Local observer design for nonlinear systems

This paper is a geometric study of the local observer design for nonlinear systems. First, we obtain necessary and sufficient conditions for local exponential observers for Lyaupnov stable nonlinear systems. We also show that the definition of local exponential observers can be considerably weakened for neutrally stable nonlinear systems. As an application of our local observer design, we consider a class of nonlinear systems with an input generator (exosystem) and show that for this class of nonlinear systems, under some stability assumptions, the existence of local exponential observers in the presence of inputs implies and is implied by the existence of local exponential observers in the absence of inputs.     

Observer design for discrete-time nonlinear systems

This paper is a geometric study of the observer design for discrete-time nonlinear systems. First, we obtain necessary and sufficient conditions for local exponential observers for Lyaupnov stable discrete-time nonlinear systems. We also show that the definition of local exponential observers can be considerably weakened for neutrally stable discrete-time nonlinear systems. As an application of our local observer design, we consider a class of discrete-time nonlinear systems with an input generator (exosystem) and show that for this class of nonlinear systems, under some stability assumptions, the existence of local exponential observers in the presence of inputs implies and is implied by the existence of local exponential observers in the absence of inputs.     

General observers for discrete-time nonlinear systems

This paper is a geometric study of finding general exponential observers for discrete-time nonlinear systems. Using center manifold theory for maps, we derive necessary and sufficient conditions for general exponential observers for Lyapunov stable discrete-time nonlinear systems. As an application of our characterization of general exponential observers, we give a construction procedure for identity exponential observers for discrete-time nonlinear systems.     

New results on general observers for nonlinear systems

In this paper, we establish that detectability is a necessary condition for the existence ofgeneral observers (asymptotic or exponential) for nonlinear systems. Using this necessary condition, we show that there does not exist any general observer (asymptotic or exponential), for nonlinear systems with real parametric uncertainty, if the state equilibrium does not change with the parameter values and if the plant output function is purely a function of the state. Next, using center manifold theory, we derive necessary and sufficient conditions for the existence of general exponential observers for Lyapunov stable nonlinear systems. As an application of this result, we show that for the existence of general exponential observers for Lyapunov stable nonlinear systems, the dimension of the state of the general exponential observer should not be less than the number of critical eigenvalues of the linearization matrix of the state dynamics of the plant.     

New results on general observers for discrete-time nonlinear systems

In this paper, we establish that detectability is a necessary condition for the existence of general observers (asymptotic or exponential) for discrete-time nonlinear systems. Using this necessary condition, we show that there does not exist any general observer (asymptotic or exponential) for discrete-time nonlinear systems with real parametric uncertainty, if the state equilibrium does not change with the parameter values and if the plant output function is purely a function of the state. Next, using center manifold theory for maps, we derive necessary and sufficient conditions for the existence of general exponential observers for Lyapunov stable discrete-time nonlinear systems. As an application of this result, we show that for the existence of general exponential observers for Lyapunov stable discrete-time nonlinear systems, the dimension of the state of the general exponential observer should not be less than the number of critical eigenvalues of the linearization matrix of the state dynamics of the plant.     

A counterexample for the global separation principle for discrete-time nonlinear systems

In the control systems literature, it is well known that a separation principle holds locally for nonlinear control systems, when exponential feedback stabilizers and exponential observers are used. In this paper, we present a counterexample to show that the global separation principle need not hold for nonlinear control systems. Our example demonstrates that global stability might be lost when an exponential observer is introduced into the nonlinear feedback loop associated with an exponentially stabilizing feedback control law.     

Positive invertibility of matrices and stability of Itô delay differential equations

We study the global exponential p-stability (1 ≤ p < ∞) of systems of Itô nonlinear delay differential equations of a special form using the theory of positively invertible matrices. To this end, we apply a method developed by N.V. Azbelev and his students for the stability analysis of deterministic functional-differential equations. We obtain sufficient conditions for the global exponential 2p-stability (1 ≤ p < ∞) of systems of Itô nonlinear delay differential equations in terms of the positive invertibility of a matrix constructed from the original system. We verify these conditions for specific equations.     

一类四阶非线性系统的李雅普诺夫函数构造和零解稳定性

计算出了四阶常系数线性系统的各种形式的李雅普诺夫函数,并将四阶非线性系统化成它的等价系统,通过类比的方法构造出一类四阶非线性系统的李雅普诺夫函数,从而获得该系统零解全局渐近稳定的充分条件.     

Asymptotic behavior of Timoshenko beam with dissipative boundary feedback

This paper is concerned with the stabilization problem of Timoshenko beam in the presence of linear dissipative boundary feedback controls. Using C₀-semigroups theory we establish the existence and the uniqueness of solution of the proposed closed loop system. In order to consider the asymptotic behavior of the closed loop system, we first discuss the existence of nonzero solution of a closely related boundary value problem. Then we derive various necessary and sufficient conditions for the system to be asymptotically stable. Finally, we prove the equivalence between the exponential stability and the asymptotic stability for the closed loop system.     

Stability by the linear approximation for discrete equations

This paper is concerned with exponential stability of solutions of perturbed discrete equations. For a given m>1 we will provide necessary and sufficient conditions for exponential stability of all perturbed systems with perturbation of order m under the assumption that the unperturbed linear system is exponentially stable. Basing on this result we obtained necessary and sufficient conditions for exponential stability of the perturbed system for all perturbations of order m>1 for regular systems. Our results are expressed in terms of regular coefficients of the unperturbed system.     

Optimality conditions for various efficient solutions involving coderivatives: From set-valued optimization problems to set-valued equilibrium problems

We present a new approach to the study of a set-valued equilibrium problem (for short, SEP) through the study of a set-valued optimization problem with a geometric constraint (for short, SOP) based on an equivalence between solutions of these problems. As illustrations, we adapt to SEP enhanced notions of relative Pareto efficient solutions introduced in set optimization by Bao and Mordukhovich and derive from known or new optimality conditions for various efficient solutions of SOP similar results for solutions of SEP as well as for solutions of a vector equilibrium problem and a vector variational inequality.We also introduce the concept of quasi weakly efficient solutions for the above problems and divide all efficient solutions under consideration into the Pareto-type group containing Pareto efficient, primary relative efficient, intrinsic relative efficient, quasi relative efficient solutions and the weak Pareto-type group containing quasi weakly efficient, weakly efficient, strongly efficient, positive properly efficient, Henig global properly efficient, Henig properly efficient, super efficient and Benson properly efficient solutions. The necessary conditions for Pareto-type efficient solutions and necessary/sufficient conditions for weak Pareto-type efficient solutions formulated here are expressed in terms of the Ioffe approximate coderivative and normal cone in the Banach space setting and in terms of the Mordukhovich coderivative and normal cone in the Asplund space setting.     

Single Basepoint Subdivision Schemes for Manifold-valued Data: Time-Symmetry Without Space-Symmetry

This paper establishes smoothness results for a class of nonlinear subdivision schemes, known as the single basepoint manifold-valued subdivision schemes, which shows up in the construction of wavelet-like transform for manifold-valued data. This class includes the (single basepoint) Log–Exp subdivision scheme as a special case. In these schemes, the exponential map is replaced by a so-called retraction map f from the tangent bundle of a manifold to the manifold. It is known that any choice of retraction map yields a C ² scheme, provided the underlying linear scheme is C ² (this is called “C ² equivalence”). But when the underlying linear scheme is C ³, Navayazdani and Yu have shown that to guarantee C ³ equivalence, a certain tensor P _f associated to f must vanish. They also show that P _f vanishes when the underlying manifold is a symmetric space and f is the exponential map. Their analysis is based on certain “C ^k  proximity conditions” which are known to be sufficient for C ^k  equivalence. In the present paper, a geometric interpretation of the tensor P _f is given. Associated to the retraction map f is a torsion-free affine connection, which in turn defines an exponential map. The condition P _f =0 is shown to be equivalent to the condition that f agrees with the exponential map of the connection up to the third order. In particular, when f is the exponential map of a connection, one recovers the original connection and P _f vanishes. It then follows that the condition P _f =0 is satisfied by a wider class of manifolds than was previously known. Under the additional assumption that the subdivision rule satisfies a time-symmetry, it is shown that the vanishing of P _f implies that the C ⁴ proximity conditions hold, thus guaranteeing C ⁴ equivalence. Finally, the analysis in the paper shows that for k≥5, the C ^k  proximity conditions imply vanishing curvature. This suggests that vanishing curvature of the connection associated to f is likely to be a necessary condition for C ^k equivalence for k≥5.     

