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New adaptive and event-triggered control designs with concrete applications in undersea construction, offshore drilling, and cable elevatorsControl applications in undersea construction, cable elevators, and offshore drilling present major methodological challenges because they involve PDE systems (cables and drillstrings) of time-varying length, coupled with ODE systems (the attached loads or tools) that usually have unknown parameters and unmeasured states. In PDE Control of String-Actuated Motion, Ji Wang and Miroslav Krstic develop control algorithms for these complex PDE-ODE systems evolving on time-varying domains.Motivated by physical systems, the book's algorithms are designed to operate, with rigorous mathematical guarantees, in the presence of real-world challenges, such as unknown parameters, unmeasured distributed states, environmental disturbances, delays, and event-triggered implementations. The book leverages the power of the PDE backstepping approach and expands its scope in many directions.Filled with theoretical innovations and comprehensive in its coverage, PDE Control of String-Actuated Motion provides new design tools and mathematical techniques with far-reaching potential in adaptive control, delay systems, and event-triggered control.

Totally nonnegative matrices arise in a remarkable variety of mathematical applications. This book is a comprehensive and self-contained study of the essential theory of totally nonnegative matrices, defined by the nonnegativity of all subdeterminants. It explores methodological background, historical highlights of key ideas, and specialized topics. The book uses classical and ad hoc tools, but a unifying theme is the elementary bidiagonal factorization, which has emerged as the single most important tool for this particular class of matrices. Recent work has shown that bidiagonal factorizations may be viewed in a succinct combinatorial way, leading to many deep insights. Despite slow development, bidiagonal factorizations, along with determinants, now provide the dominant methodology for understanding total nonnegativity. The remainder of the book treats important topics, such as recognition of totally nonnegative or totally positive matrices, variation diminution, spectral properties, determinantal inequalities, Hadamard products, and completion problems associated with totally nonnegative or totally positive matrices. The book also contains sample applications, an up-to-date bibliography, a glossary of all symbols used, an index, and related references.

Rabinowitz's classical global bifurcation theory, which concerns the study in-the-large of parameter-dependent families of nonlinear equations, uses topological methods that address the problem of continuous parameter dependence of solutions by showing that there are connected sets of solutions of global extent. Even when the operators are infinitely differentiable in all the variables and parameters, connectedness here cannot in general be replaced by path-connectedness. However, in the context of real-analyticity there is an alternative theory of global bifurcation due to Dancer, which offers a much stronger notion of parameter dependence. This book aims to develop from first principles Dancer's global bifurcation theory for one-parameter families of real-analytic operators in Banach spaces. It shows that there are globally defined continuous and locally real-analytic curves of solutions. In particular, in the real-analytic setting, local analysis can lead to global consequences--for example, as explained in detail here, those resulting from bifurcation from a simple eigenvalue. Included are accounts of analyticity and implicit function theorems in Banach spaces, classical results from the theory of finite-dimensional analytic varieties, and the links between these two and global existence theory. Laying the foundations for more extensive studies of real-analyticity in infinite-dimensional problems and illustrating the theory with examples, Analytic Theory of Global Bifurcation is intended for graduate students and researchers in pure and applied analysis.

Many industries, such as transportation and manufacturing, use control systems to insure that parameters such as temperature or altitude behave in a desirable way over time. For example, pilots need assurance that the plane they are flying will maintain a particular heading. An integral part of control systems is a mechanism for failure detection to insure safety and reliability. This book offers an alternative failure detection approach that addresses two of the fundamental problems in the safe and efficient operation of modern control systems: failure detection--deciding when a failure has occurred--and model identification--deciding which kind of failure has occurred. Much of the work in both categories has been based on statistical methods and under the assumption that a given system was monitored passively. Campbell and Nikoukhah's book proposes an "e;active"e; multimodel approach. It calls for applying an auxiliary signal that will affect the output so that it can be used to easily determine if there has been a failure and what type of failure it is. This auxiliary signal must be kept small, and often brief in duration, in order not to interfere with system performance and to ensure timely detection of the failure. The approach is robust and uses tools from robust control theory. Unlike some approaches, it is applicable to complex systems. The authors present the theory in a rigorous and intuitive manner and provide practical algorithms for implementation of the procedures.

