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Automatic Control, IEEE Transactions on

Issue 2 • Date February 1987

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

    Publication Year: 1987 , Page(s): 0
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    Freely Available from IEEE
  • Scanning the issue

    Publication Year: 1987 , Page(s): 97
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    Freely Available from IEEE
  • Editorial: Good news?

    Publication Year: 1987 , Page(s): 98
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    Freely Available from IEEE
  • Comments on "Adaptive controller designs for robot manipulator systems using Lyapunov direct method"

    Publication Year: 1987 , Page(s): 190 - 191
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (221 KB)  

    The asymptotic stability result claimed in the paper is modified. Ihe proof shown there is also improved. View full abstract»

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  • Author's reply

    Publication Year: 1987 , Page(s): 191 - 192
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (144 KB)  

    First Page of the Article
    View full abstract»

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  • [Back cover]

    Publication Year: 1987 , Page(s): 0
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    Freely Available from IEEE
  • Necessary and sufficient conditions for balancing unstable systems

    Publication Year: 1987 , Page(s): 157 - 160
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (352 KB)  

    Necessary and sufficient conditions are given for the existence of balancing transformations for minimal state-space realizations (A, B, C) where A may be unstable. These conditions are expressed in terms of the real diagonalizability of the product of the reachability Gramian and the observability Gramian. For symmetric r... View full abstract»

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  • Computation of system balancing transformations and other applications of simultaneous diagonalization algorithms

    Publication Year: 1987 , Page(s): 115 - 122
    Cited by:  Papers (103)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (872 KB)  

    An algorithm is presented in this paper for computing state-space balancing transformations directly from a state-space realization. The algorithm requires no "squaring up" or unnecessary matrix products. Various algorithmic aspects are discussed in detail. A key feature of the algorithm is the determination of a contragredient transformation through computing the singular value decomposition of a... View full abstract»

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  • The LQG/LTR procedure for multivariable feedback control design

    Publication Year: 1987 , Page(s): 105 - 114
    Cited by:  Papers (193)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1008 KB)  

    This paper provides a tutorial overview of the LQG/LTR design procedure for linear multivariable feedback systems. LQG/LTR is interpreted as the solution of a specific weighted H2-tradeoff between transfer functions in the frequency domain. Properties of this solution are examined for both minimum-phase and nonminimum-phase systems. This leads to a formal weight augmentation procedure f... View full abstract»

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  • A generalization of Rosenbrock's theorem

    Publication Year: 1987 , Page(s): 155
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (96 KB)  

    This note presents the simple generalization of Rosenbroek's theorem, concerning the limits of linear state variable feedback in modifying the dynamics of constant linear multivariable systems. View full abstract»

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  • An algorithm for computing the roots of a complex polynomial

    Publication Year: 1987 , Page(s): 164 - 166
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (296 KB)  

    An algorithm is proposed for determining all the roots of a polynomial with complex coefficients. A description is given of the method and an example application is included. The method offers guaranteed convergence, a straightforward structure, and excellent performance (including multiple root extraction). View full abstract»

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  • Adaptive controller designs for robot manipulator systems yielding reduced Cartesian error

    Publication Year: 1987 , Page(s): 184 - 187
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (336 KB)  

    A set of nonlinear coupled differential equations that represents a mathematical model of a robot manipulator whose coefficients are unknown due to the effects of payload, friction and/or backlash, etc., is considered in this note. It is shown that by proper compensation of the input torque, the norm of the state error becomes less than that which resulted from the conventional design. A Jacobian ... View full abstract»

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  • Optimal sampling schedule for parameter estimation of linear models with unknown but bounded measurement errors

    Publication Year: 1987 , Page(s): 179 - 182
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (464 KB)  

    The problem of optimal sampling design for parameter estimation when data are generated by linear models is addressed. The measurements are assumed to be corrupted by an unknown but bounded additive noise. The sampling design assumes that the number of samples is unconstrained and no replication is allowed. Two main results are shown: 1) for particular classes of linear models, the optimal number ... View full abstract»

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  • Direct adaptive pole placement for plants having purely deterministic disturbances

    Publication Year: 1987 , Page(s): 187 - 189
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (280 KB)  

    In this note, an extension of Elliott's direct adaptive pole-placement algorithm [1] for plants having purely deterministic disturbances consisting of sine waves and/or bias is given. View full abstract»

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  • Robust linear controller design: Time domain approach

    Publication Year: 1987 , Page(s): 161 - 164
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (304 KB)  

