Proceedings of the

1994 American Control ConferenceThe Stouffer Harborplace Hotel, Baltimore, Maryland

June 29—July 1, 1994

Sponsoring Organization

The American Automatic Control Council

US. National Member Organization of the

International Federation of Automatic Control (IFAC)

MEMBER ORGANIZATIONS

American Institute of Aeronautics and AstronauticsAmerican Institute of Chemical Engineers

Association of Iron and Steel EngineersAmerican Society of Mechanical Engineers

Institute of Electrical and Electronic EngineersInstrument Society of America

Society of Computer Simulation

The 1994 ACC is held in cooperation with IFAC

Volume 2 of 3

4:20 - 4:40Control of Systems Partially Known: Variable Structure

Approach 1174Hachemi Mechlih Tektrend International Inc.D. Robert Hay Tektrend Internationa/ Inc.

4:40 - 5:00Smooth Robust Adaptive Sliding Mode Control of Manipulators

with Guaranteed Transient Performance 1176Masayoshi Tomizuka Univ. of California at BerkeleyBin Yao Univ. of California at Berkeley

5:00 - 5:20Sliding Mode Controller for Active Vibration Control of Flexible

Rotor •Lai Yip Cheung Univ. of BathA.R. Daniels Univ. of BathR.W. Dunn Univ. of BathT. Berry Westinghouse, Chippenham

5:20 - 5:40Lyapunov Control Design for Stabilizing State Trajectories to a

Manifold 1181Raymond A. DeCarlo Purdue Univ.Sergej V. Drakunov Ohio State Univ.

5:40 - 6:00<Stabilisation of Power System using Variable Structure Output

Feedback Control 1183Reyad M. El-Khazali Mu'tah Univ.Gerald Heydt Purdue Univ.Raymond A. DeCarlo Purdue Univ.

Thursday Morning Session

Plenary Session II

Chair Hassan Khalil Michigan State Univ.Cochair Jeff Kant or Univ. of Notre Dame

8:30 - 9:30tl Robust Control: Theory, Computation and Design *Munther Dahleh Massachusetts Institute of Technology

TA01 — Salon A

Advanced Vehicle Control

Organiier Giorgio Rizzoni Ohio State Univ.Chair Dong-II Dan Cho Seoul National Univ.

Cochair Giorgio Rizzoni Ohio State Univ.

10:00 - 10:20Lane Change Maneuver of Automobiles for the Intelligent

Vehicle and Highway System (IVHS) 3586Masayoshi Tomizuka Univ. of California at BerkeleyW. Chee Univ. of California at Berkeley

10:20 - 10:40Combined Lateral and Longitudinal Control of Vehicles for

Intelligent Highway Systems 1205Hung A. Pham Univ. of California, Berkeley3. Karl Hedrick Univ. of California, BerkeleyMasayoshi Tomizuka Univ. of California

10:40- 11:00Theory and Experiments of Tire Blow-Out Effects and Hazard

Reduction Control for Automated Vehicle Lateral ControlSystem 1207

Masayoshi Tomizuka Univ. of CaliforniaSatyajit N Patwardhan Univ. of CaliforniaWei-bin Zhang Univ. of CaliforniaP. Devlin PATH

11:00- 11:20Torque Regulation with the General Motors ABS VI Electric

Brake System 1210J.K. Hurtik Ohio State Univ.Stephen Yurkovich Ohio State Univ.Kevin Passino Ohio State Univ.D. Littlejohn Delco Chassis Div., General Motors

11:20 - 11:40Active Suspension Control Design for Optimal Road Roughness

Isolation and Ride Comfort 1212Rama K. Yedavalli Ohio State Univ.Yong Liu Ohio State Univ.

11:40- 12:00Performance of Active Automotive Suspensions with Hydralic

Actuators: Theory and Experiment 1214J. Karl Hedrick Univ. of California, BerkeleyR. Rajamani Univ. of California, Berkeley

TA02 — Salon B

Recent Advances in the Control of Uncertain Systems

Organizer Richard D. Braatz DuPont Advanced Control GroupChair Richard D. Braatz DuPont Advanced Controi Group

Cochair Peter M. Young Massachusetts. Instit. of Tech.

10:00- 10:20Parametric Robustness Analysis for Cassini Spacecraft using the

LMI Approach Without Frequency Sweep 1219R.Y. Chiang Jet Propuision Lab.

10:20 - 10:40(X Meets Bode 1223Peter M. Young California Inst. of TechnologyKarl J. Astrom Lund Inst. of Technology

1 0 : 4 0 - 11:00 #

Linear Matrix Inequalities in Analysis with Multipliers . . . 1228V. Balakrishnan Univ. of MarylandYun Huang CalTechAndy Packard Univ. of CaliforniaJohn C. Doyle CalTech

11:00- 11:20S V D C o n t r o l l e r s f o r H j , H Q Q , a n d / 4 - O p t i m a l C o n t r o l . . . . 1 2 3 3Morten Hovd Univ. of Trondheim-NTHRichard D. Braatz Univ. of IllinoisSigurd Skogestad Univ. of Trondheim - NTH

11:20 - 11:40Identification and Control of a Model Helicopter in Hover

1238John C. Morris Caiifornia Inst. of TechnologyMichael Van Nieuwstadt California Inst. of TechnologyPascale Bendotti California Inst. of Technology

11:40 - 12:00Data, Consistency, and Feedback: A New Approach to Direct

Adaptive Control 1243T. C. Tsao Univ. of Southern CaliforniaMichael G. Safonov Univ. of Southern California

TA03 — Salon C

Adaptive Control Theory

Chair Ioannis Kanellakopoulos Univ. of CaliforniaCochair Brian D.O. Anderson Australian National Univ.

10:00 - 10:20Parameter Convergence of a Class of Adaptive Controllers

. . . . . . . . . . . « • . . - • • • 1248Youping Zhang Univ. of Southern CaliforniaPetros A. Ioannou Univ. of Southern CaliforniaC.C. Chien Univ. of Southern California

10:20- 10:40Limiting Performance of the Adaptive Systems in the Presence

of Modeling Errors "53Miloje S. Radenkovic Univ. of Colorado, DenverB. Erik Ydstie Carnegie Mellon Univ.

10:40- 11:00Performance Limitations of Adaptive Parameter Estimation and

System Identification Algorithms in the Absence ofExcitation « « 0

Kostas S. Tsakalis Arizona State Univ.

11:00 - 11:20Necessary and Sufficient Conditions for Almost Strict Positive

Realness, and Stability of Direct Implicit Adaptive Control1265

B.R. Andrievsky Baltic State Tech. Univ.A.L. FVadkov Inst. Problems of Mech. Engg.H. Kaufman fiensselaer Polytechnic Institute

11:20 - 11:40Adaptive Control Systems with Lx+a Tracking 1267Gang Tao Univ. of Virginia11:40 - 12:00A Solution to the MRAC Design Without Knowledge of the

Sign of the High Frequency Gain 1269Ramon R. Costa COPPE/UFRJ

TA04 — Salon DMultivariate Statistical Process Control

Organizer Lyle H. Ungar Univ. of PennsylvaniaChair Lyle H. Ungar Univ. of Pennsylvania

Cochair S. Joe Qin Fisher-Rosemount Systems Division

10:00-10:20Statistical Approaches to Fault Analysis in Multivariate Process

Control 1274R.D. De Veaux Princeton Univ.Lyle H. Ungar Univ. of PennsylvaniaJ.M. Vinson Univ. of Pennsylvania

10:20 - ip:40_Determination of the Number of Principal Components for

Disturbance Detection and Isolation 1279David M. Himes Lehigh Univ.Robert H. Storer Lehigh Univ.Christos Georgakis Lehigh Univ.

10:40-11:00Nonlinear Principal Component Analysis 1284Dong Dong Univ. of MarylandThomas J. McAvoy Univ. of Maryland

11:00- 11:20Statistical Quality Control of Multivariable Continuous

Processes 1289Antoine Negiz Illinois Institute of TechnologyEric S. Lagergren National Institute of Standards and TechAH Cinar Illinois Institute of Technology

11:20- 11:40Application of MSPC to Nuclear Waste Storage Tank SY-101Barry M. Wise Pacific Northwest LaboratorieRudolph T. Allemann Pacific Northwest LaboratorieDaniel A. Reynolds Westinghouse Hanford Co.

11:40 - 12:00An Application of MPCA to an Industrial Batch Process . 1294Michael J. Piovoso DuPont Polymers-TechnologyK. A. Kosanovich E. I. DuPont de Nemours &Co.3. F. MacGregor McMasiers Univ.P. Nomikos McMasters Univ.

TA05 — Salon EMultisensor Integration

Organizer Kwang H. Kim The Mitre CorporationChair Peter K. Willett Univ. of Connecticut

Cochair Lang Hong Wright State Univ.

10:00 - 10:20Overview of Decision Level Fusion Techniques for Identification

and Their Applications 1299David D. Freedman The MITRE Corp.

10:20 - 10:40Adaptive Decision Fusion 1304Q. Zhu Drexel Univ.M. Kam Drexel Univ.

XIV

10:40 - 11:00Multiresolutional Data Fusion for Measurements with Arbitrary

Resolutions using Filter Banks 1309Lang Hong Wright State Univ.11:00 - 11:20Resolution Cell Based Fusion - Making a Virtue of Necessity

1314C. Rago Univ. of ConnecticutPeter K. Willett Vniv. of ConnecticutY. Bar-Shalom Univ. of Connecticut

11:20 -11:40A Scoring Algorithm for Track to Track Fusion Problem . 1319Robert Lobbia Orincon Corp.S. Stubberud Orincon Corp.

11:40 - 12:00Maneuvering Target Tracking using an Adaptive Interacting

Multiple Model Algorithm 1324Arshed Munir Univ. of SussexDerek P. Atherton Univ. of Sussex

TA06 — Salon F

Sampled and Discrete Time Nonlinear Control

Chair J. W. Grizzle Univ. of MichiganCochair Costas Kravaris Univ. of Michigan

10:00- 10:20Interpolation and Numerical Differentiation for Observer Design

1329S.S.D. Diop CNRSJ. W. Grizzle Univ. of MichiganP.E. Moraal Univ. of MichiganA. Stefanopoulou Univ. of Michigan

10:20 - 10:40Block Input-Output Modeling and Control Methods for

Nonlinear Discrete-Time Systems 1334Alireza Khayatian Georgia Inst. of Tech.David G. Taylor Georgia Inst. of Tech.

10:40- 11:00Nonlinear Tracking Control via Approximate Backstepping

1339Michael C. Lai Univ. of Southern CaliforniaC.C. Chien Univ. of Southern CaliforniaChih-Yung Cheng Univ. of Southern CaliforniaZhigang Xu Univ. of Southern California11:00-11:20A Study of Numerical Nonlinear Control using Piecewise

Polynomial Linear System Approximation 1344Peter Paul Case Western Reserve Univ.Stephen M. Phillips Case Western Heserve Univ.

11:20- 11:40Discrete-Time Feedforward/Feedback Control of Multivariable

Nonlinear Processes 1349Masoud Soroush Drexel Univ.

11:40- 12:00System-Theoretic Properties of Sampled-Data Representations

of Nonlinear Systems Obained via Taylor Methods . . • 1354Nicolaos Kazantzis Univ. of MichiganCostas Kravaris Univ. of Michigan

TA07 — Federal Hill

Neural Networks

Chair Benito Fernandez Univ. of Texas-AustinCochair Stephen S. Melsheimer Clemson Univ.

10:00 - 10:20Unsupervised Learning Neural Networks with Applications to

Data Fusion 1361Chin-Der Wann Pennsylvania State Univ.Stelios Thomopoulos Pennsylvania State Univ.

10:20-10:40Using Saturation Detection to Shorten the Training Duration

for Gaussian ANNs 1366Peter H. Meckl Purdue Univ.M.A. Shah

10:40 - 11:00Using Genetic Algorithms to Estimate the Optimum Width

Parameter in Kadial Basis Function Networks 1368Lin-En Kuo Clemson Univ.Stephen S. Melsheimer Clemson Univ.

11:00 - 11:20Neural Approximations for Multistage Optimal Control of

Nonlinear Stochastic Systems 1373Thomas Parisini Uniyersita di GenovaRiccardo Zoppoli Universita di Genova

11:20-11:40Neural Networks for Exact Solution of Constrained Optimal

Control Problems 1379Ruo-Li Yang Beijing Inst. of Tech.Cang-Pu Wu Beijing Inst. of Tech.

11:40- 12:00Training Strategy for Back-Propagation Neural Networks using

Input Weighting 1384Salah Feteih Florida State Univ.D. Sadhukhan Florida State Univ.

TA08 — FellB Point

Robotics

Chair DC. May Texas A&M Univ.Cochair Kelly A. Korzeniowski U.S. Naval Academy

10:00 - 10:20A Singular Perturbation Approach to Stabilization of the

Internal Dynamics of Multilink Flexible Robots 1386Siquan Q. Zhu Univ. of Texas, ArlingtonSeshadri Commuri Univ. of Texas, ArlingtonFrank L. Lewis Univ. of Texas, Arlington

10:20 - 10:40Newton Euler Formulation of a Model Based Variable Structure

Robot Controller 1391X. Han Univ. of CambridgeR.J. Richards Univ. of Cambridge

10:40-11:003-D Dual-Drive Robot Control for Object Recognition . . . 1396Kelly A. Korzeniowski U.S. Naval AcademyWilliam A Wolovich Brown Univ.

11:00 - 11:20

Implementation of a Bond Graph Observer for Robot Control

D.W. Roberts The Univ. of Glasgow

11:20-11:40An Adaptive Integrator Backstepping Tracking Controller for

Brushless DC Motor/Robotic Load 1401Jun Hu Clemson Univ.Darren M. Dawson Clemson Univ.J. J. Carroll Ciarkson Univ.11:40-12:00Nonlinear Observer-Based Tracking Control for Induction

Motors 1406Jung Hua Yang National Taiwan Univ.Wen Hai Yu National Taiwan Univ.Li-Chen Fu National Taiwan Univ.

TA09 — GuilfordRobust Stability and Tracking

Chair Mustafa H. Khammash Iowa State Univ.Cochair B. Ross Barmish Univ. of Wisconsin, Madison

10:00 - 10:20Robust Stabilization and Disturbance Attenuation: High Gain

Controllers 1411Faryar Jabbari Univ. of California, IrvineRussel W. Benson Univ. of California, Irvine

10:20 - 10:40Positive Realness Conditions for Reduction of Robust

Stabilization Problems to Classical H^Problems 1413M. Abrishamchian Univ. of Wisconsin, MadisonB. Ross Barmish Univ. of Wisconsin, Madison

10:40- 11:00Continuous Power Iteration for Computing Lower Bound of U,

1416Cheng Yi Kathoiieke Univ. LeuvenBart De Moor Kathoiieke Univ. Leuven

11:00 - 11:20Robust Stability and Performance Analysis using LC Multipliers

and the Nyquist Criterion 1418Jonathan P. How Massachusetts Inst. of Tech.Wassim M. Haddad Florida Inst. of Tech.

11:20 - 11:40Stabilizing Uncertain LTI Systems using Linear Matrix

Inequalities: A Relaxation Algorithm 1420Jalil Kamali Stanford Univ.Gene F. Franklin Stanford Univ.Eric Feron Massachusetts Inst. of Tech.

11:40-12:00Robust Analysis of Potential Large Overshoots in Heat

Exchanger Networks 1422E.I. Varga Hungarian Academy of SciencesJozsef Bokor Hungarian Academy of SciencesKatalin M. Hangos Hungarian Academy of Sciences

TA10 — Mt. Washington

Nonlinear Estimation

Chair Lorenz T. Biegler Carnegie Mellon Univ.Cochair Engin Yaz Univ. of Arkansas

10:00 - 10:20Estimation and Detection for Systems with Second Order

Markovian Switching Coefficients 1427W.D. Blair Naval Surface Warfare CenterD. Kazakos Univ. of Virginia

10:20 - 10:40Linear and Nonlinear Estimation with Uncertain Observations

1429W. NaNacara Univ. of ArkansasEngin Yaz Univ. of Arkansas

10:40- 11:00Error Distribution and Confidence Bounds for Recursive

Estimators in Nonlinear State-Space Models 1434John L. Maryak Johns Hopkins Univ.James C. Spall Johns Hopkins Univ.Geoffrey L. Silberman Johns Hopkins Univ.

11:00 - 11:20Asymptotic Observers for a Class of Non-Linear Singular

Systems 1440M. Boutayeb Univ. de NancyMohamed Darouach Univ. de NancyH. Rafaralahy Univ. de NancyG. Krzakala Univ. de Nancy

11:20- 11:40On the Persistency of Excitation in RBF Network Identification

1442Dimitry M. Gorinevsky Univ. of Toronto

11:40 - 12:00Decomposition Algorithms for On-Line Estimation with

Nonlinear Models 1444Joao S. AlbuquerqueLorenz T. Biegler Carnegie Mellon Univ.

