Proceedings Of The 1994 American Control Conference
Proceedings of the1994 American Control ConferenceThe Stouffer Harborplace Hotel, Baltimore, MarylandJune 29—July 1, 1994Sponsoring OrganizationThe American Automatic Control CouncilUS. National Member Organization of theInternational Federation of Automatic Control (IFAC)MEMBER ORGANIZATIONSAmerican Institute of Aeronautics and AstronauticsAmerican Institute of Chemical EngineersAssociation of Iron and Steel EngineersAmerican Society of Mechanical EngineersInstitute of Electrical and Electronic EngineersInstrument Society of AmericaSociety of Computer SimulationThe 1994 ACC is held in cooperation with IFACVolume 1 of 3
Correction: The following papers have been moved after the typesettingof the Proceedings, the changes are summarized in the list below:Session Code in ProceedingsSession Code in y Morning SessionPlenary Session IMichigan State Univ.Univ. of Notre DameChair Hassan KhalilCochair Jeff Kantor8:30 - 9:30Feedback in Command and Control SystemsHarold Sorenson*MITRE CorporationWA01 — Salon AIntelligent Vehicle and Highway Systems - IChair Andy PackardCochair R. MayrUniv. of California, BerkeleyUniv. of Southern California10:00 - 10:20Modelling and Control of Longitudinal Vehicle Motion1St. GermannTechnical Univ. of DarmstadtRolf IsermannTechnical Univ. of Darmstadt10:20 - 10:40Vehicle Following Controller Design for Autonomous IntelligentVehicles6C.C. ChienUniv. of Southern CaliforniaPetros A. IoannouUniv. of Southern CaliforniaMichael C. LaiUniv. of Southern California10:40-11:00Modelling of Automobile Dynamics for Digtial Control ofVehicle Platoons11S. GhayaPennsylvania State Univ.David R. MudgettPennsylvania State Univ11:00-11:20Intelligent Cruise Control for Vehicles Based on FeedbackLinearisation16R. MayrUniv. of Southern California11:20-11:40Continuous Platooning: A New Operating Concept forAutomatic Vehicle Control Systems21Wei RenUniv. of California, BerkeleyDavid Green
11:40 - 12:00Robust Stabilisation of High Speed Oscillations in Single TrackVehicles26Farshid ForouharFailure Analysis Associates, Inc.Andy PackardUniv. of CaliforniaWA02 — Salon BLinear Matrix Inequalities in Control Theory - ichael G. SafonovStephen P. BoydV. BalakrishnanEric FeronMichael G. SafonovV. BalakrishnanUniv. of Southern CaliforniaStanford UniversityUniv. of MarylandMassachusetts Inst. of Tech.Univ. of Southern CaliforniaUniv. of Maryland10:00 - 10:20History of Linear Matrix Inequalities in Control Theory . . . . 31Eric FeronMassachusetts Inst of Tech.V. BalakrishnanUniv. of MarylandStephen P. BoydStanford Univ.L.M. El GhaouiEcole Nationale Superieure De Techniques10:20 - 10:40A Unified Approach to Fixed Order Controller Design viaLinear Matrix Inequalities35T. IwasakiPurdue Univ.Robert E. SkeltonPurdue Univ.10:40 - 11:00LMI Numerical Solution for Output-Feedback Stabilization . 40J. C. GeromelUNICAMPC. de SouzaUNICAMP11:00- 11:20Control System Synthesis via Bilinear Matrix Inequalities . . 45Michael G. SafonovUniv. of Southern CaliforniaK. GohUniv. of Southern CaliforniaJ. LyUniv. of Southern California11:20-11:40Positive Real Parrott Theorem with Application to LMIController Synthesis80j , LyUniv. of Southern CaliforniaMichael G. SafonovUniv. of Southern CaliforniaF. AhmadUniv. of Southern California1140 - 1200The L-R Interation - an Alternative to the D-K Iteration . . 53Mario A. RoteaPurdue Univ.WAOS — Salon CRobust Adaptive ControlChair Kostas S. TsakalisCochair Lee KeelArizona State Univ.Tennessee State Univ.10:00 - 10:20On a Quantitative Theory of Robust Adaptive Control: AnInterval Plant Approach58A.K. DattaTexas A b M Univ.S.P. BhattacharyyaTexas A&M Unir.10:20 - 10:40Simple Adaptive Control Can Robustify Uncertain ControlSystems *Izhak Bar-KanaDrexel Univ.
