Proceedings of the

1993 American Control ConferenceThe Westin St. Francis Hotel, San Francisco, California

June 2-4, 1993

Sponsoring Organization

The American Automatic Control Council

U.S. 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 AmericaSociety of Computer Simulation

The 1993 ACC is held in cooperation with IF AC

Volume 1 of 3

Wednesday Morning

Plenary session IGrand Ballroom

Chairs A.Haddad Northwestern UniversityB. Krogh Carnegie-Mellon University

Control Technology and the 21stCentury xJohn F. Cassidy, Jr. Dir. Rsch., United Technologies Corp

WAI - GeorgianHep Applications

Chairs H-C Chang University of Notre DameZ. Gao Cleveland State University

Attenuation of Structurally GeneratedInterior Noise Through Active Control 1X.H. Yang University of California, BerkeleyJ. van Niekerk University of California, BerkeleyK.S. Parwani University of California, BerkeleyA. Packard University of California, BerkeleyB. Tongue University of California, Berkeley

Experiments on the Loop Shaping BasedHo. Control of a Magnetic Bearing 8M. FujiU Japan Advanced Institute of Science and TechK. Hatake Kanazawa UniversityF. Matsumura Kanazawa UniversityK Uchida Waseda University

Active Feedback Controller Design for aThin Airfoil 1 3H Ozbay Ohio State UniversityG.R. Bachmann Ohio State University

Servo Design for a 3D Laser TrackingMeasurement System 1 8J.Y. Yen National Taiwan UniversityC.S. Jeng National Taiwan University

WA2 - ColonialRobust Stability I

Chairs S.M. Phillips Case Western Reserve Univ.L.-C. Fu National Taiwan University

Stability of Polynomial Families withMultiaffine Coefficient Perturbations .2 3J. Kogan University of Maryland-Baltimore

Comparison of the Whole Benefits in aMIMO Control System with LargeParameter Variations .2 5C-K Lee National Tsing-Hua UniversityB-C Wang National Chiao-Tung University

Robust Stability Analysis for Discrete-Time Large-Scale Perturbed Systems 2 7T-J Su National Kaohsiung Institute of TechnologyP-L Liu Chien Kao Junior College of TechnologyJ-H Chou National Yunlin Institute of Technology

Uncertainties With Bounded Rates ofVariation 2 9A. Rantzer University of Minnesota

WA3 - Elizabethan ALearning Systems

Chairs K. M. Passino Ohio State UniversityD. R. Mudgett Pennsylvania State Univ.

Learning to Coordinate Control Policiesof Hybrid Systems 3 1M. Lemmon University of Notre DameJ.A. Stiver University of Notre DameP.J. Antsaklis University of Notre Dame

Robustness and Convergence of P-typeLearning Control 3 6S. Saab University of PittsburghG. Vogt University of PittsburghH. Mickle University of Pittsburgh

Intelligent Control via LearningM e t h o d s 3 9B.S. Zhang University of WestminsterJ.R. Leigh University of Westminster

On-line Learning of Linear Systems 4 1S.E. Posner Princeton UniversityS.R. Kulkarni Princeton University

WA4 - Elizabethan BAerospace Systems I

Chairs J.S. Yang University of MinnesotaS. M. Meerkov University of Michigan

An Optimal Mid-Course Guidance Law ForFixed-Interval Propulsive Maneuvers 4 3M-A Massoumnai Integrated Systems Inc.

On Attitude Stabilization of SymmetricSpacecraft with Two Control Torques 4 6P. Tsiotras Purdue UniversityJ.M. Longuski Purdue University

Vertical Guidance Turbulence usingOptimal Dynamic Interpolation withApplication to a Lockheed L1011-100 5 1C.R. Tolle Utah State UniversityA.A. Rodriguez Arizona State University

CMG Singularity Avoidance in AttitudeControl or a Flexible Spacecraft 5 6R Kraft Boeing Defense and Space Group

WA5 - Elizabethan CRobotics Planning and Tracking

Chairs D. A. Lawrence University of ColoradoS.K. Agrawal Ohio University

A Suboptimal Robot Path PlanningScheme for Loosely ConstrainedTrajectories S9D.J. Simon TRWC. Isik Syracuse University

Path Tracking for a Car-Like Robot .6 4R. M. DeSantis Ecole Plytechnique de Montreal

Improved Tracking Control for RobotsUsing Neural Network .6 9G. Feng University of New South Wales

Collision-Free Trajectory Planning forTwo Manipulators by DynamicProgramming xA Mohri Kyushu UniversityM. Yamamoto Kyushu UniversityS Marushima Kyushu University

WA6 - Elizabethan DNeural Networks I

Chairs J.A. Farrell Charles Stark Draper Lab.J. Si Arizona State University

Using Pattern Recognition in ControllerAdaptation and Performance Evaluation 7 4R.F. Hinde, Jr. University of ConnecticutD.J. Cooper University of Connecticut

A New Neural Network ControlArchitecture for a Class of NonlinearDynamic Systems .7 9S.L. Chang University of Missouri-ColumbiaS.S. Nair University of Missouri-Columbia

Improving the Dynamic Response ofNeural Network Controllers UsingVelocity Reference Feedback .8 4K. P. Venugopal Florida Atlantic UniversityS. M. Smith Florida Atlantic University

State Feedback Stabilization ofNonlinear Systems Via the NeuralNetwork Approach .8 9B. Ling Michigan State UniversityF. M. A. Salam Michigan State University

WA7 - BorgiaFault Detection and Model Validation

Chairs D. Dochain Universite Catholique de LouvainR.A. Wright Dow Chemical Company

A Method for Verifying Measurementsand Models of Linear and NonlinearSystems .9 3F. Wang Hewlett-Packard LaboratoriesD.Y. Abramovitch Hewlett-Packard LaboratoriesG.F. Franklin Stanford University

A New Interpretation of the FaultDetection Filter: The Optimal DetectionFilter 9 8J. Park University of MichiganG. Rizzoni Ohio State University

Recursive Methods for Model Validation 104F. Wu University of California - BerkeleyA. Packard University of California - BerkeleyK. Poolla University of California - Berkeley

Fault Diagnosis in an Oil ProductionPlant Prototype Using a DiagnosticModel Processor 10 7A.C. Dias Federal University of Rio de JaneiroA. Bhaya Federal University of Rio de JaneiroE. Kaszkurewicz Federal University of Rio de Janeiro