    In this note a new robust linear controller design in the time domain is introduced for multivariable systems with linear or nonlinear time-varying model uncertainties. The Gronwall lemma is employed to investigate the robust stability conditions which are based on the upper norm-bounds of the uncertainties. The parameters of a dynamic controller are selected to satisfy the requirements of robust ... View full abstract»

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  • Filtering and control for wide bandwidth noise driven systems

    Publication Year: 1987 , Page(s): 123 - 133
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1208 KB)  

    Much of modern stochastic control theory uses ideal white noise driven models (Itô equations). If the observed data are corrupted by noise, then the noise is usually assumed to be white Gaussian. Typically, if the underlying models are linear, one uses a Kalman-Bucy filter to get an estimate of the state, and then bases the control on this estimate. In practice, the noises are rarely white, a... View full abstract»

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  • Further discussion on impulse energy approximation

    Publication Year: 1987 , Page(s): 189 - 190
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (240 KB)  

    Recent criticisms by Rao about impulse energy approximation are answered in detail. Further ideas are put forward as to how weighted energy parameters may be used to determine the reduced models for step inputs. View full abstract»

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  • A sensitivity tradeoff for plants with time delay

    Publication Year: 1987 , Page(s): 99 - 104
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (584 KB)  

    In this paper we show that the sensitivity function of a scalar feedback system must satisfy an integral constraint when the open-loop transfer function is strictly proper and contains a time delay. The integral constraint is identical to the classical Bode sensitivity integral, which holds provided the open-loop gain has greater than a one-pole rolloff. The design implications of the two constrai... View full abstract»

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  • Observability and reconstructability of 2-D linear digital systems

    Publication Year: 1987 , Page(s): 170 - 172
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (304 KB)  

    New definitions of observable and reconstructable 2-D linear digital systems are presented. Then, necessary and sufficient conditions for observability and reconstructability of the system described by the 2-D general state-space model are given. View full abstract»

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  • New results for identifiability of nonlinear systems

    Publication Year: 1987 , Page(s): 146 - 154
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (856 KB)  

    The parameter identifiability problem of deterministic non-linear control systems is studied. Relations between nonlinear observability, nonlinear functional expansions, the uniqueness theorem of nonlinear realization theory, and identifiability are investigated. By using these relations, necessary and sufficient conditions for identifiability are obtained for the first time. These results provide... View full abstract»

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  • An extension of the SRIF Kalman filter

    Publication Year: 1987 , Page(s): 176 - 179
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (432 KB)  

    We consider the problem of implementing the Kalman filter recursions in square root information filter form. We suggest a general linear, dynamical model which directly incorporates the fact that many of the unknowns are not time varying. The resulting implementation is widely applicable, numerically sound, and extends easily to smoothing problems. View full abstract»

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  • Deterministic identifiability and algebraic invariants for polynomial systems

    Publication Year: 1987 , Page(s): 182 - 184
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (328 KB)  

    A finite set of vectors is shown to play the same role for a class of homogeneous polynomial systems as the Markov parameters CA^{i}B, i=0, ..., 2n - 1 in the linear theory. This result is used to formulate algebraic eondltions for deterministic identifiability and equivalence of polynomial systems. View full abstract»

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  • State observation of nonlinear uncertain dynamical systems

    Publication Year: 1987 , Page(s): 166 - 170
    Cited by:  Papers (124)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (488 KB)  

    This note proposes new types of observers for nonlinear dynamical systems subjected to bounded nonlinearities or uncertainties. The design of these observers utilizes techniques related to variable structure systems theory. A measure for the rate at which the estimates converge to the actual states is derived. View full abstract»

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  • A new adaptive law for robust adaptation without persistent excitation

    Publication Year: 1987 , Page(s): 134 - 145
    Cited by:  Papers (212)  |  Patents (5)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1136 KB)  

    A new adaptive law motivated by the work of loannou and Kokotovic (1983) is proposed for the robust adaptive control of plants with unknown parameters. In this adaptive law the output error plays a dual role in the adjustment of the control parameter vector. The advantages of using the adaptive law over others proposed in the literature are discussed. In the ideal case the adaptive system has boun... View full abstract»

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  • Integration of accelerometer data: Filter analysis and design using Riccati solutions

    Publication Year: 1987 , Page(s): 174 - 176
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (328 KB)  

    The adjustment and integration of noisy accelerometer data is formulated as a discrete-time optimal control problem which requires the minimization of a quadratic performance measure subject to linear dynamics. The algebraic Riccati equation associated with this problem is solved by expressing the entries of the Riccati matrix explicitly in terms of the weights in the quadratic performance criteri... 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

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame