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Automatic Control, IEEE Transactions on

Issue 4 • Date April 1999

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Displaying Results 1 - 25 of 37
  • A Converse Lyapunov Theorem for a Class of Dynamical Systems which Undergo Switching

    Publication Year: 1999 , Page(s): 751 - 760
    Cited by:  Papers (216)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (458 KB)  

    The authors investigate the stability of a system in which the dynamics at any instant in time will follow one of a fixed set of vector fields. They allow switching between members of the family of vector fields to be completely random. The focus of this paper is to prove a converse Lyapunov theorem for this class of systems. View full abstract»

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  • Corrections to "A Method for the Synthesis of Controllers to Handle Safety, Liveness, and Real-Time Constraints" and "Tracking in Clutter with Strongest Neighbor Measurements - Part I: Theoretical Analysis"

    Publication Year: 1999 , Page(s): 886
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (32 KB)  

    Summary form only given. In the November 1998 issue, two recommending editors' names were unintentionally omitted. The information is as follows. The paper "A Method for the Synthesis of Controllers to Handle Safety, Liveness, and Real-Time Constraints," by Barbeau et al. (1998), was recommended by Associate Editor, F. Lin. In addition, the paper "Tracking in Clutter with Strongest Neighbor Measurements??Part I: Theoretical Analysis," by Li (1998), was recommended by Associate Editor, J. Spall. View full abstract»

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  • Advances in Aircraft Flight Control [Book Review]

    Publication Year: 1999 , Page(s): 887 - 889
    Save to Project icon | Request Permissions | PDF file iconPDF (26 KB)  
    Freely Available from IEEE
  • A recursive algorithm for ARMAX model identification in closed loop

    Publication Year: 1999 , Page(s): 840 - 843
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (140 KB)  

    The joint problem of the recursive estimation of an optimal predictor for the closed-loop system and the unbiased parameter estimation of an ARMAX plant model in closed-loop operation is considered. A special reparameterized optimal predictor for the closed-loop is introduced. This allows a parameter estimation algorithm for the plant model to be derived which is globally asymptotically stable in a deterministic environment and gives asymptotically unbiased parameters estimates under richness conditions View full abstract»

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  • Decomposition and approximation of periodic systems

    Publication Year: 1999 , Page(s): 858 - 863
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (284 KB)  

    This paper proposes a decomposition of periodically time-varying systems in an attempt to reduce the often overwhelming number of modeling parameters involved. In many cases it would be possible to represent the system using only a few of those components. An a priori bound on the approximation error is derived in terms of the smoothness of the system parameters. Both continuous and discrete-time systems are considered View full abstract»

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  • Command governors for constrained nonlinear systems

    Publication Year: 1999 , Page(s): 816 - 820
    Cited by:  Papers (35)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB)  

    A method is described for set-point tracking in nonlinear systems when pointwise-in-time input and/or state inequality constraints are to be enforced. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point, and prescribed constraints. The CG selects at any time the system input via a receding-horizon strategy from a virtual sequence amongst all possible command sequences by solving a constrained quadratic optimization problem. Provided that the initial state is admissible, the overall system is proved to fulfil the constraints and have desirable performance stability properties View full abstract»

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  • An exponentially stable adaptive control for force and position tracking of robot manipulators

    Publication Year: 1999 , Page(s): 798 - 802
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (192 KB)  

    The problem of controlling a robot manipulator while the end effector is in contact with an environment of finite but unknown stiffness is considered. An exponentially stable control law is derived starting from a passivity-based position control algorithm. The original position trajectory is scaled along the interaction direction so as to achieve force tracking as well as position tracking along the unconstrained directions. A passivity-based adaptive algorithm is designed to avoid the explicit computation of the scaling factor, which depends on the unknown stiffness of the environment, leading to time-varying PID control actions on the force error View full abstract»

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  • On LMI formulations of some problems arising in nonlinear stochastic system analysis

    Publication Year: 1999 , Page(s): 813 - 816
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB)  

    This work involves formulation of some problems arising in the analysis of a class of discrete-time nonlinear stochastic systems in terms of linear matrix inequalities. This allows one to utilize a wide variety of numerical techniques available for tackling both the feasibility problem and the actual numerical solution in an efficient manner View full abstract»

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  • A Popov criterion for systems with slowly time-varying parameters

    Publication Year: 1999 , Page(s): 844 - 846
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    A Popov criterion is derived for systems with slowly time-varying parameters. The parameters and their time derivatives are assumed to take values in convex polytopes View full abstract»

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  • The solution of an affine problem and its application in control

    Publication Year: 1999 , Page(s): 826 - 829
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB)  

