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Automatic Control, IEEE Transactions on

Issue 4 • Date April 2009

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Displaying Results 1 - 25 of 43
  • Table of contents

    Publication Year: 2009 , Page(s): C1 - C4
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    Freely Available from IEEE
  • IEEE Transactions on Automatic Control publication information

    Publication Year: 2009 , Page(s): C2
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    Freely Available from IEEE
  • Scanning the issue

    Publication Year: 2009 , Page(s): 681 - 682
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    Freely Available from IEEE
  • An Analytic Geometry Approach to Wiener System Frequency Identification

    Publication Year: 2009 , Page(s): 683 - 696
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2036 KB) |  | HTML iconHTML  

    This paper addresses the problem of Wiener system identification. The underlying linear subsystem is stable but not necessarily parametric. The nonlinear element in turn is allowed to be nonparametric, noninvertible, and nonsmooth. As Wiener models are uniquely defined up to an uncertain multiplicative factor, it makes sense to start the frequency identification process estimating the system phase (which is common to all models). To this end, a consistent estimator is designed using analytic geometry tools. Accordingly, the system frequency behavior is characterized by a family of Lissajous curves. Interestingly, all these curves are candidates to modelling the system nonlinearity, but the most convenient one is the less spread of them. Finally, the frequency gain is in turn consistently estimated optimizing an appropriate cost function involving the obtained phase and nonlinearity estimates. View full abstract»

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  • A Structure Exploiting Preprocessor for Semidefinite Programs Derived From the Kalman-Yakubovich-Popov Lemma

    Publication Year: 2009 , Page(s): 697 - 704
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (498 KB) |  | HTML iconHTML  

    Semidefinite programs derived from the Kalman-Yakubovich-Popov (KYP) lemma are quite common in control and signal processing applications. The programs are often of high dimension which makes them hard or impossible to solve with general-purpose solvers. Here we present a customized preprocessor, KYPD, that utilizes the inherent structure of this particular optimization problem. The key to an efficient implementation is to transform the optimization problem into an equivalent semidefinite program. This equivalent problem has much fewer variables and the matrices in the linear matrix inequality constraints are of low rank. KYPD can use any primal-dual solver for semidefinite programs as an underlying solver. View full abstract»

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  • Switching Supervisory Control Using Calibrated Forecasts

    Publication Year: 2009 , Page(s): 705 - 716
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (511 KB) |  | HTML iconHTML  

    In this paper, we approach supervisory control as an online decision problem. In particular, we introduce ldquocalibrated forecastsrdquo as a mechanism for controller selection in supervisory control. The forecasted quantity is a candidate controller's performance level, or reward, over finite implementation horizon. Controller selection is based on using the controller with the maximum calibrated forecast of the reward. The proposed supervisor does not perform a pre-routed search of candidate controllers and does not require the presence of exogenous inputs for excitation or identification. Assuming the existence of a stabilizing controller within the set of candidate controllers, we show that under the proposed supervisory controller, the output of the system remains bounded for any bounded disturbance, even if the disturbance is chosen in an adversarial manner. The use of calibrated forecasts enables one to establish overall performance guarantees for the supervisory scheme even though non-stabilizing controllers may be persistently selected by the supervisor because of the effects of initial conditions, exogenous disturbances, or random selection. The main results are obtained for a general class of system dynamics and specialized to linear systems. View full abstract»

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  • Nonholonomic Source Seeking With Tuning of Angular Velocity

    Publication Year: 2009 , Page(s): 717 - 731
    Cited by:  Papers (49)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1782 KB) |  | HTML iconHTML  

    We consider the problem of seeking the source of a scalar signal using an autonomous vehicle modeled as the nonholonomic unicycle. The vehicle does not have the capability of sensing its position or the position of the source but is capable of sensing the scalar signal originating from the source. The signal field is assumed to decay away from the position of the source but the vehicle does not have the knowledge of the functional form of the field. We employ extremum seeking to steer the vehicle to the source. Our control strategy keeps the forward velocity constant and tunes the angular velocity, a setting suitable for most autonomous vehicles, including aerial ones. Because of the constant forward velocity constraint, after it has converged near the source, the vehicle exhibits extremely interesting and complex motions. Using averaging theory, we prove local exponential convergence to an ldquoorbit-likerdquo attractor around the source. We also present a thorough analysis of non-local behaviors and attractors that the vehicle can exhibit near the source. The richness and complexity of behaviors makes only some of them amenable to analysis, whereas others are illustrated through a carefully laid out simulation study. View full abstract»

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  • A Unified Framework for Design and Analysis of Networked and Quantized Control Systems

    Publication Year: 2009 , Page(s): 732 - 747
    Cited by:  Papers (42)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (480 KB) |  | HTML iconHTML  