A theory for n-dimensional nonlinear dynamics on continuous vector fields

This paper systematically presents a theory for n-dimensional nonlinear dynamics on continuous vector fields. In this paper, a different view to look into the fundamental theory in dynamics is presented. The ideas presented herein are less formal and rigorous in an informal and lively manner. The ideas may give some inspirations in the field of nonlinear dynamics. The concepts of local and global flows are introduced to interpret the complexity of flows in nonlinear dynamic systems. Further, the global tangency and transversality of flows to the separatrix surface in nonlinear dynamical systems are discussed, and the corresponding necessary and sufficient conditions for such global tangency and transversality are presented. The ε-domains of flows in phase space are introduced from the first integral manifold surface. The domain of chaos in nonlinear dynamic systems is also defined, and such a domain is called a chaotic layer or band. The first integral quantity increment is introduced as an important quantity. Based on different reference surfaces, all possible expressions for the first integral quantity increment are given. The stability of equilibriums and periodic flows in nonlinear dynamical systems are discussed through the first integral quantity increment. Compared to the Lyapunov stability conditions, the weak stability conditions for equilibriums and periodic flows are developed. The criteria for resonances in the stochastic and resonant, chaotic layers are developed via the first integral quantity increment. To discuss the complexity of flows in nonlinear dynamical systems, the first integral manifold surface is used as a reference surface to develop the mapping structures of periodic and chaotic flows. The invariant set fragmentation caused by the grazing bifurcation is discussed. The global grazing bifurcation is a key to determine the global transversality to the separatrix. The local grazing bifurcation on the first integral manifold surface in a single domain without separatrix is a mechanism for the transition from one resonant periodic flow to another one. Such a transition may occur through chaos. The global grazing bifurcation on the separatrix surface may imply global chaos. The complexity of the global chaos is measured by invariant sets on the separatrix surface. The invariant set fragmentation of strange attractors on the separatrix surface is central to investigate the complexity of the global chaotic flows in nonlinear dynamical systems. Finally, the theory developed herein is applied to perturbed nonlinear Hamiltonian systems as an example. The global tangency and tranversality of the perturbed Hamiltonian are presented. The first integral quantity increment (or energy increment) for 2n-dimensional perturbed nonlinear Hamiltonian systems is developed. Such an energy increment is used to develop the iterative mapping relation for chaos and periodic motions in nonlinear Hamiltonian systems. Especially, the first integral quantity increment (or energy increment) for two-dimensional perturbed nonlinear Hamiltonian systems is derived, and from the energy increment, the Melnikov function is obtained under a certain perturbation approximation. Because of applying the perturbation approximation, the Melnikov function only can be used for a rough estimate of the energy increment. Such a function cannot be used to determine the global tangency and transversality to the separatrix surface. The global tangency and transversality to the separatrix surface only can be determined by the corresponding necessary and sufficient conditions rather than the first integral quantity increment. Using the first integral quantity increment, limit cycles in two-dimensional nonlinear systems is discussed briefly. The first integral quantity of any n-dimensional nonlinear dynamical system is very crucial to investigate the corresponding nonlinear dynamics. The theory presented in this paper needs to be further developed and to be treated more rigorously in mathematics.     

一类非线性不确定系统的全局指数镇定

研究一类非线性不确定系统的全局指数镇定问题.提出了连续反馈控制器的设计方法,并给出一类非线性不确定系统全局指数镇定的充分条件.如果充分条件得到满足,证明了提出的连续反馈控制使得闭环系统是全局指数稳定的.实例表明了所得结果的有效性.     

A concept of nonlinear block diagonal dominance

We introduce a concept of block diagonal dominance for nonlinear functions, and discuss the relations to strictly diagonally dominant functions and M-functions. Some sufficient conditions for the new kind of functions are given. The global convergence of block asynchronous SOR-methods for finding zeros of block diagonal dominant nonlinear functions is proved.     

Q-subdifferential and Q-conjugate for global optimality

Normal cone and subdifferential have been generalized through various continuous functions; in this article, we focus on a non separable Q-subdifferential version. Necessary and sufficient optimality conditions for unconstrained nonconvex problems are revisited accordingly. For inequality constrained problems, Q-subdifferential and the lagrangian multipliers, enhanced as continuous functions instead of scalars, allow us to derive new necessary and sufficient optimality conditions. In the same way, the Legendre-Fenchel conjugate is generalized into Q-conjugate and global optimality conditions are derived by Q-conjugate as well, leading to a tighter inequality.     

Inverse spectral reconstruction problem for the convolution operator perturbed by a one-dimensional operator

We consider a one-dimensional perturbation of the convolution operator. We study the inverse reconstruction problem for the convolution component using the characteristic numbers under the assumption that the perturbation summand is known a priori. The problem is reduced to the solution of the so-called basic nonlinear integral equation with singularity. We prove the global solvability of this nonlinear equation. On the basis of these results, we prove a uniqueness theorem and obtain necessary and sufficient conditions for the solvability of the inverse problem.     

Optimization of Second-Order Discrete Approximation Inclusions

The present article studies the approximation of the Bolza problem of optimal control theory with a fixed time interval given by convex and non-convex second-order differential inclusions (P _C ). Our main goal is to derive necessary and sufficient optimal conditions for a Cauchy problem of second-order discrete inclusions (P _D ). As a supplementary problem, discrete approximation problem (P _DA ) is considered. Necessary and sufficient conditions, including distinctive transversality, are proved by incorporating the Euler-Lagrange and Hamiltonian type of inclusions. The basic concept of obtaining optimal conditions is the locally adjoint mappings (LAM) and equivalence theorems, one of the most characteristic features of such approaches with the second-order differential inclusions that are peculiar to the presence of equivalence relations of LAMs. Furthermore, the application of these results are demonstrated by solving some non-convex problem with second-order discrete inclusions.     

Exponential asymptotic stability for nonlinear neutral systems with multiple delays

In this paper, we first consider exponential properties of solutions to a class of nonlinear delay differential inequalities. Then, based on the delay differential inequalities and the variation of parameters formula, we derive the new sufficient conditions for exponential asymptotic stability of the nonlinear neutral differential systems with delay.     

Classifying foliations of 3-manifolds via branched surfaces

We use branched surfaces to define an equivalence relation on C¹ codimension one foliations of any closed orientable 3-manifold that are transverse to some fixed nonsingular flow. There is a discrete metric on the set of equivalence classes with the property that foliations that are sufficiently close (up to equivalence) share important topological properties.