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Automatic Control, IEEE Transactions on

Issue 2 • Date Feb. 2012

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Displaying Results 1 - 25 of 33
  • Table of contents

    Publication Year: 2012 , Page(s): C1 - C4
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  • IEEE Transactions on Automatic Control publication information

    Publication Year: 2012 , Page(s): C2
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  • Scanning the issue

    Publication Year: 2012 , Page(s): 273 - 274
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  • Distributed Fault Detection and Isolation of Large-Scale Discrete-Time Nonlinear Systems: An Adaptive Approximation Approach

    Publication Year: 2012 , Page(s): 275 - 290
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1113 KB) |  | HTML iconHTML  

    This paper deals with the problem of designing a distributed fault detection and isolation methodology for nonlinear uncertain large-scale discrete-time dynamical systems. As a divide et impera approach is used to overcome the scalability issues of a centralized implementation, the large scale system being monitored is modelled as the interconnection of several subsystems. The subsystems are allowed to overlap, thus sharing some state components. For each subsystem, a Local Fault Diagnoser 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 diagnostic 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 and isolability of faults affecting variables shared among overlapping subsystems. Theoretical results are provided to characterize the detection and isolation capabilities of the proposed distributed scheme. Finally, simulation results are reported showing the effectiveness of the proposed methodology. View full abstract»

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  • Exponential Stability of Switched Linear Hyperbolic Initial-Boundary Value Problems

    Publication Year: 2012 , Page(s): 291 - 301
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (729 KB) |  | HTML iconHTML  

    We consider the initial-boundary value problem governed by systems of linear hyperbolic partial differential equations in the canonical diagonal form and study conditions for exponential stability when the system discontinuously switches between a finite set of modes. The switching system is fairly general in that the system matrix functions as well as the boundary conditions may switch in time. We show how the stability mechanism developed for classical solutions of hyperbolic initial boundary value problems can be generalized to the case in which weaker solutions become necessary due to arbitrary switching. We also provide an explicit dwell-time bound for guaranteeing exponential stability of the switching system when, for each mode, the system is exponentially stable. Our stability conditions only depend on the system parameters and boundary data. These conditions easily generalize to switching systems in the nondiagonal form under a simple commutativity assumption. We present tutorial examples to illustrate the instabilities that can result from switching. View full abstract»

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  • Robustness Analysis for Feedback Interconnections of Distributed Systems via Integral Quadratic Constraints

    Publication Year: 2012 , Page(s): 302 - 317
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (862 KB) |  | HTML iconHTML  

    A framework is established for directly accommodating feedback interconnections of unstable distributed-parameter transfer functions in robust stability analysis via integral quadratic constraints (IQCs). This involves transfer function homotopies that are continuous in a ν -gap metric sense. As such, the development includes the extension of ν-gap metric concepts to an irrational setting and the study of uncertainty-set connectedness in these terms. The main IQC based robust stability result is established for constantly-proper transfer functions in the Callier-Desoer algebra; i.e. finitely many unstable poles and a constant limit at infinity. Problems of structured robust stability analysis and robust performance analysis are considered to illustrate use of the main result. Several numerical examples are also presented. These include stability analysis of an autonomous system with uncertain time-delay and a closed-loop control system, accounting for both the gain and phase characteristics of the distributed-parameter uncertainty associated with the nominal rational plant model used for controller synthesis. View full abstract»

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  • A Maximum Entropy Enhancement for a Family of High-Resolution Spectral Estimators

    Publication Year: 2012 , Page(s): 318 - 329
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (590 KB) |  | HTML iconHTML  

    Structured covariances occurring in spectral analysis, filtering and identification need to be estimated from a finite observation record. The corresponding sample covariance usually fails to possess the required structure. This is the case, for instance, in the Byrnes-Georgiou-Lindquist THREE-like tunable, high-resolution spectral estimators. There, the output covariance Σ of a linear filter is needed to initialize the spectral estimation technique. The sample covariance estimate Σ, however, is usually not compatible with the filter. In this paper, we present a new, systematic way to overcome this difficulty. The new estimate Σο is obtained by solving an ancillary problem with an entropic-type criterion. Extensive scalar and multivariate simulation shows that this new approach consistently leads to a significant improvement of the spectral estimators performances. View full abstract»

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  • Time Domain Model Order Reduction of General Orthogonal Polynomials for Linear Input-Output Systems

    Publication Year: 2012 , Page(s): 330 - 343
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (976 KB) |  | HTML iconHTML  

    For a class of large linear input-output systems, we present a new model order reduction algorithm based on general orthogonal polynomials in the time domain. The main idea of the algorithm is first to expand the unknown state variables in the space spanned by orthogonal polynomials, then the coefficient terms of polynomial expansion are calculated by a recurrence formula. The basic procedure is to use the coefficient terms to generate a projection matrix. Many classic methods with orthogonal polynomials are special cases of the general approach. The proposed approach has a good computational efficiency and preserves the stability and passivity under certain condition. Numerical experiments are reported to verify the theoretical analysis. View full abstract»

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  • Robust Trajectory Tracking for a Class of Hybrid Systems: An Internal Model Principle Approach

    Publication Year: 2012 , Page(s): 344 - 359
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (672 KB) |  | HTML iconHTML  

    This paper deals with the asymptotic tracking of periodic trajectories for hybrid systems having linear dynamics in each operating mode and isolated discrete switching events (switching systems). Parametric uncertainties are considered and the dimension of the state vector is allowed to vary among modes. To deal with the hybrid nature of the system, and the possible discontinuities of its solutions at switching times, a properly amended tracking control problem is defined and a feedback control law based on a discontinuous version of the classical internal model principle is proposed. The innovative design of the discrete-time dynamics of the compensator guarantees the robust existence of a steady-state response giving zero tracking error in the controlled output, and local convergence to it. View full abstract»

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  • Passivity-Based Pose Synchronization in Three Dimensions

    Publication Year: 2012 , Page(s): 360 - 375
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1480 KB) |  | HTML iconHTML  

    This paper addresses passivity-based pose synchronization in the Special Euclidean group SE(3) . We first develop a passivity-based distributed velocity input law to achieve pose synchronization. We next show that the pose synchronizes exponentially fast under an assumption on the initial states of the bodies, with an exponential convergence rate given by algebraic connectivity of interconnection graphs. We also prove pose synchronization in the presence of communication delays and topology switches. We moreover give further extensions of the present law, where desirable velocities and collision avoidance are taken into account. Finally, the effectiveness of the present inputs is demonstrated through numerical simulations and experiments on a planar (2D) test bed. View full abstract»

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  • Many Flows Asymptotics for SMART Scheduling Policies

    Publication Year: 2012 , Page(s): 376 - 391
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1067 KB) |  | HTML iconHTML  

    Scheduling policies that favor small jobs have received growing attention due to their superior performance with respect to mean delay, e.g., Shortest Remaining Processing Time (SRPT) and Preemptive Shortest Job First (PSJF). In this paper, we study the delay distribution of a generalization of the class of scheduling policies called SMART (because policies in it have “SMAll Response Times”), which includes SRPT, PSJF, and a range of practical variants, in a discrete-time queueing system under the many sources large deviations regime. Our analysis of SMART in this regime (large number of flows and large capacity) hinges on a novel two-dimensional (2-D) queueing framework that employs virtual queues and total ordering of jobs. We prove that all SMART policies have the same asymptotic delay distribution as SRPT, i.e., the delay distribution has the same decay rate. In addition, we illustrate the improvements SMART policies make over First Come First Serve (FCFS) and Processor Sharing (PS). Our 2-D queueing technique is generalizable to other policies as well. As an example, we show how the Foreground-Background (FB) policy can be analyzed using a 2-D queueing framework. FB is a policy, not contained in SMART, which manages to bias towards small jobs without knowing which jobs are small in advance. View full abstract»

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  • An Efficient Game Form for Unicast Service Provisioning

    Publication Year: 2012 , Page(s): 392 - 404
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (452 KB) |  | HTML iconHTML  

    We consider the decentralized bandwidth/rate allocation problem in unicast service provisioning with strategic users. We present a mechanism/game form which possesses the following properties when the users' utilities are concave: (1) It implements in Nash equilibria the solution of the corresponding centralized rate allocation problem in unicast service provisioning. (2) It is individually rational. (3) It is budget-balanced at all Nash equilibria of the game induced by the mechanism/game form as well as off equilibrium. When the users' utilities are quasi-concave the mechanism possesses properties (2) and (3) stated above. Moreover, every Nash equilibrium of the game induced by the proposed mechanism results in a Walrasian equilibrium. View full abstract»

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  • Kalman Filtering With Intermittent Observations: Weak Convergence to a Stationary Distribution

    Publication Year: 2012 , Page(s): 405 - 420
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (690 KB) |  | HTML iconHTML  

    The paper studies the asymptotic behavior of discrete time Random Riccati Equations (RRE) arising in Kalman filtering when the arrival of the observations is described by a Bernoulli independent and identically distributed (i.i.d.) process. We model the RRE as an order-preserving, strongly sublinear random dynamical system (RDS). Under a sufficient condition, stochastic boundedness, and using a limit-set dichotomy result for order-preserving, strongly sublinear RDS, we establish the asymptotic properties of the RRE: the sequence of random prediction error covariance matrices converges weakly to a unique invariant distribution, whose support exhibits fractal behavior. For stabilizable and detectable systems, stochastic boundedness (and hence weak convergence) holds for any nonzero observation packet arrival probability and, in particular, we can establish weak convergence at operating arrival rates well below the critical probability for mean stability (the resulting invariant measure in that situation does not possess a first moment). We apply the weak-Feller property of the Markov process governing the RRE to characterize the support of the limiting invariant distribution as the topological closure of a countable set of points, which, in general, is not dense in the set of positive semi-definite matrices. We use the explicit characterization of the support of the invariant distribution and the almost sure (a.s.) ergodicity of the sample paths to easily compute statistics of the invariant distribution. A one-dimensional example illustrates that the support is a fractured subset of the non-negative reals with self-similarity properties. View full abstract»

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  • Rendezvous Without Coordinates

    Publication Year: 2012 , Page(s): 421 - 434
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (821 KB) |  | HTML iconHTML  

    We study minimalism in sensing and control by considering a multi-agent system in which each agent moves like a Dubins car and has a limited sensor that reports only the presence of another agent within some sector of its windshield. Using a simple quantized control law with three values, each agent tracks another agent (its target) assigned to it by maintaining that agent within this windshield sector. We use Lyapunov analysis to show that by acting autonomously in this way, the agents will achieve rendezvous given a connected initial assignment graph and the assumption that an agent and its target will merge into a single agent when they are sufficiently close. We then proceed to show that, by making the quantized control law slightly stronger, a connected initial assignment graph is not required and the sensing model can be weakened further. A distinguishing feature of our approach is that it does not involve any estimation procedure aimed at reconstructing coordinate information. Our scenario thus provides an example in which an interesting task is performed with extremely coarse sensing and control, and without state estimation. The system was implemented in computer simulation, accessible through the Web, of which the results are presented in the paper. View full abstract»

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  • On the Existence of Supervisory Policies That Enforce Liveness in Partially Controlled Free-Choice Petri Nets

    Publication Year: 2012 , Page(s): 435 - 449
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (731 KB) |  | HTML iconHTML  

    We first show that the existence, or nonexistence, of a supervisory policy that enforces liveness in an arbitrary Petri net (PN) is not semidecidable. Following this, we show that this is not the case if we restrict our attention to an arbitrary, partially controlled, free-choice Petri net (FCPN). Starting from the observation that the set of initial markings for which there is a supervisory policy that enforces liveness in a free-choice structure is right-closed, we present a string of observations that eventually lead to the conclusion that the existence of a supervisory policy that enforces liveness in an arbitrary FCPN is decidable. The paper concludes with some suggested directions for future research. View full abstract»

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  • LQG Control for MIMO Systems Over Multiple Erasure Channels With Perfect Acknowledgment

    Publication Year: 2012 , Page(s): 450 - 456
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (477 KB) |  | HTML iconHTML  

    This technical note concerns control applications over lossy data networks. Sensor data is transmitted to an estimation-control unit over a network and control commands are issued to subsystems over the same network. Sensor and control packets may be randomly lost according to a Bernoulli process. In this context, the discrete-time linear quadratic gaussian (LQG) optimal control problem is considered. In Schenato , a complete analysis was carried out for the case that sensor measurements and control inputs are delivered into a single packet to the estimator and to the actuators respectively. Here, a nontrivial generalization for MIMO systems is presented under the assumption that each sensor and each actuator exchange data with the control unit in an independent way by using their own data packet (no aggregation). In such a framework, it is shown that the separation principle still holds in the case where packet arrivals are acknowledged by the receiver. Moreover, the optimal LQG control is a linear function of the state that explicitly depends on the loss probabilities of the actuator channels. Such a dependence is not present in the single channel case considered in mean-square. In the infinite horizon case, stability conditions on the packet arrival probabilities are provided in terms of linear matrix inequalities (LMIs). View full abstract»

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  • A Lifting Based Approach to Observer Based Fault Detection of Linear Periodic Systems

    Publication Year: 2012 , Page(s): 457 - 462
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (200 KB) |  | HTML iconHTML  

    In this note, an approach based on lifting is introduced for the observer based fault detection (FD) of linear discrete-time periodic systems. The main contribution of this note is to give an analytic expression to transform the linear time-invariant (LTI) observer based residual generator designed based on the lifted LTI reformulation of the periodic system into a periodic observer based residual generator to reduce detection delay. The result enables a systematic transfer of the existing observer based FD methods for discrete LTI systems to discrete-time periodic systems. View full abstract»

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  • Max-Plus Control Design for Temporal Constraints Meeting in Timed Event Graphs

    Publication Year: 2012 , Page(s): 462 - 467
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (245 KB) |  | HTML iconHTML  

    The aim of the presented work is the control of Timed Event Graph to meet tight temporal constraints. The problem of temporal constraints is formulated in terms of control of linear Max-Plus models. First, the synthesis of a control law that ensures the satisfaction of a single constraint for a single input system is presented. Then, the single input multi-constraints problem is tackled and finally, the method is extended to the multi-inputs, multi-constraints problem. The proposed method is illustrated on the example of a simple production process. View full abstract»

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  • Parameter Identification of Sinusoids

    Publication Year: 2012 , Page(s): 467 - 472
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (253 KB) |  | HTML iconHTML  

    For a biased multi-sinusoidal signal an estimator of order 5n+1 is designed to identify all the 3n+1 parameters including the frequency, amplitude and phase for each of n sinusoids, and the overall offset. As an alternative, a fifth-order parameter estimator is also derived for a biased single sinusoid. The derivations of the estimators are straightforward by using some treatments in the existing frequency estimators and the standard gradient algorithm. Global asymptotic convergence of the parameter estimation is verified. The originality of the work is the proposal of a first solution to the problem of identifying full parameters of a biased multi-sinusoidal signal with globally asymptotic convergence of the parameter estimation. View full abstract»

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  • Model Order Reduction by Balanced Proper Orthogonal Decomposition and by Rational Interpolation

    Publication Year: 2012 , Page(s): 472 - 477
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (206 KB) |  | HTML iconHTML  

    We show that model order reduction by rational interpolation (also known as moment matching or rational Krylov) can be seen as the special case of balanced Proper Orthogonal Decomposition where all the snapshots are retained and particular numerical procedures are used to obtain the snapshots. View full abstract»

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  • Global State Synchronization in Networks of Cyclic Feedback Systems

    Publication Year: 2012 , Page(s): 478 - 483
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (310 KB) |  | HTML iconHTML  

    This technical note studies global asymptotic state synchronization in networks of identical systems. Conditions on the coupling strength required for the synchronization of nodes having a cyclic feedback structure are deduced using incremental dissipativity theory. The method takes advantage of the incremental passivity properties of the constituent subsystems of the network nodes to reformulate the synchronization problem as one of achieving incremental passivity by coupling. The method can be used in the framework of contraction theory to constructively build a contracting metric for the incremental system. The result is illustrated for a network of biochemical oscillators. View full abstract»

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  • Exponential Stability of Integral Delay Systems With a Class of Analytic Kernels

    Publication Year: 2012 , Page(s): 484 - 489
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (218 KB) |  | HTML iconHTML  

    The exponential stability of a class of integral delay systems with analytic kernels is investigated by using the Lyapunov-Krasovskii functional approach. Sufficient delay-dependent stability conditions and exponential estimates for the solutions are derived. Special attention is paid to the particular cases of polynomial and exponential kernels. View full abstract»

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  • Stability and Control of Acyclic Stochastic Processing Networks With Shared Resources

    Publication Year: 2012 , Page(s): 489 - 494
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (244 KB) |  | HTML iconHTML  

    We consider a general model framework for acyclic stochastic processing networks with shared resources that has many applications in telecommunication, computer, and manufacturing systems. A dynamic control policy that utilizes the maximal matching (for scheduling) and the join-the-shortest-queue (for routing) discipline, is shown to maximize the throughput and stabilize the system in a sense called “uniform mean recurrence time property” under fairly mild stochastic assumptions. Owing to the non-Markovian nature of the states, system stability is established using a perturbed Lyapunov function method. View full abstract»

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  • On the Stabilizing PID Controllers for Integral Processes

    Publication Year: 2012 , Page(s): 494 - 499
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (324 KB) |  | HTML iconHTML  

    In this note, we show how to determine the set of stabilizing parameters of a proportional-integral-derivative controller for an integrator plus dead time process. In particular, by exploiting a version of the Hermite-Biehler theorem applicable to quasipolynomals, the admissible range of the proportional gain is computed first. Then, for each value of the proportional gain in that range, the set of stabilizing values of the integral and derivative gain are found. It is shown that the procedure is greatly simplified with respect to the case of a second-order integral process with dead time. View full abstract»

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  • Invariance Principles Allowing of Non-Lyapunov Functions for Estimating Attractor of Discrete Dynamical Systems

    Publication Year: 2012 , Page(s): 500 - 505
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (299 KB) |  | HTML iconHTML  

    This technical note establishes several versions of invariance principles for describing the eventual dynamical behaviors of discrete dynamical systems. Instead of the requirement of the so-called Lyapunov functions in the classical LaSalle invariance principle, some more relaxed conditions are imported. The established invariance principles thus can be applied to a more general class of discrete dynamical systems for classifying their orbits into two categories based on the eventual dynamical behaviors, and the proposed classification scheme is suitable for theoretically and numerically estimating the local or global attractors produced by the discrete dynamical systems. The practical usefulness of the analytical results is verified by systematically investigating several representative discrete systems. 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