Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Infinite dimensional port Hamiltonian

systems

Y. Le Gorrec1
1 FEMTO-ST, Automatic Control and Micro-Mechatronic Systems Department

CAS Seminar - Topic : PDE

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Context

Recent technological progresses and physical knowledge allow to

go toward the use of complex systems :

Highly nonlinear.
Involving numerous physical domains and possible
heterogeneity.
With distributed parameters or organized in network.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Context

Recent technological progresses and physical knowledge allow to

go toward the use of complex systems :

Highly nonlinear.
Involving numerous physical domains and possible
heterogeneity.
With distributed parameters or organized in network.

New issue for system control theory

Modelling step is important the physical properties can be
advantageously used for analysis, control or simulation purposes
 Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Context Exemple de projet support: Pr

!

Parcours Franco-Japonais
Example 1 : Ionic Polymer Metal Composite SAKURA

Activits
denseignement

Activits de
recherche

Projets
dintgration
ENSMM
FEMTO-
ST/AS2M/SAMMI

Electromechanical system.
3 scales : Polymer-electrode interface, diffusion in the
! Mise
polymer, beam en oeuvre pratique -
bending. Pilote
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Context

Example 2 : Nanotweezer for DNA manipulation

Multiphysic system.
Infinite dimensional system.
 Introduction
ues multi-chelles, rgi par
Infinite dimensional linear 1-D case Model reduction Conclusion

- Context thermodynamique irrversible

ements
cations Example 3
! : EDP
Adsorption
non process
linaires
Extra granular
phase
L25 cm
tion R int 1 cm

rp z
Macropore scale Bidisperse
R p 1,24 mm pellet

rc
Micropore scale Microporous crystal
R c 1 m

Multiscale heterogeneous system.

e au Poste de Professeur des Universits PU 61 - 0843, 2008
Dynamic behavior driven by irreversible thermodynamic laws
 Introduction
ues multi-chelles, rgi par
Infinite dimensional linear 1-D case Model reduction Conclusion

- Context thermodynamique irrversible

ements
cations Example 3
! : EDP
Adsorption
non process
linaires
Extra granular
phase
L25 cm
tion R int 1 cm

rp z
Macropore scale Bidisperse
R p 1,24 mm pellet

rc
Micropore scale Microporous crystal
R c 1 m

Multiscale heterogeneous system.

e au Poste de Professeur des Universits PU 61 - 0843, 2008
Considered phenomena :
Fluid scale : convection, dispersion.
Pellet scale : diffusion (Stephan-Maxwell).
Microscopic scale : Knudsen law.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Outline

A unified approach : the port Hamiltonian framework

Emphasis the geometric structure related to power exchanges
powerful for analysis, model reduction and control.

Today : Infinite dimensional linear 1-D case and discretization

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Outline

A unified approach : the port Hamiltonian framework

Emphasis the geometric structure related to power exchanges
powerful for analysis, model reduction and control.

Today : Infinite dimensional linear 1-D case and discretization

!"#$$
!()$
%&'$

%&'$
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Outline

A unified approach : the port Hamiltonian framework

Emphasis the geometric structure related to power exchanges
powerful for analysis, model reduction and control.

Today : Infinite dimensional linear 1-D case and discretization

Other works :
Infinite dimensional linear 2-D, 3-D cases (joint work with B.
Maschke and H. Zwart).
Infinite dimensional port Hamiltonian systems 2D, 3D cases
(cf A.v.d. Schaft and B. Maschke).
Infinite dimensional NL systems : Passivity and PHS vs.
Stability and Riemann Invariants (Joint work : V. Dos
Santos, B. Maschke).
Non linear control : IDA-PBC, Entropy based control of
Chemical reactors (Joint work : F. Couenne).
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

Vibrating string :
!

u(t,z)

!"
#"

The classical modelling is based on the wave equation : Newtons

law + Hookes law (restoring force proportional to the deformation)

2 u(z, t)
 
1 u(z, t)
= T (z)
t 2 (z) z z

The structure of the model is not apparent. How to choose the

boundary conditions ? ? ?
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

Let choose as state variables the energy variables :

u(z,t)
the strain  = z
the elastic momentum p = (z)v (z, t)
The total energy is given by : H(, p) = U() + K (p)
U() is the elastic potential energy :
b  2 b
u(z, t)
Z Z
1 1
U() = T (z) = T (z, t)2
a 2 z a 2

where T (z) denotes the elastic modulus.