Quaternions are a number system that has become increasingly useful for representing the rotations of objects in three-dimensional space and has important applications in theoretical and applied mathematics, physics, computer science, and engineering. This is the first book to provide a systematic, accessible, and self-contained exposition of quaternion linear algebra. It features previously unpublished research results with complete proofs and many open problems at various levels, as well as more than 200 exercises to facilitate use by students and instructors. Applications presented in the book include numerical ranges, invariant semidefinite subspaces, differential equations with symmetries, and matrix equations.Designed for researchers and students across a variety of disciplines, the book can be read by anyone with a background in linear algebra, rudimentary complex analysis, and some multivariable calculus. Instructors will find it useful as a complementary text for undergraduate linear algebra courses or as a basis for a graduate course in linear algebra. The open problems can serve as research projects for undergraduates, topics for graduate students, or problems to be tackled by professional research mathematicians. The book is also an invaluable reference tool for researchers in fields where techniques based on quaternion analysis are used.

Electromagnetic complex media are artificial materials that affect the propagation of electromagnetic waves in surprising ways not usually seen in nature. Because of their wide range of important applications, these materials have been intensely studied over the past twenty-five years, mainly from the perspectives of physics and engineering. But a body of rigorous mathematical theory has also gradually developed, and this is the first book to present that theory. Designed for researchers and advanced graduate students in applied mathematics, electrical engineering, and physics, this book introduces the electromagnetics of complex media through a systematic, state-of-the-art account of their mathematical theory. The book combines the study of well posedness, homogenization, and controllability of Maxwell equations complemented with constitutive relations describing complex media. The book treats deterministic and stochastic problems both in the frequency and time domains. It also covers computational aspects and scattering problems, among other important topics. Detailed appendices make the book self-contained in terms of mathematical prerequisites, and accessible to engineers and physicists as well as mathematicians.

Modern complex large-scale dynamical systems exist in virtually every aspect of science and engineering, and are associated with a wide variety of physical, technological, environmental, and social phenomena, including aerospace, power, communications, and network systems, to name just a few. This book develops a general stability analysis and control design framework for nonlinear large-scale interconnected dynamical systems, and presents the most complete treatment on vector Lyapunov function methods, vector dissipativity theory, and decentralized control architectures. Large-scale dynamical systems are strongly interconnected and consist of interacting subsystems exchanging matter, energy, or information with the environment. The sheer size, or dimensionality, of these systems necessitates decentralized analysis and control system synthesis methods for their analysis and design. Written in a theorem-proof format with examples to illustrate new concepts, this book addresses continuous-time, discrete-time, and hybrid large-scale systems. It develops finite-time stability and finite-time decentralized stabilization, thermodynamic modeling, maximum entropy control, and energy-based decentralized control. This book will interest applied mathematicians, dynamical systems theorists, control theorists, and engineers, and anyone seeking a fundamental and comprehensive understanding of large-scale interconnected dynamical systems and control.

This book is the first to comprehensively explore elasticity imaging and examines recent, important developments in asymptotic imaging, modeling, and analysis of deterministic and stochastic elastic wave propagation phenomena. It derives the best possible functional images for small inclusions and cracks within the context of stability and resolution, and introduces a topological derivative-based imaging framework for detecting elastic inclusions in the time-harmonic regime. For imaging extended elastic inclusions, accurate optimal control methodologies are designed and the effects of uncertainties of the geometric or physical parameters on stability and resolution properties are evaluated. In particular, the book shows how localized damage to a mechanical structure affects its dynamic characteristics, and how measured eigenparameters are linked to elastic inclusion or crack location, orientation, and size. Demonstrating a novel method for identifying, locating, and estimating inclusions and cracks in elastic structures, the book opens possibilities for a mathematical and numerical framework for elasticity imaging of nanoparticles and cellular structures.

This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems. Such a framework is imperative for modern complex engineering systems that involve interacting continuous-time and discrete-time dynamics with multiple modes of operation that place stringent demands on controller design and require implementation of increasing complexity--whether advanced high-performance tactical fighter aircraft and space vehicles, variable-cycle gas turbine engines, or air and ground transportation systems. Impulsive and Hybrid Dynamical Systems goes beyond similar treatments by developing invariant set stability theorems, partial stability, Lagrange stability, boundedness, ultimate boundedness, dissipativity theory, vector dissipativity theory, energy-based hybrid control, optimal control, disturbance rejection control, and robust control for nonlinear impulsive and hybrid dynamical systems. A major contribution to mathematical system theory and control system theory, this book is written from a system-theoretic point of view with the highest standards of exposition and rigor. It is intended for graduate students, researchers, and practitioners of engineering and applied mathematics as well as computer scientists, physicists, and other scientists who seek a fundamental understanding of the rich dynamical behavior of impulsive and hybrid dynamical systems.

Trains pull into a railroad station and must wait for each other before leaving again in order to let passengers change trains. How do mathematicians then calculate a railroad timetable that accurately reflects their comings and goings? One approach is to use max-plus algebra, a framework used to model Discrete Event Systems, which are well suited to describe the ordering and timing of events. This is the first textbook on max-plus algebra, providing a concise and self-contained introduction to the topic. Applications of max-plus algebra abound in the world around us. Traffic systems, computer communication systems, production lines, and flows in networks are all based on discrete even systems, and thus can be conveniently described and analyzed by means of max-plus algebra. The book consists of an introduction and thirteen chapters in three parts. Part One explores the introduction of max-plus algebra and of system descriptions based upon it. Part Two deals with a real application, namely the design of timetables for railway networks. Part Three examines various extensions, such as stochastic systems and min-max-plus systems. The text is suitable for last-year undergraduates in mathematics, and each chapter provides exercises, notes, and a reference section.

Genomic signal processing (GSP) can be defined as the analysis, processing, and use of genomic signals to gain biological knowledge, and the translation of that knowledge into systems-based applications that can be used to diagnose and treat genetic diseases. Situated at the crossroads of engineering, biology, mathematics, statistics, and computer science, GSP requires the development of both nonlinear dynamical models that adequately represent genomic regulation, and diagnostic and therapeutic tools based on these models. This book facilitates these developments by providing rigorous mathematical definitions and propositions for the main elements of GSP and by paying attention to the validity of models relative to the data. Ilya Shmulevich and Edward Dougherty cover real-world situations and explain their mathematical modeling in relation to systems biology and systems medicine. Genomic Signal Processing makes a major contribution to computational biology, systems biology, and translational genomics by providing a self-contained explanation of the fundamental mathematical issues facing researchers in four areas: classification, clustering, network modeling, and network intervention.

This book explores important aspects of Markov and hidden Markov processes and the applications of these ideas to various problems in computational biology. The book starts from first principles, so that no previous knowledge of probability is necessary. However, the work is rigorous and mathematical, making it useful to engineers and mathematicians, even those not interested in biological applications. A range of exercises is provided, including drills to familiarize the reader with concepts and more advanced problems that require deep thinking about the theory. Biological applications are taken from post-genomic biology, especially genomics and proteomics.The topics examined include standard material such as the Perron-Frobenius theorem, transient and recurrent states, hitting probabilities and hitting times, maximum likelihood estimation, the Viterbi algorithm, and the Baum-Welch algorithm. The book contains discussions of extremely useful topics not usually seen at the basic level, such as ergodicity of Markov processes, Markov Chain Monte Carlo (MCMC), information theory, and large deviation theory for both i.i.d and Markov processes. The book also presents state-of-the-art realization theory for hidden Markov models. Among biological applications, it offers an in-depth look at the BLAST (Basic Local Alignment Search Technique) algorithm, including a comprehensive explanation of the underlying theory. Other applications such as profile hidden Markov models are also explored.

This accessible book provides an introduction to the analysis and design of dynamic multiagent networks. Such networks are of great interest in a wide range of areas in science and engineering, including: mobile sensor networks, distributed robotics such as formation flying and swarming, quantum networks, networked economics, biological synchronization, and social networks. Focusing on graph theoretic methods for the analysis and synthesis of dynamic multiagent networks, the book presents a powerful new formalism and set of tools for networked systems. The book's three sections look at foundations, multiagent networks, and networks as systems. The authors give an overview of important ideas from graph theory, followed by a detailed account of the agreement protocol and its various extensions, including the behavior of the protocol over undirected, directed, switching, and random networks. They cover topics such as formation control, coverage, distributed estimation, social networks, and games over networks. And they explore intriguing aspects of viewing networks as systems, by making these networks amenable to control-theoretic analysis and automatic synthesis, by monitoring their dynamic evolution, and by examining higher-order interaction models in terms of simplicial complexes and their applications. The book will interest graduate students working in systems and control, as well as in computer science and robotics. It will be a standard reference for researchers seeking a self-contained account of system-theoretic aspects of multiagent networks and their wide-ranging applications. This book has been adopted as a textbook at the following universities: ? University of Stuttgart, Germany Royal Institute of Technology, Sweden Johannes Kepler University, Austria Georgia Tech, USA University of Washington, USA Ohio University, USA

Splines, both interpolatory and smoothing, have a long and rich history that has largely been application driven. This book unifies these constructions in a comprehensive and accessible way, drawing from the latest methods and applications to show how they arise naturally in the theory of linear control systems. Magnus Egerstedt and Clyde Martin are leading innovators in the use of control theoretic splines to bring together many diverse applications within a common framework. In this book, they begin with a series of problems ranging from path planning to statistics to approximation. Using the tools of optimization over vector spaces, Egerstedt and Martin demonstrate how all of these problems are part of the same general mathematical framework, and how they are all, to a certain degree, a consequence of the optimization problem of finding the shortest distance from a point to an affine subspace in a Hilbert space. They cover periodic splines, monotone splines, and splines with inequality constraints, and explain how any finite number of linear constraints can be added. This book reveals how the many natural connections between control theory, numerical analysis, and statistics can be used to generate powerful mathematical and analytical tools. This book is an excellent resource for students and professionals in control theory, robotics, engineering, computer graphics, econometrics, and any area that requires the construction of curves based on sets of raw data.

This computationally oriented book describes and explains the mathematical relationships among matrices, moments, orthogonal polynomials, quadrature rules, and the Lanczos and conjugate gradient algorithms. The book bridges different mathematical areas to obtain algorithms to estimate bilinear forms involving two vectors and a function of the matrix. The first part of the book provides the necessary mathematical background and explains the theory. The second part describes the applications and gives numerical examples of the algorithms and techniques developed in the first part. Applications addressed in the book include computing elements of functions of matrices; obtaining estimates of the error norm in iterative methods for solving linear systems and computing parameters in least squares and total least squares; and solving ill-posed problems using Tikhonov regularization. This book will interest researchers in numerical linear algebra and matrix computations, as well as scientists and engineers working on problems involving computation of bilinear forms.

This book presents the latest findings on one of the most intensely investigated subjects in computational mathematics--the traveling salesman problem. It sounds simple enough: given a set of cities and the cost of travel between each pair of them, the problem challenges you to find the cheapest route by which to visit all the cities and return home to where you began. Though seemingly modest, this exercise has inspired studies by mathematicians, chemists, and physicists. Teachers use it in the classroom. It has practical applications in genetics, telecommunications, and neuroscience. The authors of this book are the same pioneers who for nearly two decades have led the investigation into the traveling salesman problem. They have derived solutions to almost eighty-six thousand cities, yet a general solution to the problem has yet to be discovered. Here they describe the method and computer code they used to solve a broad range of large-scale problems, and along the way they demonstrate the interplay of applied mathematics with increasingly powerful computing platforms. They also give the fascinating history of the problem--how it developed, and why it continues to intrigue us.

This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation

Intensive research in matrix completions, moments, and sums of Hermitian squares has yielded a multitude of results in recent decades. This book provides a comprehensive account of this quickly developing area of mathematics and applications and gives complete proofs of many recently solved problems. With MATLAB codes and more than 200 exercises, the book is ideal for a special topics course for graduate or advanced undergraduate students in mathematics or engineering, and will also be a valuable resource for researchers. Often driven by questions from signal processing, control theory, and quantum information, the subject of this book has inspired mathematicians from many subdisciplines, including linear algebra, operator theory, measure theory, and complex function theory. In turn, the applications are being pursued by researchers in areas such as electrical engineering, computer science, and physics. The book is self-contained, has many examples, and for the most part requires only a basic background in undergraduate mathematics, primarily linear algebra and some complex analysis. The book also includes an extensive discussion of the literature, with close to 600 references from books and journals from a wide variety of disciplines.

This book provides a wide variety of state-space--based numerical algorithms for the synthesis of feedback algorithms for linear systems with input saturation. Specifically, it addresses and solves the anti-windup problem, presenting the objectives and terminology of the problem, the mathematical tools behind anti-windup algorithms, and more than twenty algorithms for anti-windup synthesis, illustrated with examples. Luca Zaccarian and Andrew Teel's modern method--combining a state-space approach with algorithms generated by solving linear matrix inequalities--treats MIMO and SISO systems with equal ease. The book, aimed at control engineers as well as graduate students, ranges from very simple anti-windup construction to sophisticated anti-windup algorithms for nonlinear systems. Describes the fundamental objectives and principles behind anti-windup synthesis for control systems with actuator saturation Takes a modern, state-space approach to synthesis that applies to both SISO and MIMO systems Presents algorithms as linear matrix inequalities that can be readily solved with widely available software Explains mathematical concepts that motivate synthesis algorithms Uses nonlinear performance curves to quantify performance relative to disturbances of varying magnitudes Includes anti-windup algorithms for a class of Euler-Lagrange nonlinear systems Traces the history of anti-windup research through an extensive annotated bibliography

This book places thermodynamics on a system-theoretic foundation so as to harmonize it with classical mechanics. Using the highest standards of exposition and rigor, the authors develop a novel formulation of thermodynamics that can be viewed as a moderate-sized system theory as compared to statistical thermodynamics. This middle-ground theory involves deterministic large-scale dynamical system models that bridge the gap between classical and statistical thermodynamics. The authors' theory is motivated by the fact that a discipline as cardinal as thermodynamics--entrusted with some of the most perplexing secrets of our universe--demands far more than physical mathematics as its underpinning. Even though many great physicists, such as Archimedes, Newton, and Lagrange, have humbled us with their mathematically seamless eurekas over the centuries, this book suggests that a great many physicists and engineers who have developed the theory of thermodynamics seem to have forgotten that mathematics, when used rigorously, is the irrefutable pathway to truth. This book uses system theoretic ideas to bring coherence, clarity, and precision to an extremely important and poorly understood classical area of science.

This book represents the first synthesis of the considerable body of new research into positive definite matrices. These matrices play the same role in noncommutative analysis as positive real numbers do in classical analysis. They have theoretical and computational uses across a broad spectrum of disciplines, including calculus, electrical engineering, statistics, physics, numerical analysis, quantum information theory, and geometry. Through detailed explanations and an authoritative and inspiring writing style, Rajendra Bhatia carefully develops general techniques that have wide applications in the study of such matrices. Bhatia introduces several key topics in functional analysis, operator theory, harmonic analysis, and differential geometry--all built around the central theme of positive definite matrices. He discusses positive and completely positive linear maps, and presents major theorems with simple and direct proofs. He examines matrix means and their applications, and shows how to use positive definite functions to derive operator inequalities that he and others proved in recent years. He guides the reader through the differential geometry of the manifold of positive definite matrices, and explains recent work on the geometric mean of several matrices. Positive Definite Matrices is an informative and useful reference book for mathematicians and other researchers and practitioners. The numerous exercises and notes at the end of each chapter also make it the ideal textbook for graduate-level courses.

This book offers the first comprehensive introduction to wave scattering in nonstationary materials. G. F. Roach's aim is to provide an accessible, self-contained resource for newcomers to this important field of research that has applications across a broad range of areas, including radar, sonar, diagnostics in engineering and manufacturing, geophysical prospecting, and ultrasonic medicine such as sonograms. New methods in recent years have been developed to assess the structure and properties of materials and surfaces. When light, sound, or some other wave energy is directed at the material in question, "e;imperfections"e; in the resulting echo can reveal a tremendous amount of valuable diagnostic information. The mathematics behind such analysis is sophisticated and complex. However, while problems involving stationary materials are quite well understood, there is still much to learn about those in which the material is moving or changes over time. These so-called non-autonomous problems are the subject of this fascinating book. Roach develops practical strategies, techniques, and solutions for mathematicians and applied scientists working in or seeking entry into the field of modern scattering theory and its applications. Wave Scattering by Time-Dependent Perturbations is destined to become a classic in this rapidly evolving area of inquiry.

The classical Melnikov method provides information on the behavior of deterministic planar systems that may exhibit transitions, i.e. escapes from and captures into preferred regions of phase space. This book develops a unified treatment of deterministic and stochastic systems that extends the applicability of the Melnikov method to physically realizable stochastic planar systems with additive, state-dependent, white, colored, or dichotomous noise. The extended Melnikov method yields the novel result that motions with transitions are chaotic regardless of whether the excitation is deterministic or stochastic. It explains the role in the occurrence of transitions of the characteristics of the system and its deterministic or stochastic excitation, and is a powerful modeling and identification tool. The book is designed primarily for readers interested in applications. The level of preparation required corresponds to the equivalent of a first-year graduate course in applied mathematics. No previous exposure to dynamical systems theory or the theory of stochastic processes is required. The theoretical prerequisites and developments are presented in the first part of the book. The second part of the book is devoted to applications, ranging from physics to mechanical engineering, naval architecture, oceanography, nonlinear control, stochastic resonance, and neurophysiology.

This self-contained textbook is an informal introduction to optimization through the use of numerous illustrations and applications. The focus is on analytically solving optimization problems with a finite number of continuous variables. In addition, the authors provide introductions to classical and modern numerical methods of optimization and to dynamic optimization. The book's overarching point is that most problems may be solved by the direct application of the theorems of Fermat, Lagrange, and Weierstrass. The authors show how the intuition for each of the theoretical results can be supported by simple geometric figures. They include numerous applications through the use of varied classical and practical problems. Even experts may find some of these applications truly surprising. A basic mathematical knowledge is sufficient to understand the topics covered in this book. More advanced readers, even experts, will be surprised to see how all main results can be grounded on the Fermat-Lagrange theorem. The book can be used for courses on continuous optimization, from introductory to advanced, for any field for which optimization is relevant.