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A challenging task for context‐aware pervasive systems is reasoning about context in uncertain environments where sensors can be inaccurate or unreliable and inferred situations ambiguous and uncertain. This paper aims to address this grand challenge, with research in context awareness to provide feasible solutions by means of theoretical models, algorithms and reasoning approaches.

This paper proposes a theoretical model about context and a set of context verification procedures, built over the model and implemented in a context reasoning engine prototype. The verification procedures utilize beneficial characteristics of spatial representation of context and also provide guidelines based on heuristics that lead to resolution of conflicts arising due to context uncertainty. The engine's reasoning process is presented and it is shown how the proposed modeling and verification approach contributes in tackling the uncertainty associated with the reasoning task. The paper experimentally evaluates this approach with a distributed simulation of a sensor‐based office environment with unreliable and inaccurate sensors.

Important features of the model are dynamic aspects of context, such as context trajectory and stability of a pervasive system in given context. These can also be used for context verification as well as for context prediction. The model strength is also in its generality and its ability to model a variety of context‐aware scenarios comprising different types of information.

The paper describes a theoretical model for context and shows it is useful not only for context representation but also for developing reasoning and verification techniques for uncertain context.

Permanent magnet synchronous spherical motors can have wide use in robotics and industrial automation. They enable three-DOF omnidirectional motion of their rotor. They are suitable for several applications, such as actuation in robotics, traction in electric vehicles and use in several automation systems. Unlike conventional synchronous motors, permanent magnet synchronous spherical motors consist of a fixed inner shell, which is the stator, and a rotating outer shell, which is the rotor. Their dynamic model is multivariable and strongly nonlinear. The treatment of the associated control problem is important.

In this paper, the multivariable dynamic model of permanent magnet synchronous spherical motors is analysed, and a nonlinear optimal (H-infinity) control method is developed for it. Differential flatness properties are proven for the spherical motors’ state-space model. Next, the motors’ state-space description undergoes approximate linearization with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. The linearization process takes place at each sampling instance around a time-varying operating point, which is defined by the present value of the motors’ state vector and by the last sampled value of the control input vector. For the approximately linearized model of the permanent magnet synchronous spherical motors, a stabilizing H-infinity feedback controller is designed. To compute the controller’s gains, an algebraic Riccati equation has to be repetitively solved at each time-step of the control algorithm. The global stability properties of the control scheme are proven through Lyapunov analysis. Finally, the performance of the nonlinear optimal control method is compared against a flatness-based control approach implemented in successive loops.

Due to the nonlinear and multivariable structure of the state-space model of spherical motors, the solution of the associated nonlinear control problem is a nontrivial task. In this paper, a novel nonlinear optimal (H-infinity) control approach is proposed for the dynamic model of permanent magnet synchronous spherical motors. The method is based on approximate linearization of the motor’s state-space model with the use of first-order Taylor series expansion and the computation of the associated Jacobian matrices. Furthermore, the paper has introduced a different solution to the nonlinear control problem of the permanent magnet synchronous spherical motor, which is based on flatness-based control implemented in successive loops.

The presented control approaches do not exhibit any limitations, but on the contrary, they have specific advantages. In comparison to global linearization-based control schemes (such as Lie-algebra-based control), they do not make use of complicated changes of state variables (diffeomorphisms) and transformations of the system's state-space description. The computed control inputs are applied directly to the initial nonlinear state-space model of the permanent magnet spherical motor without the intervention of inverse transformations and thus without coming against the risk of singularities.

The motion control problem of spherical motors is nontrivial because of the complicated nonlinear and multivariable dynamics of these electric machines. So far, there have been several attempts to apply nonlinear feedback control to permanent magnet-synchronous spherical motors. However, due to the model’s complexity, few results exist about the associated nonlinear optimal control problem. The proposed nonlinear control methods for permanent magnet synchronous spherical motors make more efficient, precise and reliable the use of such motors in robotics, electric traction and several automation systems.

The treated research topic is central for robotic and industrial automation. Permanent magnet synchronous spherical motors are suitable for several applications, such as actuation in robotics, traction in electric vehicles and use in several automation systems. The solution of the control problem for the nonlinear dynamic model of permanent magnet synchronous spherical motors has many industrial applications and therefore contributes to economic growth and development.

The proposed nonlinear optimal control method is novel compared to past attempts to solve the optimal control problem for nonlinear dynamical systems. Unlike past approaches, in the new nonlinear optimal control method, linearization is performed around a temporary operating point, which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector and not at points that belong to the desirable trajectory (setpoints). Besides, the Riccati equation which is used for computing the feedback gains of the controller is new, and so is the global stability proof for this control method. Compared to nonlinear model predictive control, which is a popular approach for treating the optimal control problem in industry, the new nonlinear optimal (H-infinity) control scheme is of proven global stability, and the convergence of its iterative search for the optimum does not depend on initial conditions and trials with multiple sets of controller parameters. It is also noteworthy that the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed into the linear parameter varying form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes, which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. Furthermore, the second control method proposed in this paper, which is flatness-based control in successive loops, is also novel and demonstrates substantial contribution to nonlinear control for robotics and industrial automation.

The optimal control on reassembly (remanufacturing assembly) error is one of the key technologies to guarantee the assembly precision of remanufactured product. However, because of the uncertainty existing in remanufactured parts, it is difficult to control assembly error during reassembly process. Based on the state space model, this paper aims to propose the optimal control method on reassembly precision to solve this problem.

Initially, to ensure the assembly precision of a remanufactured car engine, this paper puts forward an optimal control method on assembly precision for a remanufactured car engine based on the state space model. This method takes assembly workstation operation and remanufactured part attribute as the input vector reassembly status as the state vector and assembly precision as the output vector. Then, the compensation function of reassembly workstation operation input vector is calculated to direct the optimization of the reassembly process. Finally, a case study of a certain remanufactured car engine crankshaft is constructed to verify the feasibility and effectiveness of the method proposed.

The optimal control method on reassembly precision is an effective technology in improving the quality of the remanufactured crankshaft. The average qualified rate of the remanufactured crankshaft increased from 83.05 to 90.97 per cent as shown in the case study.

The optimal control method on the reassembly precision based on the state space model is available to control the assembly precision, thus enhancing the core competitiveness of the remanufacturing enterprises.

This paper offers various state‐space representations in the context of applications of the system control theory to dynamic economic systems and examines interrelationships between the alternative representations in both economics literature and system control engineering literature. In particular, some characteristics of various state‐space forms are assessed with respect to the structural properties of each form, thereby demonstrating the relative advantages and disadvantages of different realization methods presented in this paper.

In the paper we provide new evidence on the predictability of Scandinavian stock returns, when utilizing the determinants of global capital asset pricing. Three factors are extracted by principal components factor analysis. The VARIMAX‐rotated factor loadings matrix clearly suggests the presence of geographically distinguished returns generating factors: Europe, Asia and America. The corresponding factor price series are used as driving forces for the Finnish and Swedish market returns. The results indicate that the predictability of Scandinavian stock returns is significantly improved by the world factors.

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

The purpose of this paper is to investigate changes in the commercial real estate market dynamics as a function of and conditional to the shifts in market state-space environment that can influence agent responses.

The analytical design uses a comparative computational experiment to address the performance of property assets in the current market based on comparison with prior structural patterns. The latent variables developed across market sectors are used to test agent behavior contingent on the perspectives of capital asset pricing conditionals (CAPM) and a behavioral momentum/herd construct. The state-space momentum analysis can assist the comparative analysis of current levels and shifts in property asset performance given the issues that have arisen with the financial crisis of 2007-2009.

An analytic approach is employed framed by a situation-dependent model. This frame considers risk profiles characterizing the perspectives and preferences guiding a delineated market state. This perspective is concerned with the possibility of shifts in market momentum and representativeness conditioning investor expectations. It is observed that the current market (post-crisis) has changed significantly from the prior operations (despite the diversity observed in prior market states). The dynamics of initial findings required an additional test anchored to the performance of the general capital market and the real economy across time. This context supports the use of a modified CAPM model allowing the consideration of opportunity cost in a space-time dynamic anchored with the consideration of equity, debt, riskless asset and liquidity options as they varied for the representative agents operating per market state.

