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.

Today all buildings contain some form of home automation. It might be heating controlled by athermostat or motion detectors controlling outdoor lighting.This paper,The Intelligent House, deals with the planning of a house in Kiruna, in the north ofSweden and further immerses itself in home automation or intelligent control in single-familyhomes. The house has been entirely planned, from layout to structural design and plumbing.The purpose of the paper has been to investigate the possibilities in home automation in singlefamilyhomes and to choose a suitable home automation system for the house being planned.The system has been designed and the costs and energy savings have been calculated.The system chosen for the house is called KNX and is the largest system for home automation inSweden. It is used to control heating, ventilation, lighting and alarm systems in the house. Is hasbeen found that KNX is very expensive and that the amount of energy, possible to save in thehouse, using the system, is relatively small.

BackgroundThere are different organizational structures and control and it has been proved difficult to find a combination between these that leads to goal congruence and improved efficiency. An organization can be structured according to hierarchical levels and the decision making can be either centralized or decentralized. Organizational control can be classified according to the amount of rules and balanced scorecard can be used to weld together the structure with the control.PurposeThe purpose is to create an understanding of how two types of structures and control in an organization appears and also to investigate how these differ from one another concerning the balanced scorecard as a control system. We will also investigate how the variables goal congruence and efficiency are affected by the implementation of the balanced scorecard.MethodTo answer the purpose of this thesis we have mainly used the qualitative method since we have studied two organizations thoroughly through interviews on different levels of the organization. The study also has some quantitative elements since we wanted to get a more truthful picture of the organizations.

The care for the elderly in the municipalities has recently seen the need for a formalized system for quality assurance. Under increasing demands for monetary efficiency while bound by law to retain acceptable standards in health care, there is need for efficient and at the same time quality-assured management. The municipalities often solve this puzzle by introducing systems and standards influenced by theory-clusters such as NPM (New Public Management), TQM (Total Quality Management) or other quality management theories.This essay focuses on how the public administration in the municipalities defines quality and designs and implements system for formalized quality assurance. Our basic view of organizations is institutionalist and our theoretical framework includes theories about quality, NPM and TQM..

In Sweden, there has been a continuous increase in the volume of housing construction for dairy cattle. Since 2004, the number of new, rebuilt and extended dairy cow houses undergoing preliminary inspection by the authorities has grown. The livestock farms have mostly focused on cow units instead of calf and heifer sheds; which has led to a need for information in this area. The purpose of the study was to improve advisors? knowledge about bovine building construction and function; to enable them to provide more qualified advice to conventional and organic milk producers who sustain larger herds.

This paper examines and analyzes effects of the introduction of a new management control system tool within a Swedish public health organization, the Södra Älvsborg hospital, and its possible effect on organizational change. The new management control system tool, known as the SÄS-model, has been widely criticized for being too costly and with too small positive effects to be shown. Our approach has with that as a background been to examine whether the implementation of the SÄS-model and its balanced scorecard has been able to result in effects regarding organizational change. We have through a case study aimed to analyze how a management control system, much alike one that is typically used within foremost private organizations, can promote organizational change. Our results suggest that the implementation of the SÄS-model and the balanced scorecard has given the organization clearer visions and goals.

Purpose: This study deals with warehouse management with an emphasis on vertical lift modules (VLM). The aim is to examine the effect of the implementation of VLM on a business's warehouse management. In order to obtain a result, the study has been based on the following questions:? How was the warehouse management designed before the implementation of VLM?? How is warehouse management designed after the implementation of VLM?Method: To be able to answer these questions, interviews with ten users of VLM performed. All users usually lift systems from the same manufacturer.

This paper presents a project and literature overview about how risk management and quality sometimes goes hand in hand and sometimes in two different directions. Meaning that the risk management can affect product or process quality differently depending on what risks an organisation chooses to control.The purpose with this paper is to get a deeper understanding about how risk and quality works together with IT-support and therefore we have been actively participating in a project with a risk management company called Zert. A literature study and a qualitative interview study have also been undertaken to see what the customers and the other researchers have written, to be able to make proper conclusions on the subject.To easily work together and get the information that was needed, four methods where used. Besides the qualitative interview and literature study the think-out-loud, card sorting and a variation on the extreme programming method where used to help visualize and improve communication both with Zert, the costumers and among ourselves.Zert is a risk management company that helps other organisations to control their different types of risks that they might be taking, by offering a system where the risk management process is held and providing consulting services by helping within the processes. Both Zert and their customers see the communication, knowledge and teamwork as something important as well as the quality within the work, processes and the end result.

