Change-of-bases abstractions for non-linear hybrid systems

We present abstraction techniques that transform a given non-linear dynamical system into a linear system, or more generally, an algebraic system described by polynomials of bounded degree, so that invariant properties of the resulting abstraction can be used to infer invariants for the original system. The abstraction techniques rely on a change-of-bases transformation that associates each state variable of the abstract system with a function involving the state variables of the original system. We present conditions under which a given change-of-bases transformation for a non-linear system can define an abstraction. Furthermore, the techniques developed here apply to continuous systems defined by Ordinary Differential Equations (ODEs), discrete systems defined by transition systems and hybrid systems that combine continuous as well as discrete subsystems.The techniques presented here allow us to discover, given a non-linear system, if a change-of-bases transformation involving degree-bounded polynomials yielding an algebraic abstraction exists. If so, our technique yields the resulting abstract system, as well. Our techniques enable the use of analysis techniques for linear systems to infer invariants for non-linear systems. We present preliminary evidence of the practical feasibility of our ideas using a prototype implementation.     

SimHPN: A MATLAB toolbox for simulation, analysis and design with hybrid Petri nets

This paper presents a MATLAB embedded package for hybrid Petri nets called SimHPN. It offers a collection of tools devoted to simulation, analysis and synthesis of dynamical systems modeled by hybrid Petri nets. The package supports several server semantics for the firing of both, discrete and continuous, types of transitions. Besides providing different simulation options, SimHPN offers the possibility of computing steady state throughput bounds for continuous nets. For such a class of nets, optimal control and observability algorithms are also implemented. The package is fully integrated in MATLAB which allows the creation of powerful algebraic, statistical and graphical instruments that exploit the routines available in MATLAB.     

Modelling and Verification using Linear Hybrid Automata -- a Case Study

This paper discusses the use of hybrid automata to specify and verify embedded distributed systems, that consist of both discrete and continuous components. The basis of the evaluation is an automotive control system, which controls the height of an automobile by pneumatic suspension. It has been proposed by BMW AG as a case study taken from a current industrial development. Essential parts of the system have been modelled as hybrid automata and for appropiate ions several safety properties have been verified. The verification has been performed using HYTECH, a symbolic model checker for linear hybrid automata. The paper discusses the general appropiateness of hybrid automata to specify hybrid systems as well as advantages and drawbacks of the applied model-checking techniques.     

Relaxation Results for Hybrid Inclusions

The Filippov–Wa?ewski relaxation theorem describes when the set of solutions to a differential inclusion is dense in the set of solutions to the relaxed (convexified) differential inclusion. This paper establishes relaxation results for a broad range of hybrid systems which combine differential inclusions, difference inclusions, and constraints on the continuous and discrete motions induced by these inclusions. The relaxation results are used to deduce continuous dependence on initial conditions of the sets of solutions to hybrid systems.     

Nonregressivity in switched linear circuits and mechanical systems

We analyze several examples of switched linear circuits and a switched spring–mass system to illustrate the physical manifestations of regressivity and nonregressivity for discrete and continuous time systems as well as hybrid discrete/continuous systems from a time scales perspective. These examples highlight the role that nonregressivity plays in modeling and applications, and they point out a fascinating dichotomy between purely continuous systems and discrete, continuous, or hybrid systems. We conclude with a physically realizable null space criterion for inducing nonregressivity.     

Hybrid and Hybrid Adaptive Petri Nets: On the computation of a Reachability Graph

Petri Nets (PNs) constitute a well known family of formalisms for the modelling and analysis of Discrete Event Dynamic Systems (DEDS). As general formalisms for DEDS, PNs suffer from the state explosion problem. A way to alleviate this difficulty is to relax the original discrete model and deal with a fully or partially continuous model. In Hybrid Petri Nets (HPNs), transitions can be either discrete or continuous, but not both. In Hybrid Adaptive Petri Nets (HAPNs), each transition commutes between discrete and continuous behaviour depending on a threshold: if its load is higher than its threshold, it behaves as continuous; otherwise, it behaves as discrete. This way, transitions adapt their behaviour dynamically to their load. This paper proposes a method to compute the Reachability Graph (RG) of HPNs and HAPNs.     

