Publikationen der Gruppe

We present a graph-theoretical approach that can detect which equations of a delay differential-algebraic equation (DDAE) need to be differentiated or shifted to construct a solution of the DDAE. Our approach exploits the observation that differentiation and shifting are very similar from a structural point of view, which allows us to generalize the Pantelides algorithm for differential-algebraic equations to the DDAE setting. The primary tool for the extension is the introduction of equivalence classes in the graph of the DDAE, which also allows us to derive a necessary and sufficient criterion for the termination of the new algorithm.

This paper is devoted to the construction of exponential integrators of first and second order for the time discretization of constrained parabolic systems. For this extend, we combine well-known exponential integrators for unconstrained systems with the solution of certain saddle point problems in order to meet the constraints throughout the integration process. The result is a novel class of semi-explicit time integration schemes. We prove the expected convergence rates and illustrate the performance on two numerical examples including a parabolic equation with nonlinear dynamic boundary conditions.

We extend the modeling framework of port-Hamiltonian descriptor systems to include under- and over-determined systems and arbitrary differentiable Hamiltonian functions. This structure is associated with a Dirac structure that encloses its energy balance properties. In particular, port-Hamiltonian systems are naturally passive and Lyapunov stable, because the Hamiltonian defines a Lyapunov function. The explicit representation of input and dissipation in the structure make these systems particularly suitable for output feedback control. It is shown that this structure is invariant under a wide class of nonlinear transformations, and that it can be naturally modularized, making it adequate for automated modeling. We investigate then the application of time-discretization schemes to these systems and we show that, under certain assumptions on the Hamiltonian, structure preservation is achieved for some methods. Numerical examples are provided.

We present a framework for constructing a structured realization of a linear time-invariant dynamical system solely from a discrete sampling of an input and output trajectory of the system. We estimate the transfer function of the original model at selected frequencies using a modification of the empirical transfer function estimation that was recently presented in [Peherstorfer, Gugercin, Willcox, SIAM J. Sci. Comput., 39(5):2152–2178, 2017]. Our realization interpolates the transfer function estimates and can be seen as a generalization of the Loewner framework to structured systems. We demonstrate the presented framework by means of a delay example.

In this paper formulas are derived for the analytic center of the solution set of linear matrix inequalities (LMIs) defining passive transfer functions. The algebraic Riccati equations that are usually associated with such systems are related to boundary points of the convex set defined by the solution set of the LMI. It is shown that the analytic center is described by closely related matrix equations, and their properties are analyzed for continuous- and discrete-time systems. Numerical methods are derived to solve these equations via steepest ascent and Newton-like methods. It is also shown that the analytic center has nice robustness properties when it is used to represent passive systems. The results are illustrated by numerical examples.

We introduce a novel model order reduction method for large-scale linear switched systems (LSS) where the coefficient matrices are affected by a low-rank switching. The key idea is to replace the LSS by a non-switched system with extended input and output vectors - called the envelope system - which is able to reproduce the dynamical behavior of the original LSS by applying a certain feedback law. The envelope system can be reduced using standard model order reduction schemes and then transformed back to an LSS. Furthermore, we present an upper bound for the output error of the reduced-order LSS and show how to preserve quadratic Lyapunov stability. The approach is tested by means of various numerical examples demonstrating the efficacy of the presented method.

In view of highly decentralized and diversified power generation concepts, in particular with renewable energies, the analysis and control of the stability and the synchronization of power networks is an important topic that requires different levels of modeling detail for different tasks. A frequently used qualitative approach relies on simplified nonlinear network models like the Kuramoto model with inertia. The usual formulation in the form of a system of coupled ordinary differential equations is not always adequate. We present a new energy-based formulation of the Kuramoto model with inertia as a polynomial port-Hamiltonian system of differential-algebraic equations, with a quadratic Hamiltonian function including a generalized order parameter. This leads to a robust representation of the system with respect to disturbances: it encodes the underlying physics, such as the dissipation inequality or the deviation from synchronicity, directly in the structure of the equations, and it explicitly displays all possible constraints and allows for robust simulation methods. The model is immersed into a system of model hierarchies that will be helpful for applying adaptive simulations in future works. We illustrate the advantages of the modified modeling approach with analytics and numerical results.

Metriplectic systems are state space formulations that have become well-known under the acronym GENERIC. In this work we present a GENERIC based state space formulation in an operator setting that encodes a weak-formulation of the field equations describing the dynamics of a homogeneous mixture of compressible heat-conducting Newtonian fluids consisting of reactive constituents. We discuss the mathematical model of the fluid mixture formulated in the framework of continuum thermodynamics. The fluid mixture is considered an open thermodynamic system that moves free of external body forces. As closure relations we use the linear constitutive equations of the phenomenological theory known as Thermodynamics of Irreversible Processes (TIP). The phenomenological coefficients of these linear constitutive equations satisfy the Onsager-Casimir reciprocal relations. We present the state space representation of the fluid mixture, formulated in the extended GENERIC framework for open systems, specified by a symmetric, mixture related dissipation bracket and a mixture related Poisson-bracket for which we prove the Jacobi-identity.

