DECISION AND CONTROL. 30th IEEE CONFERENCE ON. Brighton, England. Systems Society. Metropole Hotel PROCEEDINGS OF THE.

PROCEEDINGS OF THE

30th IEEE CONFERENCE ON DECISION AND CONTROL

11 -13 December 1991

Metropole ^Hotel Brighton, England

IEEE Control

Systems Society

Volume ¹ of 3

91CH3076-7

TECHNICAL PROGRAM

^-

WEDNESDAY Wednesday Plenary ^Session

8:30-9:30 Plenary

Glover K., Univ Cambridge UK Chairs: Antsaklis P.J., Univ Notre Dame USA Atherton D.P., ^Univ Sussex UK 10:00-12:00 Sessions W1-

W1-1 System Representations: A Behavioral 8:30-9:30

Framework Plenary Speaker: Glover K., ^Univ Cambridge UK

W1-2 Robustness Under Parametric Uncertainties -1 Title: Robust Paradigms

W1-3 Nonlinear Stabilization

W1-4 Discrete Event Dynamic Systems ^-1

W1-5 Mechanical Systems W1-1

W1-6 Neural Networks: Control System Representations: A Behavioral Framework W1-7 Hqo Optimal ^{Control -1}

W1-8 Design of Linear Control Systems ^-1

W1-9 Optimal Control and Nonsmooth Analysis Organizers: ^{Antoulas A.C.,} Rice Univ USA

W1-10 Identification for Control Weiland S., Rice Univ USA

W1-11 Decentralized Control Chairs: Weiland S., Rice Univ USA

W1-12 Adaptive Control in Robotics Antoulas A.C., ^Rice Univ USA

1:30-3:30 Sessions W2- 10:00-10:20

W2-1 Algebraic ^and Geometric Advances from On Linear Recursive Modelling (I) ²

Linear to Nonlinear Systems ^{Antoulas A.C.,} Rice Univ USA

W2-2 Robustness Under Parametric Uncertainties

^-

II Willems J.C., Univ Groningen NETHERLANDS W2-3 Nonlinear Systems ^-1

W2-4 Control of Markov Processes 10:20-10:40

W2-5 Applications ^-1 Equivalence ^of Representations ^for

^a

^{Class of}

W2-6 Panel Discussion: Neural Networks ⁱⁿ Control Nonstationary ^Processes (I) ³

Systems ^{Schumacher J.M.,} CWI-Centre for Math.and Comp ^Science

W2-7 Ho, Optimal ^Control

^-

^II NETHERLANDS

W2-8 Multivariable Systems

10:40-10:50 W2-9 Optimal Control ^-1

W2-10 New ^Directions in Linear System Identification -1 The Realization Problem ^for Non-Causal Systems (I) 9 W2-11 Estimation and Failure Detection Heij C, Erasmus Univ Rotterdam NETHERLANDS

W2-12 Robotic Applications

10:50-11:00

4:00-6:00 Sessions ^W3- Irreducible Representation of L2-Signals 11

W3-1 Alternative Input ^/ Output Representations ^{Picci G.,} Univ di Padova ITALY

W3-2 Robust Adaptive Control ^-1 Pinzoni S., Univ Groningen NETHERLANDS W3-3 Nonlinear Systems

^-

^II

11:00-11:20 W3-4 Control and Optimization ^of Queueing Systems ^-1

W3-5 Critical Issues and Open Problems in the Approximate Identification ^with Linear

Industrial Applications ^{of Control} Regression Models (I) ³¹⁰⁸

W3-6 Neural Networks: Learning ^{van den} Hof P.M.J., ^Tech Univ Delft NETHERLANDS W3-7 Stability Analysis ^of Systems with Structured

11:20-11:40 Uncertainties

W3-8 Pole Placement and Stabilization Balanced Representations ^for

^a

W3-9 Optimal ^Control

^-

^{II Class of} L2 Systems (I) ¹³

W3-10 New Directions in Linear System Identification

^-

II Weiland S., Rice Univ USA W3-11 Model ^Based Predictive Control

W3-12 Robotics

^-

11:40-11:50

Representations ^of Symmetric ^Linear

Dynamical Systems (I) ¹⁷

Fagnani F., Scuola Normale Superiore Pisa ^ITALY Willems J.C., ^Univ Groningen NETHERLANDS

11:50-12:00

Balanced Representations: A Functional Point of View (I)

Fuhrmann P.A., Ben Gurion Univ the Negev ^ISRAEL

Ober R., Univ Texas-Dallas USA

Chairs: Djaferis ^T.E., Univ Massachusetts USA Kraus F.J., ETH-Zurich SWITZERLAND

Chairs: Cook P., UMIST UK

Michalska H., Imperial College ^UK

10:00-10:20

Factorization and Smallest-Norm Roots of Multivariable

Polynomials in Robustness Analysis ¹⁹

El Ghaoui L, Bliman P.-A., ETCA/CREA/SP FRANCE

.25 10:20-10:40

On Robustness Analysis ^with Non-Diagonal Structured Uncertainty

Chen J., ^Fan M.K.H., Nett C.N., Georgia Inst Tech USA

10:40-11:00

Analysis ^{and Filter Design for Strict} Positive Realness of

Families ^of Polynomials ³¹

Tesi A., Zappa ^G., Univ Firenze ITALY Vicino A., Politecnico Torino ITALY

11:00-11:20

On the Strict and Wide-Sense Stability ^Robustness

of Uncertain Systems

^-

Application ^{of a New}

Frequency ^{Criterion 37}

Tsypkin Y.Z., Polyak B.T., Acad Sciences USSR Katbab A., George Washington ^{Univ USA} Jury ^E.I., Univ Miami USA

11:20-11:30

Robust Stability ^{of Control} Systems: Extreme Point Results

for ^the Stability ^of Edges ⁴³

Kraus F.J., Mansour M., Truol W., ETH-Zurich SWITZERLAND Anderson B.D.O., Australian Nat'l Univ AUSTRALIA

11:30-11:40

On the Robust Stability Analysis ^of

Multivariable Systems ⁴⁵

Zhou K., Gu G., Louisiana State Univ USA

11:40-11:50

Avoidance and Intersection in the Complex ^{Plane, a Tool for}

Simultaneous Stabilization 47

Blondel V., Campion G., ^Gevers M., ^Univ Catholique ^de Louvain BELGIUM

11:50-12:00

Robust Nonnegative Stabilization of Interval

Discrete Systems ⁴⁹

Shafai B., Northeastern Univ USA Hollot C.V., Univ Massachusetts .USA

10:00-10:20

Some Sufficient Conditions for the Semiglobal Stabilization of Globally Noninteractive Nonlinear Systems ^via Dynamic

State-Feedback 52

Battilotti S., ^{Univ Studi} Roma ITALY Dayawansa W.P., ^Univ Maryland ^USA

10:20-10:40

Linear Feedback Stabilization of Nonlinear Systems 58 Fu J.-H., Wright State Univ USA

