430

085

086

IFAC Meeting Papers

Chattering reduction in VSC systems of robotic manipulators ~urk, B., Jezernik, K.(karel.jezernik@uni-mb.si), Hamik, J., Sabanovi,~, A., pp 503-508 Keywords: Nonlinear systems, Sliding mode control, Discontinuous control, Continuous control, Chattering, Robot control

A new approach to motion/force control of robot manipulators during constrained tasks Song, G., Cai, L., Li,Z., Li, S., pp 509-514 Keywords: Robust control, Robot control, Force control, Lyapunov stability, Reduced-order model

087 Variable structure control of systems with nonlinear friction and dynamic backlash Azenha, A., Tenreiro Machado, J.A.,pp515-520 Keywords: Variable structure control, Describing functions, Backlash, Friction, Nonlinear systems

088 Nonlinear observer.bnsed position control of the piston stroke in a plastic molding machine Bona, B.(booa@polito.it), Greco, C., pp 521-525 Keywords: Nonlinear control, Nonlinear observers, Sliding mode control, Plttvtic injection molding machine

Keywords in this section are from papers presented at:

13th IFAC TRIENNIAL WORLD CONGRESS (Volume G) San Francisco, USA, 30 June - 5 July 1996

Full papers appear in the Proceedings volume published under the Pergamon imprint and available from Elsevier Science Ltd. (1SBN: 0 08 042915 7)

email address of corresponding author, if supplied, appears after the author's name in brackets

089 Using symbolic algebra to enhance the learning environment of dynamic ~ s t e m s Perez, R.A., Blake, J., Lou, K.-N., pp 1-6 Keywords: Education, Automatic control, Dynamic systems

090 Computer aided control education Tuseh~k, R., Habermayer, M., Bars, R. (bars@bme-at.ant.bme.hu), Sztics, B., pp 7-12 Keywords: Control education, CAD, Simulation, d.c. drive control, Nonlinear systems

091 A lecture demonstration for a course in digital control Milek, J.J.(milek@aut.ee.ethz.ch), pp 13-18 Keyword~: Education, Computer controlled systems, Benchmark examples, CA CSD

092 Low cost laboratory equipment for distance education of automatic control Fuente Ruz, M.(mfuente@piturda.ujaen.es), Batlle, V.F., ~eyw 19-24 ords: Laboratory education, Teaching at distance, Computer-aided instruction, Servomechanisntv, Computer controlled system, v, PID control

093 Runnin~ control engineering experiments over the internet Bohus, t . , Crowl, L.A., Aktan, B., Shor, M.H.(shor@ece.orst.edu), pp 25-33 Keywords: Control education, Laboratory education, Educational aids, Human-machine inters[ace, Interconnection technology, Multimedia, Safety, User interfizces

094 Laboratory experiments for an integrated basic control course Derighetti, M.(derighetti@aut.ee.ethz.ch), Glattfelder, A.H., Peretti, G., Qiu, X., Rickenbach, L., Schaufelberger, W., Wang, J., pp 35-40 Keywords: Control education, Educational aids, Laborato<v education

095 I~ontrol design for a helicopter lab process Akesson, M.(akesson@eontrol.lth.se), Gustafson, E., Johansson, K.H., pp 41-46 Keywords: Control education, Helicopter, Control applications, Identification Multivariable control

096 The design of visual servo controller for an inverted endulum hyama, Y.(ohyama@cc.teu.ac.jp), Yamaura, T., lkebe, J., pp

47-52 KebYWOrds: Vision, Educational aids, Delay compensation.

servability

097 Experiments for analysis and design of robust controllers: the inverted pendulum case Verde, C.(verde@servidor.unam.mx), Ramos, J., Barrera, R., pp 53-58 Keywords: Educational aids, Laboratory experiments, Robust control application, H-infinity optimal controller, Optimal quadratic regulator and estimator and fi'iction compensation

