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IEEE Transactions on Automatic Control

Issue 10 • Oct 1992

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Displaying Results 1 - 25 of 45
  • Calculation of the structured singular value with a reduced number of optimization variables

    Publication Year: 1992, Page(s):1612 - 1616
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    For the case of an n×n uncertainty matrix with n2 nonzero 1×1 blocks, the structured singular value technique with similarity scaling suffers from the disadvantage of having to expand an n×n matrix problem to an n2×n2 matrix optimization problem with n2-1 free... View full abstract»

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  • On adaptive friction compensation

    Publication Year: 1992, Page(s):1609 - 1612
    Cited by:  Papers (168)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (336 KB)

    A method of compensating for friction in control systems is presented. The method entails the use of an observer to estimate the friction which is modeled as a constant times the sign of the velocity. The purpose of the observer is to estimate this constant. The observer model is selected to ensure that the error in estimation of the friction constant converges asymptotically to zero. Simulation r... View full abstract»

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  • Variable structure control using system decomposition

    Publication Year: 1992, Page(s):1514 - 1517
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    An approach to the design of large variable structure systems subject to control bounds is introduced. The method includes a switching hyperplane design based on generalized inverses and system decomposition. To ensure reaching the hyperplane and achieving a sliding condition, the control is switched between local equivalent control and bounded corrective control. The design of the corrective cont... View full abstract»

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  • Adaptive hybrid force-position control for redundant manipulators

    Publication Year: 1992, Page(s):1501 - 1505
    Cited by:  Papers (39)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    An adaptive control scheme for manipulators with redundant degrees of freedom is presented. The control purpose is to achieve a desired interaction force between the end-effector and the environment as well as to regulate the robot tip position in the Cartesian space. This control approach does not require measurement of the joint acceleration or the force derivative View full abstract»

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  • Elimination of frequency search from robustness tests

    Publication Year: 1992, Page(s):1635 - 1640
    Cited by:  Papers (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    An example is given which demonstrates that the multivariable stability margin can be a discontinuous function of frequency. A method which checks for robustness without a frequency search and thus alleviates the associated difficulties is proposed. It is shown that robustness can be verified by solving only one multivariable stability margin problem, readily constructed from a state-space realiza... View full abstract»

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  • Global tunability of one-dimensional SISO systems

    Publication Year: 1992, Page(s):1605 - 1608
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    It is shown by example that with a suitably defined certainty equivalence controller ΣR, it is possible to make a closed-loop parameterized system Σ tunable on its entire parameter space P, even though P may contain points at which the parameterized ΣD, upon which ΣR's definition is based, is not stabilizable. The implications of this discov... View full abstract»

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  • On the robustness of LQ regulators for discrete-time systems

    Publication Year: 1992, Page(s):1564 - 1568
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    A sufficient condition for quadratic stabilizability of uncertain linear discrete-time systems using LQ regulators is presented. The true system is represented by a nominal model plus additive terms representing the most common types of uncertainties in the state and input matrices. Sufficient robustness bounds as well as a robustification procedure for discrete-time LQ regulators are presented an... View full abstract»

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  • Kalman decomposition for implicit linear systems

    Publication Year: 1992, Page(s):1509 - 1514
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    The Kalman decomposition for a general class of implicit systems is introduced and studied. The properties of strong reachability, observability, acceptance of all inputs and outer sequences, output-uniqueness, uniqueness, and trajectory observability of the original system are related to the properties of its subsystems obtained via the Kalman decomposition. The problems of transfer relation, reg... View full abstract»

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  • Control of linear discrete-time periodic systems: a decentralized control approach

    Publication Year: 1992, Page(s):1644 - 1648
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    A decentralized control technique is applied to the problem of periodic output feedback, stabilization or pole-assignment for a periodically time-varying discrete-time system. It is shown that the problem can be reduced to that of stabilizing or pole-assigning a general proper multichannel system by static output feedback on the basis of the equivalence between periodic systems and a class of line... View full abstract»

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  • On stabilizability and sampling for infinite dimensional systems

    Publication Year: 1992, Page(s):1653 - 1656
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB)

    Some questions, either motivated by or related to time sampling, regarding the stabilizability of infinite-dimensional or distributed parameter systems are considered. In particular, these include the characteristics of those systems which are finite rank stabilizable, and the preservation of stabilizability under sampling. A pathological class of systems, which, when sampled, may be rendered unst... View full abstract»

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  • Upper and lower bounds of Gramian for a class of perturbed linear systems

    Publication Year: 1992, Page(s):1659 - 1661
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (240 KB)

    A bound on the system Gramian under perturbations of an A-matrix in the state space representation is derived. For a class of perturbations, both upper and lower bounds are obtained by solving algebraic Riccati equations View full abstract»

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  • Extensions and generalizations of smoothed perturbation analysis in a generalized semi-Markov process framework

    Publication Year: 1992, Page(s):1483 - 1500
    Cited by:  Papers (31)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1436 KB)

    Under a very general framework, both in terms of finite-time performance measures and system structure, the authors derive smoothed perturbation analysis (SPA) estimators and prove their unbiasedness. The commuting condition, which has been key in previous work, is not required a priori, and thus the framework includes such systems as the GI/G/1/K queue and multiclass queueing networks, which do n... View full abstract»

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  • A microcomputer implementation of multivariable factorization theory

    Publication Year: 1992, Page(s):1631 - 1634
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    Factorization theory forms the basis of a powerful new method for the design of linear control systems. Techniques which simplify the implementation of this approach are examined: in particular, it is shown that under certain conditions, the multivariable design problem may be divided into a number of smaller independent subproblems. A microcomputer design system employing these techniques has bee... View full abstract»

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  • Stability of interval matrices: the real eigenvalue case

    Publication Year: 1992, Page(s):1604 - 1605
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (196 KB)

    C.V. Hollot and A.C. Bartlett (1987) showed that testing at most 2 to the n2 certain matrices for stability is sufficient for verifying stability of an n×n interval matrix with real eigenvalues. It is proven that this upper bound can be reduced to 22n-1, and a special case where testing only two matrices is needed is considered View full abstract»

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  • Robust stability of multivariable systems with both real parametric and norm bounded uncertainties

    Publication Year: 1992, Page(s):1533 - 1537
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    The robust stability of a multivariable system with both structured real parametric and unstructured norm bounded uncertainties is considered. It is shown that if the real parametric uncertainty enters only linearly and independently into the numerator matrix and the denominator characteristic polynomial, then the robust stability (or stability margin) can be tested (or calculated) exactly. It is ... View full abstract»

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  • An improved covariance assignment theory for discrete systems

    Publication Year: 1992, Page(s):1588 - 1591
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    For discrete systems, the set of all state covariances X which can be assigned to the closed-loop system via a dynamic controller is characterized explicitly. For any assignable state covariance X , the set of all controllers that assign this X to the closed-loop system is parameterized with an arbitrary orthonormal matrix U of proper dimension View full abstract»

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  • On the analysis of eigenvalue assignment robustness

    Publication Year: 1992, Page(s):1561 - 1564
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    The robust eigenvalue assignment of systems subject to parameter perturbations is addressed. Based on some essential properties of induced norms and matrix measures, the authors derive some sufficient conditions which ensure the assignment of the system's eigenvalues in the specified region irrespective of the system perturbations. The robustness bounds for eigenvalue assignment are obtained witho... View full abstract»

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  • Computing an optimum direction in control space to avoid stable node bifurcation and voltage collapse in electric power systems

    Publication Year: 1992, Page(s):1616 - 1620
    Cited by:  Papers (111)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (504 KB)

    Given a load power forecast, the sensitivity with respect to controls of a load power margin measuring proximity to voltage collapse is computed. The computation is simple enough to contribute to the practical planning and control of a power system to avoid voltage collapse blackouts. The computation applies to avoiding saddle node bifurcation instability of a general dynamical system View full abstract»

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  • Coprime matrix fraction description via orthogonal structure theorem

    Publication Year: 1992, Page(s):1517 - 1520
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    An algorithm to compute the coprime matrix fraction description from a given transfer function matrix W(s) is presented. The algorithm is based on Householder transformations to compute the minimal realization of W(s) and on the orthogonal version of the structure theorem of W.A. Wolovich (1974) and of Wolovich and P.L. Falb (1969) to determine the coprime form.... View full abstract»

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  • A method for verifying sector conditions in nonlinear discrete-time control systems

    Publication Year: 1992, Page(s):1505 - 1509
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (364 KB)

    The stability of a discrete feedback system with a continuous broken-line nonlinearity is considered. Many nonlinearities in practice are included in this class. Sufficient conditions for this type of nonlinear feedback system to be asymptotically stable in the large are developed using the contraction mapping theory. It is then shown that Kalman's conjecture (1957) for a feedback system with a se... View full abstract»

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  • On finite precision Lyapunov functions for companion matrices

    Publication Year: 1992, Page(s):1640 - 1644
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    The finite precision stability of a discrete-time system realized in companion form is shown to be closely connected to a positive real character of a related all-pole-minus-one-half transfer function. This is shown as a consequence of some novel characterizations of solutions to a Lyapunov equation for companion matrices. The results are of practical significance as companion matrix state recursi... View full abstract»

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  • Optimal L bounds for disturbance robustness

    Publication Year: 1992, Page(s):1568 - 1572
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (348 KB)

    Robust disturbance rejection bounds obtained recently by Zhu et al. are tight with respect to the disturbance set that has a specified L2 norm bound. It is shown that the bounds are also tight with respect to a weighted L2 disturbance set that has a specified bound on its outer product by choosing a special weight matrix in the L2 norm. T... View full abstract»

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  • Structure of the time-optimal control law for multiple arms handling a common object along specified paths

    Publication Year: 1992, Page(s):1648 - 1652
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (468 KB)

    The structure of the time-optimal control law for multiple robot arms cooperatively moving a common object along a specified path with the control torque constraints is addressed. The overall mechanical system is modeled by considering the arms as closed kinematic chains using the Lagrange formulation. This results in a reduced-order dynamic model of the multi-arm system. By parameterizing the res... View full abstract»

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  • Robust stability of delay dependence for linear uncertain systems

    Publication Year: 1992, Page(s):1656 - 1659
    Cited by:  Papers (147)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (292 KB)

    A sufficient condition for the stability of the linear uncertain time-delay systems is presented. The result obtained can include information on the size of the delay, and therefore can be a delay-dependent stability condition. The Lyapunov method is employed to investigate the problem. The result is demonstrated by an illustrative example View full abstract»

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  • Note on `distributed scheduling based on due dates and buffer priorities' by S.H. Lu and P.R. Kumar

    Publication Year: 1992, Page(s):1661 - 1662
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (156 KB)

    In the above-titled paper by Lu and Kumar (ibid., vol.36. no.12, pp.1406-1416, Dec 91), the issue of stability of a scheduling policy for a system with reentrant structure is studied. It has been shown that whenever the arrival rate, allowing for some burstiness, is less than the system capacity, the following four scheduling policies are stable: first buffer first serve, last buffer first serve, ... View full abstract»

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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