Abed E.H., Univ Maryland ^USA

10:40-11:00

Robust Receding Horizon Control 64

Mayne D.Q., Univ California-Davis USA Michalska H., Imperial College ^UK

11:00-11:10

On the Stabilizability ^of Multiple Integrators by ^{Means of}

Bounded Feedback Controls 70

Sussmann H.J., Yang Y., Rutgers Univ USA

11:10-11:20

Versions of Sontag's "Input ^{to State} Stability Condition"

and the Global Stabilizability ^{Problem 73}

Tsinias J., Nat'l Tech Univ GREECE

11:20-11:30

Receding Horizon Control for Nonlinear

Time-Varying Systems ⁷⁵

Vinter R.B., Michalska H., Imperial College ^UK

11:30-11:40

Stability Analysis ^for

^a

Class of Linear Controllers Under

Control Constraints 77

Dolphus ^R.M., Schmitendorf W.E., Univ Calif.-lrvine USA

11:40-11:50

Stabilizing Controllers for Systems With Sensor or Actuator Failures

Gundes A.N., Univ Calif.-Davis USA

11:50-12:00

Exponential Stablization Using ^Piecewise Constant Gain Adaptation

Ilchmann A., Univ Hamburg ^GERMANY

Owens D.H., Univ Exter UK

.81

.83

"WTT

Discrete Event Dynamic Systems ^-1

Chairs: Cao X.R., ^{DEC USA}

Kumar R„ Univ Kentucky ^USA

10:00-10:20

On the Complexity ^{of Forbidden State} Analysis ^for

Controlled Marked Graphs

Magott ^J., Polytech Warsaw POLAND

Holloway L.E., Krogh ^B.H., Carnegie-Mellon ^{Univ USA}

10:20-10:40

Supervisory Design Using Petri ^Nets

Giua A., DiCesare F., ^Rensselaer Polytech ^{Inst USA}

.85

.92

10:40-11:00

Using ^Predicate Transformers for

Supervisory ^Control

Kumar R., Garg ^{V., Marcus S.I.,} Univ Texas USA

11:00-11:20

Optimizing Discrete Event Dynamic Systems ^via

the Gradient Surface Method

Ho Y.-C, Shi L, ^Dai L, Harvard Univ USA

Gong ^W.-B., Univ Massachusetts USA

11:20-11:40

Application ^{of Descent} Algorithms ^with Armijo Stepsizes to Simulation-Based Optimization

of Queueing ^Networks

Wardi Y., Lee K., Georgia Inst Tech USA

11:40-11:50

Fixed Utilization Perturbation Analysis

Logsdon ^{J.B., Gluck J.W., Univ} Illinois-Chicago ^USA

11:50-12:00

Dynamic ^{Routing in} Delay ^networks: Ergodicity,

Transients and Large ^Excursions Boel R.K., Univ Gent BELGIUM

.98

.104

.110

.116

.118

"WTT

Mechanical Systems'

Chairs: Williams T., Univ Cincinnati USA Walker D., Univ Leicester UK

10:00-10:20

Adaptive ^{Control of}

^a

class of Mechanical Sys¬

tems using Linearization and Lyapunov

methods. ^A comparative ^{study on the overhead}

crane example ¹²⁰

d'Andrea-Novel B., Boustany F., Ecole des Mines de Paris FRANCE

10:20-10:30

A Full-Flight-Envelope High-Bandwith ^Rotorcraft

Flight-Control System ¹²⁶

Walker D., Postlethwaite I., Univ Leicester ^UK

10:30-10:40

Discrete Time Control Laws for A High

Performance Helecopter ¹²⁸

Walker D., Postlethwaite I., Univ Leicester UK

10:40-11:00

Collision Avoidance in a Multiple-Robot System Using Intelligent Control and Neural ^Networks 130 Shin K.G., Cui X., Univ Michigan ^USA

11:00-11:20

On ^the Control of

a

Two Dimensional Multi-Link Inverted Pendulum: Co-ordinate System Suitability ^for

Dynamic Formulation ¹³⁶

Larcombe P.J., Univ Glasgow ^UK

11:20-11:30

Adaptive Multi-Sensor Integration in Uncertain

Environment with Imperfect ^{Sensors 142} Hong ^L, Wright ^{State Univ, USA}

11:30-11:40

Feedback Controlled Satellite Angular ^Momentum:

On the Analytic ^{Solution of the} Angular Velocity ¹⁴⁴ Siguerdidjane ^{H.B., Ecole} Sup.d'Electr.FRANCE

11:40-11:50

Flexible Robot Identification Using

Nonparametric Techniques ¹⁴⁶

Krzyzak ^A., Concordia Univ CANADA Sasiadek J., Carleton Univ CANADA

11:50-12:00

Nonlinear Stabilizing Control Law With a Dynamical High ^{Gain Observer,} Application

to Mechanical Process ¹⁴⁸

Chorot T., DeLeon M.J., Univ Claude Bernard FRANCE

W1-6

Neural Networks: ^Control

Chairs: Warwick K., ^Univ Reading ^UK

Denham M„ Polytechnic South West UK

10:00-10:20

A Study ^of Dynamic ^{Behavior of}

^a

^Recurrent

Neural Network for Control

Kim A., Wu C.-H., Northwestern Univ USA

10:20-10:40

A Dead-Zone Approach in Nonlinear Adaptive

Control Using Neural Networks Chen F.-C, Nat'l Chiao Tung ^{Univ ROC}

.150

.156

10:40-11:00

Neuromorphic Sensing and Control

^-

Applications

to Position, Force and Impact Control for

Robotic Manipulator ¹⁶²

Fukuda T., Shibata T., Kosuge K., ^Arai F., Tokita M., Mitsuoka T., Nagoya ^{Univ JAPAN}

.168

.170

.172 11:00-11:10

Sensory-Motor ^{Control of} Intelligent ^Robots Using Oscillatory Neural Networks

Denham M.J., Patel S., Polytechnic South West UK

11:10-11:20

Multilevel Control of Dynamical Systems Using

Neural Networks

Narendra K.S., Mukhopadhyay ^{S., Yale Univ USA}

11:20-11:30

A Nonlinear Receding Horizon Controller Based

on

Connectionist Models

Sbarbaro D., Hunt K.J., Univ Glasgow ^UK

11:30-11:40

Multi-Layer Neural Networks for the Solution of Generalized Nonlinear Terminal Control Problems

Parisini T., Zoppoli ^{R., Univ di Genova} ITALY

11:40-11:50

Neural Network-Based Identification and Adaptive

Control of Nonlinear Systems: ^{A Novel} Dynamical

Network Architecture and Training Policy ¹⁸⁰ Karakazoglu ^A., Sudharsanan S.I., Sundareshan M. K., Univ Arizona USA

11:50-12:00

Learning ^{Control of}

^an

Inverted Pendulum Using ^a

Neural Network

^*

Ishida T., Univ Ryukyus ^JAPAN Shiokawa N., Okinawa NEC JAPAN

.174

~WTT

10:40-11:00

The Robust H^ Control Problem:

A Worst Case Design

Stoorvogel A.A., Eindhoven Univ Tech NETHERLANDS

11:00-11:20

Fast and Numerically ^Robust Algorithm ^for Computing ^{the Hx} Optimum

Gahinet P., INRIA FRANCE

Pandey ^{P., Univ} California-Berkeley ^USA

11:20-11:30

Robust Ho,, Disturbance Minimization by Duality.

Owens J.G., Zames G., McGill Univ CANADA

11:30-11:40

Super-Optimization For

a

Class of Four- Block Problems

Nyman P.-O., UnivTwente NETHERLANDS

.194

.200

.206

.210

.212

.214

Hoo Optimal ^{Control -1}

11:40-11:50

Properties of Algebraic ^Riccati Inequalities ^and H0 Robust Sub-Optimal ^Controller Design

Shen T., Tamura K., Sophia Univ JAPAN

11:50-12:00

Hoo and H2 Optimal Controllers for Periodic and Multi-Rate Systems

Voulgaris P.G., Dahleh M.A., Valavani L.S., MIT USA

W1-8

Design of Linear Control Systems

^-

Chairs: Koumboulis F.N., Nat'l Univ Athens GREECE Syrmos V.L., Univ Hawaii -Manoa USA

10:00-10:20

A General Compensator Synthesis Approach ^for

Generalized Systems Using (C;E,A;B)-Pairs Syrmos ^{V.L., Univ} Hawaii-Manoa USA Lewis F.L., Univ Texas-Arlington ^USA

.217

Chairs: Limebeer D.J., Imperial College ^UK

Sideris A., California Inst of Tech USA

10:00-10:20

A Non-Iterative Method for Computing ^{the Infimum in}

Hoo-Optimization ¹⁸²

Chen B.M., Washington ^{State Univ USA}

Saberi A., Ly ^{U.-L, Univ} Washington ^USA

10:20-10:40

Constrained H* Optimization: ^A Design Example ¹⁸⁸ Rotstein H., Sideris A., California Inst Tech USA

