Lecture Notes in Control and Information Sciences 407

Editors: M. Thoma, F. Allgwer, M. Morari

Jean Lvine and Philippe Mllhaupt (Eds.)

Advances in the Theory of Control, Signals and Systems with Physical Modeling

ABC

Series Advisory Board

P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis

Editors Jean Lvine CAS, Unit Mathmatiques et Systmes MINES-ParisTech 35, rue Saint-Honor 77300 Fontainebleau France E-mail: jean.levine@mines-paristech.fr Philippe Mllhaupt Laboratoire dAutomatique Facult des Sciences de lIngnieur Station 9 CH-1015 Lausanne Switzerland E-mail: philippe.muellhaupt@ep.ch

ISBN 978-3-642-16134-6 DOI 10.1007/978-3-642-16135-3 Lecture Notes in Control and Information Sciences
Library of Congress Control Number: 2010936509
c

e-ISBN 978-3-642-16135-3

ISSN 0170-8643

2010 Springer-Verlag Berlin Heidelberg

This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microlm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specic statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientic Publishing Services Pvt. Ltd., Chennai, India. Printed on acid-free paper 543210 springer.com

Advances in the Theory of Control, Signals, and Systems, with Physical Modeling
Jean L evine1 and Philippe M ullhaupt2

1 Introduction
This book gathers articles that have been invited for presentation in the framework of a Bernoulli Programme, held at the Bernoulli Center in Lausanne (Switzerland) from January to June 2009. This Programme mainly consisted of three workshops aiming at reviewing the advances in the theory of control, signals, and systems, with a particular emphasis on their relationship to physical modeling. More precisely, the aim of this series of three workshops was to bring together knowledge and know-how from the communities of control, signals and systems, focus on the theoretical advances in these areas and examine the possibilities of new convergences between them, contribute to the enhancement of the dialogue between theoretical laboratories and more practically oriented units and industries. In the 60s, control, signals and systems had a common linear algebraic background and, according to their evolution, their respective backgrounds have now dramatically differed. Recovering such a common background, especially in the nonlinear context, is currently a fully open question. In most contributions, emphasis has been put on physical modeling, which serves as an Ariadnes thread between the diverse elds of interest. This idea is not new, however. As an example, mechanical system modeling, which heavily relies on analytical mechanics and in particular its conservation laws, has greatly inspired control theory. As another example, control of chemical processes also gained in the use of

1 2

Centre Automatique et Syst` emes, Unit e Math ematiques et Syst` emes, Mines-ParisTech, E-mail: jean.levine@mines-paristech.fr Laboratoire dAutomatique, Ecole Polytechnique F ed erale de Lausanne E-mail: philippe.muellhaupt@epfl.ch

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Jean L evine and Philippe M ullhaupt

sophisticated modeling software tools based on theories of mass balance conservation and entropy laws. Hence one purpose of this program was to force the interaction of probably uncorrelated disciplines thanks to these theoretical modeling aspects. Another important aspect of the conferences was to present and develop new applications of the above approaches, and contribute to the enhancement of the dialogue between theoretical laboratories and more practically oriented research units and industries, in both classical areas and emerging elds of research. The rst workshop, entitled Electrical and Mechatronical Systems Workshop looked at various applications stemming from Mechatronics, Electrical and Mechanical Engineering, such as MEMS, eletrical machines, robots and car suspension. From the modeling and methodological side, nite dimensional systems (described by ordinary differential equations or difference equations) and innite dimensional systems (delayed systems, distributed systems, PDEs, non-integer derivations) were approached for control and signal processing, as well as model-free techniques Indeed, the inuence of physical modeling contributed to outline some convergences. In particular, a unifying Lagrangian formalism has been sketched so as to integrate electrical, electronical, magnetic and mechanical aspects of systems, potentially leading to signicant simplications in the analysis of control systems. Both nite dimensional and innite dimensional models are shown to ease some estimation, adaptative control and observation problems. New applications in emerging elds of mechatronic systems, such as MEMS, or new suspension technologies, have been presented, showing that Mechanics, Mechatronics and Electronics remain a major source of inspiration for control and system theorists. The aim of the second workshop, entitled Mathematical Tools Workshop, was to serve as a think tank for mathematical paradigms in the elds of Control, Signals and Systems. Again, both nite dimensional and innite dimensional models have been explored. Various approaches, in the framework of differential geometry and algebra have been examined. Group theory and Riemannian Geometry appeared in many presentations with, in particular, robotics, mechanical systems or quantum control as background applications. Recent advances, in the elds of hamiltonian, lagrangian, quantum, energy-based and at or non at control systems have also been presented. Finally, the third and last workshop, entitled Chemical and Life Science Workshop, concerned new approaches in the analysis of biomedical, biomechanical and reaction systems, possibly coupled with uid dynamics, with many challenging applications such as cancer treatment and diagnosis. Important results concerning unifying approaches to deal with complex chemical and biochemical reactions have been presented taking into account the network structure of the reactions while ensuring robustness with respect to various unknown parameters and perturbations. The inuence of noisy data in the biological and chemical reaction systems has also been approached. Time-scales, transients and bifurcations in ecological systems, population dynamics and biological systems have also received a great attention and their control theoretical perspectives have been envisaged.