    An optimization problem with an affine feasible set is studied. By converting the affine set to a closed convex set which contains the solution, the Meyer-Polak algorithm can be used. The selection of the constraints is the key issue. A theorem has been derived for the selection of the constraints for the affine problem where the cost function is of p-norm form. Its application in a control problem is demonstrated View full abstract»

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  • Minimum phase properties for input nonaffine nonlinear systems

    Publication Year: 1999 , Page(s): 868 - 872
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (212 KB)  

    For input nonaffine nonlinear control systems, the minimum phase property of the system in general depends on the control law. Switching or discontinuous controllers may offer advantages in this context. In particular, there may not exist a continuous control law which would keep the output identically equal to zero and for which the zero output constrained dynamics are locally stable, whereas a discontinuous controller which achieves this exists. For single-input/single-output input nonaffine nonlinear systems we give sufficient conditions for existence, and present a method for the design of discontinuous switching controllers which yield locally stable zero dynamics View full abstract»

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  • The dual iteration for fixed-order control

    Publication Year: 1999 , Page(s): 783 - 788
    Cited by:  Papers (52)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (184 KB)  

    This paper proposes a new heuristic algorithm for fixed-order control problems using linear matrix inequalities. The authors call the algorithm the dual iteration because it is based on the iteration of two design steps, state feedback and filtering, which are dual to each other. Extensive numerical experiments show that the algorithm has a decent performance View full abstract»

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  • Robustness and performance of an indirect adaptive control scheme in presence of bounded disturbances

    Publication Year: 1999 , Page(s): 789 - 793
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (196 KB)  

    Robustness and performances in the presence of disturbances of an indirect adaptive control scheme driven by the prediction error which is designed by organizing a sliding mode are examined in this paper. A new idea for performance improvement in the presence of disturbances is presented. The idea is applied to plants with unknown relative degree. It is proved that the proposed scheme can provide arbitrarily improved transient performances. The results are confirmed by simulation View full abstract»

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  • On primary output estimation by use of secondary measurements as input signals in system identification

    Publication Year: 1999 , Page(s): 821 - 825
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB)  

    In many cases, vital output variables in, e.g., industrial processes cannot be measured online. It is then of interest to estimate these primary variables from manipulated and measured inputs and the secondary output measurements that are available. In order to identify an optimal estimator from input-output data, a suitable model structure must be chosen. The paper compares use of ARMAX and output error (OE) structures in prediction error identification methods, theoretically and through simulations View full abstract»

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  • Stochastic stability of the discrete-time extended Kalman filter

    Publication Year: 1999 , Page(s): 714 - 728
    Cited by:  Papers (128)  |  Patents (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (492 KB)  

    The authors analyze the error behavior for the discrete-time extended Kalman filter for general nonlinear systems in a stochastic framework. In particular, it is shown that the estimation error remains bounded if the system satisfies the nonlinear observability rank condition and the initial estimation error as well as the disturbing noise terms are small enough. This result is verified by numerical simulations for an example system View full abstract»

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  • A new representation of the parameters of lifted systems

    Publication Year: 1999 , Page(s): 833 - 840
    Cited by:  Papers (21)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (284 KB)  

    Lifting, i.e., discretization with built-in intersample behavior, is an emerging technique for the analysis and design of sampled-data systems. The applicability of the lifting technique, however, is severely limited owing to difficulties in dealing with the parameters of the lifted systems, which are operators over infinite-dimensional spaces rather than finite-dimensional matrices. In this paper, a new representation for the parameters of the lifted systems is proposed. The technical machinery developed in the paper based on this representation simplifies considerably algebraic manipulation over parameters of the lifted systems, thus extending the scope of applicability of the lifting technique. To illustrate the advantages of the proposed approach, the computational issues in the sampled-data H problem are considered View full abstract»

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  • Exact filters for doubly stochastic AR models with conditionally Poisson observations

    Publication Year: 1999 , Page(s): 794 - 798
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    The authors derive exact filters for the state of a doubly stochastic auto-regressive (AR) process with parameters which vary according to a nonlinear function of a Gauss-Markov process. The observations consist of a discrete-time Poisson process with rate a positive function of the Gauss-Markov process. The dimension of the sufficient statistic increases linearly with the number of observed events View full abstract»

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  • Feedback limitations in nonlinear systems: from Bode integrals to cheap control

    Publication Year: 1999 , Page(s): 829 - 833
    Cited by:  Papers (58)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (188 KB)  

    Feedback limitations of nonlinear systems are investigated using the cheap control approach. The main result is that in the limit, when the control effort is free, the smallest achievable L2 norm of the output is equal to the least amount of control energy (L2 norm) needed to stabilize the unstable zero dynamics. This nonlinear result is structurally similar to an earlier linear result by Qiu and Davison (1993), which, in turn, is connected with a Bode-type integral derived by Middleton (1991) View full abstract»

