Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961391
Rammah M. Abohtyra, T. Vincent
This paper considers the controllability of dynamic networks. Networks consist of a set of dynamic agents and links that describe the interconnection behavior between agents. These links can be described either by static gains, which we call static gain networks, or they can be described by dynamic transfer functions in which case they are dynamic gain networks. We consider a subset of one or more agents that act as control inputs to regulate the other remaining agents. A network can be described by a graph consisting of nodes and weighted edges. In previous work, tests for controllability for static graphs have been developed, and the results of controllability have been obtained. These results are based on the Laplacian matrices of the graph and some other graphical tools. This paper will consider a large class of networks where the links are dynamic systems. The main contribution of this paper is to test the controllability, based on extending the equitable partition technique to a dynamic gain networks. This technique was previously used for static gain networks. Finally, we illustrate our results with a practical application in robotics.
{"title":"Using the equitable partition technique to determine the non-controllability of dynamic networks","authors":"Rammah M. Abohtyra, T. Vincent","doi":"10.1109/MED.2014.6961391","DOIUrl":"https://doi.org/10.1109/MED.2014.6961391","url":null,"abstract":"This paper considers the controllability of dynamic networks. Networks consist of a set of dynamic agents and links that describe the interconnection behavior between agents. These links can be described either by static gains, which we call static gain networks, or they can be described by dynamic transfer functions in which case they are dynamic gain networks. We consider a subset of one or more agents that act as control inputs to regulate the other remaining agents. A network can be described by a graph consisting of nodes and weighted edges. In previous work, tests for controllability for static graphs have been developed, and the results of controllability have been obtained. These results are based on the Laplacian matrices of the graph and some other graphical tools. This paper will consider a large class of networks where the links are dynamic systems. The main contribution of this paper is to test the controllability, based on extending the equitable partition technique to a dynamic gain networks. This technique was previously used for static gain networks. Finally, we illustrate our results with a practical application in robotics.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127737140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961495
D. Silva, Wallace Turcio, E. Tannuri
This work presents a simplified nonlinear model for an aeronautical pneumatic system. A methodology for designing the system temperature control is proposed using the feedback linearization theory combined with a PID. Simulation results performed with Matlab/Simulink® are presented and discussed.
{"title":"Temperature control of an aeronautical pneumatic system using feedback linearization and PID","authors":"D. Silva, Wallace Turcio, E. Tannuri","doi":"10.1109/MED.2014.6961495","DOIUrl":"https://doi.org/10.1109/MED.2014.6961495","url":null,"abstract":"This work presents a simplified nonlinear model for an aeronautical pneumatic system. A methodology for designing the system temperature control is proposed using the feedback linearization theory combined with a PID. Simulation results performed with Matlab/Simulink® are presented and discussed.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132328969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961366
Cagatay Goncu, S. Marinai, K. Marriott
Information graphics are common in written communication. The ability to comprehend, use and create these graphics is an important skill that most of us take for granted. However, for those who are visually impaired, access to such graphics is severely limited. While new presentation technologies will improve access, an unsolved problem is how to automatically generate an accessible version of an information graphic. We describe the goals and approach of a project to develop software tools to do this. Our proposed approach uses advanced graphics recognition combined with high-level transformation. It is designed to handle a wide variety of information graphics, including floor plans, line graphs and organisation charts, and to be usable in schools, workplaces and at home.
{"title":"Generation of accessible graphics","authors":"Cagatay Goncu, S. Marinai, K. Marriott","doi":"10.1109/MED.2014.6961366","DOIUrl":"https://doi.org/10.1109/MED.2014.6961366","url":null,"abstract":"Information graphics are common in written communication. The ability to comprehend, use and create these graphics is an important skill that most of us take for granted. However, for those who are visually impaired, access to such graphics is severely limited. While new presentation technologies will improve access, an unsolved problem is how to automatically generate an accessible version of an information graphic. We describe the goals and approach of a project to develop software tools to do this. Our proposed approach uses advanced graphics recognition combined with high-level transformation. It is designed to handle a wide variety of information graphics, including floor plans, line graphs and organisation charts, and to be usable in schools, workplaces and at home.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"02 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132563426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961587
Hajrudin Efendic, Harald Kirchsteiger, G. Freckmann, L. Re
Insulin therapy of type 1 diabetes is essentially a case of feed-forward control in which a wrong decision can significantly affect or even harm the patient. Accordingly, the quality of the model used to predict the effect of an insulin subministration would have a paramount importance. Unfortunately, for many reasons, among them the very high interpatient and intrapatient variability and the strong influence of stochastic elements, no sufficiently reliable patient-tunable models are available to predict precisely the blood glucose (BG) value development especially after meals. Against this background, attempts have been done to develop interval estimations and predictions instead of single values. This paper suggests using interval models based on physiology and describing the development of the BG in terms of transition probabilities. To this end, we use Gaussian Mixture Models (GMM) and data from real patients. The evaluation shows that the proposed approach is able to provide a good to very good prediction for time ranges of 10 to 30 minutes, both during night and day, with or without meals, while never producing a prediction which could lead to a potentially dangerous decision for the patient.
{"title":"Short-term prediction of blood glucose concentration using interval probabilistic models","authors":"Hajrudin Efendic, Harald Kirchsteiger, G. Freckmann, L. Re","doi":"10.1109/MED.2014.6961587","DOIUrl":"https://doi.org/10.1109/MED.2014.6961587","url":null,"abstract":"Insulin therapy of type 1 diabetes is essentially a case of feed-forward control in which a wrong decision can significantly affect or even harm the patient. Accordingly, the quality of the model used to predict the effect of an insulin subministration would have a paramount importance. Unfortunately, for many reasons, among them the very high interpatient and intrapatient variability and the strong influence of stochastic elements, no sufficiently reliable patient-tunable models are available to predict precisely the blood glucose (BG) value development especially after meals. Against this background, attempts have been done to develop interval estimations and predictions instead of single values. This paper suggests using interval models based on physiology and describing the development of the BG in terms of transition probabilities. To this end, we use Gaussian Mixture Models (GMM) and data from real patients. The evaluation shows that the proposed approach is able to provide a good to very good prediction for time ranges of 10 to 30 minutes, both during night and day, with or without meals, while never producing a prediction which could lead to a potentially dangerous decision for the patient.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134413572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961591
Edin Koco, Slaven Glumac, Z. Kovačić
This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using multiobjective genetic algorithm optimization. The optimization evaluates the energy per distance and average speed criteria on a robot simulation model. Robot locomotion is achieved by open-loop execution of foot trajectories generated in the local leg coordinate system. Foot trajectory is formulated as a sum of harmonics which enabled great flexibility in determining the final trajectory shape. A multiobjective optimization is introduced to tune the foot trajectory parameters in order to achieve energy optimal and fast robot locomotion. The obtained Pareto frontier showed that the bound gait is optimal for lower speeds while the trot gait enabled the robot to reach its maximum speed. The paper identifies the correlation between the stride frequency and robot speed for each identified gait laying on the Pareto frontier. Finally we discuss the trajectory shape of solutions obtained using multiobjective optimization.
{"title":"Multiobjective optimization of a quadruped robot gait","authors":"Edin Koco, Slaven Glumac, Z. Kovačić","doi":"10.1109/MED.2014.6961591","DOIUrl":"https://doi.org/10.1109/MED.2014.6961591","url":null,"abstract":"This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using multiobjective genetic algorithm optimization. The optimization evaluates the energy per distance and average speed criteria on a robot simulation model. Robot locomotion is achieved by open-loop execution of foot trajectories generated in the local leg coordinate system. Foot trajectory is formulated as a sum of harmonics which enabled great flexibility in determining the final trajectory shape. A multiobjective optimization is introduced to tune the foot trajectory parameters in order to achieve energy optimal and fast robot locomotion. The obtained Pareto frontier showed that the bound gait is optimal for lower speeds while the trot gait enabled the robot to reach its maximum speed. The paper identifies the correlation between the stride frequency and robot speed for each identified gait laying on the Pareto frontier. Finally we discuss the trajectory shape of solutions obtained using multiobjective optimization.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134601257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961357
I. Vitanov, N. Aouf
An integrated navigation system (INS) on a vehicle platform such as a quadrotor UAV is an example of a multisensor system, wherein data streams coming from different sensors are combined to bring about improved situational awareness. This paper examines the implementation of two related approaches to distributed estimation and fault diagnosis in a multi-sensor INS: a centralised and decentralised (federated) Kalman filter in information form. We adapt a designated observer scheme (DOS), i.e., filter bank approach, to make use of local filter nodes coupled to individual inertial sensors in order to achieve detection and isolation of faults. The centralised filter implemented is based on the concept of adaptive measurement fusion, which allows for adaptive estimation of the measurement covariance. We extend this feature to the decentralised design and compare the two. A further contribution is the use of Gaussian processes (GPs) in tracking INS sensor deviations from model-predicted values and using this information for fault recovery in the case of the decentralised filter. Initial simulation results show that the decentralised filter is more robust in the face of multiple faults, even as the centralised information filter provides slightly higher quality estimation.
{"title":"Fault diagnosis and recovery in MEMS inertial navigation system using information filters and Gaussian processes","authors":"I. Vitanov, N. Aouf","doi":"10.1109/MED.2014.6961357","DOIUrl":"https://doi.org/10.1109/MED.2014.6961357","url":null,"abstract":"An integrated navigation system (INS) on a vehicle platform such as a quadrotor UAV is an example of a multisensor system, wherein data streams coming from different sensors are combined to bring about improved situational awareness. This paper examines the implementation of two related approaches to distributed estimation and fault diagnosis in a multi-sensor INS: a centralised and decentralised (federated) Kalman filter in information form. We adapt a designated observer scheme (DOS), i.e., filter bank approach, to make use of local filter nodes coupled to individual inertial sensors in order to achieve detection and isolation of faults. The centralised filter implemented is based on the concept of adaptive measurement fusion, which allows for adaptive estimation of the measurement covariance. We extend this feature to the decentralised design and compare the two. A further contribution is the use of Gaussian processes (GPs) in tracking INS sensor deviations from model-predicted values and using this information for fault recovery in the case of the decentralised filter. Initial simulation results show that the decentralised filter is more robust in the face of multiple faults, even as the centralised information filter provides slightly higher quality estimation.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130866089","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961390
E. Antoniou, S. Vologiannidis
In this note we propose a new approach for the construction of a parametrization of the linearizations corresponding to a given polynomial matrix. A linearization of a polynomial matrix is a first order polynomial matrix which is in a certain sense equivalent to the original one. The main advantage of linearization techniques, is that in most cases, a linearization can be easily constructed from the coefficients of the polynomial matrix. In view of their advantages and applications many linearization techniques have been developed by several authors in the recent years. In the present paper we propose a unifying approach aiming to serve as a bridge between the two main linearization approaches already known in the literature.
{"title":"On the parametrization of linearizations of polynomial matrices","authors":"E. Antoniou, S. Vologiannidis","doi":"10.1109/MED.2014.6961390","DOIUrl":"https://doi.org/10.1109/MED.2014.6961390","url":null,"abstract":"In this note we propose a new approach for the construction of a parametrization of the linearizations corresponding to a given polynomial matrix. A linearization of a polynomial matrix is a first order polynomial matrix which is in a certain sense equivalent to the original one. The main advantage of linearization techniques, is that in most cases, a linearization can be easily constructed from the coefficients of the polynomial matrix. In view of their advantages and applications many linearization techniques have been developed by several authors in the recent years. In the present paper we propose a unifying approach aiming to serve as a bridge between the two main linearization approaches already known in the literature.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132167814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961439
M. Dahleh
We will present recent work on the resilience and risk of failure emerging in cyber-physical infrastructures such as smart transportation systems and the smart grid. In the first part of the talk, we present results on the volatility and risk of failure associated with real-time response in the future smart grid. Real-time demand response has been postulated as the solution to the intermittency problem created by renewable generation. The proposed market architecture is simple, namely, consumers react directly to spot market prices in order to fulfill their demands. This mechanism creates a closed loop system between price and demand that has implications on efficiency, demand and price volatility, and risk of demand spikes. In this talk, we first present an analysis of this closed loop system for homogeneous consumers and highlight the tradeoffs between market efficiency and demand and price volatility. Then, we present an abstracted framework to analyze the tradeoffs between efficiency and risk for heterogeneous consumers in the presence of shiftable demands. In this context, we expand the market mechanism to study the impact of coordination on such a tradeoff. We show that although the non-cooperative load-shifting scheme leads to an efficiency loss (otherwise known as the price of anarchy), the scheme has a smaller tail probability of the aggregate unshiftable demand distribution than cooperative schemes. This tail distribution is important as it corresponds to rare and undesirable demand spikes. Such instances highlight the role of the market mechanisms in striking a balance between efficiency and risk in real-time markets. In the second part of the talk, we present results on the robustness (resilience) properticlosedes of transportation networks for various agents' route-choice behavior. We perform the analysis within a dynamical system framework over a directed acyclic graph between a single origin-destination pair. We give a precise characterization of various margins of resilience of the network with respect to the topology, `pre-disturbance' equilibrium, and agents' local route-choice behavior. We show that the cooperative route choice behavior is maximally resilient in this setting. We also setup a simple convex optimization problem to find the most resilient `pre-disturbance' equilibrium for the network and determine link-wise tolls that yield such an equilibrium. Finally, we extend the analysis to link-wise outflow functions that accommodate the possibility of cascaded failures and study the effect of such phenomena on the margins of resilience of the network.