Transport-dominated phenomena provide a challenge for common mode-based model reduction approaches. We present a model reduction method, which is suited for these kinds of systems. It extends the proper orthogonal decomposition (POD) by introducing time-dependent shifts of the snapshot matrix. The approach, called shifted proper orthogonal decomposition (sPOD), features a determination of the multiple transport velocities and a separation of these. One- and two-dimensional test examples reveal the good performance of the sPOD for transport-dominated phenomena and its superiority in comparison to the POD.

A general framework for the regularization of constrained PDEs, also called operator differential-algebraic equations (operator DAEs), is presented. The given procedure works for semi-explicit and semi-linear operator DAEs of first order including the Navier-Stokes and other flow equations. The proposed reformulation is consistent, i.e., the solution of the PDE remains untouched. Its main advantage is that it regularizes the operator DAE in the sense that a semi-discretization in space leads to a DAE of lower index. Furthermore, a stability analysis is presented for the linear case, which shows that the regularization provides benefits also for the application of the Rothe method. For this, the influence of perturbations is analyzed for the different formulations. The results are verified by means of a numerical example with an adaptive space discretization.

A model hierarchy that is based on the one-dimensional isothermal Euler equations of fluid dynamics is used for the simulation and optimisation of gas flow through a pipeline network. Adaptive refinement strategies have the aim of bringing the simulation error below a prescribed tolerance while keeping the computational costs low. While spatial and temporal stepsize adaptivity is well studied in the literature, model adaptivity is a new field of research. The problem of finding an optimal refinement strategy that combines these three types of adaptivity is a generalisation of the unbounded knapsack problem. A refinement strategy that is currently used in gas flow simulation software is compared to two novel greedy-like strategies. Both a theoretical experiment and a realistic gas flow simulation show that the novel strategies significantly outperform the current refinement strategy with respect to the computational cost incurred.

A wide class of matrix pencils connected with dissipative Hamiltonian descriptor systems is investigated. In particular, the following properties are shown: all eigenvalues are in the closed left half plane, the nonzero finite eigenvalues on the imaginary axis are semisimple, the index is at most two, and there are restrictions for the possible left and right minimal indices. For the case that the eigenvalue zero is not semisimple, a structure-preserving method is presented that perturbs the given system into a Lyapunov stable system.

A first order perturbation theory for eigenvalues of real or complex J-symplectic matrices under structure- preserving perturbations is developed. As main tools structured canonical forms and Lidskii-like formulas for eigenvalues of multiplicative perturbations are used. Explicit formulas, depending only on appropriately normalized left and right eigenvectors, are obtained for the leading terms of asymptotic expansions describing the perturbed eigenvalues. Special attention is given to eigenvalues on the unit circle, especially to the exceptional eigenvalues 1, whose behavior under structure-preserving perturbations is known to differ significantly from the behavior under general perturbations. Several numerical examples are used to illustrate the asymptotic expansions.

In view of highly decentralized and diversified power generation concepts, in particular with renewable energies such as wind and solar power, the analysis and control of the stability and the synchronization of power networks is an important topic that requires different levels of modeling detail for different tasks. A frequently used qualitative approach relies on simplified nonlinear network models like the Kuramoto model. Although based on basic physical principles, the usual formulation in form of a system of coupled ordinary differential equations is not always adequate. We present a new energy-based formulation of the Kuramoto model as port-Hamiltonian system of differential-algebraic equations. This leads to a very robust representation of the system with respect to disturbances, it encodes the underlying physics, such as the dissipation inequality or the deviation from synchronicity, directly in the structure of the equations, it explicitly displays all possible constraints and allows for robust simulation methods. Due to its systematic energy based formulation the model class allows easy extension, when further effects have to be considered, higher fidelity is needed for qualitative analysis, or the system needs to be coupled in a robust way to other networks. We demonstrate the advantages of the modified modeling approach with analytic results and numerical experiments.

We consider Lie and Strang splitting for the time integration of constrained partial differential equations with a nonlinear reaction term. Since such systems are known to be sensitive with respect to perturbations, the splitting procedure seems promising as we can treat the nonlinearity separately. This has some computational advantages, since we only have to solve a linear constrained system and a nonlinear ordinary differential equation. However, Strang splitting suffers from order reduction which limits its efficiency. This reduction is caused by the fact that the nonlinear subsystem produces inconsistent initial values for the constrained subsystem. The incorporation of an additional correction term resolves this problem without increasing the computational cost significantly. Numerical examples including a coupled mechanical system illustrate the proved convergence results.

