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Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Date 12-15 Dec. 2000

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  • Proceedings of the 39th IEEE Conference on Decision and Control [front matter]

    Publication Year: 2000 , Page(s): i - li
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    Freely Available from IEEE
  • Extended argument principle and integral design constraints. Part I. A unified formula for classical results

    Publication Year: 2000 , Page(s): 4984 - 4989 vol.5
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (554 KB)  

    We study Bode and Poisson type integral relations. We focus on a link between the well-known argument principle and Bode and Poisson integrals, which have been unnoticed previously. We show how various integral constraints may be unified under an extended version of the argument principle. This enables us to derive the classical Bode and Poisson integral relations in a simple manner, and further t... View full abstract»

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  • Author index

    Publication Year: 2000 , Page(s): A1 - A15
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    Freely Available from IEEE
  • Minimum magnitude response to a fixed input

    Publication Year: 2000 , Page(s): 4600 - 4605 vol.5
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (452 KB)  

    We investigate the exact solution, minimizing the l norm of the regulated output for a fixed input in SISO discrete-time feedback control systems. This is achieved by allowing non-zero steady state value and parametrizing the output to have a rational transfer function with chosen poles on the stability boundary. Alongside these l-optimal solutions, we obtain s... View full abstract»

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  • Constrained iterative learning control of liquid slosh in an industrial packaging machine

    Publication Year: 2000 , Page(s): 4544 - 4549 vol.5
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (472 KB)  

    Considers the problem of moving a container with liquid without too much slosh in an industrial packaging machine, There is no measurement of the slosh available in the machine to use for control, it is however possible to measure the slosh in a testbed. The problem is to determine the shape of the open loop acceleration reference that is programmed in the motion control system that controls the m... View full abstract»

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  • Estimation of acoustical room transfer functions

    Publication Year: 2000 , Page(s): 5184 - 5189 vol.5
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (416 KB)  

    Presents a method to obtain room transfer functions for applications in the design of intelligent systems for video conferencing. In these applications the acoustical dynamics, for example, affects the quality of the recorded speech signal and the ability to achieve accurate source localization. The first part of the paper gives results on the identification of parameterized room transfer function... View full abstract»

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  • A Grassmann-Rayleigh quotient iteration for computing invariant subspaces

    Publication Year: 2000 , Page(s): 4241 - 4246 vol.5
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (464 KB)  

    The classical Rayleigh quotient iteration (RQI) computes a 1-dimensional invariant subspace of a symmetric matrix A with cubic convergence. We propose a generalization of the RQI which computes a p-dimensional invariant subspace of A. The geometry of the algorithm on the Grassmann manifold Gr(p,n) is developed to show cubic convergence and to draw connections with Newton algorithms on Riemannian m... View full abstract»

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  • Synchronization of uncertain chaotic systems via adaptive backstepping

    Publication Year: 2000 , Page(s): 4827 - 4832 vol.5
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    In this paper, adaptive synchronization of two uncertain chaotic systems is presented using adaptive backstepping with tuning functions. The master system is of any smooth, bounded, linear-in-the-parameters nonlinear chaotic system, while the slave system is a nonlinear chaotic system in the strict-feedback form. Both master and slave systems are with key parameters unknown. Global stability and a... View full abstract»

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  • Design of structured controllers with applications

    Publication Year: 2000 , Page(s): 5204 - 5209 vol.5
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (476 KB)  

    For generalized plants with a specific structure we provide solutions of decentralized H-controller design problems by convex optimization without any conservatism. We apply our framework to multi-objective control problems with time-domain and exact disturbance decoupling constraints and to the problem of designing robust controllers against uncertain stochastic disturbances View full abstract»

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  • Optimal Hankel norm approximation for the Pritchard-Salamon class of non-exponentially stable infinite-dimensional systems

    Publication Year: 2000 , Page(s): 4594 - 4599 vol.5
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (352 KB)  

    The optimal Hankel norm approximation problem is solved for a class of infinite-dimensional systems without assuming exponential stability View full abstract»

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  • Adaptive λ-tracking for nonlinear systems with higher relative degree

    Publication Year: 2000 , Page(s): 4771 - 4776 vol.5
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (408 KB)  

    Previous results for adaptive λ-tracker have focused on nonlinear systems with relative degree one or on linear systems with higher relative degree. We extend the adaptive λ-tracker to λ-stabilize nonlinear system with higher relative degree. Only little structural information about the system to be controlled is needed. λ-stability and convergence of the adaptation is ... View full abstract»

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  • Fixed point iterations for computing square roots and the matrix sign function of complex matrices

    Publication Year: 2000 , Page(s): 4253 - 4258 vol.5
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    The purpose of this work has been the development of new set of rational iterations for computing square roots and the matrix sign function of complex matrices. Given any positive integer r⩾2, we presented a systematic way of deriving rth order convergent algorithms for matrix square roots, the matrix sign function, invariant subspaces in different half-planes, and the polar decomposition. We ... View full abstract»

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  • On achieving reduced error propagation sensitivity in DFE design via convex optimization

    Publication Year: 2000 , Page(s): 4320 - 4323 vol.5
    Cited by:  Papers (7)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (244 KB)  

    Decision feedback equalization (DFE) is expected in digital TV receivers and other high error rate environments. Error propagation usually occurs in infrequent bursts. It is argued that the minimum mean-square error (MMSE) adaptation mechanism in the presence of error propagation will find a better answer than the solution computed in the absence of decision errors. The paper attempts to formalize... View full abstract»

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  • Synchronization stability analysis of chaotic oscillators

    Publication Year: 2000 , Page(s): 4833 - 4838 vol.5
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (396 KB)  

    This paper proposes the use of symbolic computation tools for the parametric analysis of the synchronization stability of chaotic oscillators. Moreover, some concepts of synchronization recently proposed in the literature are briefly presented View full abstract»

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  • Stable trajectory tracking for biped robots

    Publication Year: 2000 , Page(s): 4815 - 4820 vol.5
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (476 KB)  

    The control of underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent on the state variables, i.e. on angular positions and velocities; the choice of these output functions is better if they yield the definition of a minimal phase system. In the paper some examples are discussed. It is suggested that the underlying mathemati... View full abstract»

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  • Topics on multirate systems: frequency response, interpolation, model validation

    Publication Year: 2000 , Page(s): 4290 - 4295 vol.5
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (464 KB)  

    We address several topics on multirate systems, mostly in a frequency domain point of view. We first study the frequency response of a multirate system and derive the aliasing component (AC) representation. We give the relationship between the AC representation and the usual transfer function matrix of the lifted LTI system. Next, we propose a multirate version of the Nevanlina-Pick (NP) interpola... View full abstract»

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  • On the strong stabilizability of MIMO n-dimensional linear systems

    Publication Year: 2000 , Page(s): 4915 - 4920 vol.5
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    A plant is strongly stabilizable if there exists a stable compensator to stabilize it. This paper presents necessary conditions for the strong stabilizability of complex and real n-dimensional MIMO shift-invariant linear plants. For the real case, the condition is a generalization of the parity interlacing property of Youla et al. for the strong stabilizability of a real 1D MIMO plant. These condi... View full abstract»

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  • On the H2 and H dead-time compensation

    Publication Year: 2000 , Page(s): 4584 - 4587 vol.5
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (260 KB)  

    In the paper the structure of the H2 and H suboptimal controllers is studied. In both cases the suboptimal controllers have the form of the dead-time compensator reminiscent of that of the famous Smith predictor. It is shown that unlike the H2 case, the H dead-time compensator takes into account the exogenous disturbance signal. Since the... View full abstract»

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  • Multi-objective optimal control of a heart assist device

    Publication Year: 2000 , Page(s): 4857 - 4858 vol.5
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (180 KB)  

    Heart assist devices play an important role in the treatment of heart disease. One of the key issues with these devices is the control of pump speed to satisfy multiple clinical requirements such as providing adequate cardiac output at appropriate left atrial pressure and systolic arterial pressure. A controller based on a multi-objective performance criterion is being developed at the University ... View full abstract»

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  • A control of underactuated hopping gait systems: acrobot example

    Publication Year: 2000 , Page(s): 4797 - 4802 vol.5
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (592 KB)  

    While many researchers have been working on hopping gait systems, most of the previous works have focused on the mechanism designed by Raibert (1986) which has two actuators. We consider the acrobot, which has only one actuator as our model of a hopping gait system. In spite of the difficulty of realizing the acrobot's hopping gait, it produces more interesting and attractive control problems than... View full abstract»

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  • On fundamental limitations for rudder roll stabilization of ships

    Publication Year: 2000 , Page(s): 4705 - 4710 vol.5
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (416 KB)  

    The main purpose of the rudder in ships is course keeping. However, the rudder can also be used, in some cases, to reject undesirable wave produced rolling motions. From a fundamental point of view, the main issues associated with this problem are the presence of a nonminimum phase zero and the single input two output nature of the system. In this paper, the limitations imposed on the achievable c... View full abstract»

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  • Multi-loop control of temperature for TV glass furnace

    Publication Year: 2000 , Page(s): 4550 - 4555 vol.5
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (496 KB)  

    Presents a practical application of the conventional multi-loop control method for the temperature control of a television glass furnace. To control the temperature of the TV glass furnace, major input-output variables are selected, and simple first-order-plus-dead-time (FOPDT) models are established with the process experimental data. Based on the FOPDT models, a multi-loop control, which is a co... View full abstract»

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  • Robust Hurwitz and Schur stability test for interval matrices

    Publication Year: 2000 , Page(s): 4209 - 4214 vol.5
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (408 KB)  

    By relying on a 2D face test, we obtain a necessary and sufficient condition for the robust Hurwitz and Schur stability of interval matrices. We reveal that it is impossible that there are some isolated unstable points in the parameter space of the matrix family, so the stability of exposed 2D faces of an interval matrix guarantees stability of the matrix family. Examples are given to demonstrate ... View full abstract»

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  • A general transform theory of rational orthonormal basis function expansions

    Publication Year: 2000 , Page(s): 4649 - 4654 vol.5
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (468 KB)  

    A general transform theory is presented that underlies expansions of stable discrete-time transfer functions in terms of rational orthonormal bases. The types of bases considered are generated by cascade connections of stable all-pass functions. If the all-pass sections in such a network are all equal, this gives rise to the Hambo basis construction. In the paper a more general construction is stu... View full abstract»

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  • Identification of relative position and orientation of two cameras from motion and shape parameters of moving rigid body

    Publication Year: 2000 , Page(s): 5169 - 5174 vol.5
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (336 KB)  

    In this paper we obtain the calibration parameters between a pair of cameras from motion and shape cues obtained from a moving rigid body in space. We consider a body moving rigidly in space and assume that they are observed using a pair of cameras. We assume furthermore that the relative positions of the two cameras are unknown i.e. we are in an uncalibrated stereo situation. It is then proved th... View full abstract»

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