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IEEE Transactions on Automatic Control

Issue 8 • Date Aug 1991

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Displaying Results 1 - 12 of 12
  • Multiple shooting algorithms for jump-discontinuous problem in optimal control and estimation

    Publication Year: 1991, Page(s):979 - 983
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    Multiple shooting algorithms are developed for jump-discontinuous two-point boundary value problems arising in optimal control and optimal estimation. Examples illustrating the origin of such problems are given to motivate the development of the solution algorithms. The algorithms convert the necessary conditions, consisting of differential equations and transversality conditions, into algebraic e... View full abstract»

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  • U-parameter design of robust single-input single-output systems

    Publication Year: 1991, Page(s):971 - 975
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    A design approach is presented for feedback systems which are robustly stable and nominally optimal. This approach is referred to as U-parameter design and is represented as a direct extension of Q-parameter design, which is used to design feedback systems that are only nominally stable. The free design function U(s) in the U-parameter theory is a bounded real o... View full abstract»

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  • A dynamic games approach to controller design: disturbance rejection in discrete-time

    Publication Year: 1991, Page(s):936 - 952
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1328 KB)

    It is shown that the discrete-time disturbance rejection problem, formulated in finite and infinite horizons, and under perfect state measurements, can be solved by making direct use of some results on linear-quadratic zero-sum dynamic games. For the finite-horizon problem an optimal (minimax) controller exists, and can be expressed in terms of a generalized (time-varying) discrete-time Riccati eq... View full abstract»

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  • Adaptive RLS algorithms under stochastic excitation-L2 convergence analysis

    Publication Year: 1991, Page(s):963 - 967
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    A very general class of RLS (recursive least squares) algorithms having a forgetting factor is considered. The basic assumptions are that the data generation mechanism is free of disturbances and that the observation vector is a stochastic process satisfying a φ-mixing condition. A stochastic characterization of persistent excitation is first given. Then, it is proved that the algorithm is exp... View full abstract»

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  • A class of weak Kharitonov regions for robust stability of linear uncertain systems

    Publication Year: 1991, Page(s):975 - 978
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (312 KB)

    Kharitonov's theorems are generalized to the problem of so-called weak Kharitonov regions for robust stability of linear uncertain systems. Given a polytope of (characteristic) polynomials P and a stability region D in the complex plane, P is called D-stable if the zeros of every polynomial in P are contained in D. It is of interest to know whe... View full abstract»

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  • Output stabilizability of discrete-event dynamic systems

    Publication Year: 1991, Page(s):925 - 935
    Cited by:  Papers (17)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1044 KB)

    The authors investigate the problem of designing stabilizing feedback compensators for discrete-event dynamic systems (DEDS) modeled as finite-state automata in which some transition events are controllable and some events are observed. The problem of output stabilization is defined as the construction of a compensator such that all state trajectories in the closed-loop system go through a given s... View full abstract»

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  • Orientation and stabilization of a flexible beam attached to a rigid body: planar motion

    Publication Year: 1991, Page(s):953 - 962
    Cited by:  Papers (40)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (804 KB)

    The author considers a flexible structure modeled as a rigid body which rotates in inertial space; a light flexible beam is clamped to the rigid body at one end and free one is clamped at the other. It is assumed that the flexible beam performs only planar motion. The equations of motion are obtained by using free body diagrams. Two control problems are posed, namely the orientation and stabilizat... View full abstract»

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  • An adaptive impedance/force controller for robot manipulators

    Publication Year: 1991, Page(s):967 - 971
    Cited by:  Papers (47)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (464 KB)

    A solution to the adaptive control of constrained robots in the presence of uncertainty in the robot model parameters is presented. The controller design is based on a singular systems model representation and fixed controller design. The adaptive control law consists of the computed torque controller plus the introduction of the parameter estimates and an additional compensation through an extra ... View full abstract»

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  • On sampling controlled stochastic approximation

    Publication Year: 1991, Page(s):915 - 924
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (852 KB)

    The authors examine a novel class of stochastic approximation procedures which are based on carefully controlling the number of observations or measurements taken before each computational iteration. This method, referred to as sampling controlled stochastic approximation, has advantages over standard stochastic approximation such as requiring less computation and the ability to handle bias in est... View full abstract»

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  • A useful statement of some Schur-Cohn stability criteria for higher order discrete dynamic systems

    Publication Year: 1991, Page(s):988 - 989
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (184 KB)

    The classic Schur-Cohn criteria are an important source of stability conditions for discrete dynamic systems. However, the conventional statement of these criteria is noted to be opaque and not of much direct use for an applied analysis of higher-order dynamic systems. In the present work, the author shows how some of these criteria can be stated as useful and easily tested restrictions on the gra... View full abstract»

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  • An optimal one-way multigrid algorithm for discrete-time stochastic control

    Publication Year: 1991, Page(s):898 - 914
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1404 KB)

    The numerical solution of discrete-time stationary infinite-horizon discounted stochastic control problems is considered for the case where the state space is continuous and the problem is to be solved approximately, within a desired accuracy. After a discussion of problem discretization, the authors introduce a multigrid version of the successive approximation algorithm that proceeds `one way' fr... View full abstract»

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  • On the minimal partial realization of 2D discrete linear shift-invariant systems

    Publication Year: 1991, Page(s):984 - 988
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    The partial realization problem for 2D discrete linear shift-invariant systems is discussed. The authors attempt to establish a reasonable definition of minimality and propose a method for finding the degree and the system function of a minimal realization of a 2D linear system characterized by a given 2D impulse response array. The method used is based on the 2D Berlekamp-Massey algorithm which h... 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