Proceedings of the

1997 American Control Conference

Albuquerque Convention CenterHyatt Regency Hotel

andDoubletree Hotel

Albuquerque, New MexicoJune 4 -June 6, 1997

Sponsoring Organization

The American Automatic Control Council

U.S. National Member Organization of the

International Federation of Automatic Control (IFAC)

Member Organizations

American Institute of Aeronautics and Astronautics (AIAA)American Institute of Chemical Engineers (AlChE)

Association of Iron and Steel Engineers (AISE)American Society of Civil Engineers (ASCE)

American Society of Mechanical Engineers (ASME)Institute of Electrical and Electronics Engineers (IEEE)

International Society for Measurement and Control (ISA)Society for Computer Simulation International (SCS)

The 1997 ACC is held in cooperation with IFAC

Volume 1 of 6

UNIVERSITATSBIBLIOTHEKHANNOVER

TECHNISCHEINFORMATIONSBIBLIOTHEK

Ballroom

PLENARY SESSION I

Chair: Kheir, Nairn A. Oakland Univ.Co-chair: Yurkovich, Stephen The Ohio State Univ.

Defining the performance envelope in industrial controlGraham C. Goodwin Univ. Newcastle

WA01Control of Civil Structures: Issues, Methods and Advances

Chair: Sain, Michael K. Univ. of Notre DameCo-chair: Spencer, B.F., Jr. Univ. of Notre DameOrganizer: Sain, Michael K. Univ. of Notre Dame

09:15Using tensors to track earthquakes on hydraulic shakertables (I) /Dai, Hongliang Univ. of Notre DameSain, Michael K. Univ. of Notre DameSpencer, B.F., Jr. Univ. of Notre Dame

09:35Structural control via semi-active and hybrid control II) 6

Thai, Khiem Univ. of California at IrvineJabbari, Faryar Univ. of California at IrvineBobrow, James E. Univ. of California at Irvine

09:55Reliability-based covariance control design II) 11

Field, Richard V., Jr. Sandia National Lab.Bergman, Larry A. Univ. of Illinois at Urbana-Champaign

10:15Models for hysteresis and application to structuralcontrol (I) 16

Sain, Patrick M. Hughes Aircraft Co.

10:35Effect of time-delay on multi-degree-of-freedom activelycontrolled civil engineering structures III 21

Agrawal, Anil K. Univ. of California at IrvineYang, Jann N. Univ. of California at Irvine

10:55Robust and LTI H infinity output feedback design forsystems with limited actuator authority II) 26

Breneman, Scott E. Stanford Univ.Chase, J. Geoffrey Xerox Palo Alto Research CenterSmith, H. Allison Stanford Univ.

WA02 AcomaFault Diagnosis

Chair: Gertler, Janos J. George Mason Univ.Co chair: Polycarpou, Marios M. Univ. of Cincinnati

09:15Modeling and diagnosis of timed discrete event systems —a factory automation example 31

Chen, Yi-Liang Univ. of MichiganProvan, Gregory Rockwell International

09:35Combining neuro-fuzzy and machine learning for faultdiagnosis of a d. c. motor 37

Fuessel, Dominik Tech. Univ. of DarmstadtBalle, Peter Tech. Univ. of Darmstadt

09:55Machine learning for model-based diagnosis 42

Hafez, Wassim IntelliSys, Inc.Ross, Timothy Wright Lab.Gadd, David Wright Lab.

10:15Identification of nonlinear processes and modelbased fault isolation using local linear models 47

Balle, Peter Tech. Univ. of DarmstadtJuricic, Dani Jozef Stefan Inst.Rakar, Andrej Jozef Stefan Inst.Ernst, Susanne Tech. Univ. of Darmstadt

10:35A new type reliable control system using decisionby majority 52

Suyama. Koichi Tokyo Univ. of Mercantile MarineZhang, Feifei Tokyo Univ. of Mercantile Marine

10:55Adaptive-control and fault diagnosis implementation usingan industrial computer system 57

Mohamed, Sherif Mostafa Cairo Univ.El shafei, Abdel-Latif Univ. of the United Arab EmiratesBahgat, Ahmed Cairo Univ.Hallouda, Mohab Cairo Univ.

W A 0 3 l s l e t a

LMI-Based Algorithms for Fixed-Order Control Design

Chair: El Ghaoui, Laurent M. ENSTACo-chair: Beran, Eric B. Tech. Univ. of DenmarkCo-organizer: Grigoriadis, Karolos M. Univ. of HoustonCo-organizer: El Ghaoui, Laurent M. ENSTACo-organizer: Beran, Eric B. Tech. Univ. of Denmark

09:15The dual iteration for fixed order control ID 62

Iwasaki, Tetsuya Tokyo Inst. of Tech.

09:35Robust controller synthesis via nonlinear matrixinequalities (I) 67

Collins, Emmanuel G., Jr. Florida A&M - Florida StateSadhukhan, Debashis Florida A&M Florida StateWatson, Layne T. Virginia Poly. Inst. & State Univ.

09:55Numerical comparison of output feedback designmethodslll 72de Oliveira, Mauricio C. UNICAMPGeromel, Jose C. UNICAMP

10:15Solving a class of rank minimization problems viasemi definite programs, with applications to the fixedorder output feedback synthesis II) 77

Mesbahi, Mehran Univ. of Southern CaliforniaPapavassilopoulos, George P. Univ. of Southern California

10:35Computational issues in alternating projection algorithmsfor fixed-order control design II) 81Beran, Eric Tech. Univ. of DenmarkGrigoriadis, Karolos M. Univ. of Houston

10:55A cone complementarity linearization algorithm for staticoutput-feedback and related problems III *

El Ghaoui, Laurent M. ENSTAOustry, Francois Ecole Nationale Superieure de Tec. AvancAitRarni, Mustapha Ecole Nationale Superieure de Tec. Avanc

WA04Robotic Systems Control

Chair: Pao, Lucy Y. Univ. of ColoradoCo-chair: Egeland, Olav Norwegian Univ. of Science & Tech.

09:15Global stabilization of uncertain manipulators usingbounded controls 86

Colbaugh, R. New Mexico State Univ.Barany, E. New Mexico State Univ.Glass, Kristin New Mexico State Univ.