K (v ) is the kinetic co-energy :
Z b Z b
1 1 1 2
K (p) = (z)v (z, t)2 = p (z, t)
a 2 a 2 (z)

where (z) denotes the string mass.

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

The vector of fluxes is given by :

 
v (t, z)
=

where v (z, t) is the velocity and (z, t) = T (z)(z, t) the stress.

The vector of fluxes may be expressed in term of the generating
forces :    H 
0 1 
= H
1 0 p
| {z } | {z }
canonical generating
inerdomain coupling forces
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

From the conservation laws :

   
 v
+ =0
t p z

Consequently
    H 
 0 1 
= H
t p z 1 0 p

and
PDEs :

H
2 u(z, t) 2
    
 0 z  2 u(z, t)
= H =
t p z 0 p t 2 z 2

+BC
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

Underlying structure :

      
 0 z T (z) 0 
= 1
t p z 0 0 (z) p
| {z } | {z } | {z }
f J = matrix e = driving
differential operator force

Hamiltonian operator J is skew-symmetric only for function

with compact domain strictly in Z :
b
e10
Z    
e1 b
e10 e20 = [e1 e20 + e2 e10 ]a



e1 e2 J + J
a e20 e2
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

Power balance equation :

d
R b  H  H p 
dt H(, p) = a  t + p t dz
R b  H H H H 
= a  z p + p z  dz
h ib
H H
=  p
a

If driving forces are zero at the boundary, the total energy is

conserved, else there is a flow of power at the boundary. Define
two port boundary variables as follows :
   H 
f 
= H |a,b
e p
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A simple example

The linear space D 3 (f1 , f2 , e1 , e2 , f , e )

    
f1 0 z e1
=
e2 0 e2
   z
f e1
= |a,b
e e2
defines a Dirac structure :D = D with respect to the symmetric
pairing :
Z b Z b
e1 f1 dz + e2 f2 dz + [f e ]ba
a a
Port Hamiltonian system
 
H
, , f , e D
t
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Considered class of systems

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Considered class of systems

Considered class of systems :

x
(t, z) = (J GR SGR )L(z)x(t, z), x(0, z) = x0 (z),
t
m
      
f e J GR e
= Je =
fp ep GR 0 ep

with ep = Sfp where S is a coercive operator

f e
F, E and E = F = L2 ((a, b), Rn ) L2 ((a, b), Rn )
fp ep

Covers models of : beams, wave, plates, (with or without damping)

and also systems of diffusion/convection, chemical reactors ...
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

The system is defined by :

f = Je
Let the space of flow variables, F, and the space of effort
variables,E, be real Hilbert spaces.
Define the space of bond variables as B = F E endowed by the
natural inner product

1 2
1 2
1 2
b , b = f , f F + e , e E , b 1 = f 1 , e 1 , b 2 = f 2 , e 2 B.

In order to define a Dirac structure, let us moreover endow the

bond space B with a canonical symmetrical pairing, i.e., a bilinear
form defined as follows :

b1 , b2 = f 1 , rE,F e 2 F + e 1 , rF ,E f 2 E , b 1 = f 1 , e 1 , b 2 = f 2 , e 2 B.






+
(1)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

Denote by D the orthogonal subspace to D with respect to the

symmetrical pairing :
n o
D = b B| b, b 0 + = 0 for all b 0 D .