10:40 - 11:00Robust Direct Adaptive Control for a Class of Systems withDelays68Manuel de la SenUniv. del Pais VascoJosu Jugo11:00-11:20Robust/Adaptive Observers for Systems Having UncertainFunctions with Unknown Bounds73Engin YazUniv. of ArkansasAsad AzemiUniv. of Arkansas11:20 - 11:40Weak-Duality in Worst-Case Adaptive Control75Sandor M. VeresUniv. of Birmingham11:40 - 12:00On Adaptive Control in the Presence of Impulsive MeasurementNoise80Maciej NiedzwieckiTechnical Univ. of GdanskWA04 — Salon DBiosystems Analysis and ControlOrganizer Ali CinarChair M. A. HensonCochair Francis J. DoyleIllinois Insititute of TechnologyLouisiana. State Univ.Purdue Univ.10:00 - 10:20Real Neural Networks in Movement Control84D.A. RobinsonJohns Hopkins Hospita;10:20 - 10:40The Role of Baroreceptor Resetting in Habituating Control ofBlood Pressure87S. R. CardenUniv. of PennsylvaniaLyle H. UngarUniv. of PennsylvaniaW. C. RoseE. I. DuPont de NemoursJ. S. SchwaberE. I. DuPont de Nemours10:40- 11:00A Biologically-Motivated Dynamic Nonlinear SchedulingAlgorithm for Control92Francis J. DoylePurdue Univ.I. RybakUniv. of PennsylvaniaJ. S. SchwaberE. I. DuPont de Nemours11:00- 11:20A Parallel Control Strategy Abstracted From the BaroreceptorReflex97M. PottmannDuPont Central Science and EngineeringM. A. HensonLouisiana State UniversityBabatunde A. OgunnaikeDuPont Central Science and EngineeringJ. S. SchwaberDuPont Central Science and Engineering11:20-11:40The Use of Neurobiological Models in Neural Network ControlSystem Design J. J. AbbasShriners Hospital for Crippled ChildrenH.J. ChizeckCase Western Reserve Univ.11:40- 12:00Model Predictive Control of a Nonlinear Drug Infusion System102R. S. GopinathRensselaer Polytechnic Inst.P. B. SitsuRensselaer Polytechnic Inst.B. Wayne BequetteRensselaer Polytechnic Inst.H. KaufmanRensselaer Polytechnic Inst.R. J. RoyRensselaer Polytechnic Inst.WA05 — Salon EIdentification - IChair Gert-Wim van der LindenCochair Guoxiang GuDelft Univ. of TechnologyLouisiana State Univ.10:00 - 10:20Frequency Domain Structural System Idenfication byObservability Range Space Extraction107Ketao LiuMassachusetts Inst. of Tech.ft. N. JacquesMassachusetts Inst. of Tech.D.W. MillerMassachusetts Inst. of Tech.
