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IEEE Transactions on Automatic Control

Issue 2 • February 1983

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Displaying Results 1 - 25 of 27
  • [Front cover and table of contents]

    Publication Year: 1983, Page(s): 0
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  • Biped side step in the frontal plane

    Publication Year: 1983, Page(s):179 - 187
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (732 KB)

    A three-link planar model of a biped is studied in the frontal plane. When this model is subjected to certain on-off constraints, the forces of constraint are derived as functions of the system state and the input, and can be shown in a simple block diagram. Linear state-variable feedback is designed to stabilize and decouple the system for small motions about an equilibrium state. The motion of t... View full abstract»

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  • Correction to "Linear systems with commensurate time delays: Stability and stabilization independent of delay"

    Publication Year: 1983, Page(s):248 - 249
    Cited by:  Papers (68)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (128 KB)

    First Page of the Article
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  • Call for papers - building automation, control and management

    Publication Year: 1983, Page(s): 249
    Cited by:  Papers (1)
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    Freely Available from IEEE
  • [Back cover]

    Publication Year: 1983, Page(s): 0
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    Freely Available from IEEE
  • On the structure of balanced and other principal representations of SISO systems

    Publication Year: 1983, Page(s):228 - 231
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB)

    A new matrix Wcowhich can be considered as a cross-Gramian matrix which contains information about both controllability and observability is defined for single-input, single-output, linear systems. Using this matrix, the structural properties of linear systems are studied in the context of principal component analysis. The matrix Wcocan be used in obtaining balanced and other... View full abstract»

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  • Dynamic equilibria in multigeneration stochastic games

    Publication Year: 1983, Page(s):193 - 203
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (952 KB)

    Stochastic sequential games are considered, with the assumption that to each stage there corresponds a generation of players. Introdncing the concept of imperfect altruism, a class of solution concepts called intergenerational equilibria is investigated. Complete intergenerational equilibria, where all players adopt a noncooperative mood of play, are first characterized. Existence of stationary eq... View full abstract»

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  • An extension on a new formulation of the algebraic Riccati equation problem

    Publication Year: 1983, Page(s):235 - 238
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    In a recent paper [3], by utilizing the square root of a matrix approach a new formulation of the algebraic Riccati equation has been presented and a closed form solution has been obtained under the hypothesis that certain commutativity conditions are fulfilled on a transformed space. In this note the imposed conditions are weakened and the formulation is extended to a wider class of Riccati probl... View full abstract»

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  • Invertibility of linear dynamical systems over commutative rings

    Publication Year: 1983, Page(s):227 - 228
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB)

    This correspondence is addressed to the question of invertibility of linear dynamical systems. Specifically, inversion over principal ideal domains is discussed in view of the fact that 2-D systems can be considered as 1-D systems over a principal ideal domain. View full abstract»

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  • Existence, uniqueness, and asymptotic behavior of solutions to a class of Zakai equations with unbounded coefficients

    Publication Year: 1983, Page(s):203 - 214
    Cited by:  Papers (28)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1080 KB)

    Conditions are given to guarantee the existence and uniqueness of solutions to the Zakai equation associated with the nonlinear filtering of diffusion processes. The conditions permit stronger than polynomial growth of the coefficients, and depend instead on the relative growth rates. The results are derived by adapting, through a sequence of exponential transformations, the classical existence an... View full abstract»

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  • On the number of solutions of multivariable polynomial systems

    Publication Year: 1983, Page(s):224 - 227
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    Systems of multivariable polynomial equations play a key role in many important control and stability problems. In this paper we derive analytical expressions for the number of solutions as a function of the polynomial coefficients. The new results are obtained by combining standard results from elimination theory with the properties of inner determinants. For problems where one of the variables i... View full abstract»

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  • Stabilization of a class of plants with possible loss of outputs or actuator failures

    Publication Year: 1983, Page(s):231 - 233
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    The loss of one or more outputs of a plant is reflected by one or more rows of zeros in the plant's transfer function. In this note, the simultaneous stabilization of a plant and the same plant with loss of outputs is considered. Necessary and sufficient conditions for simultaneous stabilization of a class of plants are given as well as a simple test to determine the existence of such a controller... View full abstract»

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  • Some properties of minimum phase systems and "Squared-down" systems

    Publication Year: 1983, Page(s):221 - 222
    Cited by:  Papers (35)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (208 KB)

    It is shown that a minimum phase system implies certain properties of the system itself. In particular, a system which has equal inputs and outputs, and which is minimum phase automatically, implies that the system must be stabilizable and detectable. It is also shown that "squaring down" a system which has more inputs than outputs, to produce a system which has equal inputs and outputs, may be an... View full abstract»

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  • On a passive vehicle tracking problem and max-minimization

