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Automatic Control, IEEE Transactions on

Issue 4 • Date April 1999

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Displaying Results 1 - 25 of 37
  • A Converse Lyapunov Theorem for a Class of Dynamical Systems which Undergo Switching

    Publication Year: 1999 , Page(s): 751 - 760
    Cited by:  Papers (216)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (458 KB)  

    The authors investigate the stability of a system in which the dynamics at any instant in time will follow one of a fixed set of vector fields. They allow switching between members of the family of vector fields to be completely random. The focus of this paper is to prove a converse Lyapunov theorem for this class of systems. View full abstract»

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  • Corrections to "A Method for the Synthesis of Controllers to Handle Safety, Liveness, and Real-Time Constraints" and "Tracking in Clutter with Strongest Neighbor Measurements - Part I: Theoretical Analysis"

    Publication Year: 1999 , Page(s): 886
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (32 KB)  

    Summary form only given. In the November 1998 issue, two recommending editors' names were unintentionally omitted. The information is as follows. The paper "A Method for the Synthesis of Controllers to Handle Safety, Liveness, and Real-Time Constraints," by Barbeau et al. (1998), was recommended by Associate Editor, F. Lin. In addition, the paper "Tracking in Clutter with Strongest Neighbor Measurements??Part I: Theoretical Analysis," by Li (1998), was recommended by Associate Editor, J. Spall. View full abstract»

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  • Advances in Aircraft Flight Control [Book Review]

    Publication Year: 1999 , Page(s): 887 - 889
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    Freely Available from IEEE
  • A globally convergent frequency estimator

    Publication Year: 1999 , Page(s): 698 - 713
    Cited by:  Papers (117)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (600 KB)  

    Online estimation of the frequency of a sinusoidal signal is a classical problem in systems theory that has many practical applications. In this paper the authors provide a solution to the problem of ensuring a globally convergent estimation. More specifically, they propose a new adaptive notch filter whose dynamic equations exhibit the following remarkable features: 1) all signals are globally bounded and the estimated frequency is asymptotically correct for all initial conditions and all frequency values; 2) the authors obtain a simple tuning procedure for the estimator design parameters, which trades-off the adaptation tracking capabilities with noise sensitivity, ensuring (exponential) stability of the desired orbit; and 3) transient performance is considerably enhanced, even for small or large frequencies, as witnessed by extensive simulations. To reveal some of the stability-instability mechanisms of the existing algorithms and motivate our modifications the authors make appeal to a novel nonlinear (state-dependent) time scaling. The main advantage of working in the new time scale is that they remove the coupling between the parameter update law and the filter itself, decomposing the system into a feedback form where the required modifications to ensure stability become apparent. Even though they limit their attention here to the simplest case of a single constant frequency without noise the algorithm is able to track time-varying frequencies, preserve local stability in the presence of multiple sinusoids, and is robust with respect to noise View full abstract»

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  • Modeling and analysis of timed Petri nets using heaps of pieces

    Publication Year: 1999 , Page(s): 683 - 697
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (732 KB)  

    The authors show that safe timed Petri nets can be represented by special automata over the (max, +) semiring, which compute the height of heaps of pieces. This extends to the timed case the classical representation a la Mazurkiewicz of the behavior of safe Petri nets by trace monoids and trace languages. For a subclass including all safe free-choice Petri nets, we obtain reduced heap realizations using structural properties of the net (covering by safe state machine components). The authors illustrate the heap-based modeling by the typical case of safe jobshops. For a periodic schedule, the authors obtain a heap-based throughput formula, which is simpler to compute than its traditional timed event graph version, particularly if one is interested in the successive evaluation of a large number of possible schedules View full abstract»

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  • Stochastic stability of the discrete-time extended Kalman filter

    Publication Year: 1999 , Page(s): 714 - 728
    Cited by:  Papers (131)  |  Patents (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (492 KB)  

    The authors analyze the error behavior for the discrete-time extended Kalman filter for general nonlinear systems in a stochastic framework. In particular, it is shown that the estimation error remains bounded if the system satisfies the nonlinear observability rank condition and the initial estimation error as well as the disturbing noise terms are small enough. This result is verified by numerical simulations for an example system View full abstract»

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  • Decomposition and approximation of periodic systems

    Publication Year: 1999 , Page(s): 858 - 863
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (284 KB)  

    This paper proposes a decomposition of periodically time-varying systems in an attempt to reduce the often overwhelming number of modeling parameters involved. In many cases it would be possible to represent the system using only a few of those components. An a priori bound on the approximation error is derived in terms of the smoothness of the system parameters. Both continuous and discrete-time systems are considered View full abstract»

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  • Command governors for constrained nonlinear systems

    Publication Year: 1999 , Page(s): 816 - 820
    Cited by:  Papers (35)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB)  

    A method is described for set-point tracking in nonlinear systems when pointwise-in-time input and/or state inequality constraints are to be enforced. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point, and prescribed constraints. The CG selects at any time the system input via a receding-horizon strategy from a virtual sequence amongst all possible command sequences by solving a constrained quadratic optimization problem. Provided that the initial state is admissible, the overall system is proved to fulfil the constraints and have desirable performance stability properties View full abstract»