10:20 - 10:40Linear Algorithms for Worst Case Identification in H wittiApplication to Flexible Systems112Guoxiang GuLouisiana State Univ.Cheng-Chih ChuJet Propulsion LabGisoon KimLouisiana State Univ.10:40- 11:00Linear Programming Algorithms for Worst-Case Identificationin Li117Theodore TheodosopoulosMassachusetts Inst. of Tech.11:00-11:20Recursive Identification of Time-Varying Systems viaIncremental Estimation122Q.G. ZhouUniv. of TorontoWilliam R. CluettUniv. of Toronto11:20 - 11:40Identification of Stochastic System and Controller via ProjectionFilters127Hyun Chang LeeOld Dominion Univ.Min-Hung HsiaoOld Dominion Univ.Jen-Kuang HuangOld Dominion Univ.Chung-Wen ChenNorth Carolina State Univ.11:40 - 12:00Design of Optimal Experiments for Identification of Grey BoxModels132P. SadeghTechnical Univ. of DenmarkH. MelgaardTechnical Univ. of DenmarkH. MadsenTechnical Univ. of DenmarkJ. HoistTechnical Univ. of DenmarkWA06 — Salon FControl of Nonholonomic SystemsChair N. Harris McClamrochCochair Andrzej BanaszukUniv. of MichiganGeorgia Inst. of Tech.10:00 - 10:20Orientation Control of the Dynamic Satellite138Gregory WalshUniv. of California, BerkeleyRaymond C. MontgomeryNASAShankar S. SastryUniv. of California, Berkeley10:20- 10:40Exact Tracking for a Planar Multilink in Space using InternalActuation143Ilya Vladimir KolmanovskyUniv. of MichiganN. Harris McClamrochUniv. of MichiganVincent T. CoppolaUniv. of Michigan10:40 - 11:00Control of Balance for a Nonlinear NonholonomicNon-minimum Phase Model of a Bicycle148Neil H. GetzUniv. of California, Berkeley11:00-11:20On-Line Approximation of Control Programs for a Class ofNonlinear Free-Floating Systems152Dimitry M. GorinevskyUniv. of TorontoA. KapitanovskyUniv. of TorontoA.A. GoldenbergUniv. of Toronto11:20-11:40High-Order Averaging on Lie Groups and Control of anAutonomous Underwater Vehicle157Naomi Ehrich LeonardUniv. of MarylandP. S. KrishnaprasadUniv. of Maryland11:40 - 12:00Dynamics and Controller Design of Gyroscopic Systems . . . 163Kuang Yow LianNational Taiwan Univ.Li-Chen FuNational Taiwan Univ.Li-Sheng WangNational Taiwan Univ.WA07 — Federal HillFuzzy ControlChair George J. VachtsevanosCochair Kevin PassinoGeorgia Institute of TechnologyOhio State Univ.
10:00 - 10:20Some Crisp Thoughts on Fuzzy Logic168Daniel Y. AbramovitchHewlett-Packard Laboratories10:20 - 10:40An Initial Assessment of Neural Network and Fuzzy LogicTechnology for Flight Control Systems173Marc SteinbergNaval Air Warfare Center10:40-11:00An Introduction to Nonlinear Analysis of Fuzzy ControlSystems178David F. JenkinsOhio State Univ.Kevin PassinoOhio State Univ.11:00- 11:20Fuzzy Sliding Mode Controller Design for Tracking Control ofNon-Linear System180Chung-Chun KungTatung Inst. of Tech.Chia-Chang Liao11:20-11:40Self-Organization of a Fuzzy Logic Controller using FuzzyAuto-Regressive Moving Average ModelUn-chul MoonSeoul NationalYoung-Moon ParkSeoul NationalKwang Y. LeePennsylvania State185Univ.Univ.Univ.11:40-12:00Adaptive Fuzzy Logic Approximation of Unknown NonlinearSystems: State-Variable Feedback Tuning190Kai LiuUniv. of Texas, ArlingtonIn Hyeob YuUniv. of Texas, ArlingtonWA08 — Fells PointControl of Robot ManipulatorsChair Masayoshi TomizukaCochair Ricardo CarelliUniv. of California, BerkeleyUniv. Nacional de San Juan10:00-10:20Hybrid Force/Motion Control of Two Arms Carrying an Object195Masayoshi TomizukaUniv. of California at BerkeleyP. PagillaUniv. of California at Berkeley10:20 - 10:40A Unified Approach to Stable Adaptive Force/Position Controlof Robot Manipulators200Q.-H. MengUniv. of AlbertaUniv. of VictoriaW .