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IEEE Transactions on Automatic Control

Issue 12 • December 1987

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Displaying Results 1 - 25 of 30
  • [Front cover and table of contents]

    Publication Year: 1987, Page(s): 0
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  • Scanning the issue

    Publication Year: 1987, Page(s): 1041
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  • Editorial: Basic research, manufacturing automation, and putting the cart before the horse

    Publication Year: 1987, Page(s):1042 - 1043
    Cited by:  Papers (4)
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  • Directional interpolation approach to H-Optimization and robust stabilization

    Publication Year: 1987, Page(s):1085 - 1093
    Cited by:  Papers (55)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (730 KB)

    It is shown that, under a mild condition,Hinfty-optimization and robust stabilization are equivalent to a directional interpolation problem which is a matrix extension of the classical Pick-Nevanlinna interpolation problem. A classical iterative method, which is an extension of the Schur-Nevanlinna algorithm, is given for solving the problem. This method does not require the inner-outer... View full abstract»

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  • A simple formula for optimal ARMAX predictors

    Publication Year: 1987, Page(s):1115 - 1116
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (180 KB)

    The coefficients of the optimal steady-statek-step ahead predictor for a scalar ARMAX process in general depend onk. It is shown that a simple formula completely characterizes all these coefficients. This extends previous results on the characterization of ARMA predictors. View full abstract»

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  • Comments on "A multivariable generalized self-tuning controller with decoupling design"

    Publication Year: 1987, Page(s):1127 - 1128
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (199 KB)

    The weighting matrices used in the paper for nonminimum phase systems appear to lead to cancellation of the process zeros. View full abstract»

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  • Correction to "Combined routing and flow control in computer-communication networks: A two-level adaptive scheme"

    Publication Year: 1987, Page(s): 1128
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (101 KB)

    First Page of the Article
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  • Computer-aided stability analysis renders Popov criterion obsolete

    Publication Year: 1987, Page(s):1128 - 1131
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (335 KB)

    A class of multipliers that can be used for producing alternative stability tests for systems having a single incrementally conic nonlinearityf(x)has been nearly parameterized by Zames and Falb [1]. The present note demonstrates how linear programming can be used to compute optimal multipliers leading to a frequency domain stability criterion that is less conservative than the standard ... View full abstract»

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  • Authors' reply

    Publication Year: 1987, Page(s): 1128
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (101 KB)

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  • The optimal projection equations for reduced-order state estimation: The singular measurement noise case

    Publication Year: 1987, Page(s):1135 - 1139
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (443 KB)

    The optimal projection equations for reduced-order state estimation are generalized to allow for singular (i.e., colored) measurement noise. The noisy and noise-free measurements serve as inputs to dynamic and static estimators, respectively. The optimal solution is characterized by necessary conditions which involve a pair of oblique projections corresponding to reduced estimator order and singul... View full abstract»

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  • A course in H∞control theory [Book reviews]

    Publication Year: 1987, Page(s):1144 - 1145
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (170 KB)

    This book offers a stimulating introduction to linear control theory with an H-optimality criterion. The general problem dealt with in the book, called the ??standard problem,?? consists of designing a controller which minimizes the H,-norm of a tixed closed-loop transfer matrix. The H norm of a transfer matrix is the maximum over all frequencies of its larg... View full abstract»

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  • [Back cover]

    Publication Year: 1987, Page(s): 0
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  • State and parameter estimation for robotic manipulators using force measurements

    Publication Year: 1987, Page(s):1055 - 1066
    Cited by:  Papers (39)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (992 KB)

    The need to equip robotic systems with a high degree of dexterity and adaptability to a wide range of precise manipulation tusks has given rise to increasing interest in the utilization of various sensing modalities, including force and tactile sensing. In this paper a general framework is proposed for incorporating both a priori task geometry information and on-line observations, including force ... View full abstract»

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  • Robust trajectory planning for robotic manipulators under payload uncertainties

    Publication Year: 1987, Page(s):1044 - 1054
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (944 KB)

    A number of trajectory planning algorithms are available for determining the joint torques, positions, and velocities required to move a manipulator along a given geometric path in minimum time. These schemes require knowledge of the robot's dynamics, which in turn depend upon the characteristics of the payload which the robot is carrying. In practice, the dynamic properties of the payload will no... View full abstract»

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  • Periodic tracking adaptive control for multivariable systems having more outputs than inputs

    Publication Year: 1987, Page(s):1120 - 1123
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    This note presents an adaptive control algorithm for multivariable systems in which the number of outputs is greater than the number of inputs. The algorithm can force the outputs to track arbitrary given reference signals periodically. This is the best tracking performance for systems lacking output function controllability. It has been shown that the tracking period is the upper bound on the con... View full abstract»

