Mathematical Concepts and Methods in Science and Engineering – serie

The purpose of this book is to give an introduction to the Laplace transform on the undergraduate level. The material is drawn from notes for a course taught by the author at the Milwaukee School of Engineering. Based on classroom experience, an attempt has been made to (1) keep the proofs short, (2) introduce applications as soon as possible, (3) concentrate on problems that are difficult to handle by the older classical methods, and (4) emphasize periodic phenomena. To make it possible to offer the course early in the curriculum (after differential equations), no knowledge of complex variable theory is assumed. However, since a thorough study of Laplace. transforms requires at least the rudiments of this theory, Chapter 3 includes a brief sketch of complex variables, with many of the details presented in Appendix A. This plan permits an introduction of the complex inversion formula, followed by additional applications. The author has found that a course taught three hours a week for a quarter can be based on the material in Chapters 1, 2, and 5 and the first three sections of Chapter 7. If additional time is available (e.g., four quarter-hours or three semester-hours), the whole book can be covered easily. The author is indebted to the students at the Milwaukee School of Engineering for their many helpful comments and criticisms.

It is an incontestable fact that numerical analysis techniques are used rou­ tinely (although not always effectively) in virtually every quantitative field of scientific endeavor. In this book, which is directed toward upper-division and graduate level students in engineering and mathematics, we have selected for discussion subjects that are traditionally found in numerical analysis texts. But our choice of methodology rejects the traditional where analysis and experience clearly warrant such a departure, and one of our primary aspirations in this work is to equip the reader with the wherewithal to apply numerical analysis thinking to nontraditional subjects. For there is a plethora of computer-oriented sciences such as optimization, statistics, and system analysis and identification that are sorely in need of methods comparable to those related here for classical numerical analysis problems. Toward uncovering for the reader the structure of numerical methods we have, for example, devoted a chapter to a metric space theory for iter­ ative application of operators. In this chapter, we have collected those definitions and concepts of real and functional analysis that are requisite to a modern intermediate-level exposition of the principles of numerical anal­ ysis. Further, we derive the abstract theory (most notably, the contraction mapping theorem) for iteration processes.

When the Tyrian princess Dido landed on the North African shore of the Mediterranean sea she was welcomed by a local chieftain. He offered her all the land that she could enclose between the shoreline and a rope of knotted cowhide. While the legend does not tell us, we may assume that Princess Dido arrived at the correct solution by stretching the rope into the shape of a circular arc and thereby maximized the area of the land upon which she was to found Carthage. This story of the founding of Carthage is apocryphal. Nonetheless it is probably the first account of a problem of the kind that inspired an entire mathematical discipline, the calculus of variations and its extensions such as the theory of optimal control. This book is intended to present an introductory treatment of the calculus of variations in Part I and of optimal control theory in Part II. The discussion in Part I is restricted to the simplest problem of the calculus of variations. The topic is entirely classical; all of the basic theory had been developed before the turn of the century. Consequently the material comes from many sources; however, those most useful to me have been the books of Oskar Bolza and of George M. Ewing. Part II is devoted to the elementary aspects of the modern extension of the calculus of variations, the theory of optimal control of dynamical systems.

Separation of the elements of classical mechanics into kinematics and dynamics is an uncommon tutorial approach, but the author uses it to advantage in this two-volume set. Students gain a mastery of kinematics first – a solid foundation for the later study of the free-body formulation of the dynamics problem.A key objective of these volumes, which present a vector treatment of the principles of mechanics, is to help the student gain confidence in transforming problems into appropriate mathematical language that may be manipulated to give useful physical conclusions or specific numerical results. In the first volume, the elements of vector calculus and the matrix algebra are reviewed in appendices. Unusual mathematical topics, such as singularity functions and some elements of tensor analysis, are introduced within the text. A logical and systematic building of well-known kinematic concepts, theorems, and formulas, illustrated by examples and problems, is presented offering insights into both fundamentals and applications. Problems amplify the material and pave the way for advanced study of topics in mechanical design analysis, advanced kinematics of mechanisms and analytical dynamics, mechanical vibrations and controls, and continuum mechanics of solids and fluids.Volume I of Principles of Engineering Mechanics provides the basis for a stimulating and rewarding one-term course for advanced undergraduate and first-year graduate students specializing in mechanics, engineering science, engineering physics, applied mathematics, materials science, and mechanical, aerospace, and civil engineering. Professionals working in related fields of applied mathematics will find it a practical review and a quick reference for questions involving basic kinematics.

