Le travail de recherche concrétisé par ce mémoire de thèse se trouve à l’intersection de deux domaines importants, la commande robuste des systèmes linéaires (LTI, LPV, en commutation) à temps discret affectés par des perturbations permanentes bornées et des contraintes et les ensembles invariants ellipsoïdaux maximal ou minimal. La première partie de ce mémoire se focalise sur l’analyse de la stabilité entrée-état (en anglais ISS) du système par rapport à une perturbation bornée et le calcul des ensembles invariants ellipsoïdaux minimal ou maximal (ou sous forme d’ellipsoïdes tronqués) satisfaisant les contraintes. La deuxième partie envisage la synthèse d’une commande par retour d’état ISS stable et robuste vis-à-vis de perturbations bornées, garantissant l’ellipsoïde invariant maximal satisfaisant les contraintes ; puis la synthèse d’une loi decommande par retour d’état et observateur ISS stable vis-à-vis de perturbations bornées, garantissant une certaine performance ; enfin la synthèse d’un paramètre de Youla afin de garantir la projection maximale sur le sous-espace de l’état initial. La projection obtenue possède alors un volume plus grand que celui obtenu sans le paramètre de Youla d’où une amélioration en termes de robustesse. Une dernière étape vise à obtenirun compromis entre la robustesse et la performance en utilisant des critères basés sur le placement de pôles ou sur la vitesse de décroissance de la fonction de Lyapunov. Tous les résultats théoriques obtenus sont exprimés sous forme d’inégalités matricielles et sont validés en simulation et de façon expérimentale dans le cadre de la commande d’un convertisseur de puissance. / The research concretized in this memory is located at the intersection of two important fields, the robust control of discrete-time linear systems (LTI, LPV, switched) affected by bounded disturbances and constraints and the ellipsoidal invariant sets theory.The first part of this memory focuses on the analysis of input-to-state stability (ISS) over a bounded perturbation and the computation of the maximal or minimal invariant ellipsoidal (or truncated ellipsoidal) set satisfying the constraints. The second part is considering the synthesis of a control state feedback law ISS stable and robust over bounded disturbances, ensuring the maximal ellipsoidal invariant set satisfying the constraints, then the synthesis of an observer-based control law ISS stable over bounded disturbances,ensuring a certain performance, and finally the design of a Youla parameter guaranteeing the maximal ellipsoidal projection on the initial state subspace. The resulting projection has a volume greater than the one obtained without the Youla parameter resulting an improvement in terms of robustness. A final step is to obtain a compromise between robustness and performance using criteria based on poles placement or on theLyapunov function decreasing rate. The theoretical results are expressed as matrix inequalities and are validated in simulation and and experimentally on a Buck DC-DC converter.

Neste trabalho, nós investigamos a estabilidade da solução trivial da seguinte Equação Diferencial em Medida (EDM) Dx = f(x, t) + g(x, t)Du, (1) onde \'B BARRA IND. c\' = {\'x PERTENCE A\' \'R POT. n\'; //x// \' < OU=\' c}, f : \'B BARRA IND.c\' × [a, b] \'SETA\' \'R POT.n\' e g : \'B BARRA IND. c\' × [a, b] \'SETA\' \' R POT n\', u : [a, b] \' ETA\' ! R é uma função de variação limitada em [a, b] e contínua à esquerda em (a, b], f(x, ·) é Lebesgue integrável em [a, b], g(x, ·) é du-integrável em [a, b], f(0, t) = 0 = g(0, t) para todo t e Dx e Du denotam as derivadas distribucionais de x e u no sentido de L. Schwartz. Nós consideramos as funções f e g num contexto bem geral. Assim, para obtermos nossos resultados, nós provamos a correspondência biunívoca entre as soluções da classe de EDMs (1) em tal contexto e as soluções de certa classe de equação diferencial ordinária generalizada (EDOG). Desta forma, foi possível aplicarmos as técnicas e resultados da teoria das equações diferenciais ordinárias generalizadas, como teoremas do tipo Lyapunov e do tipo Lyapunov inverso, para obtermos os resultados correspondentes para a EDM (1). Os resultados apresentados neste trabalho sobre estabilidade da solução trivial da EDM (1) são inéditos. Parte deles foram apresentados no 660 Seminário Brasileiro de Análise. Veja [7] / In this work, we investigate the stability of the trivial solution of the following Measure Differential Equation (MDE) Dx = f(x, t) + g(x, t)Du, (2) where \'B BARRA IND.c\' = {x \'PERTENCE A\' \'R POT.n\'; //x// \' < OU=\' c}, f : \'B BARRA IND.c\' × [a, b] \'SETA\' \'R POT.n\' and g : \'B BARRA IND.c\' × [a, b] \'SETA\' \'R POT. n\' , u is function of bounded variation in [a, b] which is also left continuous on (a, b], f(x, ·) is Lebesgue integrable in [a, b] and g(x, ·) is du-integrable in [a, b], f(0, t) = 0 = g(0, t) for all t and Dx, Du denote the derivatives of x and u in the sense of distributions of L. Schwartz. We consider the functions f and g in a general setting. Thus, in order to obtain our results, we prove there is a one-to-one correspondence between the solutions of the MDE 2) in this setting and the solutions of a certain class of generalized ordinary differential equation (GODE). In this manner, it was possible to apply the techniques and results from the teory of GODE\'s, such as Lyapunov-type and converse Lyapunov-type theorems, to obtain the corresponding results for our MDE (2). The results presented in this work concerning the stability of the trivial solution of the MDE (2) are new. Some of them were presented at the 66th Seminário Brasileiro de Análise. See [7]

Um propulsor do tipo Hall é um mecanismo que utiliza predominantemente uma configuração de campos eletromagnéticos Hall, um campo elétrico perpendicular a um campo magnético, para confinar elétrons e acelerar íons. Os elétrons são confinados dentro de um canal de aceleração onde os campos eletromagnéticos estão presentes. Um gás neutro é lançado dentro desse canal de aceleração de forma que os elétrons confinados podem colidir com os átomos do gás e os ionizar. Os íons gerados dessas colisões, elétrons-gás, são fortemente repelidos para fora do canal de aceleração pelo campo elétrico. A expulsão desses íons é o fator responsável pela propulsão. Nesses propulsores é importante que os elétrons estejam confinados dentro do canal de aceleração e que sejam capazes de produzir o maior número possível de íons. Visando determinar quais são os parâmetros de controle– intensidade dos campos eletromagnéticos– que propiciam uma dinâmica eletrônica com essas características, derivamos, via formalismo Hamiltoniano, as equações de movimento de um elétron e as analisamos. Dessas equações de movimento encontramos funções analíticas que indicam os limites geométricos atingidos pelo elétron dentro do sistema propulsor para cada conjunto de parâmetros de controle. Essas funções constituem o critério de confinamento eletrônico utilizado nesse trabalho. Além disso, a partir das equações de movimento, mostramos quais as configurações de campos eletromagnéticos que teoricamente incrementam o desempenho dos propulsores Hall. Verificamos que nas configurações de maior desempenho a dinâmica eletrônica é caótica. Neste trabalho, o caos é determinado com o auxílio dos mapas de Poincaré e dos expoentes de Lyapunov. / A Hall thruster is a system that utilizes an electromagnetic fields configuration predominantly like Hall, an electric field which lies perpendicular to a magnetic field, to confine electrons and to accelerate ions. The electrons are confined within an acceleration chamber where the electromagnetic fields are present. A neutral gas is released within this acceleration chamber so that the confined electrons can collide with the gas and ionize it. The ions generated from these collisions, the electron-gas, are strongly repelled by the electric field system. The expulsion of these ions generate the propulsion. In these thrusters it is very important that the electrons are confined within the acceleration chamber and are able to produce the largest possible number of ions. In order to determine the control parameters, that is, the electromagnetic fields intensity which provides an electronic dynamic with these characteristics; we derived, via Hamiltonian formalism, the motion equations for an electron and we analyzed them. From these motion equations, we found functions that indicate the electron geometric boundaries within these thrusters, for each set of control parameters. In this work, these functions indicate the electronic confinement. Moreover, from the motion equations, we showed the electromagnetic fields settings which theoretically improve the Hall thruster’s performance. We found that, in these higher performance settings, the electron dynamics is chaotic. In this work, the chaos is determined by Poincaré maps and by Lyapunov exponents.

