Schulz M. Control Theory in Physics and Other Fields of Science: Concepts, Tools, and Applications
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Michael Schulz
Control Theory
in Physics and
other Fields of Science
Concepts, Tools, and Applications
With 46 Figures
ABC
Michael Schulz
Universität Ulm
Abteilung Theoretische Physik
Albert-Einstein-Allee 11
89081 Ulm, Germany
E-mail: michael.schulz@physik.uni-ulm.de
Library of Congress Control Number: 2005934994
Physics and Astronomy Classification Scheme (PACS):
02.30.Yy, 02.50.Le, 02.70.Rr, 05.20.-y, 05.10.Gg
ISSN print edition: 0081-3869
ISSN electronic edition: 1615-0430
ISBN-10 3-540-29514-3 Springer Berlin Heidelberg New York
ISBN-13 978-3-540-29514-3 Springer Berlin Heidelberg New York
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Preface
Control theory plays an important role in several fields of economics, tech-
nological sciences, and mathematics. In principle, empirical concepts of the
control of technological devises can already be proved for antiquity. Typi-
cal examples are the machines constructed by Archimedes, Philon, or Kte-
sibios [1, 2]. The highly developed experience in construction and control of
machines
1
was never forgotten completely over the following periods of the
late antiquity and the early middle age [3], and formed the foundation of
the modern engineering. The mathematical scientific interest for the control
of mechanical problems starts with the formulation of classical mechanics by
Galileo, Galilei, and Isaac Newton. The first mathematically solved nontrivial
control problem was the brachistochrone problem formulated by G. Galilei [4]
and solved by J. Bernoulli [5].
On the other hand, the control theory is not a common expression in nat-
ural sciences, which is all the more surprising, because both scientific theories
and scientific experiments actually contain essential features of control the-
oretical concepts. This appraisal also applies to physics, although especially
in this case many subdisciplines, for example mechanics or statistical physics,
are strongly related to several ideas of the control theory.
At this point, there is an important warning. The Control Theory for
natural sciences is no substitute for the classical application fields of deter-
ministic and stochastic control theories. Initially, an economic control theory
differs partially from the control of physical processes. Let us compare for a
moment the ideas of control in natural sciences and economics.
Of course, a short definition of economics is not simple, even for seasoned
economists. A possible working definition may, however, be: Economics is
the study of how people choose to use scarce or limited productive resources
to produce various commodities and distribute them to various members of
society for their consumption. This definition suggests the large variety of
1
The name machine comes from the Greek word µηχαυη. This name was used
originally for lifting devises in Greek theatres.
VIII Preface
disciplines combined under the general term “economics”: microeconomics,
controlling, macroeconomics, finance, environmental economics, and many
other scientific branches are usually considered a part of economics. From
this short characterization of economics, it is obvious that the aims of control
of economic processes and physical or chemical processes are very different.
Economic control often means that decisions are made on the basis of all avail-
able historical data. In this sense, we may speak about a closed loop control.
The current control, given by several economic decisions depends strictly on
the early evolution of the system, e.g., a market or a company. Character-
isticly, the complete intrinsic dynamics of economic systems is more or less
unknown.
Physical processes under control differ essentially from the economic meth-
ods discussed above. First of all, the dynamics of a physical or chemical process
may usually be described by a sufficiently accurate model independent of the
method leading to the model. Therefore, a model may be obtained from first
principles or from empirical investigations. But in contrast to the economic
models, a physical model can be tested by several experimental methods,
which allows us to refine the model by additional terms. Thus, the intrinsic
dynamics of a physical system is widely known. From this point of view, the
control of a physical system may be computed before the process starts. This
is a typical open-loop control.
The approach between both concepts to a common theory is given by the
statistical physics of complex systems. The physically mathematical site of
the theory of complex systems allows us to derive and formulate evolution
laws, limit probability distribution functions, and universal properties. If we
have obtained such a suitable theory about the behavior of several complex
systems, we may use this knowledge also for the analysis of more complicated
systems. However, the description of the evolution of a complex system on
the basis of a suitable model implies the neglecting of the dynamics of a set
of irrelevant degrees of freedom and therefore of the presence of a more or
less pronounced uncertainty. This is the origin of an apparently stochastic
behavior observed as a universal property of complex systems. However, the
control of such physical complex systems does not really differ from the control
of economic systems. We should be aware that the degree of complexity of the
economic world is extremely high; however, it is a special part of a global,
physical world. Thus, from a mathematical point of view the basic control
concepts of complex physical systems are similar to the concepts used for
economic systems.
The main goal of this book is to present some of the most useful theoretical
concepts and techniques for understanding the ideas of the control theory for
physical systems. But it should be noted that the concepts and tools presented
are also relevant to a much larger class of problems in the natural sciences,
the social sciences, and in engineering.