09:35Disturbance estimation based tracking control fora robotic manipulator 92

Liu, Chia-Shang Univ. of MichiganPeng, Huei Univ. of Michigan

09:55Input shaped control of a planar gantry cranewith hoisting 97Singhose, William E. Massachusetts Inst. of Tech.Porter, Lisa J. Massachusetts Inst. of Tech.Seering, Warren P. Massachusetts Inst. of Tech.

10:15Impact model and control of two cooperating planarmanipulators 101

Indri, Marina Politecnico di TorinoTornambe, Antonio Terza Univ. of Rome

10:35Gain-scheduling H-infinity vibration control forSCARA type robot manipulators via LMIs 106

Kang, Zibo Northeastern Univ.Yin, Yingjie Nagoya Univ.Fujii, Seizo Daido Inst. of Tech.Chai, Tianyou Northeastern Univ.

10:55H-infinity control of a robot manipulator usinga linear parameter varying representation 111

Namerikawa, Toru Kanazawa Univ.Fujita, Masayuki Japan Adv. Inst. of Science and Tech.Matsumura, Fumio Kanazawa Univ.

WA05 Nambe

Aircraft Control

Chair: Colgren, Richard Lockheed Advanced Dev. Co.Co-chair: Sasiadek, Jurek Carleton Univ.

09:15Longitudinal control of an advanced combat aircraft usingquantitative feedback theory 113

Breslin, S. G. Univ. of StrathclydeGrimble, M. J. Univ. of Strathclyde

09:35A combined MBPC/H-infinity automatic pilot fora civil aircraft 118

Papageorgiou, George Cambridge Univ.Huzmezan, Mihai Cambridge Univ.Glover, Keith Cambridge Univ.Maciejowski, Jan Cambridge Univ.

09:55On the design of LPV controllers for the F-14 aircraftlateral-directional axis during powered approach 723

Balas, Gary J. Univ. of MinnesotaFiahlo, Ian Univ. of MinnesotaPackard, Andy Univ. of California at BerkeleyRenfrow, Joe Naval Air Warfare CenterMullaney, Chris Naval Air Warfare Center

10:15Linear fractional transformation control of the F-14lateral-directional axis during powered approach landing 128

Fialho, Ian J. Univ. of MinnesotaBalas, Gary J. Univ. of MinnesotaPackard, Andrew K. Univ. of California at BerkeleyRenfrow, J. Naval Air Warfare CenterMullaney, C. Naval Air Warfare Center

10:35MMAE-based control redistribution applied tothe VISTA F-16 133Stepaniak, Michael J. Air Force Inst. of Tech.Maybeck, Peter S. Air Force Inst. of Tech.

10:55Nonlinear H flight control 140

Yang, Ciann-Dong National Cheng Kung Univ.Kung, Chien-Chung National Cheng Kung Univ.

W A 0 6 N a v a j O

Manufacturing Systems Applications

Chair: Khargonekar, Pramod P. Univ. of MichiganCo-chair: de Roover, Dick Delft Univ. of Tech.

09:15Internal model control approach to run-to-run controlfor semiconductor manufacturing 745

Adivikolanu, Sudhakar Univ. of MarylandZafiriou, Evanghelos Univ. of Maryland

09:35A variational approach to optimal open-loop ramvelocity profiles for isothermal forging 750

Berg, Jordan M. Univ. of MinnesotaFrazier, W. Garth Wright Lab.Chaudhary, Anil Wright Lab.Banda, Siva S. U. S. Air Force

09:553 1/2 DOFpolynomial solution of the inferential Ft /Hcontrol problem with application to metal strip rolling *Grimble, Michael John Univ. of Strathclyde

10:15Sensorless in-process measurement of instantaneousdepth of cut and cutting force in turning 755

Shiraishi, M. Ibaraki Univ.Aoshima, S. Ibaraki Univ.

10:35Maximum entropy approach to the control of mixing 160

D'Alessandro, Domenico Univ. di PadovaDahleh, Mohammed Univ. of California at Santa BarbaraMezic, Igor Univ. of California at Santa Barbara

10:55A genetic algorithm for job shop scheduling in real time ... 162

Wu, Zhiming Shanghai Jiao Tong Univ.Zhao, Chunwei Shanghai Jiao Tong Univ.

11:15Advanced control system design for high speedultra accurate manufacturing sytems 164

Khorrami, F. Polytechnic Univ.Melkote, H. Polytechnic Univ.Ish-Shalom, J. Polytechnic Univ.

WA07 Picuris

Least Squares Estimation

Chair: Bai, Er-Wei Univ. of IowaCo-chair: Bayard, David S. California Inst. of Tech.

09:15Best-fit parameter estimation for a boundederrors-in-variables model 166Chandrasekaran, S. Univ. of California at Santa BarbaraGolub, Gene H. Stanford Univ.Gu, Ming Univ. of California at Los AngelesSayed, AN H. Univ. of California at Los Angeles

09:35Worst-case parameter estimation with bounded modeluncertainties 171

Chandrasekaran, S. Univ. of California at Santa BarbaraGolub, Gene H. Stanford Univ.Gu, Ming Univ. of California at Los AngelesSayed, AN H. Univ. of California at Los Angeles

09:55Observer design for non-integrable systems 7 76Lynch, Alan F. Univ. of TorontoBortoff, Scott A. Univ. of Toronto

10:15Frequency dependent error bounds for uncertainlinear models 7S7

Andersson, Lennart Lund Inst. of Tech.Rantzer, Anders Lund Inst. of Tech.

10:35ARMARKOV least-squares identification 186

Akers, James C. Univ. of MichiganBernstein, Dennis S. Univ. of Michigan

10:55Time-domain identification using ARMARKOV/Toeplitzmodels 191

Akers, James C. Univ. of MichiganBernstein, Dennis S. Univ. of Michigan

WA08 Santa Ana

Control Applications I

Chair: Dahleh, Mohammed A.Univ. of California at Santa Barbara

Co-chair: Kolmanovsky, llya V. Ford Motor Co.

09:15Control of chaos in atomic force microscopes 196Ashhab, S.. Univ. of California at Santa BarbaraSalapaka, Murti V. Univ. of California at Santa BarbaraDahleh, Mohammed A. Univ. of California at Santa BarbaraMezic, I. Univ. of California at Santa Barbara

09:35A synthetic approach for control of intermittent windtunnel 203Zhang, Guijun Northeastern Univ.Chai, Tianyou Northeastern Univ.Shao, Cheng Northeastern Univ.

09:55Investigations into treatment strategies aidingthe immune response to Haemophilus influenzae 208Rundell, A. Purdue Univ.DeCarlo, R. Purdue Univ.Balakrishnan, V. Purdue Univ.HogenEsch, H. Purdue Univ.

10:15Experimental research on a hot swappable bus system 213Yamada, Tsutomu Hitachi, Ltd.Kaminaga, Yasuo Hitachi, Ltd.Kurosawa, Ken'ichi Hitachi, Ltd.Ohashi, Akihiro Hitachi, Ltd.Masui, Koji Hitachi, Ltd.

10:35Decentralized robust regulation of metro lines 218

Milani, Basilio E. A. DT/FEE/UNICAMPCorrea, Silvino S. UFMT- FTN - DEE

10:55Coder-estimator sequence for power control 220

Li, Xia Chinese Univ. of Hong KongWong, Wing Shing Chinese Univ. of Hong Kong

11:15Designing, building, and using real-time controlexperiments for university research *

Murray, Richard M. California Inst. of Tech.

WA09 A z t e C

Neural Network Applications I

Chair: Michel, Anthony N Univ. of Notre DameCo-chair: Fedrowitz, Christian H. Universitaet-GH-Siegen

09:15Application of dynamic neural networks to approximationand control of nonlinear systems 222

Amin, S. Massoud Washington Univ.Rodin, Ervin Y. Washington Univ.Wu, Alan Y. Washington Univ.

09:35Adjustable neural network controller:Application to a large segmented reflector 227

Luzardo, Jose-Alberto Claremont Graduate SchoolChassiakos, Anastassios California State Univ., Long BeachRyaciotaki-Boussalis, Helen California State Univ., LA

09:55A neural network based approach for the identificationand optimal control of a cantilever plate 232

Han, Tianjing Univ. of Missouri, RollaAcar, Levent Univ. of Missouri, Rolla

10:15Commutating switched reluctance motors efficientlyvia CMAC neural network with learning rate function 237Shang, Changjing Heriot-Watt Univ.Reay, Donald S. Heriot-Watt Univ.Williams, Barry W. Heriot-Watt Univ.

10:35Robust adaptive nonlinear system identificationand trajectory tracking by dynamic neural networks 242

Poznyak, Alexander S. CINVESTAV-IPNSanchez, Edgar N. Univ. Auton. de Nuevo LeonPerez, Jose P. Univ. Auton. de Nuevo LeonYu, Wen CINVESTAV-IPN

10:55Estimation of impurity and fouling in batch polymerisationreactors using stacked neural networks 247

Zhang, J. Univ. of Newcastle Upon TyneMorris, A. J. Univ. of Newcastle Upon TyneMartin, E. B. Univ. of Newcastle Upon TyneKiparissides, C. Univ. of Thessaloniki

WA10 Cimarron

Practical Electrical Motor Control

Chair: Masten, Michael K. Texas InstrumentsCo-chair: Bodson, Marc Univ. of UtahOrganizer: Masten, Michael K. Texas InstrumentsCo-organizer: Panahi, Issa Texas Instruments

09:15Electronic chips for electric motor control ID 252

Bodson, Marc Univ. of Utah

09:35A review ofthree PWM techniques ID 257

Yu, Zhenyu Texas InstrumentsMohammed, Arefeen Texas InstrumentsPanahi, Issa Texas Instruments

09:55Advances in brush/ess motor control (!) 3985

Murray, Aengus Analog Devices Inc.Kettle, Paul Analog Devices Inc.Moynihan, Finbarr Analog Devices Inc.

10:15Implementing a simple vector controller (I) 262

Pinewski, Peter J. Motorola Corp.

10:35Nonlinear control of a series DC motor:Theory and experiment ID 267Mehta, Samir ABB Daimler-Benz TransportationChiasson, John ABB Daimler-Benz Transportation

10:55Switched reluctance motor control techniques 272

(I) DiRenzo, Michael T. Texas InstrumentsMasten, Michael K. Texas InstrumentsCole, Charles P. Texas Instruments

W A 1 1 Dona Ana

Engine-Powertrain Control

Chair: Alleyne, Andrew G. Univ. of Illinois at Urbana-ChampaignCo-chair: Rizzoni, Giorgio The Ohio State Univ.Organizer: Alleyne, Andrew G.

Univ. of Illinois at Urbana-Champaign

09:15Comparative analyses for idle speed control:A crank-angle domain viewpoint (I) 278

Yurkovich, Stephen The Ohio State Univ.Simpson, Melinda Engineering Tech. Center

09:35Emission and drivability tradeoffs in a variable camtiming SI engine with electronic throttle 284(I) Hsieh, Shih-Chieh Univ. of MichiganStefanopoulou, Anna G. Ford Motor Co.Freudenberg, James S. Univ. of MichiganButts, Kenneth K. Ford Motor Co.

09:55Disturbance rejection problem in SI engines withvariable camshaft timing ID 289Jankovic, Mrdjan Ford Research Lab.Frischmuth, Florian Ford Motor Co.

10:15Modeling, validation and system identification ofa natural gas engine (II 294

Gangopadhyay, Anupam Purdue Univ.Meckl, Peter Purdue Univ.

10:35Determination of influencing inputs and their ordersfor nonlinear dynamic systems - Application to ICengine modeling ID 299

Krishnaswami, Vasanth The Ohio State Univ.

10:55Modeling and model-based control of superchargedSl-engines for cars with minimal fuel consumption 304

(I) Pfiffner, R. Swiss Fed. Inst. of Tech.Weber, F. Swiss Fed. Inst. of Tech.Amstutz, A. Swiss Fed. Inst. of Tech.Guzzella, L. Swiss Fed. Inst. of Tech.

l ^ Galisteo

On-Line Monitoring & Fault Detection in Chemical Processes

Chair: Yin, Kewen Univ. of MinnesotaCo-chair: Qin, S. Joe Univ. of Texas at AustinOrganizer: Ogunnaike, Babatunde A.

E.I. du Pont de Nemours and Co.

09:15A wavelet theory—Based adapttive trend analysissystem for process monitoring and diagnosis III 309

Vedam, Hiranmayee Purdue Univ.Venkatasubramanian, Venkat Purdue Univ.

09:35Relationship between PCA and process models for theassessment of controler performance III *

Bezergianni, Stella Lehigh Univ.Georgakis, Christos Lehigh Univ.

09:55Multi-dimensional fault diagnosis using a subspaceapproach ID *

Dunia, Ricardo Fisher-Rosemount Systems, Inc.Qin, S. Joe Univ. of Texas at Austin

10:15Monitoring sensor performance in multivariablecontinuous processes ID 374

Negiz, Antoine UOP Inc.Cinar, Ali Illinois Inst. of Tech.

10:35Monitoring and detection of indoor air contamination III ... 319

Skliar, Mikhail Univ. of UtahRamirez, W. Fred Univ. of Colorado

10:55A robust method for fault isolation ID 324

Yin, K. Karen Univ. of Minnesota

WA13 La Cienega

Adaptive Control

Chair: Kamen, Edward W. Georgia Inst. of Tech.Co-chair: Kaufman, Howard Rensselaer Polytechnic Inst.

09:15A control Lyapunov function approach to robuststabilization of nonlinear systems 329

McConley, Marc W. Massachusetts Inst. of Tech.Appleby, Brent D.

Charles Stark Draper Lab.-Massachusetts Inst. of Tech.Dahleh, Munther A. Massachusetts Inst. of Tech.

09:35Discrete-time adaptive control of continuous-timesystems with internal and external point delays 334

de la Sen, Manuel Univ. del Pais VascoPena, A. Basque Country Univ.

09:55Incremental linear controllers network 336

Ronco, Eric Univ. of GlasgowGawthrop, Peter J. Univ. of Glasgow

10:15Lp-robustness and exponential convergence of someestimation schemes in adaptive control 338

Nascimento, Vitor H. Univ. of California at Santa BarbaraSayed, AN H. Univ. of California at Los Angeles

10:35The model-free learning adaptive control ofa class of SISO nonlinear systems 343

Hou, Zhongsheng Harbin Inst. of Tech.Huang, Wenhu Harbin Inst. of Tech.

W A 1 4 Mesilla

Robust Control & Regulation

Chair: Hsu, Chin Shung Washington State Univ.Co-chair: Belcastro, Christine M. NASA Langley Research Center

09:15Model reference robust control for MIMO systems 345Ambrose, H. Univ. of Central FloridaQu, Z. Univ. of Central Florida

09:35DC optimization approach to robust controls:The optimal scaling value problem 350Tuan, H. D. Nagoya Univ.Hosoe, S. Nagoya Univ.Tuy, H. Inst. of Mathematics, Hanoi

09:55When is a linear robust regulator optimal? 356Kogan, Mark M. Nizhni Novgorod State Univ.

10:15Mu-synthesis with matrix valued sea lings—Algorithms and examples 361

McKelvey, Tomas Linkoping Univ.Helmersson, Anders Linkoping Univ.

10:35Complex-analytic theory of the mu-function 366Jonckheere, Edmond A. Univ. of Southern CaliforniaKe, Nainn-Ping Univ. of Southern California

10:55Robust tuning control of multi-model systems 372Yamamoto, Shigeru Osaka Univ.Yamauchi, Koichi Osaka Univ.

WA15 Pecos

Nonlinear Robust Control

Chair: Basar, Tamer Univ. of Illinois at Urbana-ChampaignCo-chair: Gundes, A. Nazli Univ. of California at Davis

09:15Decentralized robust control for a class of nonlinearsystems 374

Tang, Yu Univ. of California at BerkeleyTomizuka, Masayoshi Univ. of California at Berkeley

09:35Nonlinear control of agile missiles using state dependent Riccatiequation vs LQ gain scheduling in missile flight control HI . 379Wise, Kevin A. McDonnell Douglas AerospaceSedwick, Jackson L. McDonnell Douglas Aerospace

09:55Finite-horizon bounded amplitude performance oflinear parameter varying systems 381

Bett, Christopher J. Univ. of Notre DameLemmon, Michael Univ. of Notre Dame

10:15Self-scheduled nonlinear output feedback H-infinity-controlof a class of nonlinear systems 386

Rehm, A. Univ. of StuttgartAllgower, F. ETH Zurich

10:35Nonlinear H-infinity state feedback controllers:computation of valid region 391Cromme, Marc Tech. Univ. of DenmarkMoeller-Pedersen, Jens TetraPlan ApSPetersen, Martin Pagh Ministry of Transport

10:55Linear and nonlinear H-infinity control: An example 396de Jager, Bram Eindhoven Univ. of Tech.

WA16 Ruidoso

Nonlinear System Stability

Chair: RayChaudhuri, Tirthankar Macquarie Univ.Co-chair: Hollot, Christopher V. Univ. of Massachusetts

09:15Exponentially convergent controllers for nth-dimensionalnonholonomic systems in power form 398

Luo, Jihao Univ. of VirginiaTsiotras, Panagiotis Univ. of Virginia

09:35Optimal nonlinear robust control for nonlinear uncertaincascade systems 403Haddad, W. M. Georgia Inst. of Tech.Chellaboina, V. S. Georgia Inst. of Tech.Fausz, J. L. Georgia Inst. of Tech.Leonessa, A. Georgia Inst. of Tech.

09:55On the zero-input stability of control systems withClegg integrators 408

Hu, H. Univ. of MassachusettsZheng, Y. Univ. of MassachusettsChait, Yossi Univ. of MassachusettsHollot, Christopher V. Univ. of Massachusetts

10:15A convex characterization of analysis and synthesisfor nonlinear systems via extended quadraticLyapunov function 477

Sasaki, Seigo Waseda Univ.Uchida, Kenko Waseda Univ.

10:35Polytopic control Lyapunov functions for robuststabilization of a class of nonlinear systems 416

McConley, Marc W. Massachusetts Inst. of Tech.Dahleh, Munther A. Massachusetts Inst. of Tech.

10:55Pointwise conditions for improving control on a knownregion of asymptotic stability 420

Direen, Harry G., Jr. Univ. of ColoradoFosha, Charles E. Univ. of ColoradoFrick, Pieter A. Univ. of Colorado

San MiguelWA17

Stochastic Modeling & Control

Chair: Yaz, Edwin E. Univ. of ArkansasCo-chair: Chong, Edwin K.P. Purdue Univ.

09:15Stochastic modeling of fatigue cracks forreal-time damage sensing 425

Ray, Asok Pennsylvania State Univ.Tabgirala, Sekhar Pennsylvania State Univ.

09:35Output feedback risk-sensitive control and dynamicgames: Small noise limits 430

Charalambous, Charalambos D. McGill Univ.

09:55New finite-dimensional stochastic optimal controlproblems .' 435

Charalambous, Charalambos D. McGill Univ.Elliott, Robert J. Univ. of Alberta

10:15Interval models for target tracking algorithms 440

Cong, Shan Wright State Univ.Hong, Lang Wright State Univ.

10:35Using a hidden Markov process to both characterizecritical human tracking regions and to predictthe incidence of pilot induced oscillation 443Repperger, D. W. Wright Patterson Air Force BaseKoivo, A. J. Purdue Univ.Haas, M. W. Wright Patterson Air Force Base

10:55Optimal nonlinear disturbance rejection control fornonlinear cascade systems 448

Haddad, Wassim M. Georgia Inst. of Tech.Chellaboina, Vijaya-Sekhar Georgia Inst. of Tech.Fausz, Jerry L. Georgia Inst. of Tech.

WM01 Zun i

Case Studies of Vibration Control for Civil Structures

Chair: Beck, James L. California Inst. of Tech.Co-chair: Smith, H. Allison Stanford Univ.Organizer: Beck, James L. California Inst. of Tech.

13:15Vibration control of structures during urbanearthquakes (I) 3357

Makris, Nicos Univ. of California at Berkeley13:35Design of an active mass damper for a tall TV towerin Nanjing, P.R.China II) *

Reinhorn, Andrei M. State Univ. of New York at BuffaloSoong, T.T. State Univ. of New York at BuffaloCao, H. State Univ. of New York at Buffalo

13:55Structural control of long-span bridges under wind action:Present practice and new approaches ID *

Fujino, Y. Univ. of TokyoWilde, Krzysztof Univ. of Tokyo

14:15Development and application of nonlinear controllerusing variable damping devices ID 453

Hatada, Tomohiko Stanford Univ.Smith, H. Allison Stanford Univ.

14:35Semiactive vibration control for an inserviceinterstate bridge (I) *

Sun, J. Univ. of OklahomaSong, G. Univ. of OklahomaLi, G. Univ. of OklahomaFang, X. Univ. of OklahomaPatten, Wm. Neff Univ. of Oklahoma

14:55On the current status of magnetorheological dampers:Seismic protection of full-size structures ID 458Spencer, B.F., Jr. Univ. of Notre DameCarlson, J.D. Lord CorporationSain, M. K. Univ. of Notre DameYang, G. Univ. of Notre Dame

WM02 A c o m a

Fault Detection & Isolation

Chair: Saif, Mehrdad Simon Fraser Univ.Co-chair: Watkins, John W. U.S. Naval Academy

13:15Fault detection and isolation for a class of nonlinearsystems using an adaptive observer 463

Yang, Hanlong Simon Fraser Univ.Saif, Mehrdad Simon Fraser Univ.

13:35Detection and isolation of sensor faults on nonlinearprocesses based on local linear models 468

Balle, Peter Tech. Univ. of DarmstadtFuessel, Dominik Tech. Univ. of DarmstadtHecker, Oliver Tech. Univ. of Darmstadt

13:55A self-validating inferential sensor for emission monitoring . 473

Qin, S. Joe Univ. of Texas at AustinYue, Hongyu Univ. of Texas at AustinDunia, Ricardo Univ. of Texas at Austin

14:15Robust observation and fault diagnosis in a classof time-delay control systems 478Yang, Hanlong Simon Fraser Univ.Saif, Mehrdad Simon Fraser Univ.

14:35A real-time fault diagnosis and parameter trackingscheme 483

Poshtan, J. Univ. of New BrunswickDoraiswami, R. Univ. of New BrunswickStevenson, M. Univ. of New Brunswick

14:55The design generalization and adjustment ofa failure isolation and accomodation system 488

Tsui, Chia-Chi CUNY Staten Island College

WM03Applications of Linear Matrix Inequalities

Chair: Gajic, Zoran R. Rutgers Univ.Co-chair: Misra, Pradeep Wright State Univ.

13:15LMI synthesis of parametric robust H-infinity controllers 493

Banjerdpongchai, David Stanford Univ.How, Jonathan P. Stanford Univ.

13:35Output-feedback stabilization with prescribeddegree of stability 499

Benton, Robert E., Jr. Louisiana State Univ.Smith, Dirk Louisiana State Univ.

13:55Discretization of Lyapunov functional for uncertaintime-delay systems 505Gu, Keqin Southern Illinois Univ.

14:15An approach to solving parameter-dependent LMIconditions based on finite number of LMI conditions 570Azuma, Takehito Waseda Univ.Watanabe, Ryo Waseda Univ.Uchida, Kenko Waseda Univ.

14:35A linear matrix inequality approach to synthesizinglow order mixed 11/hp controllers 575

Bu, Juanyu Penn State Univ.Sznaier, Mario Penn State Univ.

14:55LMI approach to the real parametric robust stabilityproblem with multipliers 520

Gapski, Pedro B. UNICAMPGeromel, Jose C. UNICAMP

W M 0 4 J e m e z

Mobile Robots

Chair: Sasiadek, Jurek Carleton Univ.Co-chair: Cheok, Ka Chai Oakland Univ.

13:15A fuzzy logic intelligent control system architecture foran autonomous leader-following vehicle 522

Cheok, K. C. Oakland Univ.Smid, G.E. Oakland Univ.Kobayashi, K. Oakland Univ.Overholt, J. L. U.S. ArmyLescoe, P. U.S. Army

13:35An application of the extended Kalman filterfor integrated navigation in mobile robotics 527Alessandri, A. Univ. di GenovaBartolini, Giorgio Univ. degli Studi di CagliariPavanati, P. Univ. di GenovaPunta, E. Univ. di GenovaVinci, A. Univ. di Genova

13:55Path planning for nonholonomic systems with drift 532Godhavn, John-Morten Norwegian Univ. of Science & Tech.Balluchi, Andrea Univ. di PisaCrawford, Lara S. Univ. of California at BerkeleySastry, Shankar S. Univ. of California at Berkeley

14:15A sub optimal algorithm for automatic map building 537

Csorba, Michael Univ. of OxfordUhlmann, Jeffrey K. Naval Research Lab.Durrant-Whyte, Hugh F. Univ. of Sydney

14:35Wheel rolling constraints and slip in mobilerobots—simulationresults 542

Shekhar, Shashank Oak Ridge National Lab.