O aprimoramento de técnicas e dispositivos aplicados à conversão de energia provenientes de fontes alternativas de energia, no contexto da geração distribuída, possui um papel importante para o estabelecimento definitivo de um novo paradigma de despacho e consumo de energia elétrica. Neste contexto, esta tese de doutorado aborda uma proposta de gerenciamento de energia e controle de uma microrede com célula a combustível e painel fotovoltaico como fontes primárias, operando juntamente com elementos armazenadores. Nesta proposta, destaca-se o uso de duas principais técnicas: droop k-sharing e Maximum Power Point Tracking with Saturation Technique (MPPT-ST). A técnica droop k-sharing permite associar uma dinâmica preestabelecida à célula a combustível, de forma que as baterias absorvam o espectro complementar. Adicionalmente, o uso da variável k-sharing com a adição da técnica droop permite o compartilhamento de potência entre as duas fontes sem a necessidade de comunicação entre elas. Já a técnica MPPT-ST, permite a operação de painéis fotovoltaicos no Maximum Power Point (MPP) e fora do MPP utilizando um saturador dinâmico. Por fim, propõe-se uma técnica para o acoplamento dos modelos dinâmicos dos conversores CC-CC por meio do equacionamento da tensão do barramento Corrente Contínua (CC) em espaços de estados, tornando possível analisar a estabilidade da microrede com o método indireto de Lyapunov. Para validar as técnicas propostas, são apresentados resultados de simulação e experimentais. / The improvement of techniques and devices applied to the energy conversion of alternative energy sources, in the distributed generation context, has an important role for the definitive establishment of the new paradigm of energy delivery and consumption. In this context, this PhD thesis addresses a proposal of an energy management strategy for microgrids with fuel cells and photovoltaic panels as primary sources, operating with storage devices. In the proposed control scheme, it is possible to highlight two control techniques: droop k-sharing and MPPT-ST. With the droop k-sharing technique, it is possible to design a specific dynamic behavior for the Fuel Cell, while the battery absorbs the complementary (high frequency) spectrum. Additionally, the use of the k-sharing variable with droop technique makes it possible to share the energy between the two sources without the need of a high-speed communication link. On the other hand, with the MPPT-ST technique, the photovoltaic modules can be operated in the MPP or off-MPP by using a simple dynamic anti-windup strategy. For the stability analysis using the Lyapunov Indirect Method, it is proposed a state space technique to couple the DC-DC converters models using the DC-link capacitor. Finally, to evaluate the proposed theoretical algorithm and analysis, simulations and experimental results are presented.

Die vorliegende Arbeit umfaßt drei Abhandlungen, welche allgemein mit einer stochastischen Theorie für die Lyapunov-Exponenten befaßt sind. Mit Hilfe dieser Theorie werden universelle Skalengesetze untersucht, die in gekoppelten chaotischen und ungeordneten Systemen auftreten. <br /> <br /> Zunächst werden zwei zeitkontinuierliche stochastische Modelle für schwach gekoppelte chaotische Systeme eingeführt, um die Skalierung der Lyapunov-Exponenten mit der Kopplungsstärke ('coupling sensitivity of chaos') zu untersuchen. Mit Hilfe des Fokker-Planck-Formalismus werden Skalengesetze hergeleitet, die von Ergebnissen numerischer Simulationen bestätigt werden. <br /> <br /> Anschließend wird gezeigt, daß 'coupling sensitivity' im Fall gekoppelter ungeordneter Ketten auftritt, wobei der Effekt sich durch ein singuläres Anwachsen der Lokalisierungslänge äußert. Numerische Ergebnisse für gekoppelte Anderson-Modelle werden bekräftigt durch analytische Resultate für gekoppelte raumkontinuierliche Schrödinger-Gleichungen. Das resultierende Skalengesetz für die Lokalisierungslänge ähnelt der Skalierung der Lyapunov-Exponenten gekoppelter chaotischer Systeme. <br /> <br /> Schließlich wird die Statistik der exponentiellen Wachstumsrate des linearen Oszillators mit parametrischem Rauschen studiert. Es wird gezeigt, daß die Verteilung des zeitabhängigen Lyapunov-Exponenten von der Normalverteilung abweicht. Mittels der verallgemeinerten Lyapunov-Exponenten wird der Parameterbereich bestimmt, in welchem die Abweichungen von der Normalverteilung signifikant sind und Multiskalierung wesentlich wird. / This work incorporates three treatises which are commonly concerned with a stochastic theory of the Lyapunov exponents. With the help of this theory universal scaling laws are investigated which appear in coupled chaotic and disordered systems. <br /> <br /> First, two continuous-time stochastic models for weakly coupled chaotic systems are introduced to study the scaling of the Lyapunov exponents with the coupling strength (coupling sensitivity of chaos). By means of the the Fokker-Planck formalism scaling relations are derived, which are confirmed by results of numerical simulations. <br /> <br /> Next, coupling sensitivity is shown to exist for coupled disordered chains, where it appears as a singular increase of the localization length. Numerical findings for coupled Anderson models are confirmed by analytic results for coupled continuous-space Schrödinger equations. The resulting scaling relation of the localization length resembles the scaling of the Lyapunov exponent of coupled chaotic systems. <br /> <br /> Finally, the statistics of the exponential growth rate of the linear oscillator with parametric noise are studied. It is shown that the distribution of the finite-time Lyapunov exponent deviates from a Gaussian one. By means of the generalized Lyapunov exponents the parameter range is determined where the non-Gaussian part of the distribution is significant and multiscaling becomes essential.