Robust state estimation and fault diagnosis for uncertain hybrid nonlinear systems

Robust state estimation and fault diagnosis are challenging problems in the research of hybrid systems. In this paper, a novel robust hybrid observer is proposed for a class of uncertain hybrid nonlinear systems with unknown mode transition functions, model uncertainties and unknown disturbances. The observer consists of a mode observer for discrete mode estimation and a continuous observer for continuous state estimation. It is shown that the mode can be identified correctly and the continuous state estimation error is exponentially uniformly bounded. Robustness to unknown transition functions, model uncertainties and disturbances can be guaranteed by disturbance decoupling and selecting proper thresholds. The transition detectability and mode identifiability conditions are rigorously analyzed. Based on the robust hybrid observer, a robust fault diagnosis scheme is presented for faults modeled as discrete modes with unknown transition functions, and the analytical properties are investigated. Simulations of a hybrid three-tank system demonstrate that the proposed approach is effective.     

Observability of the discrete state for dynamical piecewise hybrid systems

In this paper, we deal with the observability of piecewise-affine hybrid systems. Our aim is to give sufficient conditions to observe the discrete and continuous states, in terms of algebraic and geometrical conditions. Firstly, we will give the algebraic conditions to observe the discrete state based on the switch function reconstruction for linear hybrid systems. Secondly, we will give a geometrical condition based on the transversality concept for nonlinear hybrid systems. Throughout this paper, we illustrate our propositions with examples and simulations.     

Homothecy,bifurcations, continuity and monotonicity in timed continuous Petri nets under infinite server semantics

This work studies how equilibrium markings and throughputs change in Timed Continuous Petri Net (TCPN) systems as transition firing rates vary. In particular, it analyzes the bifurcations of the former, and the discontinuities and non-monotonicities of the latter; specifically, using structural objects of the net, such as P-semiflows, T-semiflows, and configurations, among others, the following properties can be obtained. For Join Free TCPN systems, a sufficient structural condition guaranteeing that the equilibrium markings do not bifurcate when firing rates vary, is derived. A dual result is obtained for Choice Free TCPN systems. For Mono-T-Semiflow TCPN systems, the equilibrium throughput is investigated; using a time-scale (a homothetic) property it is proven that a discontinuity of the equilibrium throughput implies its non-monotonicity, even if not evident at first glance. This is a connection of two timed behavioral properties of the equilibrium throughput. Moreover, a sufficient structural condition, parametrized by the equilibrium markings, ensures its continuity under firing rate variations. It is also proven that the monotonicity of the equilibrium throughput can be characterized by the previous structural condition. The convergence of the marking evolution of TCPN systems to its equilibrium markings is also discussed.     

Modelling and well-posedness of a nonlinear hybrid system in fed-batch production of 1,3-propanediol with open loop glycerol input and pH logic control

A fed-batch fermentation of glycerol by Klebsiella pneumoniae with open loop substrate input and pH logic control is considered in this paper. We propose a nonlinear hybrid system to describe this process, which consists of discrete variables to represent the flow rate of glycerol and alkali and continuous variables for substance concentrations. The hybrid system includes both time- and state-based switchings, which are respectively determined by a pre-assigned times sequence and an output equation of the pH. It is proved that the hybrid system is non-Zeno. Some basic properties of solutions to the hybrid system are also explored, including existence, uniqueness, boundedness and continuous dependence on initial state and parameters. Additionally, a numerical simulation is carried out to show that the proposed hybrid system can describe the fed-batch culture properly.     

On properties of discrete (r, q) and (s, T) inventory systems

We consider single-item (r, q) and (s, T) inventory systems with integer-valued demand processes. While most of the inventory literature studies continuous approximations of these models and establishes joint convexity properties of the policy parameters in the continuous space, we show that these properties no longer hold in the discrete space, in the sense of linear interpolation extension and L^?-convexity. This nonconvexity can lead to failure of optimization techniques based on local optimality to obtain the optimal inventory policies. It can also make certain comparative properties established previously using continuous variables invalid. We revise these properties in the discrete space.     

Hybrid Dynamics of Stochastic π-Calculus

In this paper we describe a method to map stochastic π-calculus processes in chemical ground form into hybrid automata. Hybrid automata are tools widely employed to model systems characterized by both discrete and continuous evolution and their use in the context of Systems Biology allows us to address rather fundamental issues. Specifically, the key ingredient we use in this work is the possibility granted by hybrid automata to implement a separation of control and molecular terms in biochemical systems. The computational counterpart of our analysis turns out to be related to the determination of conservation properties of the system.      

