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IEEE Transactions on Automatic Control

Issue 3 • March 2000

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Displaying Results 1 - 25 of 34
  • Review of continuous-time Markov chains and applications [Book Review]

    Publication Year: 2000, Page(s):597 - 598
    Cited by:  Papers (1)
    Request permission for commercial reuse | PDF file iconPDF (29 KB)
    Freely Available from IEEE
  • The Zames-Falb IQC for systems with integrators

    Publication Year: 2000, Page(s):560 - 565
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    A feedback interconnection of a neutrally stable, linear time-invariant system and a nonlinearity with 0⩽xφ(x)⩽kx2 is called critical because the worst case linearization is at best neutrally stable. This characteristic makes the stability analysis of such systems particularly hard. It is shown that an integrator and a sector bounded nonlinearity can be encapsulated in a bou... View full abstract»

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  • Nonlinear control strategy development for asymmetric actuators

    Publication Year: 2000, Page(s):556 - 560
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (168 KB)

    We develop a nonlinear control method for asymmetric actuators. Asymmetric actuators do not generate symmetric power during an application. Thrusters and shape memory alloy wires are examples of this class of actuators that produce only unidirectional forces. Hydraulic and pneumatic cylinders are generally asymmetric because, under constant pressure, the generated force in the forward direction is... View full abstract»

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  • On three puzzles in robust control

    Publication Year: 2000, Page(s):552 - 556
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (172 KB)

    Three surprising open topics, puzzles, in robust control are highlighted. The first and the second puzzle deal with difficulties in generalizing H control theory to realistic persistent signal setups. It seems difficult to generalize the theory to such setups and simultaneously keep the terminology robust H control intact. These puzzles have implications also to... View full abstract»

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  • Optimal and suboptimal separate-bias Kalman estimators for a stochastic bias

    Publication Year: 2000, Page(s):547 - 551
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (136 KB)

    Addresses two issues concerning the separate-bias Kalman estimator. The first of these issues deals with the derivation of the optimal estimator for the general case in which the bias vector is stochastic in nature, and the second issue deals with defining a suitable suboptimal realization of the generalized estimator View full abstract»

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  • Design of nonblocking modular supervisors using event priority functions

    Publication Year: 2000, Page(s):432 - 452
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (520 KB)

    A new scheme for the modular control of discrete event systems is presented and studied. This scheme, called modular control with priorities (MCP), is an extension of earlier works on modular control in the realm of the supervisory control theory of discrete event systems. The key feature of this scheme is the use of a priority mechanism based on the priority functions of individual supervisors in... View full abstract»

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  • Mixed risk-neutral/minimax control of discrete-time, finite-state Markov decision processes

    Publication Year: 2000, Page(s):528 - 532
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (196 KB)

    Addresses the control design problem for discrete-time, finite-state Markov decision processes, when both risk-neutral and minimax objectives are of interest. We introduce the mixed risk-neutral/minimax objective and utilize results from risk-neutral and minimax control to derive an information state process and dynamic programming equations for the value function. We synthesize optimal control la... View full abstract»

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  • Universal integral controllers for minimum-phase nonlinear systems

    Publication Year: 2000, Page(s):490 - 494
    Cited by:  Papers (58)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (192 KB)

    We consider a single-input-single-output (SISO) nonlinear system that has a well-defined normal form with asymptotically stable zero dynamics. Using only knowledge of the relative degree and the sign of the high-frequency gain, we design an output feedback integral controller that asymptotically regulates the output to a bounded time-varying reference signal with a constant limit. We give regional... View full abstract»

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  • Robust impulse control of uncertain singular systems by decentralized output feedback

    Publication Year: 2000, Page(s):500 - 505
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (248 KB)

    This paper considers a problem of robust impulse control of uncertain singular systems by decentralized output-feedback. It derives a perturbation upper bound that ensures the existence of decentralized output-feedback control law such that the closed-loop system remains both regularity and impulse free for any allowable perturbations. Algebraic sufficient conditions are also presented that guaran... View full abstract»

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  • The standard H problem in systems with a single input delay

    Publication Year: 2000, Page(s):382 - 397
    Cited by:  Papers (85)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    The standard H problem is solved for LTI systems with a single, pure input lag. The solution is based on state-space analysis, mixing a finite-dimensional and an abstract evolution model. Utilizing the relatively simple structure of these distributed systems, the associated operator Riccati equations are reduced to a combination of two algebraic Riccati equations and one differen... View full abstract»

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  • Asymptotic tracking of a nonminimum phase nonlinear system with nonhyperbolic zero dynamics

    Publication Year: 2000, Page(s):542 - 546
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    A two-cart with an inverted-pendulum system is a nonlinear, nonminimum phase system with nonhyperbolic zero dynamics. Devasia introduced this system to study the asymptotic tracking problem for nonlinear systems with nonhyperbolic zero dynamics and pointed out that the nonhyperbolicity may be challenging to the application of the standard inversion-based tracking technique. We first show that nonh... View full abstract»

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  • A finite-dimensional robust controller for systems in the CD-algebra

    Publication Year: 2000, Page(s):421 - 431
    Cited by:  Papers (47)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (316 KB)

    Robust multivariable controllers for stable infinite-dimensional systems in the Callier-Desoer (CD) algebra are discussed. In particular, the following robust regulation problem is solved. Given reference and disturbance signals, which are linear combinations of signals of the form tj sin(ωkt+φk), j⩾0, k=0, ···, n, find a low-orde... View full abstract»

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  • Exponential stability of singularly perturbed stochastic systems

    Publication Year: 2000, Page(s):576 - 580
    Cited by:  Papers (24)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (212 KB)