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  • A method to estimate the parameters of an ARMA model

    Publication Year: 1987, Page(s):1113 - 1115
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (248 KB)

    A method of estimating the parameters of an ARMA model is proposed. In the transient case, we show that the formulas recently given by Li and Dickinson [7] for the AR parameters are easily obtained by considering the formulation of the one-step predictor. In the steady-state case, we can get separately the AR parameters and the MA ones. View full abstract»

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  • On time-invariant realizations of discrete random processes

    Publication Year: 1987, Page(s):1125 - 1127
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    A class of discrete second-order random processes, described by linear time-invariant state-space models, is investigated. Equivalent realizations with reduced number of noise inputs are presented. In contrast to the innovations approach these realizations have time-invariant parameters. View full abstract»

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  • The optimal projection equations for static and dynamic output feedback: The singular case

    Publication Year: 1987, Page(s):1139 - 1143
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    Oblique projections have been shown to arise naturally in both static and dynamic optimal design problems. For static controllers an oblique projection was inherent in the early work of Levine and Athans, while for dynamic controllers an oblique projection was developed by Hyland and Bernstein. This note is motivated by the following natural question: What is the relationship between the oblique p... View full abstract»

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  • Approximate analysis of distributed semi-hard real-time systems

    Publication Year: 1987, Page(s):1097 - 1100
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB)

    In this note we investigate systems which combine the timing requirements of real-time processing with the complexity of knowledge processing. In such real-time environments it cannot be guaranteed that all processes meet their deadlines but it is possible to isolate a subset of critical processes which must meet their deadlines. We call such systems semi-hard real-time control systems. Although p... View full abstract»

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  • Robust static and dynamic output-feedback stabilization: Deterministic and stochastic perspectives

    Publication Year: 1987, Page(s):1076 - 1084
    Cited by:  Papers (67)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (784 KB)

    Three parallel gaps in robust feedback control theory are examined: sufficiency versus necessity, deterministic versus stochastic uncertainty modeling, and stability versus performance. Deterministic and stochastic output-feedback control problems are considered with both static and dynamic controllers. The static and dynamic robust stabilization problems involve deterministically modeled bounded ... View full abstract»

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  • On the influence of noise on jump linear systems

    Publication Year: 1987, Page(s):1094 - 1097
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (408 KB)

    Jump linear systems are considered in a random environment where they are subject to additive and multiplicative noises. Stochastic notions of stabilizability and detectability are introduced to characterize the asymptotic behavior of the optimal jump linear quadratic Gaussian regulator and a dual Kalman filter. View full abstract»

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  • Application of the SRIF to systems with time delay

    Publication Year: 1987, Page(s):1110 - 1113
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (352 KB)

    Square-root information falter formulations of the discrete-time Kalman filter are sometimes thought to be restricted by a requirement that the state transition matrix be nonsingular. In a recent publication [1], Boncelet, Jr. and Dickinson have shown that this restriction is not necessary. For problems where both formulations can be applied, the generalized formulation is, however, more computati... View full abstract»

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  • Optimum robust detection of changes in the AR part of a multivariable ARMA process

    Publication Year: 1987, Page(s):1116 - 1120
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB)

    We investigate the theoretical properties of new instruments-based test statistics recently proposed [3] for detection and diagnosis of changes in the AR part of a multivariable ARMA process. The design flexibilities are analyzed, and the optimum design of the test is exhibited. The connection with the accuracy of the I.V. identification method [14] is established, and the comparison with the loca... View full abstract»

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  • On adaptive control of stochastic bilinear systems

    Publication Year: 1987, Page(s):1103 - 1106
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    The minimum variance control law for bilinear systems with known parameters is shown to yield in most cases controls with infinite variance; this calls into question the use of the so-called bilinear self-tuning regulators. An adaptive weighted minimum variance controller based upon the cost with weighted control efforts is suggested for first-order bilinear systems and is shown to yield boundedne... View full abstract»

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  • Robust stabilization in an observer-controller feedback system under nonlinear time-varying perturbations or unmodeled dynamics

    Publication Year: 1987, Page(s):1131 - 1135
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB)

    In this note a new robust criterion is proposed to analyze multivariable observer-controller compensator feedback systems under additive nonlinear perturbations. In order to stabilize these systems, a more general parameterized observer-controller compensator is introduced, and a design algorithm is proposed for robust stabilization against the nonlinear perturbations. Finally, an example is given... 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