TA11 — KentFlexible Structures - III

Chair B.F. Spencer Univ. of Notre DameCochair Reaa Shahidi Univ. of Maryland

XV

10:00 - 10:20Vibration Damping in Simple Hamiltonian Systems by

Parametric Control 1449Reza Shahidi Univ. of Maryland

10:20 - 10:40Adaptive Parameter Estimation in a 2-D Structural Acoustic

Model with Piezoceramic Actuators 1454H.T. Banks North Carolina State Univ.Michael A. Demetriou North Carolina State Univ.R.C. Smith Iowa State Univ.

10:40 - 11:00An Algorithm for Allocation of Strain Gages on Flexible Plates

1459D. Famularo Univ. delia CalabriaP. Muraca Univ. delia CalabriaP. Pugliese Univ. delia Calabria

11:00-11:20Impedance-Adjusted Active Strut 1462Rakel K. Kanestrom Univ. ofTrondheimOlav Egeland Univ. of Trondheim

11:20-11:40Implementation of Self-Tuning Control of a Flexible

Manipulator System 1467Xiao D. Ji Memphis State Univ.Babajide O. Familoni Memphis State Univ.

11:40-12:00_A Systematic Formulation and Simulation of the Dynamic

Model for Bridge Vibration Control 1469Jonqlan Lin Univ. of Texas, ArlingtonJ. YuT. HuangFrank L. Lewis Univ. of Texas, Arlington

TA12 — Pride of Baltimore

Stochastic Systems — I

Chair C. D. Charalambous Idaho State Univ.Cochair Joseph L. Hibey Old Dominion Univ.

10:00 - 10:20Evaluation of Likelihood-Ratio and Performance Bounds for

Nonlinear Decision Problems via Stochastic PDE . . . . 1474C. D. Charalambous Old Dominion Univ.Joseph L. Hibey Old Dominion Univ.

10:20 - 10:40Finite-Dimensional Quasi-Linear Risk-Sensitive Control . . 1479Robert J. Elliott Univ. of AlbertaL. AggounAlain Bensoussan INRIAJohn B. Moore Australian National Univ.

10:40-11:00The Use of Random Search and Genetic Algorithms to Optimize

Stochastic Robustness Functions 1484Christopher I. Marrison Princeton Univ.Robert F. Stengel Princeton Univ.

11:00 - 11:20The Role of Measure-Valued Decompositions in Stochastic

Control 1490C. D. Charalambous Old Dominion Univ.Joseph L. Hibey Old Dominion Univ.

11:20 - 11:40The White, Ergodic, and Jointly Gaussian Signals Generated by

a Simple Chaotic System 1492Bing-Fei Wu Hsinchu Chiao Tung Univ.

11:40 - 12:00Morkov Parameter Estimation for Stochastic Continous Systems

via Legendre Polynomials 1497Ming Wang Zhao Wuhan Iron and Steel Univ.

TA13 — James

HQO Control

Chair Mario A. Rotea Purdue Univ.Cochair Anton Stoorvogel Eindhoven Univ. of Tech.

XVI

10:00 - 10:20Reduced Order HQQSynthesis via LMI's 1499Pascal M. Gahinet INRIAAnca Ignat INRIA

10:20 - 10:40Time-Varying Problems of H~jControl and Absolute

Stabikzability of Certain Systems 1501Andrey V. Savkin Australian Defense Force AcademyIan R. Petersen Australian Defense Force Academy

10:40- 11:00Full-Order HQO Compensator Design for Nonstandard Problems

1506Chin Shung Hsu Washington State Univ.Xianggang Yu Washington State Univ.

11:00-11:20HooControl with LQ Approximate Linearization of an Induction

Motor 1511H. El-Zobaidi Univ. of WestminsterD. Brown Univ. of WestminsterJ.R. Leigh Univ. of Westminster

11:20- 11:40Enforcing Time Domain Specifications Through the Robust

Performance and HooOptimization Problem 1513Matt A. Franchek Purdue Univ.

11:40 - 12:00A Sensitivity Model of the Human Operator 1518Mark R. Anderson Virginia Politechnic Inst. & State Univ.

TA14 — Gibson

Identification and Performance Prediction

Chair Y. Bar-shalom Univ. of ConnecticutCochair C.-F. Lin American GNC Corp.

10:00 - 10:20Decentralized Suboptimal .^Fi l tering 1523J.H. Seo Seoul National Univ.Jaesop Kong Seoul National Univ.

10:20 - 10:40Stochastic Complexity in Identification of Continuous Time

Systems 1525Laszlo Gerencser Hungarian Academy of SciencesZsuzsanna Vago Hungarian Academy of SciencesIan Hunter McGill Univ.Serge Lafontaine McGill Univ.Attila Horvath Univ. of Pecs

10:40 - 11:00A Hybrid Conditional Averaging Technique for Performance

Prediction of Algorithms with Continuous and DiscreteUncertainties 1530

X.R. Li Univ. of HartfordY. Bar-Shalom Univ. of Connecticut

11:00- 11:20Zeros of Input/Output Models for Control of Vortex Dynamics

. . . . . . . : 1535C.R. Anderson Univ. of California, Los AngelesH.L. Chang Univ. of California, Los Angeles3. Steve Gibson Univ. of California, Los Angeles

11:20- 11:40System Identification using Interval Dynamic Models . . . . 1537Lee Keel Tennessee State Univ.J.-S. Lew Tennessee State Univ.S.P. Bhattacharyya Texas A & M Univ.

11:40 - 12:00A New Approach for Regression with Unknown But Bounded

Errors 1543Shuning Wang Hua2hong Univ. of Science and TechnologyJianshe Dai Huazhong Univ. of Science and TechnologyPing Hu Huazhong Univ. of Science and Technology

TA15 — St. GeorgePower Systems

Chair George C. Verghese Massachusetts Inst. of Tech.Cochair Marija Ilic Masschusetts Inst. of Technology

10:00 - 10:20A Stability Theory for Constrained Dynamics Systems with

Applications to Electric Power Systems 1548Kenneth L. Praprost Case Western Reserve Univ.Kenneth A. Loparo Case Western Reserve Univ.

10:20 - 10:40Damping of Generator Oscillations using a Digital Feedback

Static Var Compensator *Fahim Ahmed Khalifa Naval Postgraduate School

10:40- 11:00Interaction Between Subsystems of a Power System 1553James E. Van Ness Northwestern Univ.F. D. Dean Northwestern Univ.

11:00 - 1J:2OScheduling of Hydrothermal Power Systems using the

Augmented Lagrangian Decompositon and CoordinationTechnique 1558

Houzhong Yan Univ. of ConnecticutPeter B. Luh Univ. of ConnecticutLan Zhang Univ. of Connecticut

11:20-11:40An Adaptive Power System Stabilizer for a Multi-Machine

Power System *Fahim Ahmed Khalifa Naval Postgraduate School

11:40-12:00Recently Developed Averaging Theory Applied to Power

Electronic Systems 1563Brad Lehman Mississippi State Univ.Richard M. Bass Georgia Insitute of Technology

Thursday Mid-day Session

TM01 — Salon AAdvanced Engine Control

Organizer Giorgio Rizzoni Ohio State Univ.Chair Man-Feng Chang GM Research and Development Center

Cochair Giorgio Rizzoni Ohio State Univ.

1:30 - 1:50Improved Transient Air-Fuel Ratio Control using Air Charge

Estimation 1568J. W. Grizzle Univ. of MichiganJeffrey A. Cook Ford Scientific Research LaboratoryW. P. Milam Ford Research Laboratory

1:50- 2:10Engine Load and Equivalence Ratio Estimation for Control and

Diagnostics via Nonlinear Sliding Observer 1574John J. Moskwa Univ. of WisconsinM. Kao Univ. of Wisconsin

2:10 - 2:30Advanced Idle Speed Control Systems 1579Elbert L. Hendricks Technical Univ. of DenmarkLara Kjerga&rd Technical Univ. of DenmarkSteffan Nielsen Technical Univ. of DenmarkThomas Vesterholm Technical Univ. of Denmark

2:30 - 2:50Experimental and Computational Analysis of a Dynamic Model

for Control Strategy Optimization in a Spark IgnitionEngine •

Gianfranco Rizzo Universita' di Salerno

2:50 - 3:10Identification of a Nonlinear MIMO IC Engine Model for

On-Board Diagnosis 1581Guan-Chun Luh Ohio State Univ.Giorgio Rizzoni Ohio State Univ.

3:10 - 3:30Problem in Event Baaed Engine Control Systems 1585Elbert L. Hendricks Technical Univ. of DenmarkMichael Jensen Technical Univ. of DenmarkAlain Chevalier Technical Univ. of DenmarkThomas Vesterholm Technical Univ. of Denmark

TM02 — Salon BRecent Advances in Hooand LjControl

Organiser Hosseim Oloomi Purdue Univ. at Fort WayneChair Hosseim Oloomi Purdue Univ. at Fort Wayne

Cochair M. Edwin Sawan Wichita State Univ.

1:30- 1:50

Bassam A. Bamieh Univ. of IllinoisMohammed Dahleh Univ. of California, Santa BarbaraP. Voulgaris Univ. of Illinois

1:50- 2:10Pseudorational Functions and Hoc Theory 1593Y. Yamamoto Kyoto Univ.Allen Tannenbaum Univ. of Minnesota

2:10 - 2:30LTI Decomposition and Induced Norm Approximation of

Periodic Systems 1598P. Arambel Northeastern Univ.Gilead Tadmor Northeastern Univ.

2:30 - 2:50ControUer Design with Multiple Objectives 1603N. Elia Massachusetts Inst. of Tech.Munther A. Dahleh Massachusetts Inst. of Tech.

2:50 - 3:10Some Examples in Mixed Hs/HooControl 1608E. Baeyens Univ. of MichiganP.P. Khargonekar Univ. of Michigan

3:10-3:30Mixed Lj/HooSuboptimal Controllers for Continuous-Time

Systems 1613Mario Sznaier Pennsylvania State Univ.Franco Blanchini Universita degli studi di Udine

TM03 — Salon CAdaptive Disturbance Cancellation

Chair B. Erik Ydstie Carnegie Mellon Univ.Cochair Miloje S. Radenkovic Univ. of Colorado, Denver

1:30 - 1:50Design of Adaptive Feedforward Algorithms using Internal

Model Equivalence 1619William C. Me*sner Carnegie Mellon Univ.Marc Bodson Carnegie Mellon Univ.

1:50- 2:10Robust Adaptive Rejection of Unknown Deterministic

Disturbances 1624Gang Feng Univ. of New South Wales

2:10 - 2:30Rejection of Periodic Disturbances with Unknown Period - A

Frequency Domain Approach 1626Gunnar Hillerstrom Lulea Univ. of TechnologyJan Sternby

KVU

2:30 - 2:50A Feedback Perspective on the LMS Disturbance Feedforward

Algorithm 1632Douglas G. MacMartin National Research Council of Canada2:50- 3:10High Performance Tracking in Adaptive Disturbance

Cancellation 1637Dale A. Lawrence Univ. of Colorado

3:10-3:30Adaptive Comb Filter for Narrowband Active Noise Control

Application *Sen M. Kuo Northern Illinois Univ.Min J. Ji Northern Illinois Univ.

TM04 — Salon DAutomated System Identification

Organizer Wallace E Larimore Adaptics Inc.Chair Wallace E Larimore Adaptics Inc.

Cochair Dale E. Seborg Univ. of California, Santa Barbara

1:30 - 1:50Automated and Optimal Multivariable System Identification by

Canonical Variables 1640Wallace E Larimore Adaptics Inc.

1:50-2:10A Unifying Theorem for Three Subspace System Identification

Algorithms 1645Peter C. L. Van Overschee Kathoiieke Universiteit LeuvenBart De Moor Kathoiieke Universiteit Leuven

2:10 - 2:30On-Line Multivariable Identification and Control of Chemical

Processes using Canonical Variate Analysis 1650Andreas H. Kemna Univ. of California, Santa BarbaraWallace E Larimore Adaptics Inc.Dale E. Seborg Univ. of California, Santa BarbaraDuncan A. Mellichamp Univ. of California, Santa Barbara

2:30 - 2:50Automated Modeling and Control Synthesis using the

MACSYN Toolbox 1655D.S. Bayard Jet Propulsion LaboratoryR.E. Scheid Jet Propulsion LaboratoryR.Y. Chiang Jet Propulsion LaboratoryA. Ahmed Jet Propulsion LaboratoryE. Mettler Jet Propulsion Laboratory

2:50 - 3:10Identification of Nonlinear Oscillatory Systems using Canonical

Variate Analysis *Norman Hunter Los Alamos National Laboratory

3:10 - 3:30Identification of Nonlinear Heat Exchanger Dynamics using

Recurrent Neural Networks *Alexander G. Parlos Texas A&M Univ.Kil. T. Chong Yeungnam Univ.Amir. F. Atiya TradeLink Corp.

TM05 — Salon EPerformance Enhancement for Missile Guidance and Control

SvntenmOrganiser Armando A. Rodriguez Arizona State Univ.

Chair Armando A. Rodriguez Arizona State Univ.Cochair S.N. Balakrishnan Univ. of Missouri-Rolla

1-30 - 1:50Control of a Bank-to-Turn ( B B T ) Missile with Saturating

Actuators 10*0Armando A. Rodriguez Arixona State Univ.

1:50 - 2:10Improved Guidance Laws for Missilesi An Analytical Approach

• 1665S.N. Balakrishnan Univ. of Missouri-Rolla

XVTl

2:10 - 2:30HQQ Missile Autopilot Design with and Without Imaginary Axis

Zeros 1670Kevin A. Wise McDonnell Douglas MSCEric S. Hamby McDonnell Douglas MSC2:30 - 2:50Spherical Target State Estimation 1675C.N. D'Souza Eglin AFBM.A. McClure Eglin AFBJames R. Cloutier Eglin AFB

2:50 - 3:10Performance Enhancement of a Missile Autopilot via Genetic

Algorithm Optimisation Techniques 1680Richard A. HullRoger W. Johnson Univ. of Central Florida

TM06 — Salon FFeedback Linearization

Chair John E. Hauser Univ. of ColoradoCochair Stephen Yurkovich Ohio State University

1:30 - 1:50 #

All Stabilizing Controllers, Feedback Linearisation andAnti-Windup: A Unified Review 1685

Maria Seron Univ. of NewcastleStefan Graebe Univ. of NewcastleGraham C. Goodwin Univ. of Newcastle

1:50 - 2:10Approximate Feedback Linearisation: Approximate Integrating

Factors 1690Andrzej Banaszuk Georgia Inst. of Tech.John E. Hauser Univ. of Colorado

2:10 - 2:30Approximate Feedback Linearisation Homotopy Operator

Approach 1695Andrzej Banaszuk Georgia Inst. of Tech.John E. Hauser Univ. of Colorado, Boulder

2:30 - 2:50A Right Coprime Factorisation of Feedback Linearizable

Systems 1700Alfonso Banos Univ. de Murcia

2:50 - 3:10Approximate State-Feedback Linearization using Spline

Functions 1702Scott A. Bortoff Univ. of Toronto

3:10 - 3:30On the Transformations of Nonlinear Systems 3570Alexey N. Zhirabok Far Eastern State Technical Univ.Alexander Zhukov Far Eastern State Technical Univ.

TM07 — Federal HU1Neural Modeling and Fault Detection

Chair Panos J. Antsaklis Univ. of Notre DameCochair Ching-Fang Lin American GNC Corp.

1:30 - 1:50Structural Modeling and Identification using Neural Networks

1707F.Y. Hadaegh California Inst. of TechnologyR.Y. Chiang California Inst. of TechnologyChing-Fang Lin American GNC Corp.A.S. Politopoulos American GNC Corp.

1:50 - 2:10A Recursive Least Squares Training Algorithm for Multilayer

Recurrent Neural Networks 1712Q. Xu Univ. of Missouri-RollaK. Krishnamurthy Univ. of Missouri-HollaB. McMillin Univ. of Missouri-RollaW. Lu Univ. of Missouri-Rolla

2:10 - 2:30Integration of Controls and Diagnostics using Neural Networks

1717Ioannis K. Konstantopoulos Univ. of Notre DamePanos J. Antsaklis Univ. of Notre Dame2:30 - 2:50An On-Line Approximation Approach to Fault Diagnosis and

Accommodation 1722Marios M. Polycarpou Univ. of Cincinnati

2:50-3:10A Neural Network Scheme for Constant False Alarm Rate

Processing for Target Detection in Clutter Environment1727

Farid Amoozegar Univ. of ArizonaMalur K. Sundareshan Univ. of Arizona

3:10 - 3:30On-Line Fault-Detection in Multi-Output Systems using Kalman

Filter and Neural Network 1729Fahmida N. Chowdhury Michigan Technological Univ.

TM08 — Fells PointLearning Control

Chair Robert T. M'Closkey California Inst. of Tech.Cochair S.R. Habibi Univ. of Toronto

1:30-1:50Point-to-Point Robot Motion Optimization Based on the State

Parametrisation 1732Y. Zhang Fraunhofer Inst. for Production & Design

1:50-2:10Learning Control for a Class of Nonlinear Differential -

Algebraic Systems with Application to Constrained Robots. . 7 1737

C.C. Cheah Nanyang Technological Univ.Dan Wei Wang Nanyang Technological Univ.

2:10 - 2:30Sensor-Based Learning Control of Real Robots 1742Deman Liu Northeastern Univ. of TechnologyWenlu Wu Northeastern Univ. of TechnologyZongfu Liu Northeastern Univ. of TechnologyChaowan Yin Shenyang Institute of Automation

2:30 - 2:50Output Trajectory Tracking Based on Feedforward Learning

1747Weiying Cheng ICUCOM Corp.John T. Wen Rensselaer Polytechnic Institute

2:50 - 3:10Efficient Cartesian Path Approximation for Robots using

Trigonometric Splines 1752Daniel J. Simon TRW Ballistic Missiles DivisionC. Isik Syracuse Univ.

3:10 - 3:30Adaptive Robot Control with Visual Feedback 1757Ricardo Carelli Univ. Nacional de San Juan, ArgentinaOscar Nasisi Univ. Nacional de San Juan, ArgentinaBenjamin Kuchen Univ. Nacional de San Juan, Argentina

TM09 — GuilfordStability of Nonlinear Systems

Chair Allan L. White NASA Langley Research CenterCochair Anthony N. Michel Univ. of Notre Dame

1:30- 1:50Global and Semiglobal Stabilizability in Certain Cascade

Nonlinear Systems 1761J.H. Braslavsky Univ. of NewcastleR.H. Middleton Univ. of Newcastle

1:50 - 2:10A Matrix Norm Condition for Asymptotic Stability in the

Presence of Massive Transient Failures 1766Allan L. White NASA Langley Research Center

2:10- 2:30Recent Results on Lyapunov-Theoretic Techniques for

Non-Linear Stability 1771Yuandan Lin Florida Atlantic Univ.Eduardo D. Sontag Rutgers Univ.Yuan Wang Florida Atlantic Univ.

2:30 - 2:50Some Results on the Stability of Permanent-Magnet Reluctance

Machines 1776Neyram Hemati Drexel Univ.

2:50 - 3:10Stability of Interconnected Systems: Results Without

Quasimonotonicity Conditions 1781Anthony N. Michel Univ. of Notre DameKaining Wang Univ. of Notre Dame

3:10 - 3:30Fractional Memory in Servo Control 1786Brian Armstrong-Helouvry Univ. of Wisconsin, Milwaukee

TM10 — Mt. WashingtonFiltering, Estimation, and Tracking

Chair Hector P. Rotstein TechnionCochair Haralampos Tsaknakis Alphatech, Inc.

1:30 - 1:50Hj/HoqFiltering: Theory and an Aerospace Application . . 1791HectorP. Rotstein TechnionMario Sznaier Pennsylvania State Univ.Moshe Idan Technion

1:50- 2:10Tracking Maneuvering Targets using HooFilters 1796Haralampos Tsaknakis Alphatech, Inc.Michael Athans Massachusetts Inst. of Technology

2:10 - 2:30A d a p t i v e W a v e f o r m S e l e c t i o n f o r T r a c k i n g i n C l u t t e r . . . . 1 8 0 4David J. Kershaw DSTORobin J. Evans Univ. of Melbourne

2:30 - 2:50A SVD-Based Extended Kalman Filter and Applications to

Aircraft Flight State and Parameter Estimation 1809Youmin Zhang Northwestern Polytechnical Univ.Guanzhong Dai Northwestern Polytechnical Univ.Hongcai Zhang Northwestern Polytechnical Univ.Qingguo Li Northwestern Polytechnical Univ.

2:50 - 3:10Simplicial Algorithms on V-Triangulation of Uncertainty Space

1814Edmond A. Jonckheere Univ. of Southern CaliforniaChih-Yung Cheng Univ. of Southern California

3:10 - 3:30Simultaneous Observation of Linear Systems 3579Y.X. Yao Centre de Recherche Public-HTJ. Schaefers Centre de Recherche Public-HTMohamed Darouach Univ. de Nancy

TM11 — KentFlexible Structures - IV

Chair P. S. Krishnaprasad Univ. of MarylandCochair Steven R. Hail Massachusetts Inst. of Technology

1:30 - 1:50Critical Limit Synthesis for Active Stiffening Motion of

Nonlinear Systems with Uncontrolled Dynamics 1816Fakhreddine Karray Univ. of British ColumbiaA. Grewal Univ. of British ColumbiaM. Glaum Univ. of British Columbia

1:50-2:10An Optimal Modal-Space Controller for Structural Damping

Enhancements 1821Min-Hung Hsiao Old Dominion Univ.Jen-Kuang Huang Old Dominion Univ.Lawrence W. Taylor, Jr. NASA Langley Research Ctr.

XIX

2:10 - 2:30Closed-Loop Mode Localisation for Vibration Control in

Flexible Structures . 1826William W. Clark Univ. of PittsburghFranz J. Shelley2:30 - 2:50Energy Flow Control of Interconnected Structures 1831Yasuo Kishimoto Univ. of MichiganDennis S. Bernstein Univ. of MichiganSteven R. Hall Massachusetts Inst. of Technology2:50-3:10On the Use of an Elastic-Plastic Contact Law for the Impact of

a Single Flexible Link 1836AS. Yigit Kuwait Univ.

3:10 - 3:30Approximation of Dynamical Effects Due to Impact on Flexible

Bodies 1841QifengWei Univ. of MarylandWijesuriya P. Dayawansa Univ. of MarylandP. S. Krishnaprasad Univ. of Maryland

TM12 — Pride of BaltimoreStochastic Systems- II

Chair Joseph L. Hibey Old Dominion Univ.Cochair C D . Charalambous Old Dominion Univ.

1:30 - 1:50On the Observability of Linear Stochastic Switching Systems

1846Philip D. West Georgia Inst. of TechnologyAbraham H. Haddad Northwestern Univ.

1:50- 2:10Nonlinear Stabilisation of Jump Linear Gaussian Systems

1848G. Pan Univ. of ConnecticutY. Bar-Shalom Univ. of Connecticut

2:10 - 2:30Sequential Optimal Detection and Isolation of Faults in Systems

with Random Disturbances 1853Igor V. Nikiforov IRISA-INRIA, Campus de Beaulieu

2:30 - 2:50Composite Control of Discrete Singularly Perturbed Systems

with Stochastic Jump Parameters 1858Xuemin Shen Univ. of AlbertaQijun Xia Univ. of AlbertaV G. Gourishankar Univ. of Alberta

2:50 - 3:10An Identification Scheme for Control and Fault Diagnosis

1863Greg Mallory Univ. of New BrunswickR. Doraiswami Univ. of New Brunswick

3:10 - 3:30Averaging, Aggregation and Optimal Control of Stochastic

Hybrid Systems with Singularly Perturbed MarkovianSwitching Behavior 1868

Ching-Chih Tsai National Chung-Hsing Univ.Abraham H. Haddad Northwestern Univ.

TM13 — JamesControl via Model Reduction

Chair Pierre T. Kabamba Univ. of MichiganCochair H. Arsham Univ. of Baltimore

1:30 - 1:50Repetitive Control using Low Order Models 1873Gunn&r Hillerstrom LuleB Univ. of TechnologyJan Sternby

Control of a Separately Excited DC Motor using On-LineLinearisation Techniques . WTt

Rick Harmsen Vniy. of Western OntarioJin Jiang Univ. of Western Ontario

2:10 - 2:30Reduced Order HcoFiltering I884Maamar Bettayeb KFUPM, Saudi ArabiaDavut Kavranoglu KFUPM, Saudi Arabia

2:30 - 2:50A Realisation Method of the Transfer Functions Containing

Variable Parameter 1889Atsushi Kawakami Kanazawa Inst. of Tech.2:50- 3:10Model Reduction via Matrix Pencil Approach 1891Herbert W. Beke Univ. of MinnesotaDaniel L. Boley Univ. of Minnesota

3:10 - 3:30A Comparison Between B^and Colored Noise Filtering of Fixed

Order 1896AH A. Jalali West Virginia Univ.Hansil Kim West Virginia Univ.Craig S. Sims West Virginia Univ.

TM14 — GibsonNumerical Methods

Chair Rama K. Yedavalli Ohio State Univ.Cochair Pradeep Misra Wright State Univ.

1:30- 1:50A Computational Geometry Approach to Simplicial Nyquist

Maps in Robust Stability 1901Edmond A. Jonckheere Univ. of Southern CaliforniaMurilo G. Coutinho Univ. of Southern CaliforniaChih-Yung Cheng Univ. of Southern California

1:50-2:10Globally Convergent Homotopy Algorithms for Full-Order LQG

Control with an HQQ Performance Bound 1906Yuzhen Ge Virginia Polytechnical InstituteL.T. Watson Virginia Polytechnical InstituteR.S. Erwin Univ. of MichiganDennis S. Bernstein Univ. of Michigan

2:10 - 2:30Sensitivity Analysis to Optimisation in Linear Programming

1911Zhenhua Shao Univ. of Kansas

2:30 - 2:50The Geometrical Modelling of Compressor Blades 1913R.M.H. Cheng Concordia Univ.R. Rajagopalan Concordia Univ.M. Temple-Raston Concordia Univ.

2:50 - 3:10Numerically Generated Path Stabilising Controllers I:

Theoretical Concerns 1918Stephen L. Campbell North Carolina State Univ.Ramine Nikoukhah LNRIA-RocquencourtDirk von Wissel ZNRIA-Rocquencourt

3:10 - 3:30Estimating the Delay-Time for the Stability of Uncertain

Saturating Systems 1921Chuan-Guey Huang Chien Kuo Junior College of Tech.Te-Jen Su National Kaohsiung Inst. of Tech.

TM15 — St. GeorgeDelay Systems

Chair Costas Kravaris Univ. of MichiganCochair Jie Chen Georgia Institute of Technology

1:30-1:50Robust Model Predictive Control of Processes with Large

Uncertainty in Deadtime 1923Raymond A. Wright Dow Chemical CompanyCostas Kravaris Vnir. of MichiganBrian SmithJohn M. Wassick Dow Chemical CompanyDavid T. Camp Dow Chemical Company

1:50 - 2:10_On Sufficient Conditions for Stability Independent of Delay

1929Bahram Shafai Northeastern Univ.

2:10 - 2:30On Computing the Maximal Delay Intervals for Stability of

Linear Delay Systems 1934Jie Chen Georgia Institute of Technology2:30 - 2:50Robust Controller Design for Delay Systems in the Gap-Metric

1939Akira Kojima Tokyo Metropolitan Inst. of Tech.Shintaro Ishijima Tokyo Metorpolitan Inst. of Tech.2:50-3:10The Stability Bounds of Linear Time-Delay Singularly

Perturbed Systems 1945Zhenhua Shao Univ. of KansasJR. Rowland Univ. of Kansas

3:1.0 - 3:30Time-Delay Control of Magnetic Levitated Linear Positioning

System 1947Jiun-Haur Tarn National Cheng Kung Univ.K.Y. Juang

Thursday Afternoon Session

TP01 — Salon AVehicle Steering and Yaw Control

Chair Jim Winkelman Ford Motor CompanyCochair Paul I. Ro North Carolina State Univ.

4:00 - 4:20Decentralized Control of Active Vehicle Suspensions with

Preview 1952Aleksander B. Hac SUNY-Stony Brook

4:20 - 4:40Automatic Steering of Vehicles Involving Feedforward of the

Estimated Track Curvature 1957Wolfgang Sienel DLRJuergen Ackermann DLR

4:40 - 5:00Nonlinear Control of Roll Moment Distribution to Influence

Vehicle Yaw Characteristics 1959Wassim M. Haddad Florida Inst. of Tech.D.E. Williams

5:00 - 5:20Robust Decoupling of Car Steering Dynamics with Arbitrary

Mass Distribution 1964Juergen Ackermann DLR, German Aerospace Research Estabimt.

5:20 - 5:40A Sliding Mode Control Approach to Automatic Car Steering

1969Jurgen Guldner DLR, German Aerospace Research Estabimt.Vadim I. Utkin DLR, German Aerospace Research Estabimt.Juergen Ackermann DLR, German Aerospace Research Estabimt.

5:40 - 6:00Improvement of High Speed Four Wheel Steering (4-WS)

Vehicle Handling Performance by Sliding Mode Control

Paul I. Ro North Carolina State Univ.Hoyong Kim

TP02 — Salon BApplied Monitoring and Fault Diagnosis

Organiser Kourosh Danai Univ. of MassachusettsChair Jeffrey L. Stein Univ. of Michigan

Cochair Kourosh Danai Univ. of Massachusetts

4:00 - 4:20Two-Stage Threshold Testing for Robust Fault Detection and

Isolation in Dynamic Systems 1979X. Fang George Mason Univ.M. Kunwar George Mason Univ.Janos J. Gertler George Mason Univ.J. Heron George Mason Univ.T. Barkana George Mason Univ.

4:20 - 4:40Self-Tuning Residual Generation for Fault Diagnosis 1984Kourosh Danai Univ. of MassachusettsH. Chin Univ. of MassachusettsY. Zhao Univ. of Massachusetts

4:40 - 5:00Testability Engineering and Maintenance Systems 1989Krishna R. Pattipati Univ. of ConnecticutS. Deb Univ. of ConnecticutV. Ragharan Univ. of ConnecticutR. Shrestha Univ. of Connecticut

5:00- 5:20Model Error Compensation and Robust Observer Design Part I:

Theoretical Formulation and Analysis 1996J.F. Tu Purdue Univ.Jeffrey L. Stein Univ. of Michigan

5:20 - 5:40Fault Detection in IC Engines using NARMAX Models . . 2001V. Krishnaswami Ohio State Univ.Guan-Chun Luh Ohio State Univ.Giorgio Rizzoni Ohio State Univ.

5:40 - 6:00 #

Non-Invasive Diagnostics of Motor-Operated Values 2006J. Chai Ajou Univ.R. Lyon Massachusetts Inst. of Tech.1. Lang Massachusetts Inst. of Tech.

TP03 — Salon C

Applications of Adaptive Control

Chair Gang Tao Univ. of VirginiaCochair Izhak Bar-Kana Drexel Univ.

4:00 -4:20Identification of Electrically Stimulated Quadriceps in

Paraplegic Subjects During Load Transitions 2013S. Chang Case Western Reserve UnivH.J. Chizeck Univ. of AlbertaR.B. Stein Cleveland V.A. Medical CenterA. Scheiner Cleveland V.A. Medical CenterD.C. Ferencz Cleveland V.A. Medical Center

4:20 - 4:40Self-Tuning PID Controller for Lower Limb FES with Nonlinear

Compensation 2015L. Del Re ETH-ZentrumFrank J. Kraus ETH-ZentrumJ. Schultheiss ETH-ZentrumH. Gerber ETH-Zentrum

4:40 - 5:00Disturbance Modeling in a Tube Glass Production Process

2020H. M. Falkus Eindhoven Univ. of Tech.Ad A. H. Damen Eindhoven Univ. of Tech.Ton Backx IPCOS B.V. Integrated Production Control

5:00 - 5:20Applications of Self-Tuning Control for Spacecraft Tracking

2025Glenn Creamer Swales and Associates, Inc.

5:20 - 5:40Adaptive Speed Control of AC Servo Induction Motors with

On-Line Load Estimation 2030Yee-Pien Yang National Taiwan Univ.Chuan-Feng Fang National Taiwan Univ.

CXI

5:40 - 6:00A Variable Structure Identifier for Servo Systems Under

Uncertain Loading 2035Jian-Shiang Chen National TsingHua Univ.Yu-Sheng Lu National Tsing Hua Univ.

TP04 — Salon DControl Relevant Model Identification and Fault Detection

Organizer James B. Rawlings Univ. of Texas, AustinChair Richard D. Braatz DuPont Advanced Control Group

Cochair J. H. Lee Auburn Univ.

4:00 - 4:20Robust Identification 2040Nick P. Rubin Imperial CollegeD. J. N. Limebeer Imperial College

4:20 - 4:40The Development of Model Quality Bounds for Frequency

Domain and Time Domain Models 2045William R. Cluett Univ. of TorontoL. Wang Univ. of TorontoA. Zivkovic Univ. of Toronto4:40 - 5:00Control-Relevant Identification of Volterra Series Models

2050(Jingsheng Zheng Univ. of MarylandEvanghelos Zafiriou Univ. of Maryland

5:00 - 5:20Control-ID: A Demonstration Prototype for Control-Relevant

Identification 2055Daniel E. Rivera Arizona State Univ.S. V. Gaikwad Arizona State Univ.X. Chen Arizona State Univ.S. Bhatnagar Arizona State Univ.

5:20 - 5:40Optimal and Robust Design of Integrated Control and

Diagnostic Modules 2060M. L. Tyler California Inst. of TechnologyManfred Morari California Inst. of Technology5:40 - 6:00Control Relevant Model Selection for Uncertain Processes

2065M. Laiseca Case Western Reserve Univ.Coleman B. Brosilow Case Western Reserve Univ.

TP05 — Salon EBenchmark Problem for Tracking Manuevering Targets

Organizer W.D. Blair Naval Surface Warfare CenterChair W.D. Blair Naval Surface Warfare Center

Cochair Gregory A. Watson Naval Surface Warfare Center

4.00 - 4:20Benchmark Problem for Beam Pointing Control of Phased

Array Radar Against Maneuvering Targets 2071W.D. Blair Naval Surface Warfare CenterG.A. Watson Naval Surface Warfare CenterS.A. Hoffman Naval Surface Warfare Center4:20 - 4:40An A-B Target Tracking Approach to the Benchmark Tracking

Problem 2076Paul Kalata Drexel Univ.Thomas Chmielewski Control Concepts, Inc.Brendan Rhatigan Loral Federal Systems - Owego

4:40 - 5:00Tracking a Maneuvering Targert using Jump Filters 2081C. R. Sastry Georgia Inst. of TechnologyEdward W. Kamen Georgia Inst. of TechnologyH. Stalford Georgia Inst. of TechnologyPhilip D. West Georgia Tech. Research Inst.B. J. Slocumb Georgia Tech. Research Inst.

5:00 - 5:20Dual-Path Algorithms for the Benchmark Tracking ProblemD.D. Sworder u'n'iv.' of Calif.', San DiegoP. Bertrand CNRS-ESEF. Dufour CNRS-ESE

5:20 - 5:40Beam Pointing Control of a Monopulse Radar for Maneuvering

Target Tracking 2093E. Daeipour Univ. of ConnecticutY. Bar-Shalom Univ. of Connecticut

TP06 — Salon FNonlinear H

Chair Prodromes Daoutidis Univ. of MinnesotaCochair John C. Doyle California Instit. of Tech.

4:00 -4:20HooControl of Nonlinear Systems: A Convex Characterization

2098Wei-Min Lu California Institute of Tech.John C. Doyle California Inst. of Tech

4:20-4:40Nonlinear HgpControl of Periodic Orbits 2103Chung Choo Chung Samsung Advanced Inst. of Tech.John E. Hauser Univ. of Colorado

4:40 - 5:00Nonlinear HooControl of a Missile's Roll Axis 2109Richard Colgren Lockheed Advanced Development Co.

5:00 - 5:20The Gap Topology for Nonlinear Systems 2114Siquan Q. Zhu Univ. of Texas at Arlington

5:20 - 5:40Robust Nonlinear Control of Bilateral Teleoperators 2119Gary Leung Univ. of TorontoBruce A. Francis Univ. of Toronto

5:40 - 6:00Micro Analysis for Nonlinear Control Systems 2124Y. Zhang Univ. of StrathclydeM. R. Katebi Univ. of Strathclyde

TP07 — Federal HillNeural Modeling and Control

Chair G. G. Yen The USAF Phillips LaboratoryCochair K. Krishnamurthy Univ. of Missouri-Rolla

4:00 - 4:20Neural Network-Based Successive One-Step-Ahead Control of

Nonlinear Systems 2129Robert N.K. Loh Oakland Univ.X. Ma Oakland Univ.

4:20 - 4:40Artificial Neural Network Model Based Control 2134Gary A. Montague Univ. of NewcastleM.J. Willis Univ. of NewcastleA. Julian Morris Univ. of Newcastle

4:40 - 5:00A Neural Approach to Fuzzy Modeling 2139Junhong Nie National Univ. of Singapore

5:00 - 5:20Neural Approximations for Receding-Horizon ControllersA. Cattaneo Univ. di GenovaThomas Parisini Univ. di GenovaR. Raiteri Univ. di GenovaRiccardo Zoppoli Univ. di Genova

5:20 - 5:40 ,.Self-Tuning Neurocontrol of Nonlinear Systems using Localized

Polynomial Networks with Cli Cells 2148Feng Liang McMaster Univ.H.A ElMaraghy McMaster Univ.

5:40 - 6:00Performance Comparison of Dynamic Neural Networks as

Applied to Robot Inverse Kinematic Computations . . 2153Madan M. Gupta Univ. of SaskatchewanD.H. Rao Univ. of Saskatchewan

TP08 — Fells PointFrontiers of Intelligent Control

Organizer Haruhiko Asada Massachusetts Inst. of Tech.Chair Roberto Horowitz Univ. of Caiifornia, Berkeley

Cochair Haruhiko Asada Massachusetts Inst. of Tech.

4:00 - 4:20Understanding the Acrobot: An Example of Intelligent Control

2158Mark W. Spong Univ. of IllinoisGerald DeJong Univ. of Illinois

4:20 - 4:40Progressive Learning for Robot Impedance Control 2163Boo-Ho Yang Massachusetts Inst. of Tech.Haruhiko Asada Massachusetts Inst. of Tech.

4:40 - 5:00On the Optimizing Adaptive Control Problem 2170Perry Y. Lee Univ. of California, BerkeleyRoberto Horowitz Univ. of California, Berkeley

5:00 - 5:20Exploring Active Self-Organization *Jean-Jacques E Slotine Massachusetts Inst. of Technology

5:20 - 5:40Learning Output Control of Nonlinear Systems 2175Nader Sadegh Georgia Inst. of TechnologyBenigno Maqueira Georgia Inst. of Technology

5:40 - 6:00Intelligent Use of Prior Information in Adaptive Control Design

2180Anuradha M. Annaswamy Massachusetts Inst. of Tech.

TP09 — Guilford

Stability of Control Systems

Chair Oscar R. Gonzalez Old Dominion Univ.Cochair Olav Beke Univ. of Minnesota

4:00 - 4:20Novel Control of an Inverted Pendulum 2185Robert M. Dimeo Pennsylvania State Univ.Stelios Thomopoulos Pennsylvania State Univ.

4:20 - 4:40Feedback Stabilization of Singularly Perturbed Nonlinear

Systems Within a Prescribed Cylindrical Region ofAsymptotic Stability *

Lachen Saydy Ecole PolytechniqueEyad H. Abed Univ. of MarylandAndre L. Tits Univ. of Maryland

4:40 - 5:00Implementation and Prevention of Unstable Optimal

Compensators 2190Douglas G. MacMartin National Research Council of CanadaJonathan P. How Massachusetts Inst. of Tech.

5:00 - 5:20On the Exponential Stability of Discrete-Time Systems with

Applications in Observer Design 2196Victor C. Aitken Defence Research Establishment SufSeldHoward M. Schwartz Carleton Univ.

5:20 - 5:40An Output Feedback Controller with Wave Filter for Marine

Vehicles 2202Marit Johanne Paulsen Univ. of TrondheimOlav Egeland Univ. of TrondheimThor I. Fossen Univ. of Trondheim

5:40 - 6:00Stability of Linear Large-Scale Composite Systems 2207Ru-Dong Gai Northeast Univ. of TechnologySi-Ying Zhang Northeast Univ. of Technology

TP10 — Mt. WashingtonHQQ Estimation and Identification

Chair Mario A. Rotea Purdue Univ.Cochair Wodek Gawronski California Inst. of Technology

4:00 -4:20Hybrid H I / H Q Q Estimation for Phase-Locked Loop Filter Design

2212Daniel J. Simon TRW Systems Integration GroupHossny El-Sherief TRW Systems Integration Group

4:20 - 4:40Robust H2/HooState Estimation for Systems with Real

Parameter Uncertainties 2217Seung H. Lee Univ. of Michigan

4:40 - 5:00Spectral Theory of HQO Filters tc Smoothers 2222Edmond A. Jonckheere Univ. of Southern CaliforniaShivanand Bhajekar Univ. of Southern California

5:00 - 5:20Exact Slow-Fast Decomposition of the HQQFiltering Riccati

Equation of Singularly Perturbed Systems 2224Abdul H. Azzo Wichita State Univ.M. Edwin Sawan Wichita State Univ.

5:20-5:40Least Squares Parameter Estimator: Membership Set and

HooSensitivity 2226Er-Wei Bai Univ. of IowaRoberto Tempo Politecnico di Torino

5:40 - 6:00A M u l t i p l e M o d e l L e a s t - S q u a r e s E s t i m a t i o n M e t h o d . . . . 2 2 3 1ShaohuaNiu Univ. of AlbertaD. Grant Fisher Univ. of Alberta

TP11 — Kent

Discrete-time Systems

Chair Kevin L. Moore Idaho State Univ.Cochair Chin Shung Hsu Washington State Univ.

4:00 - 4:20New Results on J^Suboptimal State Feedback Control with an

HooConstraint 2236Eitaku Nobuyama Kyushu Institute of TechnologyP.P. Khargonekar Univ. of Michigan

4:20 - 4:40The Discrete-Time HooControl Problem with Strictly Proper

Measurement Feedback 2241Anton Stoorvogel Eindhoven Univ. of Tech.Ali Saberi Washington State Univ.Ben M. Chen State Univ. of New York

4:40 - 5:00Simultaneous H J / H Q O Optimal Control for Discrete-Time

Systems: The State Feedback Case 2246Zongli Lin Washington State Univ.Ali Saberi Washington State Univ.Ben M. Chen State Univ. of New YorkUy-Loi Ly Univ. of Washington

5:00 - 5:20An Exact Solution to General 4-Blocks Discrete-Time Mixed

HO/HQOProblems via Convex Optimization 2251Mario Sznaier Pennsylvania State Univ.Hector P. Rotstein Technion

5:20 - 5:40Dissipativity, L^-Gain and HooControl for Discrete-Time

Nonlinear Systems 2257Wei Lin Washington Univ.C. I. Byrnes Washington Univ.

CXIU

5:40- 6:00Reliability of Discrete-Time Control Systems using Redundant

Sensors and Actuators 2261Juraj V. Medanic Univ. of Illinois, Urbana-Champaign

TP12 — Pride of BaltimoreDecentralized

Chair Vasilios Manousiouthakis Univ. of California, Los AngelesCochair Helen Ryaciotaki-Boussalis California State Univ., Los Angeles

4:00 - 4:20Distributed Decentralised Robot Control 2266A.G.O. Mutambara Univ. of OxfordHugh F. Durrant-Whyte Univ. of Oxford

4:20 - 4:40Routing for Reliablity in Decentralized Sensing Networks

2268Simukai Utete Univ. of OxfordHugh F. Durrant-Whyte Univ. of Oxford

4:40 - 5:00General Decentralized Kalman Filters 2273Timothy M. Berg The University of OxfordHugh F. Durrant-Whyte Univ. of Oxford

5:00 - 5:20Characterisation of Decentralised Fixed Modes using Inverse

Matrix Factorisation 2275T. N. Chang New Jersey Inst. of Tech.

5:20 - 5:40Measurement of Interactions in Multivariable Systems: Some

Structural Issues 2280Konur Alp Unyelioglu Ohio State Univ.Umit Ozguner Ohio State Univ.Arif Bulent Ozguler Bilkent Univ.

5:40 - 6:00A Necessary and Sufficient Condition for Robust Decentralized

Controllability of Robot Manipulators 2285P. Kiriazov Bulgarian Academy of Sciences

TP1S — JamesNonlinear Control Applications

Chair Norman P. Coleman, Jr. US Army Armament R&D CenterCochair Demetrios Serakos Naval Surface Warfare Center

4:00 - 4:20Integrated Approach to the Control of Nonlinear Flexible

Pointing Systems 2288Steven Banks U.S. Army Armament ResearchG. Papanagopoulos U.S. Army Armament ResearchM. Devito U.S. Army Armament Research

4:20 - 4:40Nonlinear Autopilot and Guidance for a Highly Maneuverable

Missile 2293Kuang Yow Lian National Taiwan Univ.Dung-Ming Chuang National Taiwan Univ.Li-Chen Fu National Taiwan Univ.

4:40 - 5:00Dynamic Controller Design for a Fixed Base Motion Simulator

2298Daniel W Repperger Wright Patterson AFBMing Z. HuangR.G. Roberts

5:00 - 5:20Distributed Nonlinear Modeling and Stability Analysis of Axial

Compressor Stall and Surge 2305Catherine Mansoux Massachusetts Inst. of Tech.Daniel L. Gysling Massachusetts Inst. of Tech.James D. Paduano Massachusetts Inst. of Tech.

5:20 - 5:40Active Control of Rotating Stall in Axial Flow Compressors

2317Hua Wang Univ. of MarylandRaymond Adomaitis Univ. of MarylandEyad H. Abed Univ. of Maryland

XXT

5:40 - 6:00Robust Controller Design for Batch Polymerization Reactors

2322Takamasa Yumoto ybkogawa Electric Corp.T. Ohtani Yokogawa Electric Corp.H. Ohmori Keio UniversityA. Sano Keio University

TP14 — GibsonRobust Control for Uncertain Systems

Chair Emmanuel G. Collins, Jr. Harris Corp.Cochair T. Iwasaki Purdue Univ.

4:00 - 4:20Frequency Domain Performance Bounds for Uncertain Positive

Real Plants Controlled by Strictly Positive RealCompensators 2328

David C. Hyland Harris CorpEmmanuel G. Collins, Jr. Harris Corp.Wassim M. Haddad Florida Inst. of Tech.Vijaya S. Chellaboina Florida Inst. of Tech.

4:20 - 4:40Controller Design with Mixed Uncertainties 2333Peter M. Young Massachusetts Inst. of Tech.

4:40 r 5:00Minimax Optimal Control for Uncertain Systems 2338Altug Iftar Anadolu UniversitesiUmit Ozguner Ohio State Univ.

5:00 - 5:20Robust Performance Analysis for Systems with Norm-Bounded

Time-Varying Structured Uncertainty 2343T. Iwasaki Purdue Univ.

5:20-5:40gStabilization of Uncertain Systems using Unity-Rank Output

Feedback and the Edge Theorem 2348Mohammad B. Argoun Cairo Univ.Mohamed M. Bayoumi Queen's Univ.

5:40 - 6:00Robust Control of a Continuous Stirred-Tank Reactor . . . 2350Kai Liu Univ. of Texas, ArlingtonFrank L. Lewis Univ. of Texas, Arlington

TP15 — St. GeorgeLinear Systems - I

Chair Yoram Halevi Ohio State Univ.Cochair Ming Rao Univ. of Alberta

4:00 - 4:20Stable LQG Controllers *Yoram Halevi Ohio State Univ.

4:20 - 4:40Lyapunov Stability, Semistability and Asymptotic Stability of

Matrix Second-Order Systems 2355Dennis S. Bernstein Univ. of MichiganSanjay P. Bhat Univ. of Michigan

4:40 - 5:00Solution of Robust Pole-Placement Problem via Gradient Flow

2380James Lam Univ. of Hong KongW. Yan Univ. of Western Australia

5:00 - 5:20Simultaneous Compensation with Nonswitching Controllers of

Low Order 2365Christophe Fonte Univ. de NancyH. Noura Univ. de NancyD. Sauter Univ. de Nancy

5:20 - 5:40Nevanlinna-Pick Interpolation Problem for Two Frequency Scale

Systems 2367Hosseim Oloomi Purdue Univ., Fort Wayne

5:40-6:00Global Regulation Performance Indices and the Orthogonality of

the Eigenvectors Set 2372Dahai Wang Hebei Academy of SciencesHaiming Qiu Univ. of AlbertaMing Rao Univ. of Alberta

Friday Morning Session

Plenary Session III

Chair Hassan Khalil Michigan State Univ.Cochair Jeff Kantor Univ. of Notre Dame

8:30 - 9:30Manufacturing Systems: Too Many Problems..,, Too Few

Solutions •Semyon Meerkov University of Michigan

FA01 — Salon A

HQO Algorithms

Chair Franco Blanchini Universita degli Studi di UdineCochair Theodore Theodosopoulos Massachusetts Inst. of Tech.

10:00- 10:20HooControl and Estimation Problems with Delayed

Measurements - State-Space Solutions 2379K. Nagpal Univ. of IowaR. Ravi GE R&D Center

10:20 - 10:40An Algorithm for Constant I/O Scaled HQO Optimization

Problems 2384Y.A. Jiang Univ. of New South WalesD.J. Clements Univ. of New South Wales

10:40 - 11:00HQO Filtering of Two-Time Scale Systems 2389Abdul H. Azzo Wichita State Univ.Wayne L. Stout Wichita State Univ.M. Edwin Sawan Wichita State Univ.

11:00- 11:20Design of H2and H^Controllers with Two Degrees of Freedom

2391Urs Christen Swiss Federal Institute of TechnologyMartin F. Weilenmann Swiss Federal Institute of TechnologyHans P. Geering Swiss Federal Institute of Technology

11:20- 11:40Explicit Controller Formulas for LMi-Based H^Synthesis

2396Pascal M. Gahinet INRIA

11:40 - 12:00Numerical Investigation of Algorithms for H2/H00Controllers

Synthesis 2401Antonio Carlos de Lima Escola Politecnica da USP

FA02 — Salon B

Robust Control - I

Chair J. C. Geromel State Univ. of CampinasCochair Oscar R. Gonzalez Old Dominion Univ.

10:00- 10:20Worst-Case and Average ^Performance Analysis Against Real

Constant Parametric Uncertainty 2406Jonathan H. Friedman Univ. of MichiganPierre T. Kabamba Univ. of MichiganP.P. Khargonekar Univ. of Michigan