(2)

Definition : A Dirac structure D on the bond space B = F E

is a subspace of B which is maximally isotropic with respect to
the canonical symmetrical pairing, i.e.,

D = D. (3)

 
f
D Power conservation
e
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

PHS Definition based on Dirac structure and Hamiltonian

function (total energy of the system).

Definition : Let B = E F be the bound space defined above and

consider the Dirac structure D and the Hamilonian function H(x)
with x the energy variables. Define the flow variables, f F as the
time variation of the energy variables and the effort variables e E
as the variational derivative of H(x). The system
 
x H
(f , e) = , D
t x

is a Port Hamiltonian system with total energy H(x)

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

Parametrization :
N
X die
Je = P(i) (z) z [a, b] ,
dz i
i=0

where e H N ((a, b); Rn ) and P(i), i = 0, . . . , N, is a n n real

matrix with PN non singular and Pi = PiT (1)i+1 . Let define
P1 P2 PN
0 1
B P2 P3 0 C
Q=B .. ..
B C
.. C
@ . . . A
(1)N1 PN 0 0

Back to the Vibrating string

!
 0 1 T (z) 0 
= 1
t p 1 0 z 0 (z) p
| {z } | {z } , Q = P1
| {z }
f P1 e
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

We define the symmetrical pairing (not depending on J ) of and

the port variables associated with J .
Let F = E = L2 ((a, b); Rn ) RnN and define B = F E with the
following canonical symmetrical pairing :

1 1 1 1
2 2 2 2

f , f , e , e f , f , e , e +
= he 1 , f 2 iL2 + he 2 , f 1 iL2 he1 , f2 i he2 , f1 i,

Definition : The port variables (e , f ) RnN associated with J

are defined by :
e(b)
0 1
B .. C
B
B . C
C
N1
B d e C
f B
dz N1 (b) C , Rext = 1 Q
C ` Q

= Rext B
e B
B e(a) C
C 2 I I
B .. C
.
B C
@ A
d N1 e
dz N1 (a)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Dirac structure and PHS on Hilbert Space

The subspace DJ of B defined as

80 1 0 19
>
> f e(b) >
>
f f ..
<B C=
C e H N ((a, b); Rn ), J e = f ,
C B
DJ = B@ e = Rext B .
C
> A e @ A>
zN1 e(a)
> >
e
: ;

is a Dirac structure, that means that D = D .

Back to the Vibrating string
     
 0 1 T (z)
= 1
t p 1 0 z
(z) p
| {z } | {z } | {z } , Q = P1
f P1 e

T (a)(a) T (b)(b)
0 1
p(a) p(b)
(b)

f 1 P1 P1 e(b) 1 B (a)
C
= = B
B C
e I I e(a) 2 @ T (a)(a) + T (b)(b)
C
2 A
p(a) p(b)
(a)
+ (b)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Boundary control systems

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Boundary control systems

Boundary Control Systems :

Theorem : Let W be a nN 2nN full rank matrix. The system

x(t)
= J Lx(t)  
f (t)
u(t) = Bx(t) = W
e (t)

is a boundary control system, where AW = (J L)ker B is the

generator of a contraction semigroup on L2 ((a, b) , Rn ) if and only
if

 
T 0 I
W W 0 where =
I 0
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Boundary control systems

Let define the linear mapping C : H N ((a, b), Rn ) RnN as

 
f (t)
Cx(t) := W
f
e (t)

and the output as y (t) = Cx(t), then for u C 2 ((0, ); RnN ) and
x(0) Bu(0) D(JW ) the following balance equation is satisfied :
 
1d u(t)
kx(t)k2 = u T (t) y T (t) PW


.
2 dt y (t)

!1
W W T W W
f
where PW ,W
f = f T W T fT
W W
f W
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Boundary control systems

Using W = S (I + V , I V ) :
boundary control system, with
x(t)
= J x(t),
the associated semigroup
V =0 u(t) = 12 (f (t) + e (t)) =
a contraction
y (t) = 12 (f (t) e (t))

1 d 2 2 2
2 dt kx(t)k = ku(t)k ky (t)k

boundary control system, with

x(t)
= J x(t)
the associated semigroup
V =I u(t) = f (t) =
unitary
y (t) = e (t)

1 d 2 T
2 dt kx(t)k = u(t) y (t)

Vibrating string :
! !
1 T (a)(a) 1 T (b)(b)
V =0 u= p(a) and y = p(b)
2 (a) 2 (b)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

! using feedback at the boundary

Control

!" #" "#$%!&''#! $"

()*+$,!
%""""""""&"

!!

Open loop system Closed loop system

x = JL x  
x = JL x  
f f



u = Wimp r = (Wimp + Cimp )

 e    e
f f



y = Cimp y = Cimp



e e
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

The closed loop system described by

x = JL x
 
f


r = (Wimp + Cimp )

  e
f


y = Cimp


e

is a boundary control system. Furthermore, the operator

As = JL|D(As ) generates a contraction semigroup on
X = L2 ((a, b); Rn ) where
   
f
D(As ) = x D(J )| kerW
e

and W = (Wimp + Cimp ) is a full rank nN 2nN matrix

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

Theorem : (Assumption ( As )1 : X X is a compact

operator for > 0). Then the system described by (VV T = 0) :


x = J x  
f


r = (Wimp + Cimp )

  e
f



y = Cimp


e

with r = 0 and > 0 is globally asymptotically stable. For any

x(0) X the unique (classical or weak) solution x(t) = T (t)x(0)
of the closed loop system asymptotically approaches to zero, i.e.

lim kx(t)kX = 0
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

Let us restrict the previous class to :

x z
(t, z) = P1 (Lx)(t, z) + (P0 G0 )Lx(t, z)
t t
Let consider a BCS as defined previously, assuming that
u(t) = 0, t 0. Then the system is exponentially stable if

either k (Lx(b)) k2R k1 (hy , y iR + hG0 Lx(t), Lx(t)iR )

or k (Lx(a)) k2R k1 (hy , y iR + hG0 Lx(t), Lx(t)iR )

Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

As state variables we choose

w
x1 = z : shear displacement,
x2 = w
t : transverse momentum distribution,

x3 = z : angular displacement,
x4 = I
t : angular momentum distribution.

Then the model of the beam can be rewritten as

0 1 2 30 1
K x1 K x1
0 1 2 3
x1 0 1 0 0 0 0 0 1
B B 1 x2 B 1 x2
B x2 C = 6 1 0 0 7
0 7 C 6 0 0 0 0 7
C 6 C
B
B
C 6
C+4 7B C.
C
B EI x
t @ x3 A 4 0 0 0 1 5 z @ 3 A 0 0 0 0 5@ EI x3 A
1 1
x4 0 0 1 0 I
x4 1 0 0 0 x4
| {z }
| {z }| I{z }
P1 P0 x
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

One can define the boundary port variables :

(1 x2 )(b) (1 x2 )(a)
0 1
B (Kx1 )(b) (Kx1 )(a) C
(I1 x4 )(b) (I1 x4 )(a)
B C
B C
B C
f 1 P1 P1 (Lx)(b) 1 B (EIx3 )(b) (EIx3 )(a) C
= = B C.
e 2 I I (Lx)(a) 2B (Kx1 )(b) + (Kx1 )(a) C
(1 x2 )(b) + (1 x2 )(a)
B C
B C
B C
@ (EIx3 )(b) + (EIx3 )(a) A
(I1 x4 )(b) + (I1 x4 )(a)
(4)

Let us consider stabilization by applying velocity feedback i.e.

following BC :
1 1
(a) x2 (a) = 0, I (a) x4 (a) = 0,

1 1
K (b)x1 (b, t) = 1 (b) x2 (b, t), EI (b)x3 (b, t) = 2 I (b) x4 (b)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

Input mapping :
2 3 2 3
1 0 0 0 0 1 0 0 0 0 0 0
1 6 0 0 1 0 0 0 0 1 7
7 then W W T = 2 6
6 0 0 0 0 7
W = 6 7
2 4 1 1 0 0 1 1 0 0 5 4 0 0 1 0 5
0 0 2 1 0 0 1 2 0 0 0 2

As output we can choose

0 1
K (a)x1 (a) 0
2
1 0 0 1 0 0 0
3
B (EI )(a)x3 (a) C 1 6 0 0 0 1 0 0 1 0 7
y =B 1 C, with W = 4 7.
B C
x (b)
f 6
@ (b) 2 A 2 1 0 0 0 0 1 0 0 5
1
I
x4 (b) 0 0 1 0 0 0 0 1
(b)

Then    
1 2 I 0 I
PW ,W = , PW ,W =
I 0 I 2
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Stability, control feedback

Energy balance :
d d
E (t) = kx(t)k2L = hu(t), y (t)iU hy (t), y (t)iR
dt dt
where

hy (t), y (t)iR = 1 |(1 x2 )(b, t)|2 + 2 |(I 1 x4 )(b, t)|2

Then
k (Lx(b)) k2R = |(kx1 )(b)|2 + |(1 x2 )(b)|2 + |(EIx3 )(b)|2 + |(I1 x4 )(b)|2
= (12 + 1)|(1 x2 )(b, t)|2 + (22 + 1)|(I1 x4 )(b)|2
hy (t), y (t)iR

Stability
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

Back to the example of the adsorption column :

Extragranular phase

Flowing fluid

Macropore Adsorption column

Phase

Pellet

Classical formumlation.
q(z,t)
t
+ N
z
+ Fads =0
qp (z,t) (5)
t
Fads =0

q mole density in the fluide phase, qp in the adsorbed phase, total flux
N = Nconv + Ndisp = vq D z
, Fads = k1 a( p )
with Dankwert boundary conditions N|0 = vqin et q | =0
z L
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

Back to the example of the adsorption column :

Classical formumlation.
q(z,t)
t
+ N
z
+ Fads =0
qp (z,t) (5)
t
F ads =0

with Dankwert boundary conditions N|0 = vqin et q | =0

z L
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

Back to the example of the adsorption column :

Classical formumlation.
q(z,t)
t
+ N
z
+ Fads =0
qp (z,t) (5)
t
F ads =0

with Dankwert boundary conditions N|0 = vqin et q | =0

z L

Port Hamiltonian formulation

2 3 2 32 3
fq 0 d 0 1
6 Fdisp 7 6 d 0 0 0 7 6 N 7
4 fqp 5 = 4 (6)
6 7 6 76 7
0 0 0 1 5 4 p 5
Fads 1 0 1 0 Nads
with constitutive relations
N = D Fdisp + v q = D Fdisp + vb
Nads = a k1 Fads (7)
= bq
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

Back to the example of the adsorption column :

Classical formumlation.
q(z,t)
t
+ N
z
+ Fads =0
qp (z,t) (5)
t
F ads =0

with Dankwert boundary conditions N|0 = vqin et q | =0

z L

Dirac structure : interconnection structure

2 3 2 32 3
fq 0 d 0 1
6 Fdisp 7 6 d 0 0 0 7 6 N 7
4 fqp 5 = 4 0 (6)
6 7 6 76 7
0 0 1 5 4 p 5
Fads 1 0 1 0 Nads
with the boundary port variables
0 1
N(0)
f B N(L) C
=B C
e @ (0) A
(L)
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

pellet

Constitutive NL PL Constitutive dispersion

thermodynamical law P DFads law

P P dP  dP

A 0 D 0 1 R
wq dN N N disp
P f (q ) wt N f ( dP )
dP N conv
N0 P0
dissipation
accumulation
interconnection
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

pellet

Constitutive NL PL Constitutive dispersion

thermodynamical law P DFads law

P P dP  dP

A 0 D 0 1 R
wq dN N N disp
P f (q ) wt N f ( dP )
dP N conv
N0 P0
dissipation
accumulation
interconnection

Goal of the discretization scheme : preserve the structure

 discretization method
Introduction
consists in splitting the initial structured
Infinite dimensional linear 1-D case
infinite dimensional Conclusion
Model reduction
model into
N finite dimensional
Mixed finite element method sub-models (finite elements) with the same energetic behavior (cf Figure 4).
Furthermore, the support functions used for the interpolation of both effort and flow variables
are different to have enough degrees of freedom to guarantee the conservation of the structural
properties.

Rmic
Power flow exchanged with
the following volume

eb1 f b2
b
ab
b e ab
1
e1
eab
2 -eab
2

a C -f ab
0
f ab
D ab
f ab
1
f ab
R ab

1 1 2 2
a
ea1 f a2

Power flow exchanged with

the previous volume
0

Figure 4: Principle of the spatial discretization

The interconnection between these sub-models is done using the power conjugate boundary
port variables. They correspond to the energy flowing across the boundary of one submodel to
the boundary of the next sub-model. To each submodel is associated the same generic structure
(and consequently parts of the global mass and energy balances) as the global structure, the
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

The variables dN = Nd and d = d are one-forms and are approximated on

ab by :
N
Nd (t, z) = Ndab (t) wabd (z)
d
(7)
= ab
e2 (t, z)
d (t) wab (z)

N R N R
where the support one-forms wabd and wabd satisfy : wabd = wabd = 1.
ab ab
The variables and N are zero-forms and are approximated on ab by :

(t, z) = (a)wa (z) + (b)wb (z),

(8)
N(t, z) = N(a)waN (z) + N(b)wbN (z)

where the support zero-forms wa ,wb ,waN et wbN satisfy :

wa (a) = 1, wa (b) = 0, wb (a) = 0, wb (b) = 1

waN (a) = 1, waN (b) = 0, wbN (a) = 0, wbN (b) = 1,
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

The approximated variables must verify the relation induced by the

interconnection structure
8 :
ab b a
< d = N(b) N(a) = N (t) N (t)
N
>
>

Nd = dN
=
d = d >
: ab = (b) (a) = b (t) a (t)
>
d
Write the net power using the previous interpolation formulae :
h i
net
Pab = ab Ndab + ab
d N
ab
+ b Nb a Na

and identify with the real one, we obtain for ab and N ab :

ab = ab a (t) (1 ab )b (t)
N ab = (1 ab )Na (t) + ab Nb (t)
N
where the parameter ab = wa wabd [0, 1].
R
ab ab ab a b T
Relations between fab = Nd N N N , eab = [ab ab a b T
d ] define
again a finite dimensional Dirac structure.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

ab
Objective : compute Ndisp from ab
d such that the power behavior of the
ab
Rb
dissipation element(dispersion law) is preserved : Ndisp ab
d = a d Ndisp as
well as the constitutive law of the dissipative element. Let us write the
approximate instantaneous power
ab
P R = Kab D(ab
d (t))
2
(9)

with Kab depending on forms w only.

ab PRab
Ndisp = = 2Kab Dab
d (t) (10)
ab
d

Objective : compute ab with respect to q ab .

N
q(t, z), q and Nd lies in the same space = q(t, z) = q ab (t)wabd (z)
The energy of the element and its approximation
Z t on [a, b] are givenZ by :
R t `R t
ab ab N
q ab ab dt

Gab = 0 ab q(t, z)(t, z) dt, g ab = q [bq (t)]wabd (z)dt =
0 | {z } 0
ab

dG ab dG ab
= q ab ab = ab (11)
dt dq ab
So the thermodynamic relations linking the gibbs density, concentration and
chemical potentials are preserved by discretization.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Principe de la discrtisation structure (Figure reprise de

Mixed finite element method

Global scheme
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Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Mixed finite element method

Simulations

With 10 meshes

Finite difference with N=10 Structural method N=10

1.1 1.1

1 1
Concentration of component Q: mol/Volume

Concentration of component Q: mol/Volume

0.9 0.9

0.8 0.8

0.7 0.7

0.6 0.6

0.5 0.5

0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1
0 20 40 60 80 100 0 20 40 60 80 100
Time: sec Time: sec
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Analysis on simple cases :

Hyperbolic system (like undamped wave equation) :

    
f1 0 z e1
=
f2 z 0 e2

Parabolic system (like diffusion) :

    
f1 0 z e1
=
e2 z 0 f2

Question
What about spectral properties with respect to closure equations
Rb
Case 1 : f = x 2 2


t , e = x H, H = a x1 + x2 dz
x1
Case2 : f1 = t , e1 = bx1 , f2 = De2
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Case 1 : The associated PDE (without closure equation) is given

by :

    
x1 0 z x1
= + BC
x1 z 0 x2
The spectrum associated to this operator is defined by :

 1
1 12
 1
1 12
   
1 0 0 z
= +BC
21 22 0 2
z 0 21 22
   
e1 x1 H
Now let us consider the closure equation =
e2 x1 H
Rb
with : H(x1 , x2 ) = a x12 + x22 dz, then

11 21 11 21
      
1 0 0 z 2 0
=
12 22 0 2 z 0 0 2 12 23
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Finally we obtain by identification :

0 1
1 0 A
0 1
11 12 =@
=@
21 22 0 2
A

z }|  { z }| !{
1
11 1 0

2 0
2 2
2
0 2 12 22 0
2
0 1
11 12
=@
21 22
A

z }|  {

11 21
 
0 z 2 0

=
z 0 0 2 12 22

Geometrical transformation :

Homothecy of the spectrum with factor 2
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Spectrum of the canonical system

Specrum of the hyperbolic system
1 1

0.8 0.8 Homothety

0.6 0.6

0.4 0.4

0.2 0.2

,PDJLQDU\SDUW
,PDJLQDW\SDUW

0 0

0.2 0.2

0.4 0.4

0.6 0.6

0.8 0.8

1 1
0.2 0.1 0 0.1 0.2 0.2 0.1 0 0.1 0.2
5HDOSDUW 5HDOSDUW
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Case 2 : In a same way

    
f1 0 z e1
= (12)
e2 z 0 f2
with the constraint
f2 = De2 (13)
With the hypothesis of separation of variables (12) can be
rewritten with x = 0 exp t, e1 = bx :

      
0 0 0 z b 0 0
0 = 0 + BC
0 b z z 0 0 Db z
(14)
The eigenvalues and eigenfunctions satisfy :

      
0
f0 0 z b 0
f0
=
0 1 ee2 z 0 0 D ee2
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

which leads finally to

  ! 
  !
b 0

f0 1/2 0 z b 0

f0
ee2
= ee2
0 D
bD z 0 0 D

which has to be identified to :

    
1 0 z 1
=
2 z 0 2

Geometrical transformation :
Dilation and rotation of the spectrum

k = |k |e i 2 k = Db|k |2 e i
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

0.8

Canonical system associated to

StokesDirac structure
0.6
Parabolic system

Dilatation and rotation

0.4

0.2
Imaginary part

0.2

0.4

0.6

0.8
5 4 3 2 1 0 1 2 3 4 5
Real part
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion
Principe de la discrtisation structure (Figure reprise de
Spectral properties
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Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

Let first consider one element of discretization.

Input : input mass flow
Output : output effort
This leads to :
1
1
 ab     ab    
f1 0 e1 0 e b
ab = 1 ab + 1
e 0
 2   1   ab2   f 0   f a 
1
f b 0 e2 0 e b
= 1 ab + 1
e a 0 f2 0 f a

This element is interconnected with the next one using continuity

of flow and equality of efforts : e 0b = e 1a and f 0b = f 1a
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

In the case = 1
1
e11

f1
e1  f21
2   1 
0 M e N

.. ..
. = +g

N M T 0

N . f 00
f1 e1
e2N 1 f2N
e1
f1
 1  2
f N

= g T ..
.
e 00

N
e1
f2N

1 1 0 0
0 1 1 0
with M =

0 ... ... ... ...


0 0 1 1
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

The spectrum associated with the Dirac structure :

    
0 d eq eq
=
d 0 ep ep
de
is computed using : dzq2 = 2 eq , eq = Ae z + Be z and
ep = Ae z Be z . With homogeneous boundary conditions
ep (0) = eq (L) = 0 :
  
1 1 A
=0
e L e L B

And
2k + 1
k = i
2L
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Spectral properties

The interconnection of n elements gives rise to the following state

matrix :  
0 M
A= (15)
M T 0
with
1 1 0 0
0 1 1 0
M= (16)

0 ... ... ... ..
.
0 0 1 1
The eigenvalues of the finite dimensional system are given by :
s  
n 2k + 1
k = 2 cos 2
L 2n + 1
if k  n then :
2k + 1
k ' i
2L
= first k eigenvalues of the infinite dimensional system
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

1 Introduction
Context
Outline

2 Infinite dimensional linear 1-D case

A simple example
Considered class of systems
Dirac structure and PHS on Hilbert Space
Boundary control systems
Stability, control feedback

3 Model reduction
Mixed finite element method
Spectral properties

4 Conclusion
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Conclusion :
For 1D case :
A powerful tool to highlight physical properties
Parametrization of all admissible BC for a large class of
systems
Simple tools (matrix conditions) to check stability
Model reduction
Preserve energetic properties and the geometric structure
Link the solutions of very different systems (parabolic and
hyperbolic)
Numerically efficient
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Future work :
Many extensions :
Generalization to 2D-3D linear systems.
Stabilization of a class of non linear systems.
Extensions to irreversible thermodynamic systems.
Control using infinite dimensional Port Hamiltonian Systems
(Imersion/reduction + Casimir functions).
Model reduction of complex interconnected systems.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

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Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

Y. Le Gorrec, H. Zwart and B. Maschke,

Dirac structures and Boundary Control Systems associated with
Skew-Symmetric Differential Operators
SIAM Journal on Control and Optimization, Vol : 44 Issue 5, pages
1864-1892, 2005.

J. A. Villegas, H. Zwart, Y. Le Gorrec, B. Maschke,

Exponential Stability of a Class of Boundary Control Systems.
IEEE Transactions on Automatic Control, Volume : 54, Issue : 1,
pp : 142-147, January 2009.

H. Zwart, Y. Le Gorrec, B. Maschke and J. Villegas,

Well-posedness and regularity of hyperbolic boundary control
systems on a one-dimensional spatial domain .
ESAIM Control, Optimisation and Calculus of Variations, Volume
16, pp. 1077-1093, 2010.
Introduction Infinite dimensional linear 1-D case Model reduction Conclusion

A Baaiu, F. Couenne, L. Lefevre, Y. Le Gorrec and M. Tayakout,

Structure-preserving infinite dimensional model reduction.
Application to Adsorption Processes.
Journal of Process Control - Volume 19, Issue 3, Pages 394-404,
March 2009.
V. Dos Santos, Y. Le Gorrec, B. Maschke,
A Hamiltonian perspective to the stabilization of systems of two
conservation laws .
Networks and Heterogeneous Media - American Institute of
Mathematical Sciences, Volume 4, Number 2, pp. 249-266, June
2009.