Optimal feedback gains of a delayed proportional-derivative (PD) control for balancing an inverted pendulum

In the dynamics analysis and synthesis of a con-trolled system, it is important to know for what feedback gains can the controlled system decay to the demanded steady state as fast as possible. This article presents a sys-tematic method for finding the optimal feedback gains by taking the stability of an inverted pendulum system with a delayed proportional-derivative controller as an example. First, the condition for the existence and uniqueness of the stable region in the gain plane is obtained by using the D-subdivision method and the method of stability switch. Then the same procedure is used repeatedly to shrink the stable region by decreasing the real part of the rightmost charac-teristic root. Finally, the optimal feedback gains within the stable region that minimizes the real part of the rightmost root are expressed by an explicit formula. With the optimal feedback gains, the controlled inverted pendulum decays to its trivial equilibrium at the fastest speed when the initial val-ues around the origin are fixed. The main results are checked by numerical simulation.     

钟摆模型极限环的存在性研究

钟摆系统是一类典型的分段光滑系统,结合Filippov系统刻画语言,解释了当钟摆无能量补充时,钟摆最终会停止在滑动集上的原因.利用数值模拟的方法,给出钟摆系统在有能量补充时,存在极限环的条件.最后,结合环域定理证明了一般的钟摆模型存在唯一稳定的极限环.     

Commuting traces of multilinear maps on invertible elements

Let R be a unital simple ring. Under some technical restrictions, we characterize m-linear mappings G:R^m→R satisfying [G(u,…,u),u]?=?0 for all unit u∈R.     

Simple Equations Method (SEsM): Algorithm,Connection with Hirota Method,Inverse Scattering Transform Method,and Several Other Methods

The goal of this article is to discuss the Simple Equations Method (SEsM) for obtaining exact solutions of nonlinear partial differential equations and to show that several well-known methods for obtaining exact solutions of such equations are connected to SEsM. In more detail, we show that the Hirota method is connected to a particular case of SEsM for a specific form of the function from Step 2 of SEsM and for simple equations of the kinds of differential equations for exponential functions. We illustrate this particular case of SEsM by obtaining the three- soliton solution of the Korteweg-de Vries equation, two-soliton solution of the nonlinear Schrödinger equation, and the soliton solution of the Ishimori equation for the spin dynamics of ferromagnetic materials. Then we show that a particular case of SEsM can be used in order to reproduce the methodology of the inverse scattering transform method for the case of the Burgers equation and Korteweg-de Vries equation. This particular case is connected to use of a specific case of Step 2 of SEsM. This step is connected to: (i) representation of the solution of the solved nonlinear partial differential equation as expansion as power series containing powers of a “small” parameter ϵ; (ii) solving the differential equations arising from this representation by means of Fourier series, and (iii) transition from the obtained solution for small values of ϵ to solution for arbitrary finite values of ϵ. Finally, we show that the much-used homogeneous balance method, extended homogeneous balance method, auxiliary equation method, Jacobi elliptic function expansion method, F-expansion method, modified simple equation method, trial function method and first integral method are connected to particular cases of SEsM.