This paper integrates neoclassical and behavioral economic constructs. Combines asset pricing with prospect theory and allows the calculation of endogenous time-preferences, risk attitudes and formulation and testing of hyperbolic discounting functions.

The research shows that market structure and agent behavior since the financial crisis has changed from the investment and valuation perspectives operating as observed and measured from 1970 up to 2007. In contradiction to the long-term findings of Reinhart and Rogoff (2008), but in compliance with common perspectives and decision heuristics often employed by investors, this time things have changed! Discounting and expected rates of return are dynamic and are hyperbolic and not constant. Returns and investment for property assets are situational (market state-space specific) and offer a distinct asset class, not appropriately estimated by many of the traditional financial models.

Assist in supporting insights to measure in errors and equations that result in inefficient resource allocation and beta discounting that supports the financial crisis created by assets subject to long-term decision needs (delta function).

The paper offers a combination and comparison of neoclassic asset pricing using a modified CAPM (two-pass) approach within the structural frame of Kahneman and Tversky’s (1979) prospect theory. This technique allows the consideration of the effects of present bias, beta-delta functions and the operation of the Allais Paradox in market states that are characterized by gains and losses and thus risk aversion and risk seeking behavior. This ability for differentiation allows for the development of endogenous time-preferences and hyperbolic discounting factors characteristic of commercial property investment.

The purpose of this paper is to examine the impact of applying two classical controller strategies, including two proportional (P) controllers with two feedback loops and one proportional–integral–derivative (PID) controller with one feedback loop, on the order and inventory performance within a production-inventory control system.

The simulation experiments of the dynamics behaviour of the production-inventory control system are conducted using a model based on control theory techniques. The Laplace transformation of an Order–Up–To (OUT) model is obtained using a state-space approach, and then the state-space representation is used to design and simulate a controlled model. The simulations of each model with two control configurations are tested by subjecting the system to a random retail sales pattern. The performance of inventory level is quantified by using the Integral of Absolute Error (IAE), whereas the bullwhip effect is measured by using the Variance ratio (Var).

The simulation results show that one PID controller with one feedback loop outperforms two P controllers with two feedback loops at reducing the bullwhip effect and regulating the inventory level.

The production-inventory control system is broken down into three components, namely: the forecasting mechanism, controller strategy and production-inventory process. A state-space approach is adopted to design and simulate the different controller strategy.

Focuses on steady state modelling of basic unipolar non‐isolated PWM AC line matrix‐reactance choppers (MRC). Their single‐phase topologies are similar to well‐known basic DC/DC converter ones. The MRC are built up through the adaptation of DC/DC converter topologies, which are based on the substitution of self‐commutated unidirectional switches by bi‐directional ones.

Presents an approach to modelling of the MRC with averaging operator different to the one used in averaged modelling of the DC/DC converters. There is running averaging of each switching period in the proposed approach. Following this, there is a demonstration of the solutions convergence of the state space and averaged state space equations for infinitive switching frequency.

The running averaging of each switching period should be used if averaged state space method is applied to the analysis of presented choppers. A circuit averaged model build‐up procedure of the presented choppers is the same as for the DC/DC ones.

Presents a quantitative assessment of accuracy for the averaged models of the presented MRC for finite switching frequency.

Voltage source inverter-fed permanent magnet synchronous motors (VSI-PMSMs) are widely used in industrial actuation and mechatronic systems in water pumping stations, as well as in the traction of transportation systems (such as electric vehicles and electric trains or ships with electric propulsion). The dynamic model of VSI-PMSMs is multivariable and exhibits complicated nonlinear dynamics. The inverters’ currents, which are generated through a pulsewidth modulation process, are used to control the stator currents of the PMSM, which in turn control the rotational speed of this electric machine. So far, several nonlinear control schemes for VSI-PMSMs have been developed, having as primary objectives the precise tracking of setpoints by the system’s state variables and robustness to parametric changes or external perturbations. However, little has been done for the solution of the associated nonlinear optimal control problem. The purpose of this study/paper is to provide a novel nonlinear optimal control method for VSI-fed three-phase PMSMs.