WM05 Nambe

Attitude Control

Chair: Hadaegh, Fred Y. California Inst. of Tech.Co-chair: Jackson, Paul John Hopkins Univ.

13:15Robust thrust estimation for aerospace vehiclereaction control systems 547

Agustin, Ramses M. Massachusetts Inst. of Tech.Mangoubi, Rami S. Charles Stark Draper Lab.Hain, Roger M. Charles Stark Draper Lab.Adams, Neil J. Charles Stark Draper Lab.

13:35An adaptive scheme with parameter identificationfor spacecraft attitude control 552Zaremba, A. T. Ford Motor Co.

13:55Calibration of the Mi/star attitude determination system 557

Reid, Donald B. Lockheed Martin Missiles & Space

14:15A decoupled sliding mode controller and observer forsatellite attitude control 564

McDuffie, James H. Univ. of Alabama at HuntsvilleShtessel, Yuri B. Univ. of Alabama at Huntsville

14:35A characterization of some global properties ofthe extended Kalman filter *Fromion, Vincent Ecole Superieure D'Electricite-LSSFerreres, Gilles CERT-ONERA

WM06 N a v a j o

Theory and Practice of Manufacturing Systems

Chair: Masten, Michael K. Texas InstrumentsCo-chair: Van Til, Robert P. Oakland Univ.

13:15The LQGPproblem: A manufacturing application 566Westman, J. J. Univ. of Illinois at ChicagoHanson, F. B. Univ. of Illinois at Chicago

13:35Control system design using low order controllers:Constant gain, PI and PID 577Ho, Ming-Tzu Texas A & M Univ.Datta, Aniruddha Texas A & M Univ.Bhattacharyya, Shankar P. Texas A & M Univ.

13:55Advanced model based control for continuousprocess industries 573

Gough, Bill Universal Dynamics LimitedKay, John Process Automation Systems Inc.

14:15Neural network control of distillation:An industrial application 5S5

Ramchandran, Soundar Monsanto, Fibers-AN Tech.

14:35Stability of a signal Kanban manufacturing system 590Seidman, Thomas I. Univ. of Maryland, Baltimore CountyHolloway, Lawrence E. Univ. of Kentucky

14:55Estimation of the weight distribution function ofa complex object for portion control in an innovativecan filling system 595Omar, F. Univ. of British Columbiade Silva, C. W. Univ. of British Columbia

PicurisWM07

System Identification

Chair: Sznaier, Mario Pennsylvania State Univ.Co-chair: Dumont, Guy A. Univ. of British Columbia

13:15Robust identification with mixed time/frequency-domainexperiments: Theory and an application 600

Sznaier, Mario Pennsylvania State Univ.Inane, Tamer Pennsylvania State Univ.Sanchez Pena, Ricardo S. Univ. de Buenos AiresParrilo, Pablo A. Univ. de Buenos Aires

13:35Nonlinear error mapping technology in systemidentification 605

Lyashevskiy, Sergey Purdue Univ. at Indianapolis

13:55A bilinear extension of subspace identificationfor systems subject to white inputs 607Favoreel, W. Katholieke Univ. LeuvenDe Moor, B. Katholieke Univ. LeuvenVan Overschee, P. Katholieke Univ. Leuven

14:15Identification and control of crystallization dynamicsduring sheet polymer extrusion 612

Batur, Celal Univ. of AkronThananchai, Leephakpreeda Univ. of Akron

14:35The Lyapunov stability theory in system identification 617Lyashevskiy, Sergey Purdue Univ. at IndianapolisChen, Yaobin Purdue Univ. at Indianapolis

14:55Identification of multivariable stochastic linear systemsvia spectral analysis given time-domain data 622Tugnait, Jitendra K. Auburn Univ.

WM08 S a n t a A n a

Control Applications II

Chair: Canudas de Wit, CarlosLaboratoire d'Automatique de Grenoble

Co-chair: Balakrishnan, Venkataramanan Purdue Univ.

13:15Modeling and filtering of optical emission spectroscopydata for plasma etching systems 62 7

Rangan, Sundeep Univ. of California at BerkeleySpanos, Costas Univ. of California at BerkeleyPoolla, Kameshwar Univ. of California at Berkeley

13:35Optimal torque control for current-feeded induction motors . 629

Canudas de Wit, Carlos Laboratoire d'Automatique de GrenobleRamirez, Jose Laboratoire d'Automatique de Grenoble

13:55Experiments and simulations on the nonlinearcontrol of a hydraulic servosystem 63 7

Sohl, Garett A. Univ. of California at IrvineBobrow, James E. Univ. of California at Irvine

14:15Modeling and simulation of a hybrid-electric vehicledrivetrain 636

Hubbard, Gregory A. Massachusetts Inst. of Tech.Youcef-Toumi, Kamal Massachusetts Inst. of Tech.

14:35System level control of a hybrid-electric vehicledrivetrain 64 7

Hubbard, Gregory A. Massachusetts Inst. of Tech.Youcef-Toumi, Kamal Massachusetts Inst. of Tech.

14:55Modeling and control of magnetically levitated rotatingmachines 646

Yeh, T.-J. Massachusetts Inst. of Tech.Youcef-Toumi, K. Massachusetts Inst. of Tech.

WM09 A z t e c

Neural Network Applications II

Chair: Ogunye, Ayowale B. Air Products and Chemicals Inc.Co-chair: Meckl, Peter H., Purdue Univ.

13:15Reference governors for supplemental torquesource control in turbocharged diesel engines 652

Kolmanovsky, I. V. Ford Motor Co.Gilbert, E. G. Univ. of MichiganCook, J. A. Ford Motor Co.

13:35Implementation of a neural net tracking controller for a singleflexible link: comparison with PD and PID controllers 657Gutierrez, Luis B. Student UTA (ARRI)Lewis, Frank L. Univ. of Texas at Arlington

13:55Neural control of the NASA Langley 16-foottransonic tunnel 662Motter, Mark A. NASA Langley Research CenterPrincipe, Jose C. Univ. of Florida

14:15Neuro-adaptive tracking control algorithms for a classof nonlinear systems 664Song, Y.D. North Carolina A&T State Univ.

14:35Virtual sensors for spark ignition engines usingneural networks 669

Hanzevack, Emil L. NeuroDyne Inc.Long, Theresa W. NeuroDyne Inc.Atkinson, Chris M. NeuroDyne Inc.Traver, Michael L. NeuroDyne Inc.

14:55Soft Sensing based on artificial neural network 674Yang, Yingxu Northeastern Univ.Chai, Tianyou Northeastern Univ.

W M 1 0 Cimarron

Control and Energy Management Strategies for Hybrid Vehicles

Chair: Salman, Mutasim A. GMCo-chair: Kheir, Nairn A. Oakland Univ.Organizer: Salman, Mutasim A. GM

13:15HEV control strategy: implications of performancecriteria, system configuration and design, andcomponent selection ID 679Moore, Timothy C. Rocky Mountain Inst.

13:35Parallel hybrid electric vehicle dynamic modeland power train control II) 684

Cikanek, S.R. Ford Motor Co.Bailey, K.E. Ford Motor Co.Powell, B.K. Ford Motor Co.

13:55A rule-based energy management strategy for a serieshybrid vehicle (I) 689

Jalil, N. Oakland Univ.Kheir, N. A. Oakland Univ.Salman, Mutasim A. GM

14:15Control parameters for hybrid electric vehicles ID *Scott McBroom Southwest Research Inst.Jayant Sarlashkar Southwest Research Inst.David Buntin Southwest Research Inst.Joseph Grogan Southwest Research Inst.

14:35Hybrid control strategy for the 1996 Virginia Tech FutureCar ID *

Senger, Randall D. Virginia Poly. Inst. & State Univ.Merkle, Matthew A. Virginia Poly. Inst. & State Univ.Nelson, Douglas J. Virginia Poly. Inst. & State Univ.

14:55Strategy for increasing hybrid electric vehiclereversibility III 694

Metrakos, G. Concordia Univ.Hong, H. Concordia Univ.Krepec, T. Concordia Univ.

W M 1 1 Dona Ana

Vehicle Suspension Control

Chair: Alleyne, Andrew G. Univ. of Illinois at Urbana-ChampaignCo-chair: Peng, Huei Univ. of MichiganOrganizer: Alleyne, Andrew G.

Univ. of Illinois at Urbana-ChampaignCo-organizer: Peng, Huei Univ. of Michigan

13:15LQ and H-infinity preview control fora durability simulator ID ' 699

Mianzo, Larry A. Ford Motor Co.Peng, Huei Univ. of MichiganMianzo, Larry A. Ford Motor Co.

13:35A nonlinear dynamic model of a monotubeshock absorber ID 704

Mollica, R. GE Aircraft EnginesYoucef-Toumi, K. Massachusetts Inst. of Tech

13:55A novel active suspension design technique-simulation and experimental results ID 709

Peng, Huei Univ. of MichiganStrathearn, Ryan Univ. of MichiganUlsoy, A. Galip Univ. of Michigan

14:15Road-adaptive nonlinear design of active suspensions ID ... 714

Lin, Jung-Shan Univ. of California at Los AngelesKanellakopoulos, loannis Univ. of California at Los Angeles

14:35Control of a two active-axes suspension formaglev vehicles 3962

Carabelli, S. Politecnico di TorinoDelprete, C. Politecnico di TorinoGenta, G. Politecnico di TorinoZanolli, S. Politecnico di Torino

14:55Controlling the ride quality of the central portionof a high-speed railway vehicle 773

Pratt, Ian Loughborough Univ. of Tech.Goodall, Roger Loughborough Univ. of Tech.

W M 1 2 G a M s t e o

Advanced Process Control and the Process Industry

Chair: Palanki, Srinivas FAMU/FSU College of Eng.Co-chair: Sriniwas, Ravi International Paper Co.Organizer: Ogunnaike, Babatunde A.

E.I. du Pont de Nemours and Co.

13:15Practical development of a nonlinear controller foran industrial-scale batch polymerization reactor II) 724

Wright, Raymond A. Dow Chemical Co.Kravaris, Costas Univ. of Michigan

13:35Selection of the move suppression coefficientsin tuning dynamic matrix control ID 723

Shridhar, Rahul Univ. of ConnecticutCooper, Douglas J. Univ. of Connecticut

13:55Process control applications of adaptive lambda tracking III 734

Allgower, F. ETH Zurichllchmann, A. Univ. of Exeter

14:15Nonlinear control of an oil well ID 739

Nikravesh, Masoud Univ. of California at BerkeleySoroush, Masoud Drexel Univ.Johnston, R. Michael CalResources LLC

14:35Intelligent process control for batch processes II) *

Mathur, Anoop Honeywell Technical CenterFoslien, Wendy Honeywell Technical Center

W M 1 3 L a Cienega

Robust Adaptive Control

Chair: Ghanadan, Reza Lucent TechnologiesCo-chair: Haissig, Christine Honeywell Technical Center

13:15Robustness of MRA C schemes 744Tao, Gang Univ. of Virginia

13:35Robustness of the adaptive backstepping controllersfor linear systems 746Zhang, Youping Univ. of Southern Californialoannou, Petros A. Univ. of Southern California

13:55Adaptive regulation of impact induced forces for threedegree of freedom collisions: a backstepping approach 757Gentili, F. Univ. di Roma 'Tor Vergata'Tornambe, A. Terza Univ. of Rome

14:15Adaptive control of a fatigue test machine foron-line damage sensing/life prediction 756

Keller, Eric Pennsylvania State Univ.Zhang, Hui Pennsylvania State Univ.Ray, Asok Pennsylvania State Univ.

14:35Adaptive backstepping control for an XV'-table 758

Rijs, Rob Eindhoven Univ. of Tech.de Jager, Bram A. G. Eindhoven Univ. of Tech.