-S. Lu10:40- 11:00Lyapunov Based Collision Avoidance and Control of MultipleRobots202Zohreh ErfanPurdue Univ.Shaheen AhmadPurdue Univ.11:00- 11:20Adaptive Learning Control of Robot Manipulators in TaskSpaceY.A. JiangUniv. of New SouthJ.S. ParkUniv. of New SouthD.J. ClementsUniv. of New SouthT. HeskethUniv. of New South207WalesWalesWalesWales11:20- 11:40An Object Space Control Scheme for Cooperative Manipulators212Pasquale ChiacchioUniv. degli Studi Di Napoli, Federico IIStefano ChiaveriniUniv. degli Studi Di Napoli, Federico IIBruno SicilianoUniv. Degli Studi Di Napoli, Federico II11:40-12:00Robust Position/Force Control of Robot Manipulators DuringContact Tasks216Lilong CaiHong Kong Univ. of Science & Tech.G. SongColumbia UniversityWA09 — GuilfordCriteria for Robust Stability - IChair Robert N.K. LohCochair Panos J. AntsaklisOakland Univ.Univ. of Notre Dame
10:00 - 10:20Stability Robustness Bounds and Robust Stability for LinearSystems with Structured Uncertainty221Yuguang FangCase Western Reserve Univ.Kenneth A. LoparoCase Western Reserve Univ.10:20 - 10:40Theory and Application of Robust Stability Analysis on StateSpace using Stability Radii226Yeong-Hwa ChangUniv. of Texas, AustinGary WiseUniv. of Texas, Austin10:40 - 11:00Stability and Stabilizability of a Class of Systems with StateSaturation and Parameter Uncertainties231Anthony N. MichelUniv. of Notre DameDerong LiuUniv. of Notre DameKaining WangUniv. of Notre Dame11:00 - 11:20On the Geometry and Stability of a Polytope Generated by aFinite Set of Polynomials236L.R. PujaraWright State Univ.B.S. BollepalliUniv. of Wisconsin, Madison11:20 - 11:40Stability of Interval Matrices using the Distance to the Set ofUnstable Matrices238J.A. Rojas-EstradaUniv. Autonoma de Nuevo LeonJ. M. ColladoUniv. Autonoma de Nuevo Leon11:40 - 12:00An Improved Bound for Stability Robustness of UncertainGeneralized State-Space Systems240Li LeeNational Sun Yat-Sen Univ.Chun-Hsiung FangNational Sun Yat-Sen Univ.WA10 — Mt. WashingtonApplications of Filtering h EstimationChair Farshad KhorramiCochair Oscar CnsallePolytechnic Univ.Univ. of Florida10:00 - 10:20A Robust Discrete Estimator with Application to FaultDetection and Identification242Mehrdad SaifGeneral Motors Research Labs10:20- 10:40Deterministic EKF-Like Estimator for Spacecraft AttitudeEstimation247F.L. MarkleyNASA Goddard Space Flight CenterN. BermanBen Gunon Univ. ofNegevU. ShakedTel Aviv Univ.10:40 - 11:00On Ubiquity of Yau FiltersJie Chen252Univ. of Illinois, Chicago11:00-11:20Accurate Estimation of Friction for Control1188Terry G. ColhourUniv. of Missouri-ColumbiaSatish S. NairUniv. of Missouri-Columbia11:20- 11:40Improvement of Laser Pointing Performance using a JointObserver-Based Adaptive ControllerQuang M. LamColeman ResearchJoe HillColeman ResearchDean CookeColeman Research255Corp.Corp.Corp.11:40 - 12:00On Fault-Tolerant Functional Observer260Shousong HuNanjing Univ. of Science fe Tech.Zhiquan WangEast China Inst. of Tech.Weili HuNanjing Univ. of Science fe Tech.Cunhai FanNanjing Univ. of Science fe Tech.WA11 — KentFlexible Structures - IChair Steven BanksCochair Jie HuangU.S. Army Armament ResearchAmerican GNC Corp
10:00-10:20Robust Control of Flexible Space Structuresj m LUOdyssey Research Associates, Inc.10:20 - 10:40Robust Control of Large Flexible Space Structures using aCoprime Factor Plant Description265Benoit BouletUniv. of TorontoBruce A. FrancisUniv. of TorontoPeter C. HughesUniv. of TorontoTony HongUniv. of Toronto10:40 - 11:00Positivity Embedding for Noncolocated and Nonsquare FlexibleStructures267Francis C. LeeUniv. of Southern CaliforniaHenryk FlashnerUniv. of Southern CaliforniaMichael G. SafonovUniv. of Southern California11:00- 11:20Finite Element Model Based Robust Controllers for theMiddeck Active Control Experiment (MACE)272Jonathan P. HowMassachusetts Inst. of Tech.Roger GlaeseMassachusetts Inst. of