Observers are used in the monitoring and control of dynamical systems to deduce the values of unmeasured states. Designing an observer requires having an accurate model of the plant — if the model parameters are characterized imprecisely, the observer may not provide reliable estimates. An interval observer, which comprises an upper and lower observer, bounds the plant's states from above and below, given the range of values of the imprecisely characterized parameters, i.e., it defines an interval in which the plant's states must lie at any given instant. We propose a linear programming-based method of interval observer design for two cases: 1) only the initial conditions of the plant are uncertain; 2) the dynamical parameters are also uncertain. In the former, we optimize the transient performance of the interval observers, in the sense that the volume enclosed by the interval is minimized. In the latter, we optimize the steady state performance of the interval observers, in the sense that the norm of the width of the interval is minimized at steady state. Interval observers are typically designed to characterize the widest interval that bounds the states. This thesis proposes an interval observer design method that utilizes additional, but still-incomplete information, that enables the designer to identify tighter bounds on the uncertain parameters under certain operating conditions. The number of bounds that can be refined defines a class of systems. The definition of this class is independent of the specific parameters whose bounds are refined. Applying robust optimization techniques, under a cardinality constrained model of uncertainty, we design a single observer for an entire class of systems. These observers guarantee a minimum level of performance with respect to the aforementioned metrics, as we optimize the worst-case performance over a given class of systems. The robust formulation allows the designer to tune the level of uncertainty in the model. If many of the uncertain parameter bounds can be refined, the nominal performance of the observer can be improved, however, if few or none of the parameter bounds can be refined, the nominal performance of the observer can be designed to be more conservative.

Det vanligaste ekonomiska styrmedlet är budgetering, budgetering används i alla branscher oavsett hur stor den externa osäkerheten är. Den här studien behandlar och granskar hur budgeteringsarbetet ser ut i organisationer som verkar i en osäker miljö, där vårt fokus riktas mot hockeyklubbarna i de två högsta hockeyligorna i Sverige.Syftet med uppsatsen är att förklara hur organisationerna i de två högsta hockeyligorna i Sverige arbetar med budgetering. I syftet ingår även att redogöra för hur organisationerna hanterar extern osäkerhet. I den teoretiska referensramen presenteras de olika definitioner och tidigare forskning som finns inom budget, budgetering samt osäkerhetsfaktorer. I studien har använts en kvalitativ metod med verktygen; personlig intervju, mejlintervju samt dokumentinsamling. Sex ekonomer som arbetar i sex olika hockeyklubbar har intervjuats via en personlig samt fem mejlintervjuer.Analysen fokuserar på den decentralisering organisationer inom hockeyligorna arbetar med i sitt budgetarbete samt hur utvecklingen ser ut. Där behandlas även miljön organisationerna verkar i samt olika osäkerhetsfaktorer. Exempel på viktiga slutsatser är att organisationer som verkar i osäkra miljöer kan dra fördel av att dela upp budgeten i mindre delar för att separera osäkerhet A från osäkerhet B samt att organisationerna inom den Svenska Hockeyligan och HockeyAllsvenskan kan dra fördel av att använda decentralisering i budgetarbetet. / The most common element of management control system is budgeting, budgeting is used in all industries no matter how big the external uncertainty is. This study will reflect on and examine how budgeting works in organizations that appear in uncertain environments, where the focus will be on the two highest rated hockey leagues in Sweden.The purpose of the study is to describe how the organizations in the two highest rated hockey leagues in Sweden work with budgeting. The purpose is also to describe how organizations manage external uncertainty. The theoretical framework presents different definitions and previous research about budget, budgeting and uncertainties. In the study we have been using a qualitative method with the tools; face-to-face interview, e-mail interview and documentary secondary data. Six economists who work in six different hockey organizations have been interviewed.The analysis focuses on the decentralization that organizations in the hockey leagues work within their budgeting and also how the development appears. It also discusses the environment in which the organizations operate and uncertainty factors. Examples of important conclusions are that organizations in uncertain environments can benefit from dividing the budget into smaller parts, separating uncertainty A from uncertainty B. The organizations in the Swedish Hockey league and HockeyAllsvenskan can also benefit from decentralization when working with their budget.

Research into observer design for non-linear discrete-time systems has produced many design methods. There is no general design method however and that provides the motivation to search for a new simple and realizable design method. In this thesis, an observer for non-linear discrete-time systems is designed using the sliding mode technique. The equation of the observer error is split into two parts; the first part being a linearized model of the system and the second part an uncertain vector. The sliding mode technique is introduced to eliminate the uncertainty caused by the uncertain vector in the observer error equation. By choosing the sliding surface and the boundary layer, the observer error is attracted to the sliding surface and stays within the sliding manifold. Therefore, the observer error converges to zero. The proposed technique is applied to two cases of observers for nonlinear discrete-time systems. The second case is chosen to be a particular practical system, namely the non-linear discrete-time ball and beam system. The simulations show that the sliding mode technique guarantees the convergence of the observer error for both systems.

In this work, we introduce several novel approaches to feedback controller design, known collectively as the “Robust Bode” methods, which adapt classical control principles to a modern robust control (H∞) framework. These methods, based on specially modified Bode diagrams extend familiar frequency-domain controller design techniques to linear and nonlinear, single–input/single– output (SISO) and multi–input/multi–output (MIMO) systems with parametric and/or unstructured uncertainties. In particular, we introduce the Contoured Robust Controller Bode (CRCBode) plots which show contours (level-sets) of a robust metric on the Bode magnitude and phase plots of the controller. An iterative loop shaping design procedure is then employed in an attempt to eliminate all intersections of the controller frequency response with certain forbidden regions indicating that a robust stability and performance criteria is satisfied. For SISO systems a robust stability and performance criterion is derived using Nyquist arguments leading to the robust metric used in the construction of the CRCBode plots. For open-loop unstable systems and for non-minimum phase systems the Youla parametrization of all internally stabilizing controllers is used to develop an alternative Robust Bode method (QBode). The Youla parametrization requires the introduction of state-space methods for coprime factorization, and these methods lead naturally to an elegant connection between linear-quadratic Gaussian (LQG) optimal control theory and Robust Bode loop-shaping controller design. Finally, the Robust Bode approach is extended to MIMO systems. Utilizing a matrix norm based robustness metric on the MIMO CRCBode plots allows cross-coupling between all input/output channels to be immediately assessed and accounted for during the design process, making sequential MIMO loop-shaping controller design feasible.

Η παρούσα διπλωματική εργασία ασχολείται με τη μελέτη και το σχεδιασμό ενός άμεσου προσαρμοστικού ελεγκτή, για μη γραμμικά συστήματα με αβεβαιότητα και εξωγενείς διαταραχές. Αρχικά παρουσιάζονται οι έννοιες του προσαρμοστικού ελέγχου, των μη γραμμικών συστημάτων και διερευνώνται οι έννοιες της ευστάθειας και των διαταραχών, με ιδιαίτερη έμφαση στην ευστάθεια κατά Lyapunov. Στη συνέχεια προτείνεται ένας προσαρμοστικός ελεγκτής για άμεσο προσαρμοστικό έλεγχο, προσαρμοστική ευστάθεια, απόρριψη διαταραχών και εκτέλεση εντολών, σε μη γραμμικά δυναμικά συστήματα πολλαπλών μεταβλητών, με αβεβαιότητα και εξωγενείς διαταραχές, ο οποίος εγγυάται μερική ασυμπτωτική ευστάθεια του συστήματος κλειστού βρόχου. Το προτεινόμενο πλαίσιο, ειδικεύεται περαιτέρω για τις περιπτώσεις όπου το μη γραμμικό σύστημα παρουσιάζεται σε κανονική μορφή, με ευσταθείς input-to-state internal dynamics, έχει μια είσοδο ή έχει εξωγενείς L2 διαταραχές. Τέλος ο προτεινόμενος ελεγκτής εφαρμόζεται σε αρκετά πειραματικά συστήματα, καθώς και στον έλεγχο της αστάθειας θερμοακουστικής καύσης. / This diploma thesis features the analysis and design of a direct adaptive controller, for nonlinear uncertain systems with exogenous disturbances. At first, we introduce the concept of adaptive control and we underline its’ need in modern applications. Also, we include a brief presentation of nonlinear systems and we inquire into the theory of stabilization and disturbances, with significant emphasis in Lyapunov’s methods. Furthermore we develop a direct adaptive control framework for adaptive stabilization, disturbance rejection, and command following of multivariable nonlinear uncertain dynamical systems with exogenous disturbances, which guarantees partial asymptotic stability of the closed-loop system. The proposed framework is further specialized for the cases where the nonlinear system is represented in normal form with input-to-state stable internal dynamics, has single-input with uncertain dynamics, or exogenous L2 disturbances .Finally we present several illustrative numerical examples and we apply our framework to the control of thermoacoustic combustion instabilities.