098

099

100

101

102

103

104

105

106

107

A new concept for computer aided learning in the control laboratory Schumann, R., Klfiver, M., Matko, D., Vitkute, D., pp 59-64 Keywords: Process identification, Controller design, CACSD, Teachware

Computer animated control laboratory emulation modules Kozura, J., Kaufman, H., Reber, J., Shamayev, R., Bequette, B.W., O'Loughlin, D., pp 65-70 Keywords: Control education, Laboratory, Experiments. Simulation, Software

Integrated laboratory experience for controls education Vagners, J.(vagners@aa.washington.edu), pp 71-76 Keywords: Control education, Hardware, Laboratory education, Mechatronics

Design of mechatronic systems: an inter-disciplinary laboratory Rizzoni, G., Keyhani, A., pp 77-81 Keywords: Undergraduate teaching, Mechatronics, Inter- disciplinary curriculum

An intelligent control laboratory course Yurkovich, S., Passino, K.M., pp 83-88 Keywords: Education, Intelligent control, Fuzzy control, Mechanical systems, Computer control

Laboratory in distributed microprocessor control Meckl, P.H.(meckl@ecn.purdue.euo), Maguire, D., King, G., pp 89-94 Keywords: Laboratory techniques, Microprocessor control, Distributed control

The use of state-transition methodology for the development of factory automation Lewis, P.H.(phlewis@mtu.edu), pp 95-98 Keywords: State, Transition, Discrete-event systems, Factory automation. Petri-nets, Programmable logic controllers

Innovative experiments for undergraduate factory automation Erickson, K.T.(kte@ee.umr.edu), pp 99-104 Keywords: Control education, Programmable logic controllers, manu/acturing processes, Factory automation, Man/machine interfiwes, Industrial control

Bird's eye view on control theory - motion, spaces, transformations Vfimos, T.(vamos@lutra.sztaki.hu), Bokor, J., ,I~P 105-115 Keywords: Physical models, System concepts, uynamic systems. H-infini ~ control, Multimedia

History of automatic control to 1960: an overview Bennett, S.(s.bennett@sheffield.ac.uk), pp 117-122 Keywords: Control applications, Control education, Control history, Control technology

IFAC Meeting Papers 431

108 ~ ,, ~ - , - ~ l u l a t h e ° ~ : early e o n ~ texts in English,

Bissell, C.C.(c.c.bissell@open.ae.uk), pp 123-128 Keywords: Control educatmn, Control history, Control technology

109 Control history from 1960 Dorato, P.(peter@vece.unm.edu), pp 129-134 Key/words: Control history, State-space methods, Optimal control, Robust control

110 Characteristic phenomena and model problems in nonlinear control Brockett, R., pp 135-140 Keywords: Inverse system.v, Lie brackets, Nonlinear control,

attern generation, Stabilization

111 Develol~m~t of s~stem identi~at inn Ljung, L.(Ljung@s.sy.liu.se), pp 141-146 No keywords supplied

112 The role of history in control education: a discussion panel Bennett, S.(s.benne~@sheffield.ac.uk), Bissell, C., " Feyw 47-149

ords: Control education, Control history, Control technology

113 Exact computation of i n f ~ u m in discrete-time H . optimization uslag measurtment feedback Chen, B.M.(bmchen@ee.nus.sg), pp 151-156 KtTword~: Robust control, H-infimty optimat contrm, Discrete time syster~v

114 Robustness result for linear continuous-time SISO systems Hnlpem, M.E.(m.halpern@ee.mu.oz.au), Evans, RJ., vv 157-160 ~eywords: Stability robustness, H-infinity.co.ntrol, . Interpolation,.Aatmnat~c control, Uncertain dynarmc syster~v

115 Finite escape-times and convergence p r o p e r t ~ of the H.-di~erontinl Riecati equs_ tion Boizern, P.0mlzem@det.l~olimi.i0, Colaneri, P., De Nicolao, G., pp 161-166 Keywords: Fihermg theory, Robust estimation, Robxvmess, Time varying syster~, Riccati equatio~v

116 On entropy of continuous-time periodic systems Qiu, L., Chen, T., pp 167-172 Keywords: H-infinity control, Periodic syster~v, Sampled-data control, entropy, White naive

117 New solution to the two block H ~ problem for infmite- dkmeusioual stable plants Hirata, K.(kent@kuamp.kyoto-u.ac.jp), Yamamoto, ¥., Tannenbaum, A., pp 173-178 Keywords: H-infinity, Skew Toeplitz theory, Two block problem, Optimal setLvitivity, Di.vtributed syster~v

118 On computing the anisotropic norm of linear discrete-time- invarinnt systems Vladimirov, I.G.(vladim@ippi.ac.msk.su), Kurdjukov, A.P., Semyonov, A.V., pp 179-184 Keyword$: Stochastw H-infinity optimization, Noise, Entropy, Norr~v, Worst-co, re generating filter, Factorization

119 A gam e theoretic filter for fault detection and isolation Chung, W.H., Speyer, J.L., pp 185-190 Keywords: Fault detection, Game theory, Robust estimation

120 Experimental verification of H . filter for robust visual

~ i ~ . , Kawabata, A., Shimemura, E., Schmidt, G., vV 191-196 ~eywords: Robust estimation, Estimation theory, H-infinity control, Robust control, Visual motion

121 Subopt imal / / , filtering via linear .ma2r~-mequaUties Grigoriadis, K.M., Watson, J.T., pp t~/-zuz . . Keywords: Filtering, Linear systentv, 5tate-space metnoas, H-infinity control, lterative methods, Alternating projections methods, Linear matrix inequalities

122 Robust filtering for uncertain delay systems under sampled memmremonts Shi, P.(matsp@zamiwcop.levels.unis&edu.an), pp 203-20 8 Keywords: Time-delay systent~, Uncertain systent~, Sample ;d mea~vurements

123 A new approach to robust control of hybrid systems: inffmlte ~ intervlti cue Savkin, AN., Evans, R.J., pp 209-213 Keywords: Robust control, H-infinity control Nonlinear control, Dynamic programming, Riccati equ~tior~v, Switching

124 Reduced-order controllers for singular H ® control problems based on LMI Xin, X., Guo, L., Feng, C., pp 215-220 Keywords: Control system synthesis, Robust control, Optimal control, Singular control, H-infinity control, Convex optimization, Algebraic approaches, Zeros

125 Rational/,1 and mixed LIIH . Compensators for continuous time multifiJock problems Chen, X., Wen, J?l'., pp 221-226 Keywords: Lj contro[, Multiobjective optimization, Mixed L/H- infinity control, Rational approximation, Linear matrix inequalities, Laguerre polynomial augmentation method

126 A rational approximate solution to L , optimal control Chen, X., Wen, J.T., pp 227-232 Keywords: L , optimalcontro~ Rational approximation, Linear matrix inequalities

127 On the computation of robustness conditions for systems with multiple constrained uneertain.ty, sets: ^tl~ ~t,setting Khammash, M..~. ~.ash@ias~e. .eau), pp L - ~ - L - ~ O .

Kcywordz: Stability roou.~tne.vs, Time-varying uncertainty, r 1 control, S-procedure, Robust control

128 Robust predictive control with constraints via lslHw design Hrissagis, K., Crisalle, O.D., Sznaier, M., pp 237-242 Kej/words: Predictive control, Robust control, Dismrtmnce rejection, Constraints, Robust stability

129 A ~ e performance/mbu~ control design for Iow- dfemms~md s~ Tzes, A.(tzes~l~ri~m.poly.edu), Le, K., pp 243-248 Keywords: ldentificatwn algorithm, Robust estimation, Robust performance

130 On the properties of the solutions to mixed II/H . control roblems

~znaier, M.(msznaier@frodo.ee.psu.edu), Bu, J., pp 249-254 Keyv,,ords: Multiobjective optimization, H-infinity control, I I control

