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Automatic Control, IEEE Transactions on

Issue 5 • Date May 1988

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Displaying Results 1 - 24 of 24
  • Comments on "Dynamic path planning for a mobile automation with limited information on the environment" [with reply]

    Publication Year: 1988 , Page(s): 511 - 512
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (146 KB)  

    Two path-planning algorithms are presented for the case of an uncertain environment, and a bound for the length of path generated by each algorithm is given. Lucas shows that the least upper bound corresponding to the first algorithm is incorrect, and suggests a revised algorithm which has that upper bound for its generated path lengths. However, Lumelsky et al. points out that the modification by Lucas, which requires the automaton to try to stick to the M-line, would defect the main idea behind the algorithm and thus cannot be accepted.<> View full abstract»

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  • Extensions of infinitesimal perturbation analysis

    Publication Year: 1988 , Page(s): 427 - 438
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1284 KB)  

    An extension of the concept of perturbation analysis (PA) is introduced that can be applied to cases where sample path discontinuity with respect to system parameters has prevented the application of simple PA rules. Both Markov and generalized semi-Markov processes are considered. The robustness of the extended PA is examined and it is found to be sufficiently robust View full abstract»

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  • Damping margins of polynomials with perturbed coefficients

    Publication Year: 1988 , Page(s): 509 - 511
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (248 KB)  

    Considers the polynomial P(s)=t0 Sn+t1 Sn-1 +···+tn where 0<a jtjbj. Recently, V.L. Kharitonov (1978) derived a necessary and sufficient condition for this polynomial to have only zeros in the open left-half plane. Two lemmas are derived to investigate the existence of theorems similar to the theorem of Kharitonov. Using these lemmas, the theorem of Kharitonov is generalized for P(s) to have only zeros within a sector in the complex plane. The aperiodic case is also considered View full abstract»

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  • On a generalized algorithm for the transformation of the input-output model into the state-space model

    Publication Year: 1988 , Page(s): 472 - 474
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (236 KB)  

    A generalised algorithm for transformation from an input-output model into a state-space model, which is also suitable for systems with a nondynamic part, is presented. The algorithm is based on a recently developed fast and accurate method which uses a recursive formula. The derivation of the algorithm is presented and a numerical example is also given. A discrete time invariant linear multivariable and completely observable system given in the canonical state-space form with a nondynamic part are considered View full abstract»

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  • The stability of feedback control with nonlinear saturating actuator: time domain approach

    Publication Year: 1988 , Page(s): 483 - 487
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (320 KB)  

    Sufficient conditions for stability of closed-loop systems with a saturating actuator are derived from the viewpoint of time domain. The Bellman-Gronwall inequality is used to investigate the stability of these systems. Three kinds of controllers are considered to treat this constrained control problem. Finally, an example is given to illustrate the results View full abstract»

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  • A trajectory analysis of near aggregation

    Publication Year: 1988 , Page(s): 474 - 477
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (316 KB)  

    The basic idea of aggregation is that there exists a reduced-order model such that, for an appropriate initial condition, the trajectories of the reduced-order model are linear combinations of the trajectories of the full-order model. The authors study systems which do not aggregate exactly, but which `nearly aggregate'. It is shown that for nearly aggregable systems, there exists a reduced-order model such that, for an appropriate initial condition, the trajectories of the reduced-order model are near a linear combination of the trajectories of the full-order model View full abstract»

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  • Controllability and reconstructibility conditions for 2-D systems

    Publication Year: 1988 , Page(s): 496 - 499
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (336 KB)  

    Necessary and sufficient multi-input/multioutput conditions for local controllability and causal reconstructibility of 2-D systems are presented, which are based on 2-D matrix polynomial equations. The conditions are computationally attractive; only unimodular operations in a Euclidean ring are required. In addition, when testing controllability and/or reconstructibility, one obtains a deadbeat regulator and/or an exact observer as by products View full abstract»

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  • Characterization of allowable perturbations of a closed-loop system with pole-placement controller

    Publication Year: 1988 , Page(s): 466 - 469
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (304 KB)  

    The problem of determining stability of a closed-loop transfer function in the presence of coefficient perturbations is considered. The results of interval polynomial theory are used to characterize the allowable interval of variation View full abstract»

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  • Design of robust controllers for uncertain dynamical systems

    Publication Year: 1988 , Page(s): 487 - 491
    Cited by:  Papers (29)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (356 KB)  

    The general design approach for robust controllers of uncertain dynamical systems is considered. The design approach, utilizing only the bound of uncertainty, can be used to construct various classes of controllers which render the systems practically stable. No statistical information of the uncertainty is required, and the system performance is described in a deterministic manner View full abstract»

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  • CACSD using the state-space L theory-a design example

    Publication Year: 1988 , Page(s): 477 - 479
    Cited by:  Papers (21)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (272 KB)  

    The L optimal control theory is used to achieve singular value loop-shaping design objectives in a multivariable aircraft pitch-axis control design example involving an unstable nonminimum phase plant. Comparison to the frequency-weighted LQG (Linear quadratic Gaussian) design shows that the L theory easily produced a superior design having both higher bandwidth and greater stability margin, with no need for designer interaction for iterative adjustment of weights, than LQG. The design example provides a vivid illustration of how the all-pass property of the L theory enables precise shaping of closed-loop singular-value Bode plots to conform pointwise to prespecified weighting functions View full abstract»

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  • Stability from an operational viewpoint

    Publication Year: 1988 , Page(s): 458 - 460
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (248 KB)  

    The concept of stability for single-input/single-output linear time-invariant plants is reformulated within the framework of Mikusinski's generalized functions and then characterized; each plant is given by convolution with a generalized function called the impulse response. The impulse response of a stable plant is the generalized derivative of a function of bounded variation, and is therefore the sum of three uniquely determined functions: the first being an absolutely integrable function, the second being an absolutely convergent sum of at most countably many delays, and the third being an atomless singular measure, a stochastic phenomenon View full abstract»

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  • n-D polynomial matrix equations

    Publication Year: 1988 , Page(s): 499 - 502
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (356 KB)  

    Linear matrix equations in the ring of polynomials in n indeterminates (n-D) are studied. General- and minimum-degree solutions are discussed. Simple and constructive, necessary and sufficient solvability conditions are derived. An algorithm to solve the equations with general n-D polynomial matrices is presented. It is based on elementary reductions in a greater ring of polynomials in one indeterminate, having as coefficients polynomial fractions in the other n-1 indeterminates, which makes the use of Euclidean division possible View full abstract»

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  • Feedback stabilization and tracking of constrained robots

    Publication Year: 1988 , Page(s): 419 - 426
    Cited by:  Papers (303)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (740 KB)  

    Mathematical models for constrained robot dynamics, incorporating the effects of constraint force required to maintain satisfaction of the constraints, are used to develop explicit conditions for stabilization and tracking using feedback. The control structure allows feedback of generalized robot displacements, velocities, and the constraint forces. Global conditions for tracking, based on a modified computed-torque controller and local conditions for feedback stabilization, using a linear controller, are presented. The framework is also used to investigate the closed-loop properties if there are force disturbances, dynamics in the force feedback loops, or uncertainty in the constraint functions View full abstract»

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  • One more counterexample in n-D systems-unimodular versus elementary operations

    Publication Year: 1988 , Page(s): 502 - 503
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB)  

    By a simple counterexample, it is shown that there are unimodular matrices which cannot be written as products of elementary matrices in the ring of n-D polynomials. As a consequence, some methods for the solution of n-D matrix polynomial equations published recently, which are based on the elementary operations in the ring of n-D polynomials, do not work View full abstract»

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  • Variational calculus for descriptor problems

    Publication Year: 1988 , Page(s): 491 - 495
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (388 KB)  

    The first-order, necessary condition for optimality is derived from a variational argument that involves an ad hoc modification of the Bliss method, resulting in a Hamiltonian characterization in terms of Edx,dt, rather than dx/dt, the former being smoother than the latter. This approach sidesteps the regularity conditions of the Lagrange multiplier theory. Under some mild assumptions, the necessary condition for optimality is also sufficient and the optimal control exists. The numerically relevant result is a generalized eigenvector, inverse-free characterization of optimality View full abstract»

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  • Immersion and immersion by nonsingular feedback of a discrete-time nonlinear system into a linear system

    Publication Year: 1988 , Page(s): 479 - 483
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (468 KB)  

    An analytic discrete-time nonlinear system is considered. Necessary and sufficient conditions for immersion of the system into a linear system are given. Local immersion is defined by nonsingular feedback into a linear system and given necessary and sufficient conditions for this problem. It is shown that a similar approach can also be applied to continuous-time affine nonlinear systems View full abstract»

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  • Near-optimal output feedback regulation of ill-conditioned linear systems

    Publication Year: 1988 , Page(s): 463 - 466
    Cited by:  Papers (4)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (304 KB)  

    A two-time scale approximation for the linear quadratic optimal output feedback regulator program is examined. Necessary conditions for optimality, as well as an algorithm for computing locally near-optimal gains are derived. If it is assumed that the slow and fast subsystem initial conditions are uniformly distributed, optimal gains for the two-time-scale problem provide a second-order approximation to optimal closed-loop performance in the unperturbed system. This is verified with a numerical example View full abstract»

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  • Modeling and analysis of transaction execution in database systems

    Publication Year: 1988 , Page(s): 439 - 447
    Cited by:  Papers (21)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (864 KB)  

    The controlled-generator model of P.J. Ramadge and W.M. Wonham (1988) is used to formulate the concurrent execution of transactions in database systems as a control problem for a partially observed discrete-event dynamical system. The control objectives of this problem (for concurrency control and recovery) and the properties of some important transaction scheduling techniques are characterized in terms of the language generated by the controlled process and in terms of the stage of an ideal complete-information scheduler. Results about the performance of these techniques are presented View full abstract»

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  • Shaping of the output response in a class of linear multivariable systems

    Publication Year: 1988 , Page(s): 457 - 458
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (164 KB)  

    A state feedback controller is designed to regulate, as desired, the output response of minimum-phase linear multivariable square plants with CB having full rank (B: input matrix and C : output matrix). Properties of the controller are given and an example is worked out for illustration View full abstract»

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  • Stabilizability conditions using linear programming

    Publication Year: 1988 , Page(s): 460 - 463
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (260 KB)  

    A necessary condition for feedback stabilizability of a linear system with a controller of fixed order is proposed. The condition is useful for designing low-order regulators and can be easily calculated in the case of single-input or single-output systems by solving a standard linear-programming problem View full abstract»

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  • Vector-channel lattice filters and identification of flexible structures

    Publication Year: 1988 , Page(s): 448 - 456
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (824 KB)  

    A novel derivative of a least-squares lattice filter is presented and applied to the identification of flexible structures. The vector-channel lattice given, derived in an infinite-dimensional history space, without matrix manipulations or geometric arguments, can constrain the autoregressive (AR) coefficients for several outputs to be the same. Numerical results for a simulated flexible structure compare the vector-channel lattice to the standard lattice filter. These results show that the frequencies and damping ratios for the most significant modes can be identified adaptively with lattice filters View full abstract»

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  • A state-space interpretation of simultaneous stabilization

    Publication Year: 1988 , Page(s): 506 - 508
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (236 KB)  

    A state-space interpretation of some previously known results on simultaneous stabilization is given. The results reviewed were obtained using the Yuola lemma View full abstract»

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  • Pole placement by performance criterion modification

    Publication Year: 1988 , Page(s): 469 - 472
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (340 KB)  

    A procedure is presented that modifies the state weighting matrix Q and introduces a degree of relative stability into the original performance criterion to shape the resulting optimal dynamics by positioning the closed-loop eigenvalues along the real axis of the optimal system in the linear-quadratic regulator problem. It is based on the results of the algebraic Riccati equation (ARE) which establish the invariance of certain eigenspaces of the associated Hamiltonian matrix with respect to certain perturbations of Q and the degree of relative stability View full abstract»

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  • Distributed estimation: constraints on the choice of the local models

    Publication Year: 1988 , Page(s): 503 - 506
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (320 KB)  

    The following estimation problem is considered: a coordinator must reconstruct the (global) probability density of a nonlinear random process, conditioned on the noise-corrupted observation history. The coordinator can only access the (local) probability density produced by local processing of the observation history using a (local) model different from the process model. It is shown that if the local model satisfies an algebraic constraint, the coordinator can reconstruct the same conditional density of the state process as the one obtained if the observations were processed using the coordinator (process) model. It is assumed that the random process is a nonlinear stochastic differential equation driven by a Brownian motion, and the observation process is corrupted by additive Brownian motion, which is identically modeled by the coordinator and the local processor 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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Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame