Proceedings of the

1995 American Control ConferenceThe Westin Hotel, Seattle, Washington

June 21—June 23, 1995

Sponsoring Organization

The American Automatic Control Council

US. National Member Organization of the

International Federation of Automatic Control (IFAC)

MEMBER ORGANIZATIONS

American Institute of Aeronautics and Astronautics

American Institute of Chemical Engineers

Association of Iron and Steel Engineers

American Society of Mechanical Engineers

Institute of Electrical and Electronic Engineers

Instrument Society of America

Society of Computer Simulation

The 1995 ACC is held in cooperation with IFAC

Volume 5 of 6

4:30 — 4:50A General Framework for Decentralized Estimation 2931Walter H. Chung Univ. of California at Los AngelesJason L Speyer Univ. of California

4:50 — 5:10A Decentralized Approach to Control Civil Structures 2936Hassan Hashemian California State Univ., Los AngelesHelen Ryaciotaki-Boussalis California State Univ., Los Angeles

5:10 — 5:30Global Decentralized Adaptive Control Large ScaleNonlinear Systems Without Strict Matching 2938Sandeep Jain Polytechnic Univ.Farshad Khorrami Polytechnic Univ.

FRIDAY MORNING SESSION

PLENARY SESSION III — GRAND III

8:00 — 8:50 Adaptive Control with a French Touchloan D. Landau G.R. Automatlque

FA 01 Grand IIUnmanned Vehicles

Chair Isaac Kaminer Naval Post-Graduate SchoolCochalr Antonio Pascoal Inst. Superior Tecnico

9:15 — 9:35Autonomous Underwater Vehicles for SurveyOperations: Theory and Practice 2943Anthony Healey Naval Post-Graduate SchoolAntonio Pascoal Inst Superior TecnicoFernando Lobo Pereira Inst forSys. & Robotics

9:35 — 9:55Survey of Unmanned Air Vehicles 2950R.M. Howard Naval Post-Graduate SchoolIsaac Kaminer Naval Post-Graduate School

9:55—10:15A Trl-level Control System for Coordination ofHover Control Modes of the NPS Phoenix: InWater Experiments 2954Anthony Healey Naval Post-Graduate SchoolS.B. Marco Naval Post-Graduate SchoolR.B. McGhee Naval Post-Graduate SchoolD.P. Brutzman Naval Post-Graduate SchoolS.H. Kwak Loral Defense Sysems Inc.

10:15—10:35Flight Control System Design for a SmallUnmanned Aircraft 2964Chester D. Ozimina Naval Research Lab.Steve K. Tayman Naval Research Lab.Harvey E. Chaplin Naval Research Lab.

10:35—10:55Ded Implementation of a Trajectory Tracking Controllerfor a Fixed Wing Unmanned Air Vehicle 2970Isaac Kaminer Naval Post-Graduate SchoolE. Hallberg Naval Post-Graduate SchoolAntonio Pascoal Inst Superior Tecnico

10:55—11:15Design and Implementation of a Trajectory TrackingController for an Autonomous UnderwaterVehicle (AUV) 2975Carlos Silvestre Inst Superior TecnicoP. Oliveira Inst. Superior TecnicoAntonio Pascoal Inst. Superior TecnicoD. Fryxell Inst. Superior Tecnico

FA 02 Fifth AveRobust Control Applications

Chair Wei-Min Lu California Inst. of Tech.Cochair Andy Packard Univ. of California at Berkeley

9:15 — 9:35Linear Controller for an Inverted Pendulum HavingRestricted Travel - A Hlgh-and-low Gain Approach 2980Zongli Lin State Univ. of New York at Stoney BrookAli Saberi Washington State Univ.Michael M. Gutmann Washington State Univ.Y A Shamash State Univ. of New York at Stoney Brook

9:35 — 9:55Robust and Adaptive Tracking Control of a Rigid Linkin a Cross Flow 2985Catalin F. Baicu Clemson Univ.Christopher D. Rahn Clemson Univ.Darren M. Dawson Clemson Univ.

9:55—10:15An LFT Approach to Autopilot Design for Missiles 2990Yun Huang California Inst. of TechWei-Min Lu California Inst. of Tech.

10:15—10:35Robust Adaptive Control for Non-linear EndMilling Process 2995Steven Kooi (none)

10:35—10:55Application Issues In n Analysis 3000Joy Kelly Sverdrup Tech. Inc.W.F. Arnold III Sverdrup Tech. Inc.

10:55—11:15Weighting Function Selection in H°° Optimal Controlwith Application to a Thyrlstor-drlven DC-motor 3002V. Kneppova Ruhr-Univ. ofBochumUlrich Kiffmeier Ruhr-Univ. ofBochumHeinz Unbehauen Ruhr-Univ. ofBochum

FA 03 Grand CrestNonlinear Adaptive Control

Chair Gang Tao Univ. of VirginiaCochair Bossi, J. - Boeing

9:15 — 9:35Adaptive Control of Partially Known Systems.Gang Tao Univ. of Virginia

9:35 — 9:55Variable Structure Model Reference AdaptiveControl Based on Two-degree-of-freedomCompensators Scheme 3012Shiro Masuda Okayama Univ.Akira Inoue Okayama Univ.

9:55—10:15Symbolic Computation Aided Design of Observers for aClass of Nonlinear Control Systems 3017Gildas Besancon Lab. d'Auto. de GrenobleGuy Bornard Polytechnic Inst. Grenoble

10:15—10:35Discrete-time Adaptive Control of Systems withMulti-seg-ment Piecewlse-ilnear Nonllnearltles 3019Gang Tao Univ. of VirginiaMing Tian Univ. of Virginia

10:35—10:55Nonlinear Learning Control for a Class of NonlinearSystems Based on Lyapunov's Direct Method 3024C. Ham Univ. of Central FloridaZhihua Qu Univ. of Central FloridaJoseph H. Kaloust Univ. of Central Florida

10:55—11:15Adaptive Output-feedback Nonlinear Control withParameter Convergence 3029J-S Lin Univ. of California at Los Angelesloannis Kanellakopoulos Univ. of California

FA 04 BainbrldgeNumerical Methods III

Chair Raymond Kraft Boeing Commercial Airplane CompaiCochalr Michael Heiss TU-Vlenna

9:15 — 9:35Calculation of the Structured Singular Value withGradient Based Optimization Algorithms 303Cheng Yi Katholieke Univ.it LeuvenJeroen Dehaene Katholieke Univ.it LeuvenBart De Moor Katholieke Univ.it Leuven

9:35 — 9:55A Proof of Stability of All-Pass Pade ApproxlmantstoC-s 303Chyi Hwang National Chung Cheng Univ.Ying-Chin Lee National Cheng Kung Univ.

9:55—10:15Gain Scheduling Optimization by Genetic Algorithms 304'Lt. Robert C. Martin IV Air Force Inst. of Tech.Lt. Col. Stuart Kramer, PhD Air Force Inst. of Tech.

10:15—10:35Cube Collect: A New Strategy to Make Efficient theClassical Cell-to-Cell Algorithms 3042Salvatore Baglio Univ. degli Studi di CataniaL. Fortuna Univ. di CataniaMatteo Lo Presti Fuzzy Logic Research GroupGiovanni Muscato Univ. di Catania

10:35—10:55Fused Multi-sensor Data using a Kalman Filter Modifiedwith Interval Probability Support 3046Mohamed A. Zohdy Oakland Univ.Aftab Ali Khan Oakland Univ.Paul Benedict Oakland Univ.

10:55—11:15Optimal Control of Linear SingularlyPerturbed Systems 3050Nabil Derbel Ecole Nationale d'lngenieurs de SfaxMohamed Ben Ali Kamoun Sfax National Eng. School

FA 05 Vashon IWorst Case Control Relevant Identification

Chair Jie Chen Univ. of CaliforniaCochalr Le Yi Wang Wayne State Univ.

9:15 — 9:35Frequency Domain Identification of LightlyDamped Systems 3055Jonathan H. Friedman Univ. of MichiganPramod P. Khargonekar Univ. of Michigan

9:35 — 9:55Model Quality Evaluation in Identification for Control 3060Mario Milanese Politecnlco di Torino

9:55—10:15Parameter Estimation In the Consistent Set 3065Er-Wei Bai Univ. of IowaKrishan Nagpal Univ. of Iowa

10:15—10:35Worst-case Identification In the Presence ofTime-averaged Disturbances 3070I. Chen Massachusetts Inst. of Tech.Munther A. Dahleh Massachusetts Inst. of Tech.John N. Tsitsiklis Massachusetts Inst. of Tech.

10:35—10:55A Method of Open Loop Identification with ClosedLoop Objectives 3071Jie Chen Univ. of California

10:55—11:15On Control Relevant Identification Criteria in H » ,Identification 3076J. Boling AboAkademl Univ.Pertti M. Makila Abo Akademi Univ.

FA 06 Vashon IICruise Control

Chair Alex Alexandridis General Motors Co.,Rsch. & Dev. Center

Cochalr J. Karl Hedrick Univ. of California at Berkeley

9:15 — 9:35Nonlinear Distance and Cruise Control forPassenger Cars 3081S i Germann Tech. Univ. of DarmstadtRolf Isermann Darmstadt Univ. of Tech.

9:35 — 9:55Estimation of Absolute Vehicle Speed using Fuzzy LogicRule-based Kalman Filter 3086Kazuyuki Kobayashi Oakland Univ.Ka Chai Cheok Oakland Univ.Kajiro Watanabe Hosei Univ.

9:55—10:15Autonomous Intelligent Cruise Control using BothFront and Back Information for Tight VehicleFollowing Maneuvers 3091C.C. Chien Univ. of Southern CaliforniaYouping Zhang Univ. of Southern California

10:15—10:35Speed Control of Heavy-duty Vehicles viaFuel Command 3096D. Yanakiev Univ. of California at Los Angelesloannis Kanellakopoulos Univ. of California

10:35—10:55Learning Control Based on Pattern Recognition Appliedto Vehicle Cruise Control Systems 3101B.S. Zhang Univ. of WestminsterI. Leigh Univ. of WestminsterJ.R. Leigh Univ. of Westminster

10:55—11:15Vehicle Longitudinal Control using an AdaptiveObserver for Automated Highway Systems 3106Sei-Bum Choi Univ. of California at BerkeleyJ. Karl Hedrick Univ. of California at Berkeley

FA07WhldbeySpacecraft Control I

Chair Helen Ryaciotaki-BoussalisCalifornia State Univ., Los Angeles

Cochalr Suresh M. Joshi NASA Langley Research Ctr.

9:15 — 9:35A Preferred Trajectory Steering Law for Spacecraft withRedundant CMGs 3111Mark D. Kuhns Arizona State Univ.Armando A. Rodriguez Arizona State Univ.

9:35 — 9:55Robust Conventional Based Mldcourse Guidance forSpacecraft Intercepts 3116Brett Newman Old Dominion Univ.

9:55—70:75Optimal Trajectory Generation for Linear Systems 3121John E. Mclnroy Univ. of WyomingJeffrey Mellstrom Jet Propulsion Labs.

10:15—10:35Query-based Attitude Control of a Low AltitudeCommunications Satellites 3126C. Lucisano Notre Dame Univ.Michael Lemmon Notre Dame Univ.

10:35—10:55Dynamic Feedback Linearization and LargePitch Attitude Control of Satellite using SolarRadiation Pressure 3131Sahjendra N. Singh Univ. of Nevada, Las VegasWoosoon Yim Univ. of Nevada

10:55—11:15Spacecraft Attitude Tracking Control 3136Yon-Ping Chen National Chiao-Tung Univ.Shih-Che Lo National Chiao-Tung Univ.

FA 08 OrcasDiscrete-Event Systems and Supervisory Control

Chair Robert P. Judd Ohio UniversityCochalr Robert P. Van Til Oakland Univ.

9:15 — 9:35A New Framework for Supervisory Control 3141Mark A. Shayman Univ. of MarylandRatnesh Kumar Univ. of Kentucky

9:35 — 9:55Realization of a Class of Discrete Event SequenceOver Max-algebra 3146Liming Wang INRIA LorraineX. H. Xu Northeastern Univ. of Tech.R.A. Cuninghame-Green Univ. of Birmingham

9:55—10:15Distributed Discrete Event Control Structures withController Interactions 3151Xiaoyi Guan Univ. of KentuckyLawrence E. Holloway Univ. of Kentucky

10:15—10:35Automatic Synthesis for Simultaneous Supervision andControl • A First Example 3157J. Gunnarsson Unkoping Univ.J. Plantin Unkoping Univ.

10:35—10:55Modeling DES using a Modified Colored Petrl NetsXiaoou Li Northeastern Univ. of Tech.X. H. Xu Northeastern Univ. of Tech.

10:55—11:15Inductive Inference of Logical DES Controllers usingthe L Algorithm 3163Xiaojun Yang Notre Dame Univ.Michael Lemmon Notre Dame Univ.Panos J. Antsaklis Notre Dame Univ.

FA09BlakelyProcess Control Education

Chair Thomas F. Edgar Univ. of Texas at AustinCochair Babatunde A. Ogunnaike E.I. du Pont de

Nemours and Co.

9:15 — 9:35Critical Review of All Available Undergraduate ProcessControl Textbooks *James B. Rawlings Univ. of Texas at Austin

9:35 — 9:55The Syllabus for Undergraduate Process ControlEducation.. .*Jeffrey C. Kantor Notre Dame Univ.

9:55—10:15Undergraduate Control Education as Preparation forIndustrial PracticeCharles F. Moore Univ. of Tennessee

10:15—10:35Undergraduate Process Control Education: AnIndustrial PerspectiveJames J. Downs Eastman Chemical Co.

10:35—10:55Available Textbooks and Curricula for the GraduateProcess Control Course *Duncan A. Mellichamp Univ. of California at Santa Barbara

10:55—11:15A Specific Curriculum for a Graduate Process ControlCourse 3168Tse-Wel Wang Univ. of Tennessee

FA 10 St. HelensNonlinear Process Control

Chair Costas Kravaris Univ. of MichiganCochalr Prodromos Daoutidis Univ. of Minnesota

9:15 — 9:35Control of Two-Time-Scale Nonlinear Systems withDisturbances 3173Panagiotis D. Christofides Univ. of MinnesotaProdromos Daoutidis Univ. of Minnesota

9:35 — 9:55A Nonlinear Approach to the Problem of CompositionControl 3178Salvador Padilla Centro de Investigacion en PolimerosJesus Alvarez Univ. Autonoma MetropolitanaTeresa Lopez Univ. Auto. Metropolitanta-lztapal

9:55—10:15A Robust Predictive Controller Synthesis for UncertainNonlinear 3183Yi-Shyong Chou National Taiwan Inst. of Tech.Wei Wu National Taiwan Inst of Tech.

10:15—10:35Experimental Comparison of Advanced ControlTechniques on a Lab-scale Distillation Column 3188Amit Gupta ABB Simeon, Inc.R. Russell Rhinehart Texas Tech Univ.

10:35—10:55Stabilization of Systems with Input Constraints 3192Navneet Kapoor Univ. of MinnesotaProdromos Daoutidis Univ. of Minnesota

10:55—11:15Measurement - Feedback for a Class of NonlinearProcesses 3197Jesus Alvarez Univ. Autonoma Metropolitana

FA 11 BakerNonlinear Control II

Chair Jie Huang American GNC Corp.Cochalr You-LJang Gu Oakland Univ.

9:15 — 9:35Calculation of a Minimal Order Nonlinear RobustServo-regulator 3202Qingwei U Univ. of Illinois at ChicagoJie Huang American GNC Corp.

9:35 — 9:55Adaptive Feedback Linearization using MultlvarlabieSpline Functions 3207Rajinderjeet S. Minhas Univ. of TorontoScott A. Bortoff Univ. of Toronto

9:55—10:15On Unknown Input Observers for Bilinear Systems 3212C. Mechmeche Univ. de Nancy IMichel Zasadzinski RARALMohamed Darouach Univ. de NancyH. Rafaralahy Univ. de Nancy

10:15—10:35Semi-global Output Regulation for Linear SystemsSubject to Input Saturation • A Low-and-highGain Design 3214Zongli Lin State Univ. of New York at Stoney BrookRavi Mantri Washington State Univ.Ali Saberi Washington State Univ.

10:35—10:55Control System Analysis and Design Upon theLyapunov Method 3219Sergey Lyashevskiy Purdue Univ., IndianapolisAndrew U. Meyer N.J. Inst. of Tech.

10:55—11:15Nonlinear Modification of Positive-real LQGCompensators for Enhanced DisturbanceRejection and Energy Dissipation 3224Robert T. Bupp Univ. of MichiganJoseph R. Corrado Univ. of MichiganDennis S. Bernstein Univ. of MichiganVincent T. Coppola Univ. of Michigan

FA 12 AdamsFuzzy Control I

Chair Alexander Gregov Univ. ofDulsbergCochair George J. Vachtsevanos Georgia Inst. of Tech.

9:15 — 9:35Multilayer Fuzzy Control of Multlvarlabie Processes byDirect Decomposition 3229Alexander E. Gegov Univ. ofDuisberg

9:35 — 9:55Tuning and Analysis of a Fuzzy Logic Controller Basedon Gain and Phase Margins 3234Jian-Xin Xu National Univ. of SingaporeChen Uu National Univ. of SingaporeChang C. Hang National Univ. of Singapore

9:55— 10:15A Design Method for Vehicle Dynamic Systems Basedon Fuzzy Logic Control 3239T. P. Leung Hong Kong PolytechnicZhou Qi-jie South China Univ. of Tech.Mao Zhong-yuan South China Univ. of Tech.Yu De-jiang Hong Kong Polytechnic

10:15—10:35A MuitKrariable Decoupling Design of an ROV DepthControl System, a Direct Adaptive FuzzySMC Approach 3244A. Trebi-Ollennu Cranfield Univ.Barry A. Stacey Cranfield Univ.Brian A. White Cranfield Univ.

10:35—10:55A New Design of Adaptive Robust Fuzzy Controller forNonlinear Systems 3249Feng-Yin Hsu National Taiwan Univ.Li-Chen Fu National Taiwan Univ.

10:55—11:15Fuzzy Performance Management of IEEE 802.4 TokenBus Networks 3254Sangho Lee Pusan National Univ.Joon-woo Son Pusan National Univ.Suk Lee Pusan National Univ.

FA 13 OlympicFault Detection with Neural Networks

Chair Hayrani Oz Ohio State Univ.Cochalr Christopher N. D'Souza Wright Patterson

Air Force Base

9:15 — 9:35A Neural Network Based Adaptive FaultDetection Scheme 3259Rajiv Sreedhar Univ. of Texas at AustinBenito Fernandez Univ. of Texas at AustinGlenn Y. Masada Univ. of Texas at Austin

9:35 — 9:55Residual Evaluation for Fault Detection and Isolationwith RCE Neural Networks 3264Birgit Koppen-Seliger Univ. ofDuisbergPaul M. Frank Univ. ofDuisbergA. Wolff Tech. Univ. Hamburg-Harburg

9:55—10:15Modeling and Compensation of Frtetlonal UncertaintiesIn Motion Control: A Neural Network Based Approach ...3269M. Kemal Ciliz Bogazid Univ.Masayoshi Tomizuka Univ. of California at Berkeley

70:75—70:35A Novel Fault Prediction Technique using ModelDegradation Analysis 3274B. Lennox Univ. of Newcastle Upon TyneGary A. Montague Univ. of Newcastle Upon Tyne

10:35—10:55Failure Diagnosis using the State Chl-square Test andthe ARTMAP Neural Networks 3279Ren Da American GNC Corp.Ching-Fang Lin American GNC Corp.

10:55—11:15Neural Network Representation of FatigueDamage Dynamics 3284Chen-Jung Li Penn State Univ.Asok Ray Penn State Univ.

FA 14 Cascade IFriction Compensation

Chair Chza-Hszang Menq Ohio State Univ.Cochair Nader Sadegh Georgia Inst. of Tech.

g. •fg 9'35

Stability of PDF Controller with Stick-slipFriction Crevice 3289Chih-Jung Huang National Taiwan Univ.Jia-Yush Yen National Taiwan Univ.Shu-Shung Lu National Taiwan Univ.

9:35 — 9:55Friction Estimation In a Planar ElectrohydraullcManipulator 3294Shahram Tafazoli-Bilandi Univ. of British ColumbiaClarence W. de Silva Univ. of British ColumbiaP.D. Lawrence Univ. of British Columbia

9:55—10:15Precision Single-axis Motion Control System withFriction Compensation 3299Amos El-Roy New Jersey Inst of Tech.Bernard Friedland New Jersey Inst. of Tech.

10:15—10:35Experiments on Robust Friction Compensation:The Inverted Pendulum Case 3303R. Aimar Politecnico di TorinoMarina Indri Politecnico di TorinoT. Stomboli Politecnico di TorinoBasllio Bona Politecnico dl Torino

10:35—10:55Robust Compensation Techniques for DCServomechanisms Subject to Stictlon and ParametricUncertainties using Sliding Mode Estimation 3306Samir Mittal Ohio State Univ.Chza-Hszang Menq Ohio State Univ.

10:55—11:15An Impact Model of Mechanical Backlash forControl System Analysis 3311J. Christian Gerdes Univ. of California at BerkeleyVijay Kumar Univ. of Pennsylvania

FA 15 Cascade IIFlexible Robots

Chair Wayne J. Book Georgia Inst. of Tech.Cochalr Ina Sharf Univ. of Victoria

9:15 — 9:35Predictive End-point Trajectory Control of ElasticManipulators 3316Woosoon Yim Univ. of NevadaSahjendra N. Singh Univ. of Nevada, Las Vegas

9:35—9:55Colocated and Noncolocated Control Design viaH-synthesis for Flexible Manipulators 3321Mansour Karkoub Univ. of MinnesotaGary John Balas Univ. of MinnesotaKumar Tamma Univ. of Minnesota

9:55—10:15Identification and Gain Scheduled Vibration Control ofan Experimental Two-link Flexible Manipulator 3326Richard I. Mitford Hughes Space and Communication CompanySamuel F. Asokanthan Univ. of Queensland

10:15—10:35Active Damping of a Large Flexible Manipulator with aShort-reach Robot 3329I. Sharf Univ. of Victoria

10:35—10:55Robust Observer for Flexible-link Manipulators Control .3334Ahmed S. Zaki Univ. of WindsorW.H. ElMaraghy Univ. of Windsor

70:55—77:75Evaluation of Reduced-order Controllers on a Two-linkFlexible Manipulator 3339David E. Bossert Univ. of WashingtonUy-Loi Ly Univ. of WashingtonJuris Vagners Univ. of Washington

FA 16 Magnolia SuiteRobust Control I

Chair Keith Glover Univ. of Texas at AriingtonCochalr Kai Liu Univ. of Texas at Ariington

9:15 — 9:35Robust Controller Design for a Class of UncertainMultlvarlabie Systems 3344Osvaldo E. Agamennoni Univ. Nacional del SurJ.L. Figueroa Univ. of SydneyJ A Romagnoli Univ. of Sydney

9:35 — 9:55Sufficient Conditions for Pertaining the Number of BothStable and Unstable Roots of Schur Polynomial UnderDeviations of Its Coefficients 3349E. K. Kornoushenko Inst. of Control SciencesA. S. Bernstein Inst. of Control Sciences

9:55— 10:15Robust Controller for Matrix Second Order Systemswith Structured Uncertainty 3351Anjali M. Diwekar Ohio State Univ.Rama K. Yedavalli Ohio State Univ.

10:15—10:35Robust Stability Bounds for Sampled-data Systems 3353Jelel Ezzine King Fahd Univ. ofPetro & Minerals

10:35—10:55On Structures Singular Values of Reciprocal Matrices ....3358Shigeru Yamamoto Osaka Univ.Hidenori Kimura Osaka Univ.

10:55—11:15The Robustness Analysis of Uncertain SystemsDescribed by Vector-matrix Differential Equations 4471Shijie Xu EARAL-IUTde LongwyMohamed Darouach Univ. de NancyJ. Schaefers CRP-HT

FA 17 Queen Anne SuiteRobust Control III

Chair B. Ross Barmish Univ. of Wisconsin at MadisonCochalr N.E. Barabanov St. Petersburg Elect. Eng. Univ.

9:15—9:35Stabilization of Uncertain Systems via Linear RobustControl 3360Sergey Lyashevskiy Purdue Univ., IndianapolisYaobin Chen Purdue Univ., Indianapolis

9:35—9:55Computation of the Frequency Response of IntervalSystems 3362Jyh-Jia Chen National Cheng Kung Univ.

9:55—10:15Classes of Discrete Linear Systems Having CommonQuadratic Lyapunov Functions 3364Y. Mori Kyoto Inst. of Tech.Takehiro Mori Kyoto Inst. of Tech.Y. Kuroe Kyoto Inst of Tech.

10:15—10:35Stability of Inclusions of Linear Type 3366N.E. Barabanov St. Petersburg Elect. Eng. Univ.

10:35— 10:55Output Tracking with Bounded Inducted L2 Norm 3371Xin H. Yang Univ. of CaliforniaFenWu Univ. of CaliforniaAndy Packard Univ. of California at Berkeley

10:55—11:15Design of Observer-based Robust Controller 3373Driss Mehdi ESIP-LAIIMohammed Al Hamid ESIP-LAIIMichel Zasadzinski RARAL

FA 18 Capitol SuiteUnear Systems HI

Chair Gerald Cohen Boeing Defense & Space GroupCochalr Engin Yaz Univ. of Arkansas

9:15 — 9:35Multlvarlabie PID Controller Design 3378Mohammed Sami Fadali Univ. of NevadaEngin Yaz Univ. of Arkansas

9:35 — 9:55Design of High-Performance MIMO Pi-Type Compensators 3380Shahram M. Shahruz Berkeley Eng. Research Inst.Dattaprabodh N. Godbole Univ. of California at BerkeleyA. Nazli Gundes Univ. of California at Davis

9:55—10:15A Simple Proof of Robust UnearServomechanism Design 3382Jie Huang American GNC Corp.

10:15—10:35On Asymptotic Elgenstructure Design for LQR withAmplitude Constraint 3384C.-H. Chuang Georgia Inst. of Tech.D.N. Wu Georgia Inst. of Tech.

10:35—10:55Generalized Computation Algorithm for Static OutputFeedback Pole-assignment 3386S. -W Kim Univ. of MinnesotaE. Bruce Lee Univ. of Minnesota

10:55—11:15On the Pole Assignment for a Class of Second OrderCoupled Generalized System 3391Zhaoqiang Ge Northwest Inst. of Light Industry

FA 19 Beacon SuiteOptimal Control I

Chair Quinghong Wang American GNC Corp.Cochalr Bean San Goh Univ. of Western Australia

9:15 — 9:35Algorithms for Solving the Method of Inequalities - AComparative Study 3393James F. Whidborne King's College LondonDa-Wei Gu Univ. of LeicesterIan Postlethwaite Univ. of Leicester

9:35 — 9:55Accessory Minimum Problem of Optimal PeriodicProcesses 3398Qinghong Wang American GNC Corp.

9:55—10:15On the Existence of an Optimal Synthesis for UnearQuadratic Optimal Control Problems with a FixedTerminal Point 3400Guoqing Tang North Carolina A&T State Univ.

70:75—70:35Initial and Transient Response Improvement forSingular Systems 3405W.Q. Liu Univ. of Western AustraliaW. Y. Yan Univ. of Western AustraliaK. L Teo Univ. of Western Australia

10:35—10:55Compact Forms of the Generalized Legendre-ClebschConditions and the Computation of Singular ControlTrajectories 3410Bean San Goh Univ. of Western Australia

10:55—11:15H2 Almost Disturbance Decoupling Problem withInternal Stability 3414Ali Saberi Washington State Univ.Zongli Lin State Univ. of New York at Stoney BrookAnton A. Stoorvogel Eindhoven Univ. of Tech.

FRIDAY MID-DAY SESSION

FM 01 Grand IIAir Traffic Automation

Chair Rhonda A. Slattery NASA Ames Rsch. Ctr.Cochair Yiyuan Zhao Univ. of Minnesota

1:15—1:35737 Flight Management Computer Flight Plan TrajectoryAnalysis 3419Jon Schreur Smith Industries

1:35—1:55Trajectory Modeling for Automated En Route Air TrafficControl (AERA) 3425Daniel J. Brudnicki MITRE Corp.Daniel B. Kirk MITRE Corp.

1:55—2:15En Route Trajectory Synthesis for Air Traffic ControlAutomation 3430Rhonda A. Slattery NASA Ames Rsch. Ctr.Yiyuan Zhao Univ. of Minnesota

2:15—2:35Right Evaluation of the CTAS Descent AdvisorTrajectory Prediction 3435Rosa M. Oseguera NASA Langley Research Ctr.David H. Williams NASA Langley Research Ctr.

2:35 — 2:55Inter Operabillty Issues for Efficient Air TrafficManagement *Paul van Tulder Boeing Commercial Airplane Co.

2:55 — 3:15Evolutionary Air Traffic Control Compatible FlightManagement Systems 3440Robert L. Schultz Honeywell Tech. CenterMary Jo Hoffman Honeywell Tech. Center

FM 02 Fifth AveRobust Control Synthesis

Chair Michael P. Polis Oakland Univ.Cochalr Andrzej W. Olbrot Wayne State Univ.

1:15—1:35Robust Lyapunov Control with Perturbation Estimation ....3458JairoT. Moura Univ. of ConnecticutNejat Olgac Univ. of Connecticut

1:35— 1:55Optimal Scaled H°» Fl Synthesis with Real ParametricUncertainty 3463Richard C. Und Univ. of MinnesotaGary John Balas Univ. of MinnesotaAndy Packard Univ. of California at Berkeley

1:55—2:15Robust Controller Design: Mixed H2 PerformanceOptimization for Linear Discrete-time Systems 3468Jiann-shiou Yang Univ. of MinnesotaMichael E. Zervakis Univ. of Minnesota, Duluth

2:15—2:35LMI-based Output Feedback Controller Design 3473Izumi Masubuchi Osaka Univ.Atsumi Ohara Osaka Univ.Nobuhide Suda Osaka Univ.

2:35 — 2:55Simplified Output Control via Parallel Compensation 3478John D. Finney Georgia Inst. of Tech.Bonnie S. Heck Georgia Inst. of Tech.

2:55 — 3:15Positive Real Controller Design with H« NormPerformance Bound - an LMI Approach 3483Xin Chen Rensselaer Polytechnic InstJohn T. Wen Rensselaer Polytechnic Inst.

FM 03 Grand CrestNonlinear and Adaptive Flight Control

Chair Marc Bodson Univ. of UtahCochalr Philip R. Chandler

7:75—7:35An Adaptive Algorithm with Information-dependent DataForgetting 3485Marc Bodson Univ. of Utah

1:35—1:55A Self-designing Receding Horizon OptimalFlight Controller 3490D.G. Ward Barron Associates, Inc.R.L. Barron Barron Associates, Inc.

1:55—2:15Control Reconfiguration with Actuator Rate Saturation...3495Meir Pachter Air Force Inst of Tech.Philip R. Chandler Wright Patterson Air Force BaseM. Mears Wright Patterson Air Force Base

2:15—2:35Discontinuous Receding Horizon Control with StateConstraints 3500Hannah H. Michalska McGIII Univ.

2:35 — 2:55Neural Network and Fuzzy Logic Approach to AircraftReconflgurable Control Design 3505C. -Y. Chiang Univ. of Southern CaliforniaHussein M. Youssef Lockheed Advanced Dev. Co.

2:55—3:15Learning the Nonlinear Inverse Flight Dynamics usingRadial Basis Functions 3510Sherif M. Botros Charles River Analytics, Inc.Alper K. Caglayan Charles River Analytics, Inc.G.L Zacharias Charies River Analytics, Inc.

FM 04 BalnbrldgeMotor Control

Chair Nairn A. Kheir Oakland Univ.Cochalr Li-Chen Fu National Taiwan Univ.

1:15— 1:35Robust Adaptive Control of Induction Motors WithoutFlux Measurements 3515Chi-Man Kwan Univ. of Texas at ArlingtonFrank L Lewis Univ. of Texas at ArlingtonKais Yeung Univ. of Texas at Ariington

7:35—7:55On Speed Control of Induction Motors 3521Romeo Ortega Univ. de CompiegnePer Johan Nicklasson Univ. ofTrondheimGerardo Espinosa-Perez Univ. de Mexico

1:55—2:15Exponentially Stable Field-oriented Pl-controller forSpeed Regulation of Induction Motor 3526Jaion-Shea Chang National Taiwan Univ.LJ-Chen Fu National Taiwan Univ.

2:15 — 2:35A Slldlng-mode Based Smooth Adaptive RobustController for Friction Compensation 3531G. Song Columbia Univ.Y. Wang Columbia Univ.LJIong Cai Hong Kong Univ. of Science & Tech.Richard W. Longman Columbia Univ.

2:35 — 2:55Design and Implementation of an Induction Motor Driveusing Slldlng-mode Control Scheme 3536Jian-Shiang Chen National Tsing Hua Univ.Jyh-Shiaan Yang National Tsing Hua Univ.

2:55 — 3:15Decentralized Sliding Mode Contr >l In Inertial NavigationSystems 3541Yuri B. Shtessel Univ. of Alabama. Huntsville

FM 05 Vashon IIntegration of Identification and Control

Chair loan D. Landau Lab. d'Auto. de GrenobleCochalr Arthur J. Helmicki Univ. of Cincinnati

1:15—1:35A Mlnlmax Approach to Nonconvex CoupledLMI Problems 3546Pramod P. Khargonekar Univ. of MichiganEnrique Baeyens Univ. of Michigan

1:35—1:55The Joint Closed Loop Identification and ControlDesign-theoretical Issues and Applications 3551Alina Voda Lab. d'Auto. de Grenobleloan D. Landau Lab. d'Auto. de Grenoble

1:55—2:15H» Identification-based Robust Control System Design ....3556Anju Bahri Univ. of CincinnatiArthur J. Helmicki Univ. of Cincinnati

2:75 — 2:35Identification of Biological Systems using Reverse-correlation Techniques 3562Gregory J. Wolodkin Univ. of California at BerkeleyKameshwar Poolla Univ. of California at Berkeley

2:35 — 2:55A State-Space Model Identification of Closed-LoopSystem Based on Subspace Method 3564Tohru Katayama Kyoto Univ.

2:55 — 3:15Integrated Inferential Estimation and Control 3566F. Brunet-Manquat Univ. of Newcastle Upon TyneMark Willis Univ. of SydneyMing T. Tham Univ. of Newcastle

FM 06 Vashon IIIVHS III

Chair Tom Pilutti Ford Motor CompanyCochair John J. Moskwa Univ. of Wisconsin - Madison

1:15—1:35Calculation of the Time to Lane Crossing and Analysisof Its Frequency Distribution 3571Chiu-Feng Un Univ. of MichiganA. Galip Ulsoy Univ. of Michigan

1:35—1:55Design of Entry and Exit Maneuvers of IVHS 3576Dattaprabodh N. Godbole Univ. of California at BerkeleyFarokh Eskafi Univ. of California at BerkeleyEkta Singh Univ. of California at BerkeleyPravin Varaiya Univ. of California at Berkeley

1:55—2:15Partitioned Lane Assignment Strategies for BalancingExcess Lane Capacity on AHS 3581Juraj V. Medanic Univ. of Illinois at Urbana-ChampaignDeepa Ramaswamy Univ. of Illinois at Urbana-ChampaignWilliam R. Perkins Univ. of Illinois at Urbana-ChampaignRahim Benekohal Univ. of Illinois at Urbana-Champaign

2:15 — 2:35Nonlinear-galn-optlmlzed Controller Development andEvaluation for Automated Emergency Vehicle Steering ..3586Dirk E. Smith Loulsana State Univ.John M. Starkey Purdue Univ.Robert E. Benton Louisana State Univ.

2:35 — 2:55Design of an Extended Architecture for DegradedModes of Operation of IVHS 3592John Lygeros Univ. of California at BerkeleyDattaprabodh N. Godbole Univ. of California at BerkeleyMireille E. Broucke California PATH

2:55 — 3:15Driving Safely in Smart CarsAnuj Puri Univ. of California at BerkeleyPravin Varaiya Univ. of California at Berkeley

FM 07 WhidbeySpacecraft Control II

Chair Suresh M. Joshi NASA Langley Research Ctr.Cochair David S. Bayard California Inst. of Tech.

1:15—1:35Verification Procedure for On-orblt Controllers forthe MIT Middeck Active Control Experiment 3600Mark E. Campbell Massachusetts Inst. of Tech.Simon Grocott Massachusetts Inst of Tech.Jonathan P. How Stanford Univ.David W. Miller Massachusetts Inst. of Tech.Edward F. Crawley Massachusetts Inst of Tech.

1:35—1:55Low-cost Active Anti-gravity Suspension System 3606Shankar Jagannathan Satcon Tech. Corp.Ralph C. Fenn Satcon Tech. Corp.Bruce G. Johnson Mechtronics

1:55 — 2:15Global Stabilization of Multlbody Spacecraft usingQuaternion-based Nonlinear Control Law 3612A.G. Kelkar NASA Langley Research Ctr.Suresh M. Joshi NASA Langley Research Ctr.

2:15 — 2:35State Space Characterization and Robust Stabilizationof Dlsslpatlve LTI Systems 3616Sandeep Gupta NASA Langley Research Ctr.Suresh M. Joshi NASA Langley Research Ctr.

2:35 — 2:55Stability of Non-linear Motions of a Satellite 3620Rahul Chattergy Univ. of Hawaii

2:55 — 3:15Jet Firing Strategy to Minimize Structural Loads 3622Nazareth S. Bedrossian C.S. Draper Lab.J. Lepanto C.S. Draper Lab.N. Adams C.S. Draper Lab.John W. Sunkel NASA Johnson Space CenterT. Hua NASA Johnson Space Center

FM 08 OrcasQueuelng Issues In Manufacturing

Chair James R. Perkins Boston UniversityCochalr Placid M. Ferreira Univ. of Illinois at

Urbana-Champaign

1:15—1:35Scheduling Multiple Part-types In an Unreliable SingleMachine Manufacturing System 3627James R. Perkins Boston Univ.R. Srikant AT&T Bell Labs.

1:35—1:55The FCFS Service Discipline: Stable NetworkTopologies, Bounds on Traffic Burstlness and Delay,and Control by RegulatorsGil I. Winograd Univ. of IllinoisP. R. Kumar Univ. of Illinois

1:55—2:15Production Controls in Stochastic Tandem Two-machineSystems with State Constraints 3632NT. Fong The Chinese Univ. of Hong KongXun Yu Zhou The Chinese Univ. of Hong Kong

2:15—2:35Deadlock Detection and Avoidance for a Class ofManufacturing Systems 3637Robert P. Judd Ohio Univ.Tariq Nadeem Faiz Ohio Univ.

2:35 — 2:55Deadlock Avoidance Policies for AutomatedManufacturing Cells 3642Spiridon A. Reveliotis Univ. of Illinois at Urbana-ChampaignPlacid M. Ferreira Univ. of Illinois at Urbana-Champaign

2:55 — 3:15A Methodology for Intelligent Sensor Validation andFusion Used In Tracking and Avoidance of Objects forAutomated Vehicles 3647Satnam Alag Univ. of California at BerkeleyKai Goebel Univ. of California at BerkeleyAlice Agogino Univ. of California at Berkeley

FM 09 BlakelyProcess Modeling

Chair Kamal Youcef-Toumi Massachusetts Inst. of Tech.Cochalr Bjarne A. Foss Univ. of Trondheim

1:15—1:35Empirical Modeling of a Heat Transfer Process usingLocal Models and Interpolation 3654Tor A. Johansen Norwegian Inst. of Tech.Bjarne A. Foss Univ. of Trondheim

1:35— 1:55Modeling and Digital Servo Control of a Two-axis LinearMotor 3659Kamal Youcef-Toumi Massachusetts Inst. of Tech.Francis Wong Massachusetts Inst. of Tech.

1:55 — 2:15Modeling of Vapor Compression Cycles for AdvancedControl and Diagnostics In HVAC Systems 3664Xiangdong He Massachusetts Inst of Tech.Sheng Liu Massachusetts Inst. of Tech.Haruhiko Asada Massachusetts Inst of Tech.

2:15 — 2:35Modeling, Identification, and Feedback Control of NoiseIn an Acoustic Duct 3669Jeong-Ho Hong Univ. of MichiganJames C. Akers Univ. of MichiganRavinder Venugopal Univ. of MichiganMiin-Nan Lee Univ. of MichiganAndrew G. Sparks Univ. of MichiganPeter D. Washabaugh Univ. of MichiganDennis S. Bernstein Univ. of Michigan

2:35 — 2:55Modeling and Identification of Hot Rolling Mill 3674Lars Malcolm Pedersen Lund Inst. of Tech.

2:55 — 3:15Boundedness of Temperature and Stability of theSteady-State Temperature Profile In Thermistors 3679Shahram M. Shahruz Berkeley Eng. Research Inst.C. Kirjner-Neto Univ. of California

FM 10 St. HelensPredictive Control I

Chair Michael Nikolaou TexasA&MUniv.Cochalr Srinivas Paianki FAMU/FSU College of Eng.

1:15—1:35Robust Design of Unconstrained Predictive Controllers 3681Kostas N. Hrissagis Univ. of FloridaOscar D. Crisalle Univ. of FloridaMario Sznaier Penn State Univ.

1:35—1:55Reduced Dlophantlne Predictors for Long RangePredictive Controllers 3688M A Saudagar Univ. of AlbertaD. Grant Fisher Univ. of AlbertaSirish L Shah Univ. of Alberta

1:55—2:15Robust Model Predictive Control of Multi-VariableSystems Using 3694Jay H. Lee Auburn Univ.Brian Cooley Auburn Univ.

2:15—2:35Implementable Model Predictive Control in theState Space 3699Edward S. Meadows Univ. of Texas at AustinJames B. Rawiings Univ. of Texas at AustinKenneth R. Muske Univ. of Texas at Austin

2:35—2:55Control of Unear Unstable Systems Subject toConstraints 3704Alex Zheng California Inst. of Tech.Manfred Morari California Inst. of Tech.

2:55 — 3:15Generalized Predictive Control In the Delta-domain 3709Morten B. Lauritsen Tech. Univ. of DenmarkMorten Rostgaard Tech. Univ. of DenmarkN.K. Poulsen Tech. Univ. of Denmark

FM 11 BakerNonlinear Control III

Chair Timothy Burg Clemson Univ.Cochalr Alok Sinha Penn State Univ.

1:15—1:35Design of Feedback Controllers and State Observersusing Pseudo-linear Models of Nonlinear Systems 3714Marcelo Akjrain Univ. of Nebraska, Lincoln

7:35— 7:55Robust H2/Hoo State Estimation for Nonlinear Systemswith Nonlinear Observation 3719Seung - Hi Lee Univ. of Michigan

1:55—2:15Robust Output Feedback Control for a Class ofNonlinear Time-varying Systems 3723J. Y. Zhu Clemson Univ.Darren M. Dawson Clemson Univ.

2:15 — 2:35A Family of Nonlinear H« Output Feedback Controllers 3728Chee-Fai Yung National Taiwan Ocean Univ.Yung-Pin Lin Tunghai Univ.Fang-Bo Yeh Tunghai Univ.

2:35 — 2:55Towards Robust Discrete-time Sliding Mode Observers 3730Victor C. Aitken Defence Research Establishment-SuffieldHoward M. Schwartz Carleton Univ.

2:55 — 3:15Sliding Mode Output Feedback Control of MechanicalSystems with Bounded Disturbances 3735A.S. Lewis Penn State Univ.

FM 12 AdamsFuzzy Control II

Chair Ka Chai Cheok Oakland Univ.Cochalr Kazuyuki Kobayashi Oakland Univ.

1:15—1:35A Formal Approach to Fuzzy Modeling 3740John Lygeros Univ. of California at Berkeley

1:35—1:55A Model for Hierarchical Systems using Fuzzy Systemsand its Controller Design II: Control 3745LJ-Xin Wang Hong Kong Univ. of Science & Tech.

1:55 — 2:15Implicit-self-tuning Fuzzy Control for Nonlinear Systems 3750Kiriakos Kiriakidis Polytechnic Univ.Anthony P. Tzes Polytechnic Univ.

2:15 — 2:35Dynamically Focused Fuzzy Learning Control 3755Waihon A. Kwong Ohio State Univ.Kevin Passino Ohio State Univ.

2:35 — 2:55Function Approximation by Fuzzy Systems 3760Frank L Lewis Univ. of Texas at AriingtonS.Q. Zhu Univ. of Texas at AriingtonKai Liu Univ. of Texas at Ariington

2:55 — 3:15Fuzzy Systems with Competitive Objectives 3765UangWang TexasA&MUniv.Reza Langari Texas A&M Univ.

FM 13 OlympicRadial Basis Function Neural Networks

Chair S. T. Venkataraman Jet Propulsion Labs.Cochalr Asok Ray Penn State Univ.

1:15—1:35On-line Adaptation of RBF Centers for Adaptive Control 3770Alistair K. Chan Univ. of CincinnatiGeorges A. Becus Univ. of Cincinnati

1:35—1:55State Estimation of Continuous Time Radial BasisFunction Networks 3775Sunil Elanayar V.T. Purdue Univ.Yung C. Shin Purdue Univ.

1:55—2:15Neural Network Basis Function Center Selection usingCluster Analysis 3 7 8 0

Kevin Warwick Univ. of ReadingJ.D. Mason Univ. of ReadingElmawati L Sutanto Univ. of Reading

2:15—2:35Multiplication-free Radial Basis Function Network 3782S. Kampl l/n/v. of Tech.Michael Heiss Tech. Univ. of Vienna

2:35—2:55Identification of Nonlinear Dynamic Systems - ClassicalMethods Versus Radial Basis Function Networks 3786Oliver Nelles Darmstadt Univ. of Tech.Rolf Isermann Darmstadt Univ. of Tech.

2:55 — 3:15Function Learning Enhancement with Delaunay UnearInterpolation and K-D Tree Nearest Neighbor Retrieval ...3791Eric M. Gross Toshiba Corp.

FM 14 Cascade IControl of Mechanical Actuators

Chair Brian C. Fabien Univ. of WashingtonCochalr Dennis S. Bernstein Univ. of Michigan

1:15—1:35Adaptive Virtual Balancing for a Magnetic Rotor withUnknown Mass Imbalance 3796Kai-Yew Lum Univ. of MichiganSanjay P. Bhat Univ. of MichiganDennis S. Bernstein Univ. of MichiganVincent T. Coppola Univ. of Michigan

1:35—1:55Sensor Effectiveness Coefficients for PiezoelectricMaterials 3801B. R. Patnaik Univ. of WaterlooG.R. Heppler Univ. of WaterlooW.J. Wilson Univ. of Waterloo

1:55 — 2:15Adaptive Control of Robot Manipulators Including MotorDynamics 3803H. Yu Univ. of SussexSydney Lloyd Univ. of Sussex

2:15—2:35Dynamics and Control of Plezotube Actuators forSubnanometer Precision Applications 3808Tetsuo Ohara Massachusetts Inst. of Tech.Kamal Youcef-Toumi Massachusetts Inst. of Tech.

2:35 — 2:55A Robust Control Compensates for HardwareDeficiency In the Plant: Time Delay Control for theBrushless DC Motor Drive 3813Jung-Hoon Lee Agency for Defense DevelopmentPyung H. Chang Korea Adv. Inst. ofScl. & Tech.Young-Cheol Lee Agency for Defense DevelopmentSang-Yeal Lee Agency for Defense Development

2:55 — 3:15Experimental Application of an Observer-BasedFeedback Unearlzlng Controller to an Electro-magnetic Suspension 3818Scott Thielman Univ. of WashingtonBrian C. Fabien Univ. of Washington

FM 15 Cascade IIVibration Control

Chair Neil Singer Convolve, Inc.Cochalr Gunnar Hillerstrom Lulea Univ. of Tech.

1:15—1:35Adaptive Suppression of Vibrations - A RepetitiveControl Approach 3820Gunnar Hillerstrom Lulea Univ. of Tech.

1:35—1:55Exact Fuel/time Optimal Control of the BenchmarkTwo-mass/spring System 3825Tarunraj Singh State Univ. of New York

1:55—2:15Vibration Reduction using Multi-hump Extra-insensitiveInput Shapers 3830William Singhose Massachusetts Inst of Tech.Lisa Porter Massachusetts Inst. of Tech.Neil Singer Convolve, Inc.

2:15—2:35H2 Synthesis for Active Vibration Isolation 3835T. Tupper Hyde Massachusetts Inst of Tech.Edward F. Crawiey Massachusetts Inst. of Tech.

2:35—2:55Structural Property Changes Due to PiezoelectricMaterial Bonding: A Numerical Example 3840B. R. Patnaik Univ. of WaterlooG.R. Heppler Univ. of WaterlooW.J. Wilson Univ. of Waterloo

2:55 — 3:15Frequency Shaping of a Hydraulic Speaker using H<»Control Theory 3842Takao Fuji) Osaka UniversityT. Tsujino Kyushu Inst of Tech.T. Sugano Nippon Steel Corp.H. Kitayama Ishikawajima-Harima Heavy Ind. Co., Ltd.M. Hayashi Ishikawajima-Harima Heavy Ind. Co., Ltd.N. Shikano Ishikawajima-Harima Heavy Ind. Co., Ltd.

FM 16 Magnolia SuiteRobust Control II

Chair Anthony P. Tzes Polytechnic Univ.Cochalr Suhada Jayasuriya Texas A&M Univ.

1:15—1:35Robust Control of Nonlinear Systems Satisfying StrictMatching Conditions with Input Field Uncertainty 3847Pel-Yuan Peng Polytechnic Univ.Anthony P. Tzes Polytechnic Univ.

1:35—1:55Robust Stability of Closed Loop Systems ResultingFrom Nonsequential MIMO-QFT Design 3851Yongdong Zhao Texas A&M Univ.Suhada Jayasuriya Texas A&M Univ.

1:55—2:15A Continuous Knapsack Problem Formulation for theRobustness Analysis of a Polytope of Polynomials 3856Vito Cerone Politecnico di TorinoF. Delia Croce Politecnico di Torino

2:15—2:35A Unifying Format for Multiplier Optimization 3859Ulf T. Jonsson Lund Inst of Tech.Anders Rantzer Lund Inst of Tech.

2:35 — 2:55Recursive Grid Methods to Compute Value Sets forTransfer Functions with Parametric Uncertainty 3861Bnayahu Cohen TechnionMattias C. Nordin The Royal Inst. of Tech.Per-Olof Gutman Technion

2:55 — 3:15Non-conservative Robustness Analysis for Second-order Systems 3866Richard J. Adams CERT-DERAJean-Pierre Chretien CERT-DERA

FM 17 Queen Anne SuiteRobust Stability IV

Chair Shankar P. Bhattacharyya Texas A&M Univ.Cochair Mustafa H. Khammash Iowa State Univ.

1:15—1:35A Global Unear Programming Solution to SomeOpen Robustness Problems Including Matrix PolytopeStability 3871B. Ross Barmish Univ. of Wisconsin at MadisonChristodoulos A Floudas Princeton Univ.C.V. Hollot Univ. of MassachusettsRoberto Tempo Politecnico di Torino

1:35—1:55Analysis of Systems with Combined Time Invariant/timeVarying Structured Uncertainty 3878Fernando Paganini California Inst. of Tech.

1:55—2:15Robustness Analysis of Systems with DiagonalMonotone and Slope Restricted Nonllnearltles - anLMI Approach 3883Xin Chen Rensselaer Polytechnic Inst.John T. Wen Rensselaer Polytechnic Inst

2:15—2:35Some New Results on Simultaneous StabilizationController using State-space Approach 3888Yong-Yan Cao Zhejiang Univ.Xu Feng Zhejiang Univ.You-xian Sun Zhejiang Univ.

2:35—2:55Robust Stability of Sampled-data Systems UnderPossibly Unstable Addlttve/multlpllcative Perturbations 3893Tomomichi Hagiwara Univ. of TorontoMituhiko Araki Kyoto Univ.

2:55 — 3:15Frequentlal Controller Design for Stabilization ofUncertain Systems with Robust Performance 3898M. Hayar Univ. de NancyMichel Zasadzinski RARALMohamed Darouach Univ. de NancyDriss Mehdi ESIP-LAII

FM 18 Capitol SuiteUnear Systems IV

Chair Michael Bridges Univ. of MichiganCochalr Kenneth K. Butts Ford Motor Co.

1:15— 1:35A Finite Memory Observer Structure of ContinuousDescriptor Systems 390CF. Kratz LAUT-ENSEMS. Bousghiri Univ. de NancyW. Nuninger Inst. National Poly, de Lorraine

1:35—1:55Implementation of Classical Unear Controllers withStrong Derivative Actions 3905Chih-Chiang Cheng National Sun Yat-Sen Univ.Jyh-Cherng Leu National Sun Yat-Sen Univ.

1:55 — 2:15Minimum Energy Control for Multi-Input UnearDigital Systems In Z-domaln 3907Takanori Kiyota Kyushu Univ. 36Eiji Kondo Kyushu Univ. 36

2:15—2:35Properties of Recoverable Sets for Systems with Inputand State Constraints 3912Jennifer Stephan Carnegie Mellon Univ.Marc Bodson Univ. of Utah

2:35—2:55invariance Property for Unear Discrete-time Systemswith Bounded Inputs via Observer 3914Sophie Tarbouriech LAAS-CNRSC. Burgat LAAS-CNRS

2:55 — 3:15Dynamic Output Feedback Compensation for Systemswith Input Saturation 3916Feng Tyan Univ. of MichiganDennis S. Bernstein Univ. of Michigan

FM 19 Beacon SuiteOptimal Control II

Chair John T. Wen Rennselaer Polytechic Inst.Cochalr James R. Cloutier Wright Lab.

1:15—1:35An Iterative Solution to the Finite-Time UnearQuad-rat-ic Optimal Feedback Control Problem 3921Randal W. Beard Rensselaer Polytechnic Inst.George Saridis Rensselaer Polytechnic InstJohn T. Wen Rensselaer Polytechnic Inst.

1:35—1:55A Hybrid Approach to Optimal Control Problemswith Nondlfferentlal Constraints 3923James R Cloutier Wright Lab.Christopher N. D'Souza Wright Patterson Air Force Base

1:55 — 2:15On Global Optlmallty Conditions In NonConvexOptimal Control ProblemAlexander Strekalovsky Irkutsk State Univ.

2:15—2:35Application of the Unear-quadratlc Control Theory tothe Solution of Special Nonconvex Problems of GlobalConstrained Optimization 3928Alexey S. Matveev St. Petersburg Univ.

2:35—2:55Computation of Optimal Control for Integral andDlf-fer-en-tJal-Alge-bralc Systems 3933Feng-Sheng Wang National Chung Cheng Univ.Ji-Pyng Chiou National Chung Cheng Univ.

2:55 — 3:15Optimal Feedforward Tracking Controller Design 3935Steven Chingyei Chung Feng-Chia Univ.Wenchi Cheng Feng-Chia Univ.Jangjong Wang Feng-Chia Univ.