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.

Biological pest management is defined as control of pests using their natural enemies. This method has been used in Sweden since the 1970´s and it has been developed ever since. Biological pest management is today relatively common among commercial growers but there are good possibilities to apply this method in the home gardens as well. The aim with this thesis is to compile a report from both the companies that are marketing the products and the home gardener´s point of view. This should give a better understanding of the market and how it could be improved. We will give examples of products that represent the different kinds of organisms that are being used in biological pest management. Our hope is that this will be an introduction to all interested in biological pest management. The legislations regarding registration of organisms are still a matter of discussion and are causing problems to producers, distributors and the market in general. Why isn´t biological pest management more common in the home garden? The main reason appears to be the lack of knowledge in the subject. What are the benefits using biological pest management when it requires so much knowledge and it´s more expensive than conventional pest management? With the environmental problems we face today, we hope that every single gardener has an interest in developing an environment as clean as possible, even if only in one's own backyard..

Background: Despite the time and money invested in relationships with other companies, it is a fact that many of them fail. Considering this, remarkably little research has been done regarding how inter-organisational relationships are controlled, given that control can function as a solution to the problems involved with collaboration, which arise since such a relation exists in the interface between organisational boundaries, where the companies? often conflicting interests and points of view meet. If one part is stronger than the other in a relationship, the weaker however tends to give way for the stronger?s will.

Intern kontroll handlar om att ha verksamhetens riskområden under kontroll. Brister i intern kontroll kan leda till ett ineffektivt arbete och riskera att utsätta verksamheten och därmed dess aktieägare för risk. När Svensk Kod för Bolagsstyrning (Koden) infördes i juli 2005 var syftet delvis att ge börsnoterade bolag ett ramverk för hur de ska arbeta med och redovisa sitt arbete med dessa frågor som ett led i att åstadkomma god bolagsstyrning.Uppsatsen undersöker huruvida Koden har förändrat svenska börsnoterade bolags arbete med intern kontroll samt den betydelse förändringen, ur ett investeringsperspektiv, har för aktieägarna.Agentteorin utgör en grundläggande del av uppsatsens teoretiska ram genom att beskriva relationerna mellan och drivkrafterna bakom de studerade aktörerna, aktieägarna och styrelsen. En täckande schematisk modell av agentteorin saknas i befintlig akademisk litteratur. Uppsatsens författare har därför utformat en sådan modell, som presenteras och utgör stommen i uppsatsens analysmodell.Nio stycken intervjuer med revisorer och ansvariga för intern kontroll på svenska börsnoterade bolag genomfördes.

In Uppsala, Sweden, Vattenfall has a combined heat and power plant. On the premises there is an engineering workshop with old fluorescent and mercury lamps that need to be replaced. This provides a great opportunity to save energy and money by installing more efficient lighting. The main purpose of this study was to present two functional and energy efficient lighting systems including control system. The lighting systems were designed by investigating the working environment, measuring illuminance and by simulations in the software DIALux.

Today's high oil prices and more stringent environmental requirements have led to that manufacturers of mobile construction equipment try to make their products more energy efficient. With this in mind a project about hybridization of hydraulic systems has been formed. The purpose of this project was to analyze the savings that can be achieved by hybridization of hydraulic systems. A reach stacker truck (Kalmar DRD450-80S4XS) were simulated in some load cases with conventional hydraulic systems and with three types of hybridized hydraulic systems. Different parts of the hydraulic systems were also analyzed separately.

This thesis aims to investigate what requirements companies have in order to achieve a successful legislative compliance control. The implementation of an environmental management system can help the company to structure their business and succeed with their environmental legislative compliance.Both small and medium sized businesses perceive that it is difficult and time consuming because the legislation can be difficult to interpret if you do not have the required knowledge. There are many companies that hire help in the form of consultants who audit their compliance, but this leads to a risk that the company will be exposed when the knowledge does not remain in the company if the consultant would cancel the cooperation. There are not so many tools today for businesses to obtain good legal compliance. The methods used are usually checklists included in the control program, and it costs a lot of resources to do everything needed.This study strives to deliver the expressed needs of the businesses.