The central theme of this book is the control of special degrees of freedom
as well as of collective and cooperative properties in the behavior of complex
Preface IX
systems. This idea allows us to describe control mechanisms on the basis
of modern physical concepts, such as Hamiltonian equations, deterministic
chaos, self-organization, scaling laws, renormalization group techniques, and
complexity, and also traditional ideas of Newtonian mechanics, linear stability,
classical field theory, fluctuations, and response theory.
The first chapter covers important notations of the control theory of sim-
ple and complex systems. In the subsequent chapter, the basic formulation
of the deterministic control theory is presented. On the one hand, the close
relationship between the concept of classical mechanics and control theoreti-
cal approaches will be demonstrated. On the other hand, several fundamental
rules are presented on an immediate rigorous level. This approach requires
thorough mathematical language. The main topic in this chapter is the max-
imum principle of Pontryagin, which allows us to separate the dynamics of
deterministic systems under control in an optimization problem and a well-
defined set of equations of motion. The third chapter focuses on a frequent
class of deterministic control problems: the linear quadratic problems. Such
problems occur in a very natural way – if a weak deviation from a given nom-
inal curve should be optimally controlled. Several tools and concepts estimat-
ing the stability of controlled systems and several linear regulator problems,
which are important especially for the control of technological devises, will
also be discussed here.
The control of fields, another mainly physically motivated class of control
problems, will be discussed in the next chapter. After a brief discussion of
several field theories, the generalized Euler-Lagrange equations for the field
control are formulated. Furthermore, the control of physical, and also other
fields via controllable sources and boundary conditions, are briefly presented.
Chaos control, controllability, and observability are the key points of the
fifth chapter. This part of the book is essentially addressed to dynamic sys-
tems with a moderate number of degrees of freedoms and therefore a moderate
degree of complexity. In principle, such systems are the link between the de-
terministic mechanical systems and the complex systems with a pronounced
probabilistic character. Systems offering a deterministic chaotic behavior are
often observed at mesoscopic spatial scales. In particular, we will present some
concepts for stabilization and synchronization of usually unstable determinis-
tic systems.
In the subsequent chapter the basis for the probabilistic description of the
control of the complex system is formulated. Whereas all previous chapters
focus on the control of deterministic processes, now begins the presentation
of control concepts belonging to systems with partial information or several
types of intrinsic uncertainties. Obviously, an applicable description of a com-
plex system requires the definition of a set of relevant degrees of freedom. The
price one has to pay is that one gets practically no information about the re-
maining irrelevant degrees of freedom. As a consequence, the theoretical basis
used for the analysis of sufficiently complex systems can be described as an
essentially probabilistic theory. Chapter 6 gives an introduction to the basics
XPreface
of nonequlibrium physics and the probability theory as far as it is necessary
for the subsequent considerations. Some important physical ideas, especially
for the derivation of the Nakajima-Zwanzig equation and the Fokker-Planck
equation, are used to explain the appearance of stochastic processes on the
basis of originally deterministic equations of motion.
In Chapter 7 the basic equations for the open-loop and the feedback control
of stochastically driven systems are derived. These equations are very similar
to the corresponding relations for deterministic control theories, although the
meaning of the involved quantities is more or less generalized. The application
of functional integral techniques allows the extension of deterministic control
principles to probabilistic concepts, similar to the classical mechanics, to be
expanded to the quantum theory on the basis of Feynman’s path integrals.
Another important point of the stochastic control theory discussed in
Chapter 8 is the meaning of filters and predictors, which may be used to
reconstruct at least partially the real dynamics of the system from known
historical observations.
From a physical point of view a more exotic topic is the application of game
theoretical concepts to control problems. However, these ideas may be helpful
for the optimal control of several quantum mechanical experiments. These
concepts are discussed in Chapter 9. The difference between deterministic
and stochastic games, as well as several problems related to zero-sum games
and the Nash equilibrium, will be briefly analyzed in this chapter.
Finally, the last chapter gives a short overview about some general ideas
of optimization procedures. This is necessary because most control problems
can be splitted into a set of evolution equations and a remaining optimization
problem. In this sense, the last chapter of this book may be understood as a
tool of stimulations for solving such optimization problems.
This book derives from a course taught at the university at Ulm in the De-
partment of Theoretical Physics, which commenced in 2002. Essentially aimed
at students of physics, econophysics, and engineering, the course attracted
students, graduate students, and postdoctoral researchers from physics, chem-
istry, economics, engineering, and financial mathematics. I am indebted to all
of them for their interest and their discussions.
First I will thank F. Steiner for his inspiration to prepare the present
book. I also wish to thank my colleagues P. Reineker (Ulm), W. Greksch
(Halle-Wittenberg), U. Rieder (Ulm), B. M. Schulz (Halle-Wittenberg), R.
Wunderlich (Zwickau), and W. Stummer (Erlangen) for valuable discussions.
Last, but not least, I wish to express my gratitude to Springer-Verlag, in
particular to U. Heuser and J. Lenz for their excellent cooperation.
Ulm Michael Schulz
October 2005