Tech.Simon GrocottMassachusetts Inst. of Tech.D.W. MillerMassachusetts Inst. of Tech.11:20 - 11:40Nonlinear Adaptive Robust Control of Uncertain FlexibleSpacecraft278David Yong D. SongNASA Center for Aerospace ResearchT. L. MitchellNASA Center for Aerospace Research11:40 - 12.00Robust Digital Control of Flexible Structures using theCombined Pole Placement / Sensitivity Function ShapingMethod283loan D. LandauLaboratoire d'Automatique de GrenobleCristophe CyrotAlina VodaLaboratoire d'Automatique de GrenobleDaniel ReyWA12 — Pride of BaltimoreControl in ManufacturingChair M.C. ZhouCochairNew Jersey Institute of Technology10:00 - 10:20A Procedure for Dynamic Sharing of Components inMultiple-Workcell Process Plants289Clarence W. de SilvaUniv. of British ColumbiaJianhua GuUniv. of British Columbia10:20 - 10:40Supervisory Control for Industrial Systems with SaturationDecisions294C.J. MadayNorth Carolina State Univ.Sanghwa JeongNorth Carolina State Univ.10:40 - 11.00Rule-Based Controller Design Algorithm for Discrete EventManufacturing Systems299O.C. PastravanuUniv. of Texas, ArlingtonFrank L. LewisUniv. of Texas, ArlingtonH.H.HuangUniv. of Texas, Arlington11:00 - 11:20Assembly Time Optimization for PCB Assembly306Ratnesh KumarUniv. of KentuckyHaomin LiUniv. of Kentucky11:20- 11:40Optimal Control of Pull Manufacturing Systems*James R. PerkinsBoston Univ.P. R. KumarUniv. of Illinois, Urbana-ChampaignIV
11:40- 12:00A Pacing Control Syterns for a Steckel MillJack D. KatzbergQi Lu311Univ. of ReginaUniv. of ReginaWA13 — JamesControl of Process and Industrial SystemsChair Denis DochainCochair Evanghelos ZafiriouCesame, Univ. Catholique de LouvainUniv. of Maryland10:00 - 10:20Model-Based Adaptive Vision Control Ofweld Pool Area . . 313Rado KovacevicUniv. of KentuckyYu Ming ZhangUniv. of Kentucky10:20-10:40Control of the Fabrication of Long Slender Workpieces ofArbitrary Shape. Part I: Open-Loop Control of theMulti-Axis Bending Process318Kim A. StelsonUniv. of MinnesotaJack X. LuoUniv. of MinnesotaJoynt L. DanielUniv. of Minnesota10:40 - 11:00Design of Ram Velocity Profiles for Isothermal Forging viaNonlinear Optimization323Jordan BergWright-Patterson AFBJ. AdamsWright-Patterson AFBJames C. Malas IIIWright-Patterson AFBSiva S. BandaWright-Patterson AFB11:00 - 11:20Monitoring Estimation and Predictive Control Based onStatistical Techniques328N.A. JalelUniv. of WestminsterJ .R. LeighUniv. of Westminster11:20-11:40Control of Nonlinear Differential — Algebraic Process Systems330Aditya KumarUniv. of MinnesotaProdromes DaoutidisUniv. of Minnesota11:40- 12:00Design of Adaptive Linearizing Controllers for Fixed BedReactors335Denis DochainCesame, Univ. Catholique de LouvainN. Tali-MaamarCesame, Univ. Catholique de LouvainJ.P. BabaryCesame, Univ. Catholique de LouvainWA14 — GibsonQuantitative Feedback Theory (QFT)Chair Matt A. FranchekCochair Suhada JayasuriyaPurdue Univ.Texas A&M Univ.10:00 - 10:20A New Approach to Multivariable Quantitative FeedbackTheory: Theoretical and Experimental Results340Yossi ChaitUniv. of MassachusettsMyoung Soo ParkUniv. of MassachusettsMaarten SteinbuchPhilips Research Labs.10:20 - 10:40Alternative Approaches in Frequency Domain Design of SingleLoop Feedback Systems with Plant Uncertainty345Fredric BaileyUniv. of MinnesotaJ. William HeltonUniv. of California, San DiegoOrlando MerinoUniv. of Rhode Island10:40 - 11:00Full Envelope Flight Control System Design using QFT . . . 350Odell R. ReynoldsAir Force Inst. of Tech.Meir PachterAir Pbrce Inst. of Tech.Constantine H. HoupisAir Force Inst. of Tech.11:00- 11:20On the Robust Stability of Plant Families with Poles Crossingthe Imaginary Axis: A New Small Gain Condition355Suhada JayasunyaT , , A&MVnjv.Yongdong Zhaor/K x M A&Mniv .
11:20-11:40Feedforward Controllers and Tracking Accuracy in the Presenceof Plant Uncertainties360Suhada JayasunyaTexas A&M Univ.Yongdong ZhaoTexas A&M Univ.11:40-12:00Optimal Loop Transmission Functions in SISO QuantitativeFeedback Theory365Osita D.I. NwokahPurdue Univ.Richard Eric NordgrenPurdue Univ.WA15 — St. GeorgeAdvances in Control Engineering EducationOrganizer Nairn A. KheirChair Nairn A. KheirCochairOakland Univ.Oakland Univ.10:00 - 10:20Teaching Microprocessors in the 90's and BeyondRahmat ShoureshiPeter H. Meckl10:20 - 10:40An Integrated Process Control LaboratoryR. Russell Rhinehart374Purdue Univ.Purdue Univ.378Texas Tech Univ.10:40- 11:00Autonomous Unmanned Ground Robotic Competition: AnAdvanced Multi-Disciplinary Control Project383Ka C. CheokOakland Univ.11:00- 11:20The Development of an Educational Control Eng. Lab. in aDeveloping Country388S. A. Al-BermaniUniv. of JordanYousef Al-AssafUniv. of Jordan11:20-11:40Increased Roles of Linear Algebra in Control Education . . . 393Robert E. SkeltonPurdue Univ.11:40-12:00An Interdisciplinary Video in Control Education*Wayne J. BookGeorgia Inst. of TechnologyWednesday Mid-day SessionWM01 — Salon AIntelligent Vehicle and Highway Systems - IIChair Andy PackardCochair Petros A. IoannouUniv. of CaliforniaUniv. of Southern California1:30 - 1:50Longitudinal Control of the Lead Car of a Platoon398Datta N. GodboleUniv. of California, BerkeleyJohn LygerosUniv. of California, Berkeley1:50- 2:10Longitudinal Control of a Platoon of Vehicles with MultipleSaturating Nonlinearities403Armando A. RodriguezArizona State Univ.Sean C. Warnick2:10 - 2:30Model Based Supervision of Lateral Vehicle Dynamics . . . . 408M. WurtenbergerTechnical Univ. of DarmstadtRolf IsermannTechnical Univ. of Darmstadt2:30 - 2:50Lane Assignment on an Automated HighwayDeepa RamaswamyUniv. of Illinois,Juraj V. MedanicUniv. of Illinois,William R. PerkinsUniv. of Illinois,Rahim BenkohalUniv. of Illinois,413Urban Champaign
2:50-3:10Potential Benefits of Roadside Intelligence for Flow Control in aIVHS418Bobby S. Y. RaoUniv. of CaliforniaPravin VaraiyaUniv. of California3:10 - 3:30A Simulation Study for the Control of a Platoon of Vehicles423Jiann-shiou YangUniv. of MinnesotaWM02 — Salon BLinear Matrix Inequalities in Control Theory - Michael G. SafonovStephen P. BoydV. BalakrishnanEric FeronStephen P. BoydEric FeronUniv. of Southern CaliforniaS
Cochair Panos J. Antsaklis Univ. of Notre Dame. 10:00 - 10:20 Stability Robustness Bounds and Robust Stability for Linear . Anthony N. Michel Univ. of Notre Dame Derong Liu Univ. of Notre Dame Kaining Wang Univ. of Notre Dame 11:00 - 11:20 On the Geometry and Stability of a Polytope Generated by a
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Le genou de Lucy. Odile Jacob. 1999. Coppens Y. Pré-textes. L’homme préhistorique en morceaux. Eds Odile Jacob. 2011. Costentin J., Delaveau P. Café, thé, chocolat, les bons effets sur le cerveau et pour le corps. Editions Odile Jacob. 2010. Crawford M., Marsh D. The driving force : food in human evolution and the future.
Le genou de Lucy. Odile Jacob. 1999. Coppens Y. Pré-textes. L’homme préhistorique en morceaux. Eds Odile Jacob. 2011. Costentin J., Delaveau P. Café, thé, chocolat, les bons effets sur le cerveau et pour le corps. Editions Odile Jacob. 2010. 3 Crawford M., Marsh D. The driving force : food in human evolution and the future.
