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Automatic Control, IEEE Transactions on

Issue 12 • Date Dec. 2000

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Displaying Results 1 - 25 of 35
  • Correction to "asymptotic state tracking in a class of nonlinear systems via learning-based inversion"

    Publication Year: 2000 , Page(s): 2437
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  • Nonlinear systems: analysis, stability, and control [Book Reviews]

    Publication Year: 2000 , Page(s): 2438 - 2439
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    Freely Available from IEEE
  • Author index

    Publication Year: 2000 , Page(s): 2440 - 2448
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    Freely Available from IEEE
  • Subject index

    Publication Year: 2000 , Page(s): 2448 - 2471
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    Freely Available from IEEE
  • Stabilization of minimum phase nonlinear systems by dynamic output feedback

    Publication Year: 2000 , Page(s): 2331 - 2335
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    In this paper, the stabilization problem of minimum phase nonlinear systems by dynamic output feedback is investigated. It is shown that if the zero dynamics of an affine nonlinear system is asymptotically stable according to the kth approximation, then the system is stabilizable by dynamic output feedback. The proof is constructive, which provides a method to design the stabilizer. The result is applied to investigating the stabilization problem of the rotating stall in axial flow compressors View full abstract»

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  • Robust and nonblocking supervisor for discrete-event systems with model uncertainty under partial observation

    Publication Year: 2000 , Page(s): 2393 - 2396
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (144 KB)  

    Addresses a robust and nonblocking supervisory control problem based on a framework of discrete-event systems with model uncertainty under partial observation. The uncertainty introduced in the paper is associated with internal and unobservable events occurring in systems. The paper presents a systematic method for modeling uncertainty described as a Δ-transition representing the internal and unobservable events. In particular, at a state with the assigned positive integer value p a system is assumed to experience at most a p-step state transition by the internal and unobservable event. Under the framework for model uncertainty, the paper presents necessary and sufficient conditions for the existence of a robust supervisor with the nonblocking property View full abstract»

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  • Destabilizing strategies for uncertain linear systems

    Publication Year: 2000 , Page(s): 2378 - 2382
    Cited by:  Papers (5)
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    The paper the problem of determining destabilizing strategies for uncertain linear systems was researched. Sufficient conditions for the existence of a destabilizing strategy were presented and an algorithm for computation of the destabilizing strategy was given. The approach elaborated in the paper develops some of the previous results which did not provide methods for calculation of destabilizing switching View full abstract»

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  • Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem

    Publication Year: 2000 , Page(s): 2253 - 2270
    Cited by:  Papers (161)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (380 KB)  

    We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The Euler-Lagrange equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in these equations are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. We use kinetic shaping to preserve symmetry and only stabilize systems module the symmetry group. The procedure is demonstrated for several underactuated balance problems, including the stabilization of an inverted planar pendulum on a cart moving on a line and an inverted spherical pendulum on a cart moving in the plane View full abstract»

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  • Eigenvalue-based characterization and test for positive realness of scalar transfer functions

    Publication Year: 2000 , Page(s): 2396 - 2402
    Cited by:  Papers (19)
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    An eigenvalue-based characterization of positive realness of transfer functions of a single-input single output time-invariant linear system is derived. Based on this characterization, we propose an efficient computational procedure to determine if a given transfer function is positive real. The input for this eigenvalue-based test is any given, not necessarily minimal, state-space representation of the linear system. The test only involves standard matrix computations, such as computing eigenvalues of a matrix or a matrix pencil. Results of numerical experiments are reported View full abstract»

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  • Input output linearization approach to state observer design for nonlinear system

    Publication Year: 2000 , Page(s): 2388 - 2393
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    Presents a state observer for a class of nonlinear systems based on the input output linearization. While the previous result presented state observers for nonlinear systems of full relative degree, we proposed a procedure fur the design of nonlinear state observers which do not require the hypothesis of full relative degree. Assuming that there exists a global state observer for internal dynamics and that some functions are globally Lipschitz, we can design a globally convergent state observer. It is also shown that if the zero dynamics are locally exponentially stable, then there exists a local state observer. An example is given to illustrate the proposed design of nonlinear state observers View full abstract»

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  • A discussion on performance value versus performance order

    Publication Year: 2000 , Page(s): 2355 - 2358
    Cited by:  Papers (1)
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    Ordinal optimization techniques help us locating “good” designs efficiently. Previous studies of ordinal optimization define the “good” designs as those coming at the top of the “order” of performance. In this study, we argue that with the help of practical prior knowledge and observations, we can establish quantitative relationship between the good design found and the performance “values” of it. Therefore, the analysis of ordinal optimization can be carried out to identify designs that are good by some criterion of their performance “values.” View full abstract»

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  • Optimal production control in a discrete manufacturing system with unreliable machines and random demands

    Publication Year: 2000 , Page(s): 2280 - 2296
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (432 KB)  

    We consider a production control problem in a manufacturing system with a failure-prone machine and a stochastic demand. The objective is to minimize a discounted inventory holding and backlog cost over an infinite planning horizon. The optimal production control of continuous, stochastic manufacturing systems with a failure-prone machine and a constant demand has been considered in Akella and Kumar (1986). However, the problem of optimal production control for discrete stochastic manufacturing systems with uncertain demands remains open. In this paper, we investigate a case where the exogenous demand forms a homogeneous Poisson flow. Primarily, we show that the optimal production control for such a system is of the threshold control type. In addition, the explicit form of production control policy and the objective functions are provided. Numerical examples are included to demonstrate the results obtained in the paper and to compare with the one in Akella and Kumar View full abstract»

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  • Control theoretic smoothing splines

    Publication Year: 2000 , Page(s): 2271 - 2279
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (192 KB)  

    Some of the relationships between optimal control and statistics are examined. We produce generalized, smoothing splines by solving an optimal control problem for linear control systems, minimizing the L2-norm of the control signal, while driving the scalar output of the control system close to given, prespecified interpolation points. We then prove a convergence result for the smoothing splines, using results from the theory of numerical quadrature. Finally, we show, in simulations, that our approach works in practice as well as in theory View full abstract»

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  • A design method of universal adaptive stabilizer

    Publication Year: 2000 , Page(s): 2368 - 2373
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (228 KB)  

    A design method of universal adaptive stabilizers for processes with unknown degrees and unknown signs of high-frequency gains, and with uncertain relative degree r, r+1 or r+2 (r∈ N), is presented. This is an extension of Marse's universal stabilizers where the relative degrees are uncertain but known to be one or two. It is shown that single adaptive control schemes with six tuning parameters can deal with enlarged uncertainties of relative degrees View full abstract»

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  • l1 optimal robust controller for SISO plant under coprime factor perturbations

    Publication Year: 2000 , Page(s): 2339 - 2345
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (252 KB)  

    The problem of synthesis of l1 optimal robust controller for SISO plant under coprime factor perturbations and bounded external disturbance is considered. A geometric interpretation of l1 optimal robust controller, standard l1 optimal controller, and two other optimal robust controllers is presented. The existence of l1 optimal robust linear controller is proved and an algorithm for approximate solution of the problem is proposed. The algorithm is reduced to approximate solution of finite family of standard l1 optimization problems View full abstract»

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  • Randomized algorithms for probabilistic robustness with real and complex structured uncertainty

    Publication Year: 2000 , Page(s): 2218 - 2235
    Cited by:  Papers (71)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (424 KB)  

    There has been a growing interest in developing randomized algorithms for probabilistic robustness of uncertain control systems. Unlike classical worst case methods, these algorithms provide probabilistic estimates assessing, for instance, if a certain design specification is met with a given probability. One of the advantages of this approach is that the robustness margins can be often increased by a considerable amount, at the expense of a small risk. In this sense, randomized algorithms may be used by the control engineer together with standard worst case methods to obtain additional useful information. The applicability of these probabilistic methods to robust control is presently limited by the fact that the sample generation is feasible only in very special cases which include systems affected by real parametric uncertainty bounded in rectangles or spheres. Sampling in more general uncertainty sets is generally performed through overbounding, at the expense of an exponential rejection rate. In the paper, randomized algorithms for stability and performance of linear time invariant uncertain systems described by a general M-Δ configuration are studied. In particular, efficient polynomial-time algorithms for uncertainty structures Δ consisting of an arbitrary number of full complex blocks and uncertain parameters are developed View full abstract»

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  • Reduction of the supervisory control problem for Petri nets

    Publication Year: 2000 , Page(s): 2358 - 2363
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (272 KB)  

    The authors prove a reduction theorem for the supervisory control problem for general Petri nets with general legal sets. To design control laws guaranteeing that the marking stays within the legal set, it suffices to consider a sub-Petri net of the full model. This extends existing design algorithms, allows to prove an important property of maximally permissive control laws and limits the number of events which need to be observed View full abstract»