Advances in Control, Signals and Systems

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The reader will nd in the present volume key contributions and surveys, giving a precise account of the above topics. The book is organized in three parts, according to the three aforementioned workshops. In each part, the articles follow the alphabetic order of the rst author. This order has been prefered to a more sophisticated, but often articial, clustering by sub-themes. We hope that these readings will be most inspiring and informative to PhD students and researchers in Mathematics, Electrical, Mechanical, Chemical or Bio Engineering, and more generally to every people of both the academic and industrial spheres curious of the recent developments in control, signals and systems. We are very grateful both to the Swiss National Science Foundation for funding such an endeavor and to the Centre Bernoulli for providing the required infrastructure. In particular, we thank Mrs. Christiane De Paola, Talya Van Woerden, Sabrina Martone, and Rana Gherzeddine for the important administrative and organisational work and Mr. Marc Perraudin for maintaining the internet server. Last, but not least, we are deeply indebted to Prof. Tudor Ratiu for his constant encouragements to organize the above program. Jean L evine and Philippe M ullhaupt Mines-ParisTech and EPFL

Contents

Part I: Electrical and Mechatronical Systems

Modeling and Control of Multi-Body Mechanical Systems: Part I A Riemannian Geometry Approach . . . . . . . . . . . . . . . . . . . Suguru Arimoto Modeling and Control of Multi-Body Mechanical Systems: Part II Grasping under Rolling Contacts between Arbitrary Shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Suguru Arimoto Sliding Mode Control for a High-Speed Linear Axis Driven by Pneumatic Muscles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Harald Aschemann, Dominik Schindele Using Hamiltonians to Model Saturation in Space Vector Representations of AC Electrical Machines . . . . . . . . . . . . . . . . . . Duro Basic, Al Kassem Jebai, Fran cois Malrait, Philippe Martin, Pierre Rouchon Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System . . . . . . . . . . . Mark Butcher, Alireza Karimi Elimination Theory for Nonlinear Parameter Estimation . . . . . John Chiasson, Ahmed Oteafy 3

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Contents

Controlling Underactuated Mechanical Systems: A Review and Open Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Zhong-Ping Jiang Time Scaling in Motion Planning and Control of Tree-Like Pendulum Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Matthias Krause, Joachim Rudolph, Frank Woittennek Mechanical Version of the CRONE Suspension . . . . . . . . . . . . . . Alain Oustaloup, Xavier Moreau

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Electrostatic MEMS: Modelling, Control, and Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Guchuan Zhu

Part II: Mathematical Tools

Flatness Characterization: Two Approaches . . . . . . . . . . . . . . . . . 127 Felix Antritter, Jean L evine Nonholonomic Mechanics, Dissipation and Quantization . . . . . 141 Anthony M. Bloch Controlled Lagrangians . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Dong Eui Chang Compensation of Input Delay for Linear, Nonlinear, Adaptive, and PDE Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Miroslav Krstic Boundary Value Problems and Convolutional Systems over Rings of Ultradistributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Hugues Mounier, Joachim Rudolph, Frank Woittennek Wei-Norman Technique for Control Design of Bilinear ODE Systems with Application to Quantum Control . . . . . . . . 189 Markku Nihtil a Interval Methods for Verication and Implementation of Robust Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 Andreas Rauh, Harald Aschemann Rational Interpolation of Rigid-Body Motions . . . . . . . . . . . . . . . 213 J.M. Selig Contact Geometry and Its Application to Control . . . . . . . . . . . 225 Peter J. Vassiliou

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Part III: Chemical Processes and Life Sciences

Piecewise Ane Models of Regulatory Genetic Networks: Review and Probabilistic Interpretation . . . . . . . . . . . . . . . . . . . . . 241 Madalena Chaves, Jean-Luc Gouz e A Control Engineering Model for Resolving the TGF- Paradox in Cancer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255 Seung-Wook Chung, Carlton R. Cooper, Mary C. Farach-Carson, Babatunde A. Ogunnaike A Mathematical Model of Air-Flow Induced Regional Over-Distention during Mechanical Ventilation: Comparing Pressure-Controlled and Volume-Controlled Modes . . . . . . . . . . 269 P.S. Crooke, A.M. Kaynar, J.R. Hotchkiss Positive Feedbacks Contribute to the Robustness of the Cell Cycle with Respect to Molecular Noise . . . . . . . . . . . . . . . . . 283 Didier Gonze, Marc Hafner Guaranteed and Randomized Methods for Stability Analysis of Uncertain Metabolic Networks . . . . . . . . . . . . . . . . . . . 297 Heinz Koeppl, Stefano Andreozzi, Ralf Steuer Coexistence of Three Predators Competing for a Single Biotic Resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309 Claude Lobry, Tewk Sari, Karim Yadi Control Problems for One-Dimensional Fluids and Reactive Fluids with Moving Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Nicolas Petit A Port-Hamiltonian Formulation of Open Chemical Reaction Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 Arjan van der Schaft, Bernhard Maschke Bifurcations of Dynamical Systems, Logistic and Gompertz Growth Laws in Processes of Aggregation . . . . . . . . . . . . . . . . . . . 349 Alex Shoshitaishvili, Andrei Raibekas Global Uncertainty Analysis for a Model of TNF-Induced NF-B Signalling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365 Steen Waldherr, Jan Hasenauer, Malgorzata Doszczak, Peter Scheurich, Frank Allg ower Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379