In this thesis the Lyapunov exponents of random dynamical systems are presented and investigated. The main results are: 1. In the space of all unbounded linear cocycles satisfying a certain integrability condition, we construct an open set of linear cocycles have simple Lyapunov spectrum and no exponential separation. Thus, unlike the bounded case, the exponential separation property is nongeneric in the space of unbounded cocycles. 2. The multiplicative ergodic theorem is established for random difference equations as well as random differential equations with random delay. 3. We provide a computational method for computing an invariant measure for infinite iterated functions systems as well as the Lyapunov exponents of products of random matrices. / In den vorliegenden Arbeit werden Lyapunov-Exponented für zufällige dynamische Systeme untersucht. Die Hauptresultate sind: 1. Im Raum aller unbeschränkten linearen Kozyklen, die eine gewisse Integrabilitätsbedingung erfüllen, konstruieren wir eine offene Menge linearer Kyzyklen, die einfaches Lyapunov-Spektrum besitzen und nicht exponentiell separiert sind. Im Gegensatz zum beschränkten Fall ist die Eingenschaft der exponentiellen Separiertheit nicht generisch in Raum der unbeschränkten Kozyklen. 2. Sowohl für zufällige Differenzengleichungen, als auch für zufällige Differentialgleichungen, mit zufälligem Delay wird ein multiplikatives Ergodentheorem bewiesen. 3.Eine algorithmisch implementierbare Methode wird entwickelt zur Berechnung von invarianten Maßen für unendliche iterierte Funktionensysteme und zur Berechnung von Lyapunov-Exponenten für Produkte von zufälligen Matrizen.

Ce mémoire concerne l'étude de la stabilité en temps fini et de la stabilisation de systèmes dynamiques non linéaires, décrits par des équations différentielles ordinaires ou des inclusions différentielles ordinaires ou des équations fonctionnelles retardées. Après un chapitre d'introduction avec quelques rappels sur la stabilité et la stabilisation des systèmes dynamiques, la première partie est consacrée à l'étude de la stabilité en temps fini qui est un cas particulier de la stabilité asymptotique où les solutions d'un système atteignent en temps fini l'équilibre de ce système. Le travail présenté utilise les fonctions de Lyapunov pour obtenir des conditions de stabilité en temps fini. <br />La deuxième partie de ce mémoire est consacrée à la stabilisation en utilisant les fonctions de Lyapunov contrôlées. Une large part est dédiée à la stabilisation en temps fini.

The objective of this thesis is to develop a novel methodology of fractional stochastic dynamics to study stochastic stability of viscoelastic systems under stochastic loadings. Numerous structures in civil engineering are driven by dynamic forces, such as seismic and wind loads, which can be described satisfactorily only by using probabilistic models, such as white noise processes, real noise processes, or bounded noise processes. Viscoelastic materials exhibit time-dependent stress relaxation and creep; it has been shown that fractional calculus provide a unique and powerful mathematical tool to model such a hereditary property. Investigation of stochastic stability of viscoelastic systems with fractional calculus frequently leads to a parametrized family of fractional stochastic differential equations of motion. Parametric excitation may cause parametric resonance or instability, which is more dangerous than ordinary resonance as it is characterized by exponential growth of the response amplitudes even in the presence of damping. The Lyapunov exponents and moment Lyapunov exponents provide not only the information about stability or instability of stochastic systems, but also how rapidly the response grows or diminishes with time. Lyapunov exponents characterizes sample stability or instability. However, this sample stability cannot assure the moment stability. Hence, to obtain a complete picture of the dynamic stability, it is important to study both the top Lyapunov exponent and the moment Lyapunov exponent. Unfortunately, it is very difficult to obtain the accurate values of theses two exponents. One has to resort to numerical and approximate approaches. The main contributions of this thesis are: (1) A new numerical simulation method is proposed to determine moment Lyapunov exponents of fractional stochastic systems, in which three steps are involved: discretization of fractional derivatives, numerical solution of the fractional equation, and an algorithm for calculating Lyapunov exponents from small data sets. (2) Higher-order stochastic averaging method is developed and applied to investigate stochastic stability of fractional viscoelastic single-degree-of-freedom structures under white noise, real noise, or bounded noise excitation. (3) For two-degree-of-freedom coupled non-gyroscopic and gyroscopic viscoelastic systems under random excitation, the Stratonovich equations of motion are set up, and then decoupled into four-dimensional Ito stochastic differential equations, by making use of the method of stochastic averaging for the non-viscoelastic terms and the method of Larionov for viscoelastic terms. An elegant scheme for formulating the eigenvalue problems is presented by using Khasminskii and Wedig’s mathematical transformations from the decoupled Ito equations. Moment Lyapunov exponents are approximately determined by solving the eigenvalue problems through Fourier series expansion. Stability boundaries, critical excitations, and stability index are obtained. The effects of various parameters on the stochastic stability of the system are discussed. Parametric resonances are studied in detail. Approximate analytical results are confirmed by numerical simulations.

