Data-based control design methods most often consist of iterative adjustment of the controller's parameters towards the parameter values which minimize an H2 performance criterion. Typically, batches of input-output data collected from the system are used to feed directly a gradient descent optimization - no process model is used. The convergence to the global minimum of the performance criterion depends on the initial controller parameters, as well as on the size and direction of the steps taken at each iteration. This paper discusses these issues and provides a method for choosing the search direction and the step size at each optimization step so that convergence to the global minimum is obtained with high convergence rate.

This work addresses data-based (DB) control design; the properties and limitations inherent to DB design are discussed under a common theoretical framework and illustrated through experimental results. Theoretical results concerning the convergence and precision are discussed and specified for a particular class of processes. Two DB methods, representative of this design approach, are used to illustrate the general properties of DB design: the Virtual Reference Feedback Tuning (VRFT) and the Iterative Feedback Tuning (IFT).

This study addresses the control of linear systems subject to both sensor and actuator saturations and additive L2-bounded disturbances. Supposing that only the output of the linear plant is measurable, the synthesis of stabilising output feedback dynamic controllers, allowing to ensure the internal closed-loop stability and the finite L2-gain stabilisation, is considered. In this case, it is shown that the closed-loop system presents a nested saturation term. Therefore, based on the use of some modified sector conditions and appropriate variable changes, synthesis conditions in a quasi-linear matrix inequality (LMI) form are stated in both regional (local) as well as global stability contexts. Different LMI-based optimisation problems for computing a controller in order to maximise the disturbance tolerance, the disturbance rejection or the region of stability of the closed-loop system are proposed.

In this article, a new approach to the problem of indoor navigation based on ultrasonic sensors is presented, where artificial neural networks (ANN) are used to estimate the position and orientation of a mobile robot. This approach proposes the use of three Radial Basis Function (RBF) Networks, where environment maps from an ultrasonic sensor and maps synthetically generated are used to estimate the robot localization. The mobile robot is mainly characterized by its real time operation based on the Matlab/Simulink environment, where the whole necessary tasks for an autonomous navigation are done in a hierarchical and easy reprogramming way. Finally, practical results of real time navigation related to robot localization in a known indoor environment are shown.

Data-based control design methods most often consist of iterative adjustment of the controller's parameters towards the parameter values which minimize an H2 performance criterion. Typically, batches of input-output data collected from the system are used to feed directly a gradient descent optimization - no process model is used. The convergence to the global minimum of the performance criterion depends on the initial controller parameters and on the step size of each iteration. This paper discusses these issues and provides a method for choosing the step size to ensure convergence to the global minimum utilizing the lowest possible number of iterations.

In this work was investigated the effect of pre-treatment with (PhSe) 2 and (PhTe) 2 on chemical seizure and 4-aminopyridine-induced lethality in mice. Additionally, lipid peroxidation levels of whole brain after treatment with 4-aminopyridine and effect of pre-treatment with (PhSe) 2 and (PhTe) 2 on these levels were investigated. Mice were pre-treated with (PhSe) 2 or (PhTe) 2 (50, 100, or 150 $μ$mol/kg) 30 min before 4-aminopyridine (12 mg/kg) administration. The treatment with 4-aminopyridine caused a significant incidence of seizures (clonic, tonic) and death. Pre-treatment with (PhSe) 2 and (PhTe) 2 significantly increased the latency for clonic and tonic seizures, and prevented 4-aminopyridine-induced death. Significantly, the pre-treatment with (PhSe) 2 or (PhTe) 2 increased the latency for clonic seizures in a dose-dependent manner. Additionally, a significant increase was observed in the brain lipid peroxidation level after treatment with 4-aminopyridine, which was significantly inhibited by pre-treatment with 150 $μ$mol/kg (PhSe) 2 or (PhTe) 2 . These results demonstrate that (PhSe) 2 and (PhTe) 2 counteract the harmful effects of 4-aminopyridine. It is possible that this effect results from modulation of the redox state of N-methyl-d-aspartate receptors and/or of Ca 2+ channel activity with subsequent alteration in neurotransmitter release. Importantly, this study provides evidence for anticonvulsant and antioxidant properties of (PhSe) 2 and (PhTe) 2′ which indicates a neuroprotective activity of these compounds.

This paper addresses the problem of tracking constant references for linear systems subject to control saturation. Considering an unitary output feedback loop, containing an integral action, conditions in LMI form are proposed to compute a state feedback and an integrator anti-windup gain. These conditions ensure that the trajectories of the closed-loop system are bounded in an invariant ellipsoidal set, provided that the initial conditions are taken in this set and the references and the disturbances belong to a certain admissible set. Based on these conditions, optimization problems aiming at the maximization of the invariant set of admissible states and/or the maximization of the set of admissible references/disturbances are proposed.

