The dynamics of most real complex systems is nonlinear. The ambition to achieve the same reach and generality as with linear systems may not be feasible. Concerted effort on nonlinear control has led to various weaker notions of nonlinear controllability, which are easier to characterize and often offer simple algebraic tests to explore the controllability on nonlinear systems.
A. Accessibility and Controllability
Controllability of an arbitrary nonlinear system can rarely be proved or tested. Instead weaker versions of controllability called local accessibility and local strong accessibility are proved and tested.
Accessibility concerns the possibility of reaching or approaching an open set of state space from a given initial state. If the system is locally accessible from an initial state x0, then we can reach or approach the neighborhood of x0 by trajectories that lie within the neighborhood of x0.
Local controllability asks whether the system is controllable in some neighborhood of a give state.
Complete algebraic characterizations of global controllability of non-linear systems have proven elusive. Weaker notions of controllability are easier to characterize than controllability.
B. Controllability of linearized control systems
1. Linearization around an equilibrium point
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2. Linearization around a trajectory
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3. Limitations of linearization
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C. Basic concepts in differential geometry
1. Lie brackets
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2. DistributionsD. Nonlinear tests for accessibility
1. Accessibility
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2. Strong accessibility
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E. Nonlinear tests for controllability
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F. Controllability of nonlinear networked systems
1. Neuronal networks
2. Boolean networks
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All biological systems – biological macromolecules, cells, tissues, and biocenosis – are active distributed systems. The transformation of substances and energy in these systems occurs in individual elementary volumes related to each other by the substance transportation, diffusive or directed under the action of external forces or with the help of special adaptation mechanisms inherent to living organisms. Every elementary volume is a system open with respect to mass and substance that is far from thermodynamic equilibrium, moreover, the energy-carrying substances or other energy sources are distributed in space and connected between themselves by the fluxes of substance and energy. In such systems, the so-called autowave processes are possible: the propagation of pulses and excitation waves, the formation of stationary spatially inhomogeneous distributions of substances, and other self-organization phenomena.
The waves of electric potentials propagate in the fibres of cordial muscle. Pathological states here in the form of arrhythmia and fibrillation are determined by the appearance of autonomous sources of waves, the reverberators. Other types of autowave processes manifest themselves in the morphogenesis processes in the tissue differentiation. Genetic systems of the protein biosynthesis are local reaction elements of such systems, and the transport processes are performed by the systems of active transmembrane transport. In some communities (collective amoebas), the cellular interaction is performed by secreting the substances-attractants (cyclic AMP). Mutual movement of the cells to a source of signals and their aggregation are of a wave character. Autowave processes are also in the basis of the motions in the walls of blood vessel channels, peristalsis of other sections of gastrointestinal tract, mechanical displacements of the cells on a plane surface, and other processes.
Nonlinear interaction of the components in a system combined with transport processes leads to complex spatial and temporal behavior regimes of the system’s components. The first model of such kind of interaction was examined by Turing in his work «Chemical Basis of Morphogenesis». Alan M. Turing (1912–1954), English mathematician and logician, became famed for his studies in computer logic and the theory of automation. In 1952, he published the first part of an investigation dedicated to mathematical theory of the structure formation in an initially homogeneous system where chemical reactions occur simultaneously, including autocatalytic processes accompanied by the energy consumption, and passive processes of transport–diffusion. The Turing work became classic, and its ideas are in the basis of modern theory of nonlinear systems, theory of self-organization, and synergetics.
In linear systems, the diffusion is a process that leads to the equalization of concentrations over the whole reaction volume. However, in the case of nonlinear interaction between the variables x and y, the instability of homogeneous stationary state can arise, and complex spatio-time regimes form like the autowaves or dissipative structures. They are represented by stationary in time and inhomogeneous in space concentration distributions, maintained on the account of the dissipation of system’s energy. The appearance of structures in such systems is stipulated by the difference in the diffusion coefficients of reagents, namely, by the presence of a short-range «activator» with a small diffusion coefficient and of a long-range «inhibitor» with a large diffusion coefficient.
Spatial and Temporal Self-Organisation in Physics, Chemistry, Biology, and Medicine