E-LETTER on Systems, Control, and Signal Processing
ISSUE No. 91, March 1, 1996
E-LETTER on Systems, Control, and Signal Processing
ISSUE No. 91, March 1, 1996
E-mail: eletter-request@win.tue.nl
Editors: Anton A. Stoorvogel
Dept. of Mathematics & Computing Science
Eindhoven University of Technology
P.O. Box 513
5600 MB Eindhoven
the Netherlands
Fax +31 40 246 5995
Siep Weiland
Dept. of Electrical Engineering
Eindhoven University of Technology
P.O. Box 513
5600 MB Eindhoven
the Netherlands
Fax +31 40 243 4582
Contents
1. Editorial
2. Personals
3. General announcements
3.1 Web-based Teaching of Controls Systems Laboratory
3.2 Free genetic algorithms software for MatrixX users
3.3 Request for Nifty URLs on Signal Processing and the Internet
3.4 WinCon real-time shell for Simulink
3.5 Lost registration for the ILAS Chemnitz meeting
3.6 SCAD update
4. Positions
4.1 Tenure track pos. Embry-Riddle Aeronautical Un., Daytona Beach
4.2 Tenure track position University of Rochester
4.3 Faculty positions Dept. of Manufacturing Eng. Boston University
4.4 Positions for European network on Discrete Event Systems
4.5 faculty position Dept. Mechanical Engineering Ohio University
5. Books
5.1 "Robust Control: The Parametric Approach" Bhattacharyya,
Chapellat and Keel
5.2 "Introduction to Statistical Signal Processing" Gray, Davisson
5.3 "Numerical solutions of initial-value problems in differential
algebraic equations" Brenan, Campbell, and Petzold
5.4 "Afternotes on Numerical Analysis" Stewart
5.5 "A DSP Primer" Steiglitz
5.6 "Solution manual `robust adaptive control'" Ioannou and Sun
5.7 Ph.D thesis Kapila
5.8 Ph.D.thesis Getz
>>>> PART 2 <<<<
6. Journals
6.1 TOC Automatica 32:1
6.2 TOC SICON 34:2
6.3 TOC IEEE TAC 41:3
6.4 TOC MIC 17:1-2
6.5 TOC LAA 235
6.6 TOC Robotics and Aut. Systems 16:2-4
6.7 TOC SIAM Review 38:1
6.8 TOC European J. on Control
6.9 CFP SBA Controle & Automacao
7. Conferences
7.1 Webpages 35th CDC
7.2 SIAM conference on Sparse Matrices
7.3 CFP VSS'96, Tokyo
7.4 Symp. on Current and Future Directions in Applied Mathematics
7.5 CFP Conf. on Dynamic Games and Applications
7.6 CFP IFAC Symp. SAFEPROCESS '97
7.7 Summer school Bologna
7.8 Workshop on Semidefinite Programming and Interior-Point
Approaches for Combinatorial Optimization Problems
7.9 Colloquium'96 on Automatic Control - Bologna
7.10 Workshop Inf. Theory ITM'96, Haifa
7.11 CFP 34th Annual Conf. on Communication, control and Computing
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* *
* Editorial *
* *
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* *
* Personals *
* *
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Contributed by: Pierre Moulin (moulin@ifp.uiuc.edu)
CHANGE OF ADDRESS
Dear Colleague:
I have moved from Bellcore to join the Electrical and Computer Engineering
Dept. at University of Illinois at Urbana-Champaign as an Assistant Prof.
I also have an appointment with the Beckman Institute
and the Coordinated Science Lab.
My new coordinates are:
Pierre Moulin
University of Illinois
Beckman Institute
405 N. Mathews Ave.
Urbana, IL 61801
tel (217) 244-8366
fax (217) 244-8371
Email: moulin@ifp.uiuc.edu
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Contributed by: Fernando Paganini
CHANGE OF ADDRESS
I have recently moved from Caltech and taken a Postdoctoral position at MIT.
The new address is
LIDS, 35-410,
Massachusetts Institute of Technology,
Cambridge, MA 02139.
Tel: (617) 253-3871
Fax: (617) 258-8553
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* *
* General announcements *
* *
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Contributed by: Jim Henry jhenry@utcvm.utc.edu
Web-based Teaching of Controls Systems Laboratory
You and your friends and students can conduct experiments in controls
systems via the World-Wide Web. Point your graphical web browser at
http://chem.engr.utc.edu
The laboratory system is a single-input, single-output, non-linear
system. The input is the % of full speed to a motor driving a blower.
The output is the pressure (cm-H2O) in the manifold at the blower exit.
The experiments are run under the control and data acquisition software
on a Mac Quadra 950 computer using LabVIEW software.
In the future, 4 or more systems will be added to the web-based lab
server.
A set of system identification experiments can be conducted, the data
generated is made available to you. Experiments include
Constant input value
Step function input
Sine function input
Pulse function input
Custom function input (your design -- available soon)
Two feedback controller tuning experiments can be conducted
Proportional feedback control (available soon)
Proportional-integral feedback control (available soon)
The web site has available a complete lab manual (for the local course)
in Adobe Acrobat format and a set of assignments for the web-course
connected with the lab.
Your comments and suggestions will be appreciated.
Jim Henry
College of Engineering and Computer Science
The University of Tennessee at Chattanooga
phone 1-423-755-4398
fax 1-423-755-5229
email jhenry@utcvm.utc.edu
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Contributed by: K. KrishnaKumar (kkumar@coe.eng.ua.edu)
FREE GENETIC ALGORITHMS SOFTWARE FOR MATRIXX USERS
Dear MatrixX user:
The Department of Aerospace Engineering at the University of Alabama,
Tuscaloosa has created a user friendly Genetic Algorithms software for
the MatrixX platform. This software was developed as part of a research
grant supported by the NASA Lewis research center.
Some of the features are:
1. General
. Menu driven . Options to read parameters . disk file . Keyboard Entry
2. Genetic Algorithm Specific
. Types of GA . Regular (Generational) . Steady State . Micro . Type of
optimization: Maximization or Minimization . Coding . Binary . Logarithmic
. Selection Choices . Tournament; Tournament Size: User selectable . Roulette
Wheel . Ranking . Reproduction . Crossover: 1-n crossover points . Mutation
3. Default Choices
4. User Selectable
. Population Size . Number of Generations . Crossover Rate . Crossover points
. Mutation Rate
5. Save: Saves user entered data for later re-use
6. Graphics
. Plot the evolution of GA learning . Display the best, average, and worst
fitness
Some problems recently solved using GA
1. Simple function optimization
2. LQR-type optimization problems
3. Integrator wind-up protection optimization
4. Controller partitioning optimization
If you are interested in obtaining a copy of the working software with
source code and a user manual, please send an e-mail with your name,
organization, postal address, and a brief description of the possible use
you might have, to:
e-mail: kkumar@coe.eng.ua.edu
Address: Intelligent Control Laboratory
Department of Aerospace Engineering
Box 870280
The university of Alabama
Tuscaloosa, AL 35487-0280.
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Contributed by: Robert M. Gray, Stanford University
Request for Nifty URLs on Signal Processing and the Internet
I will be giving an invited presentation at the International Conference
on Telecommunications in Istanbul in April 1996. The talk will be based
on the NSF workshop and report "Signal Processing for the National
Information Structure" (postscript file available by anonymous ftp to
isl.stanford.edu as pub/gray/reports/nii.ps, also available on the Web
at http://www.ee.gatech.edu/users/215/nii/niireport.html). In addition
to revising, updating, and retitling the report, I would like to
emphasize recent advances and to illustrate examples by interesting
websites with new applications, demonstrations, and novelties involving
signal processing and the the international information structures. I am
collecting these in http://www-isl.stanford.edu/~gray/iii.html. If you
have a nifty URL which demonstrates speech or image or other signal
processing or describes any relevant projects and you would like these
included in the site, please send me email at gray@isl.stanford.edu in
the following format:
short name of web site
a few words of description
If you are curious about the topics or the sorts of things being posted,
you can get a postscript file of the Istanbul talk (prepared in a hurry
when only a few URLs were collected) at the same anonymous ftp site or
an adobe pdf format via the web at
http://www-isl.stanford.edu/~gray/iii.pdf
In general the idea is the role of signal processing in the
international infrastructure, and vice versa.
Thanks in advance for suggestions.
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Contributed by: Quanser Consulting
- WinCon - Runs SIMULINK in REALTIME!
web page: http://www.netaccess.on.ca/~quanser/wincon.htm
WinCon is a Realtime Shell designed to run SIMULINK block diagrams in
realtime
under Windows and allows you to change the block diagram parameters while the
controller is running!
*** Capabilities with SIMULINK ***
- Run SIMULINK Realtime code under Windows
- Change system parameters in Simulink diagram: They change immediately in
the
realtime controller. The controller does not stop at all during the
process.
- Plot any of the "scope" or "workspace" variables of Simulink in realtime.
As
many variables as you want per plot. Open several plot windows. Minimize
them. Save the plot data in a Matlab .m or .mat file for future analysis.
(or perform analysis even while the controller is running!)
Use this feature for off-line parameter estimation, graphs for reports,
performance evaluation etc..
- Save the controller as a WinCon project once you are satisfied with
performance. You can then start WinCon without starting Simulink and run
the controller. If you want to do any changes, simply bring up Simulink
and perform the changes on the diagram. The running controller changes
immediately and accordingly!
- Perform control loops of 1KHz without a hardware clock
- Run controllers up to 2KHz (4 states, 1 output ,
tested on a Pentium / 90 Mhz) using the MultiQ IO board external clock.
*** Capabilities on its own ***
- Run Full State Feedback controllers under Windows
- Write your own Realtime controllers (DLL) and link with WinCon shell
- Run SIMULINK Controllers on PC's that do not have SIMULINK
What you need:
1) from the Mathworks: - MATLAB - SIMULINK - Realtime Workshop
2) From Watcom: Watcom C++ compiler version 10.a or higher
3) Data acquisition board and SIMULINK drivers for it. ( Eg MULTIQ )
4) From Quanser: WinCon
5) Windows 3.1
6) IBM PC compatible computer 486/66 or higher.
Price? $US550.00
Release date: April 1st 1996
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Contributed by: Matthias Bollhoefer
BUG IN THE WWW-REGISTRATION
of the website for the ILAS Chemnitz meeting
Dear colleagues,
I regret that the WWW-registration procedure of our website did not work
due to circumstances beyond our immediate control. Unfortunately all
WWW-registrations which have been made before February 29, 1996 were lost.
Registrations by e-mail were not affected by this bug. If you registered
before February 29, 1996 using WWW, we would ask you to repeat your
registration.
Sorry for the inconvenience.
Matthias Bollh"ofer |phone: (+49) 371 531-2142
Fakult"at f"ur Mathematik |FAX: (+49) 371 531-2657
Technische Universit"at Chemnitz|email: bolle@mathematik.tu-chemnitz.de
D-09107 Chemnitz, GERMANY |URL: http://www.tu-chemnitz.de/~bolle/
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Contributed by Raimund J. Ober
Xu Huang
UPDATE ON SCAD DATABASE -- February 1996
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Systems and Control Archive at Dallas
Worldwide web: URL: http://scad.utdallas.edu/scad/
queries (email): scad@utdallas.edu
New contents:
=============
Eletters: Number 90
=========
Books: Announcement of:
===== Lorenzo Sciavicco and Bruno Siciliano:
Modeling and Control of Robot Manipulators
Education:
=========
A link to ADTX, a Joint Venture with IBM-Japan and working on control
system development for the education area.
Hardware:
========
A link to Quanser Consulting page on WinCon, a realtime shell for
Simulink.
Journals:
========
Link to web site of Journal of Dynamic Systems, Measurement and Control.
Related WWW servers:
===================
ASME - American Society of Mechanical Engineers
ASME - ASME Division Dynamic Systems and Control
Software:
========
CAREX, a benchmark collection for the numerical solution of
continuous-time algebraic Riccati equations.
Modeling and control of robot manipulators toolbox
Systems and Control Groups worldwide:
====================================
University of Bologna,
Laboratory of Automation and Robotics
Theses:
======
PhD. Thesis by Randal Beard. Thesis Title:
"Improving the Closed-Loop Performance of Nonlinear Systems."
SCAD ADDRESS LIST:
==================
Recently we have started an address list for systems
and control people.
More than 610 people have added their addresses to the list.
To register your, simply:
- go to SCAD using the web
- go to the ADDRESS LIST link
- click: add your address
- fill in the form.
You can check out addresses by using the search facility or
by scanning through the full list.
!!!!!!!!!!! PLEASE, Add your Address to the SCAD ADDRESS LIST !!!!!!!!!!!
How to access scad:
===================
Using Worldwide Web:
URL: http://scad.utdallas.edu/scad/
More detailed instructions can be obtained by sending an email to
scad@utdallas.edu
After accessing SCAD you can find a README file which contains
more information about SCAD.
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* Positions *
* *
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Contributed by: Massood Towhidnejad
EMBRY-RIDDLE AERONAUTICAL UNIVERSITY
Department of Computer Science
Daytona Beach, Florida 32114
TEL: (904)-226-6690
FAX: (904)-226-6678
The Department of Computer Science invites applications for a
tenure-track position at the Associate Professor/Professor level.
The position will begin in August 1996. Candidates must have a
Ph.D. in a computing discipline (or a masters degree with
significant industry experience), a commitment to quality teaching,
and they must have a strong record of academic or industrial
research in real-time computing systems. Familiarity with current
real-time software engineering methods, real-time hardware, and
operating systems is essential. The Department's offers a B.S. in
Computer Science and a Master of Software Engineering (MSE) degree.
The individual filling this position will be expected to teach in
the real-time track of our undergraduate and graduate programs,
and provide leadership in the development of a research program,
along with the necessary external funding, in the area of
real-time systems.
There is also a teaching/administrative position open at the
Assistant Professor level. Duties include teaching undergraduate
courses and assisting the Department in a variety of duties related
to advising, scheduling and curriculum administration. Candidates
must have a graduate degree in a computing discipline and a record
of excellence in teaching and administration.
There is also the possibility that there will be a visiting position
open at the Assistant Professor level. A Ph.D. in Computer Science
and a commitment to quality teaching throughout an ACM/IEEE based
undergraduate curriculum is required.
Familiarity with current ACM curriculum models and issues is an
important requisite for all candidates.
The Daytona Beach Campus of Embry-Riddle has 4500 students and the
Computer Science Department has eleven faculty and over 230 computer
science majors and fifty graduate students.
Daytona Beach is located in Central Florida, which is a hub for
family tourism (Disney World, Sea World, Universal Studios, and
Daytona Beach's Speedway and 34 miles of beach) and aviation/
aerospace activities (Kennedy Space Center, Harris, McDonnell
Douglas, Grumman, Lockheed-Martin, etc.). The combination of mild
winters, a relaxed lifestyle, and an advanced technological and
scientific support system provide an ideal environment for
professional and personal enrichment.
Applications must include a letter of application, a resume, and the
names, addresses and telephone numbers of three references.
Screening of applications will begin on May 1, 1996 and continue
until the positions are filled. Applications may be submitted by
e-mail (search@db.erau.edu) or to the below address:
Dr. Massood Towhidnejad
Computer Science Search Committee
c/o Office of Human Resources
Embry-Riddle Aeronautical University
Daytona Beach, FL 32114
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Contributed by: A. Murat Tekalp (tekalp@ee.rochester.edu)
The Department of Electrical Engineering, University of Rochester, invites
applications for a tenure track position in Computer Engineering and
closely affiliated areas including: high performance computing
architectures; embedded hardware/software co-design; parallel and
distributed processing; MIMD/SIMD architectures; behavioral synthesis;
VLSI architectures; CAD; wireless computing and communication systems;
networking; networked multimedia; access control; computer network
security; "watermarking" for image, video and sound; client architectures.
The position requires a Ph.D. and commitment to excellence in research and
teaching. Preference will be given to applicants at the Assistant
Professor level, but exceptional candidates with more experience will also
be considered. The University of Rochester is a private research
university with superb facilities and research centers, located in a
high-tech community. Applications will be reviewed until the position is
filled. Please send a CV, reprints, and names of references to:
Kevin J. Parker, Professor and Chair, Department of Electrical Engineering,
518 Computer Studies Building, University of Rochester, Rochester, NY 14627.
The University of Rochester is an equal opportunity employer. M/F.
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Contributed by: John Baillieul (Manufacturing Engineering, Boston University)
F A C U L T Y P O S I T I O N S
Department of
Manufacturing Engineering
Boston University
Nominees and applicants are sought for a faculty
position in the Department of Manufacturing
Engineering at Boston University.
The Department hopes to fill two positions and is
principally interested in two areas: (1) We seek
applicants with expertise in the areas of automation,
CIM, CAD/CAE, and manufacturing oriented robotics.
(2) The Department is also seeking candidates with
expertise in manufacturing systems, operations
research, and optimization. For both positions, other
areas of specialization will be considered in the
case of exceptionally qualified candidates. When
responding to this ad, it is requested that you
identify the position for which you are applying.
Applicants at all levels will be considered, and
the eventual appointment will be at a level con-
sistent with the experience of the candidate.
Senior level candidates must have strong re-
search credentials, a commitment to teaching,
and a documented record of attracting and con-
ducting extramurally funded research. Junior
level candidates must demonstrate evidence of
becoming respected researchers and excellent
teachers.
The successful candidate must hold an earned
doctorate in an appropriate engineering discip-
line. An excellent package of amenities can be
tailored to satisfy the successful candidate's
needs.
A letter of interest or nomination, curriculum
vitae, and the names of at least three references
should be sent to:
Prof. John Baillieul, Chairman
Department of Manufacturing Engineering
Boston University
15 St.\ Mary's Street
Boston, Massachusetts 02215
An equal opportunity, affirmative action institution.
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Contributed by: Prof.dr. G.J. Olsder
Within the framework of Research Networks, Training and Mobility of
Researchers, a programme of the European Commission, Directorate General XII,
the project
THE ALGEBRAIC APPROACH TO PERFORMANCE EVALUATION OF DISCRETE EVENT SYSTEMS
abbreviated as ALAPEDES, has been favourably selected. Though the final
approval depends on the satisfactory conclusion of the contract negotiations
and financial procedures (between the European Commission and the partners
within ALAPEDES), applications for positions within the framework of ALAPEDES
are now sollicited.
The NETWORK COORDINATOR is G.J. Olsder, Delft University of Technology
Faculty of Technical mathematics and Informatics PO Box 5031 2600 GA Delft
The Netherlands; phone +31-15-2781912; fax +31-15-2787209; e-mail:
g.j.olsder@math.tudelft.nl
BRIEF DESCRIPTION OF THE PROJECT
The theory of Discrete Event Systems (DES) is a research area of current
vitality. The development of this theory is largely stimulated by
discovering
general principles which are useful to a wide range of application domains.
In
particular, technological and/or `man-made' manufacturing systems, communica-
tion networks, transportation systems, and logistic systems, all fall within
the class of DES. The dynamics of DES are event-driven as opposed to time-
driven, i.e., the behavior of a DES is governed only by occurrences of
different types of events over time rather than by ticks of a clock. The
event-driven nature of a DES forces us to seek new mathematical frameworks
for modelling and analysis, since differential/difference equations
(developed
for the analysis of time-driven systems) no longer provide an adequate
setting. Theoretical
disciplines that support the study of DES include various branches of applied
mathematics like systems theory, operations research and theoretical computer
science, as well as several subdomains of engineering, like manufacturing,
communications and circuits. A recent overview of the theory can be found in
for instance: C.G. Cassandras, S. Lafortune and G.J. Olsder, Introduction
to the Modelling, Control and Optimization od Discrete Event Systems, in:
Trends in Control: A European Perspective, A.Isidori (ed.), Springer Verlag,
1995, pp. 217-291.
Two main streams of activity in the project are:
1. The `logical' approach, based on automata and formal languages, in which
only the precise {\it ordering of the events} is of interest; this ordering
must satisfy a given set of specifications imposed on it. Time does not play
an explicit role. The theory addresses the synthesis of controllers (`super-
visors') for DES in order to satisfy a set of (qualitative) specifications on
the admissible orderings of the events that can be executed by the system.
2. The `timed' or max-plus algebra approach, in which, in addition to the
ordering, the timing of the events plays an essential role. The starting
point is a `linear' model, linear in the sense of the so-called max-plus
algebra. Nowadays a discrete event system theory exists, which parallels the
classical linear system theory in several ways. The relationship with (timed)
Petri nets and stochastic extensions is well understood.
In these two streams the theory of algebraic structures is dominantly present
and one discovers more and more interrelationships. The concept of
`idempotency' is crucial in this respect.
The project has three objectives; 1. cross fertilisation on the theoretical
level, 2. applications and 3. software.
The PARTNERS (research teams) are
1. Delft University of Technology, Delft, the Netherlands, scientific
teamleader: G.J. Olsder; g.j.olsder@math.tudelft.nl
2. Ecole Nationale Superieure des Mines de Paris, Fontainebleau, France, (in
collaboration with INRIA Rocquencourt) scientific teamleader: G. Cohen;
cohen@cas.ensmp.fr
3. INRIA Sophia-Antipolis, Sophia-Antipolis, France, INRIA Rocquencourt,
Rocquencourt, France (the latter closely collaborates with partner nr. 2)
scientific teamleaders: F. Baccelli; francois.baccelli@inria.fr J.-P.
Quadrat; jean-pierre.quadrat@inria.fr
4. Katholic University of Leuven, Leuven, Belgium, scientific teamleader:
B.
de Moor; bart.demoor@esat.kuleuven.ac.be
5. Basic Research Institute in the Mathematical Sciences, Hewlett Packard,
Bristol, United Kingdom, scientific teamleader: J.H.C. Gunawardena;
jhcg@hplb.hpl.hp.com
6. Laboratoire Informatique Theorique et Programmation, Universite Pierre et
Marie Curie, Paris, France, scientific teamleader: D. Krob;
krob@litp.ibp.fr
7. University of Groningen, Groningen, the Netherlands, scientific
teamleader:
R. Smedinga; rein@cs.rug.nl
8. Universite de Liege, Liege (Luik), Belgium, scientific teamleader: V.
Blondel; blondel@math.ulg.ac.be
APPLICATIONS AND POSITIONS
The eight partners of the project look for candidates who as visiting
researchers would like to join the project. Eight positions are available
(one for each research team), each having a duration of three years on the
average (minimum duration: two years, maximum duration: four years).
During the contract period the visiting researchers will typically have two
research teams as a `home-base'.
The European Union requires some conditions regarding the successful candi-
dates to be fulfilled. They are: - the visiting researcher must be a holder
of a doctoral degree or of a degree from a university or equivalent institu-
tion of higher education, which qualifies him to embark on a doctoral degree;
- his appointment must be temporary and for a fixed-term starting after the
Commencement Date of the contract; - he must be appointed specifically either
to carry out research associated with the project or to assist the network
coordinator in the coordination of the project; - he must be a national of a
member state of the European Community or of an associate state; - he must
not
be a national of the state in which the research team appointing him is
situa-
ted and he must not have carried out his normal activities in that state for
more than 18 months of the 24 months prior to his appointment; - he must not
be nor have earlier been an employee having a permanent or indefinite
contract
with any of the particiants in the project (this condition does not apply to
young researchers, i.e. researchers aged 35 or less at the time of his
appointment within this project and a certain allowance to this age limit
will
be permitted for compulsory military service and childcare).
Further information can be obtained from the network coordinator, to whom the
applications should be sent also. Applications should contain all relevant
information. Subject to a successful ending of the contract negotiations, it
is expected that the project will start (the commencement date will be)
during
the summer of 1996.
*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.**
Contributed by: Douglas A. Lawrence (dal@bobcat.ent.ohiou.edu)
FACULTY POSITION
Department of Mechanical Engineering
Ohio University
Athens, Ohio
A tenure-track position at the Assistant/Associate Professor level is
available beginning September 1, 1996. Teaching and research duties are
in the area of dynamics and control of machines and/or structures.
A Ph.D. in mechanical engineering or a closely related field is required.
Industrial experience is desired. Specialization in mechatronics or vehicle
dynamics is of particular interest. The successful candidate is
expected to develop cross-disciplinary collaboration. Outstanding support
is available for research initiation. Applications will be accepted
until April 30, 1996, or until the position is filled. Send a letter
of application, including visa/citizenship status, a resume, and three
references to:
Dr. Jay S. Gunasekera, Chair
Department of Mechanical Engineering
251 Stocker Center
Ohio University
Athens, OH 45701-2979
No electronic submissions will be accepted. Ohio University is an
Affirmative Action / Equal Opportunity Employer.
******************************************
* *
* Books *
* *
******************************************
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Contributed by: S.P. Bhattacahryya
L.H. Keel
********** NEW TEXTBOOK ANNOUNCEMENT **********
ROBUST CONTROL: The Parametric Approach
by
S.P. Bhattacharyya, H. Chapellat, and L.H. Keel
(Foreword by Ya.Z. Tsypkin)
OVERVIEW
==========
This book describes an entire class of results that are now available on
robustness of control systems subject to real parameter uncertainty.
These results are characterized by the fact that they are a) nonconservative,
b) extremal and c) enjoy built in computational efficiency.
Nonconservative means that real parameters do not have to be complexified
for the theory to be applicable, extremal means that the worst set of
parameters are identified apriori by the theory and computational efficiency
means that this worst set usually consists of points and lines, and
usually does not increase with the number of uncertain parameters.
These results are also mathematically elegant and of direct
applicability to the problems of robust stability and performance of
control systems subject to parametric, unstructured (H_\infty) and
nonlinear perturbations.
This book describes the parametric theory in a self-contained manner.
The entire development is based on the single fundamental fact that the
roots of a polynomial depend continuously on its coefficients.
TABLE OF CONTENTS
===================
Chapter 0 BACKGROUND AND MOTIVATION
0.1 INTRODUCTION TO CONTROL
0.2 HISTORICAL BACKGROUND
0.3 THE PARAMETRIC THEORY
0.4 DISCUSSION OF CONTENTS
0.5 NOTES AND REFERENCES
Chapter 1 STABILITY THEORY VIA THE BOUNDARY CROSSING THEOREM
1.1 INTRODUCTION
1.2 THE BOUNDARY CROSSING THEOREM
1.3 THE HERMITE-BIEHLER THEOREM
1.4 SCHUR STABILITY TEST
1.5 HURWITZ STABILITY TEST
1.6 A FEW COMPLEMENTS
1.7 EXERCISES
1.8 NOTES AND REFERENCES
Chapter 2 STABILITY OF A LINE SEGMENT
2.1 INTRODUCTION
2.2 BOUNDED PHASE CONDITIONS
2.3 SEGMENT LEMMA
2.4 SOME FUNDAMENTAL PHASE RELATIONS
2.5 CONVEX DIRECTIONS
2.6 THE VERTEX LEMMA
2.7 EXERCISES
2.8 NOTES AND REFERENCES
Chapter 3 THE STABILITY BALL IN COEFFICIENT SPACE
3.1 INTRODUCTION
3.2 THE BALL OF STABLE POLYNOMIALS
3.3 THE REAL l-2 STABILITY BALL
3.4 THE TSYPKIN-POLYAK LOCUS: l-p STABILITY BALL
3.5 ROBUST STABILITY OF DISC POLYNOMIALS
3.6 EXERCISES
3.7 NOTES AND REFERENCES
Chapter 4 THE PARAMETRIC STABILITY MARGIN
4.1 INTRODUCTION
4.2 THE STABILITY BALL IN PARAMETER SPACE
4.3 THE IMAGE SET APPROACH
4.4 STABILITY MARGIN COMPUTATION IN THE LINEAR CASE
4.5 l-2 STABILITY MARGIN
4.6 l-infinity AND l-1 STABILITY MARGINS
4.7 POLYTOPIC FAMILIES
4.8 EXTREMAL PROPERTIES OF EDGES AND VERTICES
4.9 THE TSYPKIN-POLYAK PLOT
4.10 ROBUST STABILITY OF LINEAR DISC POLYNOMIALS
4.11 EXERCISES
4.12 NOTES AND REFERENCES
Chapter 5 INTERVAL POLYNOMIALS: KHARITONOV'S THEOREM
5.1 INTRODUCTION
5.2 KHARITONOV'S THEOREM FOR REAL POLYNOMIALS
5.3 KHARITONOV'S THEOREM FOR COMPLEX POLYNOMIALS
5.4 INTERLACING AND IMAGE SET INTERPRETATION
5.5 EXTREMAL PROPERTIES OF THE KHARITONOV POLYNOMIALS
5.6 ROBUST STATE-FEEDBACK STABILIZATION
5.7 POLYNOMIAL FUNCTIONS OF INTERVAL POLYNOMIALS
5.8 SCHUR STABILITY OF INTERVAL POLYNOMIALS
5.9 EXERCISES
5.10 NOTES AND REFERENCES
Chapter 6 THE EDGE THEOREM
6.1 INTRODUCTION
6.2 THE EDGE THEOREM
6.3 EXAMPLES
6.4 EXTENSIONS OF EDGE RESULTS
6.5 EXERCISES
6.6 NOTES AND REFERENCES
Chapter 7 THE GENERALIZED KHARITONOV THEOREM
7.1 INTRODUCTION
7.2 PROBLEM FORMULATION AND NOTATION
7.3 THE GENERALIZED KHARITONOV THEOREM
7.4 EXAMPLES
7.5 IMAGE SET INTERPRETATION
7.6 EXTENSION TO COMPLEX QUASIPOLYNOMIALS
7.7 sigma AND theta HURWITZ STABILITY OF INTERVAL POLYNOMIALS
7.8 EXERCISES
7.9 NOTES AND REFERENCES
Chapter 8 FREQUENCY DOMAIN PROPERTIES OF LINEAR INTERVAL SYSTEMS
8.1 INTRODUCTION
8.2 INTERVAL CONTROL SYSTEMS
8.3 FREQUENCY DOMAIN PROPERTIES
8.4 NYQUIST, BODE, AND NICHOLS ENVELOPES
8.5 EXTREMAL STABILITY MARGINS
8.6 LINEAR INTERVAL CONTROL SYSTEMS
8.7 POLYTOPIC SYSTEMS
8.8 LINEAR FRACTIONAL TRANSFORMATION
8.9 ROBUST PARAMETRIC CLASSICAL DESIGN
8.10 EXERCISES
8.11 NOTES AND REFERENCES
Chapter 9 ROBUST STABILITY AND PERFORMANCE UNDER MIXED PERTURBATIONS
9.1 INTRODUCTION
9.2 SMALL GAIN THEOREM
9.3 SMALL GAIN THEOREM FOR INTERVAL SYSTEMS
9.4 ROBUST SMALL GAIN THEOREM
9.5 ROBUST PERFORMANCE
9.6 VERTEX RESULTS FOR EXTREMAL H-infinity NORMS
9.7 THE ABSOLUTE STABILITY PROBLEM
9.8 CHARACTERIZATION OF THE SPR PROPERTY
9.9 THE ROBUST ABSOLUTE STABILITY PROBLEM
9.10 EXERCISES
9.11 NOTES AND REFERENCES
Chapter 10 MULTILINEAR INTERVAL SYSTEMS: THE MAPPING THEOREM
10.1 INTRODUCTION
10.2 THE MAPPING THEOREM
10.3 ROBUST STABILITY VIA THE MAPPING THEOREM
10.4 MULTILINEAR INTERVAL SYSTEMS
10.5 EXAMPLES
10.6 EXERCISES
10.7 NOTES AND REFERENCES
Chapter 11 FREQUENCY DOMAIN PROPERTIES OF MULTILINEAR INTERVAL SYSTEMS
11.1 INTRODUCTION
11.2 MULTILINEAR INTERVAL POLYNOMIALS
11.3 PARAMETRIC STABILITY MARGIN
11.4 MULTILINEAR INTERVAL SYSTEMS
11.5 H-infinity STABILITY MARGIN
11.6 NONLINEAR SECTOR BOUNDED STABILITY MARGIN
11.7 INTERVAL PLANTS AND DIAGONAL REPRESENTATION
11.8 EXERCISES
11.9 NOTES AND REFERENCES
Chapter 12 STATE SPACE PARAMETER PERTURBATIONS
12.1 INTRODUCTION
12.2 STATE SPACE PERTURBATIONS
12.3 ROBUST STABILITY OF INTERVAL MATRICES
12.4 ROBUSTNESS USING A LYAPUNOV APPROACH
12.5 THE MATRIX STABILITY RADIUS PROBLEM
12.6 TWO SPECIAL CLASSES OF INTERVAL MATRICES
12.7 EXERCISES
12.8 NOTES AND REFERENCES
Chapter 13 ROBUST PARAMETRIC STABILIZATION
13.1 INTRODUCTION
13.2 SIMULTANEOUS STRONG STABILIZATION
13.3 INTERNAL STABILITY AND THE Q PARAMETERIZATION
13.4 ROBUST STABILIZATION: UNSTRUCTURED PERTURBATIONS
13.5 NEVANLINNA-PICK INTERPOLATION
13.6 OVERBOUNDING PARAMETRIC UNCERTAINTY
13.7 ROBUST STABILIZATION: STATE SPACE SOLUTION
13.8 A ROBUST STABILITY BOUND FOR INTERVAL SYSTEMS
13.9 EXERCISES
13.10 NOTES AND REFERENCES
Chapter 14 INTERVAL MODELLING, IDENTIFICATION AND CONTROL
14.1 INTRODUCTION
14.2 INTERVAL MODELING WITH A SINGLE DATA SET
14.3 APPLICATION TO A MINI-MAST SYSTEM
14.4 VIBRATION SUPPRESSION CONTROL OF A STRUCTURE
14.5 NOTES AND REFERENCES
References
Author Index
Subject Index
ORDERING INFORMATION
====================
Title: Robust Control: The Parametric Approach
Authors: S.P. Bhattacharyya, H. Chapellat, and L.H. Keel
Publisher: Prentice-Hall
Order: Call 1-800-947-7700, 1-800-382-3419
or
Prentice-Hall PTR
Sales Department
One Lake Street
Upper Saddle River, NJ 07458
WWW access: http://www.prenhall.com
648 pages, Hardcover
ISBN 0-13-781576-X
Contact authors at:
Shankar Bhattacharyya bhatt@eesun1.tamu.edu
Lee Keel keel@coe.tnstate.edu
ADDITIONAL INFORMATION
======================
The theory presented here has been implemented in the form of MATLAB
based ToolBox which is called "Robust Parametric Control (RPC) Toolbox".
The demo version of this toolbox is included in the book.
In addition to this enclosed demo, there are some selected sample functions
available in public domain. We encourage readers to get these sample
functions and try them out. The sample functions and related document
can be easily located via anonymous ftp in
ftp.mathworks.com/pub/books/bhattacharyya
*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.**
Contributed by Robert M. Gray
New Book (free!): Introduction to Statistical Signal Processing
We have revised our earlier book "Random Processes: An Introduction for
Engineers" (Prentice Hall, 1986) in sufficiently radical a manner that
we have changed its name to "Introduction to Statistical Signal
Processing" to reflect both the course name in which the first author uses
the text and the changed emphasis. It remains a basic course on
random processes, but the applications to introductory signal processing
have been enhanced by example along with much rewriting and changing of
order.
The revision is available in the
Adobe portable document file format (an Acrobat pdf file) via:
http://www-isl.stanford.edu/people/gray/sp.html
The link to Adobe for getting the free Acrobat reader software is
also provided there. There is also a postscript version link for those
who have difficulty with acroread. For those with timeout problems on
the web, you can also get the file by anonymous ftp to isl.stanford.edu
as /pub/gray/reports/sp.pdf.
The book is copyrighted, but a copyright release form is available for
reproducing the book. A solutions manual is in progress, but not yet
available. The changes from the earlier book are described in the
preface.
R.M. Gray and L.D. Davisson
Table of Contents
Preface xi
1 Introduction
2 Preliminaries
2.1 Set Theory
2.2 Examples of Proofs
2.3 Mappings and Functions
2.4 Linear System Fundamentals
2.5 Problems
3 Probability Spaces
3.1 Introduction
3.2 Probability Space
3.3 Sample Spaces
3.4 Event Spaces
3.5 Probability Measures
3.6 Independence
3.7 Elementary Conditional Probability
3.8 Problems
4 Random Objects
4.1 Introduction
4.2 Random Variables
4.3 Random Vectors and Random Processes
4.4 Distributions of Random Vectors
4.5 Independent Random Variables
4.6 Examples: Random Vectors
4.7 Examples: Random Processes
4.8 Discrete Conditional Distributions
4.9 Continuous Conditional Distributions
4.10 $\star $ Non-elementary Conditional Probability
4.11 Problems
5 Expectation
5.1 Expectation
5.2 Expectations of Functions of Random Variables
5.3 Properties of Expectation
5.4 Conditional Expectation
5.5 Expectation as Estimation
5.6 Correlation
5.7 Sums of Independent Random Variables
5.8 Correlation and Linear Estimation
5.9 Correlation and Covariance Functions
5.10 Sample Averages
5.11 Convergence of Random Variables
5.12 Laws of Large Numbers
5.13 Weakly Stationary Processes
5.14 Asymptotically Uncorrelated Processes
5.15 Problems
6 Second-Order Moments
6.1 Linear Filtering of Random Processes
6.2 Discrete Time Second-Order I/O Relations
6.3 Linearly Filtered Uncorrelated Processes
6.4 Continuous Time Linear Filters
6.5 Linear Modulation
6.6 Power Spectral Densities
6.7 White Noise
6.8 *Differentiating Random Processes
6.9 *Linear Estimation
6.10 Problems
7 Processes with Memory
7.1 Discrete Time Linear Models
7.2 Sums of I.i.d.\ Random Variables
7.3 Processes with Independent and Stationary Increments
7.4 * Second-Order Moments of I.S.I. Processes
7.5 * Specification of Continuous Time I.S.I.\ Processes
7.6 Moving-Average and Autoregressive Processes
7.7 The Discrete Time Gauss-Markov Process
7.8 Gaussian Random Processes
7.9 Compound Processes
7.10 *Exponential Modulation
7.11 Ergodicity and Strong Laws of Large Numbers
7.12 Problems
A Modeling Physical Processes
A.1 The Central Limit Theorem
A.2 The Poisson Counting Process
A.3 Thermal Noise
A.4 Problems
B Supplementary Reading
Bibliography
Index
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Contributed by: Steve Campbell (slc@math.ncsu.edu)
Our book on the numerical solution of differential algebraic equations is
being reprinted by SIAM: Some of the developments since the first edition
are addressed in the new Chapter 7 and its supplementary bibliography.
NUMERICAL SOLUTION OF INITIAL-VALUE PROBLEMS
IN DIFFERENTIAL-ALGEBRAIC EQUATIONS
by K.E. Brenan, S.L. Campbell, and L.R. Petzold
Series: Classics in Applied Mathematics 14
Many physical problems are most naturally described by systems of
differential and algebraic equations. This book describes some of the
places where differential-algebraic equations (DAE's) occur. The basic
mathematical theory for these equations is developed and numerical methods
are presented and analyzed. Examples drawn from a variety of applications
are used to motivate and illustrate the concepts and techniques.
This classic edition, originally published in 1989, develops guidelines for
choosing different numerical methods. It discusses DAE codes, including the
popular DASSL code. An extensive discussion of backward differentiation
formulas details why they have emerged as the most popular and best
understood class of linear multistep methods for DAE's. New to this
edition is a chapter that brings the discussion of DAE software up to date.
The objective of this monograph is to advance and consolidate the existing
research results for the numerical solution of DAE's. The authors present
results on the analysis of numerical methods, and also show how these
results are relevant for the solution of problems from applications. They
develop guidelines for problem formulation and effective use of the
available mathematical software and provide extensive references for
further study.
Contents
Preface; Chapter 1: Introduction. Why DAE's?; Basic Types of DAE's;
Applications; Overview; Chapter 2: Theory of DAE's. Introduction;
Solvability and the Index; Linear Constant Coefficient DAE's; Linear Time
Varying DAE's; Nonlinear Systems; Chapter 3: Multistep methods.
Introduction; DBF Convergence; BDF Methods, DAE's and Stiff Problems;
General Linear Multistep Methods; Chapter 4: One-Step Methods.
Introduction; Linear Constant Coefficient Systems; Nonlinear Index One
Systems; Semi-Explicit Nonlinear Index Two Systems; Order Reduction and
Stiffness; Extrapolation Methods; Chapter 5: Software and DAE's.
Introduction; Algorithms and Strategies in Dassl; Obtaining Numerical
Solutions; Solving Higher Index Systems; Chapter 6: Applications.
Introduction; Systems of Rigid Bodies; Trajectory Prescribed Path control;
Electrical Networks; DAE's Arising from the Method of Lines; Bibliography;
Chapter 7: The DAE Home Page. Introduction; Theoretical Advances; Numerical
Analysis Advancements; DAE Software; DASSL; Supplementary Bibliography;
Index.
Fall 1995 / 256 pages / Softcover / ISBN 0-89871-353-6
List Price $29.50 / SIAM Member Price $23.60 / Order Code CL14
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Contributed by: P. Stewart
I have recently published a book entitled Afternotes on Numerical
Analysis which members of this group may find useful. It is a series
of 22 lectures on elementary numerical analysis. The notes themselves
were prepared after the lectures were given and are an accurate
snapshot of what went on in class. Although they are no substitute
for a full-blown numerical analysis textbook, many people have found
them a useful supplement to a first course.
The book is published by SIAM. For further information contact
service@siam.org.
G. W. (Pete) Stewart
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Contributed by: Anne Boyd
Addison-Wesley Engineering is pleased to announce the publication of:
A DSP PRIMER
with Applications to Digital Audio & Computer Music
by Ken Steiglitz, Princeton University
Addison-Wesley, 1996
314 pp., softcover
ISBN 0-8053-1684-1
This new book by Ken Steiglitz offers an informal and
easy-to-understand introduction to digital signal processing,
emphasizing digital audio and applications in computer music. A DSP
Primer uses an intuitive and qualitative approach to devlop the
mathematics critical to understanding DSP.
The intended audience includes:
* Students of DSP in Engineering and Computer Science courses;
* Composers of computer music and those who work with digital sound;
* WWW and Internet developers who work with multimedia;
* General readers interested in science who want an introduction to
DSP.
Table of Contents
1 Tuning Forks, Phasors
2 Strings, Pipes, the Wave Equation
3 Sampling and Quantizing
4 Feedforward Filters
5 Feedback Filters
6 Comb and String Filters
7 Periodic Sounds
8 The Discrete Fourier Transform and FFT
9 The z-transform and Convolution
10 Using the FFT
11 Aliasing and Imaging
12 Designing Feedforward Filters
13 Designing Feedback Filters
14 Audio and Musical Applications
The full table of contents and preface for the book are available on
Addison-Wesley's Web site at:
http://www.aw.com/cseng/authors/steiglitz/dspp/dspp.html
Resource materials for the book are currently under construction on
the author's Web site at:
http://www.cs.princeton.edu/~ken
Individual copies can be purchased directly from Addison-Wesley at:
800-822-6339 (U.S. only)
Instructors can request examination copies by calling:
800-552-2499 (U.S. only)
For more information, contact Addison-Wesley Engineering at:
aw.eng@aw.com
*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.*.**
Contributed by: Petros Ioannou
The solution manual for the textbook 'ROBUST ADAPTIVE CONTROL' by
Ioannou and Sun published by Prentice Hall, 1996 (ISBN 0-13-439100-4) is
available to the instructors that use the book for teaching. You may obtain
a copy by contacting Prentice Hall or P. Ioannou.
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Contributed by: Vikram Kapila
Name: Vikram Kapila
Ph.D. Dissertation Title: Robust Fixed-Structure Control of
Uncertain Systems with Input-Output
Nonlinearities
Date of Completion: January 96
Institution: School of Aerospace Engineering
Georgia Institute of Technology
Atlanta, GA 30332
Advisor: Professor Wassim M. Haddad
Current Job Location: School of Aerospace Engineering
Georgia Institute of Technology
Atlanta, GA 30332
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Contributed by: Neil Getz (getz@eecs.berkeley.edu)
Dissertation Available Online
The following Ph.D. dissertation is available in compressed (gzip) PostScript
form from my web page
http://robotics.eecs.berkeley.edu/~getz/getz.html
The dissertation is 280 pages and the formatting of the PostScript file is
set up for two-sided printing. Use of a 600 dpi printer is suggested.
Title: Dynamic Inversion of Nonlinear Maps
with Applications to Nonlinear Control and Robotics
Author: Neil Getz
Abstract: This dissertation introduces the notion of a dynamic inverse of a
nonlinear map. The dynamic inverse is used in the construction of nonlinear
dynamical system, called a dynamic inverter, that asymptotically solves
inverse problems with time-varying vector-valued solutions. Dynamic inversion
generalizes and extends many previous results on the inversion of maps using
continuous-time dynamic systems. By posing the dynamic inverse itself as the
solution to an inverse problem, we show how one may solve for a dynamic
inverse dynamically while simultaneously using the dynamic inverse solution
to solve for the time-varying root of interest. Dynamic inversion is a conti-
nuous-time dynamic computational paradigm that may be incorporated into
controllers in order to continuously provide estimates of time-varying para-
meters necessary for control. This allows nonlinear control systems to be
posed entirely in continuous-time, replacing discrete root-finding algorithms
as well as discrete algorithms for matrix inversion with integration. Example
applications include solving for the intersection of time-varying
polynomials,
inversion of nonlinear control systems, regular and generalized inversion of
fixed and time-varying matrices, polar decomposition of fixed and
time-varying
matrices, output tracking of implicitly defined reference trajectories,
end-effector tracking control for robotic manipulators, and causal
approximate
output tracking for nonlinear nonminimum-phase systems. For the problem of
output tracking for nonminimum-phase systems, an internal equilibrium
manifold
is introduced. This manifold is intrinsic to the class of nonlinear non-
minimum-phase systems studied. Approximate output tracking is achieved by
constructing a controller that makes a neighborhood of the internal equili-
brium manifold attractive and invariant. Dynamic inversion is incorporated
into the controller to provide a continuous estimate of the manifold
location.
This estimate is incorporated into the tracking control law. We demonstrate,
by application to the tracking problem for the inverted pendulum on a cart,
that the resulting internal equilibrium controller significantly outperforms
a
linear quadratic regulator, where the linearization of the internal equili-
brium controller is made identical to the linear quadratic regulator. We also
apply internal equilibrium control to the problem of causing a nonlinear,
nonholonomic model of a bicycle to track a time-parameterized trajectory in
the ground plane while retaining balance.
******************************************
* *
* Journals *
* *
******************************************
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Contributed by: Huibert Kwakernaak
AUTOMATICA
Table of contents
March, 1996 Issue 32:3
---------------------------------------------------------------------------
Editorials
H. Kwakernaak Electronic text processing, Automatica, and
Elsevier
Regular Papers
R. Tenno, P. Uronen State estimation for large scale wastewater
treatment system
T. K. Gustafsson, P. M. Modelling of uncertain systems via linear
Makila programming
T.A. Johansen Identification of non-linear systems using
empirical data and prior knowledge - An
optimization approach
Brief Papers
J.W. van der Woude Disturbance decoupling by measurement
feedback
for structured transfer matrix systems
V. L. Kharitonov Robust stability of nested polynomial
families
H.M. Oloomi, M.E. Sawan H-infinity model matching problem for
singularly perturbed systems
V. Eldem Decoupling through specified input-output
channels with internal stablity
M.B. Rosenhaus On one method of fault location algorithm's
construction
B. Ninness Integral constraints on the accuracy of least
squares estimation
M. W. McConley A separate bias U-D factorization filter
Jeng-Tzong H. Chan Data-based synthesis of multivariable LQ
regulator
R. Bakker, A. M. Annaswamy Low order multivariable adaptive control with
application to flexible structures
M. J. Chapman, K. R. Godfrey Nonlinear compartmental model
indistinguishability
M. M. Polycarpou, P. A. A robust adaptive nonlinear control design
Ioannou
B. Lindoff, J. Holst Exact distribution and moments for the
RLS-estimate in a time- varying AR(1)-process
Jun Wang, Guang Wu A multilayer recurrent neural network for
on-line synthesis of minimum- norm linear
feedback control systems via pole assignment
B. Siciliano, L. Villani A passivity-based approach to force
regulation
and motion control of robot manipulators
G. Ferreti, C. Maffezzoni, On the identifiability of time delay with
R. Scattolini least squares methods
R. Ortega, P. J. Nicklasson, On speed control of induction motors
G. Espinosa-Perez
Technical Communiques
W. Q. Liu, W. Y. Yan, K. L. Initial and transient response improvement
for
Teo singular systems
Chang-Jun Seo, Byung Kook Robust and reliable H-infinity control for
Kim linear systems with parameter uncertainty and
actuator failure
S.P. Chan An approach to perturbation compensation for
variable structure systems
A. El Kashlan, M. El Geneidy Design of decentralized control for
symmetrically interconnected systems
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Contributed by: thomas@siam.org
Table of contents SICON 34-2
Epsilon-Maximum Principle of Pontryagin Type and Perturbation Analysis of
Convex Optimal Control Problems
Mohammed A. Moussaoui and Alberto Seeger
Solar Cars and Variational Problems Equivalent to Shortest Paths
D. J. Gates and M. Westcott
A Dynamical System Approach to Stochastic Approximations
Michel Benaim
Nonlinear Boundary Control of Semilinear Parabolic Systems
N. U. Ahmed and X. Xiang
A Simplicial Algorithm for Computing Robust Stationary Points of a Continuous
Function on the Unit Simplex
Zaifu Yang
Reciprocal Realizations on the Circle
Jan-Ake Sand
On Spectrum and Riesz Basis Assignment of Infinite-Dimensional Linear Systems
by Bounded Linear Feedbacks
Cheng-Zhong Xu and Gauthier Sallet
Superior Information Is Insufficient to Win in Games Between Finite Automata
Vladimir Chernorutskii, Rauf Izmailov, and Alexei Pokrovskii
A New Formulation of State Constraint Problems for First-Order PDEs
Hitoshi Ishii and Shigeaki Koike
Conditions for Robustness and Nonrobustness of the Stability of Feedback
Systems with Respect to Small Delays in the Feedback Loop
Hartmut Logemann, Richard Rebarber, and George Weiss
Generalized Discrete-Time Riccati Theory
Vlad Ionescu and Cristian Oara
Approximation of the Zakai Equation for Nonlinear Filtering
Kazufumi Ito
Optimality Conditions for a Constrained Control Problem
Gianna Stefani and Pierluigi Zezza
The Efficiency of Subgradient Projection Methods for Convex Optimization,
Part I: General Level Methods
Part II: Implementations and Extensions
Krzysztof C. Kiwiel
General Optimality Conditions for Constrained Convex Control Problems
Maitine Bergounioux and Dan Tiba
Stochastic Approximation Methods for Systems over an Infinite Horizon
Harold J. Kushner and Felisa J. Vazquez-Abad
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Contributed by: John Baillieul,
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Table of Contents - Volume 41, Number 3 - March, 1996
Scanning the Issue
___________________________________________________________________________
PAPERS
Global Output Regulation and Disturnamce Attenuation with Global Stability
via
Measurement Feedback for a Class of Nonlinear Systems
.........................................................S.Battilotti
Multi-Armed Bandits with Switching Penalties
.............................................M.Asawa and D.
Teneketzis
String Stability of Interconnected Systems........ D. Swaroop and J.K.
hedrick
H$infinty$ Design with Pole Placement Constraints: An LMI Approach
......................................... M. Chilali and P. Gahinet
Control of Linear Systems with Saturating Actuators
................................. A. Saberi, Z. Lin, and A. R. Teel
J-Inner-Outer Factorization, J-Spectral Factorization, and Robust Control for
Nonlinear Systems
................................. J.A. Ball and A.J. van der Schaft
Motion Estimation via Dynamic Vision
................................ S. Soatto, R. Frezza, and P. Perona
____________________________________________________________________________
TECHNICAL NOTES AND CORRESPONDENCE
Sliding-Mode Control in Discrete-State and Hybrid Systems
....................... M. Dogruel, U. Ozgliner, and S. Drakunov
An Alternative Proof for Convergence of Stochastic Approximation Algorithms
.............................. S.R. Kulkarni and C.S. Horn
Embedding Adaptive JLQG into LQ Martingale Control with a Completely
Observable Stochastic Control Matrix........M.H.C. Everdij and H.A.P. Blom
On the Order of Simultaneously Stabilizing Compensators
..........................................................O. Toker
An Observability Criterion for Dynamical Systems Governed by Riccati
Differential Equations
..................................................... J. Rosenthal
Affine Parameter-Dependent Lyapunov Functions and Real Parametric Uncertainty
............................. P. Gahinet, P. Apkarian, and M. Chilali
Robustness of Exponential Stability of Stochastic Differential Delay
Equations
........................................................... X. Mao
Stable Adaptive Neural Control Scheme for Nonlinear Systems
...................................................M.M. Polycarpou
On the Robustness of Receding-Horizon Control with Terminal Constraints
....................... G. De Nicolao, L. Magni, and R. Scattolini
Quadratic Stability and Stabilization of Linear Systems with Frobenius
Norm-Bounded Uncertainties
................................J.H. Lee, W.H. Kwon, and J.-W. Lee
Internal Model Control and Max-Algebra: Controller Design
................................. I.-L. Boimond and J.-L. Ferrier
Principle of Proportional Damages in a Multiple Criteria LQR Problem
....................................................Y.B. Shtessel
A New Design Approach to Unknown Input Observers...............C.-C. Tsui
Attitude Control Without Angular Velocity Measurement: A Passivity Approach
...................................... F. Lizarralde and J.T. Wen
_____________________________________________________________________________
BOOK REVIEWS
Stability Theory--P.C. Parks and V. Hahn .......... Reviewed by D.L. Elliott
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Contributed by: Tor Arne Johansen
TABLE OF CONTENTS
Modeling, Identification, and Control (MIC), Vol. 17, No. 1, January 1996
*** SPECIAL ISSUE ON UNDERWATER VEHICLE CONTROL ***
M. Haandlykken, "Advances in Inertial Measurement Technology
for Marine Motion Control" ............................... 5
I. Schjoelberg and O. Egeland, "Motion Control of underwater
vehicle-manipulator systems using feedback linearization" 17
B. Smestad, "Minesniper" ................................... 27
J. G. Balchen, "Model based teleoperation of untethered
underwater vehicles with manipulators" .................. 37
T. I. Fossen and O.-E. Fjellstad, "Robust adaptive control
of underwater vehicles: A comparative study" ............ 47
P. G. Auran and O. Silven, "Ideas for underwater 3D sonar
range sensing and environmental modeling" ............... 63
Accumulated index and more information about MIC is available
at http://www.itk.unit.no/publikasjoner/mic/mic.html.
TABLE OF CONTENTS
Modeling, Identification, and Control (MIC), Vol. 17, No. 2, April 1996
*** SPECIAL ISSUE ON SHIP CONTROL ***
E. Johannessen and O. Egeland, "Robust performance in
dynamic positioning systems" ............................. 75
T. S. Schei, "Wave disturbance filtering in dynamic
positioning systems" ..................................... 87
M. Paulsen and O. Egeland, "An output feedback tracking
controller for ships with nonlinear damping terms" ....... 97
T. Lauvdal and T. I. Fossen, "A globally stable autopilot
with wave filter using only yaw angle measurements" ...... 107
M. Paulsen and O. Egeland, "Passive output feedback and
observer based autopilots: A comparative study" .......... 121
A. J. Soerensen, S. I. Sagatun and T. I. Fossen, "Design of a
dynamic positioning system using model-based control" .... 135
T. I. Fossen, S. I. Sagatun and A. J. Soerensen,
"Identification of Dynamically Positioned Ships" ......... 153
Accumulated index and more information about MIC is available
at http://www.itk.unit.no/publikasjoner/mic/mic.html.
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Contributed by: Richard Brualdi
LINEAR ALGEBRA AND ITS APPLICATIONS
Contents Volume 235, March 1, 1996
Charles Waters (Mankato, Minnesota)
Sign Pattern Matrices That Allow Orthogonality 1
J. Ferrer, F. Puerta, and X. Puerta (Barcelona, Spain)
Geometric Characterization and Classification of
Marked Subspaces 15
A. Dean (Lennoxville, Quebec, Canada) and
J. A. de la Pen(tilde)a (Ciudad, Mexico)
Algorithms for Weakly Nonnegative Quadratic Forms 35
Moussa Ouattara (Ouagadougou, Burkina Faso)
Sur une Classe D'Alge(grave)bres a(grave) Puissances Associatives 47
Ismail M. Idris (Cairo, Egypt)
On Unitary Groups Modulo Infinitesimals 63
Su Yangfeng (Shanghai, People's Republic of China)
Generalized Multisplitting Asynchronous Iteration 77
Shu-An Hu (Chattanooga, Tennessee)
Maximum Permanent and Hermitian Matrices 93
Andrzej Nowicki (Torun(acute), Poland)
On the Nonexistence of Rational First Integrals for
Systems of Linear Differential Equations 107
Philip Feinsilver and Robert Fitzgerald (Carbondale, Illinois)
The Spectrum of Symmetric Krawtchouk Matrices 121
Tuch Sang Leong (Lumpur, Malaysia)
An Upper Bound on the Growth Ratio of Gaussian Elimination 141
Takayuki Furuta (Tokyo, Japan)
Generalizations of Kosaki Trace Inequalities and Related
Trace Inequalities on Chaotic Order 153
R. Westwick (Vancouver, British Columbia, Canada)
Spaces of Matrices of Fixed Rank, II 163
S. Barnett (Colchester, England) and
R. E. Hartwig (Raleigh, North Carolina)
Special Rank-One Perturbations 171
Bernd Fritzsche, Stefan H. Fuchs, and Bernd Kirstein
(Leipzig, Deutschland)
On Resolvent Matrices for Nondegenerate Matricial
Schur Problems 191
D. Goeleven (Namur, Belgique)
A Uniqueness Theorem for the Generalized-Order Linear
Complementary Problem Associated with M-Matrices 221
Lajos Molna(acute)r (Debrecen, Hungary)
A Condition for a Subspace of (script)B(H) to be an Ideal 229
Dai Hua (Nanjing, People's Republic of China)
Completing a Symmetric 2x2 Block Matrix and Its Inverse 235
Vassilis S. Kouikoglou and Nikos C. Tsourveloudis (Chania, Greece)
Eigenvalue Bounds on the Solutions of Coupled Lyapunov
and Riccati Equations 247
E. L. Yip (Pullman, Washington)
A Necessary and Sufficient Condition for M-Matrices and
Its Relation to Block LU Factorization 261
Renato De Leone (Camerino, Italy)
Review of The Linear Complementarity Problem by
R. W. Cottle, J.-S. Pang, and R. E. Stone 275
Author Index 277
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Contributed by: Yvonne Campfens
TABLE OF CONTENTS
Robotics and Autonomous Systems
Vol.16, Nos. 2-4, December 1995
Special Issue: Moving the Frontiers between Robotics and Biology
Contents:
P. Gaussier and S. Zrehen
Moving the Frontiers between Robotics and Biology (Editorial)
J. Stewart
The implications for understanding high-level cognition of a=20
grounding in elementary adaptive systems
B. Webb
Using robots to model animals: a cricket test
C. Ferrel
A comparison of three insect-inspired locomotion controllers
J. Kodjabachian and J.-A. Meyer
Evolution and development of control architectures in animals
F. Mondada and D. Floreano
Evolution of neural control structures: some experiments on
mobile robots
R. Chatila
Deliberation and reactivity in autonomous mobile robots
G. Sch=1Aner, M. dose and C. Engels
Dynamics of behavior: theory and applications for autonomous
robot architectures
P.F.M.J. Verschure, J. Wray, O. Sporns, G. Tononi and
G.M. Edelman
Multilevel analysis of classical conditioning in a behaving
real world artifact
I.A. Bachelder and A.M. Waxman
A view-based neurocomputational system for relational
map-making and navigation in visual environments
P. Gaussier and S. Zrehen
Perac: A neural architecture to control artificial animals
M.J. Mataric
Issues and approaches in the design of collective autonomous
agents
K. Dautenhahn
Getting to know each other - Artificial social intelligence for
autonomous robots
Calendar
More information on the journal can be found at its titlepage on
the World Wide Weg, URL: http://www.elsevier.nl./locate/robot
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Contributed by: tschoban@siam.org
TABLE OF CONTENTS
SIAM Review
MARCH 1996, Volume 38, Number 1
Articles
Bit Reversal on Uniprocessors
Alan H. Karp
Eigencurves for Two-Parameter Sturm-Liouville Equations
Paul Binding and Hans Volkmer
Semidefinite Programming
Lieven Vandenberghe and Stephen Boyd
Circle Pictograms for Vote Vectors
Eivind Stensholt
Classroom Notes
On the Extension of a Stability Bound: The Multiple Large-Parameter
Variations
Case
Mansour Eslami
A Technique for the Numerical Verification of Asymptotic Expansions
D. L. Bosley
Intersections of Planes and Helices, Or Lines and Sinusoids
Yves Nievergelt
Problems and Solutions
Book Reviews
Pearls in Graph Theory: A Comprehensive Introduction (Nora Hartsfield and
Gerhard Ringel), Lowell W. Beineke
Adapted Wavelet Analysis from Theory to Software (Mladen Victor
Wickerhauser),
Charles K. Chui
The Theory of the Chemostat: Dynamics of Microbial Competition (Hal L. Smith
and
Paul Waltman),
J. M. Cushing
Polynomial and Matrix Computations Volume 1: Fundamental Algorithms (Dario
Bini
and Victor Pan), Wayne Eberly
Lattice Methods for Multiple Integration (I. H. Sloan and S. Joe), Alan Genz
Dirichlet Forms and Symmetric Markov Processes (Masatoshi Fukushima, Yoichi
Oshima, and Masayoshi Takeda), Ronald Getoor
Applied Discriminant Analysis (Carl J. Huberty), Arjun K. Gupta
The Complex WKB Method for Nonlinear Equations 1: Linear Theory (Victor P.
Maslov), Evans M. Harrell, II
Exponential Attractors for Dissipative Evolution Equations (A. Eden, C.
Foias,
B. Nicolaenko, and R. Temam), Michael S. Jolly
Theory of Chattering Control (M. I. Zelikin and V. F. Borisov), Arthur J.
Krener
Fuzzy Logic: A Practical Approach (M. McNeill and E. Thro), Marialuisa N.
McAllister
Fuzzy Logic with Engineering Applications (Timothy Ross), Marialuisa N.
McAllister
System Reliability Theory: Models and Statistics Methods (Arnljot Hoyland and
Marvin Rausand), William Q. Meeker
Numerical Solution of SDE through Computer Experiments (P. E. Kloeden, E.
Platen, and H. Schurz), Philip Protter
Morphological Image Operators (Henk J. A. M. Heijmans), Jean Serra
Variational Methods in Image Segmentation (Jean-Michel Morel and Sergio
Solimini), Jayant Shah
Introduction to the Modern Theory of Dynamical Systems (Anatole Katok and
Boris
Hasselblatt), Richard Swanson
Approximation Procedures in Nonlinear Oscillation Theory (Nikolai A. Bobylev,
Yuri M. Burman, and Sergey K. Korovin), Gennadi Vainikko
Selected Collections
Chronicle
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Contributed by: ejc@lag.ensieg.fr
EUROPEAN JOURNAL OF CONTROL
A PUBLICATION OF EUROPEAN UNION CONTROL ASSOCIATION
Table of Contents for N=B01/1996
President's Message
Editorial
Guest Editorial : How was System/Control Theory Created?
Y. Yamamoto and S. Hara
Analytical and Qualitative Model-based Fault Diagnosis - A Survey and some
New Results
P.M. Frank
Overcoming the Obstacle of High Relative Degree
A.S. Morse
Nonlinear Pole-Placement Control with a Neural Network
O. Sorensen
Globally Stabilising Discontinuous Feedback Law for a Class of Nonlinear
Systems
M. Alamir and G. Bornard
Robust Stabilisation of the Angular Velocity of a Rigid Body with Two
Controls
P. Morin
On the Zero Dynamics of Helicopter Rotor Loads
S. Bittanti and M. Lovera
On the Dependence of the Solutions of Algebraic and Differential Game
Riccati Equations on the Parameter
G. Freiling, G. Jank, S.R. Lee and H. Abou-Kandil
Leslie Hollett
Secretary to European Journal of Control
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Contributed by: pait@ece.rutgers.edu
CALL FOR PAPERS - SBA CONTROLE & AUTOMACAO
SBA CONTROLE & AUTOMACAO is the scientific journal of SBA (Brazilian
Society for Automation, the National Member Organization of IFAC), which is
in its 10th year. It publishes original papers in all areas related to
control, automation and its applications, in three issues per year. Papers
should be submitted in English or Portuguese, and sent to (5 copies):
Prof. Oswaldo Luiz do Valle Costa
SBA Controle & Automacao
Escola Politecnica da Universidade de Sao Paulo
Departamento de Engenharia Eletronica
05508-900 Sao Paulo SP Brazil
For further informations, please contact the editor at:
oswaldo@lac.usp.br
******************************************
* *
* Conferences *
* *
******************************************
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Contributed by: Yutaka Yamamoto
35th IEEE CONFERENCE ON DECISION AND CONTROL
(December 11-13, 1996, Kobe, JAPAN)
PERTINENT WEB PAGES
Various web pages are now open for the 35th IEEE Conference on Decision
and Control (CDC).
35th CDC Homepage (can be traced from http://www.ieee.org/css/css.html):
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% http://eewww.eng.ohio-state.edu/~passino/96cdc.html %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
From here various pertinent info. can be obtained. In particular,
1) Financial Aid for Student Authors (non Japanese residents) info.
2) Various local info., maps, how to arrive at the conference site, etc.
can be traced from here. The latter info. can also be accessed from the
*Local Homepage*
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% http://www.kuamp.kyoto-u.ac.jp/~yy/CDC96 %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
As CDC approaches, these pages will be further developed, so keep watching!!
Publicity Co-Chairs for 35th CDC:
Kevin M. Passino, Dept. Electrical Engineering
The Ohio State University, 2015 Neil Ave.
Columbus, OH 43210-1272, USA,
Phone: 614-292-5716, Fax: 614-292-7596
Email: passino@ee.eng.ohio-state.edu
Yutaka Yamamoto, Division of Applied Systems Science,
Faculty of Engineering, Kyoto University, Kyoto 606-01,
JAPAN; Phone: +81-75-753-5902; FaX: +81-75-761-2437;
Email: yy@kuamp.kyoto-u.ac.jp
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Contributed by: Trini Flores
1996 SIAM Conference on SPARSE MATRICES
October 9-11, 1996
Coeur d'Alene Resort
Coeur d'Alene, Idaho
DEADLINE for submission of a one-page abstract is: APRIL 15, 1996.
Send electronic submissions to: meetings@siam.org
and cc electronically to: esmond@msr.epm.ornl.gov
dpierce@espresso.rt.cs.boeing.com
For more information regarding the conference, please access SIAM's
World Wide Web site at
http://www.siam.org/meetings/sm96/sm96home.htm
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Contributed by: Dr. K. David Young (kkdyoung@llnl.gov)
Call for Papers for VSS'96 Tokyo, Japan
1996 IEEE International Workshop on Variable Structure Systems (VSS'96)
5-6 December 1996, Tokyo, JAPAN
This workshop will be held at the Institute of Industrial Science (IIS) of
the University of Tokyo which is located in the Roppongi area in downtown
Tokyo. Roppongi is well known for its international color and cosmopolitian
culture. Our intention is to schedule this workshop during the week
immediately before the IEEE Conference on Decision and Control which will
be held in Kobe, Japan. Travel from Tokyo to Kobe is most convenient via the
Shinkasen ("Bullet Train") which takes about two and a half hours.
Subject Areas
Technical presentations concerning mathematical formulation, design
principles, application studies, engineering design issues of VSS and
VSS-related methodologies are solicited.
General Chairperson:
Prof. Hideki HASHIMOTO
Institute of Industrial Science
University of Tokyo
7-22-1, Roppongi, Minato-ku
Tokyo 106 JAPAN
TEL: +81-3-3402-6231 ext.2359
FAX: +81-3-3423-1484
E-MAIL: hashimoto@iis.u-tokyo.ac.jp
more information
VSS96@vss.iis.u-tokyo.ac.jp
WWW: http://dfs.iis.u-tokyo.ac.jp/VSS96
Author's Schedule:
Deadline for full paper submission August 15, 1996
Paper acceptance notification September 15,1996
Manuscript due October 15, 1996
Prospective authors are invited to submit 4 copies of the full paper
(IEEE format within 6 pages, see the instruction at
http://www.ieee.org/authors.html
or equivalent format) to the general chairperson.
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Contributed by: Joachim Rosenthal
--------------------------------------------------------------------
The University of Notre Dame Symposium on
Current and Future Directions in Applied Mathematics
April 18 - 21, 1996
--------------------------------------------------------------------
The program of the symposium can now be accessed via WWW:
http://www.science.nd.edu/math/SymSchedule.html
The talks related to systems and control theory are summarized in:
http://www.science.nd.edu/math/SymSystems.html
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Contributed by: Michael Breitner
ANNOUNCEMENT AND SECOND CALL FOR PAPERS
Seventh International Symposium
on Dynamic Games and Applications
December 16-18, 1996
Shonan Village Center, Kanagawa, Japan
General Information
The seventh international symposium on dynamic games and applications
will be held for the first time in Asia. The symposium has been
scheduled in the week following the IEEE Conference on Decision and
Control.
Participants will have an opportunity to hear state-of-the-art lectures
on a wide range of game-theoric models and applications.
Symposium Location
All the sessions and the conference dinner will be held at the Shonan
Village Center, located in the central part of the Miura Peninsular.
Travelling distances from Narita airport and Tokyo station to Shonan
Village is about 150 minutes and 90 minutes respectively, by railroad
and bus. Transportation arrangements will be made for participants.
Program
The three day technical program will consist of plenary sessions and
presentations of contributed papers. The topics include, but are not
limited to the following:
Zero-sum dynamic games Computational methods
Pursuit-Evasion problems Robust controller design
Nonzero-sum dynamic games H-infinity controller design
Stochastic sequential games Dynamic games modeling in economics
Incentive strategies Energy, environment and resource
management
Cooperative equilibria AI and dynamic game theory
Dynamic bargaining models Worst case and minimax design
Evolutionary games
Tutorials
A preconference day of tutorials on the topic of minimax problems in
guidance and control as well as economics will be organized by Professor
Kimio Kanai; it will be held on December 15, at the National Defense
Academy, Yokosuka.
Publication
All accepted papers will be included in a volume of proceedings made
available to registered participants by the secretary of the 7th ISDG
symposium. Authors will have the opportunity to submit their
contributed papers for publication in a special volume of the Annals of
the International Society of Dynamic Games (Birkhauser, publisher).
Registration and Accomodation
Participants can pay the registration fee (20,000yen) either by a credit
card, bank transfer or check. The fee covers all the conference materials
including one volume of the proceedings. (The current foreign currency
exchange rate of 1.00US$ is 94.00yen to 98.00yen in August 1995)
DEADLINES !!!
A temporary schedule is as follows
APRIL 1, 1996 : Titles and extended abstracts
June 1, 1996 : Notification of acceptance
September 1, 1996: Full paper
All the papers are to be submitted to the Program Chairman:
Professor Jerzy A. Filar
School of Mathematics
University of South Australia
The Levels, Pooraka
South Australia 5095
AUSTRALIA
Fax 61-8-302-3381
E-mail debbie@zarniwoop.levels.unisa.edu.au
Scholarships
The SICE International Scholarship will be granted to selected foreign
participants under the age of 35, in the amount of 100,000yen each.
Further information on registration procedure, and submission guidelines
will be published later. For other information, please contact:
Professor Fumiaki Imado
Secretariat Seventh International Symposium on
Dynamic Games and Applications
Department of Mechanical Systems Engineering
Shinshu University
500 Wakasato Nagano, Nagano 380
JAPAN
Tel 81-262-26-4101
Fax 81-262-24-4505
E-mail imado@imado1.shinshu-u.ac.jp
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Contributed by: IFAC SAFEPROCESS'97 Organizing committee
IFAC SYMPOSIUM ON FAULT DETECTION, SUPERVISION AND
SAFETY FOR TECHNICAL PROCESSES: SAFEPROCESS'97
August 26 - 28, 1997
Hull, United Kingdom
Enquiry: safeprocess@e-eng.hull.ac.uk
WWW pages: http://www.enc.hull.ac.uk/EE/CONTROL/safe97.htm
Scope: Reliability, availability and safety of technical processes and
their control systems are important qualities. These qualities are
closely related both to the process and its control systems and they
are addressed during design, start-up, operation, maintenance and
repair. To ensure that a controlled process is reliable, always available
and safe, it is necessary to perform condition monitoring, predictive
maintenance and fault diagnosis, as well as ensuring the quality of the
system components (the sensors, the actuators, the process control
computers, etc.). One of the main goals is to produce an early
diagnosis (detection, isolation and identification) of faults, whilst they
are incipient and hard to detect and isolate. Another goal is to ensure
that the process can tolerate faults through control system reconfiguration
or by a graceful degradation of safe and stable closed-loop performance.
Human factors and human-machine interfaces are final links in the safe
operation of technical processes.
The goal for the Symposium is to bring together experts from different
fields and applications, with the common interest of supervision,
safety and fault tolerance of process and other engineering systems.
The programme will consist of state-of-the art reviews, presentations
of the new results, tutorials, discussion and application benchmark
sessions. An interdisciplinary approach is stressed in the themes.
Organised Special Sessions are welcomed and sessions on Industrial
and Laboratory Benchmark Problems will form an important part of
the Special Sessions Programme. There will be a continuing benchmark
study based on the industrial actuator problem described at SAFEPROCESS
`94 and in the Journal Control Engineering Practice Vol.3, No. 12,
1995 (Blanke, Patton et al.)
Technical Topics
A Design for Reliability and Safety
B Fault Diagnosis (Detection, Isolation and Identification) and System
Supervision
C Artificial Intelligence in Fault Diagnosis
D On-line Fault-Tolerant Operation
E Maintenance
F Human Factors
G Case Studies and Implementation Issues
H Benchmarks
Venue: The Symposium will be held at The University of Hull,
Department of Electronic Engineering, approx. 3 miles from Hull
Railway Station located at the City Centre. Accommodation is
provided at the University's very attractive "Lawns" residence facility,
within 3 miles of the main University Campus. Hull is close to many
famous cultural and historic centres. The timing of the symposium will
be arranged for atendees to visit the historical city of York.
Call for Contributed Papers: 4 copies of a well structured draft paper
of 5-8 pages (about 1500-2400 words, 11/2-space typing) are invited.
Draft papers should give an outline of the structure of the final paper
and indicate clearly the merits of the new contributions and the
relevance to the theme of the Symposium. Further information about
a number of issues concerning the symposium is available on
http://www.enc.hull.ac.uk/EE/CONTROL/safe97.htm.
Draft papers including 5 keywords and Classification (see webside) and the
full mail address with Telephone, Fax and E-mail, are to be sent by post
to:
SAFEPROCESS'97 Secretariat
Department of Electronic Engineering
The University of Hull,
Hull, HU6 7RX, U.K.
Phone: +44 14 82 46 51 33
Fax: +44 14 82 46 60 06
email: safeprocess@e-eng.hull.ac.uk
Deadlines
Submission of draft papers October 15, 1996
Notification of acceptance January 15, 1997
Submission of full paper April 15, 1997
IFAC Publication and Copyright Policy:
The material submitted for presentation at SAFEPROCESS `97 must be original,
not published or being considered elsewhere. All papers accepted for
publication will appear in the Pre-prints of the meeting which will be
distributed to the participants. Papers duly presented will be offered for
sale, in the form of Postprint volumes, by Elsevier Science Ltd, Oxford, UK.
These will be further screened for possible publication in the IFAC journals
Automatica and Control Engineering Practice.
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Contributed by: Antonio Tornambe'
ERNET, Alma Mater C.I.R.A.
HCM Programme, Universita` di Bologna Centro Interuniversitario di
DG-XII Ricerca in Automatica
ANNOUNCEMENT
International Summer School
MODELLING AND CONTROL OF MECHANISMS AND ROBOTS
Residential Centre
Universita` di Bologna
Bertinoro (Forli`), Italy
July 22-26, 1996
INFORMATION AVAILABLE AT:
email: cmelchiorri@deis.unibo.it
www: http://deis58.deis.unibo.it/RoboticsSchool
1. AIMS OF THE SCHOOL
A summer school on the modelling and control of mechanisms and robots is
organized in the period July 22-26, 1996, at the residential centre of
Universita` di Bologna, in Bertinoro, (Forli`), Italy. Aims of the school
are:
- to provide doctorate students and professionals with basic and advanced
material on modelling and control of complex mechanical systems, with
particular emphasis on robotic manipulators, so to discuss and identify
open problems and future research directions;
- to bring together young persons active in robot control and related
fields and give them the opportunity of knowing each other.
Besides the activity during the teaching hours, in a consistent part of
the school software tools will be used for demonstrative and (simulative)
experimentation of the illustrated concepts. Moreover, the participants
will be asked to solve a collection of problems and, at the end of the
programme, to present a little report on a given topic on a selected
argument of the School.
The notes of the school will be published in the book "Modelling and
Control of Mechanisms and Robots", C. Melchiorri, A. Tornambe` Eds., to
be published by World Scientific Publishing, Ltd..
During the school, a technical workshop will be held on July 26, 1996,
presenting ongoing research results achieved in the framework of the ERNET
initiative. Moreover, a poster session will be organized for the
participating students, who will have the possibility of presenting their
research activity.
The number of students is limited to 50, and a pre-registration before May
1, 1996, is mandatory. The participants will be accepted in the order
received. The school will be held in the residential centre of
Universita` di Bologna, located in three large historical buildings placed
on the top of the built up area of the ancient town of Bertinoro. The
centre consists of: living quarters (60 beds in single and double rooms),
a teaching center, computer centre (20 work stations), lecture hall and
self service canteen. All the activities (i.e., lessons, lunches and
livings) will take place in the center.
In order to cover the expenses, a registration fee is asked. The fee is
comprensive of half-board accomodation (breakfast, lunch, bed) for 6 days,
the lecture notes and the book, the social dinner on Thursday, July 25,
and the participation to the technical meetings on Friday 26. The fee is
650.000 Italian Liras for academies and 1.000.000 Italian Liras for
industries. For a limited number of students from the East Countries of
Europe the fee is 100.000 Italian Liras (in this case, send a brief CV).
2. SCHOOL TOPICS
Modelling of Mechanical Systems; Kinematics of Robots; Control of
Hamiltonian Systems; Elastic and Flexible Robots; Telemanipulation; The
Contact Problem in Classical Mechanics; Force Control; Technologies and
Methodologies for Motion Control. Each topic will be presented and
discussed also with the use of CACSD tools.
3. WHO SHOULD ATTEND
The school is mainly intended for doctorate students and young
professionals engaged in the design and use of complex mechanical systems
(such as robots), with a particular emphasis on the modelling and control
aspects of these devices.
4. PREREQUISITE
Undergraduate level courses on feedback control and robotics are suggested
as adequate preparation for this school.
5. AWARD
At the end of the school, a presentation of one of the topics of the
school will be given by the participating students. The best presentation
will be awarded with a special prize. It is planned to include a selection
of the presentations in a volume, along with the ERNET technical papers.
6. MATERIAL
Each participant will receive:
- a copy of the notes and transparencies;
- a copy of the demonstrative software examples;
- a copy of the book Modelling and Control of Mechanisms and Robots.
7. CANCELLATIONS
The organization reserves the right to cancel any programme due to
insufficient registration. Participants will be notified immediately and a
full refund will be issued.
Substitution of participants may be made at any time. No reimbursement of
the registration fee is possible for cancellation after May 1st, 1996.
8. IMPORTANT DATES:
May 1, 1996: Pre-registration and payment of the first part (50%) of the
fee;
July 21, 1996: Registration and payment of the remaining part (50%) of the
fee;
July 22-26, 1996: School
9. FOR MORE INFORMATION CONTACT:
Dr. Claudio Melchiorri, LAR - DEIS
Universita` di Bologna
via Risorgimento, 2, 40136 Bologna, Italy
Tel. ++39 - 51 - 644.3034;
Fax ++39 - 51 - 644.3073;
email: cmelchiorri@deis.unibo.it
www: http://deis58.deis.unibo.it/RoboticsSchool
10. SECRETARIAT OF THE SCHOOL:
Mrs. F. Ruffilli, Mr. A. Bandini
SER.IN.AR, University Residential Centre
C.so Diaz 43
47100 Forli`
tel. ++39 - 543 - 450259;
fax ++39 - 543 - 450260
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Contributed by: Henry Wolkowicz
We would like to invite you to participate in the workshop on:
-------------------------------------------------------------------
Semidefinite Programming and Interior-Point Approaches for
Combinatorial Optimization Problems
-------------------------------------------------------------------
Wednesday May 15- Friday 17, 1996
(before the SIAM Conference on Optimization in Victoria)
to be held at:
The Fields Institute, University of Toronto, Toronto, Ontario, Canada
(More Information is available on WWW with URL:
http://orion.uwaterloo.ca/~hwolkowi/fields.d/readme.html )
There is no registration fee.
We will consider a limited number of
contributed talks. Please send us a title and abstract.
Please pass this information on to colleagues who may be interested.
Organizers:
jcheriyan@watdragon.uwaterloo.ca
Joseph Cheriyan (University of Waterloo),
whcunnin@watmath.uwaterloo.ca
Bill Cunningham (University of Waterloo),
pardalos@math.ufl.edu
Panos Pardalos (University of Florida),
ltuncel@watdragon.uwaterloo.ca
Levent Tuncel (University of Waterloo),
vannelli@cheetah.vlsi.uwaterloo.ca
Tony Vannelli (University of Waterloo),
hwolkowicz@orion.uwaterloo.ca
Henry Wolkowicz (University of Waterloo),
Workshop Description
Semidefinite Programming, interior point methods and global optimization
approaches are active areas of research during the last decade. In
particular,
techniques from these areas have been applied to develop new algorithms for
solving combinatorial optimization problems. More generally, techniques from
continuous optimization can be effectively used in the development of
efficient algorithms for combinatorial optimization problems.
The main focus of this workshop is to bring together some of the best
researchers working on the algorithmic and practical applications on
these areas with emphasis on the following topics:
1. Semidefinite Programming Theory: duality theory; convergence theory;
numerical stability.
2. Semidefinite Programming Algorithms: interior point methods; simplex
type algorithms.
3. Global Optimization and Combinatorial Applications: quadratic assignment
problem; clique problem; graph partitioning; boolean programming.
4. Nonlinear Programming: trust region subproblems;
quadratic programs with quadratic constraints; SQP algorithms.
5. Engineering Applications: VLSI design; solutions of Lyapunov equations;
general linear matrix inequalities in systems and control theory.
6. Matrix Completion Problems: positive definite completions; specified
inertial completions.
A proceedings of refereed invited papers is planned.
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Contributed by: Prof. Claudio Bonivento
DEIS, University of Bologna, Italy
________________________________________
COLLOQUIUM'96 on AUTOMATIC CONTROL
________________________________________
organized by
The University of Bologna
Alma Mater Studiorum
Saecularia Nona
__________________________
Monday, 10 June, 1996
Aula Magna of the Engineering School
Via Risorgimento, 2 - Bologna
Italy
On Monday June 10th, 1996 in the Aula Magna of the Engineering School the
University of Bologna organizes the Colloquium'96 on Automatic Control in
occasion of the 50 years since the pioneering starting of the research
activity in the area of Systems and Control. Some recent key developments
of this discipline both as science and technology will be presented by few
well-known researchers, and in particular
Prof. Karl Johan Astrom
Head of the Department of Automatic Control
Lund Institute of Technology, Sweden
IEEE Medal of Honor
will give the general lecture on "The Development of Automatic Control".
The complete technical programme of the day is available on Internet at
http://www-lar.deis.unibo.it/. All interested people from academia and
industry are kindly invited to participate in the event.
The Rector
Fabio Roversi Monaco
The Dean The Coordinator
Arrigo Pareschi Claudio Bonivento
Proceedings of the Colloquium:
The book "Colloquium'96 on Automatic Control"
(Eds. C. Bonivento e G. Marro), Springer-Verlag, LNCIS series, 1996,
is being published.
Participation to the Colloquium:
The attendance is free of charge. The participants are kindly requested to
send in advance a proper message to the Secretariat of the Colloquium along
with any requirement about local arrangements.
Colloquium Secretariat:
Participation messages and general inquiries should be sent to:
Mrs Rita Mambelli
DEIS, University of Bologna
Via Risorgimento, 2
40136 - Bologna, Italy
Phone: +39-51-644.3006
Fax : +39-51- 644.3073
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Contributed by Neri Merhav (merhav@ee.technion.ac.il)
100 Years of Wireless Communication
1996 INFORMATION THEORY WORKSHOP
Dan-Carmel, Haifa, June 9-13, 1996
Venue:
-----
The 1996 Information Theory Workshop will be held at the luxurious Dan-Carmel
hotel located on the famous Carmel mountain in the beautiful city of Haifa.
The first class Dan-Carmel is equipped with superb conference facilities.
In this forum the 65th birthday of Prof. Jacob Ziv will be celebrated, and
he will also be the honored plenary speaker.
The workshop is sponsored by the IEEE Information Theory Society, the Neaman
Institute for Advanced Studies, the Technion & EE Dept., Elbit, RAD
Communications, the Institute of Advanced Studies in Mathematics, the Israel
Academy of Sciences and Humanities and the Israel Ministry of Science
and Art.
Organizers:
----------
Neri Merhav, Dept. Electrical Engineering, Technion, Haifa 32000, Israel.
E-mail: merhav@ee.technion.ac.il, Tel:(972) 4--8294737, Fax:
(972)4--8323041.
Shlomo Shamai Dept. Electrical Engineering, Technion, Haifa 32000, Israel.
E-mail: sshlomo@ee.technion.ac.il,
Moshe Sidi Dept. Electrical Engineering, Technion, Haifa, 32000, Israel.
E-mail:moshe@asterix.technion.ac.il,
Aaron D. Wyner AT&T Bell Laboratories, Murray Hill, NJ. 07974, USA.
E-mail: adw@research.att.com,
Meir Feder Dept. Elec. Eng.-Systems, Tel Aviv Univ., Ramat-Aviv, 69978,
Israel.
E-mail: meir@eng.tau.ac.il.
Technical Program:
-----------------
The technical program includes nine half-day sessions as well as
an evening ``Recent Results'' session and an honorary plenary address by
J.~Ziv. The technical sessions and the corresponding session will be chaired
by:
Shannon Theory: S. Verdu
Source Coding: T. Berger
Coded-Modulation: D. Forney
Convolutional and Block Codes: R. Calderbank
Cryptography: J. Massey
Detection and Estimation: V. Poor
Network Information Theory: R. Gallager
Statistics and Information Theory: I. Csiszar
Comm. Techniques & Models: J. Wolf Recent Results: M. Feder
Plenary Address:
---------------
On the Individual Sequence Approach to Information Theory. J. Ziv.
Call for Papers:
---------------
One page Abstract (ISIT style) contributions for short presentations
at the recent result session are solicited, and should be sent to
Prof. Feder not later than February 15, 1996.
Costs:
-----
The registration fee (IEEE advanced registration) is $350
(which will include all social events and a daily lunch).
Student minimum rates not covering social events and lunches -- $50.
Special prices at Dan Carmel ($125 for a single room) are secured.
Other nearby hotels with a variety of rates will also be reserved.
Further Information:
-------------------
Please contact the Local Conference Organizing Office:
Mrs.~Pnina Sason, Technion - The Division for Continuing Education and
External Studies, Haifa 32000, Israel.
E-mail: sassonp@tx.technion.ac.il.
Tel: (972) 4--8294464, (972) 4--8225150, Fax: (972) 4--8294466.
WWW pointer for further information:
http://www-ee.technion.ac.il./ITW96.html.
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Contributed by: Sean Meyn (allerton@tornado.csl.uiuc.edu)
Call for Papers
THIRTY-FOURTH ANNUAL ALLERTON CONFERENCE
ON COMMUNICATION, CONTROL, AND COMPUTING
OCTOBER 2 -- 4, 1996
The Thirty-fourth Annual Allerton Conference on Communication, Control,
and Computing will be held October 2 - 4, 1996 at Allerton house, the
conference center of the University of Illinois. Allerton House is
located twenty-six miles south-west of the Urbana-Champaign campus of
the University in a wooded area on the Sangamon River. It is part of
the fifteen-hundred acre Robert Allerton Park, near Monticello,
Illinois.
Papers presenting original research are solicited in the areas of
communication systems, information theory and coding, detection and
estimation, communication networks, mobile radio, vector quantization,
source coding, image coding and data compression, control systems,
robust and nonlinear control, adaptive control, optimization, dynamic
games, large scale systems, robotics and automation, manufacturing
systems, discrete event systems, intelligent control, multivariable
control, adaptive signal processing, learning theory, neural networks,
numerical methods for signals and systems, multiple-access
communications, digital radio, high-speed packet switches for
telecommunications, queueing networks, and automatic highway systems.
The plenary speaker this year will be Dave Forney of Motorola, Inc. His
talk is tentatively entitled
The Viterbi Algorithm: Twenty-Five Years Later
INFORMATION FOR AUTHORS: Regular papers, suitable for presentation in
twenty minutes, and short papers, suitable for presentation in ten
minutes, are solicited. The purpose of the short paper category is to
encourage authors to present preliminary results of their work. Regular
papers will be published in full (subject to a maximum length of ten
81/2" x 11" pages) in the Conference Proceedings, while short papers
will be limited to two-page summaries in the Proceedings.
For regular papers, a title and a five-to-ten page extended abstract,
including references and sufficient detail to permit careful reviewing,
are required. For short papers, a title and a thousand-word summary are
required. Manuscripts that are submitted as regular papers but cannot be
accommodated in that category will be considered in the short paper
category, unless the authors indicate otherwise.
Two copies of the manuscript should be mailed to 34th Annual Allerton
Conference, University of Illinois at Urbana-Champaign, Coordinated
Science Laboratory, 1308 West Main Street, Urbana, Illinois 61801-2307,
USA in time to be received by June 29, 1996.
Multiple-authored papers should specify the name and address of the
author who is to receive all subsequent correspondence. Authors will be
notified of acceptance by August 9, 1996, at which time they will also
receive detailed instructions for the preparation of their papers for
the Conference Proceedings.
Conference Co-Chairs: Ken Jenkins and Sean Meyn
email: allerton@tornado.csl.uiuc.ellu
url: http://tesla.csl.uiuc.edu/allerton/
COORDINATED SCIENCE LABORATORY
AND THE DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
UNIVERSITY OF ILLINOIS AT URBANA-CHAMPAIGN
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Contributed by: flores@siam.org
1996 SIAM ANNUAL MEETING
July 22-26, 1996
Hyatt Regency Crown Center,Kansas City, Missouri
SIAM invites you to attend this exciting meeting...
A major theme of the 1996 meeting will be "New Tools of Applied Mathematics."
It will focus on some of the tools that have been developed recently in
various areas of applied mathematics that promise to affect the way we do
things in the next decade. One example is the strengthening interface of
mathematicians with computers and a "nonlinear" version of the steepest
descents and stationary phase methods of asymptotics. Other areas that will
be emphasized include control theory, dynamical systems, stochastic processes
and geometric design.
INVITED PRESENTATIONS
Continuous Process Scheduling: Where Theory Meets Practice
Alok Aggarwal, IBM T.J. Watson Research Center
Integrable Systems--Theory and Applications
Anthony M. Bloch, University of Michigan, Ann Arbor
The Birth of the Infinite Cluster: Finite-size Scaling in Percolation
Jennifer T. Chayes, University of California, Los Angeles
Stabilizing Time-Varying State and Output Feedback
Jean-Michel Coron, CMLA-ENS, France
Polynomial Interpolation (The John von Neumann Lecture)
Carl de Boor, University of Wisconsin, Madison
A Steepest-Descent/Stationary Phase Type Method for Oscillatory Riemann-
Hilbert Problems. Applications to Integrable Models in Mathematical Physics
Percy Alec Deift, New York University
Mathematical Challenges in Ocean Modeling
Darryl D. Holm, Los Alamos National Laboratory
Catalytic Pattern Formation on Microdesigned Surfaces
Yannis G. Kevrekidis, Princeton University
Inverse Problems: Three Formulas for Finding Properties of Vibrating
Systems from Nodal Lines and Surfaces
Joyce R. McLaughlin, Rensselaer Polytechnic Institute
Why Is It So Hard to Program Parallel Computers?
Cleve B. Moler, The MathWorks, Inc.
Multifractality: Physical Evidence and Mathematical Background
Yakov Pesin, Pennsylvania State University
NOW is the TIME to MAKE PLANS for the SUMMER of '96! Come to KANSAS
CITY ... See you at the SIAM Annual Meeting!
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Contributed by: Murray F Spiegel
CALL FOR PAPERS
THIRD IEEE WORKSHOP ON
INTERACTIVE VOICE TECHNOLOGY
FOR TELECOMMUNICATIONS APPLICATIONS
=-=-=-=-=-=-=-=
September 30 - October 1, 1996
The AT&T Learning Center
300 N Maple Ave
Basking Ridge, NJ 07920 USA
Sponsored by the IEEE Communications Society
=-=-=-=-=-=-=-=
The third of a series of IEEE workshops on Interactive Voice Technology
for Telecommunications Applications will be held at the AT&T Learning Center,
Basking Ridge, New Jersey, from September 30 - October 1, 1996.
The conference venue is on 35 semi-rural acres and is close enough (1 hour)
for side trips to New York City. Our workshop will be held immediately before
ICSLP '96 in Philadelphia, PA, approximately 80 miles from our location.
The IVTTA workshop brings together application researchers planning to
conduct
or who have recently conducted field trials of new applications of
speech recognition, speaker identity verification, text-to-speech
synthesis over the telephone network. The workshop will explore
promising opportunities for applications and attempt to identify
areas where further research is needed.
Topic areas of interest:
- ASR/verification systems for the cellular environment
- User interface / human factors of applying speech to telecommunications
tasks
- Language modeling and dialog design for "audio-only" communication
- Experimental interactive systems for telecommunication applications
- Experience in deployment & assessment of deployed ASR/verification systems
- Text-to-speech applications in the network
- Speech enhancement for telecommunications applications
- Telephone services for the disabled
- Architectures for speech-based services
Prospective authors should submit 1-page abstracts of no more than 400 words
for review. Submissions should include a title, authors' names,
affiliations,
address, telephone and fax numbers and email address if any. Please indicate
the topic area of interest closest to your submission. Camera-ready
full papers (maximum of 6 pages) will be published in the proceedings
distributed at the workshop. Due to workshop facility constraints,
attendance
will be limited with priority given to authors with accepted contributions.
For further information about the workshop, please contact:
Dr. Murray Spiegel, Bellcore, 445 South Street, Morristown, NJ 07960 USA
Phone: 1-201-829-4519; Fax: 1-201-829-5963; E-mail: spiegel@bellcore.com
For full information, visit our web page:
http://superbook.bellcore.com/IVTTA.html
Send abstracts (fax or email preferred) to:
*** NOTE: New Submission Address ***
Dr. George Vysotsky
IEEE IVTTA '96
NYNEX S&T
500 Westchester Ave
White Plains, NY 10604 USA
Phone: 1-914-644-2589
Fax: 1-914-644-2211 or 1-914-686-5574
E-mail: george@nynexst.com
SCHEDULE
Abstracts due (400 words, maximum 1 page): Mar 15, 1996
Notification of acceptance: May 1, 1996
Submission of photo-ready paper (maximum 6 pages): Jun 15, 1996
Advance registration to be received before: Jun 15, 1996
Late registration cut-off: Aug 30, 1996
IVTTA '96 Evening welcoming reception: Sep 29, 1996
IVTTA '96 Conference: Sep 30 & Oct 1, 1996
WEB PAGE
Check our web page for late breaking news and developments:
http://superbook.bellcore.com/IVTTA.html
REGISTRATION INFORMATION
Early registration (prior to June 15, 1996):
Day-only: $390
Full: $650
Late registration (Jun 15 - Aug 30, 1996):
Day-only: $465
Full: $725
IEEE members: charges are $25 less
Additional proceedings: $25
Day-only registration includes all technical sessions, welcoming reception,
lunches, snacks, banquet, and a copy of the proceedings.
Full registration includes all of the above plus: dinner on evening of
arrival,
breakfast both days, two nights lodging at the conference center,
and use of the center facilities (jogging track, exercise center, pool,
etc).
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