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  • Lur'e systems with multilayer perceptron and recurrent neural networks: absolute stability and dissipativity

    Publication Year: 1999 , Page(s): 770 - 774
    Cited by:  Papers (42)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    Sufficient conditions for absolute stability and dissipativity of continuous-time recurrent neural networks with two hidden layers are presented. In the autonomous case this is related to a Lur'e system with multilayer perceptron nonlinearity. Such models are obtained after parametrizing general nonlinear models and controllers by a multilayer perceptron with one hidden layer and representing the control scheme in standard plant form. The conditions are expressed as matrix inequalities and can be employed for nonlinear H control and imposing closed-loop stability in dynamic backpropagation View full abstract»

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  • Noninteracting control via static measurement feedback for nonlinear systems with relative degree

    Publication Year: 1999 , Page(s): 774 - 779
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (292 KB)  

    In this paper the author gives a necessary and sufficient geometric condition for achieving noninteraction via static measurement feedback for nonlinear systems with vector relative degree. The analysis relies on the theory of connections and as a result gives systematic procedures for constructing a decoupling feedback law View full abstract»

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  • Gabor transform of time-varying systems: exact representation and approximation

    Publication Year: 1999 , Page(s): 729 - 741
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (616 KB)  

    Approximate modeling of discrete-time linear time-varying systems is studied based on a representation of linear systems in the Gabor time-frequency space. The time-varying system is assumed to be given in input-output or kernel representation. This representation has previously received attention because of its applicability in frozen-time analysis and design of optimal control for time-varying systems but requires a large number of coefficients. Motivated by its application to signal analysis, the Gabor transform is considered as a tool for the representation and approximation of linear time-variant systems. In order to show the main results, the class of systems considered is restricted to the one usually considered in the frozen-time approach. An example is included to illustrate the potential application of the technique View full abstract»

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  • A switching adaptive controller for feedback linearizable systems

    Publication Year: 1999 , Page(s): 742 - 750
    Cited by:  Papers (37)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (544 KB)  

    One of the main open problems in the area of adaptive control of linear-in-the-parameters feedback linearizable systems is the computation of the feedback control law when the identification model becomes uncontrollable. The authors propose a switching adaptive control strategy that overcomes this problem. The proposed strategy is applied to nth-order feedback linearizable systems in canonical form. The closed-loop system is proved to be globally stable in the sense that all the closed-loop signals are bounded and the tracking error converges arbitrarily close to zero. No assumptions are made about the type of nonlinearities of the system, except that such nonlinearities are smooth. However, the proposed controller requires knowledge of the sign and lower bound of the input vector field View full abstract»

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  • Parametric H loopshaping and weighted mixed sensitivity minimization

    Publication Year: 1999 , Page(s): 846 - 852
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (300 KB)  

    Generalized H loopshaping is developed for a particular weighted mixed sensitivity minimization task. A free parameter is introduced to tradeoff minimizations of sensitivity and complementary sensitivity in the H performance index. A quadratically convergent algorithm is derived for computing the optimal performance index, and a state-space solution is obtained for suboptimal controllers. These results are applicable to stabilization of uncertain systems where normalized coprime factors involve parametrically weighted H norm-bounded perturbations. Controller reduction is also investigated for the parametric H loopshaping. Robust stability condition for using the reduced-order controller is established, and an estimate for the associated H performance is obtained. Similar results are derived for normalized linear quadratic Gaussian (LQG) control View full abstract»

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  • Frequency-domain optimization for robust fault detection and isolation in dynamic systems

    Publication Year: 1999 , Page(s): 878 - 882
    Cited by:  Papers (30)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (204 KB)  

    The paper deals with the design of optimal filters for fault detection and isolation (FDI) in dynamic systems. The proposed method, involving the generation of directional residuals derived from system's input-output description model, facilitates the enhancement of robustness even in cases where it is impossible to decouple fault effect from system perturbations. The proposed solution is based on the optimization of a performance index in the frequency domain. The resulting detection filter is capable of maximizing the effect of faults while minimizing the influence of disturbances View full abstract»

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  • Robust control of uncertain nonlinear systems via measurement feedback

    Publication Year: 1999 , Page(s): 807 - 812
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (228 KB)  

    The authors consider the problem of robust control via measurement feedback for a class of uncertain nonlinear systems. Usual assumptions like triangularity conditions and global Lipschitzness used in previous work on this topic are not imposed. The key tool employed in the constructive control design procedure is the recent small (nonlinear) gain theorem which has already proved very powerful in solving diverse control problems View full abstract»

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In the IEEE Transactions on Automatic Control, the IEEE Control Systems Society publishes high-quality papers on the theory, design, and applications of control engineering.  Two types of contributions are regularly considered

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Meet Our Editors

Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame