Adaptive control of uncertain coupled mechanical systems with application to base-isolated structures

A problem of feedback stabilization is addressed for a class of uncertain nonlinear mechanical systems with n degrees of freedom and n_c < n control inputs. Each system of the class has the structure of two coupled subsystems with n_c and n_r degrees of freedom, respectively, a prototype being an uncertain base isolated building structure with n degrees of freedom actively controlled via actuators applying forces to specific degrees of freedom of the base movement, n_c < n in number. A nonlinear adaptive feedback strategy is described, which, under appropriate assumptions on the system uncertainties, guarantees a form of practical stability of the zero state. Numerical simulations are also presented to illustrate the application of the control strategy to a base isolated building.     

Local trace forms

Let F be a local field of characteristic ≠2 and K a Galois extension field of F of degree n. Then K can be viewed as a quadratic space over F under the bilinear form T(xy)=tr_K/Fxy for xyεK. The invariants of this form are given in the case when n is odd; when n is even and F is nondyadic; and when n is evesF dyadic, and K/F is unramifed.     

Soliton interactions of integrable models

The solution of integrable (n+1)-dimensional KdV system in bilinear form yields a dromion solution that is localized in all directions. The interactions between two dromions are studied both in analytical and in numerical for three (n+1)-dimensional KdV-type equations (n=1, 2, 3). The same interactive properties between two dromions (solitons) are revealed for these models. The interactions between two dromions (solitons) may be elastic or inelastic for different form of solutions.     

Homogenization of Elliptic Problems with Neumann Boundary Conditions in Non-smooth Domains

We consider a family of second-order elliptic operators {L_ε} in divergence form with rapidly oscillating and periodic coefficients in Lipschitz and convex domains in R~n. We are able to show that the uniform W~(1,p) estimate of second order elliptic systems holds for 2n/(n+1)-δ p 2n/(n-1)+ δ where δ 0 is independent of ε and the ranges are sharp for n = 2, 3. And for elliptic equations in Lipschitz domains, the W~(1,p) estimate is true for 3/2-δ p 3 + δ if n ≥ 4, similar estimate was extended to convex domains for 1 p ∞.     

Separable Systems of Coordinates for Triangular Newton Equations

Triangular form of Newton equations is a strong property. Together with the existence of a single quadratic with respect to velocities integral of motion, it usally implies existence of further n − 1 integrals that are also quadratic. These integrals make the triangular system separable in new type of coordinates. The separation coordinates are built of quadric surfaces that are nonorthogonal and noconfocal and can intersect along lower dimensional singular manifolds. We present here separability theory for n -dimensional triangular systems and analyze the structure of separation coordinates in two and three dimensions.     

Higher-Dimensional Integrable Newton Systems with Quadratic Integrals of Motion

Newton systems     , with integrals of motion quadratic in velocities, are considered. We show that if such a system admits two quadratic integrals of motion of the so-called cofactor type , then it has in fact n quadratic integrals of motion and can be embedded into a  (2 n + 1)  -dimensional bi-Hamiltonian system, which under some non-degeneracy assumptions is completely integrable. The majority of these cofactor pair Newton systems are new, but they also include conservative systems with elliptic and parabolic separable potentials, as well as many integrable Newton systems previously derived from soliton equations. We explain the connection between cofactor pair systems and solutions of a certain system of second-order linear PDEs (the fundamental equations ), and use this to recursively construct infinite families of cofactor pair systems.     

Further results on irregular, critical perfect systems of difference sets II: systems without splits

An (m, n; u, v; c)-system is a collection of components, m of valency u−1 and n of valency v−1, whose difference sets form a perfect system with threshold c. If there is an (m, n; 3, 6; c)-system, then m2c−1; and if there is a (2c−1, n; 3, 6; c)-system, then 2c−1n. For all sufficiently large c, there are (2c−1, n; 3, 6; c)-systems with a split at 3c+6n−1 at least when n=1, 5, 6 and 7, but such systems do not exist for n=2, 3 or 4.