131 A simplified approach to guaranteed cost ~ control McFarbme, D.C., Petersen, l.R., pp 255-260 Keywords: Rob~t control, LQG control, Uncertain syster~v, H-infinity control

132 H 2 and H . performance with regulation constraints • Stoorvogel, A.A.(wscoas@win.tue.nl), Saberi, A., pp 261-266

Keywords: H 2 control, H , control, Regulation, Linear syster~v, Optimal control

133 Robust multi-objective feedlmch design wi~ linear ~ t ~ d - c ~ t bmmds Dorato, P.(peter@eece.unm.edu), Menini, L., Trend, C.A., pp 267-272 Keyword.J: Multi-objective optimization, Guaranteed cost, State feedback, Generalized algebraic Riccati equation, Linear matrix inequalities

134 Robust LQ regulators and cost estimation for jump linear systems with uncertain ~ t e r s Boukas, E.K., Yang, H., pp 273-278 Keywords: Linear syster~v, Stochastic .~abilizability, Mar.kay. process, Norm bounded uncertainties, ~tructured uncertamnes, Cost estimation

135 A robust H2problem for discrete-time systems Toivonen, H.T.(htoivone@abo.fi), p p 279-284 Keywords: Discrete-time system.v, Optimal control, Robust performance

136 Shifted quadratic guaranteed cost bounds for robust controller s y n t h e s i s Tyan, F., Bemstein, D.S.(dsbaero@umich.edu), pp 285-290 Keywords: Robust stability, Robust performance, Control .vystem synthesis

137 A state-space theory of uncertain systems Beck, C., D'Andrea, R., Paganini, F., Lu, W.-M., Doyle, a.,

U~enYWO 291"296 rds: Robust.control, State space, Multivariable systems, certainty

138 A matrix approach to low-order uncertainty modeling of real parameters Beicastro, C.M .(christine.m.belcastro@ larc.nasa.gov), Chang, B.-C., Fischl, R., pp 297-302 Keywords: Uncertain linear systems, Parametric variation, Robust control, Multivariable polynomials, Multidimensional systen~v, Control oriented models, Minimum redundancy

432 IFAC Meeting Papers

139 Controller invalidation Brozenec, T.F., Tsao, T.C., Safooov, M.G., pp 303-308 Keywords: Controller invalidation, Model validation, Robust control

140 Simultaneous modefing and synthesis for robust control by LFT scaling Asai, T.(tasai@int.titech.ac.jp), Hara, S., lwasaki, T.,

309-314 words: Robust control, Uncertainty modeling, Small gain

condition, LFT

141 On linear fractional representations of systems with etric uncertainty

, J.C., Morton, B.G., pp 315-320 Keywords: Realization theory, Multidimensional systems, Structured singular value, Robttvt control

142 Linear regulator design for bounded uncertain discrete-time systems with additive disturbances Milani, B.E.A.(basilio@dt.fee.unicamp.br), Castelan, EB., Tarbouriech, S., pp 321-326 l~ywords: Uncertain linear systentv, Regulators, Constraints.

isturbance variables, Linear programming

143 LMI approach to mixed H-2 and H-inf'mity performance objective controller design D'Andrea, R., pp 327-332 Keywords: Robust control, H-infinity control, LQG control, Convex optimization

144 Robust controller synthesis using scaled Popov bounds with uncertain A, B, a n d C matrices Sparks, A.G.(sparks @ falcon, flight.wpafb.af.mil), Bemstein, D.S., pp 333-338 Keywords: Uncertainty, Robust control, Popov criterion

145 An initialization procedure for the D-K iterations algorithm for a class of [[rublems Prempain, E., t~ergeon, B., pp 339-344 Ke~words: Structured singular values, Structured singular values synthesis, Robust performance, Multivariable control, distillation column

