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Finite-time linear-quadratic control of partial differential-algebraic equations (PDAEs) is considered. The discussion is restricted to those that are radial with index $0$; this corresponds to a nilpotency degree of 1. We establish the existence of a unique minimizing optimal control. A projection is used to derive a system of differential Riccati-like equation coupled with an algebraic equation, yielding the solution of the optimization problem in a feedback form. This generalizes the well-known result for PDEs to this class of PDAEs. These equations and hence the optimal control can be calculated without construction of the projected PDAE. Finally, we provide numerical simulations to illustrate application of the theoretical results.

The solvability for infinite dimensional differential algebraic equations possessing a resolvent index and a Weierstra{\ss} form is studied. In particular, the concept of integrated semigroups is used to determine a subset on which solutions exist and are unique. This information is later used for a important class of systems, namely, port-Hamiltonian differential algebraic equations.

Optimal actuator and control design is studied as a multi-level optimisation problem, where the actuator design is evaluated based on the performance of the associated optimal closed loop. The evaluation of the optimal closed loop for a given actuator realisation is a computationally demanding task, for which the use of a neural network surrogate is proposed. The use of neural network surrogates to replace the lower level of the optimisation hierarchy enables the use of fast gradient-based and gradient-free consensus-based optimisation methods to determine the optimal actuator design. The effectiveness of the proposed surrogate models and optimisation methods is assessed in a test related to optimal actuator location for heat control.

Different index concepts for linear differential-algebraic equations are defined in the general Banach space setting, and compared. For regular finite-dimensional linear differential-algebraic equations, all these indices exist and are equivalent. For infinite-dimensional systems, the situation is more complex. It is proven that although some indices imply others, in general they are not equivalent. The situation is illustrated with a number of examples.

In this study, we explore the universality of Selective Number-dependent Arbitrary Phase (SNAP) and Displacement gates for quantum control in qudit-based systems. However, optimizing the parameters of these gates poses a challenging task. Our main focus is to investigate the sensitivity of training any of the SNAP parameters in the SNAP-Displacement protocol. We analyze conditions that could potentially lead to the Barren Plateau problem in a qudit system and draw comparisons with multi-qubit systems. The parameterized ansatz we consider consists of blocks, where each block is composed of hardware operations, namely SNAP and Displacement gates \cite{fosel2020efficient}. Applying Variational Quantum Algorithm (VQA) with observable and gate cost functions, we utilize techniques similar to those in \cite{mcclean2018barren} and \cite{cerezo2021cost} along with the concept of $t-$design. Through this analysis, we make the following key observations: (a) The trainability of a SNAP-parameter does not exhibit a preference for any particular direction within our cost function landscape, (b) By leveraging the first and second moments properties of Haar measures, we establish new lemmas concerning the expectation of certain polynomial functions, and (c) utilizing these new lemmas, we identify a general condition that indicates an expected trainability advantage in a qudit system when compared to multi-qubit systems., Comment: 15 pages, 3 figures

Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the coupling between the two equations can cause instability in the overall system. A backstepping approach is used to derive a boundary control input that stabilizes the coupled system. The result is an explicit expression for the stabilizing control law. The second part of the paper involves the design of exponentially convergent observers to estimate the state of the coupled system, given some partial boundary measurements. The observation error system is shown to be exponentially stable, again by employing a backstepping method. This leads to the design of observer gains in closed-form. Finally, we address the output-feedback problem by combining the observers with the state feedback boundary control. The theoretical results are demonstrated with numerical simulations.

Iterative decoder failures of quantum low density parity check (QLDPC) codes are attributed to substructures in the code's graph, known as trapping sets, as well as degenerate errors that can arise in quantum codes. Failure inducing sets are subsets of codeword coordinates that, when initially in error, lead to decoding failure in a trapping set. The purpose of this paper is to examine failure inducing sets of QLDPC codes under syndrome-based iterative decoding. As for classical LDPC codes, we show that absorbing sets play a central role in understanding decoder failures. Raveendran and Vasi\~c initiated the study of quantum trapping sets, where beyond the classical-type trapping sets, they identified rigid symmetric structures (a.k.a symmetric stabilizers) responsible for degenerate errors. In this paper, we show that this behavior is part of a much more general phenomenon that can be described by the absorbing set framework.

