proceedings of the 1990 american control conference the
TRANSCRIPT
Proceedings of the
1990 AMERICAN CONTROL CONFERENCE
The Sheraton Harbor Island Hotel, San Diego, California
May 23-25, 1990
Sponsoring Organization
American Automatic Control CouncilU.S. National Member Organization of the
INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL
MEMBER SOCIETIES
American Institute of Aeronautics and AstronauticsAmerican Institute of Chemical EngineersAmerican Society of Mechanical Engineers
Association of Iron and Steel EngineersInstitute of Electrical and Electronics Engineers
Instrument Society of AmericaSociety for Computer Simulation
This page begins
Volume 1
May 23,1990
TECHNICAL PROGRAM
CODIING WA =WP =WE =TA =TP =FA =FP =
Wednesday morningWednesday afternoonWednesday eveningThursday morningThursday afternoonFriday morningFriday evening
WEDNESDAY MORNINGMAY 23,1990
PLENARY SESSION I: CHABLIS / BURGUNDY
Chairman: D. Gangsaas, Boeing Advanced SystemsCo-Chainnan: E. Gai, C.S. Draper Laboratory, Inc.
Robust Stability and Robust StabilizationM. Mansour, Institut fur Automatik und IndustrielleElektronik, Zurich
WAl:CheninDISCRETE EVENT SYSTEMS
Chairman: Y. Bar-Shalom, University of ConnecticutCo-Chairman: M. E. Kaliski, California PolytechnicState University
9:45-10:15 1Job Shop Scheduling with Simple PrecedenceConstraintsD. J. Hoitomt, Pratt and Whitney, P. B. Luh, University ofConnecticut, K. R. Pattipati, University of Connecticut
10:15 -10:45 7Control of Discrete-Time Hybrid StochasticSystemsL. Campo, University of Connecticut, Y. Bar-Shalom,University of Connecticut
10:45-11:15 13Control of Systems with Controlled Jump MarkovDisturbances: Application to FlexibleManufacturing SystemsE. K. Boukas, Ecole Polytechnique de Montreal
11:15-11:45 20Output Feedback Control for a Class ofNondeterministic Discrete Event SystemsJ--Y. Lin, University of Ottawa, D. Ionescu, University ofOttawa
11:45-12:00 26Switched Linear Discrete-Event Systems: AnArchitecture and SimulatorM. E. Kaliski, California Polytechnic State University, S.Ritz, FMC Corporation
12:00-12:30 28Buffer Size Effect Analysis for M/G/1/(»,K) QueueW.-B. Gong, University of Massachusetts at Amherst, J.Pan, University of Massachusetts at Amherst
WA2: ColombardCONTROL APPLICATIONS TO MILITARY
SYSTEMS
Organizer Herbert E. Cohen, U.S. ArmyChairman: Herbert E. Cohen, U.S. Army, AberdeenProving GroundCo-Chairman: Norman Coleman, U.S. Army ARDEC
9:45-10:15 (I) 33Control of Articulated Structures on ManeuveringPlatformsSunil Shah, Integrated Systems Inc., Robert Kosut,Integrated Systems Inc.
10:15-10:45 (I) 39Reduced Order Modeling Methods for Turret -Gun SystemS. Vittal Rao, University of Missouri - Rolla, Norman P.Coleman, U.S. Army ARDEC
10:45-11:15 (I) 1004A Hierarchical Target Tracker Using Image DataDominick Andrisani, Purdue University, M. F. Tcnorio,Purdue University, Jun Lu, Purdue University, Frank P.Kuhl, U.S. Army ARDEC
11:15-11:45 (I)Restructurable Control Inputs II: The NonlinearCaseCharles E. Hall, Jr., U.S. Army Missile Command
11:45-12:15 (I) 44Multi-Target Acquisition Fire Control SimulationMichael J. Krok, General Electric Company, Richard V.Spencer, General Electric Company, John Groff, BallisticResearch Laboratory
12:15-12:45 (I) 50Weapon Control and Stabilization Using ModernControl TechniquesMyung-Ho Pee, FMC Corporation, Vic Syed, FMCCorporation, Jeanette Lappen, FMC Corporation
WA3: PolomarADAPTIVE CONTROL SYSTEMS
Chairman: S. Yurkovich, Ohio State UniversityCo-Chairman: A. Datta, University of SouthernCalifornia
9:45-10:15 55Decentralized Indirect Adaptive Control ofInterconnected SystemsA. Datta, University of Southern California, P. Ioannou,University of Southern California
10:15-10:45 61On Frequency Domain Loop Shaping for Self-Tuning ControlA. P. Tzes, The Ohio State University, S. Yurkovich, TheOhio State University
10:45-11:15 67Adaptive Stabilization of Non-LinearizableSystems Under a Matching AssumptionR. Ortega, National University of Mexico, A. Rodriguez,National University of Mexico, G. Espinosa, NationalUniversity of Mexico
11:15-11:45 73A New Robust Model Reference Adaptive ControlUsing Variable Structure Adaptation for Plantswith Relative Degree TwoL.-C. Fu, National Taiwan University
11:45-12:00 79Indirect Techniques for Adaptive Input OutputLinearization of Nonlinear SystemsA. Teel, Urdversityof California, Berkeley, R. Kadiyala,University of California, Berkeley, P. Kokotovic,University of Illinois, Urbana-Champaign, S. S. Sastry,University of California, Berkeley
12:00-12:15 81Auto-Tuning of Control SystemsM. Zhuang, University of Sussex Falmer, D. P. Atherton,University of Sussex Falmer, L. Smith, Eurotherm Limited
12:15-12:30 83Robust Adaptive Control of Linear SystemsHaving a Polynomial Input NonlinearityJ. Zhang, Northeast University of Tech., P.R.C.