WA8 - YorkshireNonlinear Robust Control

Chairs D.S. Bernstein University of MichiganW.M. Haddad Florida Institute of Technology

Limits on Achievable RobustnessAgainst Coprime Factor Uncertaintyll2J.S. Freudenberg University of MichiganL. Christian University of Michigan

Robust Control of Nonlinear UncertainSystems Under Generalized MatchingConditions 117Z. Qu University of Central Florida

A New Matching Condition for RobustControl Design 12 2Y.H. Chen Georgia Institute of Technology

WA9 - OxfordDiscrete Time Systems I

Chairs C.V. Hollot University of MassachusettsK.M. Sobel City College of New York

Optimal, Low-sensitivity, FeedbackControllers for Interconnected Discrete-Time Systems 12 7J. Perez Texas A & I UniversityR. Challoo Texas A & I UniversityJ. Zhou Texas A & I UniversityR.A. McLauchlan Texas A & I University

Robustness of Sampled-Data Control toUnmodeled High-Frequency Dynamics 129J.H. Dinh Wichita State UniversityM.E. Sawan Wichita State University

A Family of Dynamic Controllers WithLoop Transfer Recovery 131M. Tadjine Laboratorie d'Automatique de GrenobleMM. Saad GR CNRS AutomatiqueL. Dugard GR CNRS Automatique

Application of Repetitive Control to aPeristaltic Pump 136G. Hillerstrom Lulea University of TechnologyJ. Sternby Lulea University of Technology

WA10 - VictorianIdentification I

Chairs I. Bar-Kana Drexel UniversityL. Y. Wang Wayne State University

Sample Complexity for Worst-CaseSystem Identification Problems 141A. Tikku University of California-BerkeleyK. Poolla University of California-Berkeley

Observer-Based Parameter Identifiers forNonlinear Systems with ParameterDependicies 146S.E. Sheikholeslam Measurex Corporation

Digital Identification or a ContinuousTime System and Some Related Problems 151E-W Bai University of Iowa

Robust System Identification with NoisyTime/Frequency Response Experimentdata: Projection Operator and LinearAlgor i thms 156E-W Bai University of Iowa

WA11 - EssexDetection

Chairs P. G. Voulgaris University of IllinoisW. D. Blair Naval Surface Warfare Center

Distributed Detection with Memory at theData Fusion Center 161W. Chang Drexel UniversityC. Rones Drexel UniversityM. Kam Drexel University

A Low Communication Rate Scheme forDistributed Detection 166C. Rago University of ConnecticutP. Willett University of ConnecticutY. Bar-Shalom University of Connecticut

Nonlinear Adaptive Detection/Estimationfor Multi-Radar Target Detection 171T.W. Hilands Pennsylvania State UniversityS.C.A. Thomopoulos Pennsylvania State University

A Nonparametric Training Algorithm forDecentralized Binary Hypothesis TestingNetworks 176J. Wissinger Massachusetts Institute of TechnologyM. Athans Massachusetts Institute of Technology

WA12 - Olympic SouthVariable Structure Control I

Chairs K. Furuta Tokyo Institute of TechnologyU. Ozguner Ohio State University

Variable Structure Control of Multi-Machine Power System 178A. Iyer University of Nevada-Las VegasG. V. Subbarao Nevada Power Company-Las Vegas

Sliding Mode Control or the Bank-to-Turn Missile Systems 183J. Huang American GNC CorporationC-F Lin American GNC Corporation

Optimal Sliding Mode Control of aFlexible Spacecraft Under StochasticDisturbances 188A. Sinha Pennsylvania State UniversityW. Miller Massachussets Institute of Technology

Sliding-Mode Controler Design forSpacecraft Attitude Tracking Maneuvers 195Y-P Chen National Chiao Tung UniversityS-C Lo National Chiao Tung Unviersity

WA13 - Olympic NorthFlexible Systems I

Chairs L.R. Hunt University of Texas at DallasM. Donath University of Minnesota

Stability Analysis of a PiezoelectricVibration Controller for an Euler-Bernoulll Beam 197B.R. Patnaik University of WaterlooG.R. Heppler University of WaterlooD. Wang University of Waterloo

Efficient Reorientation of a DeformableBody in Space: A Free-Free BeamExample 20 2I.V. Kolmanovsky University of MichiganN. H. McClamroch University of Michigan

An Invariant Set Analysis of the Hub-Appendage Problem .2 07R. Mukherjee Naval Postgraduate School

Nonlinear Modeling and PartialLinearizing Control of a SlewingTimoshenko-Beam Manipulator 210K. Yuan National Taiwan UniversityC.-M. Hu National Taiwan University

WA14 - KentLinear Systems I

Chairs K.S. Tsakalis Arizona State UniversityW.R. Perkins University of Illinois

Constrained Controllability of LinearImpulse Differential Systems .216Z. Benzaid Embry-Riddle Aeronautical UniversityM. Sznaier University of Central Florida

A New Method for Evaluating FloquetCharacteristic Exponents or PeriodicLinear Systems .2 21J. J. Zhu Louisiana State UniversityS. K. Vemula Louisiana State University

A Reachability Test for Systems overPolynomial Rings Using Grbbner Bases .22 6L. Habets Eindhoven University of Technology

Coprimeness or Polytopes orPolynomials 231F.J. Kraus Swiss Federal Institute of TechnologyM. Mansour Swiss Federal Institute of TechnologyV. Kucera Czechoslovak Academy of Sciences

| Wednesday Midday I

WM1 - GeorgianMixed Hi/Ho, Control

Chairs B. Tongue Univ. of California - BerkeleyH Ozbay Ohio State University

A Stochastic Differential GamesApproach to Mixed H2/Heo-Control 236B. Bemhardsson IMA, University of MinnesotaP. Hagander Lund Institute of Technology

Convergent On-Line Identification in Hoofor Continuous Systems 23 8F.-M. Lee National Taiwan UniversityI.-K. Fong National Taiwan UniversityL.-C. Fu National Taiwan University

Dissipative H2/Hoo Controller Synthesis 2 43D.S. Bernstein University of MichiganWAI. Haddad Florida Institute of TechnologyY-W Wang University of Michigan

Mixed Hj/Hoo Control of UncertainSystems 2 45B. Riyanto Waseda UniversityE. Shknemura Waseda UniversityK Uchida Waseda University

Hj Controller Design with an H«, BoundedControl ler 2 48J David Katholieke Universiteit LeuvenB. DeMoor Katholieke Universiteit Leuven

An (Almost) Exact Solution to GeneralSISO Mixed H2/Hoo Problems Via ConvexOptimization 250M. Sznaier University of Central Florida

WM2 - ColonialRobust Stability II

Chairs M. Steinbuch Philips Research LaboratoriesS. K. Ahmed Univ. of Massachusetts

Model Reference Robust Control of SISOSystems with Significant UnmodelledDynamics 255Z. Qu University of Central Florida

Approximation of a ParameterPerturbation Set by Convex Sets 2 60M. Wang University of MinnesotaEJJ. Lee University of MinnesotaD.L. Boley University of Minnesota

Parametric Stability Margin forMultilinear Interval Control 262L. H. Keel Tennessee State UniversityS. P. Bhattacharyya Texas A&M University

Parametic Uncertainty Modeling usingLFT's .2 67P. F. Lambrechts Delft University of TechnologyJ. Terlouw Dutch National Aerospace LaboratoryS. Bennani Delft University of TechnologyM. Steinbuch Philips Research Laboratories

Robust Stability of UncertainGeneralized State-Space Systems 273C-H Fang National Kaohsiung Institute of TechnologyF.R Chang National Taiwan Univeristy

Robust Stability Radii for PerturbedDiscrete-Time Constrained Systems 27 SP-L Liu Chien Kao Junior College of TechnologyT-J Su National Kaohsiung Institute of Technology

WM3 - Elizabethan APerformance in Adaptive Control

Chairs P.J. Antsaklis University of Notre DameP. A. Ioannou Univ. of Southern California

Using Persistent Excitation to StabilizeAdaptive Controllers and Obtain HardBounds for the Parameter Error 27 7M.S. Radenkovic University of Colorado-DenverB. E. Ydstie Carnegie Mellon University

Improvement or Transient Response inAdaptive Control using High OrderTuning .2 8 2D. R. Mudgett The Pennsylvania State University

On Certain Performance Issues Arising inAdaptive Control .2 8 7K.S. Tsakalis Arizona State UniversityS. Limanond Arizona State University

Improved Performance MRAC of Linearand Nonlinear Systems .289I. Papadakis Pennsylvania State UniversityS.C.A. Thomopoulos Pennsylvania State University

Transient Performance Improvement inContinuous-Time Model ReferenceAdaptive Control: An Lx Formulation .2 94A. Datta Texas A&M University

Bursting Phenomena in Extended-LeastSquares Based Self-Tuning Control .2 96M.S. Radenkovic University of Colorado-DenverA.N. Michel University of Notre Dame

WM4 - Elizabethan BControl of Automotive Systems

Chairs J.K. Hedrick University of CaliforniaR. Isermann Technical Univ. of Darmstadt

A Game-Playing Fuzzy Logic Controllerfor Semi-Active Suspensions .3 01M. Briggs Oakland UniversityK.C. Cheok Oakland University

Generalized Gain Scheduling Control of aDiesel Engine Based on H2 Optimization -3 06J. Jiang University of Western Ontario

Automotive Engine Idle Speed Controlwith Recurrent Neural Networks 3 1 1G. V. Puskorius Ford Motor CompanyL. A. Feldkamp Ford Motor Company

CAD Tools for Nonlinear Control: SpeedControl or a Car Engine 3 1 7D.N. Godbole University of California, BerkeleyD. Swaroop University of California, Berkeley

2-D Modeling, Control, and Simulationof Vehicle Platoons 3187M.S. Fadali University of NevadaY.A. Ghoneim GM Research Labs

Design of a Control Panel Using aSensory Engineering Approach 3 1 9Kuang Wei Ford Motor CompanyS. Fujimoto Komatsu Ltd., JapanM. Ikeda Komatsu Ltd., Japan

WM5 - Elizabethan CControl of Cooperative Arm Systems (Invited)

Organizer P. Chiacchio Universita di Napoli Federico UChairs P. Chiacchio Universita di Napoli Federico TJ

J. Wen Rensselaer Polytechnic Institute

Manipulability Measures of CooperatingArms 3 2 1A. Bicchi Universita di PisaC. Melchiorri Universita di Bologna

Force Regulation in MultipleManipulator Systems 326M.J. Ryan Rensselaer Polytechnic InstituteS. Murphy Rensselaer Polytechnic InstituteJ. T. Wen Rensselaer Polytechnic Institute

Grasp Admittance Center Concept: AnExperimental Demonstration 331A.A. Goldenberg University of TorontoK.B. Shimoga University of Toronto

Task-Oriented Kinematic Control of TwoCooperative 6-DOF Manipulators 33 6P. Chiacchio Universita di Napoli Federico IIS. Chiaverini Universita di Napoli Federico IIB. Siciliano Universita di Napoli Federico II

Adaptive Resolution of Conflicts inMultimanipulator Systems 341P. Hsu San Jose State University

WM6 - Elizabethan DFrontiers of Intelligent Control (Invited)

Organizers HAsada MTTR. Horowitz U.C. Berkeley

Chairs HAsada MTTR. Horowitz U.C. Berkeley

Establishing Hierarchy In IntelligentControl SystemsR. Horowitz U.C. Berkeley

Integration of Machine Learning andSensor-Based Control in IntelligentRobotics Systems -3 5 2G. DeJong University of Illinois Urbana-ChampaignS. Hutchinson University of Illinois Urbana-ChampaignM.W. Spong University of Illinois Urbana-Champaign

Intelligent Control Using Active-Adaptive Information Sources -3 5 7A. M. Annaswamy Massachusetts Institute of TechnologyH Asada Massachusetts Institute of Technology

A Nodal Link Perceptron Network withApplications to Control orNonholonomic Systems .3 62N. Sadegh Georgia Institute of Technology

When is a Neural Network Like a CompactDisc Player? xR.M. Sanner Massachusetts Institute of TechnologyJ-J.E. Slotine Massachusetts Institute of Technology

A Learning Control of Nonlinear PowerTransmission Mechanisms-The ElectronicFlywheel .3 67J-S. Hu Wayne State University

WM7 - BorgiaPredictive Control I

Chairs D.G. Fisher University of AlbertaR.M.C. DeKeyser University of Ghent

Output Constraint Softening for SISOModel Predictive Control 371E. Zafiriou University of MarylandH-W Chiou University of Maryland

Solving the Model Predictive ControlProblem with Soft Constraints -3 7 7J. Feher University of Missouri-RollaK.T. Erickson University of Missouri-Rolla

Robust Stability of Constrained ModelPredictive Control .3 79Z.Q. Zheng California Institute of TechnologyM. Morari California Institute of Technology

Generalized Predictive ControlAlgorithms with Guaranteed Frozen-TimeStability and Bounded Tracking Error .3 84J. Bentsman University of IllinoisT. Jolly University of Illinois

Extended Multi-Step Kalman EstimatorBased Nonlinear Model PredictiveControl .3 89J.H. Lee Auburn UniversityN.L. Ricker University of Washinton

Model Predictive Control orMultlvariable Nonlinear Processes inContinuous-Time -3 93M. Soroush University of MichiganC. Kravaris University of Michigan

WM8 - YorkshireNonlinear Control: Flight Applications

Chairs P. Tsiotras Purdue UniversityB. Tang Integrated Systems

Aircraft Flight Control in Wind ShearUsing Partial Dynamic Inversion 4 00S.S. Mulgund Princeton UniversityR.F. Stengel Princeton University

Analysis and Resonance Stabilization ofBifurcation Phenomena in AircraftFlight 4 05M. A. Pinsky University of Nevada-RenoB. Essary University of Nevada-Reno

Flight Control Design 410J. Huang American GNC CorporationC-F Lin American GNC Corporation

Full Conventional Envelope LongitudinalAxis Flight Control with ThrustVectoring 415J.M. Buffington WL/FIGC, Wright LaboratoryA.G. Sparks Wright Patteron Air Force BaseS.S. Banda Wright Patteron Air Force Base

A Full-Authority 4D Guidance Algorithmfor Conventional Aircraft420I Stiharu-Alexe Laboratorie d'Automatique de GrenobleC. Stiharu-Alexe Laboratoire d'Automatique de Grenoble

Global Attitude Representations and ItsLie Bracket 425K.-Y. Lian National Taiwan UniversityL.-S. Wang National Taiwan UniversityL.-C. Fu National Taiwan University

WM9 - OxfordDiscrete Time Systems II

Chairs M.E. Sawan Wichita State UniversityA. Packard University of California, Berkeley

Model Conversion and Digital Redesignfor Singular Systems 430J. S. H. Tsai Dept. of Electrical Engg.C. T. Wang Fortune Institute of Technology and CommerceL.S. Shieh University of Houston

H2 and H« Designs of Multirate Sampled-Data Systems 43 5L. Qiu University of MinnesotaT. Chen University of Calgary

A Time Domain Approach to Robustnessor Multi-Rate Delta Operator Systems 441J.E. Piou City College of New YorkKM. Sobel City College of New YorkE.Y. Shapiro HR Textron

Preservations or Positive Realness UnderDiscretizations 443J. Jiang University of Western Ontario

Boundedness of the L2 - Induced NormImplies Quadratic Stability for UncertainSampled-Data Control Systems .4 45H. Hu University of MassachusettsC.V. Hollot University of Massachusetts

Circular Pole Assignment for Discrete-Time Singular Systems .450G. Shi East China Institute of TechnologyX. Liu East China Institute of Technology

WM10 - VictorianControl of Distributed Parametric Systems

Chairs E. Barbieri Tulane UniversityG.J. Balas University of Minnesota

Stability or Coupled String VibrationSystems Due to Different BoundaryConditions 45 2G. R. Sarhangi Wichita State UniversityM. Najafi Wichita State UniversityH. Wang Wichita State University

On the Persistence or Excitation in theAdaptive Estimation or DistributedParameter Systems .45 4I.G. Rosen Univ. of Southen CaliforniaM. A. Demetriou Univ. of Southen California

Sliding Mode Control of ChemicalProcess Systems Described by PartialDifferential Equations .4 5 9E.M. Hanczyc University of California-DavisA.N. Palazoglu University of California-Davis

Bounded-Input Bounded-Output Stabilityof Damped Linear Strings .4 64S.M. Shahruz Berkeley Engineering Research InstituteA. Imam University of California-Berkeley

Robust Optimal Control for a Class orDistributed Parameter Systems .4 66B. Mordukhovich Wayne State UniversityK. Zhang Wayne State University

Control or a Vibrating String UsingImpedance Matching .46 8J.S. Glower North Dakota State Universitu

WM11 - EssexStochastic Systems

Chairs Y. Bar-Shalom University of ConnecticutM. Kam Drexel University

Formulation or a One-Step DiscreteStochastic Controller with Applicationto Adaptive Control .473M.B. Knowles University of Texas at ArlingtonD. Hullender University of Texas at Arlington

Robust Design or Stochastic Controllerfor a Guidance System of CommandGuided Missile A79M. Abdel-Rahim Alexandria UniversityM El-Geneidy Alexandria UniversityM Rizk Alexandria University

On the Stability of Stochastic HereditarySystems with Uncertain Elements 482E. Yaz University of ArkansasI. Yaz Centenary College

Second Order Interacting Multiple ModelAlgorithm for Systems with MarkovianSwitching Coefficients 4 84W. D. Blair Naval Surface Warfare Cntr.D. Kazakos University of Virginia

Stochastic Adaptive Control ofMultivariable Systems with Dead-ZoneNonllnearities 489Y.F. Xiong Universite du QuebecS. LeQuoc Universite du QuebecR.M.H. Cheng Concordia University

Decentralized Robust StabilizationIndependent of Delay for MultidelayStochastic Large Scale Systems 494Z-S Feng South China University of Technology

WM12 - Olympic SouthControl Functional Differential Equations

(Invited)

Organizer B. Lehman Mississippi State UniversityChairs B. Lehman Mississippi State University

A. W. Olbrot Wayne State University

The Reducing Transformation and SmithPredictor Methods for Stabilizing Plantswith Transport Lag 499A.A. Pandiscio, Jr. Raytheon Corp.A.E. Pearson Brown University

Approximate Controllablility andStabilizability of Time Delay Systems;Functional Analytic and AlgebraicResults 5 04A. W. Olbrot Wayne State University

The LQR Problem for FunctionalDifferential Equations 509R. Datko Georgetown University

Tracking Controller for Output FeedbackLinear Time Delay Systems512D.H. Chyung University of Iowa

A New Approach to Stabilize Time DelaySystems 516M. Wang University of MinnesotaE.B. Lee University of MinnesotaD.L. Boley University of Minnesota

Robust Stability of Time VaryingFunctional Differential Equations 521B. Lehman Mississippi State UniversityA. Shujgee Mississippi State University

WM13 - Olympic NorthControl of Nonlinear

Flexible Pointing Systems I (Invited)

Organizer M.S. Mattice US Army, ARDECChairs J. Chandra US Army, ARO

J.H. Taylor ORA Corporation

A Nonlinear Flexible Pointing Systemfor Digital Control Research .5 26M.S. Mattice US Army, ARDEC

Synthesis Methods for Robust NonlinearControl .5 31A. Tannenbaum University of MinnesotaD. Enns Honywell Inc., SRC

Robust Nonlinear Control SystemSynthesis for Electro-MechanicalPointing Systems with Flexible Modes J36J.H. Taylor ORA CorporationJ. Lu ORA Corporation

Hybrid Optimal Control of a NonlinearFlexible Pointing System .5 41J.L. Zhang University of HoustonL.S. Shieh University of Houston

Real-Time Implementation Issues inNonlinear Model Inversion JS47G.M. Kabuli Integrated Systems, Inc.S.P. Bhat Integrated Systems, Inc.R.L Kosut Integrated Systems, Inc.

Non-Collocated Flexible Beam MotionControl Based on a Delayed AdaptiveInverse Method .5 5 2D.S. Wang University of MinnesotaG-B Yang University of MinnesotaM. Donath University of Minnesota

WM14 - KentControl and Design or Unmanned Underwater

Vehicles (Invited)

Organizer J. Yuh Oregon State UniversityChairs J. Yuh Oregon State University

A.J. Healey Naval Post-Graduate School

Optimal and Adaptive Control orUnderwater Vehicles 5 60S.I. Sagatun Abb Industry and Offshore -APM

A Learning Control or UnderwaterRobotic Vehicles with ThrusterDynamics .5 65J. Yuh Oregon State University

Design or an Omni-DirectionalUnderwater Robotic Vehicle and itsCoordinated Motion Control .5 70J. Yuh Oregon State UniversityS.K. Choi University of Hawaii

Practical Experiments In ROV SystemIdentification S75L. Clarke Carle ton UniversityK.R. Goheen Carleton UniversityD.R. Yoerger Woods Hole Oceanographic Institution

A Fuzzy Logic Docking Procedure for TwoMoving Underwater Vehicles 5 8 0GJ.S. Rae Florida Atlantic UniversityS. M. Smith Florida Atlantic UniversityD.T. Anderson Florida Atlantic UniversityAM. Shein Florida Atlantic University

Parameter Identification fromExperimental Maneuvering Responses ofan Autonomous Underwater Vehicle 5 85A.J. Healey Naval Post-Graduate School

I Wednesday Afternoon |

WP1 - GeorgianHOP Control

Chairs C. S. Sims West Virginia UniversityM. J. Grimble University of Strathclyde

An Extension of A-A-K HankelApproximation Theory Using State-SpaceFormulation 5 9 0C-D Yang National Cheng Kung UniversityF-B Yen National Cheng Kung University

Minimum Control Effort State-FeedbackH oo Control 595E. A. Schoemig University of WashingtonM. Sznaier University of Central FloridaU-L Ly University of Washington

The General HM Problem with StaticOutput Feedback 600J. Stoustrup Technical University of DenmarkH. H. Niemann Technical University of Denmark

A Complete Solution to General HoControl Problem: LMI ExistenceConditions and State Space Formulas 605T. Iwasaki Purdue UniversityR.E. Skelton Purdue University

On the Design of H,. controller whenStandard Assumptions are not Satisfied 610R. Nikoukhah INRIAF. Delebecque INRIA

Existence Conditions for a NonstandardH«, Problem 6 1 2J. B. Matson Australian National UniversityT. Mita Chiba UniversityB.D.O. Anderson Australian National University

H . Performance of Weighted IntervalPlants: Complete Characterization ofVertex Results 617C.V. Hollot University of MassachusettsR. Tempo CENS-CNR, Politecnico di Torino

Ho. Robust Control by Static OutputFeedback 62 0J. C. Geromel State University of CampinasP.L.D. Peres State University of CampinasS. R. Souza UNICAMP

WP2 - ColonialRobust Control

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

Robust Control of a Flexible System -Covering Parametric Uncertainty with aNon-Parametric Model .622C.V. Hollot University of MassachusettsS. K. Ahmed University of Massachusetts

Geometric Aspects of the CovariancePartial Realization Problem .627T. T. Georgiou University of MinnesotaC. Chang University of Minnesota

Static Ouput Feedback MultimodelControl Using Linear Matrix Inequalities .633L. El Ghaoui ENSTA

Rational Lj Suboptimal Compensatorsfor Continuous-Time Systems .63 5M. Sznaier University of Central FloridaF. Blanchini Universita' degli studi di Udine

Polynomial and Rational MatrixInterpolation: Systems and ControlApplications .640P. Antsaklis University of Notre DameZ. Gao Cleveland State University

Model Reference Robust Control Schemefor Nonlinear Parametric UncertainSystems .6 45D.M. Dawson Clemson UniversityJ. Y. Zhu Clemson UniversityZ. Qu University of Central Florida

Robust Tracking Control of an InductionMotor .6 4 8D.M. Dawson Clemson UniversityZ. Qu University of Central FloridaJ. Hu Clemson University

H« Loop Transfer Recovery Design withan Unknown Input Observed-BasedController 4 5 3M. Darouach LARALM. Zasadzinski LARALK. As'ad LARALD. Mehdi Ecole Superieure Dingenieurs de Poitier

WP3 - Elizabethan ANonlinear and Adaptive Control of

Electromechanical Systems (Invited)

Organizer M. Bodson Carnegie-Mellon UniversityChairs J. Chiasson University of Pittsburgh

M. Bodson Carnegie-Mellon University

An Adaptive Method for Induction MotorControl .655M. Bodson Carnegie-Mellon UniversityJ. Stephan Carnegie Mellon UniversityJ. Chiasson University of Pittsburgh

Sampled-Data PWM Modeling and ControlDesign for a Class of NonlinearElectromechanical Systems 660A. Khayatian Georgia Institute of TechnologyD. G. Taylor Georgia Institute of Technology

A Ball and Beam Testbed for FuzzyIdentification and Control Design 665E.G. Laukonen Ohio State UniversityS. Yurkovich Ohio State University

Adaptive Tracking Control or a SwitchedReluctance Motor Turning an IntertialLoad 6 70J.J Carroll Clemson UniversityD.M. Dawson Clemson UniversityZ. Qu University of Central Florida

Adaptive Sliding Mode Control for aPermanent Magnet Synchronous MotorSystem Driven By a PWM Inverter 675S-LLee National Taiwan UniversityL.-C. Fu National Taiwan UniversityW4IYu National Taiwan University

Controlling Non-Minimum PhaseNonllnar Systems- The InvertedPendulum on a Cart Example 680R. Gurumoorthy General ElectricS.R. Sanders University of California - Berkeley

Experimental Results of AdaptivePeriodic Disturbance Cancellation in aHigh-Perrormance Magnetic Disk Drive 686A. Sacks Carnegie Mellon UniversityM. Bodson Carnegie-Mellon UniversityP.K. Khosla Carnegie Mellon University

Nonlinear Differential-GeometricTechniques for Control or a Series DCMotor 691J. Chiasson University of Pittsburgh

WP4 - Elizabethan BAutomotive Systems: Engine Control and

Diagnosis (Invited)

Organizer G. Rizzoni Ohio State UniversityChairs G. Rizzoni Ohio State University

R. Rajamani University of California, Berkeley

Design or Active Suspension Systems inthe Presence or Physical ParameterUncertainties 69 6J. Bokor Hungarian Academy of SciencesL. Palkovics Hungarian Academy of SciencesP. Gaspar Hungarian Academy of Sciences

Including the Effects of the ForceGeneration Process in Active SuspensionControl 701G.H. Engelman Ford Motor CompanyG. Rizzoni Ohio State University

Active Suspensions -A ComparisonBetween Theory & Experiment 706R. Rajamani University of California, BerkeleyH. Tseng University of California, BerkeleyJ.K. Hedrick University of California, Berkeley

Observer Based Identification ofNonlinear Vehicle SuspensionParamenters .711K. Yi University of California, BerkeleyJ.K. Hedrick University of California, Berkeley

Parameter Estimation of Shock Absorberswith Artificial Neural Networks .716S. Leonhardt Technical University of DarmstadtJ. Busshardt Technical University of DarmstadtR. Isermann Technical University of DarmstadtR. Rajamani University of California at BerkeleyJ.K. Hedrick University of California at Berkeley

Design and Comparison of AutonomousIntelligent Cruise Control Systems xD.H. Wuh Ford Motor CompanyM.A. Shulman Ford Motor Company

Driver Simulation Used in DynamicalEngine Test Stands for Exhaust EmissionTest Cycles .7 21K. Pfeiffer Technical University of DarmstadtR. Isermann Technical University of Darmstadt

Identification or Vehicle-Driver StabilityDomain Using Human Pilot StructuralModel 7 26M.S. Habib University of Bahrain

WPS - Elizabethan CRobot Control I

Chairs P.H. Meckl Purdue UniversityG.F. Franklin Stanford University

Robustness Analysis of DynamicalCycles with Application to Locomotion .731H. M. Hmam University of ColoradoD. A. Lawrence University of Colorado

Dynamics and Control or Human-RobotInteraction 736H. Kazerooni University of California-Berkeley

Kinematics, Workspace Study, andDesign or a Dual-Arm Cooperating Robotin Zero Gravity xS.K. Agrawal Ohio UniversityR. Garimella Ohio University

Kinematics and Workspace Study or aRolling Disk Between Two PlanarManipulators .7 41S.K. Agrawal Ohio UniversityR. Pandravada Ohio University

Estimation or Orientation or a MovingObject using Line Correspondences .7 46M. Lei Washington UniversityB.K. Ghosh Washington University

Comparison of Inverse ManipulatorKinematics Approximations fromScattered Input-Output Data Using ANN-like Methods .751D. M. Gorinevsky University of TorontoT. H. Connolly Munich University of Technology

Development or a New Kind or RobotSlipping Sensor 756H. Liu DLR, German Aerospace Research Establish

An Optical Measurement System for HighAccuracy Positioning of Robots 758G. Quick University of WuppertalP.C. Muller University of Wuppertal

WP6 - Elizabethan DFuzzy Control I

Chairs K. M. Passino Ohio State UniversityP.J. Antsaklis University of Notre Dame

Knowledge Base Decoupling in Fuzzy-Logic Control Systems 760C.W. de Silva University of British Columbia

A Describing Function Approach for theEvaluation of Fuzzy Logic Control 7 65D.P. Atherton University of Sussex

Automatic Knowledge Acquisition forMultivariable Fuzzy Control UsingNeural Network Approach 767J. Nie University of SheffieldD. A. Linkens University of Sheffield

Inverse Fuzzy Model Controllers 772C. Batur University of AkronA. Srinivasan University of AkronC-C Chan University of Akron

Stability Analysis of Linguistic FuzzyModel Systems 777W.H. Kwon Seoul National UniversityW. C. Kim Samsung Data SystemsH. D. Kim Seoul National University

Analysis of Fuzzy Nonlinearlty-OneDimensional Case 781J.H. Tarn National Cheng Kung UniversityL.D. Kuo National Cheng Kung University

WP7 - Borgia ~Predictive Control II

Chairs M. Morari California Institute of TechnologyA. Meystel Drexel University

On the Tuning of Nonlinear ModelPredictive Control Algorithms 7 86E. Ali University of MarylandE. Zafiriou University of Maryland

On-Line Tuning or GPC Using a PolePlacement Criterion 791L. Peng University of AlbertaD.G. Fisher University of AlbertaS.L. Shah University of Alberta

Model Predictive Control for Open LoopUnstable Process 796K.Z. Qi University of AlbertaD.G. Fisher University of Alberta

Predictive Controller Design withImplicit Economic Criteria .801A. Kassidas McMaster UniversityT.E. Marlin McMaster University

Hierarchical Prediction FeedbackControl .806A. Meystel Drexel UniversityP. Filipovic Drexel University

Estimation of Process Step ResponseWeights Based on Closed-loop StepResponse Data .8 08L. Wang University of TorontoW.R. Cluett University of Toronto

Some Simple Criteria for Choosing theHorizon in Extended Horizon PredictiveControl xF. Kong University of GhentR.M.C. DeKeyser University of Ghent