Significant advances in the field of optimal control have been made over the past few decades. These advances have been well documented in numerous fine publications, and have motivated a number of innovations in electric power system engineering, but they have not yet been collected in book form. Our purpose in writing this book is to provide a description of some of the applications of optimal control techniques to practical power system problems. The book is designed for advanced undergraduate courses in electric power systems, as well as graduate courses in electrical engineering, applied mathematics, and industrial engineering. It is also intended as a self-study aid for practicing personnel involved in the planning and operation of electric power systems for utilities, manufacturers, and consulting and government regulatory agencies. The book consists of seven chapters. It begins with an introductory chapter that briefly reviews the history of optimal control and its power system applications and also provides an outline of the text. The second chapter is entitled "Some Optimal Control Techniques"; its intent is to introduce fundamental concepts of optimal control theory that are relevant to the applications treated in the following chapters. Emphasis is given to clear, methodical development rather than rigorous formal proofs. Topics discussed include variational calculus, Pontryagin's maximum principle, and geometric methods employing functional analysis. A number of solved examples are included to illustrate the techniques.

We are rarely asked to. make decisions based on only one criterion; most often, decisions are based on several usually confticting, criteria. In nature, if the design of a system evolves to some final, optimal state, then it must include a balance for the interaction of the system with its surroundings­ certainly a design based on a variety of criteria. Furthermore, the diversity of nature's designs suggests an infinity of such optimal states. In another sense, decisions simultaneously optimize a finite number of criteria, while there is usually an infinity of optimal solutions. Multicriteria optimization provides the mathematical framework to accommodate these demands. Multicriteria optimization has its roots in mathematical economics, in particular, in consumer economics as considered by Edgeworth and Pareto. The critical question in an exchange economy concerns the "equilibrium point" at which each of N consumers has achieved the best possible deal for hirnself or herself. Ultimately, this is a collective decision in which any further gain by one consumer can occur only at the expense of at least one other consumer. Such an equilibrium concept was first introduced by Edgeworth in 1881 in his book on mathematical psychics. Today, such an optimum is variously called "Pareto optimum" (after the Italian-French welfare economist who continued and expanded Edgeworth's work), "effi. cient," "nondominated," and so on.

In 1979, I edited Volume 18 in this series: Solution Methods for Integral Equations: Theory and Applications. Since that time, there has been an explosive growth in all aspects of the numerical solution of integral equations. By my estimate over 2000 papers on this subject have been published in the last decade, and more than 60 books on theory and applications have appeared. In particular, as can be seen in many of the chapters in this book, integral equation techniques are playing an increas­ ingly important role in the solution of many scientific and engineering problems. For instance, the boundary element method discussed by Atkinson in Chapter 1 is becoming an equal partner with finite element and finite difference techniques for solving many types of partial differential equations. Obviously, in one volume it would be impossible to present a complete picture of what has taken place in this area during the past ten years. Consequently, we have chosen a number of subjects in which significant advances have been made that we feel have not been covered in depth in other books. For instance, ten years ago the theory of the numerical solution of Cauchy singular equations was in its infancy. Today, as shown by Golberg and Elliott in Chapters 5 and 6, the theory of polynomial approximations is essentially complete, although many details of practical implementation remain to be worked out.

