There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

NUDGE: IMPROVING DECISIONS ABOUT HEALTH, WEALTH, AND HAPPINESS by Richard H. Thaler and Cass R. Sunstein Penguin Books, 2009, 312 pp, ISBN 978-0-14-311526-7This book is best described formally as a general explanation of and advocacy for libertarian paternalism, a term coined by the authors in earlier publications. Informally, it is about how leaders, systems, organizations, and governments can nudge people to do the things the nudgers want and need done for the betterment of the nudgees, or of society. It is paternalism in the sense that "it is legitimate for choice architects to try to influence people's behavior in order to make their lives longer, healthier, and better", (p. 5) It is libertarian in that "people should be free to do what they like - and to opt out of undesirable arrangements if they want to do so", (p. 5) The built-in possibility of opting out or making a different choice preserves freedom of choice even though people's behavior has been influenced by the nature of the presentation of the information or by the structure of the decisionmaking system. I had never heard of libertarian paternalism before reading this book, and I now find it fascinating.Written for a general audience, this book contains mostly social and behavioral science theory and models, but there is considerable discussion of structure and process that has roots in mathematical and quantitative modeling. One of the main applications of this social system is economic choice in investing, selecting and purchasing products and services, systems of taxes, banking (mortgages, borrowing, savings), and retirement systems. Other quantitative social choice systems discussed include environmental effects, health care plans, gambling, and organ donations. Softer issues that are also subject to a nudge-based approach are marriage, education, eating, drinking, smoking, influence, spread of information, and politics. There is something in this book for everyone.The basis for this libertarian paternalism concept is in the social theory called "science of choice", the study of the design and implementation of influence systems on various kinds of people. The terms Econs and Humans, are used to refer to people with either considerable or little rational decision-making talent, respectively. The various libertarian paternalism concepts and systems presented are tested and compared in light of these two types of people. Two foundational issues that this book has in common with another book, Network of Echoes: Imitation, Innovation and Invisible Leaders, that was also reviewed for this issue of the Journal are that 1 ) there are two modes of thinking (or components of the brain) - an automatic (intuitive) process and a reflective (rational) process and 2) the need for conformity and the desire for imitation are powerful forces in human behavior. …

Nudge: Improving Decisions about Health, Wealth, and Happiness

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

Historically, centrally computed algorithms have been the primary means of power system optimization and control. With increasing penetrations of distributed energy resources requiring optimization and control of power systems with many controllable devices, distributed algorithms have been the subject of significant research interest. This paper surveys the literature of distributed algorithms with applications to optimization and control of power systems. In particular, this paper reviews distributed algorithms for offline solution of optimal power flow (OPF) problems as well as online algorithms for real-time solution of OPF, optimal frequency control, optimal voltage control, and optimal wide-area control problems.

https://ieeexplore.ieee.org/ielaam/5165411/8075182/7990560-aam.pdf

A Survey of Distributed Optimization and Control Algorithms for Electric Power Systems

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L2 Gain And Passivity Techniques In Nonlinear Control

This paper deals with robust synchronization of uncertain multi-agent networks. Given a network with for each of the agents identical nominal linear dynamics, we allow uncertainty in the form of additive perturbations of the transfer matrices of the nominal dynamics. The perturbations are assumed to be stable and bounded in H∞-norm by some a priori given desired tolerance. We derive state space formulas for observer based dynamic protocols that achieve synchronization for all perturbations bounded by this desired tolerance. It is shown that a protocol achieves robust synchronization if and only if each controller from a related finite set of feedback controllers robustly stabilizes a given, single linear system. Our protocols are expressed in terms of real symmetric solutions of certain algebraic Riccati equations and inequalities, and also involve weighting factors that depend on the eigenvalues of the graph Laplacian. For undirected network graphs we show that within the class of such dynamic protocols, a guaranteed achievable tolerance can be obtained that is proportional to the quotient of the second smallest and the largest eigenvalue of the Laplacian. We also extend our results to additive nonlinear perturbations with L2-gain bounded by a given tolerance.

/pdf/robust-synchronization-of-uncertain-linear-multi-agent-12eobwfzh6.pdf

Robust Synchronization of Uncertain Linear Multi-Agent Systems

In this technical note, controllability of systems defined on graphs is discussed. We consider the problem of controllability of the network for a family of matrices carrying the structure of an underlying directed graph. A one-to-one correspondence between the set of leaders rendering the network controllable and zero forcing sets is established. To illustrate the proposed results, special cases including path, cycle, and complete graphs are discussed. Moreover, as shown for graphs with a tree structure, the proposed results of the present technical note together with the existing results on the zero forcing sets lead to a minimal leader selection scheme in particular cases.

Zero Forcing Sets and Controllability of Dynamical Systems Defined on Graphs

In this paper, we establish a projection-based model reduction method for multiagent systems defined on a graph. Reduced order models are obtained by clustering the vertices (agents) of the underlying communication graph by means of suitable graph partitions. In the reduction process, the spatial structure of the network is preserved and the reduced order models can again be realized as multiagent systems defined on a graph. The agents are assumed to have single-integrator dynamics and the communication graph of the original system is weighted and undirected. The proposed model reduction technique reduces the number of vertices of the graph (which is equal to the dynamic order of the original multi-agent system) and yields a reduced order multiagent system defined on a new graph with a reduced number of vertices. This new graph is a weighted symmetric directed graph. It is shown that if the original multiagent system reaches consensus, then so does the reduced order model. For the case that the clusters are chosen using an almost equitable partition (AEP) of the graph, we obtain an explicit formula for the ${\mbi{\cal {H}}}_{\bf 2}$ -norm of the error system obtained by comparing the input–output behaviors of the original model and the reduced order model. We also prove that the error obtained by taking an arbitrary partition of the graph is bounded from below by the error obtained using the largest AEP finer than the given partition. The proposed results are illustrated by means of a running example.

/pdf/projection-based-model-reduction-of-multi-agent-systems-3nqn2ikqxx.pdf

Projection-Based Model Reduction of Multi-Agent Systems Using Graph Partitions

In this paper, we contribute a theoretical framework that sheds a new light on the problem of microgrid analysis and control. The starting point is an energy function comprising the “kinetic” energy associated with the elements that emulate the rotating machinery and terms taking into account the reactive power stored in the lines and dissipated on shunt elements. We then shape this energy function with the addition of an adjustable voltage-dependent term, and construct so-called Bregman storage functions satisfying suitable dissipation inequalities. Our choice of the voltage-dependent term depends on the voltage dynamics under investigation. Several microgrid controllers that have similarities or coincide with dynamics already considered in the literature are captured in our incremental energy analysis framework. The twist with respect to existing results is that our incremental storage functions allow for a large signal analysis of the coupled microgrid. This obviates the need for simplifying linearization techniques, and for the restrictive decoupling assumption in which the frequency dynamics is fully separated from the voltage one. A complete Lyapunov stability analysis of the various systems is carried out along with a discussion on their active and reactive power sharing properties.

https://pure.rug.nl/ws/files/51711862/07934382.pdf

Bregman Storage Functions for Microgrid Control

In this paper we contribute a theoretical framework that sheds a new light on the problem of microgrid analysis and control. The starting point is an energy function comprising the kinetic energy associated with the elements that emulate the rotating machinery and terms taking into account the reactive power stored in the lines and dissipated on shunt elements. We then shape this energy function with the addition of an adjustable voltage-dependent term, and construct incremental storage functions satisfying suitable dissipation inequalities. Our choice of the voltage-dependent term depends on the voltage dynamics/controller under investigation. Several microgrids dynamics that have similarities or coincide with dynamics already considered in the literature are captured in our incremental energy analysis framework. The twist with respect to existing results is that our incremental storage functions allow for a large signal analysis of the coupled microgrid obviating the need for simplifying linearization techniques and for the restrictive decoupling assumption in which the frequency dynamics is fully separated from the voltage one. A complete Lyapunov stability analysis of the various systems is carried out along with a discussion on their active and reactive power sharing properties.

Nima Monshizadeh

Papers

Robust Synchronization of Uncertain Linear Multi-Agent Systems

Zero Forcing Sets and Controllability of Dynamical Systems Defined on Graphs

Projection-Based Model Reduction of Multi-Agent Systems Using Graph Partitions

Bregman Storage Functions for Microgrid Control

Bregman storage functions for microgrid control