In this work, the multiplier method is extended to obtain a general lower bound of the exponential decay rate in terms of the physical parameters for port-Hamiltonian systems in one space dimension with boundary dissipation. The physical parameters of the system may be spatially varying. It is shown that under assumptions of boundary or internal dissipation, the system is exponentially stable. This is established through a Lyapunov function defined through a general multiplier function. Furthermore, an explicit bound on the decay rate in terms of the physical parameters is obtained. The method is applied to a number of examples., Comment: 7 pages, 2 figures, Submitted to IEEE TAC

In this article we investigate the solvability of infinite-dimensional differential algebraic equations. Such equations often arise as partial differential-algebraic equations (PDAEs). A decomposition of the state-space that leads to an extension of the Hille-Yosida Theorem on Hilbert spaces for these equations is described. For dissipative partial differential equations the famous Lumer-Phillips generation theorem characterizes solvability and also boundedness of the associated semigroup. An extension of the Lumer-Phillips generation theorem to dissipative differential-algebraic equations is given. The results is illustrated by coupled systems and the Dzektser equation.

In many physical applications, the system's state varies with spatial variables as well as time. The state of such systems is modelled by partial differential equations and evolves on an infinite-dimensional space. Systems modelled by delay-differential equations are also infinite-dimensional systems. The full state of these systems cannot be measured. Observer design is an important tool for estimating the state from available measurements. For linear systems, both finite- and infinite-dimensional, the Kalman filter provides an estimate with minimum-variance on the error, if certain assumptions on the noise are satisfied. The extended Kalman filter (EKF) is one type of extension to nonlinear finite-dimensional systems. In this paper we provide an extension of the EKF to semilinear infinite-dimensional systems. Under mild assumptions we prove the well-posedness of equations defining the EKF. Local exponential stability of the error dynamics is shown. Only detectability is assumed, not observability, so this result is new even for finite-dimensional systems. The results are illustrated with implementation of finite-dimensional approximations of the infinite-dimensional EKF on an example., Comment: 20 pages, 8 figures

H-infinity optimal control and estimation are addressed for a class of systems governed by partial differential equations with bounded input and output operators. Diffusion equations are an important example in this class. Explicit formulas for the optimal state feedback controller as well as the optimal state estimator are given. Unlike traditional methods for H-infinity synthesis, no iteration is needed to obtain the optimal solution. Moreover, the optimal performance for both the state feedback and state estimation problems are explicitly calculated. This is shown to be useful for problems of H-infinity optimal actuator and sensor location. Furthermore, the results can be used in testing and bench-marking of general purpose algorithms for H-infinity synthesis. The results also apply to finite-dimensional systems.

In this paper, optimal actuator shape for nonlinear parabolic systems is discussed. The system under study is an abstract differential equation with a locally Lipschitz nonlinear part. A quadratic cost on the state and input of the system is considered. The existence of an optimal actuator shape has been established in the literature. This paper focuses on driving the optimality conditions for actuator shapes belonging to a Banach space. The application of the theory to the optimal actuator shape design for railway track model is considered., Comment: arXiv admin note: text overlap with arXiv:1910.03124, arXiv:1903.07572"

Many physical systems are modeled by nonlinear parabolic differential equations, such as the Kuramoto-Sivashinsky (KS) equation. In this paper, the existence of a concurrent optimal controller and actuator design is established for semilinear parabolic systems. Optimality equations are provided. The results are shown to apply to optimal controller/actuator design for the Kuramoto-Sivashinsky equation and also nonlinear diffusion.

Optimal actuator design for a vibration control problem is calculated. The actuator shape is optimized according to the closed-loop performance of the resulting linear-quadratic regulator and a penalty on the actuator size. The optimal actuator shape is found by means of shape calculus and a topological derivative of the linear-quadratic regulator (LQR) performance index. An abstract framework is proposed based on the theory for infinite-dimensional optimization of both the actuator shape and the associated control problem. A numerical realization of the optimality condition is presented for the actuator shape using a level-set method for topological derivatives. A Numerical example illustrating the design of actuator for Euler-Bernoulli beam model is provided.

Railway tracks rest on a foundation known for exhibiting nonlinear viscoelastic behavior. Railway track deflections are modeled by a semilinear partial differential equation. This paper studies the stability of solutions to this equation in presence of an input. With the aid of a suitable Lyapunov function, existence and exponential stability of classical solutions is established for certain inputs. The Lyapunov function is further used to find an a-priori estimate of the solutions, and also to study the input-to-state stability (ISS) of mild solutions.

Actuator location and design are important choices in controller design for distributed parameter systems. Semi-linear partial differential equations model a wide spectrum of physical systems with distributed parameters. It is shown that under certain conditions on the nonlinearity and the cost function, an optimal control input together with an optimal actuator choice exists. First-order necessary optimality conditions are derived. The results are applied to optimal actuator and controller design in a nonlinear railway track model as well as semi-linear wave models.

The zero dynamics of infinite-dimensional systems can be difficult to characterize. The zero dynamics of boundary control systems are particularly problematic. In this paper the zero dynamics of port-Hamiltonian systems are studied. A complete characterization of the zero dynamics for a port-Hamiltonian systems with invertible feedthrough as another port-Hamiltonian system on the same state space is given. It is shown that the zero dynamics for any port-Hamiltonian system with commensurate wave speeds are well-defined, and are also a port-Hamiltonian system. Examples include wave equations with uniform wave speed on a network. A constructive procedure for calculation of the zero dynamics, that can be used for very large system order, is provided., Comment: 17 pages

Lithium-ion batteries are used to store energy in electric vehicles. Physical models based on electro-chemistry accurately predict the cell dynamics, in particular the state of charge. However, these models are nonlinear partial differential equations coupled to algebraic equations, and they are computationally intensive. Furthermore, a variable solid-state diffusivity model is recommended for cells with a lithium ion phosphate positive electrode to provide more accuracy. This variable structure adds more complexities to the model. However, a low-order model is required to represent the lithium-ion cells' dynamics for real-time applications. In this paper, a simplification of the electrochemical equations with variable solid-state diffusivity that preserves the key cells' dynamics is derived. The simplified model is transformed into a numerically efficient fully dynamical form. It is proved that the simplified model is well-posed and can be approximated by a low-order finite-dimensional model. Simulations are very quick and show good agreement with experimental data.

The Landau-Lifshitz equation is a coupled set of nonlinear partial differential equations that describes the dynamics of magnetization in a ferromagnet. This equation has an infinite number of stable equilibria. Steering the system from one equilibrium to another is a problem of both theoretical and practical interest. Since the objective is to steer between equilibria, approaches based on linearization are not appropriate. It is proven that affine proportional control can be used to steer the system from an arbitrary initial state, including an equilibrium point, to a specified equilibrium point. The second point becomes a globally asymptotically stable equilibrium of the controlled system. The control also removes hysteresis from the Landau-Lifshitz equation. These results are illustrated with simulations., Comment: arXiv admin note: substantial text overlap with arXiv:1509.05834