Long Range Non-Linear PredictiveControl .813Y. Al-Assaf Jordan University

WP8 - YorkshireNonlinear Control Theory I

Chairs J.S. Freudenberg University of MichiganJ. E. Hauser University of Colorado

Nonlinear Tracking Controllers Design .817P. Lu Iowa State University

Resonance Averaging In Dynamics andControl of Flexible Structures .8 2 2M. A. Pinsky University of Nevada-RenoB. Essary University of Nevada-Reno

On Equation or Motion and Control forSystems with Nonholonomic EqualityConstraints .827J-S Chen Georgia Institute of TechnologyY.H. Chen Georgia Institute of Technology

Nonlinear Controllers for Positive RealSystems with Arbitrary InputNonlinearities .83 2D.S. Bernstein University of MichiganW.M. Haddad Florida Institute of Technology

Tracking in Control Systems Describedby Nonlinear Differential -AlgebraicEquations with Applications toConstrained Robot Systems .83 7H Krishnan University of MichiganN. H. McClamroch University of Michigan

Low-Dimensional Intermittent Chaos ona Catalytic Wafer .842C.C. Chen University of Notre DameE.E. Wolf University of Notre DameH-C Chang University of Notre Dame

On the Discrete-Time NonlinearServomechanism Problem .844J. Huang American GNC CorporationC-F Lin American GNC Corporation

Precise Point-to-Point Control for Non-Linear Systems 849S. Choura King Saud University

WP9 - OxfordMultisensor Data Fusion (Invited)

Organizer K.H. Kim MITRE CorporationChairs K.H. Kim MITRE Corporation

P. Willett University of Connecticut

Overview of Data Fusion Activities 85 4D. Freedman MITRE CorporationP. Smyton MITRE Corporation

Multisensor Fusion Algorithms forTracking 85 9S. CNeil MITRE CorporationL. Y. Pao MITRE Corporation

Practical Considerations in CensoredDistributed Detection Systems 864C. Rago University of ConnecticutP. Willett University of ConnecticutY. Bar-Shalom University of Connecticut

Application of Recursive Method forRegistration Error Correction inTracking with Multiple Sensors 86 9S. Dhar MITRE Corporation

Registration in Multi-Sensor Data Fusionand Tracking 875D.C. Cowley Northeastern UniversityB. Shafai Northeastern University

Utilization or Qualitative Informationfor Multisensor Target Tracking 880K.H. Kim MITRE CorporationP. Topiwala MITRE Corporation

Fuzzy Control of an Optical TrackerSystems xP. Wallentine Phillips Lab.M. Jamshidi University of New MexicoB. Shafai Northeastern University

Multiple Sensor Tracking withRetrospective Probabilistic DataAssociation 88 5O.E. Drummond Hughes Missile System Company

WP10 - VictorianModeling and Identification of Chemical

Processes (Invited)

Organizer A. Cinar Illinois Institute of TechnologyChairs B.A. Ogunnaike EJ. DuPont de Nemours

F J. Doyle UI Purdue University

A Frequency Domain Design Method forPID Controllers 890T.J.D. Barnes University of TorontoL. Wang University of TorontoW.R. Cluett University of Toronto

Experimental Design for Robust ProcessControl Using Schroeder-Phased InputSignals .895D.E. Rivera Arizona State UniversityX. Chen Arizona State UniversityD.S. Bayard California Institute of Technology

Receding Horizon Recursive StateEst imat ion .90 0K.R. Muske University of Texas-AustinJ.B. Rawlings University of Texas-AustinJ.H. Lee Auburn University

On-Line State and Parameter Estimationand Adaptive Optimization or aContinuous Bioreactor (EthanolFermentation) Using State Equations .905R. Thatipamala University of SaskatchewanG.A. Hill University of SaskatchewanS. Rohani University of Saskatchewan

When is Nonlinear Dynamic ModelingNecessary? .910M. Nikolaou Texas A&M UniversityV. Hanagandi Texas A&M University

Implementation Issues in the DynamicSimulation of Complex ChemicalProcesses xJ.A. Mandler Air Products and Chemicals Inc

Process Identification as a SupervisoryControl Application xA.G. Hill University of Southwestern LouisianaA.I. Al-Saadan University of Southwestern Louisiana

WP11 - EssexFiltering

Chairs E. Yaz University of ArkansasY.F. Xiong Universite du Quebec

Kalman Filtering or 3-D GyroscopicMeasurements .915M.C. Algrain University of Nebraska-Lincoln

A Quantitative Performance Index forModel-Based Monitoring Systems .917K. Huh University of MichiganJ.L. Stein University of Michigan

High Order Filters for Estimation in Non-Gaussian Noise .9 25S.C.A. Thomopoulos Pennsylvania State UniversityT.W. Hilands Pennsylvania State University

An Improved Autoregresslve SpectralEstimation Method Using the KalmanFilter System Identification Technique .93 0C-W Chen North Carolina State UniversityG.K.F. Lee North Carolina State UniversityJ-N Juang NASA Langley Research Center

A Design Approach for a GPS UserSegment for Aerospace Vehicles .93 5J.J. Dougherty TRW Space and Technology GroupH.E. El-Sherief TRW Space and Technology GroupD.J. Simon TRW Space and Technology GroupG.A. Whitmer TRW Space and Technology Group

On Optimal LM to L«, Filtering 940P. G. Voulgaris University of Illinois

A Disturbance Accommodating Estimatorfor Bilinear Systems 945M. Saif Simon Fraser University

Improving the Robustness of StationaryKalman Filter via Parametric Design 95 0S. Daley GEC AlsthomH. Wang UMIST

WP12 - Olympic SouthVariable Structure Control II

Chairs A. Sinha Pennsylvania State UniversityA. Iyer University of Nevada-Las Vegas

Output Feedback Variable StructureControl Design Using DynamicCompensator for Linear Systems 95 4R.A. DeCarlo Purdue UniversityR. El-Khazali Purdue University

Variable Structure Discrete Time PositionControl 95 9R. Paden University of California at BerkeleyM. Tomizuka University of California at Berkeley

Discrete Time Sliding Mode Control viaInput-Output Models 964J.K. Pieper Institute for Aerospace ResearchK.R. Goheen Carleton University

Discrete-Time Sliding-Modes inStochastic Systems 966S. V. Drakunov Ohio State UniversityW.-C. Su Ohio State UniversityU. Ozguner Ohio State University