14:55Robust adaptive control of time-varying systemswith unknown backlash nonlinearity 763Han, Cun Wu Beijing Univ. of Posts & Telecomm.Zhong, Yi Xin Beijing Univ. of Posts & Telecomm.

W M 1 4 M e s i " a

Robust Control Design

Chair: Collins, Emmanuel G., Jr. . Florida A&M - Florida StateCo-chair: Fadali, Mohammed Sami Univ. of Nevada

13:15Near optimal decentralized H-infinity control:bounded vs. unbounded controller orders 765

Stoustrup, J. Tech. Univ. of DenmarkNiemann, H. H. Tech. Univ. of Denmark

13:35Optimal nonlinear-nonquadratic feedback controlfor systems with L2 and L-infinity disturbances 773

Haddad, Wassim M. Georgia Inst. of Tech.Chellaboina, Vijaya-Sekhar Georgia Inst. of Tech.

13:55Worst-case performance and stability of multiratesampled-data systems with nonsynchronousdecentralized controllers 775

Ito, Hiroshi Kyushu Inst. of Tech.14:15State-space structure of finite horizon optimal mixedH2/H-infinity filters 754

Haider, B. Stanford Univ.Hassibi, B. Stanford Univ.Kailath, T. Stanford Univ.

14:35Loop transfer recovery design with proportional integralobserver based on H-infinity optimal observation 756

Yao, Y.X. Univ. of KentuckyZhang, Y.M. Univ. of KentuckyKovacevic, R. Univ. of Kentucky

14:55Theory and applications of the robust cross-coupledcontrol design 73 7Yeh, Shy-Shiuh National Chiao Tung Univ.Hsu, Pau-Lo National Chiao-Tung Univ.

WM15 PeC0S

Issues in Nonlinear Control

Chair: McClamroch, N. Harris Univ. of MichiganCo-chair: Ho-Mock-Qai, Bertina

Centre d'Etudes de la Navigation Aerienn

13:15Trajectory tracking of multi-link systems with input delayvia simultaneous modulation of torque and stiffness 796Lee, Kyong-Ri Case Western Reserve Univ.Chizeck, Howard J. Case Western Reserve Univ.Lin, Wei Case Western Reserve Univ.

13:35On the suitability of bifurcation based stabilization controllaws for high order Moore-Greitzer compressor models 507

Hendrickson, Erik S. U.S. Air Force Wright LaboratorySparks, Andrew G. U.S. Air Force Wright Laboratory

13:55Decreasing sensitivity due to parametric multimodelsin dynamic leader-follower incentive design 506

Sikora, Martin A. The Ohio State Univ.Cruz, Jose B., Jr. The Ohio State Univ.

14:15Reliable nonlinear control system design usingduplicated control elements: Single contingency case 57 7

Liu, Yuqiong Nanyang Tech. Univ.Wang, Jianliang Nanyang Tech. Univ.Yang, Guang-Hong Nanyang Tech. Univ.Soh, C. B. Nanyang Tech. Univ.

14:35A force rebalance accelerometer for an atmosphericweather probe 576Pusateri, M.A. Pennsylvania State Univ.Schiano, J. L. Pennsylvania State Univ.Vatannia, S. Pennsylvania State Univ.Gildenblat, G. Pennsylvania State Univ.Ginsberg, M. D. U. S. Army Construction Eng. Rsch. Lab..

14:55Approximate nonlinear system linearization withneural networks 52 7

Pei, Hai-Long South China Univ. of Tech.Zhou, Qi-Jie South China Univ. of Tech.

WM16 Ruidoso

Controller Design Methods for Nonlinear Systems I

Chair: Pan, Zigang Polytechnic Univ.Co-chair: Freeman, Randy Alan Northwestern Univ.Organizer: Pan, Zigang Polytechnic Univ.Co-organizer: Freeman, Randy Alan Northwestern Univ.

13:15Disturbance attenuating adaptive controllersfor parametric strict feedback nonlinear systemswith output measurements//) 823Tezcan, I. Egemen Univ. of Illinois at Urbana-ChampaignBasar, Tamer Univ. of Illinois at Urbana-Champaign

13:35Adaptive control of discrete-time strict-feedbacknonlinear systems ID 525

Zhao, Jiaxiang Univ. of California at Los AngelesKanellakopoulos, loannis Univ. of California at Los Angeles

13:55Dynamic robust recursive control designand its application to a nonlinear missile autopilot (I) 833

Hull, Richard A. Sverdrup Corp.Qu, Zhihua Univ. of Central Florida

14:15Robust control of a class of MIMO minimum-phasenonlinear systems (I) 535

Lin, Wei Case Western Reserve Univ.

14:35Maximizing regions of attraction in backsteppingdesigns for systems with control singularities ID

Krstic, Miroslav Univ. of MarylandLi, Zhong-Hua Univ. of Maryland

14:55Achieving maximum regions of attraction forunstable linear systems with control constraints III 848

Barbu, Corneliu Univ. of California at Santa BarbaraCheng, J.John Rockwell InternationalFreeman, Randy A. Northwestern Univ.

San MiguelWM17

Probabilistic Approaches to Uncertain Systems

Chair: Barmish, B. Ross Univ. of Wisconsin at MadisonCo-chair: Tempo, Roberto Politecnico di Torino

13:15Radially truncated uniform distributions for probabilisticrobustness of control systems 553

Barmish, B. R. Univ. of Wisconsin at MadisonLagoa, C. M. Univ. of Wisconsin at MadisonTempo, R. Politecnico di Torino

13:35Analytical solution of alpha-beta-tau colored noisetracking filter with a noisy jerk as correlatedtarget maneuver model 858Arcasoy, Cengiz Cemil Eastern Mediterranean Univ.

13:55Worst case properties of the uniform distributionand randomized algorithms for robustness analysis 567

Bai, Er-Wei Univ. of IowaTempo, Roberto Politecnico di TorinoFu, Minyue Univ. of Newcastle

14:15Robust stabilizability of uncertain linear systemswith Markovian jumping parameters 866Benjelloun, K. Ecole Poly, de MontrealBoukas, E. K. Ecole Poly, de MontrealShi, P. Univ. of South Australia

14:35Statistical approach to robust-performance controllersynthesis for systems with uncertain physical parameters .. 868

Yang, Ciann-Dong National Cheng Kung Univ.Tai, Hung-Chun National Cheng Kung Univ.