Esta tese trata das propriedades estruturais e do controle de sistemas lineares singulares sujeitos a saltos Markovianos (SLSSM). Três questões fundamentais são consideradas para esta classe de sistemas. A primeira estabelece condições necessárias para que o sistema seja estocasticamente regular em um período de tempo determinado. A segunda trata da estabilidade exponencial estocástica de SLSSM. Equações de Lyapunov acopladas generalizadas são deduzidas para caracterizar estabilidade deste tipo de sistema. Em virtude da complexidade das soluções numéricas dessas equações, cada equação de Lyapunov do conjunto acoplado está em função de duas variáveis desconhecidas, estamos propondo um algoritmo para resolver este problema. A terceira questão diz respeito à síntese de um regulador para este tipo de sistema singular definida em termos de equações algébricas generalizadas de Riccati acopladas. / This thesis deals with the structural features and with the control of singular linear systems with Markovian jump parameters (SLSMJP). Three fundamental questions are considered to this class of systems. The first provides necessary conditions to characterize stochastic regularity in a determined period of time. The second deals with exponential stability of SLSMJP. Coupled generalized Lyapunov Equations are deduced to check the stability of this class of systems. In virtue of the complexity of the numerical solutions of these equations, there exist two unknown variables for each equation of the set of coupled Lyapunov equations, we are proposing an algorithm to solve this problem. The third question is related with the synthesis of a regulator for this class of singular systems defined in terms of coupled algebraic generalized Riccati equations.

Cette thèse concerne la stabilisation exponentielle de systèmes commandés en réseaux (NCS en anglais) par retour de sortie. Les solutions proposées reposent sur un observateur distant et capable d’estimer l’état présent du processus malgré les différents retards générés par la présence du réseau. Le premier chapitre présente le contexte général des NCS et décrit plus particulièrement le problème étudié. Le chapitre suivant propose une architecture informatique permettant de réaliser un retour d’état distant basé sur une structure d’observateur. Deux autres chapitres proposent ensuite la synthèse d’un couple loi de commande / observateur garantissant des performances de convergence exponentielle. Les conditions correspondantes s’écrivent sous forme d’inégalités matricielles linéaires (LMI en anglais) et permettent donc une optimisation. Ces conditions sont basées sur la méthode des fonctionnelles de Lyapunov-Krasovskii et des résultats originaux sont proposés. Une première synthèse peut être effectuée globalement, une seconde permet d’adapter les performances dynamiques à la qualité de service disponible à chaque instant. La seconde approche fait intervenir des résultats originaux sur les systèmes à retards et à commutations. Dans un dernier chapitre, nous proposons une solution complètement asynchrone (gérée par événements). Dans ce cas, le problème des pertes de paquets devient crucial et nous y apportant une réponse. L’ensemble des résultats est confirmé par des expérimentations mises au point dans le cadre de ce travail, et correspondant à un robot léger commandé en temps réel à 40km de distance par Internet / This PhD thesis is dedicated to the exponential output stabilization of linear NCS (Networked Control Systems). The studied solution is based on a remote observer which is able to estimate the present state of the plant despite the various network induced delays. These last are present in both the control and the measurement channels.The first chapter describes the problem and gives a survey on the NCS. The next chapter proposes a computer structure which realizes the remote, observer-based, state feedback controller. The following two chapters propose LMI conditions (Linear Matrix Inequalities) for the design of the observer-based remote controller. The second method of Lyapunov is used with the most up-to-date Lyapunov-Krasovskii functionals. The main objective of the design is to guarantee some performances expressed in the form of exponential stability. Then some enhancements of the control strategy are given. It consists in taking into account the Quality of Service (QoS) in the controller to get better guaranteed performances. The last contribution of this work is to consider the overall system as an event-driven system. It allows one to consider packet dropout problems in the network.The effectiveness of all presented results is demonstrated by real experiments implemented on a light robot controlled over the Internet