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Markus Schöberl

Publications and source records attributed to Markus Schöberl.

49 records · Page 3Linked to original sources

On Structural Invariants in the Energy-Based Control of Infinite-Dimensional Port-Hamiltonian Systems with In-Domain Actuation

This contribution deals with energy-based in-domain control of systems governed by partial differential equations with spatial domain up to dimension two. We exploit a port-Hamiltonian system description based on an underlying jet-bundle formalism, where we restrict ourselves to systems with 2nd-order Hamiltonian. A certain power-conserving interconnection enables the application of a dynamic control law based on structural invariants. Furthermore, we use various examples such as beams and plates with in-domain actuation to demonstrate the capability of our approach.

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System-theoretic Analysis of Nonlinear Infinite-dimensional Systems with Generalized Symmetries

Symmetry groups allow to transform solutions of differential equations continuously into other solutions. This property can be used for the observability analysis of infinite-dimensional systems with input and output. In this contribution, we extend an existing approach, which is based on vertical classical symmetries, to non-vertical classical symmetries and generalized symmetries. This makes the approach applicable to a much larger class of systems, since many nonlinear systems do not possess any vertical classical symmetries.

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Predictive Collective Variable Discovery with Deep Bayesian Models

Extending spatio-temporal scale limitations of models for complex atomistic systems considered in biochemistry and materials science necessitates the development of enhanced sampling methods. The potential acceleration in exploring the configurational space by enhanced sampling methods depends on the choice of collective variables (CVs). In this work, we formulate the discovery of CVs as a Bayesian inference problem and consider the CVs as hidden generators of the full-atomistic trajectory. The ability to generate samples of the fine-scale atomistic configurations using limited training data allows us to compute estimates of observables as well as our probabilistic confidence on them. The methodology is based on emerging methodological advances in machine learning and variational inference. The discovered CVs are related to physicochemical properties which are essential for understanding mechanisms especially in unexplored complex systems. We provide a quantitative assessment of the CVs in terms of their predictive ability for alanine dipeptide (ALA-2) and ALA-15 peptide.

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Energy-Based In-Domain Control of a Piezo-Actuated Euler-Bernoulli Beam

The main contribution of this paper is the extension of the well-known boundary-control strategy based on structural invariants to the control of infinite-dimensional systems with in-domain actuation. The systems under consideration, governed by partial differential equations, are described in a port-Hamiltonian setting making heavy use of the underlying jet-bundle structure, where we restrict ourselves to systems with 1-dimensional spatial domain and 2nd-order Hamiltonian. To show the applicability of the proposed approach, we develop a dynamic controller for an Euler-Bernoulli beam actuated with a pair of piezoelectric patches and conclude the article with simulation results.

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On the Calculation of Differential Parametrizations for the Feedforward Control of an Euler-Bernoulli Beam

This contribution is concerned with the motion planning for underactuated Euler-Bernoulli beams. The design of the feedforward control is based on a differential parametrization of the beam, where all system variables are expressed in terms of a free time function and its infinitely many derivatives. In the paper, we derive an advantageous representation of the set of all formal differential parametrizations of the beam. Based on this representation, we identify a well-known parametrization, for the first time without the use of operational calculus. This parametrization is a flat one, as the corresponding series representations of the system variables converge. Furthermore, we discuss a formal differential parametrization where the free time function allows a physical interpretation as the bending moment at the unactuated boundary. Even though the corresponding series do not converge, a numerical simulation using a least term summation illustrates the usefulness of this formal differential parametrization for the motion planning.

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Energy-Based Control of Nonlinear Infinite-Dimensional Port-Hamiltonian Systems with Dissipation

In this paper, we consider nonlinear PDEs in a port-Hamiltonian setting based on an underlying jet-bundle structure. We restrict ourselves to systems with 1-dimensional spatial domain and 2nd-order Hamiltonian including certain dissipation models that can be incorporated in the port- Hamiltonian framework by means of appropriate differential operators. For this system class, energy-based control by means of Casimir functionals as well as energy balancing is analysed and demonstrated using a nonlinear Euler-Bernoulli beam.

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Application of Symmetry Groups to the Observability Analysis of Partial Differential Equations

Symmetry groups of PDEs allow to transform solutions continuously into other solutions. In this paper, we use this property for the observability analysis of nonlinear PDEs with input and output. Based on a differential-geometric representation of the nonlinear system, we derive conditions for the existence of special symmetry groups that do not change the trajectories of the input and the output. If such a symmetry group exists, every solution can be transformed into other solutions with the same input and output trajectories but different initial conditions, and this property can be used to prove that the system is not observable. We also put emphasis on showing how the approach simplifies for linear systems, and how it is related to the well-known observability concepts from infinite-dimensional linear systems theory.