    Publication Year: 1983, Page(s):233 - 235
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    In this correspondence, we first consider a problem of vehicle tracking in the ocean environment. Some special features of the problem are discussed and numerical results for an example are given. Consideration is then extended to a general max-min problem with a constant control. View full abstract»

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  • On the Cauchy index of linear systems

    Publication Year: 1983, Page(s):222 - 224
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (296 KB)

    The Cauchy index for linear SISO systems is given by the signature of the cross-Gramian matrix Wcodefined by Fernando and Nicholson [1]. This index is useful in the qualitative understanding of systems, and the importance of this index in internally balanced model reduction is illustrated. View full abstract»

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  • Stationary solutions of nonlinear systems disturbed by Markovian noise

    Publication Year: 1983, Page(s):244 - 246
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    For nonlinear dynamical systems disturbed by a stationary and ergodic Markov process we show that the solution itself is stationary and ergodic, if the undisturbed system has some sort of attraction. These results are applied to Liénard's equation with disturbed parameters. View full abstract»

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  • Joint torque control by a direct feedback for industrial robots

    Publication Year: 1983, Page(s):153 - 161
    Cited by:  Papers (113)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (984 KB)

    Based on the experimental findings of Wu and Paul [17], two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges. The resulting control systems reduced the effective frictional torques of the joints from 1072 oz.in to 33.5 oz.in. The stability of the closed-loop systems was analyzed by means of the describing function for ... View full abstract»

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  • Parameter insensitive pole assignment for scalar input systems

    Publication Year: 1983, Page(s):218 - 220
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (232 KB)

    Under the assumption that the parameters affect the systems "linearly," arbitrary partial insensitive pole placement problem for scalar input systems have been solved. A new definition for partial pole placement, which takes into account the effect of the unknown varying parameters in the system, has been used. The result is first given for a system with one parameter, and then, it is extended to ... View full abstract»

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  • An anatomy of industrial robots and their controls

    Publication Year: 1983, Page(s):133 - 153
    Cited by:  Papers (70)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2256 KB)

    In the United States, commercially available industrial robots perform very well in limited areas of industrial tasks such as arc welding, paint spraying, etc. These tasks mainly involve synchronization but no task interaction. A close examination of the basic structure and controls of the robots reveals their resulting limitations which lead to unnatural specifications and inefficient performance... View full abstract»

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  • Adaptive linear controller for robotic manipulators

    Publication Year: 1983, Page(s):162 - 171
    Cited by:  Papers (182)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (968 KB)

    This paper presents a new approach to the position and velocity control of a manipulator by using an adaptive controller of the self-tuning type for each joint. The complicated manipulator system is modeled by a set of time series difference equations. The parameters of the models are determined by on-line recursive algorithms, which result from minimizing the sum of the squared equation errors. T... View full abstract»

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  • Singular perturbational approximations for discrete-time balanced systems

    Publication Year: 1983, Page(s):240 - 242
    Cited by:  Papers (32)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    A new zero-order singular perturbational type approximation is developed for model reduction of discrete-time linear systems. This approximation is also suitable for model reduction of systems which have fast subsystems and which are represented in the internally balanced format. Subsystem elimination as suggested by Moore for continuous-time systems does not generalize for the discrete-time case,... View full abstract»

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  • Optimal decentralized control in a multiaccess channel with partial information

    Publication Year: 1983, Page(s):187 - 193
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (584 KB)

    We consider two transmission stations sharing a single communication channel. For different values of the input message rates r_{i}, i = 1,2 , a simple open-loop control policy is shown to be optimal for the long-run average throughput criterion. View full abstract»

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  • The adaptive LQG problem--Part I

    Publication Year: 1983, Page(s):171 - 178
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper is concerned with a rigorous study of the "dual control" problem of Fel'dbaum, i.e., the LQG optimal control problem in the presence of Bayesian parameter uncertainty. The solution of this problem involves two parts, one relating to filtering and one to control. Although we establish our filtering result in complete generality in the last section, most of the paper concentrates on the f... View full abstract»

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  • An algorithm for the division of two polynomial matrices

    Publication Year: 1983, Page(s):238 - 240
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (272 KB)

    This note presents a computational procedure for the division of two polynomial matrices. It is achieved by solving a set of linear algebraic equations. This method is much simpler than the existing one. View full abstract»

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  • 2-D exact model matching

    Publication Year: 1983, Page(s):215 - 217
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB)

    The exact model matching problem in single-input single-output 2-D systems is solved by applying polyaomial techniques. All solutions are described in a parametric form. Natural solvability conditions for causal and/or stable solutions are given and a simple design procedure is proposed. It consists in solving a linear 2-D polynomial equation which directly yields a suitable compensator. 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