IMT Institutional Repository: No conditions. Results ordered -Date Deposited. 2018-03-18T03:45:23ZEPrintshttp://eprints.imtlucca.it/images/logowhite.pnghttp://eprints.imtlucca.it/34832012018-03-16T12:36:21Z2018-03-16T12:36:21Zhttp://eprints.imtlucca.it/id/eprint/4058This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40582018-03-16T12:36:21ZIdentification of Social Effects with Endogenous Networks and Covariates: Theory and SimulationsThe estimation of spillover and peer effects presents challenges that are still unsolved. In fact, even if separate algebraic identification of the endogenous and exogenous effects is possible, these might be contaminated by the simultaneous dependence of outcomes,
covariates and the network structure upon spatially correlated unobservables. In this paper we characterize the identification conditions for consistently estimating all the parameters of a spatially autoregressive or linear-in-means model in presence of linear forms of endogeneity. We show that identification is possible if the spatial correlation of individual covariates and that of unobservables do not overlap, and we relate this
idea to a schooling context in which the factors that determine friendships and socioeconomic characteristics are different. We propose a GMM estimator to estimate the
relevant parameters and we evaluate its performance through Monte Carlo simulations.Santiago Pereda-Fernándezsantiago.pereda@bancaditalia.itPaolo Zacchiapaolo.zacchia@imtlucca.it2018-03-12T11:09:43Z2018-03-12T11:09:43Zhttp://eprints.imtlucca.it/id/eprint/4057This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40572018-03-12T11:09:43ZTesorieri di aziende industriali e commerciali di fronte al contratto di "financial future": dialogo possibile?Il contributo tratta dell'utilizzo e del possibile impiego del financial future nella gestione aziendaleNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T11:08:00Z2018-03-12T11:08:00Zhttp://eprints.imtlucca.it/id/eprint/4056This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40562018-03-12T11:08:00ZLa redazione della nota integrativa da parte degli amministratoriIl contributo tratta del contenuto della nota integrativa alla luce della riforma del bilancio di esercizioNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T11:05:13Z2018-03-12T11:05:13Zhttp://eprints.imtlucca.it/id/eprint/4055This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40552018-03-12T11:05:13ZDifferenti prospettive di interpretazione del processo di genesi del gruppo di imprese: un confronto fra logica e finalitàNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T11:03:10Z2018-03-12T11:03:10Zhttp://eprints.imtlucca.it/id/eprint/4004This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40042018-03-12T11:03:10ZA Periodic Tracking MPC that is Locally Equivalent to Periodic Economic MPCStability for economic Model Predictive Control (MPC) is in general difficult to establish. In contrast, tracking MPC has well-established stability guarantees, but can yield poor closed-loop performance in terms of the selected economic criterion. In Zanon et al. (2016), a formal procedure to design a tracking MPC scheme so as to locally approximate the behaviour of economic MPC was proposed for the case of optimal steady-state operation. In this paper, we extend that result to the periodic case and provide a procedure to compute the tracking stage cost numerically. We illustrate our developments in a simulated example.Mario Zanonmario.zanon@imtlucca.itSébastien GrosMoritz Diehl2018-03-12T11:01:45Z2018-03-12T11:01:45Zhttp://eprints.imtlucca.it/id/eprint/4017This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40172018-03-12T11:01:45ZRegulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or CostsIn this paper, model predictive control (MPC) of differential drive robots is considered. Here, we solve the set point stabilization problem without incorporating stabilizing constraints and/or costs in the MPC scheme. In particular, we extend recent results obtained in a discrete time setting to the continuous time domain. To this end, so called swaps and replacements are introduced in order to validate a growth condition on the value function and, thus, to rigorously prove asymptotic stability of the MPC closed loop for nonholonomic robots.Karl WorthmannMohamed W. MehrezMario Zanonmario.zanon@imtlucca.itGeorge K.I. MannRaymond G. GosineMoritz Diehl2018-03-12T10:59:23Z2018-03-12T10:59:23Zhttp://eprints.imtlucca.it/id/eprint/4029This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40292018-03-12T10:59:23ZAirborne Wind Energy: Airfoil-Airmass InteractionThe Airborne Wind Energy paradigm proposes to generate energy by flying a tethered airfoil across the wind flow at a high velocity. While Airborne Wind Energy enables flight in higher-altitude, stronger wind layers, the extra drag generated by the tether motion imposes a significant limit to the overall system efficiency. To address this issue, two airfoils with a shared tether can reduce overall system drag. A