This book is devoted to the mathematical optimization theory and modeling techniques that recently have been applied to the problem of controlling the shape and intensity of the power density distribution in the core of large nuclear reactors. The book has been prepared with the following purposes in mind: 1. To provide, in a condensed manner, the background preparation on reactor kinetics required for a comprehensive description of the main problems encountered in designing spatial control systems for nuclear reactor cores. 2. To present the work that has already been done on this subject and provide the basic mathematical tools required for a full understand­ ing of the different methods proposed in the literature. 3. To stimulate further work in this challenging area by weighting the advantages and disadvantages of the existing techniques and evaluating their effectiveness and applicability. In addition to coverage of the standard topics on the subject of optimal control for distributed parametersystems, the book includes, at amathemati­ cal level suitable for graduate students in engineering, discussions of con­ ceptsoffunctional analysis, the representation theory ofgroups, and integral equations. Although these topics constitute a requisite for a full understanding of the new developments in the area of reactor modeling and control, they are seidom treated together in a single book and, when they are, their presenta­ tion isoften directed to the mathematician.They are thus relatively unknown to the engineering community.

This book represents an extended and substantially revised version of my earlierbook, Optimal Control in Problems ofMathematical Physics,originally published in Russian in 1975. About 60% of the text has been completely revised and major additions have been included which have produced a practically new text. My aim was to modernize the presentation but also to preserve the original results, some of which are little known to a Western reader. The idea of composites, which is the core of the modern theory of optimization, was initiated in the early seventies. The reader will find here its implementation in the problem of optimal conductivity distribution in an MHD-generatorchannel flow.Sincethen it has emergedinto an extensive theory which is undergoing a continuous development. The book does not pretend to be a textbook, neither does it offer a systematic presentation of the theory. Rather, it reflects a concept which I consider as fundamental in the modern approach to optimization of dis­ tributed systems. Bibliographical notes,though extensive, do not pretend to be exhaustive as well. My thanks are due to ProfessorJean-Louis Armand and ProfessorWolf Stadler whose friendly assistance in translating and polishing the text was so valuable. I am indebted to Mrs. Kathleen Durand and Mrs. Colleen Lewis for the hard job of typing large portions of the manuscript.

This book contains the proceedings ofthe meeting on "Applied Mathematics in the Aerospace Field," held in Erice, Sicily, Italy from September 3 to September 10, 1991. The occasion of the meeting was the 12th Course of the School of Mathematics "Guido Stampacchia," directed by Professor Franco Giannessi of the University of Pisa. The school is affiliated with the International Center for Scientific Culture "Ettore Majorana," which is directed by Professor Antonino Zichichi of the University of Bologna. The objective of the course was to give a perspective on the state-of­ the-art and research trends concerning the application of mathematics to aerospace science and engineering. The course was structured with invited lectures and seminars concerning fundamental aspects of differential equa­ tions, mathematical programming, optimal control, numerical methods, per­ turbation methods, and variational methods occurring in flight mechanics, astrodynamics, guidance, control, aircraft design, fluid mechanics, rarefied gas dynamics, and solid mechanics. The book includes 20 chapters by 23 contributors from the United States, Germany, and Italy and is intended to be an important reference work on the application of mathematics to the aerospace field. It reflects the belief of the course directors that strong interaction between mathematics and engineering is beneficial, indeed essential, to progresses in both areas.

This book is a product of the experience of the authors in teaching partial differential equations to students of mathematics, physics, and engineering over a period of 20 years. Our goal in writing it has been to introduce the subject with precise and rigorous analysis on the one hand, and interesting and significant applications on the other. The starting level of the book is at the first-year graduate level in a U.S. university. Previous experience with partial differential equations is not required, but the use of classical analysis to find solutions of specific problems is not emphasized. From that perspective our treatment is decidedly theoretical. We have avoided abstraction and full generality in many situations, however. Our plan has been to introduce fundamental ideas in relatively simple situations and to show their impact on relevant applications. The student is then, we feel, well prepared to fight through more specialized treatises. There are parts of the exposition that require Lebesgue integration, distributions and Fourier transforms, and Sobolev spaces. We have included a long appendix, Chapter 8, giving precise statements of all results used. This may be thought of as an introduction to these topics. The reader who is not familiar with these subjects may refer to parts of Chapter 8 as needed or become somewhat familiar with them as prerequisite and treat Chapter 8 as Chapter O.

Considerably simplified models of macroscopic material behavior, such as the idealization for metals of elastic-time independent plastic response with a yield (onset) criterion, have served the engineering profession well for many years. They are still basic to the design and analysis of most structural applications. In the need to use materials more effectively, there are circumstances where those traditional models are not adequate, and constitutive laws that are more physically realistic have to be employed. This is especially relevant to conditions where the inherent time dependence of inelastic deformations, referred to as "viscoplasticity", is pronounced such as at elevated temperatures and for high strain rates. Unified theories of elastic-viscoplastic material behavior, which are primarily applicable for metals and metallic alloys, combine all aspects of inelastic response into a set of time dependent equations with a single inelastic strain rate variable. For such theories, creep under constant stress, stress relaxation under constant strain, and stress-strain relations at constant rates are each special cases of a general formulation. Those equations mayor may not include a yield criterion, but models which do not separate a fully elastic region from the overall response could be considered "unified" in a more general sense. The theories have reached a level of development and maturity where they are being used in a number of sophisticated engineering applications. However, they have not yet become a standard method of material representation for general engineering practice.

Advanced Design Problems in Aerospace Engineering, Volume 1: Advanced Aerospace Systems presents six authoritative lectures on the use of mathematics in the conceptual design of various types of aircraft and spacecraft. It covers the following topics: design of rocket-powered orbital spacecraft (Miele/Mancuso), design of Moon missions (Miele/Mancuso), design of Mars missions (Miele/Wang), design of an experimental guidance system with a perspective flight path display (Sachs), neighboring vehicle design for a two-stage launch vehicle (Well), and controller design for a flexible aircraft (Hanel/Well). This is a reference book of interest to engineers and scientists working in aerospace engineering and related topics.

Separation of the elements of classical mechanics into kinematics and dynamics is an uncommon tutorial approach, but the author uses it to advantage in this two-volume set. Students gain a mastery of kinematics first – a solid foundation for the later study of the free-body formulation of the dynamics problem.A key objective of these volumes, which present a vector treatment of the principles of mechanics, is to help the student gain confidence in transforming problems into appropriate mathematical language that may be manipulated to give useful physical conclusions or specific numerical results. In the first volume, the elements of vector calculus and the matrix algebra are reviewed in appendices. Unusual mathematical topics, such as singularity functions and some elements of tensor analysis, are introduced within the text. A logical and systematic building of well-known kinematic concepts, theorems, and formulas, illustrated by examples and problems, is presented offering insights into both fundamentals and applications. Problems amplify the material and pave the way for advanced study of topics in mechanical design analysis, advanced kinematics of mechanisms and analytical dynamics, mechanical vibrations and controls, and continuum mechanics of solids and fluids.Volume I of Principles of Engineering Mechanics provides the basis for a stimulating and rewarding one-term course for advanced undergraduate and first-year graduate students specializing in mechanics, engineering science, engineering physics, applied mathematics, materials science, and mechanical, aerospace, and civil engineering. Professionals working in related fields of applied mathematics will find it a practical review and a quick reference for questions involving basic kinematics.

Over the last twenty years, Professor Franco Giannessi, a highly respected researcher, has been working on an approach to optimization theory based on image space analysis. His theory has been elaborated by many other researchers in a wealth of papers. Constrained Optimization and Image Space Analysis unites his results and presents optimization theory and variational inequalities in their light.It presents a new approach to the theory of constrained extremum problems, including Mathematical Programming, Calculus of Variations and Optimal Control Problems. Such an approach unifies the several branches: Optimality Conditions, Duality, Penalizations, Vector Problems, Variational Inequalities and Complementarity Problems. The applications benefit from a unified theory.

Linear stochastic systems are successfully used to provide mathematical models for real processes in fields such as aerospace engineering, communications, manufacturing, finance and economy. This monograph presents a useful methodology for the control of such stochastic systems with a focus on robust stabilization in the mean square, linear quadratic control, the disturbance attenuation problem, and robust stabilization with respect to dynamic and parametric uncertainty. Systems with both multiplicative white noise and Markovian jumping are covered.Key Features:-Covers the necessary pre-requisites from probability theory, stochastic processes, stochastic integrals and stochastic differential equations-Includes detailed treatment of the fundamental properties of stochastic systems subjected both to multiplicative white noise and to jump Markovian perturbations-Systematic presentation leads the reader in a natural way to the original results-New theoretical results accompanied by detailed numerical examples-Proposes new numerical algorithms to solve coupled matrix algebraic Riccati equations.The unique monograph is geared to researchers and graduate students in advanced control engineering, applied mathematics, mathematical systems theory and finance. It is also accessible to undergraduate students with a fundamental knowledge in the theory of stochastic systems.

Advanced Design Problems in Aerospace Engineering, Volume 1: Advanced Aerospace Systems presents six authoritative lectures on the use of mathematics in the conceptual design of various types of aircraft and spacecraft. It covers the following topics: design of rocket-powered orbital spacecraft (Miele/Mancuso), design of Moon missions (Miele/Mancuso), design of Mars missions (Miele/Wang), design of an experimental guidance system with a perspective flight path display (Sachs), neighboring vehicle design for a two-stage launch vehicle (Well), and controller design for a flexible aircraft (Hanel/Well). This is a reference book of interest to engineers and scientists working in aerospace engineering and related topics.

Separation of the elements of classical mechanics into kinematics and dynamics is an uncommon tutorial approach, but the author uses it to advantage in this two-volume set. Students gain a mastery of kinematics first – a solid foundation for the later study of the free-body formulation of the dynamics problem.A key objective of these volumes, which present a vector treatment of the principles of mechanics, is to help the student gain confidence in transforming problems into appropriate mathematical language that may be manipulated to give useful physical conclusions or specific numerical results. In the first volume, the elements of vector calculus and the matrix algebra are reviewed in appendices. Unusual mathematical topics, such as singularity functions and some elements of tensor analysis, are introduced within the text. A logical and systematic building of well-known kinematic concepts, theorems, and formulas, illustrated by examples and problems, is presented offering insights into both fundamentals and applications. Problems amplify the material and pave the way for advanced study of topics in mechanical design analysis, advanced kinematics of mechanisms and analytical dynamics, mechanical vibrations and controls, and continuum mechanics of solids and fluids.Volume I of Principles of Engineering Mechanics provides the basis for a stimulating and rewarding one-term course for advanced undergraduate and first-year graduate students specializing in mechanics, engineering science, engineering physics, applied mathematics, materials science, and mechanical, aerospace, and civil engineering. Professionals working in related fields of applied mathematics will find it a practical review and a quick reference for questions involving basic kinematics.

Over the last twenty years, Professor Franco Giannessi, a highly respected researcher, has been working on an approach to optimization theory based on image space analysis. His theory has been elaborated by many other researchers in a wealth of papers. Constrained Optimization and Image Space Analysis unites his results and presents optimization theory and variational inequalities in their light.It presents a new approach to the theory of constrained extremum problems, including Mathematical Programming, Calculus of Variations and Optimal Control Problems. Such an approach unifies the several branches: Optimality Conditions, Duality, Penalizations, Vector Problems, Variational Inequalities and Complementarity Problems. The applications benefit from a unified theory.

The author offers a systematic and careful development of many aspects of structural optimization, particularly for beams and plates. Some of the results are new and some have appeared only in specialized Soviet journals, or as pro­ ceedings of conferences, and are not easily accessible to Western engineers and mathematicians. Some aspects of the theory presented here, such as optimiza­ tion of anisotropic properties of elastic structural elements, have not been con­ sidered to any extent by Western research engineers. The author's treatment is "classical", i.e., employing classical analysis. Classical calculus of variations, the complex variables approach, and the Kolosov­ Muskhelishvili theory are the basic techniques used. He derives many results that are of interest to practical structural engineers, such as optimum designs of structural elements submerged in a flowing fluid (which is of obvious interest in aircraft design, in ship building, in designing turbines, etc.). Optimization with incomplete information concerning the loads (which is the case in a great majority of practical design considerations) is treated thoroughly. For example, one can only estimate the weight of the traffic on a bridge, the wind load, the additional loads if a river floods, or possible earthquake loads.