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  • Computation of general inner-outer and spectral factorizations

    Publication Year: 2000 , Page(s): 2307 - 2325
    Cited by:  Papers (29)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (420 KB)  

    In this paper, we solve two problems in linear systems theory: the computation of the inner-outer and spectral factorizations of a continuous-time system considered in the most general setting. We show that these factorization problems rely essentially on solving for the stabilizing solution a standard algebraic Riccati equation of order usually much smaller than the McMillan degree of the transfer function matrix of the system. The proposed procedures are completely general, being applicable for a polynomial/proper/improper system whose transfer function matrix could be rank deficient and could have poles/zeros on the imaginary axis or at infinity. As an application we discuss the extension to the case of rational matrices of the complete orthogonal decomposition of a constant matrix. Numerical refinements and examples illustrating the proposed approach, are discussed in detail View full abstract»

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  • Improved sample complexity estimates for statistical learning control of uncertain systems

    Publication Year: 2000 , Page(s): 2383 - 2388
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    Probabilistic methods and statistical learning theory have been shown to provide approximate solutions to “difficult” control problems. Unfortunately, the number of samples required in order to guarantee stringent performance levels may be prohibitively large. This paper introduces bootstrap learning methods and the concept of stopping times to drastically reduce the bound on the number of samples required to achieve a performance level. We then apply these results to obtain more efficient algorithms which probabilistically guarantee stability and robustness levels when designing controllers for uncertain systems View full abstract»

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  • Semiglobal output feedback control of uncertain nonlinear systems with unknown high frequency gain sign

    Publication Year: 2000 , Page(s): 2402 - 2405
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (184 KB)  

    We remove, for semiglobal output feedback control of uncertain nonlinear systems, a previous requirement that the high-frequency-gain sign be known a priori. Our proposed control scheme is also of the high-gain observer-type, but it involves a switching between two forms of control. The underlying idea is that with the help of the high gain observer, the high-frequency-gain sign can be identified online, provided the designed control satisfies some domination condition View full abstract»

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  • Robust two-stage Kalman filters for systems with unknown inputs

    Publication Year: 2000 , Page(s): 2374 - 2378
    Cited by:  Papers (49)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (144 KB)  

    A method is developed for the state estimation of linear time-varying discrete systems with unknown inputs. By making use of the two-stage Kalman filtering technique and a proposed unknown inputs filtering technique, a robust two-stage Kalman filter which is unaffected by the unknown inputs can be readily derived and serves as an alternative to the Kitanidis' (1987) unbiased minimum-variance filter. The application of this new filter is illustrated by optimal filtering for systems with unknown inputs View full abstract»

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  • Robust adaptive control of a class of nonlinear systems with unknown backlash-like hysteresis

    Publication Year: 2000 , Page(s): 2427 - 2432
    Cited by:  Papers (140)
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    Deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach View full abstract»

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  • Feedback stabilization of MIMO nD linear systems

    Publication Year: 2000 , Page(s): 2419 - 2424
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    The open problem of the existence of double coprime factorizations (DCFs) for multi-input/multi-output (MIMO) multidimensional (nD) linear systems is considered in the paper. It is shown that DCFs exist for a class of MIMO nD linear systems. A simple and efficient method is proposed for the construction of DCFs. The main result of the paper is to show how to construct a coprime (over the ring of stable rational functions) matrix fraction description of a given MIMO nD system with a stable reduced minor. A parameterization of all stabilizing compensators is given for a MIMO nD system in this class. An example is illustrated View full abstract»

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  • On the stabilizability of imperfectly known nonlinear delay systems of the neutral type

    Publication Year: 2000 , Page(s): 2326 - 2331
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (264 KB)  

    This investigation addresses the problem of stabilizing a class of imperfectly known nonlinear neutral-type time-delay systems. Invoking delay independent stability criteria and a deterministic methodology based on Lyapunov-Krasovskii functionals, a class of stabilizing controls is designed to ensure global uniform asymptotic stability of the zero state for the prescribed class of systems. An application of the results to a specific sub-class is provided with a simulation example included to illustrate the practical applicability View full abstract»

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  • The state space extension method in the theory of absolute stability

    Publication Year: 2000 , Page(s): 2335 - 2339
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    This paper shows how the state space extension method can be used to derive frequency domain criteria for stability of systems with different kinds of uncertainties. The main result is illustrated by a number of examples 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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Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame