This thesis focuses primarily on generalizations and enhancements of the Wiener path integral (WPI) technique for stochastic response analysis and optimization of diverse nonlinear dynamic systems of engineering interest. Concisely, the WPI technique, which has proven to be a potent mathematical tool in theoretical physics, has been recently extended to address problems in stochastic engineering dynamics. Herein, the WPI technique has been significantly enhanced in terms of computational efficiency and versatility; these results are presented in Chapters 2-5. Specifically, in Chapter 2 a brief introduction to the standard WPI solution approach is outlined. In Chapter 3, a novel methodology is presented, which utilizes theoretical results from calculus of variations to extend the WPI for determining marginalized response PDFs of n-degree-of-freedom (n-DOF) nonlinear systems. The associated computational cost relates to the dimension of the PDF and is essentially independent from the dimension n of the system. In several commonly encountered cases, the aforementioned methodology improves the computational efficiency of the WPI by orders of magnitude, and exhibits a significant advantage over the commonly utilized Monte-Carlo-simulation (MCS). Moreover, in Chapter 4, an extension of the WPI technique is presented for addressing the challenge of determining the stochastic response of nonlinear dynamical systems under the presence of singularities in the diffusion matrix. The key idea behind this approach is to partition the original system into an underdetermined system of SDEs corresponding to a nonsingular diffusion matrix and an underdetermined system of homogeneous differential equations; the latter is treated as a dynamic constraint that allows for employing constrained variational/optimization solution methods. In Chapter 5, this approach is applied for the stochastic response analysis and optimization of electromechanical vibratory energy harvesters. Next, in Chapter 6, a technique from computational algebraic geometry has been developed, which is based on the concept of Gröbner basis and is capable of determining the entire solution set of systems of polynomial equations. This technique has been utilized to address diverse challenging problems in engineering mechanics. First, after formulating the WPI as a minimization problem, it is shown in Chapter 7 that the corresponding objective function is convex, and thus, convergence of numerical schemes to the global optimum is guaranteed. Second, in Chapter 8, the computational algebraic geometry technique has been applied to the challenging problem of determining nonlinear normal modes (NNMs) corresponding to multi-degree-of-freedom dynamical systems as defined in [1], and has been shown to yield improvements in accuracy compared to the standard treatment in the literature.

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering, 1956. / "June, 1956." / Includes bibliographical references (leaf 113). / Introduction: A physically realizable nonlinear system, like a linear one, is a system whose present output is a function of the past of its input. We may regard the system as a computer that operates on the past of one time function to yield the present value of another time function. Mathematically we say that the system performs a transformation on the past of its input to yield its present output. When this transformation is linear (the case of linear systems) we can take advantage of the familiar convolution integral to obtain the present output from the past of the input and the system is said to be characterized by its response to an impulse. That is, the response of a linear system to an impulse is sufficient to determine its response to any input. When the transformation is nonlinear we no longer have a simple relation like the convolution integral relating the output to the past of the input and the system can no longer be characterized by its response to an impulse since superposition does not apply. Wiener has shown, however, that we can characterize a nonlinear system by a set of coefficients and that these coefficients can be determined from a knowledge of the response of the system to shot noise excitation. Thus, shot noise occupies the same position as a probe for investigating nonlinear systems that the impulse occupies as a probe for investigating linear systems. The first section of this thesis is devoted to the Wiener theory of nonlinear system characterization. Emphasis is placed on important concepts of this theory that are used in succeeding chapters to develop a theory for determining optimum nonlinear systems. / by Amar Gopal Bose. / Sc.D.

Optimal control design and implementation for nonlinear systems is a topic of much interest. However, unlike for linear systems, for nonlinear systems explicit analytical solution for optimal feedback control is not available. Numerical techniques, on the other hand, can be used to approximate the solution of the HJB equation to find the optimal control. In this research, a computational approach is developed for finding the optimal control for nonlinear systems with polynomial vector fields based on sum of squares technique. In this research, a numerical technique is developed for optimal control of polynomial nonlinear systems. The approach follows a four-step procedure to obtain both local and approximate global optimality. In the first step, local optimal control is found by using the linearization method and solving the Algebraic Riccati equation with respect to the quadratic part of a given performance index. Next, we utilize the density function method to find a globally stabilizing polynomial nonlinear control for the nonlinear system. In the third step, we find a corresponding Lyapunov function for the designed control in the previous steps based on the Hamilton Jacobi inequality by using semidefinite programming. Finally, to achieve global optimality, we iteratively update the pair of nonlinear control and Lyapunov function based on a state-dependent polynomial matrix inequality. Numerical examples illustrate the effectiveness of the design approach.