study proposed in Zanon et al. (2013) confirms this claim by showing that, in the considered scenario, the dual-airfoil system is more advantageous than the single-airfoil one. The results computed in Zanon et al. (2013) however, do not model the interaction between the airfoils and the airmass. In this paper, the impact of the airfoil-airmass interaction on the extracted power is studied. As this phenomenon is complex to model, a blade element-momentum approach is proposed and the problem is solved by means of optimal control techniques.Mario Zanonmario.zanon@imtlucca.itSébastien GrosJohan MeyersMoritz Diehl2018-03-12T10:58:31Z2018-03-12T10:58:31Zhttp://eprints.imtlucca.it/id/eprint/4054This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40542018-03-12T10:58:31ZIl significato del processo di formazione del gruppoNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T10:57:31Z2018-03-12T10:57:31Zhttp://eprints.imtlucca.it/id/eprint/4031This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40312018-03-12T10:57:31ZOrbit control for a power generating airfoil based on nonlinear MPCThe Airborne Wind Energy paradigm proposes to generate energy by flying a tethered airfoil across the wind flow. An essential problem posed by Airborne Wind Energy is the control of the tethered airfoil trajectory during power generation. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control. In this paper, a computationally efficient 6-DOF control model for a high performance, large-scale, rigid airfoil is proposed. A control scheme based on receding-horizon Nonlinear Model Predictive Control to track reference trajectories is applied to the proposed model. In order to make a real-time application of Nonlinear Model Predictive Control possible, a Real-Time Iteration scheme is proposed and its performance investigated.Sébastien GrosMario Zanonmario.zanon@imtlucca.itMoritz Diehl2018-03-12T10:55:17Z2018-03-12T10:55:17Zhttp://eprints.imtlucca.it/id/eprint/4027This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40272018-03-12T10:55:17ZNonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered AirplanesMechanical applications often require a high control frequency to cope with fast dynamics. The control frequency of a nonlinear model predictive controller depends strongly on the symbolic complexity of the equations modeling the system. The symbolic complexity of the model equations for multi-body mechanical systems can often be dramatically reduced by using representations based on non-minimal coordinates, which result in index-3 differential-algebraic equations (DAEs). This paper proposes a general procedure to efficiently treat multi-body mechanical systems in the context of MHE & NMPC using non-minimal coordinate representations, and provides the resulting computational times that can be achieved on a tethered airplane system using code generation.Sébastien GrosMario Zanonmario.zanon@imtlucca.itMilan VukovMoritz Diehl2018-03-12T10:52:20Z2018-03-12T10:52:20Zhttp://eprints.imtlucca.it/id/eprint/4024This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40242018-03-12T10:52:20ZAn Experimental Test Setup for Advanced Estimation and Control of an AirborneWind Energy SystemThis chapter gives a detailed description of a test setup developed at KU Leuven for the launch and recovery of unpropelled tethered airplanes. The airplanes are launched by bringing them up to flying speed while attached by a tether to the end of a rotating arm. In the development of the setup, particular care was taken to allow experimental validation of advanced estimation and control techniques such as moving horizon estimation and model predictive control. A detailed overview of the hardware, sensors and software used on this setup is given in this chapter. The applied estimation and control techniques are outlined in this chapter as well, and an analysis of the closed loop performance is given.Kurt GeebelenMilan VukovMario Zanonmario.zanon@imtlucca.itSébastien GrosAndrew WagnerMoritz DiehlDirk VandepitteJan SweversHammad Ahmad2018-03-12T10:50:31Z2018-03-12T10:50:31Zhttp://eprints.imtlucca.it/id/eprint/4025This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40252018-03-12T10:50:31ZAirborne Wind Energy Based on Dual AirfoilsThe airborne wind energy (AWE) paradigm proposes to generate energy by flying a tethered airfoil across the wind flow at a high velocity. Although AWE enables flight in higher altitude and stronger wind layers, the extra drag generated by the tether motion imposes a significant limit to the overall system efficiency. To address this issue, two airfoils with a shared tether can reduce overall system drag. Although this technique may improve the efficiency of AWE systems, such improvement can only be achieved through properly balancing the system trajectories and parameters. This brief tackles that problem using optimal control. A generic procedure for modeling multiple-airfoil systems with equations of minimal complexity is proposed. A parametric study shows that at small and medium