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  • Bounds on achievable performance in the identification and adaptive control of time-varying systems

    Publication Year: 1999 , Page(s): 670 - 682
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (520 KB)  

    Treats the identification and adaptive control of time-varying linear systems. For linear systems with a Gauss-Markov parameter process a global lower bound on the mean square error is obtained which is valid for any causal parameter estimator. A similar lower bound is obtained for any causal, one step-ahead predictor. These bounds are applied to the adaptive control of time-varying systems to obtain a lower bound on closed-loop mean square performance for any causal control law. For a specific control law, mean square stability is established, and through simulations it is seen that the performance nearly meets the theoretical lower bound View full abstract»

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  • On LMI formulations of some problems arising in nonlinear stochastic system analysis

    Publication Year: 1999 , Page(s): 813 - 816
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB)  

    This work involves formulation of some problems arising in the analysis of a class of discrete-time nonlinear stochastic systems in terms of linear matrix inequalities. This allows one to utilize a wide variety of numerical techniques available for tackling both the feasibility problem and the actual numerical solution in an efficient manner View full abstract»

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  • Optimal average cost manufacturing flow controllers: convexity and differentiability

    Publication Year: 1999 , Page(s): 779 - 783
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    The authors consider the control of a production facility consisting of a single workstation with multiple failure modes and part types using a continuous flow control model. Technical issues concerning the convexity and differentiability of the differential cost function are investigated. It is proven that under an optimal control policy the differential cost is C1 on attractive control switching boundaries View full abstract»

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  • Minimum phase properties for input nonaffine nonlinear systems

    Publication Year: 1999 , Page(s): 868 - 872
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (212 KB)  

    For input nonaffine nonlinear control systems, the minimum phase property of the system in general depends on the control law. Switching or discontinuous controllers may offer advantages in this context. In particular, there may not exist a continuous control law which would keep the output identically equal to zero and for which the zero output constrained dynamics are locally stable, whereas a discontinuous controller which achieves this exists. For single-input/single-output input nonaffine nonlinear systems we give sufficient conditions for existence, and present a method for the design of discontinuous switching controllers which yield locally stable zero dynamics View full abstract»

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  • Noninteracting control via static measurement feedback for nonlinear systems with relative degree

    Publication Year: 1999 , Page(s): 774 - 779
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (292 KB)  

    In this paper the author gives a necessary and sufficient geometric condition for achieving noninteraction via static measurement feedback for nonlinear systems with vector relative degree. The analysis relies on the theory of connections and as a result gives systematic procedures for constructing a decoupling feedback law View full abstract»

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  • Robustness and performance of an indirect adaptive control scheme in presence of bounded disturbances

    Publication Year: 1999 , Page(s): 789 - 793
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (196 KB)  

    Robustness and performances in the presence of disturbances of an indirect adaptive control scheme driven by the prediction error which is designed by organizing a sliding mode are examined in this paper. A new idea for performance improvement in the presence of disturbances is presented. The idea is applied to plants with unknown relative degree. It is proved that the proposed scheme can provide arbitrarily improved transient performances. The results are confirmed by simulation View full abstract»

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  • A Popov criterion for systems with slowly time-varying parameters

    Publication Year: 1999 , Page(s): 844 - 846
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (180 KB)  

    A Popov criterion is derived for systems with slowly time-varying parameters. The parameters and their time derivatives are assumed to take values in convex polytopes View full abstract»

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  • The solution of an affine problem and its application in control

    Publication Year: 1999 , Page(s): 826 - 829
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (172 KB)  

    An optimization problem with an affine feasible set is studied. By converting the affine set to a closed convex set which contains the solution, the Meyer-Polak algorithm can be used. The selection of the constraints is the key issue. A theorem has been derived for the selection of the constraints for the affine problem where the cost function is of p-norm form. Its application in a control problem is demonstrated View full abstract»

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  • Parametric H loopshaping and weighted mixed sensitivity minimization

    Publication Year: 1999 , Page(s): 846 - 852
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (300 KB)  

    Generalized H loopshaping is developed for a particular weighted mixed sensitivity minimization task. A free parameter is introduced to tradeoff minimizations of sensitivity and complementary sensitivity in the H performance index. A quadratically convergent algorithm is derived for computing the optimal performance index, and a state-space solution is obtained for suboptimal controllers. These results are applicable to stabilization of uncertain systems where normalized coprime factors involve parametrically weighted H norm-bounded perturbations. Controller reduction is also investigated for the parametric H loopshaping. Robust stability condition for using the reduced-order controller is established, and an estimate for the associated H performance is obtained. Similar results are derived for normalized linear quadratic Gaussian (LQG) control View full abstract»

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  • Robust control of uncertain nonlinear systems via measurement feedback

    Publication Year: 1999 , Page(s): 807 - 812
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (228 KB)  

    The authors consider the problem of robust control via measurement feedback for a class of uncertain nonlinear systems. Usual assumptions like triangularity conditions and global Lipschitzness used in previous work on this topic are not imposed. The key tool employed in the constructive control design procedure is the recent small (nonlinear) gain theorem which has already proved very powerful in solving diverse control problems View full abstract»

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  • Application of Laplace transformation for digital redesign of continuous control systems

    Publication Year: 1999 , Page(s): 883 - 886
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (156 KB)  

    A frequency method of optimal digital re-design of an existing continuous-time system by a quadratic criterion is presented. The method is based on the use of Laplace transformation in continuous time and a parametrization of the set of admissible controllers. The proposed technique makes it possible to solve the optimization problem directly by employing input-output relations without an auxiliary passage to the state space. With such an approach the synthesis procedure is often greatly simplified. The method has the important feature that pure delays in the digital redesigned system can be taken into account in a simple way. It is shown that the presented method can be generalized onto different LQ-optimization problems for sampled-data systems View full abstract»

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  • A recursive algorithm for ARMAX model identification in closed loop

    Publication Year: 1999 , Page(s): 840 - 843
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (140 KB)  

    The joint problem of the recursive estimation of an optimal predictor for the closed-loop system and the unbiased parameter estimation of an ARMAX plant model in closed-loop operation is considered. A special reparameterized optimal predictor for the closed-loop is introduced. This allows a parameter estimation algorithm for the plant model to be derived which is globally asymptotically stable in a deterministic environment and gives asymptotically unbiased parameters estimates under richness conditions View full abstract»

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  • Frequency-domain optimization for robust fault detection and isolation in dynamic systems

    Publication Year: 1999 , Page(s): 878 - 882
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (204 KB)  

    The paper deals with the design of optimal filters for fault detection and isolation (FDI) in dynamic systems. The proposed method, involving the generation of directional residuals derived from system's input-output description model, facilitates the enhancement of robustness even in cases where it is impossible to decouple fault effect from system perturbations. The proposed solution is based on the optimization of a performance index in the frequency domain. The resulting detection filter is capable of maximizing the effect of faults while minimizing the influence of disturbances View full abstract»

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  • Exact filters for doubly stochastic AR models with conditionally Poisson observations

    Publication Year: 1999 , Page(s): 794 - 798
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB)  

    The authors derive exact filters for the state of a doubly stochastic auto-regressive (AR) process with parameters which vary according to a nonlinear function of a Gauss-Markov process. The observations consist of a discrete-time Poisson process with rate a positive function of the Gauss-Markov process. The dimension of the sufficient statistic increases linearly with the number of observed events View full abstract»

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  • On primary output estimation by use of secondary measurements as input signals in system identification

    Publication Year: 1999 , Page(s): 821 - 825
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (216 KB)  

    In many cases, vital output variables in, e.g., industrial processes cannot be measured online. It is then of interest to estimate these primary variables from manipulated and measured inputs and the secondary output measurements that are available. In order to identify an optimal estimator from input-output data, a suitable model structure must be chosen. The paper compares use of ARMAX and output error (OE) structures in prediction error identification methods, theoretically and through simulations View full abstract»

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  • An exponentially stable adaptive control for force and position tracking of robot manipulators

    Publication Year: 1999 , Page(s): 798 - 802
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (192 KB)  

    The problem of controlling a robot manipulator while the end effector is in contact with an environment of finite but unknown stiffness is considered. An exponentially stable control law is derived starting from a passivity-based position control algorithm. The original position trajectory is scaled along the interaction direction so as to achieve force tracking as well as position tracking along the unconstrained directions. A passivity-based adaptive algorithm is designed to avoid the explicit computation of the scaling factor, which depends on the unknown stiffness of the environment, leading to time-varying PID control actions on the force error View full abstract»

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  • Some qualitative properties of multirate digital control systems

    Publication Year: 1999 , Page(s): 765 - 770
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (292 KB)  

    The authors consider multirate digital control systems which consist of an interconnection of a continuous-time nonlinear plant (described by ordinary differential equations), a digital controller (described by ordinary difference equations) which has quantizers (but is otherwise linear), along with the required interface elements (A/D and D/A converters). The input to the digital controller consists of the multirate sampled output of the plant. In the present paper, the authors show that when quantizer nonlinearities are neglected, then under reasonable conditions (which exclude the critical cases), the stability properties (in the Lyapunov sense) of the trivial solution of a nonlinear multirate digital control system can be deduced from the stability properties of the trivial solution of its linearization. For such systems we also present a result concerning the existence and construction of stabilizing multirate-output digital controllers. In the present paper, the authors also show that the solutions of a multirate digital feedback control system with nonlinear plant and quantizers are uniformly ultimately bounded if the trivial solution of the corresponding linear system consisting of the linearization of the plant and with the quantization removed from the digital controller is asymptotically stable. We also provide a result which compares the response of multirate digital control systems with nonlinear plant and quantizers in the controller with the response of the corresponding nonlinear multirate digital control systems without quantizers in the digital controller 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