10:20-10:40

Linear Systems ^with Single Saturated Input:

Stability Analysis ²²³

Suarez R., ^Alvarez J., Univ Metropol Iztapalapa ^MEXICO

10:40-11:00

Internal Model Control and Disturbance Observers 229 Gorez R., Galardini D., Zhu K.Y., Univ Cath Louvain BELGIUM

11:00-11:20

A Comparison ^of Loop Shaping Techniques 235

Sparks ^{A.G., Banda S.S., Yeh} H.H., WRDC/FIGC Wright-

Patterson USA

11:20-11:30

Quasi-Perfect Tracking Control of Non-Minimal wi-10

^~

Phase Systems ²⁴¹ Identification for Control

Torfs D., Swevers J., De Schutter J., Univ Leuven BELGIUM

11:30-11:40

On Output Frequency-Weighted

Controller Reduction 245

Yang J.-S., Univ Minnesota USA

11:40-11:50

Necessary and Sufficient Conditions ^for

^a

Nonminimum Phase Plant ^to Have

a

Recoverable Target Loop

^-

^A

Stable Compensator Design ^{for LTR 248}

Chen B.M., Saberi A., Washington State Univ USA Sannuti P., Rutgers ^{Univ USA}

W1-9

Optimal Control and Nonsmooth Analysis"

Organizers: Goodwin G.C., Univ Newcastle AUSTRALIA Kosut R.L, Integrated ^{Systems Inc.USA}

Chairs: Goodwin G.C., Univ Newcastle AUSTRALIA Kosut R.L., Integrated ^{Systems Inc.USA}

10:00-10:20

Model Quality: The Roles of Prior Knowledge ^and

Data Information (I) ²⁷³

Hjalmarsson ^H., Ljung ^{L., Wahlberg} B., Linkoping Univ ^SWEDEN

10:20-10:40

H2 Iterative Model Refinement and Control

Robustness Enhancement (I) ²⁷⁹

Zang ^{Z., Bitmead R.R., Gevers} M., Australian Nat'l Univ AUSTRALIA

Organizers: ^Vinter R.B., Imperial College ^UK

Frankowska H., Univ de Paris-Dauphine ^FRANCE Chairs: Vinter R.B., Imperial ^{College UK}

Frankowska H., Univ de Paris-Dauphine ^FRANCE

10:00-10:20

Existence of Solutions in Dynamic Optimization ^{(I) 250}

Clarke F.H., Univ de Montreal CANADA

10:20-10:40

Free ^Time Optimal Control Problems with Active

State Constraints (I) ²⁵⁵

Rowland J.D.L, Vinter R.B., Imperial College ^UK

10:40-11:00

Optimization ^of Differential Inclusions by

Finite Differences (I) ²⁵⁷

Mordukhovich B., Wayne State Univ USA

11:00-11:20

Free Time Problems with Endpoint Constraints:

A Dynamic Programming Approach (I) ²⁶³

Vinter R.B., Imperial College ^UK

11:20-11:40

Lower Semicontinuous Solutions to Hamilton-

Jacobi-Bellman Equation (I) ²⁶⁵

Frankowska H„ Univ ^de Paris-Dauphine ^FRANCE

11:40-12:00

Controllability ^and Sensitivity of Control Problems

with Respect ^{to Time Delay} (I) ²⁷¹

Clarke F.H., Wolenski P., ^{Louisiana State Univ USA}

10:40-11:00

Optimal Model Order Selection and Estimation of Model

Uncertainty ^for Identification with Finite Data (I) ²⁸⁵ Goodwin G.C., Univ Newcastle AUSTRALIA

Gevers M., Univ Louvain BELGIUM Ninness B., Univ Newcastle AUSTRALIA

11:00-11:20

Robust Control Design ^for Ellipsoidal ^{Plant Set 291}

Lau M.K., Boyd S., Stanford Univ USA Kosut R.L., Integrated Systems ^Inc.USA

Franklin G.F., Stanford Univ USA

11:20-11:30

Adaptive Robust Control: On-Line Learning (I) ²⁹⁷ Anderson B.D.O., Australian Nat'l Univ AUSTRALIA

Kosut R.L, Integrated Systems ^Inc.USA

11:30-11:40

Conservatism of the Gap ^{Metric 299}

Hsieh G.C., Safonov M.G., Univ Southern California USA

11:40-12:00

Multivariable Process Identification Based

^on

Frequency Domain Measures (I) ³⁰³

Zhu Y.C., IPCOS, Datex BV NETHERLANDS

Backx A.C.P.M., Eykhoff ^P., Eindhoven Univ NETHERLANDS

W1-11

Decentralized Control

Chairs: Ozguner ^U., Ohio State Univ USA Misra P., Wright ^{State Univ USA}

10:00-10:20

Reliable Decentralized Stabilization of Feedforward

and Feedback Interconnected Systems ³⁰⁹

Unyelioglu ^K.A., Ozguler ^A.B., Bilkent Univ TURKEY

10:20-10:40

Some Issues in Decentralized Control of

Nonlinear Systems ³¹⁵

Schoenwald DA, Ozguner ^U., Ohio State Univ USA

10:40-11:00

Decentralized Control of Nonlinear Uncertain Systems

with Bounded Uncertainties 321

Han M.C., Chen Y.-H., Georgia Inst Tech USA

11:00-11:20

Parallel Design ^of Suboptimal Regulators ^for Singularly

Perturbed Systems ^with Multiple-Time ^{Scales 327} Wang ^{Y.-Y., Frank P.M., Univ} Duisburg ^GERMANY

11:20-11:40

Decentralized Exponential Stabilization of Deterministic and Stochastic Large ^Scale Systems: ^A

Unified Approach ³³³

Feng ^{Z.-S., Liu Y.-Q., South China Univ Tech PRC}

11:40-11:50

Decentralized Stabilization of Linear Time-Invariant

Distributed Parameter Systems ³³⁹

Unyelioglu ^K.A., Ozguler ^A.B., Bilkent Univ TURKEY

11:50-12:00

Overlapping Decentralized Control 341 Iftar A., Univ Toronto CANADA

W1-12

Adaptive ^{Control in} Robotics"

Chairs: Khosla P.K., Carnegie Mellon Univ USA

Lozano Leal R., Lab d'Auto de Grenoble FRANCE

10:00-10:20

A New Approach to Control ^Elastic Joint Robots with

Application ^to Adaptive ^{Control 343}

Nicosia S., Tomei P., Seconda Univ Roma ITALY

10:20-10:40

Adaptive Control of Deburring Robots ^Based

on

Human Skill ^Models 348

Liu S., ^Asada H., Massachusetts Inst Tech USA

10:40-11:00

Trajectory Following ^Robust Adaptive Control of Flexible

Joint Manipulators ³⁵⁴

Al-Ashoor R.A., Khorasani K., Patel R.V., Al-Khalili A.J., Concordia Univ CANADA

11:00-11:20

Adaptive Algorithms ^for Force/Position Control of Flexible Joint Manipulators wih Holonomic Constraints 361

Brogliato ^{B., Lab} d'Automatique Grenoble FRANCE Lozano Leal R., Centro Invest y ^{Estud Avanz MEXICO}

11:20-11:40

Robust Variable Structure and Adaptive ^{Control of}

Single-Arm Dynamics ³⁶⁷

Chen L.-W., Papavassilopoulos ^G.P., Univ Southern California USA

11:40-11:50

Robust Speed-Gradient Adaptive ^Control Algorithms

for Manipulators and Mobile Robots 3095 Guser S.V., ^Fradkov A.L., ^Makarov I.A., Academy of Sciences USSR

