IEEE Transactions on Automatic Control

Issue 3 • March 1990

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Displaying Results 1 - 25 of 31
  • Comments on "Asymptotic stability for a class of linear discrete systems with bounded uncertainties" [with reply]

    Publication Year: 1990
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (80 KB)

    In the above-named work, M.S. Mahmoud and A.A. Bahnasawi (see ibid., vol.33, p.572-5, June 1988) present a class of feedback controllers and claims that these controllers yield a closed-loop system which is asymptotically stable for all allowable uncertainties. The commenter claims that the results they present are incorrect and indicates why he thinks so. The authors reply point by point to the c... View full abstract»

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  • On the generic dimension of controllable subspaces

    Publication Year: 1990, Page(s):367 - 369
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    It is proved that the generic dimension of the controllable subspace remains unchanged even if the free parameters in a linear system are allowed to vary with time. More precisely, it is proved that the generic rank of the controllability matrix equals the generic rank of a controllability matrix for a discrete, time-varying system. As a by-product, a new proof of S. Hosoe's (1980) characterizatio... View full abstract»

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  • Remarks on some dynamical problems of controlling redundant manipulators

    Publication Year: 1990, Page(s):341 - 344
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    The author establishes the mutual effects of dynamical constraints on redundant manipulators, the type of behavior they produce, and the various kinds of controlling algorithms. The various methods for controlling the robot are analyzed and compared for their dynamical behavior. This is done via a geometric viewpoint where each method induces a geometrical structure on the joint space. This sheds ... View full abstract»

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  • On implementable transfer matrices

    Publication Year: 1990, Page(s):366 - 367
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (196 KB)

    A straightforward proof is given of the sufficient condition for implementable transfer matrices. A similar result is obtained also when the controlled output is not accessible for feedback View full abstract»

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  • Separate bias Kalman estimator with bias state noise

    Publication Year: 1990, Page(s):338 - 341
    Cited by:  Papers (72)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB)

    A modified decoupled Kalman estimator suitable for use when the bias vector varies as a random-walk process is defined and demonstrated in a practical application consisting of the calibration of a strapdown inertial navigation system. The estimation system accuracy associated with the modified estimator is shown to be essentially the same as that of the generalized partitioned Kalman estimator. C... View full abstract»

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  • Closed-form Grammians and model reduction for flexible space structures

    Publication Year: 1990, Page(s):379 - 382
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (548 KB)

    The author derives analytical expressions for the Grammians of a model given in modal coordinates for the dynamics of a flexible space structure (FSS). These expressions are then used as the basis for a new algorithm to compute a dominant reduced-order model for such a system in an efficient manner. The resulting reduced-order model is obtained directly rather than by truncating a balanced model o... View full abstract»

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  • H optimal control as a weighted Wiener-Hopf problem

    Publication Year: 1990, Page(s):361 - 366
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    It is shown that H∞ optimization is equivalent to weighted H2 optimization in the sense that the solution of the latter problem also solves the former. The weighting rational matrix that achieves this equivalence is explicitly computed in terms of a state-space realization. The authors do not suggest transforming H∞ optimizati... View full abstract»

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  • Discrete-time model reference adaptive control for continuous-time systems using generalized sampled-data hold functions

    Publication Year: 1990, Page(s):334 - 338
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    The generalized sampled-data hold functions approach of P.T. Kabamba (1987) is extended to the control of linear time-invariant systems with unknown parameters. The idea of Kabamba's approach is to periodically sample the plant output and define the control as the sampled output plus a discrete-time reference, each multiplied by an individual modulating function. Such a control makes it possible t... View full abstract»

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  • On the polynomial equations for the MIMO LQ stochastic regulator

    Publication Year: 1990, Page(s):320 - 322
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (268 KB)

    The role played by three polynomial equations in the LQ stochastic regulation problem is discussed. The emphasis is on establishing conditions under which the LQ regulator can be obtained via the solution of a single uncoupled Diophantine equation. Nevertheless, the authors do not claim that there is any advantage in solving a single uncoupled equation in place of two coupled Diophantine equations View full abstract»

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  • On direct versus indirect methods for reduced-order controller design

    Publication Year: 1990, Page(s):377 - 379
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB)

    Comparisons are obtained between direct (parameter optimization) and indirect (controller reduction) methods in reduced-order controller design. In particular, the authors compare the controller canonical correlation coefficients method of C. De Villemagne and R.E. Skelton (1988) to the optimal projection theory of D.C. Hyland and D.S. Bernstein (1984). It is noted that suboptimal methods may, in ... View full abstract»

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  • One-pass minimum-variance deconvolution algorithms

    Publication Year: 1990, Page(s):326 - 329
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    The authors propose novel one-pass minimum-variance deconvolution (MVD) algorithms which give the MV estimate, or the approximate MV estimate, of a system's input sequence by means of just one reversed-time filter. They develop the one-pass MVD algorithm in two steps. First, by projecting the input sequence into the space spanned by the future states, they obtain a reversed-time Markov model. Then... View full abstract»

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  • Minimal parameter solution of the orthogonal matrix differential equation

    Publication Year: 1990, Page(s):314 - 317
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    The straightforward solution of the first-order differential equation satisfied by all nth-order orthogonal matrices requires n2 integrations to obtain the matrix elements. There are, however, only n(n-1)/2 independent parameters which determine an orthogonal matrix. The questions of choosing them, finding their differential equation, and expressing t... View full abstract»

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  • On the stability of adaptive pole-placement controllers with a saturating actuator

