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We formulate multi-input multi-output (MIMO) proportional-integral-derivative (PID) controller design as an optimization problem that involves nonconvex quadratic matrix inequalities. We propose a simple method that replaces the nonconvex matrix inequalities with a linear matrix inequality (LMI) restriction, and iterates to convergence. This method can be interpreted as a matrix extension of the c

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Popular Abstract in Swedish Avhandlingen handlar om lärares tankar om kompetensutveckling med utgångspunkt i intervjuer med olika lärare vid tre tillfällen under 1990-talet. Lärare utvecklar i lärarutbildning allmänna lärarkunskaper, ämneskunskaper och ämnesdidaktiska kunskaper under 3,5 - 5,5 år, beroende på elevernas åldrar och lärarens ämneskombinationer. I yrkesverksamheten deltar lärare i ettThe development in society and school activities that have taken place during the past twenty years, form the background to the problem in this thesis. Liberal democratisation in the society as a whole and the global explosion of knowledge have made it necessary for teachers continuously to develop new knowledge. The over all aim of the thesis concerned the development of knowledge of variations

Syrian monasticism has often been judged by its extremes, with Symeon the Stylite as the prime example of someone leaving the human world behind to reach for God. In this interpretation, hagiographical renderings seem only to underline an opposition between sacred and civil spheres, between the cells of the ascetics and human society. With this article, however, I wish to call such a conclusion in

Over the last four decades emissions trading has enjoyed a high profile in environmental law scholarship and in environmental law and policy. Much of this regulatory discussion is promotional, preferring emissions trading above other regulatory strategies without, however, engaging with legal complexities embedded in conceptualising, scrutinising and managing emissions trading schemes. The combine

Under det senaste decenniet har hemlösheten rönt stor uppmärksamhet, men samtidigt är kunskapen otillräcklig om de processer som leder in i respektive ut ur hemlöshet samt om olika åtgärders effekter. Syftet med denna antologi är att ge en bred och allsidig bild av svensk hemlöshet utifrån olika perspektiv och förklaringsmodeller samt att ge några internationella utblickar. Författarna är forskare

This thesis concerns retrospective and prospective studies of the atrioventricular (AV) conduction properties in patients with cardiac arrhythmias. The objectives of the retrospective studies were to further delineate the sex distribution in patients with Wolff-Parkinson-White syndrome (WPW) and AV nodal reentrant tachycardia (AVNRT) and to determine the underlying mechanisms of the differences in

Since they were first published in the 1890's Emily Dickinson's (1830-1886) poems have elicited queries regarding the proprieties of editing. This dissertation considers processes through which Dickinson's work has been edited in the twentieth century and how such editorial processes contribute specifically to the production of Emily Dickinson as author. As the project of editing Dickinson's work