    The sufficient conditions of exponential stability of singularly perturbed, nonlinear stochastic systems are established. The excitations are assumed to be parametric white noises. In this case, the objective is to analyze the full-order system in their lower order subsystems, i.e., the reduced-order system and the boundary-layer system, and in terms of their interconnecting structure and the pert... View full abstract»

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  • On tracking control of flexible robot arms

    Publication Year: 2000, Page(s):520 - 527
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    A controller for solving the tracking problem of flexible robot arms is presented. In order to achieve this goal, the desired trajectory for the link (flexible) coordinates is computed from the dynamic model of the robot arm and is guaranteed to be bounded, and the desired trajectory for the joint (rigid) coordinates can be assigned arbitrarily. The case of no internal damping is also considered, ... View full abstract»

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  • Direct adaptive control subject to input amplitude constraint

    Publication Year: 2000, Page(s):485 - 490
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (164 KB)

    This paper deals with the problem of controlling discrete-time linear systems with unknown dynamics and a saturation-type constraint on the control input amplitude. We propose a direct adaptive regulator that globally stabilizes any system with one pole at x=1 and all others inside the unit disk. The regulator design is carried out using the pole placement technique. Of particular interest, the in... View full abstract»

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  • On the asymptotics of the Lyapunov spectrum under singular perturbations

    Publication Year: 2000, Page(s):565 - 569
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (188 KB)

    We investigate the problem of asymptotics of Lyapunov exponents for a class of singularly perturbed nonlinear systems. We define the maximal and minimal Lyapunov exponents for the underlying systems and show, via an averaging technique, that under certain conditions, the extremal Lyapunov exponents of the original system converge to the extremal Lyapunov exponents of the averaged slow subsystem wh... View full abstract»

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  • Slow peaking and low-gain designs for global stabilization of nonlinear systems

    Publication Year: 2000, Page(s):453 - 461
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (248 KB)

    This paper presents an analysis of the slow-peaking phenomenon, a pitfall of low-gain designs that imposes basic limitations to large regions of attraction in nonlinear control systems. The phenomenon is best understood on a chain of integrators perturbed by a vector field up(x, u) that satisfies p(x, 0)=0. Peaking may cause a loss of global controllability unless severe growth restrictions are im... View full abstract»

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  • A new discrete impulse response Gramian and its application to model reduction

    Publication Year: 2000, Page(s):533 - 537
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (164 KB)

    Some fundamental properties of an impulse response Gramian for linear, time-invariant, asymptotically stable, discrete single-input-single-output (SISO) systems are derived. This Gramian is system invariant and can be found by solving a Lyapunov equation. The connection with standard controllability, observability, and cross Gramians is proven. The significance of these results in model-order redu... View full abstract»

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  • Parametrized solution of the periodic dead-beat control problem

    Publication Year: 2000, Page(s):494 - 499
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (224 KB)

    The dead-beat control problem for linear, periodic, discrete-time systems in presence of unmeasurable disturbances and external reference signals is considered. Using a polynomial method, a parametrization of all causal output feedback controllers solving the problem is provided View full abstract»

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  • H2 and H control for infinite-dimensional systems with jumps

    Publication Year: 2000, Page(s):505 - 510
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (236 KB)

    We consider a semigroup model with jumps in the state that covers distributed parameter systems with impulse control or sampled-data distributed parameter systems with control realized through zero-order or first-order hold. We then introduce the H2 and H problems for this system and give the solutions in terms of the solutions of Riccati equations with jumps View full abstract»

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  • Minimax optimal control of stochastic uncertain systems with relative entropy constraints

    Publication Year: 2000, Page(s):398 - 412
    Cited by:  Papers (108)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    This paper considers a new class of discrete time stochastic uncertain systems in which the uncertainty is described by a constraint on the relative entropy between a nominal noise distribution and the perturbed noise distribution. This uncertainty description is a natural extension to the case of stochastic uncertain systems, of the sum quadratic constraint uncertainty description. This paper sol... View full abstract»

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  • A nonlinear filtering algorithm based on an approximation of the conditional distribution

    Publication Year: 2000, Page(s):580 - 585
    Cited by:  Papers (33)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (208 KB)

    An effective form of the Gaussian or moment approximation method for approximating optimal nonlinear filters with a diffusion signal process and discrete-time observations is presented. Various computational simplifications reduce the dimensionality of the numerical integrations that need to be done. This process, combined with an iterative Gaussian quadrature method, makes the filter effective fo... View full abstract»

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  • Convergence results of the analytic center estimator

    Publication Year: 2000, Page(s):569 - 572
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (148 KB)

    The analytic center approach for bounded error parameter estimation was recently proposed as an alternative to the well-known least squares and Chebyshev estimates. In this paper, we show the asymptotic performance of this approach and prove that the analytic center converges to the true parameter under mild conditions View full abstract»

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  • Petri net supervisors for DES with uncontrollable and unobservable transitions

    Publication Year: 2000, Page(s):462 - 476
    Cited by:  Papers (139)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (244 KB)

    A supervisor synthesis technique for Petri net plants with uncontrollable and unobservable transitions, that enforces the conjunction of a set of linear inequalities on the reachable markings of the plant, is presented. The approach is based on the concept of Petri net place invariants. Each step of the procedure is illustrated through a running example involving the supervision of a robotic assem... View full abstract»

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  • Closed-form control laws for linear time-varying systems

    Publication Year: 2000, Page(s):537 - 542
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB)

    Closed-form control laws are developed for continuous, linear, time-varying (LTV) systems based on approximate solutions to a receding-horizon control problem. These control laws can be derived in the first- or higher order closed forms. Once obtained, the control laws need no explicit gain-scheduling or online integrations to implement. The notion of practical stability is used, and practical or ... View full abstract»

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Aims & Scope

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