146 D-K iteration with mixed scallngs Yi, C.(cheng.yi@esat.kuleuven.ac.be), De Moor, B.,

345-350 words: H-infinity control, Structured uncertainty, Structured

singular value, Convex optimization

147 Additional results on parameter-dependent controllers for LPV systems Becker, G.(gregory.becker@inria.fr), pp 351-356 Keywords: Parameter dependent systems, Linear matrix inequalities, Gain scheduling, H-infinity control, Convex optlmtzat~on

148 Noncouservative and noniterative solution to the robust stabilization problem for classes of systems with real parametric uncertainties Abrishamchian, M.(mmabrish@irearn.bimet), pp 357-362 Keywords: Robust control, H-infinity control, Robust stability. Robust stabilizability, Uncertain linear systentv, Stabilizing controllers

149 Simultaneous finite settling time stabilization: some new results Milonidis, E.(E.Milonidis@city.ac.uk), Karcanias, N.. pp 363-368 Keywords: Discrete-time systems, Dead-beat control, Finite settling time stabilization, Robustness, Simultaneous stabilization

150 Practical stabilization of a class of bilinearly coupled uncertain systems including critical case Wang, J., Goodall, D.P., pp 369-374 Keywords: Uncertain dynamical systems, Practical stabilization, Robustness, Bilinear systentv, Differential inclusior~v

151 Robust predictive control based on Laguerre filters modeling Oliveira, G.H.C.(gustavo@alto.unice.fr), Favier, G., Dumont, G., Amaral, W.C., pp 375-380 Keywords: Predictive control, Robust control, Uncertain dynamic systems, Minimax techniques, Laguerre filters

152 Exact model matching for the plants with unmodeled dynamics Ichikawa, K.(ichika-k@hoffman.cc.sophia.ac.jp), pp 381-386 Keywords: Exact model matching, Transient response, Uamodeled dynamics, Stability, Tracking performance, Disturbance predictor

153

154

155

156

157

158

159

Robust model matching control system design for MIMO lants with large parturbations

ong, Y.-S., pp 387-392 Keywords: Control theory, Robust control, MIMO, Perturbed coefficients, Robust stability, Robust performance

Robust pole placement conditions of structured uncertain systems Joan Hwa Lee(ljh@cisl.snu.ac.kr), Wook Hyun Kwon, Sang Jeong Lee, Sang Woo Kim, Sang Wook Woo, pp 393-398 Keywords: Structured uncertainty, Generalized singular value, Robust stability, Robust pole placement

Application of the fmite inclusions theorem to robust multivariable design Djaferis, T.E.(djaferis@ecs.umass.edu), pp 399-404 Keywords: Parameter uncertainty, Robgvt multivariable design, Linear programming

New frequency-domain phase-related properties of MIMO LTI passive systems and robust controller synthesis Jie Bao, Fuyang Wang, Lee, P.L., Weibiao Zhou, pp 405-410 Keywords: Robust process control, Pttvsivity, Phase property, Linear systems

Output shaping for robust decoupllng Man', J., Ackermann, J., pp 41 i-416 Keywords: Decoupling problems, Robust control, Parametric variations, Vehicle dynamics, Aircraft control

Eigenstructure perturbation for robust stability analysis of linear state space models Yedavalli, R.K., pp 417-422 Keywords: Robust stability, Uncertain linear system, v, Eigenvalues, Eigenvectors

Problem of asymptotic tracking for system with interval ~ arameters

magina, Ye.M.(root@eccspti.tomsk.su), Brewer, I.V., DO 423-427 ~eywords: Interval parameters, Dynamical system, lnvariant zeros, Tracking

160 Robust stabilization of interval plants with specified damping margins Sakr, A.F., pp 429-434 Keywords: Uncertain linear system, v, Robust control, Compensators, Stabilization, Kharitonov theorem

161 Robust stabilization of time-invariant interval systems via constant state feedback Yuanwei Jing, Sinqing Hu, Siying Zhang, pp 435-440 Keywords: Time-invariant, Coefficient matrix, Antisymmetric, Robust stabilization, Up/down augmented systems