Bang Bang Motion Control of anOverhead Cartesian Crane 971R. M. DeSantis Ecole Polytechnique de MontrealS. Krau Ecole Polytechnique de Montreal

The Variable Structure Control for aClass or Nonlinear MultivariableSystems with Delays 976Y. Fushun South China University of TechnologyL. Yongqing South China University of Technology

VSS Type Self-Tuning Control • p"Equivalent Control Approach 980K. Furuta Tokyo Institute of Technology

An Adaptive Variable Structure Controlfor a Class of Nonlinear Systems 985L.-C. Fu National Taiwan UniversityC.-J Chien National Taiwan University

WP13 - Olympic NorthFlexible Systems II

Chairs P.S. Krishnaprasad University of MarylandW. Gawronski Jet Propulsion Laboratory

Experimental Results of a LearningController Applied to Tip Tracking or aFlexible Beam .9 87W. Cheng Rensselaer Polytechnic InstituteJ. T. Wen Rensselaer Polytechnic InstituteD. Hughes Rensselaer Polytechnic Institute

A Robust Power Absorbing ControllerDesign for Flexible Structures .99 2H. Bouguerra Drexel UniversityB-C. Chang Drexel University

Decentralized Interaction Control forFlexible Structures .9 94P.G. Good University of Colorado at BoulderD. A. Lawrence University of Colorado at Boulder

Broadband Structural Control usingStatistical Energy Analysis Concepts .9 97D. MacMartin National Research Council of CanadaS. R. Hall Massachusetts Institute of Technology

Balanced LQG Compensator for FlexibleStructures 1003W. Gawronski Jet Propulsion Laboratory

A Homotopy Algorithm for MaxiumEntropy Design 1010E.G. Collins, Jr. Harris CorporationL.D. Davis Harris CorporationS. L. Richter Harris Corporation

Maximum Entropy Controller Synthesisfor Colocated and Noncolocated Systems.... 1015D.S. Bernstein University of MichiganJ.H. Friedman University of Michigan

Active Vibration Control UsingEigenvector Assignment for ModeLocal izat ion 1020B-K Song Texas A&M UniversityS. Jayasuriya Texas A&M University

WP14 - KentControl of Time Delay Systems

Chairs A.E. Pearson Brown UniversityD.L. Boley University of Minnesota

Stablility and Accuracy Analysis of TimeDelay Control on Convolution Method 1025K. Youcef-Toumi Massachusetts Institute of TechnologyS.Y. Huang Massachusetts Institute of Technology

On Fixed Order Controllers for DelaySystems: Discrete Time Case 1030H Ozbay Ohio State UniversityT.E. Peery Ohio State University

An Observer Design for Time-DelayControl and its Application to DC ServoMotor 1032P.H. Chang Korea Advanced lust of Science & Tech.J.W. Lee Korea Advanced Inst of Science & Tech.

On the Robust Stability of IntervalCoefficients Neutral Type LinearConstant Control Systems with Multi-groups Multi-delays 1037L. Yongqing South China University of TechnologyG. Cunchen Yantai Teachers College

On Some Structures of StabilizingControl Laws for Linear and Time-Invariant Systems with Bounded PointDelays and Unmeasurable State 1041M. de la Sen Universidad del Pais Vasco

Approximate Disturbance Decoupling fora Class of Nonlinear Time Delay Systems . . .10 4 6M. Velasco-Villa CINVESTAV-IPNJ. Alvarez-Gallegos CINVESTAV-IPNR. Castro-Linares CINVESTAV-IPN

Stabilization of Discrete BilinearSystems with Time Delayed Feedback 1051X. Yang University of VictoriaY Stepanenko University of Victoria

I Wednesday Evening 17:30-19:00 |

NSF Session on Control ProgramsColonial Room

Chairs: Elbert Marsh NSFKishan Baheti NSF

Control Engineering Research at theNational Science Foundation xElbert Marsh Deputy Assistant Director for EngineeringKishan Baheti Program Director for Systems TheoryArther Bergen Program Director for Power SystemsMaria Burka Program Dir. for Chemical Process ControlDevendraGarg Program Dir. for Dynamic Systems & ControlJohn Lagnese Program Director for Applied MathematicsCheena Srinivasan Program Director for Manufacturing

Processes & Equipment

I Thursday Morning j

Plenary session IIGrand Ballroom

Chairs B. Krogh Carnegie-Mellon UniversityA. Haddad Northwestern University

Control Systems Analysis and Synthesisvia Linear Matrix Inequalities .2147Stephen P. Boyd Stanford University

TA1 - GeorgianHo, for Discrete/Sampled Data Systems

Chairs R.E. Skelton Purdue UniversityM.A. Rotea Purdue University

Filtering, Smoothing and Deconvolutionin a Discrete H.. Setting 1057C. S. Sims West Virginia UniversityA. A. Jalali West Virginia UniversityH. Kim West Virginia University

Design or Discrete-Time Hoo OptimalServo Compensators 1062H. Unbehauen Ruhr-University, BochumU. Kiffmeier Ruhr-University, Bochum

Robust Stability or Uncertain DiscreteConstrained Systems with Time Delay 1067T-J Su National Kaohsiung Institute of TechnologyW-J Shyr National Kaohsiung Institute of Technology

Discrete Polynomial Matrix Solution ofthe Standard State-Feedback He, ControlProblem 1069M. J. Grimble University of Strathclyde

TA2 - ColonialPositive Real Robust Control

Chairs DM. Dawson Clemson UniversityS. Jayasuriya Texas A&M University

Controller Synthesis to Render a ClosedTransfer Function Positive Real 1074W. Sun University of MichiganP. P. Khargonekar University of MichiganD. Shim University of Michigan

Riccati Equation Approaches for RobustStability and Performance AnalysisUsing the Small Gain, Positivity andPopov Theorems 1079E.G. Collins, Jr. Harris Corp.L.D. Davis Harris Corp.W.M. Haddad Florida Institute of Technology

Connections Between the PopovStability Criterion and Bounds for RealParametric Uncertainty 1084J. P. How Massachusetts Institute of TechnologyS. R. Hall Massachusetts Institute of Technology

Robust Control Synthesis Examples withReal Parameter Uncertainty Using thePopov Criterion 1090J. P. How Massachusetts Institute of TechnologyW.M. Haddad Florida Institute of TechnologyS. R. Hall Massachusetts Institute of Technology