The right to a healthy and non-harmful environment is deeply anchored in the South African Bill of Rights. The Environmental Right on Section 24 states that: “Everyone has the right a) to an environment that is not harmful to their health or well-being; and b) to have the environment protected, for the benefit of present and future generation through reasonable legislative and other measures that...” This specifically imposes the ...

Over the past decades, interest in finance, and more particularly interest in the evolution as well as the prediction of the markets, exploded. One aim that the automatic control laboratory at ETH Zürich would want to achieve is to use some of the robotic optimization models and to apply them to finance. During this internship, I only worked on the financial part of the problem. The main goal of my internship was to create some predictions ...

Farming fast-growing seaweed on the ocean and sinking the biomass to the ocean floor is a promising approach for carbon removal to stabilize our climate. To make this economically viable, these seaweed farms must be floating and operating autonomously with very low propulsion, mainly leveraging the ocean currents for low energy propulsion. To achieve their control objective, i.e., maximizing seaweed growth, such farms need to plan how ...

This work considers linear systems with uncertain parameters and additive disturbance. Two frameworks for the adaptive model predictive controller (MPC) with different tube parameterizations are introduced to guarantee robustness for uncertain parameters and disturbances. The set membership identification approach, which uses a membership set to bound the uncertain parameter set, is applied to reduce the uncertainty. Moreover, a method ...