The present article proposes a nonlinear optimal control approach for VSI-PMSMs. The nonlinear dynamic model of VSI-PMSMs undergoes approximate linearization around a temporary operating point, which is recomputed at each iteration of the control method. This temporary operating point is defined by the present value of the voltage source inverter-fed PMSM state vector and by the last sampled value of the motor’s control input vector. The linearization relies on Taylor series expansion and the calculation of the system’s Jacobian matrices. For the approximately linearized model of the voltage source inverter-fed PMSM, an H-infinity feedback controller is designed. For the computation of the controller’s feedback gains, an algebraic Riccati equation is iteratively solved at each time-step of the control method. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, to implement state estimation-based control for this system, the H-infinity Kalman filter is proposed as a state observer. The proposed control method achieves fast and accurate tracking of the reference setpoints of the VSI-fed PMSM under moderate variations of the control inputs.

The proposed H-infinity controller provides the solution to the optimal control problem for the VSI-PMSM system under model uncertainty and external perturbations. Actually, this controller represents a min–max differential game taking place between the control inputs, which try to minimize a cost function that contains a quadratic term of the state vector’s tracking error, the model uncertainty, and exogenous disturbance terms, which try to maximize this cost function. To select the feedback gains of the stabilizing feedback controller, an algebraic Riccati equation is repetitively solved at each time-step of the control algorithm. To analyze the stability properties of the control scheme, the Lyapunov method is used. It is proven that the VSI-PMSM loop has the H-infinity tracking performance property, which signifies robustness against model uncertainty and disturbances. Moreover, under moderate conditions, the global asymptotic stability properties of this control scheme are proven. The proposed control method achieves fast tracking of reference setpoints by the VSI-PMSM state variables, while keeping also moderate the variations of the control inputs. The latter property indicates that energy consumption by the VSI-PMSM control loop can be minimized.

The proposed nonlinear optimal control method for the VSI-PMSM system exhibits several advantages: Comparing to global linearization-based control methods, such as Lie algebra-based control or differential flatness theory-based control, the nonlinear optimal control scheme avoids complicated state variable transformations (diffeomorphisms). Besides, its control inputs are applied directly to the initial nonlinear model of the VSI-PMSM system, and thus inverse transformations and the related singularity problems are also avoided. Compared with backstepping control, the nonlinear optimal control scheme does not require the state-space description of the controlled system to be found in the triangular (backstepping integral) form. Compared with sliding-mode control, there is no need to define in an often intuitive manner the sliding surfaces of the controlled system. Finally, compared with local model-based control, the article’s nonlinear optimal control method avoids linearization around multiple operating points and does not need the solution of multiple Riccati equations or LMIs. As a result of this, the nonlinear optimal control method requires less computational effort.

Voltage source inverter-fed permanent magnet synchronous motors (VSI-PMSMs) are widely used in industrial actuation and mechatronic systems in water pumping stations, as well as in the traction of transportation systems (such as electric vehicles and electric trains or ships with electric propulsion), The solution of the associated nonlinear control problem enables reliable and precise functioning of VSI-fd PMSMs. This in turn has a positive impact in all related industrial applications and in tasks of electric traction and propulsion where VSI-fed PMSMs are used. It is particularly important for electric transportation systems and for the wide use of electric vehicles as expected by green policies which aim at deploying electromotion and at achieving the Net Zero objective.

Unlike past approaches, in the new nonlinear optimal control method, linearization is performed around a temporary operating point, which is defined by the present value of the system’s state vector and by the last sampled value of the control input vector and not at points that belong to the desirable trajectory (setpoints). Besides, the Riccati equation, which is used for computing the feedback gains of the controller, is new, as is the global stability proof for this control method. Comparing with nonlinear model predictive control, which is a popular approach for treating the optimal control problem in industry, the new nonlinear optimal (H-infinity) control scheme is of proven global stability, and the convergence of its iterative search for the optimum does not depend on initial conditions and trials with multiple sets of controller parameters. It is also noteworthy that the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems that can be transformed to the linear parameter varying form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions.