels in responsive cetaceans located directly in the path of the source, and suggested that a subset of the humpback whale population, such as mother-calf pairs, and more responsive species would benefit from the use of sonar ramp-up. The findings in this thesis are intended to inform sound exposure criteria and mitigation guidelines for anthropogenic noise exposure to cetaceans.

Les sections efficaces neutroniques des noyaux de courte durée de vie sont des données cruciales pour la physique fondamentale et appliquée dans des domaines tels que la physique des réacteurs ou l’astrophysique nucléaire. En général, l’extrême radioactivité de ces noyaux ne nous permet pas de procéder à des mesures induites par neutrons. Cependant, il existe une méthode de substitution (« surrogate » dans la littérature) qui permet de déterminer ces sections efficaces neutroniques par l’intermédiaire de réactions de transfert ou de réactions de diffusion inélastique. Son intérêt principal est de pouvoir utiliser des cibles moins radioactives et ainsi d’accéder à des sections efficaces neutroniques qui ne pourraient pas être mesurées directement. La méthode est basée sur l’hypothèse de formation d’un noyau composé et sur le fait que la désexcitation ne dépend essentiellement que de l’énergie d’excitation et du spin et parité de l'état composé peuplé. Toutefois, les distributions de moments angulaires et parités peuplés dans des réactions de transfert et celles induites par neutrons sont susceptibles d’être différentes. Ce travail fait l’état de l’art sur la méthode substitution et sa validité. En général, la méthode de substitution fonctionne très bien pour extraire des sections efficaces de fission. Par contre, la méthode de substitution dédiée à la capture radiative est mise à mal par la comparaison aux réactions induites par neutrons. Nous avons réalisé une expérience afin de déterminer les probabilités de désexcitation gamma du 176Lu et du 173Yb à partir des réactions de substitution 174Yb(3He,p)176Lu* et 174Yb(3He,alpha)173Yb*, respectivement, et nous les avons comparées avec les probabilités de capture radiative correspondantes aux réactions 175Lu(n,gamma) et 172Yb(n,gamma) qui sont bien connues. Cette expérience a permis de comprendre pourquoi, dans le cas de la désexcitation gamma, la méthode de substitution donne des écarts importants par rapport à la réaction neutronique correspondante. Ce travail dans la région de terres rares a permis d'évaluer dans quelle mesure la méthode de substitution peut s’appliquer pour extraire des probabilités de capture dans la région des actinides. Des expériences précédentes sur la fission ont aussi pu être réinterprétées. Ce travail apporte donc un éclairage nouveau sur la méthode de substitution. / Neutron-induced cross sections of short-lived nuclei are needed for fundamental and applied physics as nuclear energy or astrophysics. However, very often the high radioactivity of the samples makes the direct measurement of these cross sections extremely difficult. The surrogate reaction method is an indirect way of determining neutron-induced cross sections through transfer or inelastic scattering reactions. This method presents the advantage that in some cases the target material is stable or less radioactive than the material required for a neutron-induced measurement. The method is based on the hypothesis that the excited nucleus is a compound nucleus whose decay depends essentially on its excitation energy and on the spin and parity state of the populated compound state. Nevertheless, the spin and parity population differences between the compound-nuclei produced in the neutron and transfer-induced reactions may be different. This work reviews the surrogate method and its validity. Neutron-induced fission cross sections obtained with the surrogate method are in general good agreement. However, it is not yet clear to what extent the surrogate method can be applied to infer radiative capture cross sections. We performed an experiment to determine the gamma-decay probabilities for 176Lu and 173Yb by using the surrogate reactions 174Yb(3He,p)176Lu* and 174Yb(3He,alpha)173Yb*, respectively, and compare them with the well-known corresponding probabilities obtained in the 175Lu(n,gamma) and 172Yb(n,gamma) reactions. This experiment provides answers to understand why, in the case of gamma-decay, the surrogate method gives significant deviations compared to the corresponding neutron-induced reaction. In this work, we have also assessed whether the surrogate method can be applied to extract capture probabilities in the actinide region. Previous experiments on fission have also been reinterpreted. Thus, this work provides new insights into the surrogate method.