<p> Differential Dynamic. Programming is a new method, based on Bellman's principle of optimality, for determining optimal control strategies for nonlinear systems. It has originally been developed by D.H.Jacobson. </p> <p> In this thesis a result is presented for a problem with saturation characteristics in nonlinearity solved by the Jacobson's approach. In the differential dynamic programming the principle of optimality is applied to the differential change in non-optimal cost due to small changes in state; variables instead of the cost itself. This results in modest memory requirements for its defining parameters and rapid convergence. </p> / Thesis / Master of Engineering (MEngr)

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Control of underactuated mechanical systems is of interest as it allows for control authority over all of a system's degrees of freedom without requiring actuation of the full system. In addition to this, open-loop control of a system provides the advantage of applying to systems with unmeasurable states or where sensor integration is not feasible. Vibrational control is an open-loop control strategy that uses high-frequency, high-amplitude forcing to control underactuated mechanical systems. This thesis is concerned with exploring two underactuated mechanical systems that are controlled using vibrational inputs. The first system, a 3 degrees of freedom (DOFs) 2-link mechanism with 1 actuated DOF which is an example of a vibrational control system with 1 input and 2 unactuated DOFs, is used to review analytical results of stability analysis using the averaged potential. Theoretical and numerical results are presented for the achievable stable configurations of the system and the effects of changing the physical parameters on the achievable stable configurations are studied. The primary contribution of this effort is the development of an experimental apparatus where vibrational control is implemented. The second system is a 4DOF system composed of a 2DOF spherical pendulum supported by an actuated 2DOF cart used to study the effects of multiple vibrational inputs acting on a system. Theoretical and numerical analysis results are presented for three variants of harmonic forcing applied to the two actuated degrees of freedom: 1) identical input waveforms, except for the amplitudes, 2) identical input waveforms, except for the amplitudes and a phase shift, and 3) identical input waveforms, but at different frequencies and amplitudes. The equilibrium sets under open-loop vibrational forcing are determined for all three cases. A general closed-loop vibrational control scheme is presented using proportional feedback of the unactuated coordinates superposed with the zero-mean, $T$-periodic vibrational input. / M.S. / Underactuated mechanical systems are systems where the driven degrees of freedom are fewer than the total degrees of freedom of the system. These systems can be controlled using vibrational control which is an open-loop control strategy that uses high-frequency, high-amplitude forcing to control the states of a system. An open-loop control strategy is one in which there are no measurements of the system states required in the control scheme. This allows for control of systems where sensor integration is not feasible. This thesis is concerned with exploring vibrational control of two underactuated mechanical systems. The stability of the equilibrium sets of these systems is assessed using the averaged potential, which is an energy-like quantity used to determine stability of equilibria of systems with high-frequency inputs. Theoretical and numerical results are presented for both systems and the effects of physical parameters and variants of harmonic forcing on the achievable stable configurations of the systems are studied. The two main contributions of the thesis are the development of an experimental apparatus where vibrational control is physically implemented for one system and the outline of the closed-loop vibrational control scheme.

The L2 gain of a nonlinear time-dependent system measures the maximal gain in the transfer of energy from admissible input signals to the output signals, in which both the input and output signals are measured with the L2 norm. For general nonlinear systems, obtaining a sharp estimate of the L2 gain is challenging both theoretically and numerically. In this thesis, we explore a computationally efficient way to obtain numerical estimations of L2 gains for systems with quadratic nonlinearity. The approach utilizes a recently developed method that solves a class of Hamilton-Jacobi-Bellman equations via a Taylor series-based approximation, which is scalable to high-dimensional problems given the utilization of linear tensor systems. The ideas are demonstrated through a few concrete examples that include a one-dimensional problem with an explicit energy function and several Galerkin approximations of the viscous Burgers equation. / Master of Science / With nonlinear systems that are of the form of input-output models, questions often arise as to how to measure the energy that passes through such systems and determine strategies to look for specific signals that allow the designer freedom to explore certain system behaviors. The energy comes in the form of a signal. For general nonlinear systems, obtaining a sharp estimate of such energy gain is challenging both theoretically and numerically. In this thesis, we explore a computationally efficient way to obtain numerical estimations of these gains for systems with quadratic nonlinearity. The approach combines fundamental theoretical understandings established in the literature with scalable software recently developed in approximating the solution of the underlying partial differential equation, called the Hamilton-Jacobi-Bellman (HJB) equation. In this approach, the energy gain is linked to a single scalar parameter in the HJB equation. Roughly speaking, the energy gain is the lower bound of this scalar parameter above which the HJB equation always admits a non-negative solution. Thus, it boils down to approximating the HJB solution using the software while changing this scalar parameter. We will present the theoretical foundation of the approach and illustrate the foundation through several academic examples ranging from low to relatively high dimensions.

When applying optimization techniques to complex physical systems, using very large numerical models for the solution of a system of parameter dependent partial differential equations (PDEs) is usually intractable. Surrogate models are used to provide an approximation to the high fidelity models while being computationally cheaper to evaluate. Typically, for time dependent nonlinear problems a reduced order model is built using a basis obtained through proper orthogonal decomposition (POD) and Galerkin projection of the system dynamics. In this thesis we present theoretical and numerical results for parameter dependent model reduction techniques. The methods are motivated by the need for surrogate models specifically designed for nonlinear parameter dependent systems. We focus on methods in which the projection basis also depends on the parameter through extrapolation and interpolation. Numerical examples involving 1D Burgers' equation, 2D Navier-Stokes equations and 2D Boussinesq equations are presented. For each model problem comparison to traditional POD reduced order models will also be presented. / Ph. D.

NITSOL: A Newton Iterative Solver for Nonlinear Systems describes an algorithm for solving nonlinear systems. Michael Pernice and Homer F. Walker, the authors of the paper NITSOL [3], implemented this algorithm in FORTRAN. The goal of the project has been to use the modern and robust language MATLAB to implement the NITSOL algorithm. In this paper, the main mathematical and algorithmic background for understanding NITSOL are described, and a user guide is included outlining how to use the MATLAB implementation of NITSOL. A nonlinear system example problem, the 2D Bratu problem, and the solution obtained by MATLAB NITSOL's are also included.

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