    We generalize and unify a range of recent results in quantized control systems (QCS) and networked control systems (NCS) literature and provide a unified framework for controller design for control systems with quantization and time scheduling via an emulation-like approach. A crucial step in our proofs is finding an appropriate Lyapunov function for the quantization/time-scheduling protocol which verifies its uniform global exponential stability (UGES). We construct Lyapunov functions for several representative protocols that are commonly found in the literature, as well as some new protocols not considered previously. Our approach is flexible and amenable to further extensions which are briefly discussed. View full abstract»

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  • An Efficient Approach for Online Diagnosis of Discrete Event Systems

    Publication Year: 2009 , Page(s): 748 - 759
    Cited by:  Papers (34)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (594 KB) |  | HTML iconHTML  

    A novel approach to fault diagnosis of discrete event systems is presented in this paper. The standard approach is based on the offline computation of the set of fault events that may have occurred at each reachable state, providing a fast online diagnosis at a price of excessive memory requirements. A different approach is here adopted, which is based on the online computation of the set of possible fault events required to explain the last observed event. This is efficiently achieved by modelling the plant by Petri nets, since their mathematical representation permits to formulate the fault diagnosis problems in terms of mathematical programming, which is a standard tool. Moreover, the graphical representation of the net allows the diagnoser agent to compute off-line reduced portions of the net in order to improve the efficiency of the online computation, without a big increase in terms of memory requirement. View full abstract»

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  • ILC-Based Fixed-Structure Controller Design for Output PDF Shaping in Stochastic Systems Using LMI Techniques

    Publication Year: 2009 , Page(s): 760 - 773
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (902 KB) |  | HTML iconHTML  

    In this paper, a generalized state-space controller design for the shaping of the output probability density function (PDF) is presented for non-Gaussian dynamical stochastic systems. A radial basis function (RBF) neural network is used to approximate the output PDF of the system. Such a neural network consists of a number of weights and corresponding basis functions. Using such an approximation, the dynamics of the original stochastic system can be expressed as the dynamics between the control input and the weights of the RBF neural network. The task of output PDF control can therefore be reduced to a RBF weight control together with an adaptive tuning of the basis function parameters (i.e., the centers and widths of the basis functions). To achieve this aim, the control horizon is divided into certain intervals hereinafter called batches. Using these definitions, the whole control strategy consists of three stages, namely (a) sub-space parameter identification of the dynamic nonlinear model (that relates the control signal to the weights of the RBF neural network); (b) Weight tracking controller design using an LMI-based convex optimization technique; and (c) RBF basis functions shape tuning in terms of their centers and widths using an iterative learning control (ILC) framework. Among the above stages, the first two are performed within each batch, while stage (c) is carried out between any two adjacent batches. Such an algorithm has the advantage of the batch-by-batch improvement of the closed-loop output PDF tracking performance. Moreover, the controller mentioned in stage (b) is a general controller in a state-space form. Stability analysis has been performed and simulation results are included to show the effectiveness of the proposed method, where encouraging results have been made. View full abstract»

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  • Low-Order Stabilization of LTI Systems With Time Delay

    Publication Year: 2009 , Page(s): 774 - 787
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1101 KB) |  | HTML iconHTML  

    This paper considers the problem of stabilizing a single-input-single-output (SISO) linear time-invariant (LTI) plant with known time delay using a low-order controller, such as a Proportional (P), a Proportional-Integral (PI), or a proportional-integral-derivative (PID) controller. For the SISO LTI system with time delay, the closed-loop characteristic function is a quasipolynomial that possesses the following features: all its infinite roots are located on the left of certain vertical line of the complex plane, and the number of its unstable roots is finite. Necessary and sufficient conditions for the stability of LTI systems with time delay are first presented by employing an extended Hermite-Biehler Theorem applicable to quasi-polynomials. Based on the conditions, analytical algorithms are then proposed to compute the stabilizing sets of P, PI and PID controllers. The resulting characterizations of the stabilizing sets for P, PI and PID controllers are analogous to the Youla parameterization of all stabilizing controllers for plants without time delay. Numerical examples are provided to illustrate the proposed algorithm. View full abstract»

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  • Traveling Salesperson Problems for a Double Integrator

    Publication Year: 2009 , Page(s): 788 - 793
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (377 KB) |  | HTML iconHTML  

    This technical note studies the following version of the Traveling Salesperson Problem (TSP) for a double integrator with bounded velocity and bounded control inputs: given a set of points in Ropfd, find the fastest tour over the point set. We first give asymptotic bounds on the time taken to complete such a tour in the worst case. Then, we study a stochastic version of the TSP for a double integrator in Ropf2 and Ropf3, where we propose novel algorithms that asymptotically perform within a constant factor of the optimal strategy with probability one. Lastly, we study a dynamic TSP in Ropf2 and Ropf3 , where we propose novel stabilizing algorithms whose performances are within a constant factor from the optimum. View full abstract»