Floquet theory for a Volterra integro-dynamic system

In this paper, we study periodic linear Volterra systems on periodic time scales which include not only discrete and continuous dynamical systems but also systems with a mixture of discrete and continuous parts (e.g. hybrid dynamical systems). We discuss the relationship between the solution of the Volterra integro-dynamic system and the limiting equation of the corresponding system. We also develop integrability conditions of the resolvent of Volterra integro-dynamic systems.     

Sharp error estimate of Grünwald-Letnikov scheme for a multi-term time fractional diffusion equation

Mixed and hybrid finite element discretizations for distributed optimal control problems governed by an elliptic equation are analyzed. A cost functional keeping track of both the state and its gradient is studied. A priori error estimates and super-convergence properties for the continuous and discrete optimal states, adjoint states, and controls will be given. The approximating finite-dimensional systems will be solved by adding penalization terms for the state and the associated Lagrange multipliers. In general, performing optimization, discretization, hybridization, and penalization in any order lead to the same optimality system. Numerical examples based on the Raviart–Thomas finite elements will be presented.

     

A unified Floquet theory for discrete, continuous, and hybrid periodic linear systems

In this paper, we study periodic linear systems on periodic time scales which include not only discrete and continuous dynamical systems but also systems with a mixture of discrete and continuous parts (e.g. hybrid dynamical systems). We develop a comprehensive Floquet theory including Lyapunov transformations and their various stability preserving properties, a unified Floquet theorem which establishes a canonical Floquet decomposition on time scales in terms of the generalized exponential function, and use these results to study homogeneous as well as nonhomogeneous periodic problems. Furthermore, we explore the connection between Floquet multipliers and Floquet exponents via monodromy operators in this general setting and establish a spectral mapping theorem on time scales. Finally, we show this unified Floquet theory has the desirable property that stability characteristics of the original system can be determined via placement of an associated (but time varying) system?s poles in the complex plane. We include several examples to show the utility of this theory.     

Hybrid observer design for linear switched system via Differential Petri Nets

The aim of this paper is to propose a hybrid observer design for linear switched systems modelled either via Differential Petri Nets (DPN) or via Timed Differential Petri Nets (TDPN). The switched systems, herein, considered are characterized by switching laws that can depend on the continuous states or on both of a given dwell time and the continuous states. In addition, the structure of the proposed observers is based on a discrete observer and a continuous observer on interaction. The discrete observer reconstructs the discrete mode, by estimating both of the discrete marking and the firing vector. Once, the active mode is obtained, the continuous states are estimated. Finally, the outputs of the continuous observer are used to update the marking and the firing vector. At the end of the paper, several simulation results are presented to illustrate the proposed approach.     

On the expressiveness and decidability of o-minimal hybrid systems

This paper is driven by a general motto: bisimulate a hybrid system by a finite symbolic dynamical system. In the case of o-minimal hybrid systems, the continuous and discrete components can be decoupled, and hence, the problem reduces in building a finite symbolic dynamical system for the continuous dynamics of each location. We show that this can be done for a quite general class of hybrid systems defined on o-minimal structures. In particular, we recover the main result of a paper by G. Lafferriere, G.J. Pappas, and S. Sastry, on o-minimal hybrid systems. We also provide an analysis and extension of results on decidability and complexity of problems and constructions related to o-minimal hybrid systems.     

Using Wavelets for the Detection of Discrete Events in Time Series of Hybrid Systems

This contribution deals with the use of wavelets for the analysis of time series of systems which are hybrid in the sense that they contain discrete and continuous dynamics. We focus on the detection of discrete events which is an important step in the identification of hybrid systems. A brief overview of the characteristics of the wavelet transform is given, which shows that the wavelet transform is an appropriate method for the analysis of time series of hybrid systems. By the combination of two wavelet-based analysis techniques, a two-step procedure is obtained which allows the detection of switching points in the presence of weak noise. In this context, emphasis is given to the problems which arise when the theoretical results are used to detect discrete events in real time series. The procedure is demonstrated for a time series obtained from the simulation of a nonlinear laboratory plant.     

Discrete quantity approach to continuous simulation modelling

Traditionally, simulation executives have been divided into discrete-event and continuous-time executives. Some systems require modelling using both discrete and continuous parts. Hybrid simulation executives have the drawback that they treat discrete and continuous parts of a system in completely different ways. Here it is shown how continuous models may be simulated using a discrete executive: the novel discrete quantity approach (DQA). The method could also be used to allow a continuous part to be added to a discrete model without the need for a hybrid executive.