162 Stabilization of a class of linear systems with time-varying uncertainties Sanqing Hu, Yuanwei Jing, Siying 7_,hang, pp 441-446 Keywords: Quadratic stabilization, Linear, Time-varying, Up- augmented, Uncertainties

163

164

165

166

167

Robust control for delay differential systems with nonlinear erturbation" u, D-Y., pp447-452

Keywords: Robust control, Stabilizing.feedback, Time-delay, Uncertainty, Nonlinear systems

Mixed Hzll~ control for discrete-time systems Jun Wu, Jian Chu(iipc_chuj@zunet.ihep.ac.cn), pp 453-457 Keywords: H 2 control, Discrete-time systems, Approximate analysis, l~ control

Low-order robust model matching for SISO plants with structured and unstructured perturbations Zhong, Y.-S., pp 459-464 Keywords: Control theory, Robust control, Uncertain dynamic systentv, Robust stability, Robust performance

On the simultaneous stabilization of dynamic systems via linear control Munaro, C.J.(munaro@ele.ufes.br), Bottura, C.P., pp 465-468 Keywords: State space, Linear control system.Y, Simultaneous stabilization, Lyapunov methods, Control system design

Root.locus methods for robust control systems quality and stability investigations gimsky, G.V.(mahaniok%bas 10.basnet.minsk.by@demos.su), Nesenchuk, A.A., pp 469-474 Keywords: Dynamtc system, Robust stability, Quality, Root locus

IFAC Meeting Papers 433

168 Reliable control using multiple similar controllers Yang, G.-H., Zhang, ~-Y., Lam, J., pp 475-480 Keywords: Reliability, Control system design, Linear systentv, H-infinity control, Algebraic Riccati equations

169 Discrete-time sliding mode control design Koshkouei, A.J.(a.jatrari@sheffield.ac.uk), Zinober, A.S.I.,

eyw481-486 ords: Difference equations, Discrete-time systentv,

Lyapunov method.v, Sliding lattice, Sliding mode control, Sliding surfaces, Stabilization methods, Variable structure control

170 Comparison between the thirty-two virtual vertices and the Ghush polynomials to stabilize an intervalplant Hern(mdez, R.(roberto.hemandez@uned.es), Dormido, S., Dormido, R., pp 487-492 Keywords: Robust control, Controllers, Extreme point results

171 Robust control design under both parametric variation and unstructured uncertainty Zhang, W., Matsushita, A., pp 493-498 Keyword$: Parametric variatwn, Uncertainty, Sensitivity, Constraints, Robust stability, Performance, Criterion

172 The development and evaluation of an H-infmity induction motor controller Paterson, C.(aeb@sun.engg.le.ac.qk), Postlethwaite, 1., Walker, D., Bashagha, A,, pp 499-504 KeylCOrds: Robustness, H-infinity control Recursive le~tvt

Uares, Induction motor, Estimators, Industrial control, ction control

173

174

175

176

On the algebraic approach to//,control Zhou, K.(Icemin@gate.ee.lsu.edu), Chen, X., pp 505-510 Keywords: H-infinity, Robust control, Algebraic approach, Algebraic" Riccati equations, LMIs

Simultaneous pole assinment and stabilization by a time. sharing multtrato output controller Hakebe, A., Kishihara, M., Hagiwara, T., Araki, M.,

words: Sampled-data system, v, Simultaneous pole assignment, Simultaneous stabilization, Time-sharing multirate sampled-data controller, LQG control

Robust H.. FIR filter for uncertain systems Kwon, O.-K.(okkwon95@dragon.inha.ac.kr), Ryu, H.-S., Yoo, K.-S.,pp 517-522 Keywords: H-infinity estimation, Robust estimation, FIR filter, Uncertain linear systentv

Robust control of uncertain systems with nominal tracking OiFOIRU £ e

colao, G., Magni, L., Scattolini, R.(scatto@conpro.unipv.it), pp 523-528 Keywords: Robust stability, H-infinity control, Quadratic stabilizability, Internal model control