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On the extraction of the boundary conditions and the boundary ports in second-order field theories

In this paper we consider second-order field theories in a variational setting. From the variational principle the Euler-Lagrange equations follow in an unambiguous way, but it is well known that this is not true for the Cartan form. This has also consequences on the derivation of the boundary conditions when non trivial variations are allowed on the boundary. By posing extra conditions on the set of possible boundary terms we exploit the degree of freedom in the Cartan form to extract physical meaningful boundary expressions. The same mathematical machinery will be applied to derive the boundary ports in a Hamiltonian representation of the partial differential equations which is crucial for energy based control approaches. Our results will be visualized for mechanical systems such as beam and plate models.

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Predictive Coarse-Graining

We propose a data-driven, coarse-graining formulation in the context of equilibrium statistical mechanics. In contrast to existing techniques which are based on a fine-to-coarse map, we adopt the opposite strategy by prescribing a probabilistic coarse-to-fine map. This corresponds to a directed probabilistic model where the coarse variables play the role of latent generators of the fine scale (all-atom) data. From an information-theoretic perspective, the framework proposed provides an improvement upon the relative entropy method and is capable of quantifying the uncertainty due to the information loss that unavoidably takes place during the CG process. Furthermore, it can be readily extended to a fully Bayesian model where various sources of uncertainties are reflected in the posterior of the model parameters. The latter can be used to produce not only point estimates of fine-scale reconstructions or macroscopic observables, but more importantly, predictive posterior distributions on these quantities. Predictive posterior distributions reflect the confidence of the model as a function of the amount of data and the level of coarse-graining. The issues of model complexity and model selection are seamlessly addressed by employing a hierarchical prior that favors the discovery of sparse solutions, revealing the most prominent features in the coarse-grained model. A flexible and parallelizable Monte Carlo - Expectation-Maximization (MC-EM) scheme is proposed for carrying out inference and learning tasks. A comparative assessment of the proposed methodology is presented for a lattice spin system and the SPC/E water model.

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On an implicit triangular decomposition of nonlinear control systems that are 1-flat - a constructive approach

We study the problem to provide a triangular form based on implicit differential equations for non-linear multi-input systems with respect to the flatness property. Furthermore, we suggest a constructive method for the transformation of a given system into that special triangular shape, if possible. The well known Brunovsky form, which is applicable with regard to the exact linearization problem, can be seen as special case of this implicit triangular form. A key tool in our investigation will be the construction of Cauchy characteristic vector fields that additionally annihilate certain codistributions. In adapted coordinates this construction allows to single out variables whose time-evolution can be derived without any integration.

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On the port-Hamiltonian representation of systems described by partial differential equations

We consider infinite dimensional port-Hamiltonian systems. Based on a power balance relation we introduce the port-Hamiltonian system representation where we pay attention to two different scenarios, namely the non-differential operator case and the differential operator case regarding the structural mapping, the dissipation mapping and the in/output mapping. In contrast to the well-known representation on the basis of the underlying Stokes-Dirac structure our approach is not necessarily based on using energy-variables which leads to a different port-Hamiltonian representation of the analyzed partial differential equations.

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Analysis and Comparison of Port-Hamiltonian Formulations for Field Theories - demonstrated by means of the Mindlin plate

This paper focuses on the port-Hamiltonian formulation of systems described by partial differential equations. Based on a variational principle we derive the equations of motion as well as the boundary conditions in the well-known Lagrangian framework. Then it is of interest to reformulate the equations of motion in a port-Hamiltonian setting, where we compare the approach based on Stokes-Dirac structures to a Hamiltonian setting that makes use of the involved bundle structure similar to the one on which the variational approach is based. We will use the Mindlin plate, a distributed parameter system with spatial domain of dimension two, as a running example.

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On an intrinsic formulation of time-variant Port Hamiltonian systems

In this contribution we present an intrinsic description of time-variant Port Hamiltonian systems as they appear in modeling and control theory. This formulation is based on the splitting of the state bundle and the use of appropriate covariant derivatives, which guarantees that the structure of the equations is invariant with respect to time-variant coordinate transformations. In particular, we will interpret our covariant system representation in the context of control theoretic problems. Typical examples are time-variant error systems related to trajectory tracking problems which allow for a Hamiltonian formulation. Furthermore we will analyze the concept of collocation and the balancing/interaction of power flows in an intrinsic fashion.

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