In this article, we present a state estimation method for an approximately constant volume combustion process. This is an Unscented Kalman Filter used to estimate quantities which are of interest for the combustion process inside the considered combustion tube, i.e., the pressure, velocity and temperature field. This algorithm relies only on a small number of discrete pressure measurements along the combustion tube. The proposed methods are applied in numerical simulations to demonstrate their effectiveness. In a one-dimensional simulator, the flow field in the tube is described by the one-dimensional Euler equations with chemical source terms. To keep the computational effort on a manageable level, the Kalman Filter is built based on a reduced model. Thus, the model reduction for the Euler equations in combination with chemical kinetics is another focus of this contribution.

Abstract We consider the problem of finding an energy-based formulation of the Navier–Stokes equations for reactive flows. These equations occur in various applications, e. g., in combustion engines or chemical reactors. After modeling, discretization, and model reduction, important system properties as the energy conservation are usually lost which may lead to unphysical simulation results. In this paper, we introduce a port-Hamiltonian formulation of the one-dimensional Navier–Stokes equations for reactive flows. The port-Hamiltonian structure is directly associated with an energy balance, which ensures that a temporal change of the total energy is only due to energy flows through the boundary. Furthermore, the boundary ports may be used for control purposes.

We study linear semi-explicit stochastic operator differential algebraic equations (DAEs) for which the constraint equation is given in an explicit form. In particular, this includes the Stokes equations arising in fluid dynamics. We combine a white noise polynomial chaos expansion approach to include stochastic perturbations with deterministic regularization techniques. With this, we are able to include Gaussian noise and stochastic convolution terms as perturbations in the differential as well as in the constraint equation. By the application of the polynomial chaos expansion method, we reduce the stochastic operator DAE to an infinite system of deterministic operator DAEs for the stochastic coefficients. Since the obtained system is very sensitive to perturbations in the constraint equation, we analyze a regularized version of the system. This then allows to prove the existence and uniqueness of the solution of the initial stochastic operator DAE in a certain weighted space of stochastic processes.

Abstract We consider the computation of the $\mathcal{L}_\infty$-norm for a general class of $\mathcal{L}_\infty$-functions and focus on the case where the function is represented in terms of large-scale matrix-valued factors. We propose a subspace projection method to obtain reduced approximations of this function by interpolation techniques. The $\mathcal{L}_\infty$-norms are computed for the resulting reduced functions, then the subspaces are refined by means of the optimizer of the $\mathcal{L}_\infty$-norm of the reduced function. In this way we obtain much better performance compared to existing methods. (© 2017 Wiley-VCH Verlag GmbH \& Co. KGaA, Weinheim)

Eigenvalue and eigenpair backward errors are computed for matrix pencils arising in optimal control. In particular, formulas for backward errors are developed that are obtained under block-structure-preserving and symmetry-structure-preserving perturbations. It is shown that these eigenvalue and eigenpair backward errors are sometimes significantly larger than the corresponding backward errors that are obtained under perturbations that ignore the special structure of the pencil.

Low rank perturbations of right eigenvalues of quaternion matrices are considered. For real and complex matrices it is well known that under a generic rank-k perturbation the k largest Jordan blocks of a given eigenvalue will disappear while additional smaller Jordan blocks will remain. In this paper, it is shown that the same is true for real eigenvalues of quaternion matrices, but for complex nonreal eigenvalues the situation is different: not only the largest $k$, but the largest 2k Jordan blocks of a given eigenvalue will disappear under generic quaternion perturbations of rank k. Special emphasis is also given to Hermitian and skew-Hermitian quaternion matrices and generic low rank perturbations that are structure-preserving.

The present work deals with the inverse dynamics simulation of underactuated mechanical systems relying on servo constraints. The servo-constraint problem of discrete mechanical systems is governed by differential–algebraic equations (DAEs) with high index. We propose a new index reduction approach, which makes possible the stable numerical integration of the DAEs. The new method is developed in the framework of a specific crane formulation and facilitates a reduction from index five to index three and even to index one. Particular attention is placed on the special case in which the reduced index-1 formulation is purely algebraic. In this case the system at hand can be classified as differentially flat system. Both redundant coordinates and minimal coordinates can be employed within the newly developed approach. The success of the proposed method is demonstrated with two representative numerical examples.

Automated modeling of multi-physics dynamical systems often results in large-scale high-index differential-algebraic equations (DAEs). Since direct numerical simulation of such systems leads to instabilities and possibly non-convergence of numerical methods, a regularization or remodeling is required. In many simulation environments, a structural analysis based on the sparsity pattern of the system is used to determine the index and an index-reduced system model. Here, usually the Pantelides algorithm in combination with the Dummy Derivative Method is used. We present a new approach for the regularization of DAEs that is based on the Signature method.