12:30-12:45 85Stability Analysis for Leaning SystemsL. Hideg, Oakland University, R. Judd, OaklandUniversity, R. P. Van Til, Oakland University
12:45-13:00 88A Multi-rate Adaptive FIR Controller forPerformance Enhancement of a Fixed ControllerT. T. Tay, National University of Singapore, S. Nungam,National University of Singapore
WA4: San Diego and San FernandoAPPLICATIONS OF MODELING AND CONTROL
TECHNIQUES TO MICROELECTRONICSPROCESSING
Organizer Christos Georgakis, Lehigh UniversityChairman: T. F. Edgar, University of TexasCo-Chairman: D. E. Seborg, UC Santa Barbara
9:45-10:15 (I) 90Supervisory Control for Semiconductor ProcessingDavid L. Hoerger, University of California at SantaBarbara, Duncan A. Mellichamp, University of Californiaat Santa Barbara, Dale E. Seborg, University of Californiaat Santa Barbara
10:15-10:45 (I) 96Optimal Control and Identification for OpticalLithographyW. F. Ramirez, University of Colorado, Thomas A. Carroll,University of Colorado
10:45-11:15 (I) 101Development of Techniques for Real-TimeMonitoring and Control in Plasma EtchingK. J. McLaughlin, University of Texas, T. F. Edgar,University of Texas, I. Trachtenberg, University of Texas
11:15-11:45 (I)Glow Discharge Modeling: A First Step TowardsPlasma Etching Reactor ControlMark Wilcoxson, and V. Manousiouthakis, University ofCalifornia at Los Angeles
11:45-12:15 (I) 110Modeling, Optimization and Control of theSelective Plasma Etching of Silicon Over SiliconDioxideKevin L. Allred, University of Texas, Isaac Trachtenberg,University of Texas, T. F. Edgar, University of Texas
12:15-12:45 (I) *Panel Discussion by Authors on Control Needs inMicroelectronics Processing
WA5: San Antonio and Santa BarbaraPOLE PLACEMENT IN LINEAR CONTROL
Chairman: J. L. Rawson, North Dakota State UniversityCo-Chairman: J. H. Chow, Rensselaer PolytechnicInstitute
9:45-10:15 116A Controller Parameterization and Pole-PlacementDesign for Simultaneous StabilizationM. A. Kale, Rensselaer Polytechnic Institute, J. H. Chow,Rensselaer Polytechnic Institute, K. D. Minto, GeneralElectric Company
10:15-10:45 122Minimum-Norm Pole Placement in Sampled-DataSystemsJ. L. Rawson, North Dakota State University, C. S. Hsu,Washington State University
10:45 -11:00 128The Effect of Horizon Length on the Pole-Assignment Property of Receding-HorizonControllersE. Yaz, University of Arkansas
11:00-11:30 130Regional Pole Placement via Optimal Static andDynamic Output FeedbackW. M. Haddad, Florida Institute of Technology, D. S.Bernstein, Harris Corporation
1130-11:45 136Constrained Pole Placement Using ProjectiveControls TechniqueN. S. Rousan, The Wichita State University, M. E. Sawan,The Witrhita Statp I JnivprsUv
11:45-12:15 138A Frequency Method for the Design of LinearSuboptimal Controllers for Time InvariantSystems with Structural ConstraintsY. Lin, Shanghai Institute of Railway Technology
WA6: San CarlosNONLINEAR CONTROLS I
Chairman: G. Meyer, NASACo-Chairman: J. Tekawy, University of California
9:45-10:15 *A New Method of Designing Observers forNonlinear SystemsZ.-Z. Han, Shanghai Jiao Tong University, Z.-J. Zhang,Shanghai Jiao Tong University
10:15-10:45 144A Nonlinear Observer for Flexible MechanismsUsing Canonical FormsM. D. Di Benedetto, Via Eudossiana 18, P. Lucibello,Universita di Roma La Sapienza
10:45-11:15 149Identifying Reduced-Order Models for LargeNonlinear Systems with Arbitrary InitialConditions and Multiple Outputs Using PronySignal AnalysisD. A. Pierre, Montana State University, D. J. Trudnowski,Montana State University, J. F. Hauer, Bonneville PowerAdmin.
11:15-11:45 155Nonlinear Model Matching: A Local Solution andTwo Worked ExamplesH.J.C.Huijberts, University of Twente
11:45-12:00 161Convexity Property of the One-sided MultivariableStability MarginJ. Tekawy, Northrop Corporation, M. G. Safonov,University of Southern California, R. Y. Chiang, NorthropCorporation
12:00-12:15 163A Relaxed Mismatch Criterion for ReducingConservatism in Lyapunov Stability AnalysisK. M. Black, University of Texas at Arlington, C. C.Blackwell, University of Texas at Arlington
12:15-12:30 165Some Results on the Asymptotic Stability ofNonlinear Dynamical SystemsC. Manfredi, University of Florence
12:30-12:45 167Partitioning Methods for Global ControllersPhillip .H. Schmidt, University of Akron, Sanjay Garg, MS77-1, Lorenzo Carl, NASA Lewis Research Center
WA7: CuyamacaCONTROL OF LIGHTWEIGHT ROBOTIC SYSTEMS
Organizer Enrique Barbieri, Tulane UniversityChairman: E. Barbieri, Tulane UniversityCo-Chairman: P. Rastgoufard, Tulane University
9:45-10:15 (I) 169Configuration Control Under Optimal Assignmentof Set-Points in Flexible RobotsEnrique Barbieri, Tulane University
10:15-10:45 (I) 175Vibration Control of Flexible-Link ManipulatorsFarshad Khorrami, Polytechnic University, Shihua Zheng,Polytechnic University
10:45-11:15 (I) 181Frequency Shaped Variable Structure ControlK. D. Young, Lawrence Livermore National Lab., UmitOzguner, The Ohio State University
11:15-11:45 (I) 186An Inverse Dynamic Method Yielding FlexibleManipulator State TrajectoriesD.-S. Kwon, Georgia Institute of Technology, Wayne J.Book, Georgia Institute of Technology
11:45-12:15 0) 194Flexible-Link Manipulator Force ControlAnthony P. Tzes, The Ohio State University, StephenYurkovich, The Ohio State University
12:15-12:45 (I) 200High Bandwidth Control of Flexible Robots: Proofof Concept Experiments for MomentumManagementM. A. Timmerman, Georgia Institute of Technology,Stephen L. Dickerson, Georgia Institute of Technology
WA8: ChardonnayANALYSIS AND CONTROL OF REDUNDANT
MANIPULATORS I
Organizer Bruno Siciliano, Universita Degli Studi DiNapoli Federico IIChairman: Bruno Siciliano, Universita Degli Studi DiNapoli Federico IICo-Chairman: Yoshihiko Nakamura, University ofCalifornia, Santa Barbara
9:45-10:15 (I) 205Coordinating Kinematically Redundant Degrees ofFreedomD. P. Martin, Boston University, John Baillieul, BostonUniversity
10:15-10:45 0) 209Utilizing Kinematic Redundancy in RoboticSystems: Practical Implementations andFundamental LimitationsAnthony A. Maciejewski, Purdue University, Rodney G.Roberts, Purdue University
10:45-11:15 (I) 215On the Global Behavior of KinematicallyRedundant ManipulatorsTzila Shamir, Weizmann Institute of Sciences
11:15-11:45 (I) 221Efficient Dynamic Resolution of RobotRedundancyAlessandro De Luca, University di Roma, La Sapienza,Giuseppe Oriolo, University di Roma, La Sapienza
11:45-12:15 (I) 228Translational and Rotational Manipulability ofRobotic ManipulatorsTsuneo Yoshikawa, Kyoto University
12:15-12:45 (I) 234Adaptive Cartesian Control of RedundantManipulatorsGunter Niemeyer, Mass. Institute of Technology, Jean-Jacques E. Slotine, Mass. Institute of Technology
WA9: LagunaAEROSPACE VEHICLE GUIDANCE AND
TRAJECTORY OPTIMIZATION -1
Organizer P.K. A. Menon, Georgia Institute ofTechnology and D.D. Moerder, NASA Langley ResearchCenterChairman: P.K. A. Menon, NASA Ames ResearchCenterCo-Chairman: M. D. Ardema, University of Santa Clara
9:45-10:15 (I) 242Finite Element Solution of Optimal ControlProblems with Inequality ConstraintsRobert Bless, Georgia Institute of Technology, Dewey H.Hodges, Georgia Institute of Technology
10:15-10:45 (I) 248Trajectory Optimization for Real-Time Guidance:Part 1, Time-Varying LQR on a Parallel ProcessorMark L. Psiaki, Cornell University, K. Park, CornellUniversity
10:45-11:15 (I) »Optimal Trajectories for an Aerospace PlaneAngelo Miele, Rice University, W. Y. Lee, Rice University
11:15-11:45(1) 254An Ascent Guidance Algorithm Using LIDARWind MeasurementsEvin J. Cramer, Boeing Computer Services, J. E. Bradt,Boeing Aerospace and Electronics, J. W. Hardtla, BoeingAerospace and Electronics
11:45-12:15 (I) 262Aircraft Trajectory Optimization with DirectCollocation Using Movable GridpointsM. Paus, German Aerospace Research Establishment
12:15-12:45 (I)Computational Singular Perturbation Method forAircraft Flight Path OptimizationMark D. Ardema, University of Santa Clara
WA10: CabernetINTELLIGENT VEHICLE HIGHWAY SYSTEMS I
Organizer A. M. Karmel, Ford Motor Company, J. H.Rillings, General Motors Corporation, S. E. Shladover,PATH and J. K. Hedrick, University of California atBerkeleyChairman: A. M. Karmel, Ford Motor CompanyCo-Chairman: S. E. Shladover, University of California,Berkeley - PATH
9:45-10:15 (I) 268Vision-Based Convoy Following by RecursiveFilteringN. Kehtarnavaz, Texas A & M University, J. S. Lee, TexasA & M University, N. C. Griswold, Texas A & MUniversity
10:15-10:45 (I) 274An Expert System for Automated Highway DrivingAxel Niehaus, Princeton University, Robert F. Stengel,Princeton University
10:45-11:15 a) 281An Intelligent Roadway Reference System forVehicle Lateral Guidance/ControlWei-bin Zhang, Universityof California at Berkeley, RobertE. Parsons, Universityof California at Berkeley, Tom West,Caltrans
11:15-11:45 (I) 287Motorist Information Systems in MinnesotaRichard A. Stehr, Minnesota Dept. of Transportation
11:45-12:15 (I) , 291Longitudinal Control of a Platoon of VehiclesS. Sheikholeslam, University of California at Berkeley,Charles A. Desoer, University of California at Berkeley
12:15-12:45 (I) 297Vehicle Modelling and Control for AutomatedHighway SystemsDonn H. McMahon, University of California at Berkeley,
J. K. Hedrick, University of California at Berkeley, S.Shladover, University of California at Berkeley
WA11: GamayMODELLING AND REALIZATION
Chairman: R. Horowitz, University of California atBerkeleyCo-Chairman: E. Yaz, University of Arkansas
9:45-10:00 304Optimal Model Matching in the Sense of Ll-normMinimizationC.-C. Kung, Tatung Institute of Technology, Y.-H. Lin,Tatung Institute of Technology, T.-H. Hung, TatungInstitute of Technology, C.-K. Lee, Tatung Institute ofTechnology
10:00 -10:30 308Functional Persistence of Excitation andObservabilityJ.B. Moore, Australian National University, R. Horowitz,UC Berkeley, W. Messner, UC Berkeley
10:30 -10:45 315Multi-Step Ahead Predictions for MultivariableLinear Stochastic Systems Via Model RecursionT. Shou, Beijing Polytechnic University, N.-S. Xu, BeijingPolytechnic University
10:45-11:00 317Optimal State Estimation with CorrelatedMultiplicative and Additive Noise and ItsApplication to Measurement DifferencingE. Yaz, University of Arkansas
11:00-11:15 319On Computing the Induced Norm of SampledData SystemsP. Kabamba, The University of Michigan, S. Hara, TokyoInstitute of Technology
11:15-11:30 321Estimating Poles of a Linear System UsingErroneous Markov ParametersM. Verhaegen, Delft University of Technology
11:30-11:45 323How to Estimate Model Uncertainty in the Case ofUnder-ModelingH. Hjalmarsson, Linkoping University, L. Ljung,Linkoping University
11:45-12:00 325Existence of Solution and Regularity Results forthe Hoo Riccati EquationD. Fragopoulos, University of Strathclyde
12:00-12:15 328Synthesis of Disturbance Attenuating, NoiseRejecting Regulator Control via the Matrix RiccatiEquationC. Blackwell, University of Texas at Arlington
12:15-12:30 330Piecewise Multiple Chebyshev Polynomials andTheir Applications to Analysis and Identificationof Time-Delay SystemsX.-S. Gu, East China University of Chemical Technology,Y.-Z. Hu, East China University of Chemical Technology
12:30-12:45 332Partial IntegrityP. M. G. Ferreira, Pontificia Universidade Catolica, Rio deJaneiro
WA12: ReislingEXPERIMENTAL CONTROL OF FLEXIBLE
STRUCTURES
Organizer Thomas E. Alberts, Old DominionUniversity ;Chairman: T. E. Alberts, Old Dominion UniversityCo-Chairman: S. Yurkovich, Ohio State University
9:45-10:15 (I) 334Adaptive CSI Compensation for Reduced-Order-Model-Based Control of a Flexible RobotManipulatorRoger A. Davidson, University of Colorado, Mark J.Balas, University of Colorado, Brian T. Reisenauer,University of Colorado
10:15-10:45 (I) 340Flexible Beam Control Using an Adaptive TrussThomas J. Warrington, VPI and State University, C.Garnett Horner, NASA Langley Research Center
10:45-11:15 (I) 350Experiments with End-Point Control of a FlexibleLink Using the Inverse Dynamics Approach andPassive DampingThomas E. Alberts, Old Dominion University, L. J. Love,Old Dominion University, Eduardo Bayo, University ofCA at Santa Barbara, H. Moulin, University of CA at SantaBarbara
11:15-11:45 (I) 356Reduced Order Robust Controllers for anExperimental Flexible GridS. Vittal Rao, University of Missouri, M. Westerheide,University of Missouri, Alok Das, Astro. Lab. Air ForceSystem Com.
11:45-12:15 (I) 362Controlling Coupled Flexible Links Rotating in theHorizontal PlaneSteve Yurkovich, Ohio State University, A. Tzes, OhioState University, K. Hillsley, Ohio State University
12:15-12:45 (I) 368Decentralized Control Experiments on the JPLFlexible SpacecraftUmit Ozguner, Ohio State University, K. Ossman, OhioState University, J. Donne, Ohio State University, M.Boesch, Ohio State University, A. Ahmed, Jet PropulsionLaboratory
WA13: RoseCOMPLEXITY, UNCERTAINTY, INFORMATION, &ORGANIZATION IN CONTROL SYSTEM DESIGN
Organizer Carl N. Nett, Georgia Institute ofTechnologyChairman: C A. Jacobson, Northeastern UniversityCo-Chairman: C. N. Nett, Georgia Institute ofTechnology
9:45-10:15 (I) 374Information-Based Complexity: An OverviewG. W. Wasilkowski, University of Kentucky
10:15-10:45 (I) 380Ill-Posed Problems in Various Settings: anInformation-Based SurveyA. G. Werschulz, Fordham University
10:45-11:15 (I)Some Complexity Issues for Ill-PosedIdentification ProblemsT. I. Seidman, University of Maryland
11:15-11:45 (I) 386Identification in H<»: A Robustly Convergent,Nonlinear AlgorithmA. J. Helmicki, Georgia Institute of Technology, C. A.Jacobson, Northeastern University, C. N. Nett, GeorgiaInstitute of Technology
11:45-12:15 (I) *Learning and Adaptation in Machine VisionS. K. Mitter, M.I.T., S. R. Kulkarni, M.I.T.
12:15-12:45 (I)Panel Discussion: Systems Theory Potential ofInformation-Based Complexity TheoryAll Session Participants
WA14: SauvignonDECENTRALIZED AND LARGE SCALE SYSTEMS
Chairman: N. Ozturk, Manhattan CollegeCo-Chainnan: D. Li, University of Virginia
9:45-10:15 392Concurrent Control of Active SystemsA. Lerner, Weizmann Institute of Science
10:15 -10:45 397A Textured Decomposition Based Algorithm forLarge Scale Multicommodity Network FlowProblemsS.Y. Lin, National Chiao Tung University
10:45-11:15 403On Zero-Order Hold Equivalents of DistributedParameter SystemsA. J. Helmicki, Georgia Institute of Technology, C. A.Jacobson, Northeastern University, C. N. Nett, GeorgiaInstitute of Technology
11:15-11:45 409A New Solution Approach to Salukvadze'sProblemD. Li, University of Virginia
11:45-12.00 415Stability Analysis of a Certain Class of DistributedParameter SystemsN. Ozturk, Manhattan College
12:00-12:30 417On Decentralized ObserversV. M. P. Leite, Escola Politecnica da Universidad de SaoPaulo
12:30-12:45 421Nonlinear Control Design in Discrete-TimeBilinear Interconnected SystemsW. J. Wang, National Central University, Taiwan, J. S.Chiou, National Central University, Taiwan
12:45 -13:00 . 423On Turnpikes and Hedging Points for PiecewiseDeterministic Control SystemsC. Van Delft, University of Geneva, A. Haurie, Universityof Geneva
WA15: BurgundyROBUST CONTROL OF COMPLEX SYSTEMS
Organizer John R. Dowdle, Charles Stark DraperLaboratory, Inc.Chairman: John R. Dowdle, Charles Stark DraperLaboratory, Inc.Co-Chairman: Karl Flueckiger, Charles Stark DraperLaboratory, Inc.
9:45-10:15 (I) 428A Control System Design Methodology for Large-Scale Interconnected SystemsKarl Flueckiger, C.S. Draper Laboratory, John R. Dowdle,C.S. Draper Laboratory, Timothy C. Henderson, C.S.Draper Laboratory
10:15-10:45 (J) •The Approximate Inverse Approach to ControlSystem DesignMichael Athans, Mass. Institute of Technology
10:45-11:15 (I) 435Robustness Properties of Feedback Systems withMultiple Sources of UncertaintyJie Chen, University of Michigan, James Freudenberg,University of Michigan
11:15-11:45 (I) *Robust Performance of Large Scale IntegratedSystemsDouglas P. Looze, University of Massachusetts, Jor-YanWong, University of Massachusetts
11:45-12:15 (I) .441Decentralized Robust Control for DynamicRouting of Large Scale NetworksA. Iftar, University of Toronto, E. J. Davidson, Universityof Toronto
12:15-12:45 (I)Decentralized H2AH00 Controller SynthesisWassim M. Haddad, Florida Institute of Technology,Dennis S. Bernstein, Harris Corporation, Carl N. Nett,Georgia Institute of Technology
12:45-13:15 447Decentralized Control of a Class of Large-ScaleSystems by Uncertainty EstimatorMin-Shin Chen, National Taiwan University
WEDNESDAY AFTERNOON
MAY 23,1990
WPl:CheninMODELLING AND CONTROL OF STOCHASTIC
SYSTEMS '
Chairman: M.G.Safonov, University of SouthernCaliforniaCo-Chairman: D. M. Auslander, University ofCalifornia at Berkeley
2:00 - 2:30 452Monotonicity and Maximal Solution ofGeneralized Algebraic Riccati EquationsC. E. de Souza, University of Newcastle Australia, M. D.Fragoso, National Laboratory for Scientific ComputingBrazil
2:30-3:00 456A Relative Error Bound for Discrete BalancedStochastic TruncationW. Wang, University of Southern California, M. G.Safonov, University of Southern California
3:00-3:30 462Stochastic Stability and Performance Robustnessof Linear Multivariable SystemsL.E. Ryan, Princeton University, R.F. Stengel, PrincetonUniversity
3:30-4:00 468A Tighter Relative-Error Bound for BalancedStochastic TruncationW. Wang, University of Southern California, M. G.Safonov, University of Southern California
4:00 - 4:30 474Stochastic Modeling of Lateral Web DynamicsC.E. Kardamilas, Newben Systems, G.E. Young, OklahomaState University
4:30-5:00 481Optimal Linear Feedback Control for Non-Linear-Non-Quadratic-Non-Gaussian ProblemsR.-J. Chang, National Cheng Kung University, Taiwan
5:00-5:30 488Non-Linear Controller Design for StochasticSystemsK.S. Chang, University of California, Berkeley, D.M.Auslander, University of California, Berkeley
5:30-5:45 494Right Nilpotent Interactor Matrix and ItsApplication to Multivariable Stochastic ControlA. P. Paplinski, Chisholm Institute of Technology, M. W.Rogozinski, CSIRO
WP2: ColombardAutomation Aids for Air Traffic Control
Organizer Heinz Erzberger, NASA Ames ResearchCenterChairman: Leonard Tobias, NASA Ames ResearchCenterCo-Chairman: Heinz Erzberger, NASA Ames ResearchCenter
2:00-2:30(1) 496Arrival Planning and Sequencing with COMPAS-OP at the Frankfurt ATC CenterUwe Volckers, DLR Institute for Flight Guidance
230-3:00 (I) *MAESTRO - A Metering and Spacing ToolJean-Luis Garcia, CENA, France
3:00-3:30 (D 508A Prototyping Effort to Develop a New ARTS-IIIAAutomation AidDavid R. Barker, MITRE Corporation, Jennifer Levin,MITRE Corporation
3:30-4:00 (I) 514The Traffic Management AdvisorWilliam Nedell, San Jose State University, HeinzErzberger, NASA Ames Research Center, Frank Neuman,NASA Ames Research Center
4:00-4:30 (I) 521Simulator Evaluation of the Final ApproachSpacing ToolThomas J. Davis, NASA Ames Research Center, HeinzErzberger, NASA Ames Research Center, Steven M.Greene, NASA Ames Research Center
4:30 -5:00 (I) *Quantification and Analysis of ControllerBehavior in a Simulated TRACON EnvironmentHugh P. Bergeron, NASA Langley Research Center, GaryW. Lohr, Embry-Riddle Aeronautical University
5:00-530 (I) 529A Taxi and Ramp Management and ControlSystem (TARMAC)D. Dippe, DLR Institute for Flight Guidance
530-6m (I) 535Analysis of the Potential Benefits of Terminal AirTraffic Control Automation (TATCA)S. Boswell, MIT Lincoln Laboratory, John W. Andrews,MIT Lincoln Laboratory, Jerry D. Welch, MIT LincolnLaboratory
WP3: Polomar
ROBUST ADAPTIVE CONTROL
Organizer Jing Sun> Wayne State UniversityChairman: J. Sun, Wayne State UniversityCo-Chairman: . A. Ioannou, University of SouthernCalifornia
2:00-230 (I) 543Combined Direct, Indirect and Variable StructureMethod for Robust Adaptive ControlKumpati S. Narendra, Yale University, Jovan Boskovic,Yale University
230-3:00 (I) 549Observer-Based Adaptive Control of NonlinearSystems Under Matching ConditionsI. Kanellakopoilos, University of Illinois at Urbana-Champaign, Petar V. Kokotovic, University of Illinois atUrbana-Champaign, R. H. Middleton, University ofNewcastle
3:00-330 (I)On Some Performance Issues in Robust AdaptiveControlKostas S. Tsakalis, Arizona State University
330-4:00 (I) »Adaptive Control of Linear Time-Varying SystemsAnuradha M. Annaswamy, Boston University
4:00-4:30 (I) 556Adaptive Filtering and GPCD. S. Shook, University of Alberta, C. Mohtadi, Universityof Alberta, S. L. Shah, University of Alberta
4:30-4:45 (I)Robust and Adaptive Stabilization of Systems withKnown and Unknown Time-DelaysAndrjez W. Olbrot, Wayne State University
4:45-5:00(1) 562Indirect Adaptive Control Based on DAC TheoryJ. Z. You, University of Alabama Huntsville, C. D.Johnson, University of Alabama Huntsville
5:00-5:15 (I) 565Parameter Convergence in Robust AdaptiveControl SystemsPetros A. Ioannou, University of Southern California, JingSun, Wayne State University
5:15-5:30 567On Computing the Equilibrium of the AveragedSystem for the Self Tuning RegulatorS. M. Phillips, Case Western Reserve University, R. Kosut,Integrated Systems, Inc.
WP4: San Diego and San FernandoREACTOR CONTROL
Organizer Christos Georgakis, Lehigh UniversityChairman: F.J. Schork, Georgia Institute of TechnologyCo-Chairman: R. D. Bartusiak, Exxon ChemicalCompany
2:00-2:30 (I) 569Estimation and Control of Continuous StirredTank Polymerization ReactorsK. J. Kim, University of Maryland, K. Y. Choi; Universityof Maryland
2:30-3:00 (I) •Nonlinear Model Predictive Control of aProduction Scale Batch ReactorJohn Wassick, Dow Chemical Company, Paul Guilfoyle,Massachusetts Institute of Technology, Tom Meadowcroft,Massachusetts Institute of Technology, Jeff Feerer,Massachusetts Institute of Technology
3:00-3:30 (I) 575Robust Inferential Control for a Packed-BedReactorHector M. Budman, California Institute of Technology,Chris Webb, California Institute of Technology, ManfredMorari, California Institute of Technology
330-4:00 (D 581Application of Multistep Newton-type Controllersto Fluid Catalytic CrackingC. Schmid, Carnegie Mellon University, Lorenz T. Biegler,Carnegie Mellon University
4:00-4:30 (I) •The Nonlinear Control of Instantaneous ReactionSystemsJeffrey C. Kantor, University of Notre Dame
4:30 -5:00 (D 587Statistical Analysis Methodology for ControllerRobustnessCharles D. Schaper, University of California, Dale E.Seborg, University of California, Duncan A. Mellichamp,University of California
5:00-530 593Nonlinear Control of Non-Isothermal ChemicalReactors: An Approach Based on a GeometricCharacterization Which IncorporatesStoichiometry and KineticsR. Suarez, Universidad Autonoma Metropolitana, J.Alvarez, Universidad Autonoma Metropolitana
WP5: San Antonio and Santa BarbaraLINEAR AND NONLINEAR ROBUST CONTROL:
THE QFT APPROACH
Organizer Osita D.I. Nwokah, Purdue UniversityChairman: C. H. Houpis, AFIT / WPAFBCo-Chairman: O. D.I. Nwokah, Purdue University
2:00-2:30 (I) 599Frequency Response Specifications and SensitivityFunctions in Quantitative Feedback TheoryDavid F. Thompson, Purdue University, O. D.I. Nwokah,Purdue University
2:30-3:00 (I) 605On the Determination of the Worst AllowablePersistent Bounded Disturbance for a System withConstraintsS. Jayasuriya, Texas A&M University
3:00-330(1) 611Robust Design of MIMO Feedback SystemsHaving an Uncertain Nonlinear MIMO Plant0 . Yaniv, Tel-Aviv University
3:30-4:00 (I) 617Application of Fixed Point Theory to UncertainNonlinear and MIMO Feedback Problems1. M. Horowitz, University of California, Davis
4:00-4:30 (I) 621A Nonlinear QFT Design with Pipelined InverseR. A. Zachery, University of California, Davis, S. H. Wang,University of California, Davis, I. M. Horowitz, Universityof California, Davis . -
4:30-5:00 626Optimal Loop Synthesis in Quantitative FeedbackTheoryD J7. Thompson, Purdue University, O.D.I Nwokah,Purdue University
5:00-5:30 632On the Application of a Frequency DomainController Design Methodology to Non-MinimumPhase Unstable SystemsM. Sobhani, Texas A&M University, S. Jayasuriya, TexasA&M University
WP6: San CarlosNONLINEAR CONTROLS II
Chairman: N. H. McClamroch, University of MichiganCo-Chairman: W. J. Rugh, The Johns HopkinsUniversity
2:00-2:30 639Feedback Linearization of Nonlinear SystemsUsing Generalized Sampled-Data Hold FunctionsY.-S. Hung, University of Michigan, P. T. Kabamba,University of Michigan
2:30-3:00 645The Optimal Multiplier Method for NonlinearRobustness AnalysisJ. T. Wen, Rensselaer Polytechnic Institute, X. Chen, RiceUniversity
3:00-330 651Approximate Noninteracting Control withStability for Nonlinear SystemsJ. Huang, The John Hopkins University, W. J. Rugh, TheJohns Hopkins University
3:30-4:00 657On the Construction of Coprime Factorization ofNonlinear Feedback Control SystemsG. Chen, Rice University, R. J. P. de Figueiredo, RiceUniversity
4:00-4:15 663Functional Series and the Control of NonlinearSystemsF. D. King, University of South Florida
4:15-4:30 665Approximate Switched-Markov Filtering forNonlinear SystemsP. D. West, Georgia Tech Research Institute, A. H.Haddad, Northwestern University
430-4:45 993The Riccati PDE's Associated with InvariantDistributions and Minimal Factorization ofSystemsA. Ben-Artzi, University of California at San Diego, B.Helton, University of California at San Diego
4:45 -5:00 667Nonparametric Models for Nonlinear DynamicSystems: A Case StudyA. A. Georgiev, Medical University of South Carolina
5.00-5:15 669Nonlinear Controllers for Non-Integrable Systems:The Acrobot ExampleJ. Hauser, University of Southern California, R. M.Murray, University of California at Berkeley
5:15-530 672Waveform Disturbance Minimization forNonlinear Systems with Disturbance ModelsHaving Unknown ParametersT. W. Martin, University of Arkansas, E. Yaz, Universityof Arkansas
530-6:00 674Neural Networks for Function Approximation inNonlinear ControlD.J. Linse, Princeton University, R. F. Stengel, PrincetonUniversity
6:00-6:15 996The Unbiased Variance Sum of N IndependentEstimates revisited: A Gradient MatrixFormulationHugh McCabe, Dublin City University
WP7: CuyamacaCONTROL OF FLEXIBLE MANIPULATOR ARMS
Chairman: B. Paden, UC Santa BarbaraCo-Chairman: D. Tesar, University of Texas
2:00-230 680Exponentially Stable Tracking Control for Multi-Joint Flexible-Link ManipulatorsB. Paden, University of California at Santa Barbara, B.Riedle, University of California at Santa Barbara, E Bayo,University of California at Santa Barbara
2:30 -3m 685Flexible Robotic Arm Control: Nonlinear UltimateBoundedness and Linear StabilizationP. J. Nathan, Motorola, Inc., S. N. Singh, University ofNevada, Las Vegas
3:00-330 691A Theoretical and Experimental Investigation onthe Control of a Single-Link Flexible RoboticManipulator Fabricated from Composite MaterialsS.B. Choi, Michigan State University, B.S. Thompson,Michigan State University, M.V. Gandi, Michigan StateUniversity
330-4:00Tip-Position Control of a Flexible Beam:Modelling Approaches and ExperimentalVerificationK.C Craig, Rensselaer Polytechnic Institute, M. Mattice,U.S. Army - ARDEC, N. Coleman, U.S. Army - ARDEC
4.O0-430 697Tip-Contact Force Control of One-Link FlexibleManipulator: An Inherent Performance LimitationD.Li, MIT
430-4:45 702Variable Structure Control of a Single-LinkFlexible Arm RobotT. Singh, University of Waterloo, M. F. Golnaraghi,University of Waterloo, R. N. Dubey, University ofWaterloo
4:45-5:15 704Accessibility and Controllability of FlexibleRobotic ManipulatorsS. Tosunoglu, University of Texas, Austin, S.-H. Lin,University of Texas, Austin, D. Tesar, University of Texas,Austin
5:15-5:45 712Control of a Six-Degree-of-Freedom IndustrialManipulator Modeled with Seven Link and JointFlexibility ComponentsS.-H Lin, University of Texas, Austin, S. Tosunoglu,University of Texas, Austin, D. Tesar, University of Texas,Austin
WP8: ChardonnayROBUSTNESS ISSUES IN ROBOT CONTROL
Organizer M. Zohdy, Oakland UniversityChairman: E. Yaz, University of ArkansasCo-Chairman: S. Fadali, University of Nevada at Reno
2:00-2:30 (I) 718Survey of Robust Control of RobotsC. Abdallah, University of New Mexico, P. Dorato,University of New Mexico, M. Jamshidi, University ofNew Mexico
230-3:00 (J) 722Robust Control for the Tracking of Robot MotionD. M. Dawson, Georgia Institute of Technology, Z. Qu,Georgia Institute of Technology, F. L. Lewis, GeorgiaInstitute of Technology, J. F. Dorsey, Georgia Institute ofTechnology
3:00-330 (I) 727Deterministic and Stochastic Robustness of theComputed Torque SchemeE. Yaz, University of Arkansas, S. Fadali, University ofNevado-Reno, M. Zohdy, Oakland University
330-3:45 (I) 991A Positive-Real Design for Robotic ManipulatorsC. Abdallah, The University of New Mexico, R. Jordan,The University of New Mexico
3:45-4:00 (I)A Robust Controller Design Approach for FlexibleRobot ManipulatorsA. Iftar, University of Toronto
4:00-430(1) 731An Observer-Based Design for Robust Control ofRobot ManipulatorsW. Grossman, Polytechnic University, F. Khorrami,Polytechnic University, B. Friedland, Kearfott Corporation
430-5:00(1) 737Stability Investigations into the Force Control ofRobots with NonlinearitiesJ. J. Gonzalez, Colorado State University, L. Chirinos,Colorado State University, G. R. Widmann, Colorado StateUniversity
5:00-5:30 (I)Pointing and Tracking from a ManeuveringPlatformM. Jamshidi, The University of New Mexico, T. A. W.Dwyer HI, University of Illinois, T. Peppier, Kirtland AFB
530-5:45Robust Force Control of a Robot ManipulatorD. Dawson, Georgia Institute of Technology, F. Lewis,Georgia Institute of Technology
WP9: LagunaAIRCRAFT AND MISSILE CONTROL
Chairman: A. G. MittaL Georgia Institute ofTechnologyCo-Chairman: M. Klepl, North American Aviation,Rockwell International
2:00 - 230 743Nonlinear Adaptive Control of a Twin LiftHelicopter SystemM. Mittal, Georgia Institute of Technology, J.V.R. Prasad,Georgia Institute of Technology, D.P. Schrage, GeorgiaInstitute of Technology
230-3:00 749Robustness of Eigenstructure AssignmentApproach in Flight Control System DesignJ. C. Juang, Lockheed Aeronautical Systems, H.M. Youssef,Lockheed Aeronautical Systems, H.P. Lee, LockheedAeronautical Systems
3:00-330 755A Comparison of Six Tests Evaluating MissileAutopilot Robustness to Uncertain AerodynamicsK.A. Wise, McDonnell Douglas MSC
330-4:00 764Accommodation of Failures in the Flight ControlSystem oi the F-16 Aircraft using Adaptive ControlF. Ahmed-Zaid, University of Southern California, P.Ioannou, University of S. California, K. Gousman,Lockheed California Co., R. Rooney, Lockheed CaliforniaCo.
4W-4:15 770Roll and Maneuver Load Alleviation Control LawDesign for a Wind Tunnel model by LQG/LTRMethodologyM. Klepl, North American Aircraft R. 1.100
4:15-4:45 772Performance Evaluation of a Doppler RadarSystem for Wind Shear DetectionC. S. Khalaf, Old Dominion University, J. L. Hibey, OldDominion University, L. D. Staton, NASA LangleyResearch Center
4:45-5:15 T77
A Proposed Computational Technique forObtaining Hypersonic Air Data on a Sharp-NosedVehicleJ.B. Tarasidis, Georgia Tech. Research Institute, R. F.Hellbaum, Georgia Tech. Research Institute, H.D. Gamer,
WP10: CabernetINTELLIGENT VEHICLE HIGHWAY SYSTEMS - II
Organizer A. M. Karmel, Ford Motor Company, J. H.Rillings, General Motors Corporation, S. E. Shladover,PATH and J. K. Hedrick, University of California atBerkeleyChairman: J. H. Rillings, General Motors CorporationCo-Chairman: J. K. Hedrick, University of California atBerkeley
2:00-2:30 (I) 782Description and Performance of NAVMATE, anIn-Vehicle Route Guidance SystemsHidekazu Oshizawa, Diesel Kiki Co., W. Clay Collier,Navigation Technologies
2:30-3:00(1) 788Vehicle Lateral Control for Highway AutomationHuei Peng, University of California, M. Tomizuka,University of California
3:00-3:30(1) 795Robust Control for Automatic SteeringJuergen Ackermann, University of California at Irvine,Wolfgang Sienel, University of California at Irvine
3:30-4:00(1) 801Stability Analysis of Automatic Lateral MotionControlled Vehicle with Four Wheel SteeringSystemKen Ito, Nissan Motor Company, Ltd., T. Fujishiro, NissanMotor Company, Ltd., K. Kanai, The Nat'l DefenseAcademy of Japan, Y. Ochi, The Nat'l Defense Academyof Japan
4:00-430(1) 809Computerized Defensive Driving Rules forHighway ManeuversT. Pilutti, The University of Michigan, V. Raschke, TheUniversity of Michigan, Y. Koren, The University ofMichigan4:30-5:00 (I)Panel Discussion: Development of IVHSTechnologiesA. M. Karmel, Ford Motor Company, J. K. Hedrick,University of California Berkeley, J. H. Rillings, GeneralMotors Corporation, S. E. Shladover, PATH
WP11: GamayOPTIMAL CONTROL
Chairman: M. J. Grimble, University of StrathclydeCo-Chairman: P. Sannuti, Rutgers University
2:00-230 812A New Stable Compensator Design for Exact andApproximate Loop Transfer RecoveryB. M. Chen, Washington State University, A. Saberi,Washington State University, P. Sannuti, RutgersUniversity
2:30-3:00 818On Control Systems Described by a Class of LinearDifferential-Algebraic Equations: StateRealization ana Linear Quadratic Optimal ControlH. Krishnan, University of Michigan, N. H. McClamroch,University of Michigan
3:00-330 824Covariance Controllers: A New Parameterizationof the Class of All Stabilizing ControllersK. Yasuda, Kobe University, R. E. Skelton, PurdueUniversity
3:30-4:00 830A Method for Constrained Dynamic OptimizationProblemsJ. Shi, University of Connecticut, P. B. Luh, University ofConnecticut, S.-C. Chang, National Taiwan University, T.-S. Chang, University of California, Davis
4:00-4:30 836Quadratic Optimization of Motion Coordinationand ControlR. Johansson, Lund Institute of Technology
430-5:00 842State-Space Approach to LQG MultivariablePredictive and Feedforward Optimal ControlM.J. Grimble, University of Strathclyde
5:00-5:30 848An Analysis of Pole/Zero Cancellation in LTR-Based Feedback DesignH. H. Niemann, Technical University of Denmark, O.Jannerup, Technical University of Denmark
WP12: ReislingCONTROLS / STRUCTURES INTERACTION
RESEARCH
Organizer Claude R. Keckler, NASA Langley ResearchCenterChairman: Claude R. Keckler, NASA Langley ResearchCenterCo-Chairman: Robert Kosut, Integrated Systems, Inc.