    Publication Year: 1990, Page(s):303 - 306
    Cited by:  Papers (34)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    The authors examine how existing pole-placement algorithms work in the case of a saturating input. The stability of such algorithms and the modifications needed to make them work in the case of saturation are examined. The net result is that the analysis of G.C. Goodwin and K.S. Sin (1984) can be slightly modified to prove the stability of adaptive pole-placement, but only for the case where the p... View full abstract»

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  • Robustness analysis: a case study

    Publication Year: 1990, Page(s):352 - 356
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    The stability test of polynomials whose coefficients depend multilinearly on interval parameters is considered. The authors describe and compare four brute-force solution approaches. These are eigenvalue calculation, zero exclusion from a specified value set, algebraic tests of real and complex Hurwitz roots, and the parameter space method. They are applied to a simple example with two parameters ... View full abstract»

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  • Quadratic stabilizability of linear systems with structural independent time-varying uncertainties

    Publication Year: 1990, Page(s):268 - 277
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    The author investigates the problem of designing a linear state feedback control to stabilize a class of single-input uncertain linear dynamical systems. The systems under consideration contain time-varying uncertain parameters whose values are unknown but bounded in given compact sets. The method used to establish asymptotical stability of the closed-loop system (obtained when the feedback contro... View full abstract»

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  • Reduced-order controller design using coprime factor model reduction

    Publication Year: 1990, Page(s):369 - 373
    Cited by:  Papers (38)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB)

    Two procedures for reduced-order controller design that incorporate coprime factor model reduction techniques and a related robust stabilization problem are proposed. It is shown that robust stability can be achieved with these controllers. The results obtained show how to reduce the controller degree systematically. They clearly indicate how the maximum stability margin influences allowable model... View full abstract»

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  • A general decoupling precompensator for linear multivariable systems with application to adaptive control

    Publication Year: 1990, Page(s):344 - 348
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (344 KB)

    A general precompensator for decoupling a wide class of multivariable systems is presented. This class may include nonminimum-phase systems and/or open-loop unstable systems. It is also shown how pole placement control and adaptive control strategies can be incorporated with the precompensator. Several simulation results illustrate the good tracking performances of the proposed control scheme. As ... View full abstract»

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  • A parallel decomposition for Kalman filters

    Publication Year: 1990, Page(s):322 - 324
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    A decomposition is given for the implementation of the Kalman filter as a collection of parallel processors. This decomposition is based on the representation of the system as a direct sum of observability subspaces View full abstract»

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  • Identification of nonstationary stochastic systems using parallel estimation schemes

    Publication Year: 1990, Page(s):329 - 334
    Cited by:  Papers (26)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (516 KB)

    The parallel (multiple-model) schemes for identification of nonstationary stochastic systems are considered. First, the form of the optimal-local Bayesian predictor is derived under the assumptions that system coefficients vary according to the random walk model and that the Kalman-filter-based algorithms are used for identification purposes. A rational extension of this strategy, which can be app... View full abstract»

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  • An improved error estimate for reduced-order models of discrete-time systems

    Publication Year: 1990, Page(s):317 - 320
    Cited by:  Papers (53)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    The authors derive, under weaker conditions, a discrete-time counterpart of K. Glover's (1984) error estimate for reduced-order models. Following the same lines, a simple proof of Glover's result for continuous-time systems can be given View full abstract»

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  • Stabilized least-squares type adaptive identifiers

    Publication Year: 1990, Page(s):306 - 310
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    Least-squares-type adaptive identifiers are proposed which are stabilized in the sense that the covariance equation has a positive definition, asymptotically stable equilibrium. This keeps the adaptive gain matrix bounded and the adaptive abilities of the algorithm always properly in operation. The convergence speed of the stabilized adaptive identifiers is proportional to the signal level when th... View full abstract»

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  • A pole-placement design approach for systems with multiple operating conditions

    Publication Year: 1990, Page(s):278 - 288
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (864 KB)

    The author proposes design procedures based on state-space pole-placement techniques for systems with multiple operating conditions. This is the so-called simultaneous pole-placement problem. First, the full state feedback problem is studied, in which a nonlinear local pole-placement solution is proposed. The design condition is formulated in terms of the rank condition of a multimode controllabil... View full abstract»

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  • Hankel-norm model reduction with fixed modes

    Publication Year: 1990, Page(s):373 - 377
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    A constrained Hankel-norm approximation problem is considered. The reduced-order model is required to retain as a subset of its poles some prescribed eigenvalues from the original system. The constraint approximation problem is solved with an optimal Hankel-norm criterion, and an L∞ error bound for the approximation error is provided. The proposed method for model reducti... View full abstract»

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  • Bounds on eigenvalues of matrix products with an application to the algebraic Riccati equation

    Publication Year: 1990, Page(s):348 - 350
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB)

    Lower and upper summation bounds for the eigenvalues of the product XY are presented, under various restrictions on matrices X, YRn×n. An application to the algebraic Riccati equation yields a trace lower bound. It is observed that these bounds are tighter than those in the literature View full abstract»

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  • Target tracking problems subject to kinematic constraints

    Publication Year: 1990, Page(s):324 - 326
    Cited by:  Papers (69)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB)

    Filtering problems with kinematic constraints which may arise in target tracking problems are considered. A novel approach which treats kinematic constraints as additional fictitious or pseudomeasurements is proposed. A numerical example is provided to show the technical feasibility of the proposed idea for target tracking problems. This example shows that the proposed method can improve estimatio... 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