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Automatic Control, IEEE Transactions on

Issue 6 • Date June 2004

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Displaying Results 1 - 25 of 33
  • Table of contents

    Publication Year: 2004 , Page(s): c1 - c4
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  • IEEE Transactions on Automatic Control publication information

    Publication Year: 2004 , Page(s): c2
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  • Scanning the issue

    Publication Year: 2004 , Page(s): 865
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  • An almost global notion of input-to-State stability

    Publication Year: 2004 , Page(s): 866 - 874
    Cited by:  Papers (32)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (296 KB) |  | HTML iconHTML  

    A new definition of almost global input-to-state stability for systems on differentiable manifolds is discussed. Some of its properties are investigated and specific examples are shown which can be treated by means of dual Lyapunov techniques. View full abstract»

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  • On uniform asymptotic stability of time-varying parameterized discrete-time cascades

    Publication Year: 2004 , Page(s): 875 - 887
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (376 KB) |  | HTML iconHTML  

    Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper, we develop novel tools that can be used within this framework and that are useful for tracking problems. In particular, results for stability analysis of parameterized time-varying discrete-time cascaded systems are given. This class of models arises naturally when one uses an approximate discrete-time model to design a stabilizing or tracking controller for a sampled-data plant. While some of our results parallel their continuous-time counterparts, the stability properties that are considered, the conditions that are imposed, and the the proof techniques that are used, are tailored for approximate discrete-time systems and are technically different from those in the continuous-time context. A result on constructing strict Lyapunov functions from nonstrict ones that is of independent interest, is also presented. We illustrate the utility of our results in the case study of the tracking control of a mobile robot. This application is fairly illustrative of the technical differences and obstacles encountered in the analysis of discrete-time parameterized systems. View full abstract»

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  • A dynamical trajectory-based methodology for systematically computing multiple optimal solutions of general nonlinear programming problems

    Publication Year: 2004 , Page(s): 888 - 899
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (432 KB) |  | HTML iconHTML  

    In this paper, a novel dynamical trajectory-based methodology is developed for systematically computing multiple local optimal solutions of general nonlinear programming problems with disconnected feasible components satisfying nonlinear equality/inequality constraints. The proposed methodology, deterministic in nature, exploits trajectories of two different nonlinear dynamical systems to find multiple local optimal solutions. The methodology consists of two phases: Phase I starts from an arbitrary (infeasible) initial point and finds systematically multiple or all the disconnected feasible components; Phase II finds an adjacent local optimal solution from a local optimum via a decomposition point, thereby systematically locating multiple local optimal solutions which lie within each feasible component found in Phase I. By alternating between these two phases, the methodology locates multiple or all the local optimal solutions which lie in all the disconnected feasible components. A theoretical foundation for the proposed methodology is also developed. The methodology is illustrated with a numerical example with promising results. View full abstract»

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  • Model predictive control of continuous-time nonlinear systems with piecewise constant control

    Publication Year: 2004 , Page(s): 900 - 906
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (224 KB) |  | HTML iconHTML  

    A new model predictive control (MPC) algorithm for nonlinear systems is presented. The plant under control, the state and control constraints, and the performance index to be minimized are described in continuous time, while the manipulated variables are allowed to change at fixed and uniformly distributed sampling times. In so doing, the optimization is performed with respect to sequences, as in discrete-time nonlinear MPC, but the continuous-time evolution of the system is considered as in continuous-time nonlinear MPC. View full abstract»

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  • A recursive deconvolution approach to disturbance reduction

    Publication Year: 2004 , Page(s): 907 - 921
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (384 KB) |  | HTML iconHTML  

    Active noise control (ANC) uses an estimate of the noise affecting a system in order to remove its effect from the output. In some applications, it is possible to directly measure the noise and a feedforward compensator can be used. Other applications require instead that the noise be estimated from its effect on the system. This results in an adaptive feedback ANC, see a previous paper by Gan and Kuo. The identification of the disturbance from the output of the linear system is a deconvolution problem. In this paper, we study a deconvolution technique for the active reduction of the influence of the disturbance on the output of a linear control system. The regulator that we present does not affect the behavior of the system in the absence of disturbances. View full abstract»

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  • Simplex methods for nonlinear uncertain sliding-mode control

    Publication Year: 2004 , Page(s): 922 - 933
    Cited by:  Papers (23)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    We develop a new analysis of the behavior of simplex control methods applied to multiple-input-multiple-output nonlinear control systems under uncertainties. According to such sliding-mode control methods the control vector is constrained to belong to a finite set of (fixed or varying) vectors, with an appropriate switching logic to guarantee the specified sliding condition. Bounded uncertainties acting on the nominal system are allowed. The proposed sliding control methodology relies on the knowledge of the nominal system only. We prove rigorously the convergence of these methods to the sliding manifold in a finite time under explicit quantitative conditions on the system parameters and the available bounds of the uncertainty. Application to a robotic problem is discussed and a nonlinear example is presented. View full abstract»

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  • Failure diagnosis of discrete-event systems with linear-time temporal logic specifications

    Publication Year: 2004 , Page(s): 934 - 945
    Cited by:  Papers (53)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (328 KB) |  | HTML iconHTML  

    The paper studies failure diagnosis of discrete-event systems (DESs) with linear-time temporal logic (LTL) specifications. The LTL formulas are used for specifying failures in the system. The LTL-based specifications make the specification specifying process easier and more user-friendly than the formal language/automata-based specifications; and they can capture the failures representing the violation of both liveness and safety properties, whereas the prior formal language/automaton-based specifications can capture the failures representing the violation of only the safety properties (such as the occurrence of a faulty event or the arrival at a failed state). Prediagnosability and diagnosability of DESs in the temporal logic setting are defined. The problem of testing prediagnosability and diagnosability is reduced to the problem of model checking. An algorithm for the test of prediagnosability and diagnosability, and the synthesis of a diagnoser is obtained. The complexity of the algorithm is exponential in the length of each specification LTL formula, and polynomial in the number of system states and the number of specifications. The requirement of nonexistence of unobservable cycles in the system, which is needed for the diagnosis algorithms in prior methods to work, is relaxed. Finally, a simple example is given for illustration. View full abstract»

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  • Analysis of second-order sliding-mode algorithms in the frequency domain

    Publication Year: 2004 , Page(s): 946 - 950
    Cited by:  Papers (56)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB) |  | HTML iconHTML  

    A frequency domain analysis of the second-order sliding-mode algorithms, particularly of the twisting algorithm is carried out in the frequency domain with the use of the describing function method and Tsypkin's approach. It is shown that in the presence of an actuator, the transient process may converge to a periodic motion. Parameters of this periodic motion are analyzed. A comparison of the periodic solutions in the systems with higher order sliding-mode controllers and the oscillations that occur in classical sliding-mode systems with actuators is done. View full abstract»

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  • Stability analysis for linear systems under State constraints

    Publication Year: 2004 , Page(s): 950 - 955
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (256 KB) |  | HTML iconHTML  

    This note revisits the problem of stability analysis for linear systems under state constraints. New and less conservative sufficient conditions are identified under which such systems are globally asymptotically stable. Based on these sufficient conditions, iterative linear matrix inequality (LMI) algorithms are proposed for testing global asymptotic stability of the system. In addition, these iterative LMI algorithms can be adapted for the design of globally stabilizing state feedback gains. View full abstract»

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  • Power spectral analysis of networked control systems with data dropouts

    Publication Year: 2004 , Page(s): 955 - 959
    Cited by:  Papers (47)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (248 KB) |  | HTML iconHTML  

    This note derives a closed-form expression for a control system's output power spectral density (PSD) as a function of the data dropout probability. We use the PSD to determine a dropout compensator that minimizes the regulator's output power. We show, by example, that the optimal dropout compensator does not always correspond to a filter that minimizes the mean square error between the predicted and dropped feedback measurement. View full abstract»

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  • Necessary and sufficient conditions for controllability and observability of switched impulsive control systems

    Publication Year: 2004 , Page(s): 960 - 966
    Cited by:  Papers (46)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (320 KB) |  | HTML iconHTML  

    Many practical systems in physics, biology, engineering, and information science exhibit impulsive dynamical behaviors due to abrupt changes at certain instants during the dynamical processes. This note first introduces the impulsive behavior into switched linear systems and studies the controllability and observability of such systems. Necessary and sufficient criteria for reachability and controllability are established. It is proved that reachability is equivalent to controllability for such systems. Then, necessary and sufficient criteria for observability and determinability of such systems are established by duality. It is also proved that observability is equivalent to determinability. Our criteria are of geometric type, they can be transformed into algebraic form conveniently. Finally, a numerical example is given to illustrate the utility of our criteria. View full abstract»

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  • A remark on inseparability of min-max systems

    Publication Year: 2004 , Page(s): 967 - 970
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (192 KB) |  | HTML iconHTML  

    Min-max systems, or min-max-plus systems are algebraic models of discrete-event dynamic systems. They are nonlinear extensions of the well known linear max-plus system models. The structural property "inseparability" of min-max systems was proposed by us in a recent paper. It turns out that inseparability is equivalent to the property of "irreducibility" proposed recently by van der Woude and Subiono, although the two properties appear in very different forms. We will prove this fact here. View full abstract»

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  • Regularized robust filters for time-varying uncertain discrete-time systems

    Publication Year: 2004 , Page(s): 970 - 975
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (360 KB) |  | HTML iconHTML  

    This note develops robust filters for time-varying uncertain discrete-time systems. The developed filters are based on a data regularization solution and they enforce a minimum state-error variance property. Simulation results confirm their superior performance over other robust filter designs. View full abstract»

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  • Pricing and congestion management in a network with heterogeneous users

    Publication Year: 2004 , Page(s): 976 - 981
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (248 KB) |  | HTML iconHTML  

    This note presents an economic model for a communication network with utility-maximizing elastic users who adapt to congestion by adjusting their flows. Users are heterogeneous with respect to both the utility they attach to different levels of flow and their sensitivity to delay. Following Kelly et al. (1998), we introduce dynamic rate-control algorithms, based on the users' utility functions and delay sensitivities, as well as tolls charged by the system, and examine the behavior of these algorithms. We show that allowing heterogeneity with respect to delay sensitivity introduces a fundamental nonconvexity into the congestion-cost functions. As a result, there are often multiple stationary points of the aggregate net utility function. Hence, marginal-cost pricing-equating users' marginal utilities to their marginal costs-may identify a local maximum or even a saddle point, rather than a global maximum. Moreover, the dynamic rate-control algorithm may converge to a local rather than global maximum, depending on the starting point. We present examples with different user utility functions, including some in which the only interior stationary point is a saddlepoint which is dominated by all the single-user optimal allocations. We also consider variants of the dynamic algorithm and their performance in a network with heterogeneous users. Our results suggest that applying a rate-control algorithm such as TCP (Transmission Control Protocol), even when augmented by some form of implicit or explicit pricing, may have unexpected and perhaps undesirable effects on the allocation of flows among heterogeneous delay-sensitive users. View full abstract»

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  • Coordinated collective motion of Groups of autonomous mobile robots: analysis of Vicsek's model

    Publication Year: 2004 , Page(s): 981 - 982
    Cited by:  Papers (131)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (392 KB) |  | HTML iconHTML  

    This note gives a qualitative analysis of the dynamics of a system consisting of several mobile robots coordinating their motion using simple local nearest neighbor rules. We show that under some assumptions the headings of all robots will be eventually constant. View full abstract»

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  • Model invalidation in ℓ1 using frequency-domain data

    Publication Year: 2004 , Page(s): 983 - 989
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (328 KB) |  | HTML iconHTML  

    In this note, we study the problem of invalidating uncertain models with an additive uncertainty. The problem is to check the existence of an uncertainty and a measurement noise which fit to the given model structure and the uncertainty/noise description, as well as the experimental data used for invalidation. We consider a mixed setting in which the uncertainty is characterized in time domain by the ℓ1 induced system norm, while the available data are frequency response samples of the system. We show that this problem, which by formulation poses an infinite-dimensional primal optimization problem, can be solved in a dual, finite-dimensional space with finitely many constraints. View full abstract»

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  • Common Lyapunov functions and gradient algorithms

    Publication Year: 2004 , Page(s): 990 - 994
    Cited by:  Papers (41)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (168 KB) |  | HTML iconHTML  

    This note is concerned with the problem of finding a quadratic common Lyapunov function for a large family of stable linear systems. We present gradient iteration algorithms which give deterministic convergence for finite system families and probabilistic convergence for infinite families. View full abstract»

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  • Optimization of static output feedback using substitutive LMI formulation

    Publication Year: 2004 , Page(s): 995 - 999
    Cited by:  Papers (24)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (208 KB) |  | HTML iconHTML  

    This note proposes a new design tool for optimizing static output feedback using a linear matrix inequality (LMI) formula called substitutive LMI. A matrix inequality derived from static output feedback is not usually linear. Adding a positive definite term including auxiliary variables, the matrix inequality is transformed into an LMI with respect to the positive definite matrix and the static output feedback gain. An iterative calculation algorithm is given to solve the substitutive LMI. In this note, designs of the static output feedback gain are shown in the frame of H and H2 syntheses. A numerical example is shown to demonstrate the effectiveness of the proposed technique. View full abstract»

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  • Robust model predictive control of singular systems

    Publication Year: 2004 , Page(s): 1000 - 1006
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (264 KB) |  | HTML iconHTML  

    This note is concerned with model predictive control for linear singular systems with time-varying uncertainties. A piecewise constant control sequence is calculated by minimizing the worst-case linear quadratic objective function. At each sample time, the sufficient conditions on the existence of the model predictive control are derived and expressed as linear matrix inequalities. The robust stability of the closed-loop systems is guaranteed by the proposed design method. View full abstract»

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  • Instability of a Tandem network and its propagation under RED

    Publication Year: 2004 , Page(s): 1006 - 1011
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (256 KB) |  | HTML iconHTML  

    The interaction between a random early detection (RED) gateway and transmission control protocol (TCP) connections has been shown to lead to a rich set of nonlinear phenomena in single bottleneck cases. We extend this work and study the interaction of TCP connections with RED gateways in a simple tandem network, using a nonlinear first-order discrete-time model. We demonstrate that the nonlinear behavior of TCP can result in both smooth and nonsmooth bifurcations, leading to chaos. We show that the instabilities can be induced at both bottlenecks by changing the system parameters only at one of the bottlenecks while fixing the parameters at the other, thus demonstrating the propagation of instability. Moreover, we show that locally sufficient conditions for stability based on single node analysis are not sufficient for global network stability. View full abstract»

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  • On stabilization of nonstandard singularly perturbed systems with small delays in state and control

    Publication Year: 2004 , Page(s): 1012 - 1016
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (224 KB) |  | HTML iconHTML  

    A nonstandard singularly perturbed linear time-invariant system with a general type of small delay in state and control variables is considered. Two much simpler parameter-free systems (the reduced-order and the boundary-layer ones), associated with the original system, are introduced. Since the original system is nonstandard, the reduced-order one is descriptor (differential-algebraic). A composite feedback control exponentially stabilizing the original system is constructed based on stabilizing controls of the reduced-order and boundary-layer systems. An illustrative example is presented. View full abstract»

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  • Necessary and sufficient conditions for componentwise stability of interval matrix systems

    Publication Year: 2004 , Page(s): 1016 - 1021
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (272 KB) |  | HTML iconHTML  

    In the asymptotic stability (AS) analysis of interval matrix systems, some results are available that operate only as sufficient conditions, based on a unique test matrix, adequately built from the interval matrix. Our note reveals the complete role of this test matrix for fully characterizing the componentwise asymptotic stability (CWAS) of interval matrix systems. CWAS is a special type of AS which ensures the flow invariance of certain time-dependent sets with respect to the state-space trajectories. Hence, the sufficient conditions for AS get a new and deeper meaning by their reformulation as necessary and sufficient conditions with respect to the stronger property of CWAS. 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