In this master's thesis we adapt recent results on optimal control of continuous-time linear differential-algebraic equations to the discrete-time case of implicit difference equations. First, we adapt equivalent characterizations of solvability of the so-called Kalman- Yakubovich-Popov inequality for differential-algebraic equations to the case of implicit difference equations. That is, we relate the solvability of a certain matrix inequality to the positivity of the Popov function on the unit circle. An essential difference between the continuous-time and the discrete-time linear-quadratic optimal control problem is due to different structures occurring during the analysis in the form of even or palindromic matrix pencils, respectively. Therefore, with the help of certain structured Kronecker canonical forms, we adapt characterizations of inertia of even matrix pencils to palindromic matrix pencils. To this end, we first introduce a suitable notion of inertia for palindromic matrix pencils. These results are used – analogously to the continuous-time case – to characterize solvability of Lur'e equations equivalently by the existence of certain deflating subspaces of the palindromic matrix pencil. Then we use these findings to describe feasibility and the structure of solutions of the linear-quadratic control problem with infinite time horizon. Finally, these results are illustrated by means of an example.

In this paper we introduce a new matrix nearness problem that is intended to generalize the distance to instability. Due to its applicability in analyzing the robustness of eigenvalues with respect to the arbitrary localization sets (domains) in the complex plane, we call it the distance to delocalization. For the open left half-plane or the unit disk, the distance to the nearest unstable matrix is obtained as a special case. Following the theoretical framework of Hermitian functions and the Lyapunov-type localization approach, we present new Newton-type algorithms for the distance to delocalization: first using an explicit computation of the desired singular values (eD2D), and then using an implicit computation (iD2D). For both algorithms, we introduce a special stabilization technique of the Newton steps and, for a certain class of the localization domains, we provide an additional globality test. Since our investigations are motivated by several practical applications, we illustrate our approach on some of them. Furthermore, in the special case when the distance to delocalization becomes the distance to the continuous time instability, we validate our algorithms against the state-of-the-art computational methods.

Numerous research projects in automotive engineering focus on the industrialization of the thermoelectric generator. The development and the implementation of thermoelectric systems into the vehicle environment are commonly supported by virtual designing activities. In this paper a customized simulation architecture [1] for thermoelectric generators, developed in research project TEG2020, is used to compare two very different TEG concepts: a plate and a tube bundle geometry. The installation space serves as a restriction and therefore is the same for both systems. There are slight advantages in maximum power output, nominal back pressure and overall weight of the tube bundle geometry compared to the lightweight and cost-effective planar thermoelectric generator presented in [1] and [2]. The efficiency of both systems is nearly the same. However there are some disadvantages of the tube bundle geometry in required mass of thermoelectric material, efficiency based on the mass of thermoelectric material, complexity and necessary cooling load.

This paper develops a framework to include Dirichlet boundary conditions on a subset of the boundary which depends on time. In this model, the boundary conditions are weakly enforced with the help of a Lagrange multiplier method. In order to avoid that the ansatz space of the Lagrange multiplier depends on time, a bi-Lipschitz transformation, which maps a fixed interval onto the Dirichlet boundary, is introduced. An inf-sup condition as well as existence results are presented for a class of second order initial-boundary value problems. For the semi-discretization in space, a finite element scheme is presented which satisfies a discrete stability condition. Because of the saddle point structure of the underlying PDE, the resulting system is a DAE of index 3.

We present a model describing simultaneous heat and mass transfer of an absorbing or desorbing laminar liquid film flowing over a vertical isothermal plate. We start with a formulation which is comparable to established models by using simplifying assumptions such as homogeneous velocity and constant film thickness. In contrast to those, we allow for effects like change in properties and differential heat of solution within the bulk of the film. Additionally, enthalpy transport due to interdiffusion is accounted for. The impact of the considered effects are discussed and compared. The numerical solution is obtained by utilising a Newton–Raphson scheme to solve the finite difference formulation of the governing equations. Since the temperature gradients adjacent to wall and phase boundary are expected to be large, we discretise the equations on an irregular grid. The results of the model agree very well with established analytical models. It is found that the influence of released differential heat of solution within the bulk is relatively small. However, the impact on the temperature distribution is in the same order of magnitude as the one of a change in properties. Moreover, when comparing desorption with absorption under equivalent conditions, the mass transfer rate during absorption is higher than during desorption.

The $P_1$-nonconforming finite element is introduced for arbitrary triangulations into quadrilaterals and triangles of multiple connected Lipschitz domains. An explicit a priori analysis for the combination of the Park–Sheen and the Crouzeix–Raviart nonconforming finite element methods is given for second-order elliptic PDEs with inhomogeneous Dirichlet boundary conditions.