Considerably simplified models of macroscopic material behavior, such as the idealization for metals of elastic-time independent plastic response with a yield (onset) criterion, have served the engineering profession well for many years. They are still basic to the design and analysis of most structural applications. In the need to use materials more effectively, there are circumstances where those traditional models are not adequate, and constitutive laws that are more physically realistic have to be employed. This is especially relevant to conditions where the inherent time dependence of inelastic deformations, referred to as "viscoplasticity", is pronounced such as at elevated temperatures and for high strain rates. Unified theories of elastic-viscoplastic material behavior, which are primarily applicable for metals and metallic alloys, combine all aspects of inelastic response into a set of time dependent equations with a single inelastic strain rate variable. For such theories, creep under constant stress, stress relaxation under constant strain, and stress-strain relations at constant rates are each special cases of a general formulation. Those equations mayor may not include a yield criterion, but models which do not separate a fully elastic region from the overall response could be considered "unified" in a more general sense. The theories have reached a level of development and maturity where they are being used in a number of sophisticated engineering applications. However, they have not yet become a standard method of material representation for general engineering practice.

This volume of scientific papers is dedicated with gratitude and esteem to Ronald Rivlin and is offered as a token of appreciation by former students, col­ laborators, and friends. Ronald Rivlin's name is synonymous with modem developments in contin­ uum mechanics. His outstanding pioneering theoretical and experimental re­ ·search in finite elasticity is a landmark. From his work there has followed a spate of developments in which he played the leading role-the theory of fiber-rein­ forced materials, the developments of the theory of constitutive equations, the theory of materials with memory, the theory of the fracture of elastomers, the theory of viscoelastic fluids and solids, the development of nonlinear crystal physics, the theory of small deformations superimposed on large, and the effect of large initial strain on wave propagation. It is in Rivlin's work that universal relations were first recognized. Here also are to be found lucid explanations of physical phenomena such as the Poynting effect for elastic rods in torsion. Addi­ tionally, he and his co-workers predicted the presence of secondary flows for viscoelastic fluids in straight pipes of noncircular cross section under a uniform pressure head. While some others may have displayed a cavalier lack of concern for physical reality and an intoxication with mathematical idiom, Rivlin has al­ ways been concerned with genuine mathematical and physical content. All of his papers contain interesting and illuminating material-and may be read with profit by anyone interested in continuum mechanics.

Probability (including stochastic processes) is now being applied to virtually every academic discipline, especially to the sciences. An area of substantial application is that known as operations research or industrial engineering, which incorporates subjects such as queueing theory, optimization, and network flow. This book provides a compact introduction to that field for students with minimal preparation, knowing mainly calculus and having "mathe­ matical maturity." Beginning with the basics of probability, the develop­ ment is self-contained but not abstract, that is, without measure theory and its probabilistic counterpart. Although the text is reasonably short, a course based on this book will normally occupy two semesters or three quarters. There are many points in the discussions and problems which require the assistance of an instructor for completeness and clarity. The book is designed to give equal emphasis to those applications which motivate the subject and to appropriatemathematical techniques. Thus, the student who has successfully completed the course is ready to turn in either of two directions: towards direct study of research papers in operations research, or towards a course in abstract probability, for which this text provides the intuitive background. Frank A. Haight Pennsylvania State University vii Contents 1. Discrete Probability .................................................. 1 1.1. Applied Probability. . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2. Sample Spaces ......................................................... 3 1.3. Probability Distributions and Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.4. The Connection between Distributions and Sample Points: Random Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 . . . . . . . . . . . . . . . . . . .

After the IUTAM Symposium on Optimization in Structural Design held in Warsaw in 1973, it was clear to me that the time had come for organizing into a consistent body of thought the enormous quantity of results obtained in this domain, studied from so many different points of view, with so many different methods, and at so many levels of practical applicability. My colleague and friend Gianantonnio Sacchi from Milan and I met with Professor Prager in Savognin in July 1974, where I submitted to them my first ideas for a treatise on structural optimization: It should cover the whole domain from basic theory to practical applications, and deal with various materials, various types of structures, various functions required of the structures, and various types of cost . . Obviously, this was to be a team effort, to total three or four volumes, to be written in a balanced manner as textbooks and handbooks. Nothing similar existed at that time, and, indeed, nothing has been published to date. Professor Prager was immedi­ ately in favor of such a project. He agreed to write a first part on optimality criteria with me and to help me in the general organization of the series. Since Professor Sacchi was willing to write the text on variational methods, it remained to find authors for parts on the mathematical programming approach to structural optimization (and, more generally, on numerical methods) and on practical optimal design procedures in metal and concrete.

In 1961, C. Zener, then Director of Science at Westinghouse Corpora­ tion, and a member of the U. S. National Academy of Sciences who has made important contributions to physics and engineering, published a short article in the Proceedings of the National Academy of Sciences entitled" A Mathe­ matical Aid in Optimizing Engineering Design. " In this article Zener considered the problem of finding an optimal engineering design that can often be expressed as the problem of minimizing a numerical cost function, termed a "generalized polynomial," consisting of a sum of terms, where each term is a product of a positive constant and the design variables, raised to arbitrary powers. He observed that if the number of terms exceeds the number of variables by one, the optimal values of the design variables can be easily found by solving a set of linear equations. Furthermore, certain invariances of the relative contribution of each term to the total cost can be deduced. The mathematical intricacies in Zener's method soon raised the curiosity of R. J. Duffin, the distinguished mathematician from Carnegie­ Mellon University who joined forces with Zener in laying the rigorous mathematical foundations of optimizing generalized polynomials. Interes­ tingly, the investigation of optimality conditions and properties of the optimal solutions in such problems were carried out by Duffin and Zener with the aid of inequalities, rather than the more common approach of the Kuhn-Tucker theory.

Before his death in March, 1976, A. H. Lightstone delivered the manu­ script for this book to Plenum Press. Because he died before the editorial work on the manuscript was completed, I agreed (in the fall of 1976) to serve as a surrogate author and to see the project through to completion. I have changed the manuscript as little as possible, altering certain passages to correct oversights. But the alterations are minor; this is Lightstone's book. H. B. Enderton vii Preface This is a treatment of the predicate calculus in a form that serves as a foundation for nonstandard analysis. Classically, the predicates and variables of the predicate calculus are kept distinct, inasmuch as no variable is also a predicate; moreover, each predicate is assigned an order, a unique natural number that indicates the length of each tuple to which the predicate can be prefixed. These restrictions are dropped here, in order to develop a flexible, expressive language capable of exploiting the potential of nonstandard analysis. To assist the reader in grasping the basic ideas of logic, we begin in Part I by presenting the propositional calculus and statement systems. This provides a relatively simple setting in which to grapple with the some­ times foreign ideas of mathematical logic. These ideas are repeated in Part II, where the predicate calculus and semantical systems are studied.

This volume is a collection of contributions to the subject of multicriteria decision making and differential games, all of which are based wholly or in part on papers that have appeared in the Journal of Optimization Theory and Applications. The authors take this opportunity to revise, update, or enlarge upon their earlier publications. The theory of multicriteria decision making and differential games is concerned with situations in which a single decision maker is faced with a multiplicity of usually incompatible criteria, performance indices or payoffs, or in which a number of decision makers, or players, must take into account criteria each of which depends on the decisions of all the decision makers. The first six chapters are devoted to situations involving a single decision maker, or a number of decision makers in complete collaboration and thus being in effect a single decision maker. Chapters I -IV treat various topics in the theory of domination structures and nondominated decisions. Chapter V presents a discussion of efficient, or Pareto-optimal, decisions. The approach to multicriteria decision making via preference relations is explored in Chapter VI. When there is more than one decision maker, cooperation, as well as noncooperation, is possible. Chapters VII and VIII deal with the topic of coalitions in a dynamic setting, while Chapters IX and X address the situation of two unequal decision makers, a leader and a follower.