We describe here a general method of construction for (2c−1, n; 3, 6; c)-systems and use it to show that there are such systems for 2n4 and certain values of c depending on n. We also discuss the limitations of this method.     

Linear Hamiltonian Systems: Quadratic Integrals,Singular Subspaces and Stability

A chain of quadratic first integrals of general linear Hamiltonian systems that have not been represented in canonical form is found. Their involutiveness is established and the problem of their functional independence is studied. The key role in the study of a Hamiltonian system is played by an integral cone which is obtained by setting known quadratic first integrals equal to zero. A singular invariant isotropic subspace is shown to pass through each point of the integral cone, and its dimension is found. The maximal dimension of such subspaces estimates from above the degree of instability of the Hamiltonian system. The stability of typical Hamiltonian systems is shown to be equivalent to the degeneracy of the cone to an equilibrium point. General results are applied to the investigation of linear mechanical systems with gyroscopic forces and finite-dimensional quantum systems.     

Trace forms of normal extensions over local fields

Let k be a local field of char(k)≠2 and K/k a finite field extension of degree n. Then K can be viewed as a quadratic space of k under the quadratic form T(X) =tr_K/k(x²). The invariants of this form are given in the case when K/k is a Galois extension, except for Galois extensions K/k with k dyadicn divisible by 4 and the 2-Sylowgroups of the Galois group are non-cyclic. Conversely all quadratic forms of a local field k of char(k)≠ 2 which appear as trace forms of Galois extensions of k are determined.     

Systems of first-order chemical reactions

We consider the classical model in chemical kinetics of a system of n species in which each species is converted to every other species by a first-order reaction. Solutions to the initial-value problem are given in matrix form and the properties of the n × n matrix K representing the system are analysed. For arbitrary (i.e. non-negative) values of the first-order rate constants, zero is an eigenvalue, and the other eigenvalues are complex with negative real parts. Thus, in this case the system generally oscillates to equilibrium. However, if the principle of microscopic reversibility is applied, and if each species is converted directly to every other species, then the system cannot oscillate but must converge “exponentially” to equilibrium. We discuss when K is diagonalizable, and we calculate a bound for the eigenvalues of K. Special forms of K, corresponding to special systems of reactions, are also examined; these include reactions in the configuration of a “chain”, a “cycle”, a “node” and reactions comprising combinations of these. We find again that if the principle of microscopic reversibility is rigorously applied then oscillations cannot take place, but that if this principle is not applied then oscillations may take place. The system of rate equations considered can be used to model various chemical, physical and biological phenomena.     

First integrals of local analytic differential systems

We investigate formal and analytic first integrals of local analytic ordinary differential equations near a stationary point. A natural approach is via the Poincaré–Dulac normal forms: If there exists a formal first integral for a system in normal form then it is also a first integral for the semisimple part of the linearization, which may be seen as “conserved” by the normal form. We discuss the maximal setting in which all such first integrals are conserved, and show that all first integrals are conserved for certain classes of reversible systems. Moreover we investigate the case of linearization with zero eigenvalues, and we consider a three-dimensional generalization of the quadratic Dulac–Frommer center problem.     

The stability of a class of reversible systems

The problem of the stability of the point of rest of an autonomous system of ordinary differential equations from a class of reversible systems [1] characterized by the critical case of m zero roots and n pairs of pure imaginary roots is considered. When there are no internal resonances [2, 3], the point of rest always has Birkhoff complete stability [2]. Internal resonances may lead to Lyapunov instability. The conditions of stability and instability of the model system when there are third-order resonances may be obtained from a criterion previously developed [4] for the case of pure imaginary roots. The results are used to analyse the stability of the translational-rotational motion of an active artificial satellite in a non-Keplerian circular orbit, including a geostationary satellite in any latitude [4, 5]. The region of stability of relative equilibria and regular precession of the satellite is constructed assuming a central gravitational field and the resonance modes are analysed.     

Extending the notions of companion and infinite companion to matrix polynomials

The notion of infinite companion matrix is extended to the case of matrix polynomials (including polynomials with singular leading coefficient). For row reduced polynomials a finite companion is introduced as the compression of the shift matrix. The methods are based on ideas of dilation theory. Connections with systems theory are indicated. Applications to the problem of linearization of matrix polynomials, solution of systems of difference and differential equations and new factorization formulae for infinite block Hankel matrices having finite rank are shown. As a consequence, any system of linear difference or differential equations with constant coefficients can be transformed into a first order system of dimension n = deg det D.     

Controllability and observability in the problem of stabilizing steady motions of non-holonomic mechanical systems with cyclic coordinatest

The approach to the solution of stabilization problems for steady motions of holonomic mechanical systems [1, 2] based on linear control theory, combined with the theory of critical cases of stability theory, is used to solve the analogous problems for non-holonomic systems. It is assumed that the control forces may affect both cyclic and positional coordinates, where the number r of independent control inputs may be considerably less than the number n of degrees of freedom of the system, unlike in many other studies (see, e.g., [3–5]), in which as a rule r = n. Several effective new criteria of controllability and observability are formulated, based on reducing the problem to a problem of less dimension. Stability analysis is carried out for the trivial solution of the complete non-linear system, closed by a selected control. This analysis is a necessary step in solving the stabilization problem for steady motion of a non-holonomic system (unlike holonomic systems), since in most cases such a system is not completely controllable.     

Hermitian quadratic eigenvalue problems of restricted rank

We consider a quadratic eigenvalue problem such that the second order term is a Hermitian matrix of rank r, the linear term is the identity matrix, and the constant term is an arbitrary Hermitian matrix . Of the n+r solutions that this problem admits, we show at least n-r to be real and located in specific intervals defined by the eigenvalues of A, whence at most 2r are nonreal occuring in possibly repeated conjugate pairs.     

On stability in the presence of multiple resonance of odd order

The stability of the trivial solution of an autonomous system of ordinary differential equations is investigated in the critical case of n pairs of pure imaginary roots when odd-order multiple resonance is present. All possible cases of the presence of a third-order double resonance are examined for a canonic system. The stability problem for the relative equilibrium of a satellite on a circular orbit is analyzed as an example.     

On instability in the presence of several resonances : PMM vol. 43, no. 6, 1979, pp. 970–974

The equilibrium position stability of an autonomous system of ordinary differential equations is considered in the case of n pairs of pure imaginary roots with the simultaneous presence of several resonances. It is shown using Chetaev's theorem [1] that when among the solutions of the model system there are increasing solutions of the invariant ray type, the complete system is Liapunov unstable.     

Explicit and exact special solutions for BBM-like B(m, n) equations with fully nonlinear dispersion

In this paper, the BBM-like equations with fully nonlinear dispersion, B(m, n) equations: u_t + (u^m)_x − (uⁿ)_xxt = 0 which exhibit solutions with compact support and with solitary patterns, are studied. The exact solitary-wave solutions with compact support and exact special solutions with solitary patterns of the equations are found by a new method. The special cases, B(2, 2) and B(3, 3), are used to illustrate the concrete scheme of our approach presented by this paper in B(m, n) equations. The nonlinear equations B(m, n) are addressed for two different cases, namely when m = n being odd and even integers. General formulas for the solutions of B(m, n) equations are established.     

The connection between thermodynamic entropy and probability

Ergodic Hamiltonian systems with an arbitrary number of degrees of freedom n are considered. A relation is derived connecting the distribution function of the system characteristics with the entropy. It is shown that as n → ∞ it reduces to Einstein's formula /1/. A variational principle for the distribution function, which reduces to the maximum-uncertainty principle as n → ∞ is derived. The principle of maximum entropy for Hamiltonian systems is formulated.     

Integral variational principles in Poincaré and Chetayev variables

A holonomic mechanical system with k degrees of freedom is considered, its state being characterized by n k defining coordinates, p < k Poincaré parameters [1] and k - p Chetayev parameters [2]. In these variables, generalized Routh equations are introduced and expressions are given for the integral variational principles of Hamilton-Ostrogradskii and Hamilton (the third form), as well as Hölder's principle and the Lagrange and Jacobi versions of the principle of least action.