scales, dual-airfoil systems are significantly more efficient than single-airfoil systems, but they are less advantageous at very large scales.Mario Zanonmario.zanon@imtlucca.itSebastien GrosJoel AnderssonMoritz Diehl2018-03-12T10:49:15Z2018-03-12T10:49:15Zhttp://eprints.imtlucca.it/id/eprint/4053This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40532018-03-12T10:49:15ZUno strumento per l'analisi del bilancio consolidatoNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T10:47:52Z2018-03-12T10:47:52Zhttp://eprints.imtlucca.it/id/eprint/4026This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40262018-03-12T10:47:52ZA Lyapunov function for periodic economic optimizing Model Predictive ControlModel Predictive Control (MPC) schemes are commonly using reference-tracking cost functions, which have attractive properties in terms of stability and numerical implementation. However, many control applications have clear economic objectives that can be used directly as the NMPC cost function. Such NMPC schemes are labelled Economic NMPC. Unfortunately, Economic NMPC schemes suffer from some drawbacks. In particular, stability results for economic NMPC are still very sparse. A Lyapunov function for Economic NMPC was first proposed in [1] for problems having a steady-state optimum. The present paper develops a further generalization and clarification of these results for periodic systems.Mario Zanonmario.zanon@imtlucca.itSebastien GrosMoritz Diehl2018-03-12T10:45:32Z2018-03-12T10:45:32Zhttp://eprints.imtlucca.it/id/eprint/4023This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40232018-03-12T10:45:32ZModel Predictive Control of Rigid-Airfoil Airborne Wind Energy SystemsIn order to allow for a reliable and lasting operation of Airborne Wind Energy systems, several problems need to be addressed. One of the most important challenges regards the control of the tethered airfoil during power generation. Tethered flight of rigid airfoils is a fast, strongly nonlinear, unstable and constrained process, and one promising way to address the control challenge is the use of Nonlinear Model Predictive Control (NMPC) together with online parameter and state estimation based on Moving Horizon Estimation (MHE). In this paper, these techniques are introduced and their performance demonstrated in simulations of a 30 m wingspan tethered airplane with power generation in pumping mode.Mario Zanonmario.zanon@imtlucca.itSébastien GrosMoritz Diehl2018-03-12T10:45:30Z2018-03-12T10:45:30Zhttp://eprints.imtlucca.it/id/eprint/4052This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40522018-03-12T10:45:30ZThe measurement of the internal transactions and the strategic choices within the group of companiesDiscussion and analysis regarding the possibile trade off between single company interest and the group of companies strategic decisions.Mauro ZavaniNicola Latazinicola.lattanzi@imtlucca.it2018-03-12T10:42:07Z2018-03-12T10:42:07Zhttp://eprints.imtlucca.it/id/eprint/4051This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40512018-03-12T10:42:07ZL'area delle relazioni esterne. Possibili fattori di sviluppo aziendaleIl contributo tratta del significato e dell'importanza crescente delle relazioni aziendali esterne nel governo economico e ne propone una lettura organica da prospettive differentiNicola Lattanzinicola.lattanzi@imtlucca.itMauro Zavani2018-03-12T10:35:34Z2018-03-12T10:35:34Zhttp://eprints.imtlucca.it/id/eprint/4050This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40502018-03-12T10:35:34ZCollegamenti tra supporti automatici ed ipotesi dottrinaliIl contributo tratta della possibilità di compenetrare e collegare mediante linguaggi di programmazioni, supporti automatici, automazione e ipotesi economico aziendali di funzionamento.Nicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T10:32:46Z2018-03-12T10:32:46Zhttp://eprints.imtlucca.it/id/eprint/4049This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40492018-03-12T10:32:46ZIl rapporto azienda bancaria-cliente: analisi di un cambiamentoNicola Lattanzinicola.lattanzi@imtlucca.it2018-03-12T10:30:55Z2018-03-12T10:44:22Zhttp://eprints.imtlucca.it/id/eprint/4020This item is in the repository with the URL: http://eprints.imtlucca.it/id/eprint/40202018-03-12T10:30:55ZControl of Dual-Airfoil Airborne Wind Energy systems based on nonlinear MPC and MHEAirborne Wind Energy (AWE) systems generate energy by flying a tethered airfoil across the wind flow at a high velocity. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control (NMPC) and state estimation approaches based on Moving Horizon Estimation (MHE). Dual-Airfoil AWE systems, i.e. systems with two airfoils attached to a Y-shaped tether have been shown to be more effective than systems based on a single airfoil. This paper proposes a control scheme for a dual-airfoil AWE system based on NMPC and MHE and studies its performance in a realistic scenario based on state-of-the-art turbulence models.Mario Zanonmario.zanon@imtlucca.itGreg HornSebastien GrosMoritz Diehl