W2-1

Algebraic and Geometric Advances from Linear to Nonlinear

Systems

Organizers: ^{Sain M.K.,} Univ Notre Dame USA Perdon A.M., Univ di Padova ITALY Chairs: Perdon A.M., Univ di Padova ITALY Sain M.K., Univ Notre Dame USA

1:30-1:50

The Extended Interactor in the Study ^of Nonregular

Control Problems (I) ³⁷³

Herrera H.A.N., Lafay ^J.F., CNRS Nantes FRANCE

Zagalak P., Czech.Academy ^of Sciences CZECHOSLOVAKIA

1:50-2:10

Pole Zero Conservation Results for Nonminimal

Systems (I) 378

Schrader C.B., Rice Univ USA

Sain, M.K., ^Univ Notre Dame USA

2:10-2:30

Block Noninteracting Control with Pole Assignment ^of

Linear Periodic Systems (I) ³⁸⁴

Graselli O.M., Seconda Univ di Roma ITALY Longhi S., Univ di Ancona ITALY

2:30-2:40

Small (A,B)-lnvariant Subspaces in Disturbance

Decoupling Problems (I) 390

Conte G., ^Univ di Ancona ITALY Perdon A.M., Univ de Padova ITALY

2:40-2:50

Qualitative Theory ^for Dynamical Systems ^with

Saturation Nonlinearities (I) ³⁹²

Michel A!N., Sain M.K., Univ Notre Dame USA

2:50-3:10

On the Algebraization of Nonlinear Control (I) ³⁹⁴

Hammer J., Univ Florida USA

3:10-3:30

Equivalence ^{of Nonlinear} Systems ^Under Dynamic

State Feedback (I) ⁴⁰⁰

Di Benedetto M.D., Univ di Roma "La Sapienza" ^ITALY

Glumineau A., Moog ^C.H., CNRS Nantes FRANCE

Robustness Under Parametric Uncertainties

^-

II

Chairs: Hollot C, Univ Massachusetts USA

Djaferis ^T.E., Univ Massachusetts USA

1:30-1:50

To Stabilize

an

Interval Plant Family it Suffices to

Simultaneously Stabilize 64 Polynomials ⁴⁰⁶ Djaferis ^T.E., Univ Massachusetts USA

1:50-2:10

Matrix Pencil and Matrix Measure Methods for Robust

Stability in Real Parameter Spaces ⁴¹¹ Wang M., Lee E.B., Boley ^D., Univ Minnesota USA

2:10-2:30

On the Stability Robustness of Additively ^Perturbed

Interconnected Systems ⁴¹⁶

Wu Q.-H., ^Mansour M., ETH Zurich SWITZERLAND

2:30-2:50

Robust Strict Positive Realness: New Results for Interval

Plant Plus Controller Families 421

Vicino A., Politecnico Torino ITALY Tesi A., Univ Firenze ITALY

2:50-3:10

Vertex-Like Design Methods for Systems ^{With Real}

Parameter Uncertainty ⁴²⁷

Djaferis T.E., Univ Massachusetts USA

3:10-3:20

Criteria for Schur Stability ^and D-Stability ^of

^a

Family of Polynomials Constrained with lp-Norm ⁴³³

Joya ^{K., Furuta} K., Tokyo Inst Tech JAPAN

3:20-3:30

Extremal Properties for the Parametric Robust

Performance Problems ₄₃₅

Dahleh M., Univ California-Santa Barbara USA Tesi A., Univ Firenze ITALY

Vicino A., Politecnico Torino ITALY

W2-3

^"

Nonlinear Systems -T

Chairs: Sussmann H.J., Rutgers ^{Univ USA}

Bensoussan D., Ecole de Tech Super ^CANADA

1:30-1:50

Limits of Highly Oscillatory ^{Controls and the} Approximation of General Paths by

Admissible Trajectories ⁴³⁷

Sussmann H.J., ^Liu W., Rutgers ^{Univ USA}

Discretization Schemes for Nonlinear Singularly

Perturbed Systems ⁴⁴³

Barbot J.P., Monaco S., Univ Roma ITALY

Normand-Cyrot D., Pantalos N., CNRS/ESE FRANCE

2:10-2:30

Suboptimal Synthesis of Nonlinear Control Systems

^*

Trigul M.V., ^Kharkov Eng Pedagogics ^{Inst USSR}

2:30-2:40

A Nonlinear Standard Problem 449

Bensoussan D., Ecole de Tech Super ^CANADA

2:40-2:50

A Constructive Approach to Algebraic Observability ⁴⁵¹

Germundsson R., Forsman K., Linkoping Univ SWEDEN

2:50-3:00

A Simple ^{and Robust} Nonlinear Estimator 453 Deza F., Shell Recherche FRANCE

Gauthier J.P., Univ Claude Bernard FRANCE

3:00-3:10

Some Results About Nonlinear Regularly

Persistent Observers 455

DeLeon M.J., Chorot T., Univ Claudi Bernard FRANCE

3:10-3:20

On Observers for

a

Class of Nonlinear Systems ⁴⁵⁷

DeLeon M.J., Chorot T., Univ Claude Bernard FRANCE

W2-4

Control of Markov Processes

Chairs: Marcus S.I., ^{Univ Texas USA}

Shwartz A., Technion ISRAEL

1:30-1:50

Guaranteed Performance Regions ^for

Markov Models 459

Shimkin N., Shwartz A., Technion ISRAEL

1:50-2:10

Aggregation-Disaggregation Algorithm for Epsilon2- Singularly ^Perturbed Limiting Average Markov

Control Problems 465

Abbad MM Filar J.A., Univ Maryland-Baltimore ^USA

2:10-2:30

Optimal Index Policies for MDPs with

a

Constraint 471 Makowski A., Univ Maryland ^USA

Shwartz A., Technion ISRAEL

2:30-2:50

Analysis ^and Algorithm for the Stochastic Control Problem

of

a

Production / Storage System ⁴⁷⁷

Ribeiro do Val J.B., Felix Salles J.L, Univ Campinas ^BRAZIL

2:50-3:00

Monte Carlo Summation Applied to Multichain

Queueing ^{Networks 483}

Ross K.W., Wang ^{J., Univ} Pennsylvania ^USA

3:00-3:10

Markov Decision Models with Weighted

Discounted Criteria 485

Feinberg ^{E.A., SUNY} Stony ^{Brook USA} Shwartz A., Technion ISRAEL

3:10-3:20

Optimal Control of Finite State Markov Processes

Under Counting Observations 487

Shin D.R., Verriest E.I., Georgia Inst of Tech USA

3:20-3:30

Perturbation Theory for Semi-Markov

Control Problems 489

Filar J.A., Abbad M., Univ Maryland-Baltimore USA

W2-5

^"

Applications -1

Chairs: Owens D.H., Univ Exeter UK Gautier M., LAN/ENRS FRANCE

1:30-1:50

Exciting Trajectories for the Identification of Base Inertial

Parameters of Robots 494

Gautier M., Khalil W., Lab d'Auto de Nantes FRANCE

1:50-2:10

Dynamic Simulation of Robot Manipulators ^at High

Sampling ^{Rates 500}

Zomaya ^A.Y., Univ Western Australia AUSTRALIA Morris AS., Univ Sheffield UK

2:10-2:30

Robotic Heterogeneous Multi-Sensor Fusion with Spatial

and Temporal Alignment ⁵⁰⁶

Bruder S., Farooq ^M., Royal Military College ^CANADA Bayoumi ^M.M., Queen's Univ CANADA

2:30-2:40

Structural Motion Control Using ^Modal

Energy Transference 512

Osegueda ^{R.A., Nemir D.C.,} Univ Texas-El Paso USA

2:40-2:50

An Extension ^{to the} Pseudo Control Strategy ^with Application ^to

^an

Eigenstructure Assignment ^Yaw

Pointing/Lateral Translation Control Law 515 Sobel K.M., City College of New York USA

