This thesis has been conducted at Saab Bofors Dynamics AB. The purpose was to investigate if a non-linear missile model could be stabilized when the optimal control signal is computed considering constraints on the control input. This is particularly interesting because the missile is controlled with rudders that have physical bounds. This strategy is called Model Predictive Control. Simulations are conducted to compare this strategy with others; firstly simulations with step responses and secondly simulations when the missile is supposed to hit a moving target.

I föreliggande studie undersöks hur ett undervisningsupplägg baserat på flipped classroom påverkar resultatet i en matematikklass på det naturvetenskapliga programmet, samt hur eleverna förhåller sig till ett sådant undervisningsupplägg.Klassen undervisades av samma lärare, men med olika undervisningsupplägg, i tre olika matematikkurser: Traditionell undervisning med klassrumsbaserade genomgångar i Ma 1c; inverterad undervisning i Ma 2c där eleverna före lektionstillfället tog del av en videogenomgång, för att frigöra tid för uppgiftslösning i klassrummet; inverterad undervisning i Ma 3c med tillägget att man i klassrummet använde sig av undervisnings­verktyget peer instruction.En enkät gjordes angående elevernas attityder till de olika undervisningsuppläggen. Vidare gjordes en jämförelse av klassens resultat på de nationella proven med resultaten i riket, samt med resultaten för en elevgrupp som undervisats traditionellt.Enkätsvaren visar att eleverna var mycket nöjda med flipped classroom, och att majoriteten ansåg att de lärde sig mer med flipped-classroom-baserad undervisning än med traditionell undervisning. Detta gäller elever på alla betygs­nivåer; elever med såväl som utan tillgång till matematik­hjälp hemma; pojkar såväl flickor. Elevernas inställning till peer instruction var mera splittrad.Jämförelsen av resultat på de nationella proven visar en tydlig nedgång i elevernas prestation mellan Ma 1c och Ma 3c. Den största delen av nedgången skedde mellan Ma 1c och Ma 2c, dvs.

The aim of this thesis is to examine how salesperson control can be exercised in a retail store environment. A case study has been performed on a Swedish fashion company emphasizing the relationship between the company?s upper level management and their retail store operations in order to describe, analyze and classify the prevailing management control mechanisms. The paper presents an agency theoretical approach to the relationship applying behavior- and outcome based control theory, performance measurement theory and incentives theory in order to give a comprehensive image of the control system. The main finding is that the company?s management control system as applied to the sales force in its retail stores can be categorized as mainly behavior-based despite several explicit outcome-based features..

The purpose of my empirical study is to see if and how teachers meet the students needs of physical activities in the daily work in the classroom. I also want to explore how different teachers see the connection between the concepts: physical activity and learning. To fulfill the purpose, I have chosen to ask four questions that I will work on in my study.How much and what type of physical activities do the students do in a typical day at school?What happens with the students when they have had a moment of physical activities in the classroom?Do the teachers see any connection between the physical activity and the pupils' ability to concentrate?How do teachers look upon the relationship between physical activity and learning?To get answers to my questions, I have observed and interviewed five teachers. I have compiled and analyzed the results.

Syftet med studien är att presentera ett urval av modeller för ledarskap och undersöka om dessa används i svenska klassrum. Modellerna är amerikanska och hämtade från forskningsområdet"Classroom Management", eller CM. Observationerna är gjorda vid fyra skolor och har ligger till grund för 6 intervjuer som gjorts. Lärares ledarskap är mycket komplext och enligt min observation det går inte att peka på att lärare konsekvent använder sig av en modell..

Problem: What are the characteristics of Polykemi?s management control system and how is it affected by growth? Purpose: To describe and analyse the management control system of a medium-sized family-owned company from the perspective of Simons? Levers of control. Research design: An abductive, interview-based case study of Polykemi AB. Conclusion: Polykemi?s management control system is primarily a traditional one which is rather strong in terms of Levers of control.

AbstractBy finding out the pupils' choice of strategies for problem solving, we as teachers, can get a better understanding of their way of thinking, and thus also help them develop in their learning of mathematics. In a classroom environment where several different strategies could be found, the pupils' learning is facilitated as they, with the help of classmates, find positive and negative attributes of different kinds of strategies. The pupils are, in other words, each other's resources, rather than competitors. The main point is that the classroom environment, as well as the role of the teacher in the classroom, are both key elements for good mathematics learning.In order to increase the understanding of the pupils' choice of learning strategies, a survey was performed based on two school classes, one third grade and one six grade class at the same school. Both classes received the same mathematical problem to work with, and the strategies observed were analyzed and compared.

This master thesis deals with problems in the arc length control in Pulsed MIG/MAG Welding. The main problem is that it is not possible to measure the arc length. In the present solution the voltage over both the electrode and the arc represents the arc length. To improve the arc length control a model of the electrode melting has been built. One output from the model is the voltage over the electrode and with this voltage together with the measured voltage it is possible to calculate the voltage over just the arc.

The purpose of this essay is to examine what kind of pictures the children encounter everyday in their classroom. Furthermore, the idea was to immerse myself in how girls and boys are portrayed in these pictures from a gender perspective. Three question were set, to enable this study: What kind of pictures will second grade pupils encounter in their classroom, in a city school and in a rural school?How many girls and boys are illustrated in these pictures?How are girls and boys portrayed in these pictures?The examination was done by a field study of two classrooms, where all the pictures on the walls were documented using a digital camera. The collected material were examined, using both a quantitative analysis and a qualitative ditto.

This study aims to examine the effect management control systems have on which goals health centers prioritize. The management control systems of one privately owned and one publicly owned health center have been studied through a qualitative case study. Robert Simons (1995) framework with four levers of control (diagnostic control systems, interactive control systems, belief systems and boundary systems) has been used to structure the study. For both health centers we found a conflict of interest mainly between the diagnostic control system and the beliefs system, where the diagnostic control system is biased towards quantitative goals and the beliefs system is mainly biased towards qualitative goals. However, despite the unbalanced levers of control the studied health centers have been able to reach a well functioning compromise between quantitative and qualitative goals..

Locus of control och självkänslaEn jämförelse mellan elit- och icke elitidrottareHelén BlomstrandBesitter individen en hög inre locus of control anser denne attindividen själv är ansvarig för valen denne gör i livet, medan en högyttre locus of control innebär det motsatta. Syftet med studien varbland annat att se om elit- och icke elitidrottare skiljde sig gällandelocus of control; får elitidrottarna högre förvärvade än traitbaseradeinre attityder gällande självkänsla och locus of control, än ickeelitidrottare, har locus of control samband med självkänsla. Enenkätundersökning genomfördes på 82 idrottare varav 42elitidrottare. Resultatet visade att elitidrottarna uppvisade signifikanthögre resultat gällande inre locus of control än icke elitidrottarnasamt att det fanns könsskillnader då männen uppvisade högre värdengällande en inre work locus of control. Resultatet indikerar även attbassjälvkänsla har ett positivt samband med locus of control.Diskussionen fördes kring om en högre inre locus of control ledertill bättre idrottsliga resultat samt kritisk granskning av gällandeuppsats.Keywords: locus of control, external and internal, athletes, self-esteem.

The aim of my study is to look at two specific schools and their work with Internet in the classroom and compare their work to what experts say about how you should educate. The study focuses on how teachers guide the students to be critical to the information they encounter on the internet. What do the experts say? How should the teachers work with Internet in the classroom? What do the teachers say about their work with Internet? What do the teachers say regarding children and the Internet?  To answer these questions I have interviewed two teachers from different schools, which had classes with children 6 to 8 years old. The schools are very different from each other concerning investment on Internet devices in the classroom.

AbstractTheoryWhich education model has the ultimate learning potential? According to Olga Dysthe a varied education predominated by a dialogical nature is the best way of teaching.PurposeMy main purpose in this essay has been to investigate three different ways of education models and decide, on the basis of Dysthes? model, whether they can be classified as a monological or a dialogical model.I have also investigated if the thesis of Dysthes, ?The teachers view of knowledge determines the choice of teaching method?, is anchored in the reality.Furthermore, I have surveyed how the teachers educate concerning democracy. For example, on the basis of certain rules, are all sudents able to make the selves heard in a classroom that is characterized as dialogical? In such a classroom the teacher works whith activities to involve everyone and according to Dysthe, democracy is an attitude rather than a political system. Democracy is necessary in a classroom that is classified as dialogical.ResultThe essay is exclusively qualitative and builds upon interviews with three teachers on different upper secondary social schools witin the Gothenburg area.My results indicate that the teathers way of educating totaly differs from each others and that the thesis of Dysthe can be applied on only two out of three cases.

The purpose of this thesis is to find means of control that secure cost efficiency regarding the accommodation for the employees on missions abroad of the Swedish Ministry for Foreign Affairs. Today the ministry?s cost for the employees? rented housing is 100 million SEK and there is a need of improvement in the control of these costs. A work method for organizational development will be used in order to reach the findings presented in the thesis. First we study the strengths and weaknesses in today?s control system.

The purpose of this study was to examine if there was a relation between birth order, gender and locus of control. There where 162 participants in the study, 44 men, 115 women. Birth order was coded into three levels. There where no significant differences between birth order and locus of control. The result showed that female participants where more external when it came to locus of control.