Piezo-electric material can be controlled with current as the electrical variable, instead of voltage. The main purpose of this paper is to derive the governing equations for a current-controlled piezo-electric beam and to investigate stabilizability. Besides the consideration of current control, there are several new aspects to the model here. Most significantly, magnetic effects are included. For the electromagnetic part of the model, electrical potential and magnetic vector potential are chosen to be quadratic-through thickness to include the induced effects of the electromagnetic field. Two sets of decoupled system of partial differential equations are obtained; one for stretching motion and another one for bending motion. Hamilton's principle is used to derive a boundary value problem that models a single piezo-electric beam actuated by a charge (or current) source at the electrodes. Current or charge controllers at the electrodes can only control the stretching motion. Attention is therefore focused on control of the stretching equations in this paper. It is shown that the Lagrangian of the beam is invariant under certain transformations. A Coulomb-type gauge condition which is widely used in the electromagnetic theory is used here. This gauge condition decouples the electrical potential equation from the equations of the magnetic potential. A semigroup approach is used to prove that the Cauchy problem is well-posed. Unlike the voltage or charge actuation, a bounded control operator in the natural energy space is obtained in the current actuation case. The paper concludes with analysis of stabilizability and comparison with other actuation approaches and models., Comment: 1 figure

The Ordered Upwind Method (OUM) is used to approximate the viscosity solution of the static Hamilton-Jacobi-Bellman (HJB) with direction-dependent weights on unstructured meshes. The method has been previously shown to provide a solution that converges to the exact solution, but no convergence rate has been theoretically proven. In this paper, it is shown that the solutions produced by the OUM in the boundary value formulation converge at a rate of at least the square root of the largest edge length in the mesh in terms of maximum error. An example with similar order of numerical convergence is provided.

The Landau--Lifshitz equation describes the dynamics of magnetization inside a ferromagnet. This equation is nonlinear and has an infinite number of stable equilibria. It is desirable to control the system from one equilibrium to another. A control that moves the system from an arbitrary initial state, including an equilibrium point, to a specified equilibrium is presented. It is proven that the second point is an asymptotically stable equilibrium of the controlled system. The results are illustrated with some simulations.

Lyapunov's indirect method is an attractive method for analyzing stability of non-linear systems since only the stability of the corresponding linearized system needs to be determined. Unfortunately, the proof for finite-dimensional systems does not generalize to infinite-dimensions. In this paper a unified approach to Lyapunov's indirect method for infinite-dimensional system is described. It is shown how existing sufficient conditions fit this framework and a new sufficient condition is presented., Comment: In Proceedings of the 21st International Symposium on Mathematical Theory of Networks and Systems, 2014

The Landau-Lifshitz equation describes the behaviour of magnetization inside a ferromagnetic object. It is known that the Landau-Lifshitz equation has an infinite number of stable equilibrium points. The existence of multiple stable equilibria is closely related to hysteresis. This is a phenomenon that is often characterized by a looping behaviour; however, the existence of a loop is not sufficient to identify hysteretic systems, but is defined more precisely as the presence of looping as the frequency of the input goes to zero. We describe these two approaches to identification of hysteresis and demonstrate that both the linear and nonlinear Landau-Lifshitz equations exhibit hysteresis. The presence of hysteresis in the linear Landau-Lifshitz equation, as well as in a simpler system also described here, indicates that nonlinearity is not necessary for hysteresis to exist., Comment: In Proceedings of the American Control Conference, 2014

The root locus is an important tool for analysing the stability and time constants of linear finite-dimensional systems as a parameter, often the gain, is varied. However, many systems are modelled by partial differential equations or delay equations. These systems evolve on an infinite-dimensional space and their transfer functions are not rational. In this paper a rigorous definition of the root locus for infinite-dimensional systems is given and it is shown that the root locus is well-defined for a large class of infinite-dimensional systems. As for finite-dimensional systems, any limit point of a branch of the root locus is a zero. However, the asymptotic behaviour can be quite different from that for finite-dimensional systems. This point is illustrated with a number of examples. It is shown that the familiar pole-zero interlacing property for collocated systems with a Hermitian state matrix extends to infinite-dimensional systems with self-adjoint generator. This interlacing property is also shown to hold for collocated systems with a skew-adjoint generator.

Hyperbolic partial differential equations on a one-dimensional spatial domain are studied. This class of systems includes models of beams and waves as well as the transport equation and networks of non-homogeneous transmission lines. The main result of this paper is a simple test for $C_0$-semigroup generation in terms of the boundary conditions. The result is illustrated with several examples.