2:00-230 (I) 854Optimization of Linear Controlled StructuresK. Scott Hunziker, Boeing Aerospace & Electronics,Raymond H. Kraft, Boeing Aerospace & Electronics,Robert L. Kosut, Integrated Systems Inc., Ernest S.Armstrong, NASA Langley Research Center
2:30 -3m (I) 860Simultaneous Control and Structure Design forLarge Space StructuresRobert L. Kosut, Integrated Systems, Inc., GuntekinKabuli, Integrated Systems, Inc., Scot Morrison, IntegratedSystems, Inc., Y.P. Yarn, Integrated Systems, Inc.
3*0-330 (D 866Development and Verification of KeyTechnologies for the Success of Agile SpaceMissionsV. A. Spector, TRW Space and Technology Group, R. A.Manning, TRW Space and Technology Group, M. L.Narigon, TRW Space and Technology Group, D. W. Wise,TRW Space and Technology Group, M. D. Roesler, TRWSpace and Technology Group
3:30-4:00 (D •Demonstration of the Controls/StructuresInteraction Phenomenon Using the ASCIE TestbedJean-Noel Aubrun and R. Lorell, Lockheed Palo AltoResearch Laboratory
4:00-4:30(1) 870Approximate Minimum Time Trajectories for 2-Link Flexible ManipulatorsG. R. Eisler, Sandia National Laboratories, D. J. Segalman,Sandia National Laboratories, R. D. Robinett, SandiaNational Laboratories
4:30-4:45 876Model Order Effects on the Transmission Zeros ofFlexible Space StructuresT. Williams, University of Cincinnati
4:45-5:15(1) 878The Cases Flight Experiment: An OverviewJohn R. Sesak, Lockheed Missile and Space Company, J.Mel Waldman, Lockheed Missiles and Space
WP13: RoseROBUST STABILITY
Chairman: M. K. Solak, Cleveland State UniversityCo-Chairman: W. E. Schmitendorf, University ofCalifornia at Irvine
2:00-230 883A Precondition for the Edge TheoremA. C. Bartlett, University of Massachusetts
230-2:45 889On the Stability of Ploygons of Polynomials withan Application: An Alternative Proof of the EdgeTheoremL. R. Pujara, Wright State University, N. R. Shanbhag,Wright State University
2:45-3:00 891On the State Feedback Stabilization of NormBounded Uncertain SystemsS. Yamamoto, Osaka University, H. Kimura, OsakaUniversity
3*0-330 894A Necessary and Sufficient Condition for theStability of Nonnegative Interval Discrete SystemsB. Shafai, Northeastern University, K. Perev, NortheasternUniversity, D. Cowley, Northeastern University, Y.Chehab, Northeastern University
330-4*0 *Performance and Stability Robustness of LEB(Linear-Ellipsoidal-Bounded) CompensatorsC. D. Antonini, University of Pretoria
4*0-4:15 900On lj Optimal Simultaneously StabilizingController DesignD. Sourlas, University of California at Los Angeles, V.Manousiouthakis, University of California at Los Angeles
4:15 - 430 902On the Strictly-Positive-Realness of Schur IntervalFunctionsA. Katbab, University of Miami, E. I. Jury, University ofMiami
4:30-5*0 904A Structural Approach to Robust Stability ofPolynomialsM. K. Solak, Cleveland State University
5:00-5:30 910Robust Characteristic Polynomial AssignmentH. Rotstein, Planta Piloto de Ingenieria Quimica, R. S.Pena, Planta Piloto de Ingenieria Quimica, A. Desages,Planta Piloto de Ingenieria Quimica, J. A. Romagnoli,Planta Piloto de Ingenieria Quimica
5:30-5:45 916A Non-Iterative Riccati Approach to RobustControl DesignR . M . D o l p h u s , U n i v e r s i t y of C a l i f o r n i a I r v i n e , W . E.S c h m i t e n d o r f , U n i v e r s i t y of C a l i f o r n i a a t I r v i n e ...,.'•
WP14: SauvignonROBUST FEEDBACK DESIGN
Chairman: K. J. Welzyn, USAF Armament LaboratoryCo-Chairman: I. H. Yu, University of Texas atArlington
2*0-2:30 919Output Approximate Loop Transfer Recovery forFixed Order Dynamic CompensatorsA. J. Calise, Georgia Institute of Technology, E.V. Byrns,Georgia Institute of Technology
230-3*0 924On Reducing Compensator Bandwidth ofLQG/LTR Control: An Hoo Optimization ApproachK. C. Han, University of California, Davis, T. C. Hsia,Universityof California, Davis
3*0-3:30 930Observer Feedback Compensator and Cascade PDCompensator Design Based on Loop TransferRecoveryC.-C. Tsui, CUNY Staten Island College
3:30-3:45 936Eigenstructure/LTR Feedback Design for Non-Minimum Phase PlantsP. S. Andersen, SimCorp A/S, H. H. Niemann, TechnicalUniversity of Denmark
3:45 - 4:00 938Design of Observer-Based Linear RobustControllersF. Jabbari, University of California Irvine, W. E.Schmitendorf, University of California Irvine
4:00-4:15 941The Impact of the Choice of Gains on theRobustness of Control Systems and ObserversC. C. Blackwell, University of Texas at Arlington, I. H. Yu,University of Texas at Arlington
4:15 - 4:30 943Robust Disturbance Rejection in LI OptimalControl SystemsM. Khammash, Rice University, J. B. Pearson, RiceUniversity
4:30-5:00 945A Robust Approach to Multirate Controller DesignUsing Eigenstructure AssignmentY. Patel, University of York, R. J. Patton, University ofYork
5:00-530 952Optimal Eigenstructure Achievement withRobustness GuaranteesR. F. Wilson, USAF Armament Laboratory, J. R. Cloutier,USAF Armament Laboratory
5:30-5:45 958A N e w Robustness Measure for EigenvectorAssignmentC. C. Tsui, CUNY Staten Island College
WP15: BurgundyA BENCHMARK PROBLEM FOR ROBUST H2/H°°
CONTROL DESIGN
Organizers Bong Wie and Dennis S. Bernstein,Chairman: Dennis S. Bernstein, Harris CorporationCo-Chairman: Bong Wie, Arizona State University
2:00-2:15(1) 961A Benchmark Problem for Robust ControllerDesignBong Wie, Arizona State University, Dennis S. Bernstein,Harris Corp.
2:15-230(1) 963Fixed Order Dynamic Compensation for theH2/Hoo Benchmark ProblemEdward V. Byrns, Georgia Institute of Technology,Anthony J. Calise, Georgia Institute of Technology
2:30-2:45 (I) 966Hoo Robust Control Synthesis for an UndampedNon-collocated Spring-Mass SystemR. Y. Chiang, University of Southern California, M. G.Safonov, University of Southern California
2:45-3*0 (I)Mixed H2/H00 Control Design for Systems withStructured UncertaintyAppasaheb N. Madiwale, Mass. Institute of Technology
3*0-3:15 (I) 968Robust Control Design Using NonlinearConstrained OptimizationUy-Loi Ly, University of Washington
3:15-330 (I) •All Stabilizing Controllers for RobustMultiobjective Control of the Benchmark ProblemLee D. Peterson, Purdue University, Robert E. Skelton,Purdue University
3:30-3:45(1) 970Robust Controller Synthesis Using the Left ShiftApproachD. S. Bernstein and E. G. Collins, Jr., Harris Corporation
3:45-4:00(1) »Robust Control Design for a Benchmark ProblemUsing a Structured Co variance ApproachJohn Doyle, California Institute of Technology
4:00-4:15 (I) •Robust Hoo Control Design for an UncertainDynamical SystemBong Wie, Arizona State University, K. W. Byun, DynacsEngineering Co., Inc.
4:15-4:30 (I) 972Application of a Game Theoretic Controller to aBenchmark ProblemI. Rhee, University of Texas at Austin, Jason Speyer,University of Texas at Austin
430-5:00 (I)Panel DiscussionAll Authors, D. Bernstein and B. Wie Moderators
Evening Session WE: Chablis / Burgundy
THE MYSTIQUE OF INTELLIGENT CONTROL
Organizer: Rahmat Shoureshi, Purdue UniversityChairman: Rahmat Shoureshi, Purdue UniversityCo-Chairman: Maribeth Roesler, TRW
7*0-7:15 (I)Where is the Intelligence in Intelligent Control?Karl J. Astrom, The University of Texas at Austin
7:15-730 (I) 974An Intelligent Control System for Rocket Engines:Need, Vision and IssuesCarl F. Lorenzo, NASA Lewis Research Center, Waleter C.Merrill, NASA Lewis Research Center
730 - 7:45 (I) 983Neural Networks for Control: An OverviewPaul Werbos, National Science Foundation
7:45-8*0 (I)Neural Networks for Control SystemsBernard Widrow, Stanford University
8:00-8:15 (D 985Learning and Decision-Making for IntelligentControlSystemsRahmat Shoureshi, Purdue University
8:15-8:30 (DPractical Lessons in the Design andImplementation of Real-Time, Plan-BasedSupervisory Process ControlsPaul Houpt, General Electric Corporation R&D
8:30-8:45 (I) •Neural Networks and AdaptationKumpati S. Narendra, Yale University
8:45-9:00 (I) •The Role of Models in Machine IntelligenceGuillermo Rodriguez, California Institute of Technology
9:00-9:15 (I) 988Memory-Based Learning in Intelligent ControlSystemsChristopher G. Atkeson, Mass. Institute of Technology
9:15-9:30(1) 989Intelligent Controller for a Two-Axis CameraVision PlatformYilmaz E. Sahinkaya, Lockheed Palo Alto Research Lab
THURSDAY MORNINGMAY 24,1990
TA1: CheninPERTURBATION ANALYSIS OF DISCRETE EVENT
DYNAMIC SYSTEMS
Organizer Michael C. Fu, University of MarylandChairman: Michael C Fu, University of MarylandCo-Chairman: Xi-Ren Cao, Digital EquipmentCorporation
8:30-9:00 (I) 1011Some Linear Algebraic Formulas of thePerformance Sensitivities of Queueing NetworksXi-Ren Cao, Digital Equipment Corporation • .
9*0-9:30 (I) 1017Derivative Calculation Through Matrix-GeometricSolution MethodWei-Bo Gong, University of Massachusetts, Jie Pan,University of Massachusetts, Christos Cassandras,University of Massachusetts
930-10:00 0) 1022Convergence of Recursive OptimizationAlgorithms Using IPA Derivative EstimatesE. K. Chong, Princeton University, P. J. Ramadge,Princeton University
10*0-10:30 (I) 1028Strong Consistency of Infinitesimal PerturbationAnalysis for Networks with Correlated ServiceTimesYorai Wardi, Georgia Institute of Technology, Jian-QiangHu, Harvard University
10:30-11:00 (I) 1034Using Uniformization for Derivative Estimation inSimulationPirooz Vakili, Boston University
11*0-1130 (I) •Sample Path Analysis of Level Crossings inQueuesMichael Zazanis, Northwestern University
11:30-11:45 (I) 1040Variance Properties of Second DerivativePerturbation Analysis Estimators for Single-ServerQueuesMichael Fu, University of Maryland, Jian-Quang Hu,Harvard University
TA2: ColombardCONTROL APPLICATIONS TO FUNCTIONAL
ELECTRICAL STIMULATION
Organizer Grazyna A. Pajunen, Florida AtlanticUniversityChairman: Grazyna A. Pajunen, Florida AtlanticUniversityCo-Chairman: William K. Durfee, MassachusettsInstitute of Technology
8:30-9:00 (I) *Challenges to Control Theory in the Restoration ofParalyzed Muscle Function via ElectricalStimulationH. J. Chizeck, Case Western Reserve University
9:00-9:30(1) *Progress in the EMG Control of FunctionalElectrical Stimulation in ParaplegicsDaniel Groupe, University of Illinois at Chicago
930-10:00 (I) 1042Linear and Nonlinear Approaches to Control ofSingle Joint Motion by Functional ElectricalStimulationWilliam K. Durfee, Mass. Institute of Technology, Daniel J.DiLorenzo, Mass. Institute of Technology
10*0-10:30 (I) 1048Modeling FES Actuation and Control ofMultisegment Limb MovementsGary T. Yamaguchi, Arizona State University, Felix E.Zajac, Stanford University
1030-10:45 (I) 1054Control Issues for Postural Regulation at theHuman AnkleR. J. Jaeger, Illinois Institute of Technology
10:45-11:15 (I) *Selection of Stimulation Output Specificationsbased on Recruitment Characteristics of ImplantedElectrodesDonald McNeal, Rancho Rehabilitation EngineeringProgram, L. L. Baker, University of Southern California,W. Tu, Rancho Rehabilitation Engineering Program, M. .A.M. Robben, Twente University