2:50-3:00

A Fast Algorithm ^for

^a

Stabilizing Receding

Horizon Controller 517

Chisci L, Mosca E., Zengl ^S., Univ di Firenze ITALY

3:00-3:10

Global Stabilization of Unstable Ship Dynamics ^{for Course}

Keeping Using ^{PD Control 519}

Neuffer D., Univ Stuttgart ^GERMANY

Owens D.H., Pourzanjani ^M.M.A., Univ Exeter UK

W2-6 Panel Discussion:

Neural Networks in Control Systems

Organizers: ^{Narendra K.S.,} Yale Univ USA Antsaklis P.J., Univ Notre Dame USA

Moderators: Narendra K.S., ^{Yale Univ USA}

Antsaklis P.J., Univ Notre Dame USA

1:30-3:30

Panel Discussion

Fukuda T., Nagoya ^{Univ JAPAN}

Michel A.N., Univ Notre Dame USA Morris J., Univ Newcastle-Tyne ^UK

Slotine J.J., Mass Inst Tech USA

Sontag ^E.D., Rutgers ^{Univ USA}

Warwick K., Univ Reading ^UK

W2-7

H,, Optimal Control-IT

Chairs: Postlethwaite I., Univ Leicester UK Tits A.L., Univ Maryland ^USA

1:30-1:50

Convex Analysis ^of Discrete-Time Uncertain

Control Problems 521

Peres P.L.D., Geromel J.C., Souza S.R., Univ Campinas ^BRAZIL

1:50-2:10

Robust Hx Filtering ^for

^a

Class of Uncertain

Periodic Systems ⁵²⁷

Xie L, de Souza C.E., Univ Newcastle AUSTRALIA Fragoso ^M.D., Nat's Lab Scientific Computing ^BRAZIL

2:10-2:30

An Ha ^Based Loop Shaping ^{Method and} ^-Synthesis 533 Geddes E.J.M., Postlethwaite I., Univ Leicester ENGLAND

2:30-2:40

Small Gain Versus Positive Real Modeling ^{of Real}

Parameter Uncertainty ⁵³⁹

Bernstein D.S., Harris Corp.USA

Haddad W.M., Florida Inst of Tech USA

Hyland ^{D.C., Harris} Corp., ^USA

2:40-2:50

Structured Uncertainty ^{and the} Graph Topology ⁵⁴¹

Vinnicombe G.p Univ Cambridge ^UK

2:50-3:00

Hx

^-

Optimization ^With Regard ^to Transient Behavior 543

Engell ^S., Univ Dortmund GERMANY

3:00-3:10

Graphs ^{of Linear} Systems ^and Stabilization 545 Sefton J.A., Ober R.J., Univ Texas-Dallas USA

3:10-3:20

On Continuity/Discontinuity ^of Robustness Indicators 547 Lee L, Tits A.L., Univ Maryland ^USA

3:20-3:30

Robust Performance ⁱⁿ H2 ^/ Optimal ^Control 549 Steinbuch M.f Philips Research Labs NETHERLANDS

Bosgra ^O.H., Delft Univ Tech NETHERLANDS

W2-8

Multivariate Systems

Chairs: Munro N., UMIST UK O'Reilly ^{J., Univ} Glasgow ^UK

1:30-1:50

Balancing Matrix Factorization via Gradient Flow

Techniques ^{and the} Singular ^Value Decomposition ⁵⁵¹

Perkins J.E., Helmke U., Univ Regensburg ^GERMANY

Moore J.B., Australia Nat'l Univ AUSTRALIA

1:50-2:10

On Blocking ^{Zeros and} Strong Stabilizability ^{of Linear}

Multivariable Systems 557

Chen B.M., Saberi A., Washington State Univ USA Sannuti P., Rutgers ^{Univ USA}

3:10-3:20

Disturbance Rejection With Simultaneous Triangular

Decoupling of Linear Time Invariant Systems ⁵⁸¹

Koumboulis F.N., Paraskevopoulos ^{P.N., Tzierakis K.G.,}

Nat.Tech Univ Athens GREECE

King R.E., ^Univ Patras, GREECE

3:20-3:30

Cascade Control of

a

Process Plant Using ^Predictive

and Multivariable Control 583

Maciejowski ^J.M., Cambridge ^{Univ UK}

Fletcher I., French I., Sunderland Poly ^UK Urquhart ^T., Cambridge Control Ltd UK

W2-9 Optimal Control ^-1

Chairs: Green M., Australian Nat'l Univ AUSTRALIA Pearson J.B., Rice Univ USA

1:30-1:50

Minimax Controller ^and Filter Designs for Discrete-Time Linear Systems under Soft-Constrained Quadratic

Performance Indices 585

Didinsky ^{G., Basar T.,} Univ Illinois CSL USA

1:50-2:10

TheH2 ^{Problem for} Sampled-Data Systems 591 Bamieh B., Pearson J.B., Rice Univ USA

2:10-2:30

A Two-Riccati, ^Feasible Algorithm ^for Guaranteeing

Output ^La Constraints 596

Zhu G., Skelton R.E., Purdue Univ USA

2:30-2:50

Optimal Reduced Order Models with Delay ⁶⁰²

Halevi Y., Technion ISRAEL

2:10-2:30

Stabilization, Parametrization, and Decoupling ^Controller Design for Linear Multivariable Systems ⁵⁶³

Lin C.-A., Hsieh T.-F., Nat'l Chiao-Tung Univ ROC

2:30-2:50

The Parametrization of All Controllers that Achieve Output

Regulation ^and Tracking 569

Lambrechts P.F., Bosgra O.H., ^{Delft Univ Tech} NETHERLANDS

2:50-3:10

Structural Issues Underlying thePerformance of 2-

Input 2-Output Multivariable Systems Using ^Individual

Channel Design ⁵⁷⁵

Leithead W.E., Univ Strathclyde ^UK O'Reilly ^{J., Univ} Glasgow ^UK

2:50-3:10

Maximal Symmetric Periodic Solution and Monotonicity Properties ^for

^a

Generalized Periodic Riccati

Differential Equation ⁶⁰⁸

Fragoso M.D., ^{Nat's Lab Scientific} Computing ^BRAZIL

de Souza C.E., Univ Newcastle AUSTRALIA

3:10-3:20

Second Order Necessary ^{Conditions in}

Optimal ^{Control 613}

Stefani G., Zezza P., ^Univ di Firenze ITALY

3:20-3:30

Parallel Processing ⁱⁿ Optimal ^{Control 615}

Sinha P.K., Jiang ^{J.P., Ho P.L, Hinton J.C., Univ} Reading ^UK

W2-10

^~

"

New Directions ^{in Linear} System identification ^-1

Chairs: Georgiou ^T.T., Univ Minnesota USA

Khargonekar ^{P.P., Univ Michigan USA}

1:30-1:50

Maximum Entropy Identification and Min-Max

Optimal ^{Prediction 617}

Georgiou T.T., Shankwitz C.R., Univ Minnesota USA

1:50-2:10

Optimal Asymptotic Identification Under

Bounded Disturbances 623

Tse D.N.C., Dahleh M.A., ^Tsitsiklis J.N., MIT USA

2:10-2:30

Robust Identification of Stabilizable Systems ⁶²⁹ Partington ^{J.R., Univ Leeds UK}

Makila P.M., Univ Abo FINLAND

2:30-2:50

A Class of Algorithms for Identification ⁱⁿ Hx ⁶³⁴ Gu G., Louisiana State Univ USA

Khargonekar ^{P.P., Univ} Michigan ^USA

2:50-3:10

Robust Estimator Design Using n Synthesis ⁶⁴⁰

Dowdle J.R., Appleby ^B.D., VanderVelde W., Mass. Inst, of Tech., Draper ^{Lab USA}

3:10-3:20

A Linear, Robust ^and Convergent Interpolator

Algorithm ^for Quantifying ^Model Uncertainties 646 Raman S., Bai E.-R., Univ Iowa USA

3:20-3:30

Interval Identification of Linear Systems With Bounded Errors in Both Input ^and Output ^{Variables 648}

Sotirov G., Tech Univ BULGARIA Shafai B., Northeastern Univ USA

W2-11

Estimation and Failure Detection

— =— =====

=/

Chairs: Benveniste A., IRISA/INRIA FRANCE Davis M.H., Imperial College ^UK

1:30-1:50

An Optimum ^{Robust Approach to} Statistical Failure

Detection and Identification 650

Wahnon E., Alcatel Alsthom Recherche FRANCE Benveniste A., IRISA/INRIA FRANCE

El Ghaoui L, ETCA/CREA/SP ^FRANCE Nikoukhah R., INRIA-Rocquencourt ^FRANCE

1:50-2:10

Interrelations Between Continuous ^and Discrete

Lattice Filter Structures 668

Feuer A., Technion ^ISRAEL

Weller S.R., Goodwin G.C., Univ Newcastle AUSTRALIA

2:10-2:30

An Approach ^{to Robust Residual Generation}

and Evaluation 656

Ding X., ^Frank P.M., Univ Duisburg ^GERMANY

2:30-2:50

Hidden Markov Model Signal Processing in Presence of Unknown Deterministic Interferences ⁶⁶²

Krishnamurthy ^{V., Moore J.B.,} Chung ^{S.-H., Australian Nat'l Univ}

AUSTRALIA

2:50-3:00

Clustering Algorithms ^for Bayesian ^{Fault Detection}

in Linear Systems ⁶⁷⁴

Davis M.H.A., Lasdas S., Imperial College ^UK

Salmond D.J., Royal Aero. Estab. UK

3:00-3:10

Nonparametric Estimation of Discrete-Type ^Hammer-

stein Systems ^With Application ^{to Tactile}

Sensor Identification ⁶⁷⁶

Krzyzak ^A., Concordia Univ CANADA Wojcik P., Alberta Reseach Council CANADA

W2-12

Robotic Applications"

Chairs: Tzes A.P., Polytechnic Univ New York USA Jamshidi M., ^Univ New Mexico USA

1:30-1:50

Microprocessor-Based Control of Autonomous Mobile

Robots with Obstacle Avoidance 678

Huang ^{H.-P., Lee} P.-C, ^Nat'l Taiwan Univ ROC

1:50-2:10

Impedance Control for Hazardous Waste

Handling Applications ⁶⁸⁴

Colbaugh R., Glass K., New Mexico State Univ USA Jamshidi M., Univ New Mexico USA

2:10-2:30

Exponential Stabilization of Mobile Robots with Non-

Holonomic Constraints 692

Canudas de Wit C, Lab d'Automatique ^{Grenoble FRANCE}

Sordalen O.J., Norwegian ^{Inst Tech NORWAY}

2:30-2:50

Navigation and Control ^of

a

Mobile Robot Among

Moving ^{Obstacles 698}

Hu H., Brady ^{M., Probert P., Univ Oxford ENGLAND}

2:50-3:00

Modelling and Control of

a

Marine Robot Arm 704

Liceaga-C. ^{E., Qiao H., Univ} Strathclyde ^UK Liceaga-Castro ^{J., Univ} Glasgow ^UK

3:00-3:10

Rule-Based Tuning for Control of

Flexible-Link Manipulators ⁷⁰⁶

Yurkovich S., Passino K.M., Garcia-Benitez E., Ohio State Univ USA

3:10-3:20

A Comparison ^{of Control} Stategies ^{for Force-}

Constrained Cooperating ^{Robots 708}

Duelen G., Munch H., Zhang ^Y., Fraunhofer-lnst GERMANY

3:20-3:30

A Blackboard Architecture for Autonomous Synthesis ^of

Dexterous Manipulation ⁷¹⁰

Ananthanarayanan ^S.P., Goldenberg ^A.A., Mylopoulos ^{J., Univ}

Toronto CANADA

W3-1

Alternative input / Output Representations

Organizers: ^{Fiiess M.(} CNRS-ESE FRANCE

Sontag E.D., Rutgers Univ USA Chairs: Fiiess M., CNRS-ESE FRANCE

Sontag ^E.D., Rutgers ^{Univ USA}

4:00-4:20

Inputs, Outputs, Interconnections, and Feedback (I) ⁷¹²

Willems J., Univ Groningen NETHERLANDS

4:20-4:40

Nonlinear Observability, Identifiability, ^and

Persistent Trajectories ⁷¹⁴

Diop ^S., CNRS-UCB FRANCE Fiiess M., CNRS-ESE FRANCE

4:40-5:00

Integral ^I/O Equations for Nonlinear Systems (I) ⁷²⁰ Wang ^Y., Florida Atlantic Univ USA

Sontag E.D., Rutgers ^{Univ USA}

5:00-5:20

Input-Output Representations ^From

Characteristic Sets (I) ⁷²⁶

Glad ST., Linkoping Univ SWEDEN

5:20-5:40

Observation Spaces for Implicit Input/

Output Systems (I) ⁷³¹

Lamnabhi-Lagarrigue ^F., CNRS-SUPELEC FRANCE Crouch P.E., Arizona State Univ USA

5:40-6:00

A Simplified Approach of Crane Control Via

a

Generalized State-State Model (I) ⁷³⁶

Fiiess N., ^Levine J., Rouchon P., Ecole de Mines de Paris FRANCE

W3-2

Robust Adaptive ^{Control -1}

Chairs: Landau I., LAG-ENSIEG FRANCE

loannou P.A., Univ Southern California USA

4:00-4:20

Robust Continuous Time Adaptive ^Control by

Parameter Projection 742

Naik S.M., Kumar P.R., Univ Illinois CSL USA Ydstie B.E., Univ Massachusetts USA

4:20-4:40

Performance Improvement Versus Robust Stability ⁱⁿ

Model Reference Adaptive ^Control 748

Datta A., loannou P.A., Univ Southern California USA

4:40-5:00

Robustness of Extended Least Squares ^Based

Adaptive Control 754

Naik S.M., Kumar P.R., Univ Illinois CSL USA

5:00-5:10

Some Remarks

on

the Robustness of Adaptive

Pole Assignment ⁷⁶⁰

Polderman J.W., Univ Twente NETHERLANDS Mareels I., Australian Nat'l Univ AUSTRALIA

5:10-5:20

On the Performance of the Recursive Least Squares

Method in the Presence of Bounded Disturbances 762 Gunnarsson S., Linkoping Univ SWEDEN

5:20-5:30

Switching Adaptive Systems 764

Narendra K.S., Yale Univ USA

5:30-5:40

Structural Multivariable Estimation 765

Duong ^{H.N., Landau I.D.,} ENSIEG FRANCE

5:40-6:00

Application ^of Hysteresis Switching in Parameter

Adaptive Control 767

Morse A.S., Yale Univ USA

Mayne D.Q., Univ California-Davis USA Goodwin G.C., ^Univ Newcastle AUSTRALIA

W3-3

Nonlinear Systems "HT

Chairs: Rugh W.J., Johns Hopkin Univ USA Shamma J.S., Univ Minnesota USA

4:00-4:20

Input-Output Pseudo-Linearization 773

Lawrence D.A., Rugh W.J., ^Johns Hopkins ^{Univ USA}

4:20-4:40

On the Nonlinear System Identification of a Class of

Bilinear Dynamical ^{Models 778}

Karray F., Univ British Columbia CANADA

Dwyer ^T.A.W., Univ lliinois USA

4:40-5:00

An Identification Method for the Wiener Model of

Nonlinear Systems ⁷⁸³

Hu D.-W., Wang ^Z.-Z., Changsha ^{Inst Tech PRC}

5:00-5:20

Fading Memory ^and Necessity ^{of the}

Small Gain Theorem 788

Shamma J.S., Zhao R., Univ Minnesota USA

5:20-5:30

A Push/Pop Phenomenon for Nonlinear Systems ⁷⁹⁴ Shamma J.S., ^{Univ Minnesota USA}

5:30-5:40

Extending Linear Subsystems ^of

Nonlinear Systems ⁷⁹⁶

Xu Z., Hunt L.R., Univ Texas-Dallas USA

5:40-5:50

Construction of Lyapunov ^Functions Using

Grobner Bases 798

Forsman K., Linkoping Univ SWEDEN

5:50-6:00

On the Identification of Additive Nonlinear Systems ⁸⁰⁰

Pawlak M., Univ Manitoba CANADA

W3-4

Control and Optimization ^of Queueing Systems ^-1

Chairs: van Schuppen ^J.H., CWI-Centre for Math.& Computer

Sci. NETHERLANDS

Anantharam V., Cornell Univ USA

4:00-4:20

The Input-Output Map ^of

^a

Monotone Discrete Time

Quasireversible Node 803

Anantharam V., Cornell Univ USA

4:20-4:40

Optimality ^{of Static} Routing Policies in Queueing

Systems ^with Blocking ⁸⁰⁹

Sparaggis P.D., Towsley D.F., ^Cassandras C.G., Univ Massachusetts USA

4:40-5:00

Optimal Distributed Policies for Choosing Among

Multiple ^{Servers 815}

Stamoulis G.D., Tsitsiklis J.N., MIT USA

5:00-5:20

Optimal Flow Control Allocation Policies in

Communication Networks with Priorities 821 Bournas R.M., Beutler F.J., Teneketzis D., Univ Michigan ^USA

5:20-5:30

Two Stability Problems in Wireless Communi¬

cation Networks 828

Tassiulas L., Ephremides ^{A., Univ} Maryland ^USA

5:30-5:40

Extremal Properties ^{of the Shortest Non-Full Queue and the} Longest Non-Full Queue Policies in Capacity Systems ^with

State-Dependent Service Rates 829

Sparaggis ^P.D., Towsley ^{D.F., Cassandras C.G., Univ}

Massachusetts USA

5:40-5:50

Threshold Policies Minimizing Customer Mean Flow Time in

Simple (out-free) Queueing ^{Networks 831}

Aicardi M., Minciardi R., Pesenti R., Univ di Genova ITALY

5:50-6:00

Performance Analysis of Multibus Multi¬

processor Systems ⁸³³

Lim J.-T., Korea Adv.lnst of Sci.& Tech KOREA

W3-S

^—

Critical Issues and Open Problems in the Industrial Applications of Control

Organizers: ^{Benveniste A.,} IRISA-INRIA FRANCE Astrom K.J., Lund Univ Tech SWEDEN Chairs: Benveniste A., IRISA-INRIA FRANCE

Astrom K.J., ^Lund Univ Tech SWEDEN

4:00-4:10

Introduction

^*

Benveniste A., IRISA-INRIA Rennes FRANCE

4:10-4:30

Critical Issues and Open Problems in the Design ^of

Large Information Processing Systems (I)

^*

Ruget ^G., Thomson-CSF-BSD FRANCE

4:30-4:50

Critical Issues and Open Problems in the Design ^of Large Transportation Automation Systems ^{(I) 835}

Daclin E., Thomson-GEC-Alsthom FRANCE

4:50-5:20

Knowledge ^Based Approaches ^Versus Mathematical Model Based Algorithms: The Case of Speech

Recognition (I) ⁸⁴¹

Mariani J., LIMISI-CNRS FRANCE

5:20-6:00

Panel Discussion

Moderator: Benveniste A., IRISA-INRIA Rennes FRANCE Astrom K., Lund Univ Tech SWEDEN

Cohen G., CAI Ecole des Mines FRANCE Daclin E.Thomson-GEC-Alsthom FRANCE Mariani J., LIMISI-CNRS FRANCE

Ruget ^G., Thomson-CSF-BSD FRANCE

W3-6

Neural Networks: Learning

Chairs: Lemmon M., Univ Notre Dame USA

Berenji ^H.R., NASA Ames Research Center USA

4:00-4:20

A Learning and Forgetting Algorithm in Associative Memories: The Eigenstructure ^Method

Yen G., Michel A.N., Univ Notre Dame USA 847

4:20-4:40

DIGNET: A Self-Organizing Neural Network for Automatic Pattern Recognition and Classification

Thomopoulos S.C.A., Pennsylvania State Univ USA

Bougoulias D.K., Southern Illinois Univ USA 853

4:40-5:00

Inversion of Linear Square Systems by Learning ⁸⁵⁹

Lucibello P., Univ Studi "La Sapienza" ITALY

W3-7

Stability Analysis ^of Systems with Structured Uncertainties

Organizers: ^{Hinrichsen D.,} Univ Bremen GERMANY Pritchard A.J., Univ Warwick UK Chairs: Pritchard A.J., Univ Warwick UK

Hinrichsen D., Univ Bremen GERMANY

4:00-4:20

Stability ^{Radii and Global} Stability ^of

Difference Systems (I) ⁸⁷⁷

Kharitonov V.L, Faculteit PM-PU Leningrad ^USSR

4:20-4:40

Robust Stability and Performance Analysis ^of

Sampled-Data Systems (I) 881

Sivashankar N., Khargonekar P., ^Univ Michigan ^USA

4:40-5:00

The Spectrum ^and Eigenspace Structure of Linear

Uncertain Systems ⁸⁸⁷

Colonius F., Univ Augsburg GERMANY Kliemann W., ^Iowa State Univ USA

5:00-5:20

Stability Margin for Multilinear Interval Control (I) ⁸⁹⁴ Chapellat ^H., Schlumberger ^FRANCE

Keel L.H., Tennessee State Univ USA Bhattacharyya S.P., Texas A&M Univ USA

5:00-5:10

A New Formulation of the Learning Problem for a Neural

Network Controller ⁸⁶⁵

Ruano A.E.B., ^Jones D.I., Univ Wales UK

Fleming P.J., Univ Sheffield UK

5:10-5:20

Adaptive Classification and Control-Rule Optimisation ^{Via a} Learning Algorithm ^for Controlling ^a Dynamic System ⁸⁶⁷ Huang ^R„ Fogarty ^{T.C., Bristol} Polyt. ^UK

5:20-5:30

A Neural-Network-Based System

Identification Technique ⁸⁶⁹

Stubberud A., Wabgaonkar ^H., Univ Calif.-lrvine USA Stubberud S., Univ Calif.-Santa Barbara USA

5:30-5:40

On the Stationary ^{State of} Topological^ ^Ordered

Competitive Learning ⁸⁷¹

Lemmon M., Univ Notre Dame USA

5:40-5:50

System Identification Using Neural Networks 873

Zhang ^{C.Q., Moore K.L.,} Idaho State Univ USA

5:50-6:00

Neural Network Approach ^{to 2-D Kalman} Filtering

in Image Processing ⁸⁷⁵

Dzielinski A., Skoneczny ^S., Warsaw Univ Tech POLAND

5:20-5:30

Robust Stability of Linear Infinite-Dimensional Time-Varying Systems ^With Respect ^to Multiperturbations (I)

^*

Hinrichsen D., Univ Bremen GERMANY Pritchard A.J., Univ Warwick UK

5:30-5:40

Qualitative Analysis ^{of a} Family ^{of Linear} Time-Varying

Differential Equations (I)

^*

Mastrapa H.G., Univ de Oriente CUBA

5:40-6:00

Lyapunov Functions for Systems ^Described by High ^Order

Differential Equations ⁹⁰⁰

Willems J.C., Univ Groningen NETHERLANDS

W3-8

Pole Placement and Stabilization

Chairs: Kucera V., Czech Academy of Sciences CZECHOLSLOVAKIA

Karcanias N., The City ^{Univ UK}

4:00-4:20

Properties of the Pole Placement Map 905

Levintides J., Karcanias N., City ^{Univ UK}

4:20-4:40

Stabilization via Static Output Feedback 910 Trofino ^Neto A., Federal Univ Santa Catarina BRAZIL

Kucera V., ^Czech Acad Sciences CZECHOSLOVAKIA

4:40-5:00

About Quadratic Stabilizability of Generalized

Linear Systems ⁹¹⁴

Arzelier D., Bemussou J., Garcia J.M., LAAS/CNRS ^FRANCE

5:00-5:10

Linear Periodic Systems, ^Their Eigenvalues, ^{Choice of}

Parameters, Simulation

^*

Taft V.A., Freedland L, Dastic ^Inc USA

5:10-5:20

On Pointwise Stabilization of Multi-Link Beams

^*

Gnedin A.V., ^Ruhr Univ GERMANY

5:20-5:30

A New Application of Infinite Eigenvalue Assignment ⁱⁿ

Generalized State-Space Systems ⁹²¹

Fang ^{C.-H., Nat'l Kaohsiung} Inst of Tech ROC

5:30-5:40

Element-by-Element Weighting ^of Optimal Closed-Loop

Transfer Functions 923

van

Diggelen ^{F., Glover K., Univ Cambridge UK}

5:40-5:50

Towards Pole Assignment for Linear Time-Invariant

Systems by Periodic Static Output ^{Feedback 925} Aeyels ^{D., Willems J.L,} Univ Gent BELGIUM

5:50-6:00

Finite Pole Assignment ^for Systems ^{With Time-}

Varying Input Delays ⁹²⁷

Nihtila M.T., Helsinki Univ Tech FINLAND

W3-9

^~

Optimal Control

^-

^II

Chairs: Vinter R.B., Imperial College ^UK

Wolenski P.R., Louisiana State Univ USA

4:00-4:20

The Sensitivity ^of Optimal Control Problems to Time Delay

Clarke F.H., Univ Montreal CANADA Wolenski P.R., Louisiana State Univ USA

4:20-4:40

Rational Approximation of L1-Optimal Controller

for SISO Systems ⁹²⁹

Ohta Y., Maeda H., ^Kodama S., ^{Osaka Univ JAPAN}

4:40-4:50

On the Stationary ^{Control of a} Controlled Diffusion With an Exponential-of-lntegral Performance Criterion ⁹³⁵ Runolfsson T., John Hopkins ^{Univ USA}

4:50-5:00

Two-Dimensional Global Optimization ^Based Upon a

Continuous Wiener Model 937

Stuckman B.E., Hill J.C., Univ Louisville USA

5:00-5:10

Optimal Incentive Control for Two-Level Dynamical Constrained Problems: A Solution Method Through

Sensitivity Analysis ⁹³⁹

Cornet P., Installe' M., Univ Catholique de Louvain BELGIUM

5:10-5:20

On the Optimal Control of a Class of

Time-Lag Systems ⁹⁴¹

Yanushevsky ^{R.T., Univ} Maryland ^USA

5:20-5:30

Parameter Optimized Hyperstable Controllers 943 Bals J., DLR GERMANY

5:30-5:40

Least Squares Approach to Constrained

Global Optimization ⁹⁴⁵

Zohdy M.A., Adamczyk B., Oakland Univ USA

W3-10

New Directions in Linear System Identification

^-

II

Chairs: Ljung ^L, Linkoping Univ SWEDEN Passino K.M., Ohio State Univ USA

4:00-4:20

Worst Case Identification in Discrete and

Continuous-Time Systems ⁹⁴⁷

Wang ^L.Y., Wayne State Univ USA

4:20-4:40

Optimal Identification of Discrete Multivariable Systems

from Noisy Impulse Response ^{Data 953}

Shaw A.K., Misra P., Wright State Univ USA Kumaresan R., Univ ^Rhode Island USA

4:40-5:00

Model Selection ⁱⁿ Continuous Time 959 Gerencser L., Hungarian Acad Sciences HUNGARY

Vago ^Z., Budapest Univ Tech HUNGARY

5:00-5:20

Higher ^Order Modeling ^for Adaptation ^{Filters in}

Generalized Analytic ^{Predictors 963}

Hammami M., Turgeon ^{A.-B., Bensoussan D., Ecole Tech} Super

Montreal CANADA

5:20-5:40

An Optimal ^Volume Ellipsoid Algorithm ^for

Parameter Set Estimation 969

Cheung ^{M.-F., Yurkovich S., Passino K.M.,} Ohio State Univ USA

5:40-5:50

A Note on Feeding ^Uncertain Knowledge ^Into

Recursive Least Squares

Karny M., ^Czech Acad Sciences CZECHOSLOVAKIA

5:50-6:00

Parameter Estimation in Conservation Laws Fitzpatrick B.G., UnivTenn.USA

.975

.977

W3-11

Model Based Predictive Control

Organizers: ^Tzafestas S., Nat'l Techn Univ Athens GREECE Mosca E., Univ Di Firenze ITALY

Chairs: Tzafestas S., Nat'l Techn Univ Athens GREECE Mosca E., Univ Di Firenze ITALY

4:00-4:20

Robustness of an Adaptive Predictive Controller 979 Clarke D.W., Univ Oxford UK

Mosca E., Univ Di Firenze ITALY Scattolini R., Politecnico Di Milano ITALY

4:20-4:40

Handling ^{Input and} Output Constraints in Predictive

Functional Control (I) ⁹⁸⁵

Abu el Ata-Doss S., ^Richalet J., ADERSA FRANCE

4:40-5:00

A New Generalized Model-Based Predictive

Control Algorithm (I) ⁹⁹¹

Tzafestas S.G., Vagelatos ^G., Kapsiotis ^G., Nat'l Tech Univ Athens GREECE

5:00-5:20

Multiple Sampling ^{Rates for} Adaptive ^Predictive

Switching Controllers (I) 997

Killich A., Dass K., Rake H., Tech Univ Aachen GERMANY

4:20-4:40

Motion Planning for Three-Link Robot Arm Manipulators Operating ^{in an Unknown}

Three-Dimensional Environment Lumelsky ^{V., Sun K, Yale Univ USA}

4:40-5:00

Path Feasibility ^and Modification Based

on

Robot

Workspace Geometry

Young ^K.-Y., Nat'l Chiao Tung ^{Univ ROC}

Wu C.-H., Northwestern Univ USA

5:00-5:20

A Self-Reconfigurable Manipulator System with Dextrous Bracing ^Structure

Lee S., Kim S., Univ Southern California USA

5:20-5:30

Tracking Control Robots Using Only

Position Measurements

Berghuis H., Lohnberg ^P., Nijmeijer ^{H., Univ Twente}

NETHERLANDS

5:30-5:40

Extended Kalman Filtering for Robotic

Proximity Sensing

Li Y.F., Daniel R.W., Sharkey P.M., Oxford Univ UK

5:40-5:50

Re-thinking ^the Robust Control of Robot Manipulators

Dawson D., Clemson Univ USA Qu Z., Univ Florida USA

5:50-6:00

Hybrid ^{Control for}

^a

^Class of Constrained Mechanical Systems

Liu J.-S., Academia Sinica ROC

.1019

.1027

.1033

.1039

.1041

.1043

.1046

5:20-5:40

Adaptive Inferential Predictive Control for

Fermentation Bioreactors (I) 1003

Santos Victor J., Lemos J.M., INESC PORTUGAL

W3-12 Robotics -1

Chairs: Ahmad S., Purdue Univ USA Walker I.D., Rice Univ USA

4:00-4:20

Robustness Issues in Kinematically ^Redundant

Manipulator Control 1009

Walker I.D., Nguyen ^LA, Rice Univ USA

de Figueiredo R.J.P., Univ California-Irvine USA