Made available in DSpace on 2014-06-11T19:32:15Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-02-25Bitstream added on 2014-06-13T20:23:18Z : No. of bitstreams: 1 shiotsuki_l_dr_jabo.pdf: 891833 bytes, checksum: 468cbc866a6a23448e3509fe3b956096 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / O sistema de acasalamento mais empregado na pecuária de corte extensiva é a monta a campo com o uso de reprodutores múltiplos. Este sistema traz diversas facilidades ao produtor, entretanto não permite a identificação da paternidade das crias, impossibilitando a comparação do desempenho reprodutivo e produtivo dos diferentes touros, o que afeta negativamente as avaliações genéticas e o progresso genético pela seleção. Objetivou-se com este trabalho comparar metodologias estatísticas que permitam considerar rotineiramente o uso da informação de acasalamentos com touros múltiplos na avaliação genética. Para tanto, foram analisados registros de ganhos de pesos pós-desmama e peso ao sobreano, mensurados em machos e fêmeas de animais da raça Nelore, nascidos no período de 1984 a 2006. Foram aplicados diferentes procedimentos estatísticos que consideram dados de animais com incerteza de paternidade na estimação de parâmetros e valores genéticos. As estimativas dos componentes de (co)variâncias genéticas e dos valores genéticos para os animais presentes no pedigree foram comparadas entre os diferentes procedimentos estatísticos. No capítulo 2, foram utilizados o modelo de paternidade desconhecida e o modelo de grupos genéticos para comparação. Verificou-se que o modelo de grupo genético, definido pelo intervalo de gerações dos machos deve ser usado para classificar e predizer o mérito genético dos filhos de reprodutores múltiplos. No capítulo 3, comparou-se o modelo com base na matriz de parentesco médio e o modelo hierárquico bayesiano (HIER) para incerteza de paternidade. Concluiu-se que o HIER é o modelo que melhor ajustou os dados para estimar os parâmetros genéticos de animais que possuem paternidade incerta. No capítulo 4, propôs-se uma aproximação do modelo hierárquico Bayesiano, usando procedimentos Bayesianos empíricos e máxima... / Multiple-sire (MS) mating is the most used mating system in extensive beef cattle systems. This system provides several conveniences to the farmers, but does not allow for paternity identification of the offspring, making impossible to compare the reproductive and productive performance of different bulls, negatively affecting the genetic evaluations and therefore the genetic progress. The aim of this work was to compare statistical approaches that allow for considering information from mating with multiple sires in genetic evaluation. Records from postweaning gain and long yearling weight, measured in males and females of Nellore animals, born from 1984 to 2006 were used. We applied different statistical approaches, which consider data from animals with uncertain paternity in the estimation of genetic parameters and values. The estimated values of the (co) variance components and breeding values for the animals in the pedigree were compared from the different statistical procedures. In chapter 2, we compared unknown parentage and genetic groups models. It was found that the genetic group model defined by the generation interval of males was more appropriate to predict the genetic merit of animals with unknown paternity. In chapter 3, we compared the model based on the use of an average numerator relationship matrix and a hierarchical Bayes model (HIER) accounting for uncertain paternity. We concluded that HIER was the best data fitting model to estimate genetic parameters of animals with uncertain paternity. In chapter 4, we proposed a Bayesian hierarchical model approximation, using empirical Bayesian procedures and maximum likelihood. The proposed model represented a computationally feasible alternative to calculate the probabilities of candidate sires and animal genetic effects on genetic evaluations of large datasets, when there are uncertainty paternity assignments for some animals

Orientador: Paulo Augusto Valente Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-06T11:17:31Z (GMT). No. of bitstreams: 1 Benjovengo_FabioPereira_M.pdf: 2854202 bytes, checksum: b1bccce6d2ea6efa1b55778d0fba1399 (MD5) Previous issue date: 2006 / Resumo: Esta Dissertação tem como objetivos o projeto de sistemas de controle e a análise de estabilidade de plantas lineares e invariantes no tempo imprecisamente conhecidas (com incertezas do tipo intervalar). O problema de projeto de controladores é tratado através da técnica de alocação de pólos. A técnica de alocação robusta de pólos proposta nesta Dissertação é uma extensão da técnica de projeto clássica e utiliza resultados de Análise Intervalar. A extensão proposta resulta numa equação Diofantina intervalar. Busca-se, então, a redução do raio de sua solução através do tratamento de multiincidências de elementos intervalares. Outro tema tratado é o projeto de controladores que visem o rastreamento de sinais de referência e a rejeição de distúrbios, assintoticamente. Estuda-se ainda o problema da estabilidade de sistemas intervalares formulado como o problema de encontrar uma matriz intervalar simétrica definida positiva como solução de uma equação de Lyapunov intervalar / Abstract: This Dissertation is focused on control system design and stability analysis of linear timeinvariant uncertain plants, with uncertainties of interval nature. The control system design problem is treated in the context of the pole placement technique. An extension of the classical technique to robust pole placement based on Interval Analysis is proposed. The main objective of the work is to handle multiple incidences of plant parameters in order to reduce the radii of the solutions of the resulting interval Diophantine equations. Another subject treated is the design of robust controllers for interval plants which guarantee reference tracking and disturbance rejection asymptotically. The stability of linear interval systems as the problem of finding a symmetric positive definite interval solution of an interval Lyapunov equation is also considered. / Mestrado / Engenharia Eletrica / Mestre em Engenharia Elétrica

Background: Heart failure is a chronic disease that increases among the population, despite progress in research. Living with heart failure can cause suffering and impaired health due to physical limitations in daily life. Research indicates that patients experience of living with heart failure is paid too little attention in relation to the medical treatment itself. Aim: The aim of this study was to describe patients' experiences of living with heart failure. Method: This study is based on a method to contribute to evidence-based nursing with ground in analysis of qualitative research. Eleven qualitative articles were analyzed using Fribergsfive step model. Results: Through the analysis three main themes and eight sub-themes were developed. The main themes were: The daily life changes, To be involved in your own care and Listen to your heart. Conclusion: To be diagnosed with heart failure means a life change. Therefore, it is important that the nurse is aware of the physical, and psychological effects of the disease.

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The thesis focuses on how to optimize vehicle routes for distributing logistics. This vehicle route optimization is known as a vehicle routing problem (VRP). The VRP has been extended in numerous directions for instance by some variations that can be combined. One of the extension forms of VRP is a capacitated VRP with stochastics demands (CVRPSD), where the vehicle capacity limit has a non-zero probability of being violated on any route. So, a failure to satisfy the amount of demand can appear. A strategy is required for updating the routes in case of such an event. This strategy is called as recourse action in the thesis. The main objective of the research is how to design the model of CVRPSD and find the optimal solution. The EEV (Expected Effective Value) and FCM (Fuzzy C-Means) – TSP (Travelling Salesman Problem) approaches are described and used to solve CVRPSD. Results have confirmed that the EEV approach has given a better performance than FCM-TSP for solving CVRPSD in small instances. But EEV has disadvantage, that the EEV is not capable to solve big instances in an acceptable running time because of complexity of the problem. In the real situation, the FCM –TSP approach is more suitable for implementations than the EEV because the FCM – TSP can find the solution in a shorter time. The disadvantage of this algorithm is that the computational time depends on the number of customers in a cluster.