{"title":"Plenary talk: Resilience and risk in networked systems","authors":"M. Dahleh","doi":"10.1109/MED.2014.6961439","DOIUrl":"https://doi.org/10.1109/MED.2014.6961439","url":null,"abstract":"We will present recent work on the resilience and risk of failure emerging in cyber-physical infrastructures such as smart transportation systems and the smart grid. In the first part of the talk, we present results on the volatility and risk of failure associated with real-time response in the future smart grid. Real-time demand response has been postulated as the solution to the intermittency problem created by renewable generation. The proposed market architecture is simple, namely, consumers react directly to spot market prices in order to fulfill their demands. This mechanism creates a closed loop system between price and demand that has implications on efficiency, demand and price volatility, and risk of demand spikes. In this talk, we first present an analysis of this closed loop system for homogeneous consumers and highlight the tradeoffs between market efficiency and demand and price volatility. Then, we present an abstracted framework to analyze the tradeoffs between efficiency and risk for heterogeneous consumers in the presence of shiftable demands. In this context, we expand the market mechanism to study the impact of coordination on such a tradeoff. We show that although the non-cooperative load-shifting scheme leads to an efficiency loss (otherwise known as the price of anarchy), the scheme has a smaller tail probability of the aggregate unshiftable demand distribution than cooperative schemes. This tail distribution is important as it corresponds to rare and undesirable demand spikes. Such instances highlight the role of the market mechanisms in striking a balance between efficiency and risk in real-time markets. In the second part of the talk, we present results on the robustness (resilience) properticlosedes of transportation networks for various agents' route-choice behavior. We perform the analysis within a dynamical system framework over a directed acyclic graph between a single origin-destination pair. We give a precise characterization of various margins of resilience of the network with respect to the topology, `pre-disturbance' equilibrium, and agents' local route-choice behavior. We show that the cooperative route choice behavior is maximally resilient in this setting. We also setup a simple convex optimization problem to find the most resilient `pre-disturbance' equilibrium for the network and determine link-wise tolls that yield such an equilibrium. Finally, we extend the analysis to link-wise outflow functions that accommodate the possibility of cascaded failures and study the effect of such phenomena on the margins of resilience of the network.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132589725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961388
A. Ailon, S. Arogeti
This study considers a simple velocity-free controller for altitude/attitude regulation for the highly nonlinear model of a quadrotor-type helicopter. Some useful structural properties of the proposed closed-loop system are considered for studying stability when time-delay appears in the feedback loop. Numerical and simulation results demonstrate the impact of the time delays on the system dynamics.
{"title":"Study on the effects of time-delays on quadrotor-type helicopter dynamics","authors":"A. Ailon, S. Arogeti","doi":"10.1109/MED.2014.6961388","DOIUrl":"https://doi.org/10.1109/MED.2014.6961388","url":null,"abstract":"This study considers a simple velocity-free controller for altitude/attitude regulation for the highly nonlinear model of a quadrotor-type helicopter. Some useful structural properties of the proposed closed-loop system are considered for studying stability when time-delay appears in the feedback loop. Numerical and simulation results demonstrate the impact of the time delays on the system dynamics.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115184595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961355
M. Simandl, Jan Škach, Ivo Punčochář
In this paper the problem of active fault detection for a non-linear discrete-time stochastic system over an infinite time horizon is considered. The faults in the system are modeled by switching between fault-free and finitely many faulty models. The optimal active fault detector is derived by reformulating the original problem and solving corresponding Bellman's functional equation. A suboptimal solution is based on application of the value iteration or the policy iteration algorithms and a representation of the continuous hyper-state space by a uniform grid. A comparison of both algorithms for solving Bellman's functional equation is illustrated in a numerical example.
{"title":"Approximation methods for optimal active fault detection","authors":"M. Simandl, Jan Škach, Ivo Punčochář","doi":"10.1109/MED.2014.6961355","DOIUrl":"https://doi.org/10.1109/MED.2014.6961355","url":null,"abstract":"In this paper the problem of active fault detection for a non-linear discrete-time stochastic system over an infinite time horizon is considered. The faults in the system are modeled by switching between fault-free and finitely many faulty models. The optimal active fault detector is derived by reformulating the original problem and solving corresponding Bellman's functional equation. A suboptimal solution is based on application of the value iteration or the policy iteration algorithms and a representation of the continuous hyper-state space by a uniform grid. A comparison of both algorithms for solving Bellman's functional equation is illustrated in a numerical example.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115352205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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