In this work, a systematic methodology to design dynamic output feedback controllers, for linear control systems presenting both actuator and sensor saturations, is proposed. A theoretical condition that ensures that the trajectories of the closed-loop system are bounded for L2 disturbances, while ensuring internal global asymptotic stability is stated. From this theoretical condition an LMI-based optimization problem to compute the controller aiming at minimizing the induced L2 gain between the disturbance and the regulated output is proposed.

Data-based control design methods consist of adjusting the parameters of the controller directly from batches of input-output data of the process; no process model is used. The adjustment is done by solving an optimization problem, which searches the argument that minimizes a specific cost function. Iterative algorithms based on the gradient are applied to solve the optimization problem, like the steepest descent algorithm, Newton algorithm and some variations. The only information utilized for the steepest descent algorithm is the gradient of the cost function, while the others need more information like the hessian. Longer and more complex experiments are used to obtain more informations, that turns the application more complicated. For this reason, the steepest descent method was chosen to be studied in this work. The convergence of the steepest descent algorithm to the global minimum is not fully studied in the literature. This convergence depends on the initial conditions of the algorithm and on the step size. The initial conditions must be inside a specific domain of attraction, and how to enlarge this domain is treated by the methodology Cost Function Shaping. The main contribution of this work is a method to compute efficiently the step size, to ensure convergence to the global minimum. Some informations about the process are utilized, and this work presents how to estimate these informations. Simulations and experiments demonstrate how the methods work.

A method for computing time-varying dynamic output feedback controllers for discrete-time linear systems subject to input saturation is proposed. The method is based on a locally valid polytopic representation of the saturation term. From this representation, it is shown that, at each sampling time, the matrices of the stabilising time-varying controller can be computed from the current system output and from constant matrices obtained as a solution of some matrix inequalities. Linear matrix inequality-based optimisation problems are therefore proposed in order to compute the controller aiming at the maximisation of the basin attraction of the closed-loop system, as well as aiming at ensuring a level of {L2} disturbance tolerance and rejection.

This paper presents a remote experimentation plataform with didactic purposes. Fisically, the plataform is basically composed by a system of coupled tanks, where the sensors and actuators are intelligent equipements which use a Foundation Fieldbus communication protocol. A supervisory system and a web server interface the experiments with internet. A distance education plataform is therefore developed to provide access to the experiments, on-line courses, and to assist the student-instructor communication.

Objectives: To evaluate the potential role of oxidative stress in the evolution of cervical cancer, including its pre-malignant states. Design and methods: Erythrocytes thiobarbituric acid reactive substances (TBARS) levels, plasma vitamin C and thiol content and total blood $δ$-ALA-D levels were estimated in 46 untreated cervical cancer and pre-malignant patients and in 46 age-sex-matched controls. Results: Erythrocytes from patients, regardless of disease state, pre-malignant (low squamous intraepithelial lesion-LSIL and high squamous intraepithelial lesion-HSIL) or cancer, showed a significant 2-3 times increase in TBARS levels (P {\textless} 0.01). Plasma vitamin C was lower in the carcinoma group (P {\textless} 0.01). The reactivation index of $δ$-aminolevulinate dehydratase ($δ$-ALA-D) was higher in the patient group, when compared to control (P {\textless} 0.01). Conclusion: LSIL, HSIL or cervical cancer can be associated with changes in 3 indicators of oxidative stress: increase in erythrocyte TBARS, ALA-D reactivation index and a decrease in vitamin C content, that may play an important role in carcinogenesis. © 2005 The Canadian Society of Clinical Chemists. All rights reserved.

Meu objetivo neste texto é simplesmente analisar o quarto parágrafo da Segunda Meditação (AT VII, 24-25; IX-1,19), no qual ele supostamente apresenta este mesmo argumento sem empregar a famosa expressão. Das muitas, diversas e relevantes questões filosóficas que este argumento suscita, gostaria de me concentrar em investigar se ele pode ser reconstruído sem que seja necessário introduzir – como uma premissa não justificada – a concepção do pensamento como sendo essencialmente consciência de si e, portanto, como envolvendo - por definição, a auto-referência imediata e incorrigível do sujeito a si mesmo. Gostaria de poder mostrar que o argumento não apenas independe dessa concepção como, além disso, conduz a essa concepção; todavia, somente o primeiro passo em direção a esta interpretação será dado neste artigo.