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  • Distributed Fault Diagnosis With Overlapping Decompositions: An Adaptive Approximation Approach

    Publication Year: 2009 , Page(s): 794 - 799
    Cited by:  Papers (28)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (375 KB) |  | HTML iconHTML  

    This technical note deals with the problem of designing a distributed fault detection methodology for distributed (and possibly large-scale) nonlinear dynamical systems that are modelled as the interconnection of several subsystems. The subsystems are allowed to overlap, thus sharing some state components. For each subsystem, a local fault detector is designed, based on the measured local state of the subsystem as well as the transmitted variables of neighboring states that define the subsystem interconnections. The local detection decision is made on the basis of the knowledge of the local subsystem dynamic model and of an adaptive approximation of the interconnection with neighboring subsystems. The use of a specially-designed consensus-based estimator is proposed in order to improve the detectability of faults affecting variables shared among different subsystems. Simulation results provide an evidence of the effectiveness of the proposed distributed fault detection scheme. View full abstract»

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  • A Passive Repetitive Controller for Discrete-Time Finite-Frequency Positive-Real Systems

    Publication Year: 2009 , Page(s): 800 - 804
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (511 KB) |  | HTML iconHTML  

    This work proposes and studies a new internal model for discrete-time passive or finite-frequency positive-real systems which can be used in repetitive control designs to track or to attenuate periodic signals. The main characteristic of the proposed internal model is its passivity. This property implies closed-loop stability when it is used with discrete-time passive plants, as well as the broader class of discrete-time finite-frequency positive real plants. This work discusses the internal model energy function and its frequency response. A design procedure for repetitive controllers based on the proposed internal model is also presented. Two numerical examples are included. View full abstract»

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  • Entropy Optimization Filtering for Fault Isolation of Nonlinear Non-Gaussian Stochastic Systems

    Publication Year: 2009 , Page(s): 804 - 810
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (826 KB) |  | HTML iconHTML  

    In this paper, the fault isolation (FI) problem is investigated for nonlinear non-Gaussian systems with multiple faults(or abrupt changes of system parameters) in the presence of noises. By constructing a filter to estimate the states, the FI problem can be reduced to an entropy optimization problem subjected to the non-Gaussian estimation error systems. The design objective for the FI purpose is that the entropy of the estimation error is maximized in the presence of diagnosed fault and is minimized in the presence of the nuisance faults or noises. It is shown that the error dynamics is represented by a nonlinear non-Gaussian stochastic system, for which new relationships are applied to formulate the probability density functions (PDFs) of the stochastic error in terms of the PDFs of the noises and the faults. The Renyi's entropy has been used to simplify the computations in the filtering for the recursive design algorithms. It is noted that the output can be supposed to be immeasurable (but with known stochastic distributions), which is different from the existing results where the output is always measurable for feedback. Finally, simulations are given to demonstrate the effectiveness of the proposed data-driven FI filtering algorithms. View full abstract»

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  • Interval Stability and Stabilization of Linear Stochastic Systems

    Publication Year: 2009 , Page(s): 810 - 815
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (281 KB) |  | HTML iconHTML  

    This technical note applies the spectrum technique to deal with the interval stability and stabilization of linear stochastic time-invariant systems. First, the notion of (-beta,-alpha) -stability of stochastic systems is defined and some relationships among the (-beta,-alpha) -stability, the decay rate of system state response, and the second-order moment Lyapunov exponent are revealed. We then address the (-beta,-alpha)-stabilization problem and give a sufficient condition via a linear matrix inequality approach. View full abstract»

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  • A Contraction Theory Approach to Stochastic Incremental Stability

    Publication Year: 2009 , Page(s): 816 - 820
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (221 KB) |  | HTML iconHTML  

    We investigate the incremental stability properties of Ito stochastic dynamical systems. Specifically, we derive a stochastic version of nonlinear contraction theory that provides a bound on the mean square distance between any two trajectories of a stochastically contracting system. This bound can be expressed as a function of the noise intensity and the contraction rate of the noise-free system. We illustrate these results in the contexts of nonlinear observers design and stochastic synchronization. View full abstract»

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  • Wavelet Amendment of Polynomial Models in Hammerstein Systems Identification

    Publication Year: 2009 , Page(s): 820 - 825
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (304 KB) |  | HTML iconHTML  

    A new wavelet algorithm for on-line improvement of an existing polynomial model of nonlinearity in a Hammerstein system is proposed and its properties are examined. The algorithm employs wavelet bases on interval. Convergence of the resulting assembly, comprising the parametric polynomial model and a nonparametric wavelet add-on, to the system nonlinearity is shown. Rates of convergence for uniformly smooth and piecewise smooth nonlinearities with discontinuities are both established. View full abstract»

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  • Commutativity of Immersion and Linearization

    Publication Year: 2009 , Page(s): 826 - 829
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (152 KB) |  | HTML iconHTML  

    A given nonlinear system can be represented via an immersion as rational or polynomial functions, thus leading to a simplified model structure. An immersion is a mapping of the initial state from the original state space to another state space, while exactly preserving the input-output map. In this note we show that the linearization of the system after immersion has an identical input-output map to the linearization of the original system before immersion. In other words, immersion and linearization commute. This is potentially useful for applications such as linear control design and sensitivity analysis after nonlinear identification, and has important implications for system approximation by linearization. View full abstract»

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  • Robust Stabilization Over Communication Channels in the Presence of Unstructured Uncertainty

    Publication Year: 2009 , Page(s): 830 - 834
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (282 KB) |  | HTML iconHTML  

    This technical note is concerned with the problem of controlling plants over communication channels, where the plant is subject to two types of unstructured uncertainty: additive uncertainty and stable coprime factor uncertainty. Necessary lower bounds on the rate of transmission (or channel capacity) C, for robust stabilization, are computed explicitly. In particular, it is shown that the lower bound in the additive uncertainty case corresponds to a fixed point of a particular function. In the stable coprime factor uncertainty case, the derivation relies on linear fractional transformation concepts. The results are important in determining the minimum channel capacity needed in order to stabilize plants subject to unstructured uncertainty over communication channels. For instance, the bounds obtained can be used to analyze the effect of uncertainty on the channel capacity. An illustrative example is provided. View full abstract»

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  • Actuator Fault Detection and Isolation for a Network of Unmanned Vehicles

    Publication Year: 2009 , Page(s): 835 - 840
    Cited by:  Papers (26)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (347 KB) |  | HTML iconHTML  

    This technical note investigates development, design and analysis of actuator fault detection and isolation (FDI) filters for a network of unmanned vehicles. It is shown that actuator fault signatures in a network of unmanned vehicles are dependent and the network can be considered as an over-actuated system. An isolability index mu is defined for a family of fault signatures and a new structured residual set is developed that is selectively capable of properly detecting and isolating mu multiple faults in linear systems with dependent fault signatures, such as over-actuated systems. Our proposed algorithm is then applied to the actuator FDI problem in a network of unmanned vehicles configured according to centralized, decentralized and semi-decentralized architectures. A comparative analysis in terms of the capabilities and limitations of these architectures is performed. Simulation results presented for the formation flight of multiple satellites demonstrate the effectiveness of our proposed FDI algorithm. View full abstract»

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  • A Counterexample in Distributed Optimal Sensing and Control

    Publication Year: 2009 , Page(s): 841 - 844
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (165 KB) |  | HTML iconHTML  

    This note exhibits that in a distributed multi-sensor, single-controller scenario, for the minimization of a quadratic cost function, linear sensing policies over Gaussian channels are, in general, not optimal. This is in contrast with the corresponding single-sensor problem, which does admit an optimal linear solution. View full abstract»

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  • Disconnected Synchronized Regions of Complex Dynamical Networks

    Publication Year: 2009 , Page(s): 845 - 849
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (372 KB) |  | HTML iconHTML  

    This technical note addresses the synchronized region problem, which is converted to a more convenient matrix stability problem, for complex dynamical networks. For any natural number n , the existence of a network with n disconnected synchronized regions is theoretically proved and numerically demonstrated. This shows the intrinsic complexity of the network synchronization problem. Convexity characteristic of stability for relevant matrix pencils is further discussed. A smooth Chua's circuit network is finally discussed as an example for illustration. View full abstract»

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  • A Discrete-Time Robust Extended Kalman Filter for Uncertain Systems With Sum Quadratic Constraints

    Publication Year: 2009 , Page(s): 850 - 854
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (398 KB) |  | HTML iconHTML  

    This technical note outlines the formulation of a novel discrete-time robust extended Kalman filter for uncertain systems with uncertainties described in terms of sum quadratic constraints. The robust filter is an approximate set-valued state estimator which is robust in the sense that it can handle modeling uncertainties in addition to exogenous noise. Riccati and filter difference equations are obtained as an approximate solution to a reverse-time optimal control problem defining the set-valued state estimator. In order to obtain a solution to the set-valued state estimation problem, the discrete-time system dynamics are modeled backwards in time. View full abstract»

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  • Stabilization in a Two-Species Chemostat With Monod Growth Functions

    Publication Year: 2009 , Page(s): 855 - 861
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (380 KB) |  | HTML iconHTML  

    We design feedback controllers for two species chemostats so that an equilibrium with arbitrary prescribed positive species concentrations becomes globally asymptotically stable. We use a new global explicit strict Lyapunov function construction, which allows us to quantify the effects of disturbances using the input-to-state stability paradigm. We assume that only a linear combination of the species concentrations is known. We illustrate our approach using a numerical example. 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