Welcome to MTNS 2004 We welcome you to the 16th Mathematical Theory of Networks and Systems Conference (better known as MTNS2004). The scientific program includes five plenary, fifteen semi-plenary presentations (or should we say “ternary-plenary”), and ninety sessions (in ten parallel tracks) with each between four and seven presentations. We can surely say that a very broad spectrum of the Networks and Systems field is covered during the conference, including bio-informatics topics. At the moment of writing, over 500 scientists have registered, so we can already call this conference a success!

This year’s conference is organized in the centre of the small but cozy city of Leuven. Normally Leuven is overloaded with students, but at the time of the conference, the examination period is just finished, deliberations have taken place, and the students are either celebrating or “licking their wounds”. Now the city is returned to the “natives” for two months, but during the summer months a lot of activities are organized in the town. On the last day of the conference, there will be the second of four “Beleuvenissen” evenings. During “Beleuvenissen” several concerts related to a certain music style are scheduled throughout the city centre. This second evening is all about “folk music”. Leuven also has a whole bunch of pubs, restaurants, and terraces, to make your stay even more pleasant.

Thank you and enjoy!

Bart De Moor Bart Motmans Jan Willems Paul Van Dooren Vincent Blondel Editors

©Katholieke Universiteit Leuven - Departement Elektrotechniek (ESAT) Kasteelpark Arenberg 10, B-3001 Heverlee (Belgium) Alle rechten voorbehouden. Niets uit deze uitgave mag worden vemenigvuldigd en/of openbaar gemaakt worden door middel van druk, fotocopie, microfilm, elektronisch of op welke andere wijze ook zonder voorafgaandelijke schriftelijke toestemming van de uitgever.

All rights reserved. No part of the publication may be reproduced in any form by print, photoprint, microfilm or any other means without written permission from the publisher. ISBN 90-5682-517-8 D/2004/7515/54

General Information About MTNS/Location MTNS is a prime conference in the general area of mathematical systems theory. The symposium is interdisciplinary and attracts mathematicians, engineers and researchers working in any aspect of the broad field of systems theory.

MTNS 2004 is organized in the “Oude Valk” and “Nieuwe Valk” (Old and New Falcon, Tiensestraat 41, 3000 Leuven) of the Faculty of Law of the K.U.Leuven in the city center of Leuven,July 5-9, 2004. The symposium program includes (semi-)plenary lectures, mini-symposia, and contributed papers. MTNS is usually organized every two years and traditionally covers areas involving a wide range of research directions in mathematical systems, networks and control theory.

MTNS 2006 will be organized in Kyoto International Conference Hall, Japan from July 24 till July 28, 2006. Their preliminary web site can be found at: http://www-ics.acs.i.kyoto-u.ac.jp/~mtns06/ .

City of Leuven For more information: see http://www.leuven.be/showpage.asp?iPageID=2721 or the brochure in your conference package.

Katholieke Universiteit Leuven or Université Catholique de Louvain

(text courtesy of Vincent Blondel) The century old catholic university was founded by the pope in 1425 in the Flemish town of Louvain (in Flemish, Leuven). The university is one of the oldest universities in Europe. Those attending the university in the XVIth century include the theologian and humanist Erasmus, the geographer Mercator, and the father of modern anatomy Vesalius. Courses at the university were initially taught in French but Flemish gradually entered lecture rooms. In 1968, the university was split in two distinct universities: the Flemish speaking "Katholieke Universiteit Leuven (K.U.Leuven)" remained in Leuven, and the French speaking "Université catholique de Louvain (UCL)" moved 20 km south of Brussels in the newly constructed town of Louvain-la-Neuve in the French speaking Wallonia region (except for the Faculty of Medicine that moved to Brussels). The name of the two universities should not be translated into English if you want to avoid confusion…

At the time of the splitting the tension was very high. According to history, the century old university library was split in two, with even-numbered volumes on one side and odd-numbered volumes on the other. Currently, the two sister universities do however collaborate intensively both on education and research and the rectors have regular joint strategic meetings.

The K.U.Leuven and UCL are today the largest universities in their respective communities; they jointly award one out of every three university degrees in Belgium.

Of the program chairs, Bart De Moor and Jan Willems are from the K.U.Leuven and Paul Van Dooren and Vincent Blondel are from UCL.

Practical Information

City Walks On Tuesday and Wednesday, it is possible to join a (free) guided walk through Leuven (approx. 2 hrs), starting at 19:00 hrs in front of the City Hall. You can register for these walks at the conference secretariat (each day 5 groups of 25 persons).

Coffeebreaks Coffeebreaks will be held in two locations: entrance hall "Nieuwe Valk", and entrance hall "Oude Valk".

Conference Dinner The Conference Dinner will take place on Thursday evening (July 8, at 19:30 hrs) at the Faculty Club (see map), which is part of the Great Beguinage, a unique clustering of 16th and 17th century houses. Weather permitting, the aperitif will be served on the square in front of the restaurant.

Lunch/Dinner In the close neighborhood of the conference location (the Falcon/De Valk), several sandwich bars, small restaurants, pubs with snacks, … are at your disposal. Approximately 200 meters from De Valk (on the Tiensestraat, direction Tiensepoort), you'll find the ALMA 1, a recent student restaurant.

You can also go to the “Oude Markt” (Old Market Square), known as “the longest bar of the world”.

Reception All MTNS2004 attendees are invited to the Conference Reception on Monday evening (July 5, 2004, from 18:00 - 20:30 hrs), with Belgian beers offered by Interbrew Belgium NV. The reception will be on the square in the Pope College (if weather allows) (see map), otherwise in the famous fourteenth century University Hall ("Jubileumzaal"). During the reception, the Dixie band, conducted by Prof. Bart Preneel, will entertain you.

Registration Desk/Conference Secretariat The Registration desk/conference secretariat will be situated in the entrance hall of the "Nieuwe Valk" (also called Valk 3) ("New Falcon"). Service hours are: Sunday: 17:00 - 20:00 Monday - Friday: 8:30 - 16:30 For urgent problems, you can always contact Ms. Ida Tassens: Mobile: +32-(0)495-437995 Ir. Bart Motmans: Mobile: +32-(0)485-169130

Travel To return to Brussels Airport (www.brusselsairport.be), or Leuven Railway Station, you can obtain information about the train schedule, taxi, … at the conference secretariat. Buses travel frequently from the "Maarschalk Fochplein" (5 minutes walking distance from the Valk) to Leuven Railway Station (the trip takes approximately 10 minutes). On foot, it's a 10 to 15 minute walk from the railway station to the conference venue. Trains from Leuven to the airport leave at xx:38 hrs and xx:00 hrs (from 9:38 hrs until 22:00 hrs), and the trip takes approximately 50 minutes. A taxi from Leuven to the airport will cost approximately 50 euro (one-way).

Links Leuven: http://www.leuven.be/showpage.asp?iPageID=2721 or http://www.leuven.com/index_en.html Restaurants (general): http://www.resto.be Weather Info: http://www.meteo.be Train: http://www.b-rail.be/main/E/ Bus Information: http://www.delijn.be (unfortunately only in Dutch)

Committees and Sponsors Sponsors

Scientific Committee

Bart De Moor, chair; Katholieke Universiteit Leuven www.esat.kuleuven.ac.be/~demoor bart.demoor@esat.kuleuven.ac.be

Vincent Blondel Université Catholique de Louvain www.inma.ucl.ac.be/~blondel blondel@inma.ucl.ac.be

Paul Van Dooren Université Catholique de Louvain www.auto.ucl.ac.be/~vdooren/ vdooren@csam.ucl.ac.be

Jan Willems Katholieke Universiteit Leuven www.esat.kuleuven.ac.be/~jwillems/ jan.willems@esat.kuleuven.ac.be

MTNS Steering Committee

V. Blondel C. Byrnes R. Curtain B. Datta P. Dewilde B. De Moor (Chair 2004-2006) H. Dym A. El Jay M. Fliess P. Fuhrmann D. Gilliam U. Helmke W. Helton A. Isidori R. Kaashoek H. Kimura

A. Kurzhansky A. Lindquist C. Martin G. Picci A. Ran A. Rantzer J. Rosenthal (Chair 2002-2004) J. van Schuppen P. Van Dooren Y. Yamamoto Honorary Members: C. Desoer I. Gohberg R. Newcomb A. Zemanian

International Programming Committee The International Program Committee is chaired by Paul Van Dooren (UCL).

Peter Bauer Rene Boel Xavier Bombois Michael Branicky Alessandro Chiuso Heike Fassbender Avraham Feintuch Art Frazho Krzysztof Galkowski Tryphon Georgiou Bijoy Ghosh Bill Helton

Diederich Hinrichsen Knut Hueper Rien Kaashoek Francoise Lamnabhi-Lagarrigue Alexander Megretski Yoshito Ohta Paolo Rapisarda Paula Rocha Hans Schumacher Gerard Scorletti Michael Sebek Johan Suykens

Roberto Tempo Patrick Thiran Arjan van der Schaft Sabine Van Huffel Jan van Schuppen Erik Verriest Victor Vinnikov M. Vydiasagar Joseph Winkin Sandro Zampieri Hans Zwart

Acknowledgements This conference was only possible with the commitment of a lot of people. We especially thank Ida Tassens (secretary), Ilse Pardon (finances), Péla Noé (catering/social), Steven van Vooren, Raf Van de Plas, Emil Muresan, Anneleen Vergult (website, proceedings), Siep Weiland (T.U.Eindhoven, organizational web page), Sven Maerivoet (technical coordinator), Katrijn Demin (public relations), Lambert Leijssen, Wim Verschooten (Pope College), the Technical Services of the K.U.Leuven, PhD students of our group (ESAT-SCD), and all the others whom we might have forgotten to mention.

Map of the different locations

1 : Conference Location: De Valk (Falcon), Tiensestraat 41, Leuven 2 : Reception (Good weather): Pauscollege (Pope College), Hogeschoolplein 3, Leuven 3 : Reception (Bad weather): Jubileumzaal, Hallen, Naamsestraat 22, Leuven (the "Oude Markt" is right behind the Hallen) 4 : Dinner: Faculty Club, Groot Begijnhof 14, Leuven 5 : Plenary talks: Aula Pieter De Somer, Deberiotstraat 24, Leuven All locations are within walking distance from each other. Locations 1, 2 and 5 are easily reachable through the open square in front of the Valk.

Floorplans The following pictures show the floor plans of the "Old" and "New Falcon", with an indication of the allocation of tracks to rooms. (Track "x" means all sessions ending on "x", i.e. MAx, MPx, TAx, …, FAx).

Program at a Glance Aula PDS 91.54 01.54

Zeger Van Hee

(91.56) 01.13 01.01 01.19 01.07 01.25 01.56 01.31

1 2 3 4 5 6 7 8 9 10

Monday, July 5, 2004

9:00 - 9:30 OPENING 9:30 - 10:30 A.S. Morse

Coffee Break

10:50 -12:30 5 slots MA1 Collective Motion

MA2 Switched

Linear Systems - Part I

MA3 Behavioral Systems

MA4 H-infinity

MA5 (SYM-62)

Strong stabilization

of linear systems

MA6 Signal

ProcessingPart I

MA7 Games

MA8 Delay

Systems

MA9 (SYM-37) Quantum

Information - Part I

MA10 Control Applica-tions - Part I

Lunch Break

14:00 -15:00 H. Woerdeman

F. Baccelli

T. Antoulas

Coffee Break

15:30 -17:50 7 slots

MP1 (SYM-17)

Multidimensional systems and

repetitive processes - Part I

MP2 (SYM-44)

Nonsmooth dynamics and

control

MP3 (SYM-1) Quadratic differential forms and

their applications

MP4 LMIs and

algorithms

MP5 (SYM-5) Infinite-

dimensional Systems -

Part I : Theory

MP6 (SYM-31)

New approaches for

analysis and observation

of infinite dimensional

systems (PDE and FDE)

MP7 Optimal Control

MP8 (SYM-45)

Current Trends in Nonlinear

Model Predictive Control

MP9 (SYM-36) Quantum

Information - Part II

MP10 Applica-

tions

18:00-20:30 Reception ("Pauscollege" or "Jubileumzaal")

Aula PDS 91.54 01.54

Zeger Van Hee

(91.56) 01.13 01.01 01.19 01.07 01.25 01.56 01.31

1 2 3 4 5 6 7 8 9 10

Tuesday, July 6, 2004

9:00 - 10:00 P.L. Lions

CoffeeBreak

10:30 -12:50 6-7 slots

TA1 (SYM-60)

New frameworks in multidimension

al systems

TA2 Stochastic

Hybrid Systems - Part

I

TA3 (SYM-34) Behavioral Systems

TA4 Stochastic Systems

TA5 (SYM-7) Infinite-

dimensional systems - Part II :

Adaptation and

performance

TA6 (SYM-56)

Semi-separable systems -

Part I

TA7 (SYM-32) Control,

quantization and

communi-cation

constraints - Part I

TA8 (SYM-59)

Issues in model

reduction of large-scale systems

TA9 Quantum Theory

TA10 (SYM-26) Orthogonal

basis functions in estimation,

identifi-cation,

systems and control

Lunch Break

14:00 -15:00 R. Balakrishnan

O. Wolkenhauer

S. Shankar

CoffeeBreak

15:30 -17:50 7 slots TP1

Biological/medical systems

TP2 (SYM-2)

New tools for hybrid system

analysis

TP3 Nonlinear Systems

TP4 (SYM-14)

Riccati equations

and related topics - Part

I

TP5 (SYM-42)

Adaptive L2 stabilization

TP6 (SYM-53) Structured

Matrices and Applications

- Part I

TP7 (SYM-4)

Communication networks and control

theory

TP8 (SYM-28) Spectral

value sets and transient behaviour

TP9 (SYM-24) Geometric

optimization with

applications in numerical

linear algebra,

robotics and computer

vision

TP10 Electromagn

etical Modelling

Aula PDS 91.54 01.54 Zeger Van

Hee (91.56)

01.13 01.01 01.19 01.07 01.25 01.56 01.31

1 2 3 4 5 6 7 8 9 10

Wednesday, July 7, 2004

9:00 - 10:00 A. Goldbeter

CoffeeBreak

10:30 -12:30 6 slots

WA1 (SYM-39)

Cell biology with control and system

theory

WA2 (SYM-50)

Model predictive control for discrete-

event systems and

hybrid systems

WA3 Controlla-

bility

WA4 Robustness

WA5 (SYM-8) Infinite-

dimensional Systems - Part III :

Computational issues

WA6 Signal

Processing -Part II

WA7 (SYM-19) Networks,

sensors and control

WA8 (SYM-46) Learning

Theory and Kernel

Methods Part - Part I

WA9 (SYM-11) Positive

Systems

WA10 Control

Applications - Part II

Lunch Break

14:00 -15:00 J. Scherpen

M. Overton

L. Mirkin

CoffeeBreak

15:30 -17:50 7 slots

WP1 (SYM-23)

Mathematical theory of

oscillations in networks and

systems

WP2 (SYM-51)

Finite dynamical systems : theory and

practice

WP3 (SYM-9)

Port-Hamiltonian Systems :

An approach to modeling and control of complex

physical systems

WP4 (SYM-15)

Riccati equations

and related topics - Part

II

WP5 (SYM-6) Infinite-

dimensional systems - Part IV :

Stabilization and

controller design

WP6 (SYM-54) Structured

Matrices and Applications

- Part II

WP7 (SYM-52)

Randomized algorithms

and probabilistic methods in

systems and control

WP8 (SYM-47) Learning

Theory and Kernel

Methods - Part II

WP9 (SYM-18) Modelling,

analysis and design of positive sysems

WP10 (SYM-41)

Inter-polation and factorization

in several variables

Aula PDS 91.54 01.54 Zeger

Van Hee(91.56)

01.13 01.01 01.19 01.07 01.25 01.56 01.31

1 2 3 4 5 6 7 8 9 10

Thursday, July 8, 2004

9:00 - 10:00 V. Mehrmann

Coffee Break

10:30 - 12:30 6 slots

THA1 (SYM-12)

Multi-dimensional systems and

repetitive processes -

Part II

THA2 Switched

Linear Systems -

Part II

THA3 Systems Theory - Part I

THA4 (SYM-16)

Riccati equations

and related topic - Part

III

THA5 (SYM-35)

Convolutional Codes

THA6 (SYM-55)

Semi-separable systems -

Part II

THA7 (SYM-48) Modelling

and control of networks

THA8 (SYM-58)

Identification and control in computer

vision

THA9 (SYM-20) Numerical Methods

for control

THA10 (SYM-27)

Representation of function

classes and differential equations

Lunch Break

14:00 - 15:00 F. Bullo

A. Bemporad

A. Lindquist

Coffee Break

15:30 - 17:50 7 slots

THP1 (SYM-29)

Computational biosignal

processing

THP2 (SYM-30)

Decentralized and

distributed control and diagnosis of

systems

THP3 Systems Theory - Part II

THP4 (SYM-10)

Semi-algebraic geometry, operator

theory and applications

THP5 Infinite

Dimensional Systems

THP6 (SYM-57) Observer theory,

design and applications

THP7 Network

Dynamics and Control

THP8 Identification

THP9 Linear

Algebra

THP10 (SYM-38)

Interpolation and operator

theory methods

19:30 - ... Conference Dinner ("Faculty Club")

Aula PDS 91.54 01.54 Zeger Van

Hee (91.56)

01.13 01.01 01.19 01.07 01.25 01.56 01.31

1 2 3 4 5 6 7 8 9 10

Friday, July 9, 2004 9:00 - 10:00 J. Rosenthal

Coffee Break

10:30 - 12:30 6 slots

FA1 (SYM-22)

Robust control via polynomial

and optimisation

methods

FA2 Hybrid and

Discrete Systems

FA3 (SYM-25) Realization theory and

model reduction for

nonlinear systems

FA4 (SYM-40)

LMIs in systems and

control : some recent

progress and new trends

FA5 (SYM-3)

Linear and nonlinear passive infinite-

dimensional systems

FA6 (SYM-61)

Semi-separable systems - Part III

FA7 (SYM-32) Control,

quantization and

communication

constraints - Part II

FA8 (SYM-43)

Robust Control :

from linear to nonlinear

FA9 Numerical

Linear Algebra

FA10 (SYM-21)

Identification for robust control

Lunch Break 14:00 - 15:00 R.

Sepulchre G.

Cybenko Y. Yamamoto Coffee Break

Scientific Program

Monday, July 5, 2004

9:00 - 9:30 General Opening of MTNS 2004

P1 Aula Pieter De Somer

Plenary Presentation Chair: B. De Moor

09:30 - 10:30 Coordination of Groups of Mobile Autonomous Agents (abstract) A.S. Morse Yale University, Dept. Electrical Engineering

MA1 91.54

Paper Session Collective Motion

Chair: S. Morse

10:50 - 11:10 Collective behavior analysis of an anisotropic swarm model (abstract | full) T. Chu Peking University L. Wang Peking University S. Mu Peking University

11:10 - 11:30 A note on leaderless coordination via bidirectional and unidirectional time-dependent communication (abstract | full) L. Moreau Technical University of Eindhoven

11:30 - 11:50 Stabilization of collective motion of self-propelled particles (abstract | full) R. Sepulchre Universite de Liege D. Paley Princeton University N. Leonard Princeton University

MA2 01.54

Paper Session Switched Linear Systems I

Chair: R. Brockett

10:50 - 11:10 Stability and stabilization of switched linear systems with state delay: continuous-time case (abstract | full) G. Xie Center for Systems and Control, Peking University L. Wang Center for Systems and Control, Peking University

11:10 - 11:30 Stability and stabilization of switched linear systems with state delay: discrete-time case (abstract | full) G. Xie Center for Systems and Control, Peking University L. Wang Center for Systems and Control, Peking University

11:30 - 11:50 New results on the quadratic stabilization of switched linear systems with polytopic uncertainties (abstract | full) Z. Ji Peking University L. Wang Peking University G. Xie Peking University

11:50 - 12:10 Robust H∞ control and stabilization of uncertain switched linear systems: a (abstract | full) Z. Ji Peking University L. Wang Peking University G. Xie Peking University

12:10 - 12:30 Can linear stabilizability analysis be generalized to switching systems? (abstract | full) E. De Santis University of L’Aquila M.D. Di Benedetto University of L’Aquila G. Pola University of L’Aquila

MA3 91.56

Paper Session Behavorial systems

Chair: E. Zerz

10:50 - 11:10 Dynamical properties of quaternionic behavioral systems (abstract | full) R. Pereira University of Aveiro P. Vettori University of Aveiro

11:10 - 11:30 The behavioral approach to simultaneous stabilization of pairs of linear systems (abstract | full)O. Kaneko Osaka University K. Mori Osaka University K. Yoshida Osaka University T. Fujii

11:30 - 11:50 Symmetric linear discrete multidimensional systems (abstract | full) P. Vettori University Aveiro

11:50 - 12:10 A behavioral framework for compositionality : linear systems, discrete event systems and hybrid systems (abstract | full) A.A. Julius University of Twente A.J. van der Schaft University of Twente

12:10 - 12:30 State maps of general behaviors, their lattice structure and bisimulations (abstract | full) A.A. Julius University of Twente A.J. van der Schaft University of Twente

MA4 01.13

Paper Session H-infinity

Chair: R. Balakrishnan

10:50 - 11:10 Receding horizon Hinfinity control with output feedback for time-varying discrete-time systems (abstract | full) H. Katayama Shizuoka University A. Ichikawa Kyoto University

11:10 - 11:30 Causal Hinfinity control of discrete-time descriptor systems: an LMI approach in two steps (abstract | full) A. Rehm University of Stuttgart F. Allgöwer University of Stuttgart

11:30 - 11:50 Stochastic reduced-order unbiased filtering (abstract | full) H. Souley Ali Universite Henri Poincare, Nancy I S. Halabi Universite Henri Poincare, Nancy I H. Rafaralahy Universite Henri Poincare, Nancy I M. Zasadzinski, M. Darouach

11:50 - 12:10 Adaptive gain-scheduled H∞ control of linear parameter-varying systems with time-delayed elements (abstract | full) Y. Miyasato The Institute of Statistical Mathematics, Japan

12:10 - 12:30 Robust adaptive pole placement in Hinfinity (abstract | full) P. Suchomski Gdansk University of Technology

MA5 01.01

Minisymposium Strong Stabilization of Linear Systems

Organization: A. Feintuch

Chair: A. Feintuch

10:50 - 11:30 ”Stabilizing” the stabilizing controllers (abstract | full) A. Quadrat INRIA Sophia Antipolis, France

11:30 - 12:10 On stable H-infinity controllers for time-delay systems (abstract | full) H. Ozbay The Ohio State University S. Gumussoy The Ohio State University

12:10 - 12:50 On strong stabilization of linear time-varying systems (abstract | full) A. Feintuch Ben Gurion University of the Negev

MA6 01.19

Paper Session Signal Processing I

Chair: B. Vanrumste

10:50 - 11:10 Stochastic signal estimates by nonlinear filters with given memory (abstract | full) A. Torokhti University of South Australia

11:10 - 11:30 Information analysis in joint problem of continuous-discrete filtering and interpolation with memory observations (abstract | full) N. Dyomin Tomsk State University, Russia S. Rozhkova Tomsk Polytechnic University, Russia I. Safronova Tomsk State University, Russia

11:30 - 11:50 Simulation of mathematical phase noise model for a phase-locked-loop (abstract | full) A. Rangsiwatakapong Sirindhorn International Institute of Technology (SIIT) A. Amornthipparat Sirindhorn International Institute of Technology (SIIT)D. Eungdamrong Sirindhorn International Institute of Technology (SIIT)

11:50 - 12:10 Partial fault detection and isolation: a geometric approach (abstract | full) J.C. Martinez-Garcia CINVESTAV-IPN, Mexico B. Del Muro-Cuellar Instituto Mexicano del Petroleo, Mexico M. Malabre CNRS, France

12:10 - 12:30 Kalman-like observer for time-varying regular bilinear systems (abstract | full) H. Bounit University Ibnou Zohr A. Idrissi University Cadi Ayyad

MA7 01.07

Paper Session Games

Chair: J. Engwerda

10:50 - 11:10 A dual Nash game approach to discrete-time H2/Hinfinity filtering (abstract | full) M. Riccardo University of Padova P. Giorgio University of Padova

11:10 - 11:30 Guaranteeing cost strategies for uncertain difference games (abstract | full) E. Gyurkovics Budapest University of Technology and EconomicsT. Takacs ECOSTAT Institute for Economic Analysis and Informatics

11:30 - 11:50 Certainty equivalence for a class of imperfect information finite state-space stochastic games (abstract | full) W.M. McEneaney University of California, San Diego

11:50 - 12:10 Safe controller design for intelligent cruise control using differential games (abstract | full) J.B. De Sousa Faculdade de Engenharia da Universidade do PortoA. Girard University of California at Berkeley K. Hedrick University of California at Berkeley

MA8 01.25

Paper Session Delay Systems

Chair: G. Meinsma

10:50 - 11:10 Analysis of multidimensional delay system (abstract | full) J.Rimas Kaunas University of Technology

11:10 - 11:30 H2-optimal control of systems with multiple i/o delays: time domain approach (abstract | full) A. A. Moelja University of Twente G. Meinsma University of Twente

11:30 - 11:50 On numerical computation of the spectrum of a class of convolution operators related to delay systems (abstract | full) K. Hirata Osaka Prefecture University H. Kokame Osaka Prefecture University

11:50 - 12:10 Analysis of persistent bounded disturbance rejection for neutral delay systems (abstract | full) M. Yu Peking University F. Hao Peking University L. Wang Peking University

12:10 - 12:30 Robust stability and stabilization of neutral type systems with norm-bounded uncertainties (abstract | full) F.Hao Peking University L. Wang Peking University T. Chu Peking University

MA9 01.56

Minisymposium Quantum information - Part I

Organization: Leonid Gurvits, Hugo J. Woerdeman

Chair: Hugo J. Woerdeman

10:50 - 11:30 Quantum entanglement and sums of squares (abstract | full) P. A. Parrilo ETH Zurich A. C. Doherty F. Spedalieri

11:30 - 12:10 Algebraic, combinatorial and geometric properties of quantum entanglement (abstract | full) L. Gurvits Los Alamos National Laboratory

12:10 - 12:30 Algorithms for calculating ground states of interacting spin systems (abstract | full) F. Verstraete Max Planck Institut fur Quantenoptik J.I. Cirac

MA10 01.31

Paper Session Control Applications I

Chair: R. Sepulchre

10:50 - 11:10 Identifiability and estimation of aircraft parameters and delays (abstract | full) C.J Jauberthie University of sciences and technologies of Lille L.D.V Denis-Vidal University of sciences and technologies of LilleG.J.B Joly-Blanchard University of technology of Compiègne

11:10 - 11:30 Approaches to simulate the operation of the bending machine (abstract | full) W. Kongprawechnon SIIT, Thailand C. Theerasilp SIIT, Thailand T. Suksawai SIIT, Thailand O. Ratanapinunchai, K. Chongsrid

11:30 - 11:50 Vehicle control augmentation based on an integrated design methodology (abstract | full) S. Atsushi Nara Institute of Science and Technology T. Misato Nara Institute of Science and Technology S. Kenji Nara Institute of Science and Technology

11:50 - 12:10 Global existence of state trajectories for a class of tubular reactor nonlinear models (abstract | full) M.E. Achhab Université Chouaïb Doukkali, Morocco B. Aylaj M. Laabissi Université Chouaïb Doukkali

12:10 - 12:30 Nonlinear dynamic control of a flexible joint robot manipulator (abstract | full) L. Luyckx Ghent University M. Loccufier Ghent University E. Noldus Ghent University

SP1 91.54

Semi-Plenary Presentation Chair: A. Ran

14:00 - 15:00 Outer factorizations in one and several variables (abstract) H. Woerdeman College of William and Mary, Mathematics

SP2 01.54

Semi-Plenary Presentation Chair: J.H. van Schuppen

14:00 - 15:00 Mean field limits for TCP controlled networks (abstract) F. Baccelli INRIA-ENS, Département d'Informatique

SP3 91.56

Semi-Plenary Presentation Chair: R. Curtain

14:00 - 15:00 An overview of model reduction methods for large-scale systems (abstract) T. Antoulas Rice University, Electrical and Computer Engineering Dept.

MP1 91.54

Minisymposium Multidimensional systems and repetitive processes - Part I

Organization: Krzysztof Galkowski, Eric Rogers

Chair: K. Galkowski

15:30 - 16:10 Putting 2D control schemes into operation (abstract | full) T. Al-Towaim University of Southampton P.L. Lewin University of Southampton E. Rogers University of Southampton D.H. Owens

16:10 - 16:30 Optimum wavelet for image sequence superresolution (abstract | full) N. K. Bose The Pennsylvania State University, USA

16:30 - 16:50 Embedding binary mathematical morphology into a multidimensional systems theory framework (abstract | full) J. Velten University of Wuppertal, Germany A. Kummert University of Wuppertal, Germany

16:50 - 17:10 Application of operator theory to discrete simulation of continuous systems (abstract | full) V.Dymkou University of Erlangen-Nuremberg R.Rabenstein University of Erlangen-Nuremberg P.Steffen University of Erlangen-Nuremberg

17:10 - 17:30 Time optimal control problem for a class of linear differential-algebraic systems with delay (abstract | full) S.M.Dymkou RWTH Aachen, Germany G.Jank RWTH Aachen, Germany

17:30 - 17:50 Batch crystallisation control based on population balance models (abstract | full) U. Vollmer Rober Bosch GmbH J. Raisch Otto-von-Guericke University

MP2 01.54

Minisymposium Nonsmooth dynamics and control

Organization: J.M. Schumacher, J.W. Polderman

Chair: J.W. Polderman

15:30 - 16:10 Necessary and sufficient conditions for the controllability of complementarity systems (abstract | full) M.K. Camlibel Tilburg University J.M. Schumacher Tilburg University

16:10 - 16:50 Balancing dwell times for switched linear systems (abstract | full) G. Pola University of L’Aquila J.W. Polderman University of Twente M.D. Di Benedetto University of L’Aquila

16:50 - 17:10 Advances on the identification of hybrid systems (abstract | full) R. Vidal Johns Hopkins University

17:10 - 17:30 On structural stability of nonsmooth dynamical systems (abstract | full) M. di Bernardo University of Sannio

MP3 91.56

Minisymposium Quadratic differential forms and their applications

Organization: P. Rapisarda

Chair: P. Rapisarda

15:30 - 15:50 An introduction to bilinear- and quadratic differential forms (tutorial) (abstract | full) P. Rapisarda University of Maastricht J. C. Willems Katholieke Universiteit Leuven

15:50 - 16:10 A characterization of solutions to discrete-time Riccati equation using quadratic difference forms (abstract | full) K. Takaba Kyoto University C. Kojima Kyoto University O. Kaneko Osaka University P. Rapisarda

16:10 - 16:30 On a behavioral theory for nonlinear systems (abstract | full) I. Pendharkar IIT Bombay, India H. K. Pillai IIT Bombay, India

16:30 - 16:50 Synthesis of dissipative behaviors with dynamics in the weighting matrices (abstract | full) M.N. Belur Indian Institute of Technology, Bombay H.L. Trentelman University of Groningen

16:50 - 17:10 On totally dissipative systems and unimodular spectral factorizations (abstract | full) O. Kaneko Osaka University P. Rapisarda University of Maastricht K. Takaba Kyoto University

17:10 - 17:30 Conserved and zero-mean quantities for oscillatory systems (abstract | full) P. Rapisarda University of Maastricht J. C. Willems Katholieke Universiteit Leuven

MP4 01.13

Paper Session LMIs and algorithms

Chair: P. Benner

15:30 - 15:50 Sum of squares relaxations for polynomial semi-definite programming (abstract | full) C.W.J. Hol Delft University of Technology C.W. Scherer Delft University of Technology

15:50 - 16:10 Asymptotically exact relaxations for robust LMI problems based on matrix-valued sum-of-squares (abstract | full) C.W. Scherer Delft University of Technology C.W.J. Hol Delft University of Technology

16:10 - 16:30 On existence of smooth solutions of parameter-dependent convex programming problems (abstract | full) P.-A. Bliman INRIA, France C. Prieur CNRS-ENS de Cachan, France

16:30 - 16:50 Convex analysis for S-procedure and its applications (abstract | full) A. Ohara Osaka University

16:50 - 17:10 H2 performance on preview feedforward action (abstract | full) A. Kojima Tokyo Metropolitan Institute of Technology

17:10 - 17:30 Computing L2-gain of finite-horizon systems with boundary conditions (abstract | full) H. Fujioka Kyoto University

17:30 - 17:50 Distributed control design for spatially interconnected systems with robustness to small communication delays (abstract | full) R. S. Chandra Cornell University C. Langbort Cornell University R. D’Andrea Cornell University

MP5 01.01

Minisymposium Infinite-dimensional systems - Part I: Theory

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten

Morris Chair: Birgit Jacob

15:30 - 15:50 Exact controllability, vector corona condition and mean winding of characteristic function (abstract | full) D. V. Yakubovich Spain - Dpto. Matematicas

15:50 - 16:10 Transfer functions for infinite-dimensional systems (abstract | full) H. Zwart University of Twente

16:10 - 16:30 Standard diffusive systems are well-posed linear systems (abstract | full) D. Matignon Telecom Paris & CNRS H.J. Zwart University of Twente

16:30 - 16:50 Exponential stabilization of a Rayleigh beam - actuator and feedback design (abstract | full) G. Weiss Imperial College London

16:50 - 17:10 On restrictions and extensions of the implemented semigroup (abstract | full) Z. Emirsajlow Technical University of Szczecin

17:10 - 17:30 On controllability of diagonal systems with one-dimensional input space (abstract | full) B. Jacob University of Dortmund J.R. Partington University of Leeds

17:30 - 17:50 Asymptotic stability of linear conservative systems when coupled (abstract | full) D. Matignon Telecom Paris & CNRS C. Prieur CNRS - ENS de Cachan

MP6 01.19

Minisymposium New approaches for analysis and observation of infinite

dimensional systems (PDE and FDE)

Organization: E.I. Verriest, P. Pepe Chair: Erik I. Verriest

15:30 - 16:10 Localization and transfer matrix computation for linear multidimensional control systems (abstract | full) J.-F. Pommaret France - ENPC

16:10 - 16:30 Delay-differential systems from a behavioral point of view (abstract | full) H. Gluesing-Luerssen University of Kentucky

16:30 - 16:50 State estimation problems for time delay systems: a geometric approach (abstract | full) G. Conte Università Politecnica delle Marche A.M. Perdon Università Politecnica delle Marche

16:50 - 17:10 Finite observability and asymptotic observation for delay systems (abstract | full) E. I. Verriest Georgia Institute of Technology

17:10 - 17:30 A state observer for a class of nonlinear systems with multiple discrete and distributed time delays (abstract | full) A. Germani University of L’Aquila P. Pepe University of L’Aquila

17:30 - 17:50 Nonlinear delay systems and nonautonomous linear approximations (abstract | full) S.P.Banks University of Sheffield P.Borruel University of Sheffield

MP7 01.07

Paper Session Optimal Control

Chair: G. Jank

15:30 - 15:50 H2 optimal control for linear stochastic periodic systems (abstract | full) V. Dragan Romanian Academy T. Morozan Romanian Academy

15:50 - 16:10 Linear-quadratic problem for sampled-data systems with state-dependent noise (abstract | full)V. Dragan Romanian Academy A. Stoica University Politehnica of Bucharest

16:10 - 16:30 Second-order necessary conditions of optimality for measure driven control systems (abstract | full) A. Arutyunov Peoples Friendship Russian University V. Dykhta Baikal State University of Economics and Law F. Pereira Faculdade de Engenharia da Universidade do Porto

16:30 - 16:50 Optimal temperature control of diffusive tubular chemical reactors: terminal cost criterion (abstract | full) F. Logist KULeuven: BioTeC, Bioprocess Technology and Control I.Y. Smets KULeuven: BioTeC, Bioprocess Technology and ControlJ.F. Van Impe KULeuven: BioTeC, Bioprocess Technology and Control

16:50 - 17:10 A max-plus finite element method for solving finite horizon deterministic optimal control problems (abstract | full) M. Akian INRIA, France S. Gaubert INRIA, France A. Lakhoua INRIA

17:10 - 17:30 An iterative controller design for the mixed H2/D-stability problem (abstract | full) Y. Kami Kyushu Institute of Technology E. Nobuyama Kyushu Institute of Technology

17:30 - 17:50 Optimal output feedback control for uncertain linear system (abstract | full) T. Pesetskaya Institute of Mathematics, National Academy of

Siences of Belarus

MP8 01.25

Minisymposium Current Trends in Nonlinear Model Predictive Control

Organization: Frank Allgöwer, Rolf Findeisen

Chair: Frank Allgöwer

15:30 - 15:50 Optimal control of constrained piecewise affine systems with state- and input-dependent disturbances (abstract | full) S. V. Rakovic Imperial College London E. C. Kerrigan University of Cambridge D. Q. Mayne Imperial College London

15:50 - 16:10 A generalization of Barbalat’s lemma with applications to robust model predictive control (abstract | full) F. A. C. C. Fontes Universidade do Minho L. Magni Universita degli Studi di Pavia

16:10 - 16:30 Robust stability of min-max MPC controllers for nonlinear systems with bounded uncertainties (abstract | full) D. Limon University of Sevilla T. Alamo University of Sevilla E.F. Camacho University of Sevilla

16:30 - 16:50 An MPC approach to agressive motorcycle maneuvering (abstract | full) J. Hauser University of Colorado, Boulder

16:50 - 17:10 On optimality of nonlinear model predictive Control (abstract | full) F. Di Palma University of Pavia L. Magni University of Pavia

17:10 - 17:30 Min-max output feedback predictive control with guaranteed stability (abstract | full) R. Findeisen Institut for Systems Theory in Engineering F. Allgöwer Institut for Systems Theory in Engineering

17:30 - 17:50 Nonlinear Predictive Control of Under-actuated Mechanical Systems Application : the ECP505 inverted pendulum (abstract | full) A. Chemori LAG - INPG, France M. Alamir LAG - INPG, France

MP9 01.56

Minisymposium Quantum information - Part II

Organization: Leonid Gurvits, Hugo J. Woerdeman

Chair: Hugo J. Woerdeman

15:30 - 16:10 Two-way entanglement purification for finite block size (abstract | full) A. Ambainis University of California, Berkeley D. Gottesman Perimeter Institute

16:10 - 16:30 Progress on additivity conjectures for memoryless channels in quantum information theory (abstract | full) M.B. Ruskai Tufts University

16:30 - 16:50 There, and back again: quantum theory and global optimisation (abstract | full) K.M.R. Audenaert University of Wales, Bangor

16:50 - 17:10 Stabilizer states, conditional Clifford operations, and their possible role in quantum computation (abstract | full) J. Dehaene Katholieke Universiteit Leuven B. De Moor Katholieke Universiteit Leuven

17:10 - 17:30 Local equivalence of stabilizer states (abstract | full) M. Van den Nest Katholieke Universiteit Leuven J. Dehaene Katholieke Universiteit Leuven B. De Moor Katholieke Universiteit Leuven

MP10 01.31

Paper Session Applications

Chair: R. Pintelon

15:30 - 15:50 Identification of pollution sources in a river (abstract | full) A. El Badia University of Technology of Compiegne A. Hamdi University of Technology of Compiegne T. Ha-Duong University of Technology of Compiegne

15:50 - 16:10 Identifiability and identification of a pollution source: a semi-discretization method (abstract | full) N. Verdiere University of Technology Compiegne L. Denis-Vidal University Sciences & Tech. Lille G. Joly-Blanchard University of Technology Compiegne

16:10 - 16:30 Continuous-time model identification by using fast adaptive observer (abstract | full) K. Ikeda The University of Tokushima Y. Mogami The University of Tokushima T. Shimomura The University of Tokushima

16:30 - 16:50 Nonlinear models to forecast the market demand for semiconductor devices by classes (abstract | full) G. Tomarchio Università di Catania M. Bucolo Università di Catania L. Fortuna Università di Catania F. Caizzone

16:50 - 17:10 Detecting material interfaces via kalman filtering (abstract | full) F. Marcuzzi Università di Padova G. Picci Università di Padova

Tuesday, July 6, 2004

P2 Aula Pieter De Somer

Plenary Presentation Chair: V. Blondel

09:00 - 10:00 A new class of singular stochastic control problems arising in finance (abstract) P.-L. Lions Ecole Normale Supérieur. Département

Mathématique et Informatique

TA1 91.54

Minisymposium New frameworks in multidimensional systems

Organization: Joseph Ball, Victor Vinnikov

Chair: Victor Vinnikov

10:30 - 11:30 Overdetermined discrete time multidimensional (abstract | full) J. A. Ball Virginia Tech V. Vinnikov Ben Gurion University of the Negev , Israel

11:30 - 12:10 Structured noncommutative multidimensional (abstract | full) J. A. Ball Virginia Tech G. Groenewald North West University T. Malakorn Virginia Tech

12:10 - 12:30 Multidimensional (n-D) linear systems with evolution along a free semigroup (abstract | full) T. Malakorn Naresuan University

TA2 01.54

Paper Session Stochastic Hybrid Systems

Chair: R. Boel

10:30 - 10:50 A stability criterion for stochastic hybrid systems (abstract | full) A. Abate UC Berkeley L. Shi S. N. Simic S. S. Sastry

10:50 - 11:10 Theoretical foundations of stochastic hybrid systems (abstract | full) M.L. Bujorianu University of Cambridge J. Lygeros University of Patras

11:10 - 11:30 State estimation and prediction in a class of stochastic hybrid systems (abstract | full) E. Cinquemani University of Padova M. Micheli Brown University G. Picci University of Padova

11:30 - 11:50 Stabilization of a class of stochastic systems with Markovian switching (abstract | full) C. Yuan University of Cambridge J. Lygeros University of Patras

11:50 - 12:10 Ellipsoidal techniques for hybrid dynamics: the reachability problem (abstract | full) A.B.Kurzhanski University of California at Berkeley P.Varaiya University of California at Berkeley

12:10 - 12:30 Anticipative ramp metering control for freeway traffic networks (abstract | full) T. Bellemans K.U.Leuven B. De Schutter Delft University of Technology B. De Moor K.U.Leuven

TA3 91.56

Minisymposium Behavioral systems

Organization: P. Rocha

Chair: P. Rocha

10:30 - 10:50 A behavioral approach to the LQ optimal control problem (abstract | full) G. Parlangeli Università di Lecce M.E. Valcher Università di Padova

10:50 - 11:10 New algorithms for polynomial $J&-spectral factorizationp problems in the synthesis of dissipative systems (abstract | full) H.L. Trentelman University of Groningen

11:10 - 11:30 OreModules: a symbolic package for the study of multidimensional linear systems (abstract | full) F. Chyzak France - INRIA Rocquencourt A. Quadrat France - INRIA Sophia Antipolis D. Robertz RWTH - Aachen

11:30 - 11:50 Bilateral convolutional codes over a finite field (abstract | full) E. Fornasini University of Padua R. Pinto University of Aveiro

11:50 - 12:10 Strong controllability of continuous multidimensional behaviors (abstract | full) E. Zerz University of Kaiserslautern P. Rocha University of Aveiro

12:10 - 12:30 Behaviors and controllability (abstract | full) F. Colonius University of Augsburg W. Kliemann Iowa State University

12:30 - 12:50 On the Markov property for continuous multidimensional behaviors (abstract | full) P. Rocha University of AveiroJ.C. Willems K.U. Leuven I. Brás University of Aveiro

TA4 01.13

Paper Session Stochastic Systems

Chair: R. Peeters

10:30 - 10:50 A probabilistic framework for passive cooperation among UAV’s performing a search (abstract | full) M. Flint University of Cincinnati E. Fern ández-Gaucherand University of Cincinnati M. Polycarpou University of Cincinnati

10:50 - 11:10 On relations between entropy and other characteristics of random variables (abstract | full) O.E. Trofimov Siberian Branch of Russian Academy of Sciences. Z.N. Yamaldinova Chelyabinsk State Pedagogical University

11:10 - 11:30 Factorization of shape and motion dynamics in tracking points (abstract | full) Giambattista Gennari University of Padova Ruggero Frezza University of Padova

11:30 - 11:50 On reachability under stochastic disturbances (abstract | full) I.A. Digailova Moscow State (Lomonosov) University A.B. Kurzhanski Moscow State (Lomonosov) University

11:50 - 12:10 Wold decompositions and two-time parameter stationary processes (abstract | full) D.E. Popovici University of the West Timisoara

12:10 - 12:30 A value iteration algorithm for partially observed Markov decision process multi-armed bandits (abstract | full) V. Krishnamurthy The University of British Columbia B. Wahlberg KTH, Sweden F. Lingelbach KTH, Sweden

12:30 - 12:50 Approximation of first passage times of switching diffusion (abstract | full) J. Krystul University of Twente A. Bagchi University of Twente

TA5 01.01

Minisymposium Infinite-dimensional systems - Part II: Adaptation and

performance

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten Morris

Chair: Birgit Jacob

10:30 - 10:50 Adaptive low-gain sampled-data integral control of multivariable well-posed systems (abstract | full) H. Logemann University of Bath S. Townley University of Exeter

10:50 - 11:10 A natural observer-based adaptive controller for structurally perturbed second order distributed parameter systems (abstract | full) M. A. Demetriou Worcester Polytechnic Institute F. Fahroo Naval Postgraduate School, USA

11:10 - 11:30 Asymptotically H2-optimal tuning of low gain robust controllers for DPS (abstract | full) T. Hämäläinen Tampere University of Technology S. Pohjolainen Tampere University of Technology

11:30 - 11:50 Performance evaluation for robust control of non-periodic two-dimensional channel flow (abstract | full) E. O’Dea University of Southampton O.R. Tutty University of Southampton E. Rogers University of Southampton L. Baramov

11:50 - 12:10 Determination of optimum measurement efforts for parameter estimation of distributed systems (abstract | full) D. Ucinski University of Zielona Gora

TA6 01.19

Minisymposium Semi-separable systems - Part I

Organization: P. Dewilde, M. Gu, S. Chandrasekaran

Chair: P. Dewilde

10:30 - 11:10 Super-fast sparse solvers (abstract | full) S. Chandrasekaran University of California, Santa Barbara M.Gu University of California, Berkeley B. Lyons

11:10 - 11:30 Fast and stable Grammian computations for MIMO systems (abstract | full) A. Barnard -S. Chandrasekaran M. Gu University of California, Berkeley A. Mullhaupt

11:30 - 11:50 Approximate inversion of a large semiseparable positive matrix (abstract | full) A.-J. van der Veen Delft University of Technology

11:50 - 12:10 Fast algorithms for semiseparable matrices and kernels (abstract | full) I. Koltracht University of Connecticut

TA7 01.07

Minisymposium Control, quantization and communication constraints - Part I

Organization: S. Zampieri

Chair: S. Zampieri

10:30 - 11:10 Fillipov linearization of a discontinuous feedback system (abstract | full) R. Brockett Harvard University

11:10 - 11:50 Data-rate problems in feedback stabilization of drift-free nonlinear control systems (abstract | full) J. Baillieul Boston University

11:50 - 12:30 A statistical mechanical view of Kalman filtering (abstract | full) S. K. Mitter Massachusetts Institute of Technology N. J. Newton University of Essex

TA8 01.25

Minisymposium Issues in model reduction of large-scale systems

Organization: A.C. Antoulas

Chair: A.C. Antoulas

10:30 - 10:50 Model order reduction of MEMS for efficient computer aided design and system simulation (abstract | full) J. G. Korvink Freiburg University E. B. Rudnyi Freiburg University

10:50 - 11:10 Bandlimited Laguerre-Kautz reduced order modeling (abstract | full) L. Knockaert Ghent University

11:10 - 11:30 Interpretation of proper orthogonal decomposition as singular value decomposition and HJB-based feedback design (abstract | full) S. Volkwein University of Graz K. Kunisch University of Graz L. Xie University of Graz

11:30 - 11:50 Controller reduction by Krylov projection methods (abstract | full) S. Gugercin Virginia Tech. C. A. Beattie Virginia Tech. A. C. Antoulas Rice University E. Gildin

11:50 - 12:10 Existence and computation of second order reduced systems using Krylov subspace methods (abstract | full) A. Bunse-Gerstner Zentrum fuer Technomathematik B. Salimbahrami Institut fuer Automatisierungstechnik R. Grotmaack Zentrum fuer Technomathematik B. Lohmann

12:10 - 12:30 Second order structure preserving balanced truncation (abstract | full) Y. Chahlaoui Florida State University D. Lemonnier Université catholique de Louvain A. Vandendorpe Université catholique de Louvain P. Van Dooren

12:30 - 12:50 Derivation of an H2 error bound for model reduction of second order systems (abstract | full) D.C. Sorensen Rice University C. Teng Rice University A.C. Antoulas Rice University

TA9 01.56

Paper Session Quantum Theory

Chair: J. Dehaene

10:30 - 10:50 Coarse control (abstract | full) E.A. Jonckheere University of Southern California P. Lohsoonthorn University of Southern California

10:50 - 11:10 Open quantum dynamical systems driven by coherent controls: structure of the sets of reachable states (abstract | full) C. Altafini Italy - SISSA Int. School for Advanced Studies

11:10 - 11:30 Trajectory tracking for quantum systems: a Lyapounov approach. (abstract | full) M. Mirrahimi Ecole des Mines de Paris P. Rouchon Ecole des Mines de Paris

11:30 - 11:50 Stability and robustness in coherent quantum control (abstract | full) F. Ticozzi Università di Padova A. Ferrante Università di Padova M. Pavon Università di Padova and ISIB-CNR

TA10 01.31

Minisymposium Orthogonal basis functions in estimation, identification,

systems and control

Organization: A. Bultheel, A. Lasarow, Chair: A. Bultheel

10:30 - 10:50 On explicit characterization of reproducing kernels with applications in estimation theory (abstract | full) H. Hjalmarsson Royal Institute of Technology, Sweden B. Ninness University of Newcastle, Australia

10:50 - 11:10 Frequency domain identification of multivariable systems using vector orthogonal polynomials (abstract | full) R. Pintelon Vrije University Brussel Y. Rolain Vrije University Brussel A. Bultheel Katholieke Universiteit Leuven M. Van Barel

11:10 - 11:30 Generalized orthonormal basis functions: Hambo transform and realization theory (abstract | full) P. S.C. Heuberger T.U. Delft P.M.J. Van den Hof T.U. Delft B. Wahlberg Royal Institute of Technology (KTH) , Sweden

11:30 - 11:50 A data driven orthonormal parameterization of the generalized entropy maximization problem (abstract | full) A. Blomqvist Royal Institute of Technology, Sweden B. Wahlberg Royal Institute of Technology, Sweden

11:50 - 12:10 Orthonormal rational function vectors (abstract | full) S. Delvaux Katholieke Universiteit Leuven M. Van Barel Katholieke Universiteit Leuven

SP4 91.54

Semi-Plenary Presentation Chair: H. Dym

14:00 - 15:00 Semidefinite programming duality: implications for system theory and computation (abstract) R. Balakrishnan Purdue University, Electrical and Computer Engineering

SP5 01.54

Semi-Plenary Presentation Chair: A. Goldbeter

14:00 - 15:00 Dynamic Modelling of Signal Transduction Pathways: Simulating what cannot be simulated (abstract) O. Wolkenhauer University of Rostock, Mathematics

SP6 91.56

Semi-Plenary Presentation Chair: H. Trentelman

14:00 - 15:00 Controllability for systems of partial differential equations (abstract) S. Shankar Chennai Mathematical Institute, Mathematics

TP1 91.54

Paper Session Biological/medical Systems

Chair: P. De Leenheer

15:30 - 15:50 Sensitivity analysis of autonomous oscillations: application to biochemical systems (abstract | full) B.P. Ingalls University of Waterloo

15:50 - 16:10 In silico analysis of long-run tolerance of metabolic networks to transient random faults (abstract | full) L. Farina University of Rome C. De Persis University of Rome

16:10 - 16:30 On the identification of sparse gene regulatory networks (abstract | full) R.L.M. Peeters Universiteit Maastricht R.L. Westra Universiteit Maastricht

16:30 - 16:50 Common principles in construction of biological networks (abstract | full) N. Kizilova Kharkov National University

16:50 - 17:10 Bayesian least squares support vector machines for classification of ovarian tumors (abstract | full) C. Lu K.U. Leuven T. Van Gestel K.U. Leuven J. A. K. Suykens K.U. Leuven S. Van Huffel, I. Vergote, D. Timmerman

17:10 - 17:30 Spatio-temporal analysis of an electrophysiological wave phenomenon (abstract | full) E. Jonckheere University of Southern California P. Lohsoonthorn University of Southern California

17:30 - 17:50 Influence of multivoxel processing and model order for time-domain MRSI quantitation (abstract | full) P. Pels Katholieke Universiteit Leuven L. Vanhamme Katholieke Universiteit Leuven S. Van Huffel Katholieke Universiteit Leuven P. Van Hecke

TP2 01.54

Minisymposium New tools for hybrid system analysis

Organization: F. Lamnabhi-Lagarrigue

Chair: F. Lamnabhi-Lagarrigue

15:30 - 15:50 Discrete and continuous structural properties for observability (abstract | full) A. Balluchi PARADES, Italy L. Benvenuti University of Rome A. Sangiovanni-Vincentelli PARADES, Italy

15:50 - 16:10 Stabilization of hybrid switching systems : a viability approach (abstract | full) L. Burlion LSS, SUPELEC-C.N.R.S, Université Paris-XI Sud T. Ahmed-Ali ENSIETA F. Lamnabhi-Lagarrigue LSS, SUPELEC-C.N.R.S, Université Paris-XI Sud

16:10 - 16:30 A viability approach to the reachability problem for uncertain hybrid systems (abstract | full) Y. Gao University of Shanghai for Science and TechnologyJ. Lygeros University of Patras M. Quincampoix Universite de Bretagne Occidentale

16:30 - 16:50 Robust optimal stabilization of the Brockett integrator via a hybrid feedback (abstract | full) C. Prieur CNRS - ENS de Cachan E. Trelat Universite Paris-Sud

16:50 - 17:10 The guaranteed hybrid kernel algorithm applied to evaluate barrier options in finance (abstract | full) P. Saint-Pierre Universite Paris-Dauphine

17:10 - 17:30 Equivalence of hybrid dynamical systems (abstract | full) A.J. van der Schaft University of Twente

TP3 91.56

Paper Session Nonlinear systems

Chair: B. Maschke

15:30 - 15:50 Local transformations to generalized chained forms (abstract | full) M.-C. Laiou RWTH Aachen University, Germany A. Astolfi Imperial College London, U.K.

15:50 - 16:10 Mechanics on discrete manifolds (abstract | full) V. Talasila University of Twente J Clemente-Gallardo Universidade de Coimbra A.J. van der Schaft University of Twente

16:10 - 16:30 Flatness and finite bisimulations in discrete time (abstract | full) P. Tabuada University of Notre Dame

16:30 - 16:50 Monotone measures and almost global stability of dynamical systems (abstract | full) P. Monzón Universidad de la República

16:50 - 17:10 A critical case of the circle criterion (abstract | full) T Fliegner International University in Germany H. Logemann Unibersity of Bath E.P Ryan UNiversity of Bath

17:10 - 17:30 Legendre transforms on max-plus spaces as a tool for nonlinear control problems (abstract | full) W.M. McEneaney Univ. of California, San DIego

17:30 - 17:50 Global transformation of nonlinear dynamic systems into controllability canonical forms (abstract | full) A. Zhirabok Far Eastern State Technical Univercity A. Michtchenko Far Eastern State Univercity

TP4 01.13

Minisymposium Riccati equations and related topics - Part I

Organization: G. Freiling

Chair: G. Freiling

15:30 - 15:50 Generalized Riccati theory: from factorizations to equations and back I (abstract | full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest

15:50 - 16:10 Generalized Riccati theory: from factorizations to equations and back II (abstract | full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest

16:10 - 16:30 BDF methods for large-scale differential Riccati equations (abstract | full) P. Benner Technische Universität Chemnitz H. Mena Escuela Politécnica Nacional

16:30 - 16:50 On double Newton steps (abstract | full) T. Damm Technische Universität Braunschweig

16:50 - 17:10 An iterative procedure for computation of the maximal solution of a class of generalized Riccati differential equations (abstract | full) V. Dragan The Romanian Academy T. Morozan G. Freiling A. Hochhaus

17:10 - 17:30 Upper bounds on the solution of coupled algebraic Riccati equation (abstract | full) A. Czornik Silesian Technical University A. Nawrat Silesian Technical University A. Swierniak Silesian Technical University

17:30 - 17:50 Nested Riccati equations connected with a completely integrable system (abstract | full) G. Freiling Universität Duisburg V. Yurko

TP5 01.01

Minisymposium Adaptive L2 stabilization

Organization: A. Megretski

Chair: A. Megretski

15:30 - 15:50 Fundamental limits on robust stabilization (abstract | full) K. Poolla University of California Berkeley S. Cusumano Kirtland Airforce Base

15:50 - 16:10 A simple analysis of a supervised set-point control containing a compact continuum of finite-dimensional linear controllers (abstract | full) A. S. Morse Yale University

16:10 - 16:30 Smooth adaptive controllers have discontinuous closed loop operators (abstract | full) M. French U. of Southampton

16:30 - 16:50 Examples and counterexamples in finite L2 gain adaptive control (abstract | full) G. Vinnicombe University of Cambridge

16:50 - 17:10 l_2 gain bounded adaptive control of a first order linear system (abstract | full) A. Rantzer LTH, Lund University

17:10 - 17:30 A nonlinear dynamical game interpretation of adaptive L2 control: performance limitations and suboptimal controllers (abstract | full) A. Megretski US-MIT

17:30 - 17:50 Open problems of adaptive L2 control (abstract | full) A. Megretski MIT, USA M. French University of Southampton

TP6 01.19

Minisymposium Structured Matrices and Applications - Part I

Organization: V.Olshevsky, Y.Eidelman

Chair: V.Olshevsky

15:30 - 16:10 Bezoutians for matrix valued entire functions (abstract | full) V.Olshevsky University of Connecticut L. Sakhnovich University of Connecticut

16:10 - 16:30 A formula for the Moore-Penrose inverse of a toeplitz matrix and its applications (abstract | full)G.Heinig Kuwait University M. Van Barel Katholieke Universiteit Leuven P. Kravanja Katholieke Universiteit Leuven

16:30 - 16:50 Subtotally positive and Monge matrices (abstract | full) M.Fiedler Institute of Computer Sciences, Academy of

Sciences of the Czech Republic

16:50 - 17:10 Solving certain matrix structured problems (abstract | full) D.A.Bini Universita di Pisa

17:10 - 17:30 The Kharitonov-like results for quasi-polynomials, entire functions, and matrix polynomials (abstract | full) V.Olshevsky University of Connecticut L.Sakhnovich University of Connecticut

17:30 - 17:50 Some inverse eigenvalue problems in structural identification of rods and beams (abstract | full) D. Fasino Università di Udine A. Morassi Università di Udine

TP7 01.07

Minisymposium Communication networks and control theory

Organization: Patrick Thiran

Chair: Patrick Thiran

15:30 - 16:10 Stability of buffer-based AQMs: the effect of routing and departure-rate models (abstract | full) H. Han University of Massachusetts Amherst C.V. Hollot University of Massachusetts Amherst Y. Chait University of Massachusetts Amherst V. Misra

16:10 - 16:50 Utility maximization, fairness and routing (abstract | full) S.H. Low Caltech, USA

16:50 - 17:10 Some modeling and estimation issues in control of heterogeneous networks (abstract | full) K. Jacobsson Royal Institute of Technology N. Möller Royal Institute of Technology K. H. Johansson Royal Institute of Technology H. Hjalmarsson

17:10 - 17:30 On the dynamic estimation of multicast group sizes (abstract | full) S. Alouf INRIA Sophia Antipolis E. Altman INRIA Sophia Antipolis C. Barakat INRIA Sophia Antipolis Ph. Nain

17:30 - 17:50 An analysis of overlay multicast communication via first passage percolation (abstract | full) F. Baccelli INRIA & Ecole Normale Superieure A. Chaintreau INRIA & Ecole Normale Superieure Z. Liu Watson T.J. Research Center

TP8 01.25

Minisymposium Spectral Value Sets and Transient Behaviour

Organization: D. Hinrichsen, F. Wirth

Chair: F. Wirth

15:30 - 16:10 Transient behavior and robustness (abstract | full) F. Wirth Hamilton Institute

16:10 - 16:50 Non-normality and non-linearity in the transition to turbulence (abstract | full) B. Eckhardt Philipps-Universitaet Marburg

16:50 - 17:10 Spectral value sets and eigenvalue condition numbers for structured perturbations (abstract | full) M. Karow Technische Universitaet Berlin

17:10 - 17:30 Stabilization of linear systems with prescribed transient bounds (abstract | full) E. Plischke Universität Bremen F. Wirth Hamilton Institute

17:30 - 17:50 Pseudozero set decides on polynomial stability (abstract | full) S. Graillat Université de Perpignan Ph. Langlois Université de Perpignan

TP9 01.56

Minisymposium Geometric optimization with applications in numerical linear

algebra, robotics, and computer vision

Organization: Knut Huper Chair: Knut Huper

15:30 - 15:50 Continuous-time flows on quotient spaces for principal component analysis (abstract | full) P.-A. Absil Florida State University

15:50 - 16:10 Generalized shifted inverse iterations on grassmann manifolds (abstract | full) J. Jordan University of Wuerzburg P.-A. Absil Florida State University R. Sepulchre University of Liege

16:10 - 16:30 A new geometric algorithm to generate spline curves (abstract | full) R.C. Rodrigues Instituto Superior de Engenharia de Coimbra F.S. Leite Universidade de Coimbra

16:30 - 16:50 Pose estimation via a Gauss-Newton-on-manifold approach (abstract | full) P.Y. Lee (1) Australian National University. (2) National ICT Australia Ltd.J. B. Moore (1) Australian National University. (2) National ICT Australia Ltd.

16:50 - 17:10 Essential matrix estimation via Newton-type methods (abstract | full) U. Helmke University of Wuerzburg K. Hueper National ICT Australia Ltd P.Y. Lee RSISE, Australian National University J.B. Moore

17:10 - 17:30 A path following method for tracking of time-varying essential matrices (abstract | full) M. Baumann Universitaet Wuerzburg U. Helmke Universitaet Wuerzburg

17:30 - 17:50 On the various generalisations of optimisation algorithms to manifolds (abstract | full) J. H. Manton The University of Melbourne

TP10 01.31

Paper Session Electromagnetical Modelling

Chair: J. Scherpen

15:30 - 15:50 An infinite dimensional descriptor system model for electrical circuits with transmission lines (abstract | full) T. Reis Technische Universität Kaiserslautern, Germany

15:50 - 16:10 On limit cycles in singularly perturbed electrical circuits (abstract | full) M. Prochaska University of Hannover W. Mathis University of Hannover

16:10 - 16:30 An application of control theory to electromagnetic obstacle scattering (abstract | full) F. Zirilli Università di Roma L. Fatone Università di Modena e Reggio Emilia, Italy M.C. Recchioni Università Politecnica delle Marche, Italy

16:30 - 16:50 Discrete-time control design for an HVDC transmission between a synchronous generator and an infinite bus (abstract | full) L. Teppoz INP Grenoble, France G. Bornard INP Grenoble, France G. Besançon INP Grenoble, France

16:50 - 17:10 Transient analysis of electrical drives: applications to the permanent magnet synchronous machine (abstract | full) E. Delaleau University Paris-sud

17:10 - 17:30 On the state space representation of synchronous generators (abstract | full) E. Delaleau University Paris-sud

Wednesday, July 7, 2004

P3 Aula Pieter De Somer

Plenary Presentation Chair: S. Van Huffel

09:00 - 10:00 Mathematical modelling of circadian rhythms in genetic regulatory networks (abstract) A. Goldbeter Université Libre de Bruxelles, Faculté des Sciences, Chimie

WA1 91.54

Minisymposium Cell biology with control and system theory

Organization: J.H. van Schuppen

Chair: J.H. van Schuppen

10:30 - 11:10 Unique form of metabolic compartmentation in trypanosomes offers prospects for drug interference (abstract | full) P.A.M. Michels Christian de Duve Institute of Cellular Pathology

11:10 - 11:30 Kinetic modelling of the metabolic network of trypanosoma brucei (abstract | full) B.M. Bakker Vrije Universiteit Amsterdam

11:30 - 11:50 Growth models for cells in the chemostat (abstract | full) V. Lemesle France - INRIA J-L. Gouze France - INRIA

11:50 - 12:10 Qualitative modeling and simulation of genetic regulatory networks (abstract | full) G. Batt INRIA, France H. de Jong INRIA, France J. Geiselmann Université Joseph Fourrier M. Page

12:10 - 12:30 System theory of rational positive systems for cell reaction networks (abstract | full) J.H. van Schuppen CWI, Amsterdam

WA2 01.54

Minisymposium Model predictive control for discrete-event systems and

hybrid systems

Organization: B. De Schutter, T. van den Boom Chair: B. De Schutter

10:30 - 10:50 Model predictive control for discrete-event systems and hybrid systems - Part I: Discrete-event systems (abstract | full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology

10:50 - 11:10 Model predictive control for discrete-event systems and hybrid systems - Part II: Hybrid systems (abstract | full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology

11:10 - 11:50 MPC for max-plus-linear discrete-event systems (abstract | full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology

11:50 - 12:10 MPC for mixed logical dynamical systems and continuous piecewise-affine systems (abstract | full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology

WA3 91.56

Paper Session Controllability

Chair: F. Colonius

10:30 - 10:50 Characterizing controllability probabilities of stochastic control systems via Zubov’s method (abstract | full) F. Camilli Universita de l’Aquila, Italy L. Gruene University of Bayreuth, Germany F. Wirth NUI Maynooth, Germany

10:50 - 11:10 Exact controllability of an aeroacoustic model (abstract | full) L. Cot Laboratoire Mip, France J.P. Raymond Laboratoire Mip, France J. Vancostenoble Laboratoire Mip, France

11:10 - 11:30 On reachability under stochastic disturbances (abstract | full) I.A. Digailova Moscow State (Lomonosov) University A.B. Kurzhanski Moscow State (Lomonosov) University

11:30 - 11:50 Reachability sets for 2D continuous-discrete linear system with uncertain boundary conditions and ellipsoidal disurbances (abstract | full) E. Krasoń Air Force Academy, Poland

11:50 - 12:10 Controllability of semilinear stochastic systems (abstract | full) S. Zorlu Faculty of Arts and Sciences, Eastern Mediterranean University N. Mahmudov Faculty of Arts and Sciences, Eastern Mediterranean University

WA4 01.13

Paper Session Robustness

Chair: H. Katayama

10:30 - 10:50 Performance and robustness preservation in MIMO systems when applying SPR substitutions (abstract | full) G. Fernandez-Anaya Universidad Iberoamericana J. C. Martinez-Garcia CINVESTAV-IPN, Mexico V. Kucera Czech Technical University in Prague D. Aguilar-George

10:50 - 11:10 On the classification of solutions of the time-varying Riccati inequality (abstract | full) N. Carpanese University of Padova, Italy

11:10 - 11:30 A study on the structure of reliable controllers (abstract | full) N. Sebe Kyushu Institute of Technology

11:30 - 11:50 Persistent bounded disturbance rejection for linear systems subject to actuator saturation (abstract | full) Z. Zuo China

11:50 - 12:30 Eqivalence between the stabilizability and the pairwise simultaneous stabilizability of a plant family (abstract | full) Q. Wu Beijing Institute of Technology L. Xu Akita Prefectural University Y. Anazawa Akita Prefectural University

WA5 01.01

Minisymposium Infinite-dimensional systems - Part III: Computational issues

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten

Morris Chair: Birgit Jacob

10:30 - 10:50 On the continuity of the J-spectral factorization mapping (abstract | full) O.V. Iftime University of Groningen

10:50 - 11:10 Closed form closed-loop solutions in PDE boundary control problems (abstract | full) A. Smyshlyaev Univ. of California at San Diego M. Krstic Univ. of California at San Diego

11:10 - 11:30 Temperature regulation of a nonisothermal plug flow reactor by LQ-feedback (abstract | full) I. Aksikas Université Catholique de Louvain J. J. Winkin University of Namur (FUNDP) D. Dochain Université Catholique de Louvain

11:30 - 11:50 From concept to real-time implementation: POD based reduced order control of a cantilever beam (abstract | full) H. T. Tran North Carolina State University B. M. Lewis MIT Lincoln Laboratory

11:50 - 12:10 Iterative solution of algebraic riccati equations using a modified Newton-Kleinman method (abstract | full) K. A. Morris Univ. of Waterloo C. Navasca Univ. of California

12:10 - 12:30 A discrete Ingham type inequality (abstract | full) M. Negreanu Universidad Complutense de Madrid

WA6 01.19

Paper Session Signal Processing II

Chair: J.H.Manton

10:30 - 10:50 On the estimation and compression of distributed correlated signals with incomplete observations (abstract | full) H. I. Nurdin University of Twente R. R. Mazumdar Purdue University A. Bagchi University of Twente

10:50 - 11:10 On some new filtering results (abstract | full) A.E.Bashirov Eastern Mediterranean University

11:10 - 11:30 Method of partitioned data orthogonalisation for principal component determination (abstract | full) A. Torokhti University of South Australia P. Howlett University of South Australia S. Lucas University of South Australia

11:30 - 11:50 On the local sensitivity of the H2 estimation problem (abstract | full) N. D. Christov Technical University of Sofia, Bulgaria M. Najim ENSEIRB, France E. Grivel ENSEIRB, France

11:50 - 12:10 A noise signature approach to fault detection and isolation (abstract | full) R. Guidorzi University of Bologna R. Diversi University of Bologna U. Soverini University of Bologna A. Valentini

WA7 01.07

Minisymposium Networks, sensors, and control

Organization: Peter H. Bauer, Kamal Premaratne

Chair: Peter H. Bauer

10:30 - 10:50 Controller tuning for active queue management using a parameter space method (abstract | full) H. Ozbay Ohio State University M. Saglam Bilkent University S. Ezercan Bilkent University S. Gumussoy

10:50 - 11:10 Robust controllers for resource management in distributed sensor networks---an approach using positive invariant sets (abstract | full) J. Zhang University of Miami K. Premaratne University of Miami

11:10 - 11:50 A switched system approach to synchronization errors in networked control systems (abstract | full) P.H. Bauer University of Notre Dame, USA C. Lorand University of Notre Dame, USA

11:50 - 12:10 Cross-layer error-control channel transcoding scheme for voice over ip transport over heterogeneous wired/wireless networks (abstract | full) C.M. Garrido University of Miami M. Chen University of Miami M.N. Murthi University of Miami

12:10 - 12:30 SmartSAM: a multisensor network based framework for video surveillance and monitoring (abstract | full) G. Seetharaman Air Force Institute of Technology H. V. Le Hanoi University of Technology S. S. Iyengar Louisiana State University R. Loganathraj

WA8 01.25

Minisymposium Learning theory and kernel methods - Part I

Organization: J.A.K. Suykens

Chair: J.A.K. Suykens

10:30 - 11:10 An introduction to support vector machines and kernel based learning (abstract | full) J.A.K. Suykens K.U. Leuven

11:10 - 11:50 Algorithmic stability and generalization: sufficient conditions for non-erm algorithms and necessary and sufficient conditions for erm algorithms (abstract | full) S. Mukherjee US - MIT R. Rifkin T. Poggio P. Nyogi

11:50 - 12:30 Probably approximately correct learning with beta-mixing input sequences (abstract | full) R.L. Karandikar Indian statistical institute M. Vidyasagar Tata conslutancy services

WA9 01.56

Minisymposium Positive systems

Organization: T. Kaczorek

Chair: T. Kaczorek

10:30 - 10:50 Descriptor systems: K-positivity versus B-positivity (abstract | full) T. P. de Lima University of Coimbra

10:50 - 11:10 On realizations for periodic compartmental systems (abstract | full) R. Bru Univ. Politècnica de València, Spain R. Cantó Univ. Politècnica de València, Spain B. Ricarte Univ. Politècnica de València, Spain

11:10 - 11:30 Controllability and reachability of 2D positive systems: a graph theoretic approach (abstract | full) E. Fornasini Università di Padova, Italy M. E. Valcher Università di Padova, Italy

11:30 - 11:50 Feedback and positive feedback stabilizability and holdability of linear discrete-time systems (abstract | full) V. G. Rumchev Curtin University of Technology, Australia B.N. Dimitrov Kettering University, USA

11:50 - 12:10 Optimal control of positive 2-D systems with infinite horizon (abstract | full) D. Idczak University of Łódź, Poland S. Walczak University of Łódź, Poland

12:10 - 12:30 Structure decomposition and computation of minimal realization of normal transfer matrix of positive systems (abstract | full) T. Kaczorek Warsaw University of Technology

WA10 01.31

Paper Session Control Applications II

Chair: S. Stramigioli

10:30 - 10:50 Flatness based adaptive tracking control for a distributed collector solar field (abstract | full) J.M. Igreja INESC-ID/ISEL, Portugal J.M. Lemos INESC-ID/IST, Portugal R.N. Silva FCT-UNL, Portugal

10:50 - 11:10 A clamped free beam controlled by a piezoelectric actuator. (abstract | full) E. Crépeau INRIA, France C. Prieur CNRS, France

11:10 - 11:30 Flatness based control of a rotary vane actuator (abstract | full) M. Broecker TRW Automotive, Germany F. Heidtmann Universität Duisburg-Essen, Germany

11:30 - 11:50 Standard and lifted approaches of iterative learning control applied on a motion system (abstract | full) I. Rotariu University of Sydney B. Dijkstra Delft University of Technology M. Steinbuch Eindhoven University of Technology

11:50 - 12:10 Modeling and control of an electrohydraulic system (abstract | full) R. Musset Universite Henri Poincare, Nancy I H. Souley Ali Universite Henri Poincare, Nancy I M. Zasadzinski Universite Henri Poincare, Nancy I M. Darouach

12:10 - 12:30 Maneuver regulation, transverse feedback linearization, and zero dynamics (abstract | full) C. Nielsen University of Toronto M. Maggiore University of Toronto

SP7 91.54

Semi-Plenary Presentation Chair: A. van der Schaft

14:00 - 15:00 Model reduction, realization and Hankel theory for nonlinear systems (abstract) J. Scherpen Delft University of Technology, Delft Center for

Systems and Control

SP8 01.54

Semi-Plenary Presentation Chair: A. Bultheel

14:00 - 15:00 Local Optimization of Nonsmooth, Nonconvex Spectral and Pseudospectral Functions in Theory and Practice (abstract) M. Overton New York University, Courant Institute of

Mathematical Sciences

SP9 91.56

Semi-Plenary Presentation Chair: C. Scherer

14:00 - 15:00 Control of Dead-Time Systems: A New Look at Some Old Ideas (abstract) L. Mirkin Technion - Israel Institute of Technology,

Faculty of Mechanical Engineering

WP1 91.54

Minisymposium Mathematical theory of oscillations in networks and systems

Organization: R. Sepulchre

Chair: R. Sepulchre

15:30 - 16:10 From simple to complex oscillatory behavior in cellular regulatory networks (abstract | full) A. Goldbeter Université Libre de Bruxelles

16:10 - 16:30 Drosophila circadian rhythms: stability robustness analysis and model reduction (abstract | full)J. M. Goncalves University of Cambridge T. Yi University of California at Irvine

16:30 - 16:50 On the robustness of limit cycles (abstract | full) U.T. Jonsson Royal Institute of Technology A. Megretski Massachusetts Institute of Technology

16:50 - 17:10 A negative Bendixson-like criterion for a class of hybrid systems (abstract | full) A. Pogromsky Eindhoven University of Technology H. Nijmeijer Eindhoven University of Technology J.E. Rooda Eindhoven University of Technology

17:10 - 17:30 Contraction analysis of synchronisation and desynchronisation in networks of nonlinearly coupled oscillators (abstract | full) J.J.E. Slotine US-MIT W. Wang US-MIT K. El Rifai US-MIT

17:30 - 17:50 Dissipativity and global analysis of limit cycles in networks of oscillators (abstract | full) G.B. Stan University of Liege R. Sepulchre University of Liege

WP2 01.54

Minisymposium Finite dynamical systems: theory and practice

Organization: Reinhard Laubenbacher

Chair: Reinhard Laubenbacher

15:30 - 16:10 Finite dynamical systems: a survey (abstract | full) R. Laubenbacher Virginia Polytechnic Institute and State University

16:10 - 16:50 Sequential dynamical systems: a mathematical framework for computer simulations (abstract | full) H. Mortveit Los Alamos National Laboratory C. Reidys Los Alamos National Laboratory C. L. Barrett Los Alamos National Laboratory

16:50 - 17:30 C-ImmSim: playing with the immune response (abstract | full) F. Castiglione Institute for Computing Applications M. Bernaschi Institute for Computing Applications

WP3 91.56

Minisymposium Port-Hamiltonian systems: an approach to modeling and

control of complex physical systems

Organization: A.J. van der Schaft Chair: A.J. van der Schaft

15:30 - 16:10 Port-Hamiltonian systems: an approach to modeling and control of complex physical systems (abstract | full) A.J. van der Schaft University of Twente

16:10 - 16:30 Port-based modeling and analysis of snakeboard locomotion (abstract | full) V. Duindam University of Twente G. Blankenstein Katholieke Universiteit Leuven S. Stramigioli University of Twente

16:30 - 16:50 On iterative learning control of nonholonomic Hamiltonian systems (abstract | full) K. Fujimoto Nagoya University, Japan

16:50 - 17:10 Non-minimal representation of Dirac structures for physical systems with switching interconnection (abstract | full) M. Magos University Claude Bernard Lyon 1 C. Valentin University Claude Bernard Lyon 1 B. Maschke University Claude Bernard Lyon 1

17:10 - 17:30 Distributed port-hamiltonian formulation of infinite dimensional systems (abstract | full) A. Macchelli University of Bologna A. J. van der Schaft University of Twente C. Melchiorri University of Bologna

17:30 - 17:50 On interconnections of infinite dimensional port-Hamiltonian systems. (abstract | full) R. Pasumarthy University of Twente A. J. van der Schaft University of Twente

WP4 01.13

Minisymposium Riccati equations and related topics - Part II

Organization: G. Freiling

Chair: G. Freiling

15:30 - 15:50 Riccati equations and optimal control for infinite-dimensional linear systems (abstract | full) K. M. Mikkola Helsinki University of Technology O. J. Staffans Åbo Akademi University

15:50 - 16:10 A singular perturbation problem for the Riccati equation (abstract | full) V. Kostrykin Fraunhofer-Institut für Lasertechnik K. A. Makarov

16:10 - 16:30 Constructive solutions to general (J,J\')-lossless factorization with respect to the disc (abstract | full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest

16:30 - 16:50 The open-loop linear quadratic differential game revisited (abstract | full) J. Engwerda Tilburg University

16:50 - 17:10 A numerical algorithm to find soft-constrained Nash equilibria in scalar LQ-games (abstract | full) J. Engwerda Tilburg University

17:10 - 17:30 Open loop Nash games and positive systems - solvability conditions for non symmetric Riccati equations (abstract | full) D. Kremer RWTH Aachen G. Jank RWTH Aachen

17:30 - 17:50 Optimal control of disturbed continuous time 2D-systems (abstract | full) G. Jank RWTH Aachen

WP5 01.01

Minisymposium Infinite-dimensional systems - Part IV: Stabilization and

controller design

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten Morris

Chair: Birgit Jacob 15:30 - 15:50 New results on the Lyapunov-Krasovskii approach to delay systems (abstract | full) E. Plischke Universität Bremen V. L. Kharitonov Control Automatico

15:50 - 16:10 The suboptimal Nehari problem for stable infinite-dimensional linear systems: bridging the gap (abstract | full) R.F. Curtain University of Groningen M.R. Opmeer University of Groningen

16:10 - 16:30 A Hamiltonian-based solution to the mixed sensitivity problem for stable pseudorational plants (abstract | full) K. Kashima Graduate school of Informatics, Kyoto University Y. Yamamoto Graduate school of Informatics, Kyoto University H. Ozbay The Ohio State University, Japan

16:30 - 16:50 Output regulation of periodic signals for DPS : an infinite-dimensional signal generator (abstract| full) E. Immonen Tampere University of Technology, Finland S. Pohjolainen Tampere University of Technology, Finland

16:50 - 17:10 PID stabilization of SISO delay systems and robust stabilization of systems with multiple transmission delays (abstract | full) C. Bonnet INRIA J.R. Partington University of Leeds

17:10 - 17:30 Coprime factorizations and stabilizability of infinite-dimensional linear systems (abstract | full) K. M. Mikkola Helsinki University of Technology O. J. Staffans Åbo Akademi University

17:30 - 17:50 Sampled-data feedback stabilization of a beam equation with boundary control (abstract | full) R. Rebarber University of Nebraska J. Azzam University of Nebraska J. Windle University of Nebraska

WP6 01.19

Minisymposium Structured Matrices and Applications - Part II

Organization: V. Olshevsky, Y.Eidelman

Chair: V. Olshevsky

15:30 - 15:50 Direct approach to the band completion problem (abstract | full) Y. Eidelman Tel Aviv University I. Gohberg Tel Aviv University

15:50 - 16:10 Anti-reflective boundary conditions and re-blurring (abstract | full) M. Donatelli Universita dell’ Insubria - Sede di Como S. Serra-Capizzano Universita dell’ Insubria - Sede di Como

16:10 - 16:30 A unitary Hessenberg QR-based algorithm via semiseparable matrices (abstract | full) L.Gemignani University of Pisa

16:30 - 16:50 A new inertia theorem for Stein equations, inertia of invertible hermitian block Toeplitz matrices and matrix orthogonal polynomials (abstract | full) L. Lerer Technion A.C.M. Ran Vrije Universiteit

16:50 - 17:10 The eigendecomposition of arrowhead matrices: an overview (abstract | full) N. Mastronardi National Council of Italy M. Van Barel Katholieke Universiteit Leuven E. Van Camp Katholieke Universiteit Leuven

17:10 - 17:30 Superfast solver for real symmetric toeplitz systems using real trigonometric transformations (abstract | full) M.Van Barel Katholieke Universiteit Leuven G. Codevico Katholieke Universiteit Leuven G.Heinig Kuwait University

17:30 - 17:50 The Kharitonov theorem and bezoutians (abstract | full) A.Olshevsky MIT V.Olshevsky University of Connecticut

WP7 01.07

Minisymposium Randomized algorithms and probabilistic methods in

systems and control

Organization: Roberto Tempo Chair: Roberto Tempo

15:30 - 16:10 An overview of randomized algorithms in robust control theory (tutorial) (abstract | full) M. Vidyasagar Tata Consultancy Services, India

16:10 - 16:30 An overview of quasi-Monte Carlo methods in control systems (abstract | full) P.F. Hokayem University of Illinois at Urbana-Champaign C. T. Abdallah University of New Mexico P. Dorato University of New Mexico S. Mastellone

16:30 - 16:50 Guaranteed cost regulator design: probabilistic solution and randomized algorithm (abstract | full) Y. Fujisaki Kobe University, Japan Y. Oishi The University of Tokyo

16:50 - 17:10 Stochastic approximation algorithms for robust output feedback controller design (abstract | full) C. M. Lagoa Pennsylvania State University X. Li Pennsylvania State University M. Sznaier Pennsylvania State University

17:10 - 17:30 The randomized ellipsoidal algorithm with application to fault-tolerant control (abstract | full) S. Kanev Delft University of Technology M. Verhaegen Delft University of Technology

17:30 - 17:50 Randomized algorithms for some hybrid systems problems (abstract | full) H. Ishii University of Tokyo T. Basar University of Illinois at Urbana-Champaign R. Tempo Politecnico di Torino

WP8 01.25

Minisymposium Learning theory and kernel methods - Part II

Organization: J.A.K. Suykens

Chair: J.A.K. Suykens

15:30 - 15:50 Complexity and regularization issues in kernel-based learning (abstract | full) M. Sanguineti University of Genova

15:50 - 16:10 When do support vector machines learn fast? (abstract | full) I. Steinwart Los Alamos National Laboratory C. Scovel

16:10 - 16:30 alfa, beta and 2-norm stability for additively regularized LS-SVMs via convex optimization (abstract | full) K. Pelckmans K.U. Leuven J.A.K. Suykens K.U. Leuven B. De Moor K.U. Leuven

16:30 - 16:50 Designing kernel functions using the karhunen-loeve expansion (abstract | full) M. Sugiyama Tokyo Institute of Technology H. Ogawa Tokyo Institute of Technology

16:50 - 17:10 Efficiently updating and tracking the dominant kernel eigenspace (abstract | full) L. Hoegaerts Katholieke Universiteit Leuven L. De Lathauwer Centre National de la Recherche Scientifique J.A.K. Suykens Katholieke Universiteit Leuven J. Vandewalle

17:10 - 17:30 Least squares support vector machines for kernel CCA in nonlinear state-space identification (abstract | full) V. Verdult Delft University of Technology J. .A. K. Suykens K. U. leuven J. Boets K. U. leuven I. Goethals, B. De Moor

17:30 - 17:50 The ingredients of the fundamental theorem of learning (abstract | full) J. Shawe-Taylor University of Southampton A. Ambroladze

WP9 01.56

Minisymposium Modelling, analysis and design of positive systems

Organization: J. J. Winkin

Chair: J. J. Winkin

15:30 - 15:50 A tutorial on monotone systems- with an application to chemical reaction networks (abstract | full) P. De Leenheer DIMACS/Rutgers University D. Angeli Universita di Firenze E.D. Sontag Rutgers University

15:50 - 16:10 The geometry of the reachability set for linear discrete-time systems with positive controls (abstract | full) L. Benvenuti Universita di Roma L. Farina Universita di Roma

16:10 - 16:30 Modelling and analysis of nonlinear compartmental systems: an overview. (abstract | full) G. Bastin Université Catholique de Louvain

16:30 - 16:50 Positivity and invariance properties of a tubular biochemical reactor nonlinear model (abstract | full) M. Laabissi Université Chouaib Doukkali J. J. Winkin University of Namur (FUNDP) D. Dochain Université Catholique de louvain M. E. Achhab

16:50 - 17:10 Positive control for competition models with inhibition in the chemostat (abstract | full) J.L. Gouze INRIA, France G. Robledo INRIA, France

17:10 - 17:30 On controlling the transient response of a SISO LTI system (abstract | full) D. Swaroop Texas A&M University S.P. Bhattacharyya Texas A&M University W. A Malik Texas A&M University

17:30 - 17:50 Positive filters with charge routing networks for image processing (abstract | full) L. Benvenuti Università di Roma A. De Santis Università di Roma L. Farina Università di Roma

WP10 01.31

Minisymposium Interpolation and factorization in several variables

Organization: Hugo J. Woerdeman

Chair: Hugo J. Woerdeman

15:30 - 15:50 Remarks on generalized lemniscates (abstract | full) M. Putinar University of California

15:50 - 16:10 Deconvolution of absolutely summable signals supported by sector semigroups in Z^N (abstract | full) F. Zrostlík Czech Technical University in Prague

16:10 - 16:30 Stochastic control, Bellman function, harmonic analysis (abstract | full) A. Volberg USA - MSU

16:30 - 16:50 Tangential interpolation of operator functions on the bidisk (abstract | full) L. Rodman USA - College of William and Mary

16:50 - 17:10 Scattering systems with several evolutions and multidimensional input/state/output systems (abstract | full) J.A. Ball Virginia Tech C. Sadosky Howard University V. Vinnikov Ben Gurion University of the Negev

Thursday, July 8, 2004

P4 Aula Pieter De Somer

Plenary Presentation Chair: P. Van Dooren

09:00 - 10:00 A unified approach to modeling, analysis and numerical solution for control problems (abstract)V. Mehrmann Technische Universität Berlin, Institut für Mathematik

THA1 91.54

Minisymposium Multidimensional systems and repetitive processes - Part II

Organization: K. Galkowski, E. Rogers

Chair: K. Galkowski

15:30 - 15:50 Every internally stabilizable multidimensional system admits a doubly coprime factorization (abstract | full) A. Quadrat INRIA Sophia Antipolis, France

15:50 - 16:10 Poles, polynomial-exponential trajectories, and the MPUM (abstract | full) E. Zerz University of Kaiserslautern

16:10 - 16:30 On the use of behavioural theory in the analysis and control of discrete (abstract | full) V.R.Sule Indian Institute of Technology E. Rogers University of Southampton

16:30 - 16:50 Unknown input observers for 2D systems (abstract | full) M. Bisiacco University of Padova, Italy M.E. Valcher University of Padova, Italy

16:50 - 17:10 Bang-bang controls and piecewise constant ones for continuous Roesser systems (abstract | full) D. Idczak University of Łódź M. Majewski University of Łódź

17:10 - 17:30 State feedback stabilization of discrete linear repetitive processes with switched dynamics (abstract | full) K. Galkowski University of Zielona Gora D. Mehdi L.A.I.I, France E. Rogers University of Southampton O. Bachelier

THA2 01.54

Paper Session Switched Linear Systems II

Chair: C. Lagoa

10:30 - 10:50 A monotonicity property of the joint spectral radius (abstract | full) F. Wirth Hamilton Institute, Ireland

10:50 - 11:10 Computationally efficient approximations of the joint spectral radius (abstract | full) V. Blondel Université Catholique de Louvain Y. Nesterov Université Catholique de Louvain

11:10 - 11:30 On the relations between discrete and continuous time stability for switched linear systems (abstract | full) V.D. Blondel Université Catholique de Louvain J. Theys Université Catholique de Louvain

11:30 - 11:50 Preliminary results on the stability of switched positive linear systems (abstract | full) L. Gurvits Los Alamos National Laboratory R. Shorten Hamilton Institute, NUI Maynooth O. Mason Hamilton Institute, NUI Maynooth

11:50 - 12:10 Stability of 2D switched linear systems with conic switching (abstract | full) H. Lens University of Toronto M. E. Broucke University of Toronto A. Arapostathis University of Texas

12:10 - 12:30 Realization theory for linear switched systems (abstract | full) M. Petreczky Universiteit Amsterdam

THA3 91.56

Paper Session Systems Theory I

Chair: S. Zampieri

10:30 - 10:50 Coprime factorizations for linear systems over rings and realization of precompensators by feedback (abstract | full) H. Inaba Tokyo Denki University K. Arai Oyama National College of Technology S. Townley University of Exeter

10:50 - 11:10 On simultaneous stabilizability with local-global principle without coprime factorizability (abstract | full) K. Mori The University of Aizu

11:10 - 11:30 2-D fourier transform for systems and control theory (abstract | full) J. Jezek UTIA CAS, Czech Republic P. Zezula UTIA CAS, Czech Republic

11:30 - 11:50 Nyquist stability criterion of sampled-data systems with the 2-regularized determinant and its applications to robust stability analysis (abstract | full) T. Hagiwara Kyoto University Y. Tsuruguchi

11:50 - 12:10 State feedback stabilization of a class of discrete time, linear, time variant systems (abstract | full) D. Mehdi ESIP, France O. Bachelier ESIP, France K. Galkowski University of Zielona Gora

THA4 01.13

Minisymposium Riccati equations and related topics - Part III

Organization: G. Freiling

Chair: G. Freiling

10:30 - 10:50 Matrix Riccati equations and inequalities and nonlinear oscillations (abstract | full) V. Rasvan University of Craiova

10:50 - 11:10 Riccati equations in delay systems (abstract | full) E. Verriest Georgia Institute of Technology

11:10 - 11:30 Stability of linear functional differential equations: a new Lyapunov technique (abstract | full) E. Fridman Tel Aviv University

11:30 - 11:50 On calculating the maximal radius of delay deviation (abstract | full) K. Gu Southern Illinois University at Edwardsville S.-I. Niculescu Universite de Technologie de Compiegne J. Chen University of California at Riverside

11:50 - 12:10 An input delay approach to robust sampled-data stabilization (abstract | full) E. Fridman Tel Aviv University A. Seuret J.P. Richard

12:10 - 12:30 Stability and bifurcation analysis of some fluid flow model of TCP behavior (abstract | full) W. Michiels Katholieke Universiteit Leuven S.-I. Niculescu Universite de Technologie de Compiegne

THA5 01.01

Minisymposium Convolutional Codes

Organization: J. Rosenthal, H. Gluesing-Luerssen

Chair: J. Rosenthal

10:30 - 10:50 A classification of convolutional codes based on Justesen’s construction (abstract | full) J.-J. Climent Universitat d’Alacant, Spain V. Herranz Universidad Miguel Hernández, Spain C. Perea Universidad Miguel Hernández, Spain

10:50 - 11:10 Recent results on cyclic convolutional codes (abstract | full) H. Gluesing-Luerssen Univerity of Kentucky B. Langfeld Technical University of Munich W. Schmale Carl von Ossietzky University Oldenburg, Germany

11:10 - 11:30 Convolutional goppa codes (abstract | full) J.M. Muñoz Porras University of Salamanca J.A. Dominguez Perez University of Salamanca J.I. Iglesias Curto University of Salamanca G. Serrano Sotelo

11:30 - 11:50 Fault protection of digital sequential systems using convolutional codes over large alphabets (abstract | full) C. N. Hadjicostis University of Illinois T. Ernst University of Illinois

11:50 - 12:10 On superregular matrices (abstract | full) R. Hutchinson University of Notre Dame J. Trumpf The Australian National University

12:10 - 12:30 New convolutional codes from old convolutional codes (abstract | full) J.J. Climent Universitat d’Alacant V. Herranz Universidad Miguel Hernández C. Perea Universidad Miguel Hernández

THA6 01.19

Minisymposium Semi-separable systems - Part II

Organization: P. Dewilde, M. Gu, S. Chandrasekaran

Chair: P. Dewilde

10:30 - 11:10 On a polynomial root-finder based on semi-separable matrices (abstract | full) D. Bini University of Pisa L. Gemignani University of Pisa V. Pan

11:10 - 11:30 A comparison between the semiseparable and the tridiagonal eigenvalue solvers (abstract | full) M. Van Barel Katholieke Universiteit Leuven R. Vandebril Katholieke Universiteit Leuven N. Mastronardi Katholieke Universiteit Leuven

11:30 - 11:50 On characteristic polynomials, eigenvalues and eigenvectors of quasiseparable matrices (abstract | full) Y. Eidelman University of Tel Aviv I. Gohberg University of Tel Aviv V. Olshevsky University of Connecticut

11:50 - 12:30 Rational Krylov iterations and diagonal-plus-semiseparable matrices (abstract | full) D. Fasino Università di Udine

THA7 01.07

Minisymposium Modelling and control of neworks

Organization: M di Bernardo

Chair: M di Bernardo

10:30 - 11:10 A modelling framework for network usage (abstract | full) J.M. Schumacher Tilburg University I. Korostil Tilburg University

11:10 - 11:30 The statistics of intermittency maps and dynamical modelling of networks (abstract | full) D. Arrowsmith Queen Mary, University of London

11:30 - 11:50 Synthesis of robust active queue management controllers (abstract | full) S. Manfredi University of Naples M. di Bernardo University of Sannio F. Garofalo University of Naples

11:50 - 12:10 A chaos based approach for generating self-similar process (abstract | full) G. Mazzini University of Ferrara R. Rovatti University of Bologna G. Setti University of Ferrara

12:10 - 12:30 Design of robust AQM controllers for improved TCP Westwood congestion control (abstract | full) M. di Bernardo University of Sannio A. Grieco Politecnico di Bari S. Manfredi University of Naples S. Mascolo

THA8 01.25

Minisymposium Identification and control in computer vision

Organization: Alessandro Chiuso

Chair: Alessandro Chiuso

10:30 - 11:10 Gait recognition using dynamic affine invariants (abstract | full) A. Bissacco University of Los Angeles - CA 90095 P. Saisan University of Los Angeles - CA 90095 S. Soatto University of Los Angeles - CA 90095

11:10 - 11:50 GPCA: Geometric clustering in vision & control (abstract | full) R. Vidal Johns Hopkins University

11:50 - 12:30 Robust GPCA algorithm with applications in video segmentation via hybrid system identification (abstract | full) K. Huang University of Urbana-Champaign Y. Ma University of Urbana-Champaign

THA9 01.56

Minisymposium Numerical methods for control

Organization: V. Mehrmann, H. Fassbender

Chair: H. Fassbender

10:30 - 10:50 Factorized solution of Sylvester equations with applications in control (abstract | full) P. Benner TU Chemnitz, Germany

10:50 - 11:10 Low rank iterative methods for projected generalized Lyapunov equations (abstract | full) T. Stykel Technische Universitaet Berlin

11:10 - 11:30 The Hinfinity norm calculation for large sparse systems (abstract | full) Y. Chahlaoui Florida State University K.A. Gallivan Florida State University P. Van Dooren Universite catholique de Louvain

11:30 - 11:50 Computation of least order solutions of linear rational equations (abstract | full) A. Varga German Aerospace Center

11:50 - 12:10 A semi-smooth Newton method for optimal boundary control of a nonlinear reaction-diffusion system (abstract | full) S. Volkwein University of Graz R. Griesse University of Graz

12:10 - 12:30 Arithmetic-like binary operations on matrix pencils with applications to control (abstract | full) R. Byers University of Kansas P. Benner TU-Chemnitz

THA10 01.31

Minisymposium Representation of function classes and differential equations

Organization: Andreas Lasarow, Adhemar Bultheel

Chair: Andreas Lasarow

10:30 - 10:50 de Branges Rovnyak spaces and Schur functions: the hyperholomorphic case (abstract | full) D. Alpay Ben-Gurion University of the Negev, Israel D. Volok

10:50 - 11:10 Symmetric lossless extensions and Schur analysis (abstract | full) L. Baratchart France - INRIA P. Enqvist France - INRIA

11:10 - 11:30 On modules of rational matrix-valued functions and some related problems (abstract | full) A. Lasarow Katholieke Universiteit Leuven

11:30 - 11:50 Inverse problems for small perturbations of canonical systems (abstract | full) H. Winkler University of Groningen

11:50 - 12:30 Isoprincipal deformations of Fuchsian systems and rational solutions of the Schlesinger system (abstract | full) V. Katsnelson The Weizmann Institute of Science, Israel D. Volok

SP10 91.54

Semi-Plenary Presentation Chair: B. Wahlberg

14:00 - 15:00 Geometric Control of Mechanical Systems (abstract) F. Bullo University of Illinois at Urbana-Champaign,

Coordinated Science Laboratory

SP11 01.54

Semi-Plenary Presentation Chair: J.M. Schumacher

14:00 - 15:00 Modeling and Control of Hybrid Systems (abstract) A. Bemporad University of Siena, Dip. di Ingegneria

dell'Informazione

SP12 91.56

Semi-Plenary Presentation Chair: G. Picci

14:00 - 15:00 Generalized interpolation in Hinf with applications to systems and control and signal processing (abstract) A. Lindquist Royal Institute of Technology, Department of

Mathematics

THP1 91.54

Minisymposium Computational biosignal processing

Organization: S. Van Huffel

Chair: S. Van Huffel

15:30 - 16:10 Independent brain activity networks (abstract | full) S. Makeig University of California

16:10 - 16:30 Modeling heart rate variability (abstract | full) P. laguna University of Zaragoza, Spain L. Sörnmo Lund University, Sweden

16:30 - 16:50 On medical image registration (abstract | full) B. Fischer University of Luebeck J. Modersitzki University of Luebeck

16:50 - 17:10 Magnetic resonance spectroscopy data quantification (abstract | full) L. Vanhamme Katholieke Universiteit Leuven P. Lemmerling Katholieke Universiteit Leuven P. Van Hecke Katholieke Universiteit Leuven S. Van Huffel

17:10 - 17:30 Observing slow EEG activity from same area as spikes in paediatric patients with focal epilepsy by using signal decomposition and dipole modelling (abstract | full) B. Vanrumste Katholieke Universiteit Leuven R.D. Jones Chirstchurch Hospital P.J. Bones University of Canterbury G.J. Carroll

17:30 - 17:50 Design of a robust multi-microphone noise reduction algorithm for hearing instruments (abstract | full) S. Doclo Katholieke Universiteit Leuven A. Spriet Katholieke Universiteit Leuven M. Moonen Katholieke Universiteit Leuven J. Wouters, Katholieke Universiteit Leuven, Lab. Exp. ORL

THP2 01.54

Minisymposium Decentralized and distributed control and diagnosis of

systems

Organization: R.K. Boel, J.H. van Schuppen Chair: J.H. van Schuppen

15:30 - 15:50 Model reduction in distributed supervision (abstract | full) J.G. Thistle University of Waterloo S. Nazari University of Waterloo

15:50 - 16:10 Distributed control of teams of unmanned air vehicles (abstract | full) J. Sousa University of California at Berkeley P. Varaiya University of California at Berkeley T. Simsek University of California at Berkeley

16:10 - 16:30 Do what you know: using knowledge to understand the control of distributed systems (abstract | full) S.L. Ricker Mount Allison University

16:30 - 16:50 Runs of a distributed system are a product of local runs (abstract | full) E. Fabre Irisa/Inria, France

16:50 - 17:10 Contextual analysis of Petri nets for distributed applications (abstract | full) G. Jiroveanu Ghent University R.K. Boel Ghent University

17:10 - 17:30 A Petri net model for distributed learning (abstract | full) S. Abbes IRISA, France A. Benveniste IRISA, France S. Haar IRISA, France

17:30 - 17:50 Real-time encoding-decoding of Markov sources in noisy environments. (abstract | full) D. Teneketzis University of Michigan

THP3 91.56

Paper Session Systems Theory II

Chair: E. Noldus

15:30 - 15:50 Unification of continuous-time and discrete-time systems: the linear case (abstract | full) Z. Bartosiewicz Bialystok Technical University E. Pawluszewicz Bialystok Technical University

15:50 - 16:10 Ellipsoidal estimates for domains containing all periodic orbits of general quadratic systems (abstract | full) K.E. Starkov CITEDI-IPN, USA A.P. Krishchenko Bauman Moscow State Technical University

16:10 - 16:30 A least squares approach to reduce stable discrete systems preserving their stability (abstract | full) S. Feldmann Technical University of Kaiserslautern, Germany P. Lang Fraunhofer Institute for Industrial Mathematics, Germany

16:30 - 16:50 Model reduction of interconnected systems (abstract | full) A. Vandendorpe Université Catholique de Louvain P. Van Dooren Université Catholique de Louvain

16:50 - 17:10 Approximate nonnegative matrix factorization via alternating minimization (abstract | full) L. Finesso ISIB-CNR, Italy P. Spreij Universiteit van Amsterdam

17:10 - 17:30 Affine iterations on nonnegative vectors (abstract | full) V. Blondel Université catholique de Louvain L. Ninove Université catholique de Louvain P. Van Dooren Université catholique de Louvain

17:30 - 17:50 On characteristic equations, dynamic eigenvalues, Lyapunov exponents and Floquet numbers for linear time-varying systems (abstract | full) P. van der Kloet Delft Univeristy of Technology F.L. Neerhoff Delft University of Technology

THP4 01.13

Minisymposium Semi-algebraic Geometry, Operator Theory and Applications

Organization: William Helton, Pablo Parrilo, Mihai Putinar

Chair: J. William Helton

15:30 - 15:50 Exploiting algebraic structure in sum of squares programs (abstract | full) P.A. Parrilo ETH Zurich

15:50 - 16:10 Commutative versus noncommutative semialgebraic geometry (abstract | full) M. Putinar University of California

16:10 - 16:30 Formal positivity and matrix-positivity of kernels in non-commuting (abstract | full) D.S. Kalyuzhnyi-Verbovetzkii Ben-Gurion University of the Negev V. Vinnikov Ben-Gurion University of the Negev

16:30 - 16:50 Convexity vs. LMIs (abstract | full) J. W. Helton UC San Diego

16:50 - 17:10 Conservative realizations for formal power series with contractive values on noncommutative multivariable operator balls (abstract | full) J.A. Ball Virginia Tech G. Groenewald North West University T. Malakorn Naresuan University

17:10 - 17:30 Combinatorics hidden in hyperbolic polynomials and related topics (abstract | full) L. Gurvits LANL, USA

THP5 01.01

Paper Session Infinite Dimensional Systems

Chair: O. Staffans

15:30 - 15:50 On the stabilization of the wave equation with dynamical control (abstract | full) B. Chentouf Sultan Qaboos University M. S. Boudellioua Sultan Qaboos University

15:50 - 16:10 The linear quadratic regulator problem for a large class of infinite dimensional systems (abstract | full) M.R. Opmeer University of Groningen

16:10 - 16:30 Boundary feedback stabilization of the Navier-Stokes equations with gradient constraints (abstract | full) M.Badra Universite Paul Sabatier, France

16:30 - 16:50 Boundary feedback stabilization of a linear first order hyperbolic system with non smooth coefficients (abstract | full) B. Chentouf Sultan Qaboos University M.S. Boudellioua Sultan Qaboos University

16:50 - 17:10 Uniform stabilization of the Euler-Bernoulli equation with variable coefficients (abstract | full) S. E. Rebiai University of Batna

17:10 - 17:30 Time sampling of diffusion systems using semigroup decomposition methods (abstract | full) J.M. Lemos INESC-ID/IST, Portugal J.M.F. Moura Carnegie Mellon University

THP6 01.19

Minisymposium Observer theory, design and applications

Organization: J. Trumpf, U. Helmke

Chair: J. Trumpf

15:30 - 15:50 Genericity of algebraically observable polynomial systems: The discrete-time case (abstract | full) U. Helmke University of Wuerzburg J.H. Manton The University of Melbourne

15:50 - 16:10 Integral mapping based observers for nonlinear systems (abstract | full) R. Engel University of Kassel

16:10 - 16:30 PI-observers for nonlinear descriptor systems (abstract | full) P.C. Mueller University of Wuppertal

16:30 - 16:50 Observability criteria for slow and fast reliability states within a reliability control system (abstract | full) I. Pabst University of Wuppertal

16:50 - 17:10 On duality in some problems of geometric control relating to observers (abstract | full) P.A. Fuhrmann Ben-Gurion University of the Negev

17:10 - 17:30 Functional observers for systems with unknown inputs (abstract | full) M. Darouach IUT de Longwy

17:30 - 17:50 Observers for linear time-varying systems (abstract | full) J. Trumpf The Australian National University

THP7 01.07

Paper Session Network Dynamics and Control

Chair: H. Hjalmarsson

15:30 - 15:50 Networked control methods robust to jitter and their evaluation by inverted pendulum (abstract | full) N. Adachi Nara Institute of Science and Technology K. Aida M. Nitta K. Sugimoto

15:50 - 16:10 An LMI approach to networked control systems with data packet dropout and transmission delays (abstract | full) M. Yu Center for Systems and Control, Peking University L. Wang Center for Systems and Control, Peking University T. Chu Center for Systems and Control, Peking University

16:10 - 16:30 Global stability of a dual congestion control under time-varying queueing delays. (abstract | full)F. Paganini UCLA, USA

16:30 - 16:50 Traffic reduction in randomly generated information networks (abstract | full) N.S.M. Kenny United Kingdom - UMIST M.R. Muldoon United Kingdom - UMIST

16:50 - 17:10 The parallel phase I algorithm for the multicommodity network flow problem: an application for the data routing problem (abstract | full) C.M. Ribeiro Brazil UNIPAC L.N. Moreira Brazil UNIPAC

17:10 - 17:30 A power and rate control algorithm for wireless networks with state-delayed dynamics (abstract | full) S. Ananth UCLA, USA A. H. Sayed UCLA, USA

THP8 01.25

Paper Session Identification

Chair: X. Bombois

15:30 - 15:50 H2-optimal linear parametric design (abstract | full) I. Markovsky Katholieke Universiteit Leuven S. Van Huffel B. De Moor

15:50 - 16:10 Solution of inverse scattering problems by means of parametric identification techniques (abstract | full) S. Perabo University of Padova G. Picci University of Padova F. Marcuzzi University of Padova

16:10 - 16:30 A stochastically balanced realization on a finite-interval (abstract | full) H. Tanaka Kyoto University T.Katayama Kyoto University

16:30 - 16:50 Continuous-time subspace system identification using generalized orthonormal basis functions (abstract | full) Y. Ohta Osaka University T. Kawai

16:50 - 17:10 Iterative estimation of the extended observability matrix (abstract | full) G. Salazar-Silva CINVESTAV-IPN J.C. Martinez-Garcia CINVESTAV-IPN

17:10 - 17:30 Separable least squares for projected gradient identification of composite local linear state-space models (abstract | full) J. Borges Instituto Superior Técnico V. Verdult Delft University of Technology M. Verhaegen Delft University of Technology M. Ayala Botto

17:30 - 17:50 Decentralized system identification and sensor fusion (abstract | full) J. A. Ramos Indiana University Purdue University-Indianapolis

THP9 01.56

Paper Session Linear Algebra

Chair: M. Van Barel

17:30 - 17:50 On characteristic equations, dynamic eigenvalues, Lyapunov exponents and Floquet numbers for linear time-varying systems (abstract | full) P. van der Kloet Delft Univeristy of Technology F.L. Neerhoff Delft University of Technology

15:50 - 16:10 Schemes of polynomial characteristic equations for scalar linear systems (abstract | full) F.L. Neerhoff Delft University of Technology P. van der Kloet Delft University of Technology

16:10 - 16:30 Reliable algorithms for computing minimal dynamic covers for descriptor systems (abstract | full) A. Varga German Aerospace Center

16:30 - 16:50 The extended (J, J’)-spectral factorization of rational matrices (abstract | full) D. Chu National University of Singapore

16:50 - 17:10 Minor component analysis by incremental inverse iteration (abstract | full) D.M. Sima Katholieke Universiteit Leuven S. Van Huffel Katholieke Universiteit Leuven

17:10 - 17:30 A multidimensional systems approach to polynomial optimization (abstract | full) I.W.M. Bleylevens Universiteit Maastricht B. Hanzon Universiteit Leiden R.L.M. Peeters Universiteit Maastricht

17:30 - 17:50 On the maximum rank of Toeplitz block matrices of blocks of a given pattern (abstract | full) G. Reiszig Universitaet Magdeburg

THP10 01.31

Minisymposium Interpolation and operator theory methods

Organization: M.A. Kaashoek, A.E. Frazho

Chair: M.A. Kaashoek

15:30 - 16:10 Analytic interpolation and spectral analysis: advances and applications (abstract | full) T. Georgiou

University of Minnesota

16:10 - 16:30 An augmented basic interpolation problem (abstract | full) H. Dym

Boundary interpolation problems (abstract

The Weizmann Institute of Science

16:30 - 16:50 | full)

An optimization problem and Nevanlinna-Pick expansion (abstract

H. Dym The Weizmann Institute of Science

16:50 - 17:10 | full)

Purdue UniversitA.E. Frazho y

A Grassmanian approach to the Hankel norm approximation problem (abstract

17:10 - 17:30

| full) University of Groningen O.V. Iftime

M.A. Kaashoek FEW Vrije Universiteit H. Sandberg Lund Institute of Technology A.J. Sasane

17:30 - 17:50 Real interpolating units via positive functions (abstract | full) Prashant Batra Technical University Hamburg-Harburg, Germany

Friday, July 9, 2004

P5 Aula Pieter De Somer

Plenary Presentation Chair: Y. Yamamoto

09:00 - 10:00 Convolutional Codes, Systems over Finite Fields and Fault Tolerance (abstract) J. Rosenthal

University Notre Dame, Deparment of Mathematics

FA1 91.54

Minisymposium Robust control via polynomial and optimisation methods

Organization: Michael Sebek, Didier Henrion, Zdenek Hurak

Chair: Zdenek Hurak

10:30 - 11:10 Overcoming non-convexity in polynomial robust control (abstract | full) D. Henrion LAAS-CNRS M. Sebek

Czech Technical University in Prague

11:10 - 11:30 MIMO L-optimal control via Block Toeplitz operators (abstract | full) Z. Hurak Czech Technical University A. Boettcher Technische Universitat Chemnitz

11:30 - 11:50 Control of linear systems subject to time-domain constraints with polynomial pole placement and LMIs (abstract | full) D. Henrion LAAS-CNRS, France S. Tarbouriech V. Kucera

LAAS-CNRS, France Czech Technical University in Prague

11:50 - 12:10 Symmetric factorization algorithm for 2-D control problems (abstract | full) J. Jezek UTIA CAS CZ P. Zezula FEE, Czech Technical University in Prague

12:10 - 12:30 Block Toeplitz methods in polynomial matrix computations (abstract | full) J.-C. Zuniga France - LAAS-CNRS D. Henrion France - LAAS-CNRS

FA2 01.54

Paper Session Hybrid and Discrete Systems

Chair: R. Bemporad

Symmetric cellular automata (abstract10:30 - 10:50

| full)

D.E. Popovici

10:50 - 11:10

A. Popovici University of the West Timisoara University of the West Timisoara

Complexity of control on finite automata (abstract | full) J.-C. Delvenne Université Catholique de Louvain V. D. Blondel Université Catholique de Louvain

11:10 - 11:30 Distinguishing global asymptotic stability and marginal stability for piecewise affine dynamical systems is undecidable. (abstract | full) J. Foy National University of Ireland, Maynooth

11:30 - 11:50 A trajectory-space approach to hybrid systems (abstract | full) P. Collins Nederland - Centrum voor Wiskunde en Informatica

11:50 - 12:10 Reachability of affine systems on polytopes in the plane (abstract | full) L.C.G.J.M. Habets Technische Universiteit Eindhoven J.H. van Schuppen Centrum voor Wiskunde en Informatica

12:10 - 12:30 Stabilizing receding horizon control of piecewise linear systems: an LMI approach (abstract | full)

Eindhoven University of TechnologM. Lazar y Eindhoven University of TechnologW.P.M.H. Heemels y

S. Weiland Eindhoven University of Technology A. Bemporad

FA3 91.56

Minisymposium Realization theory and model reduction for nonlinear

systems

Organization: J.M.A. Scherpen, W.S. Gray Chair: J.M.A. Scherpen

10:30 - 10:50 Balancing and model reduction for discrete-time nonlinear systems based on Hankel singular value analysis (abstract | full) K. Fujimoto Nagoya University J.M.A. Scherpen Delft University of Technology

10:50 - 11:10 Balanced realizations near stable invariant manifolds (abstract | full) W.S. Gray Old Dominion University E.I. Verriest Georgia Institute of Technology

11:10 - 11:30 Identification of nonlinear state-space systems using zero-input responses (abstract | full) V. Verdult Delft University of Technology J.M.A. Scherpen Delft University of Technology

11:30 - 11:50 On the acceleration of a POD-based model reduction technique (abstract | full) P. Astrid TU Eindhoven S. Weiland TU Eindhoven K. Willcox US - MIT

11:50 - 12:10 Model reduction of nonlinear RF systems (abstract | full) M. Condon RF Modelling and Simulation Group, Dublin City University

12:10 - 12:30 Model reduction of weakly nonlinear systems using modified Carelman bilinearization and projection formulation (abstract | full) Z. Bai University of California D. Skoogh Swedish Defence Research Agency

FA4 01.13

Minisymposium LMIs in systems and control: some recent progress and new

trends

Organization: P.-A. Bliman, V. Balakrishnan Chair: P.-A. Bliman

10:30 - 10:50 Efficient SDP algorithms for applications in control and signal processing (abstract | full) L. Vandenberghe University of California Los Angeles

10:50 - 11:10 LMI relaxations in robust control (tutorial) (abstract | full) C.W. Scherer Delft University of Technology

11:10 - 11:30 On model order reduction: an SDP approach offers better quality for less effort (abstract | full) A. Megretski US - MIT

11:30 - 11:50

Reduced LMIs for fixed-order polynomial controller design (abstract | full) D. Henrion LAAS-CNRS, France A. Hansson Linkoping University

Linkoping UniversitR. Wallin y

11:50 - 12:10 Dynamical system design via generalized KYP lemma (abstract | full) S. Hara The University of Tokyo

12:10 - 12:30

T. Iwasaki University of Virginia

On robust semidefinite programming (abstract | full) P.-A. Bliman INRIA, France

FA5 01.01

Minisymposium Linear and non-linear passive infinite-dimensional systems

Organization: H. Zwart

Chair: H. Zwart

10:30 - 10:50 A functional analytic approach towards nonlinear dissipative well-posed systems (abstract | full) B. Jacob University of Dortmund H. J. Zwart University of Twente

10:50 - 11:10 A special class of conservative linear systems comprising the Maxwell equations (abstract | full) G. Weiss

Imperial College London

11:10 - 11:30 Low-gain integral control of well-posed systems subject to input hysteresis: an input-output approach (abstract | full) H. Logemann University of Bath, UK E.P. Ryan University of Bath, UK

11:30 - 11:50 Passive and conservative infinite-dimensional linear state/signal systems (abstract | full) D. Z. Arov South-Ukrainian Pedagogical University O. J. Staffans Åbo Akademi

11:50 - 12:10 Reciprocal passive linear time-invariant systems (abstract | full) D. Z. Arov South-Ukrainian Pedagogical University O. J. Staffans Åbo Akademi

12:10 - 12:30 A semigroup approach to Port Hamiltonian systems associated with linear skew symmetric operator (abstract | full) Y. Le Gorrec Universite Claude Bernard Lyon-1 H. Zwart Univeristy of Twente B. Maschke Universite Claude Bernard Lyon-1

FA6 01.19

Minisymposium Semi-separable systems - Part III

Organization: P. Dewilde

Chair: P. Dewilde

10:30 - 10:50 Optic flow computations and time-varying system theory (abstract | full) K. Diepold Technische Universität MünchenP. Dewilde Delft University of Technology W. Bamberger

10:50 - 11:10

Technische Universität München

A semi-separable approach to a tridiagonal hierarchy of matrices with application to image flow analysis (abstract | full) P. Dewilde Delft University of Technology K. Diepold

11:10 - 11:30

Technische Universitaet Muenchen W. Bamberger Technische Universitaet Muenchen

Experiments with preconditioning of hierarchically structured matrices (abstract | full) A. Bunse-Gerstner University of Bremen I. Gutierrez-Canas

11:30 - 12:10 Generalized Schur algorithm and generalized functions: the time-varying case (abstract | full) D. Alpay University of the Negev, Beer Sheva P. Dewilde D. Volok

12:10 - 12:30 Minimal semi-separable representation of the inverse of a semi-separable matrix (abstract | full) E. Alijagic Delft University of Technology P. Dewilde Delft University of Technology

FA7 01.07

Minisymposium Control, quantization and communication constraints - Part II

Organization: S. Zampieri

Chair: S. Zampieri

10:30 - 10:50 On stabilization of nonlinear systems under data-rate constraints: The case of discrete-time systems (abstract | full) C. De Persis

Steady state and transient performance in memoryless quantized controllers (abstract

University of Rome

10:50 - 11:10 | full)

Politecnico di Torino S. Zampieri

Achievable rate regions for decentralised stabilisation (abstract

F. Fagnani Università di Padova

11:10 - 11:30 | full)

R.J. Evans P.E. Caines

11:30 - 11:50 Quantised control in distributed embedded systems (abstract

G.N. Nair Uni. Melbourne Uni. Melbourne

McGill Uni.

| full) B. Picasso L. Palopoli A. Bicchi K.H. Johansson

Scuola Normale Superiore Scuola Superiore S. Anna

Unicversità di Pisa

11:50 - 12:10 Cooperative vector quantization (abstract | full) T. Simsek University of California, Berkeley

12:10 - 12:30 On multi-vehicle rendezvous under quantized communication (abstract | full) F. Fagnani Polytechnic of Torino K.H. Johansson Royal Institute of Technology A. Speranzon Royal Institute of Technology S. Zampieri

FA8 01.25

Minisymposium Robust control: from linear to nonlinear

Organization: G. Scorletti

Chair: G. Scorletti

10:30 - 10:50 Performance and robustness analysis and design for LTI system: a quick overview from a ”robust control” point of view (abstract | full) S. Font Supelec, France

10:50 - 11:10 Performance and robustness analysis for nonlinear systems: theoretical foundation (abstract | full) V. Fromion INRA Montpellier

11:10 - 11:50 Performance and robustness analysis for nonlinear systems: available tests and practical applications (abstract | full) G. Scorletti France - GREYC Equipe Automatique V. Fromion France - LASB

11:50 - 12:10 From gain scheduling practice to nonlinear performance control (abstract | full) V. Fromion INRA, France

12:10 - 12:30 LPV system control: an overview (abstract | full) M. Dinh France - GREYC - Equipe Automatique G. Scorletti France - GREYC - Equipe Automatique

FA9 01.56

Paper Session Numerical Linear Algebra

Chair: A. Varga

10:30 - 10:50 Algorithms for extreme eigenvalue problems (abstract | full) M. Nikpour

10:50 - 11:10

University of Melbourne J. H. Manton University of Melbourne I. M. Y. Mareels University of Melbourne V. Adamyan

Trust-region methods on Riemannian manifolds with applications in numerical linear algebra (abstract | full) P.A. Absil Florida State University C.G. Baker Florida State University K.A. Gallivan Florida State University

11:10 - 11:30 Optimal scaling of companion pencils (abstract | full) D. Lemonnier Universite Catholique de Louvain P. Van Dooren Universite Catholique de Louvain

11:30 - 11:50 Orbit and bundle stratification of controllability and observability matrix pairs in StratiGraph (abstract | full) E. Elmroth Umeå University P. Johansson Umeå University S. Johansson Umeå University B. Kågström

11:50 - 12:10 Computation of Kronecker-like forms of periodic matrix pairs (abstract | full) A. Varga German Aerospace Center

12:10 - 12:30 An elementary derivation of the Kronecker canonical form. (abstract | full) S. Serban University Polytechnica Bucharest

FA10 01.31

Minisymposium Identification for robust control

Organization: X. Bombois

Chair: X. Bombois

10:30 - 10:50 Least costly identification experiment for control (abstract | full) X. Bombois Delft University of Technology G. Scorletti ISMRA, France P. Van den Hof Delft University of Technology M. Gevers, R. Hildebrand

10:50 - 11:10 A framework for mixed Hinfinity and H2 input design (abstract | full) H. Jansson The Royal Institute of Technology H. Hjalmarsson The Royal Institute of Technology

11:10 - 11:30 Consequences of the choice of uncertainty structure in identification for robust control (abstract | full) S. G. Douma Delft University of Technology P. M.J. Van den Hof Delft University of Technology

11:30 - 11:50 Frequency domain uncertainty sets with guaranteed probability level in prediction error identification (abstract | full) X. Bombois Delft University of Technology B.D.O. Anderson Australian National University and National ICT AustraliaM. Gevers

11:50 - 12:10

Universite Catholique de Louvain

Algorithms and asymptotic results for direct data based control design (abstract | full) A. Lecchini University of Cambridge

12:10 - 12:30 Discussion round (abstract | full) X. Bombois Delft University of Technology

SP13 91.54

Semi-Plenary Presentation Chair: A. Rantzer

14:00 - 15:00 Dynamics and control of bounce juggling (abstract) R. Sepulchre University of Liège, Electrical Engineering and

Computer Science

SP14 01.54

Semi-Plenary Presentation Chair: J. Vandewalle

14:00 - 15:00 Process Query Systems: Information retrieval for dynamic systems (abstract) G. Cybenko Dartmouth, Thayer School of Engineering

SP15 91.56

Semi-Plenary Presentation Chair: J.C. Willems

14:00 - 15:00 Digital signal processing via sampled-data control theory (abstract) Y. Yamamoto Kyoto University, Dept. Applied Analysis &

Complex Dynamical Systems

Abstracts Monday, July 5, 2004 9:00 - 9:30 General Opening of MTNS 2004 P1 Aula Pieter De Somer

Plenary Presentation Chair: B. De Moor 09:30 - 10:30

Coordination of Groups of Mobile Autonomous Agents

A.S. Morse Yale University, Dept. Electrical Engineering Currently there is considerable interest in understanding on the one hand, how various animal aggregations such as fish schools, bird flocks, deer herds, etc. coordinate their collective motions to perform useful tasks and on the other, how groups of mobile autonomous agents such as AUV schools, UAV flocks, etc., might be instructed to cooperate in a similar manner. In this talk we will will briefly overview several problems within this area. Not surprisingly, each involves some aspect of graph theory. Flocking: In a recent Physical Review Letters paper, Vicsek et al. propose a simple but compelling model of n autonomous agents (i.e., points or particles) all moving in the plane with the same speed but with different headings. Each agent's heading is updated using a local rule based on the average of its own heading plus the headings of its 'neighbors'. In their paper, Vicsek et al. provide a variety of interesting simulation results which demonstrate that the nearest neighbor rule they are studying can cause all agents to eventually move in the same direction despite the absence of centralized coordination and despite the fact that each agent's set of nearest neighbors change with time as the system evolves. We outline a theoretical explanation for this behavior. Rendezvousing: The problem of interest here is concerned with a system consisting of a group of n mobile autonomous agents which can all move in the plane. Each agent is able to continuously track the positions of all of its current neighbors within its sensing region. The multi-agent rendezvous problem is to devise 'local' control strategies, one for each agent, which without any active communication between agents, cause all members of the group to eventually rendezvous at single unspecified location. We describe a simple asynchronous solution to this problem. By modelling the resulting process as a suitably defined non-deterministic hybrid system, we are able to prove that proposed solution is correct under mild assumptions. Closing Ranks: A group of mobile autonomous agents is said to move in formation if the distance between each pair of agents remains unchanged over time. This is typically accomplished by requiring some, but not all agent pairs to maintain fixed distances between them. A formation which can be so maintained is called rigid. The closing ranks problem for a given rigid formation which has lost a single agent, is to find new links between some agent pairs which, if maintained cause the resulting formation to again be rigid. In this talk we will discuss this problem within the framework of rigid graph theory. Localization in Ad Hoc Sensor Networks: By an ad hoc network of stationary agents

is means a group of agents, fixed in position, which are able to communicate with their 'neighbors'. Each agent knows the distance to each of its neighbors. Some of the agents also know their positions in world coordinates. The localization problem of interest is for each agent to determine if possible, its position in world coordinates by communicating with its neighbors. In this talk we will briefly sketch how very recent results from global rigid graph theory can be used to decide if a given ad hoc network can be so localized. We also explain briefly how a modification of the algorithm which solves the rendezvous problem leads to a simplification of the localization process.

MA1 91.54

Paper Session Collective Motion

Chair: S. Morse 10:50 - 11:10

Collective behavior analysis of an anisotropic swarm model (full) T. Chu Peking University L. Wang Peking University S. Mu Peking University This paper considers an anisotropic swarm model with a simple attraction and repulsion function. It is shown that the members of a reciprocal swarm will aggregate and eventually form a cohesive cluster of finite size around the swarm center. Moreover, the swarm system is also completely stable, i.e., every solution converges to the equilibrium points of the system. These results are further extended to a class of nonreciprocal swarms under the tailed balance condition on coupling weights. For general nonreciprocal swarms, numerical simulations are presented to demonstrate more complex oscillatory motions in the systems. The study provides further insight into the effect of the interaction pattern on collective behavior in a swarm system. 11:10 - 11:30

A note on leaderless coordination via bidirectional and unidirectional time-dependent communication (full) L. Moreau Technical University of Eindhoven We study a simple but compelling model of dynamic agents interacting via time-dependent, unidirectional communication. The model finds application in a variety of fields including synchronization, swarming and distributed decision making. In the model, each agent updates his current state based upon the current information received from other agents, according to a simple linear averaging rule, giving rise to a linear time-varying system whose system matrix is stochastic at each discrete time instant. Sufficient conditions for the convergence of the individual agents' states to a common value are presented, extending recent results reported in the literature. 11:30 - 11:50

Stabilization of collective motion of self-propelled particles (full) R. Sepulchre Université de Liege D. Paley Princeton UniversityN. Leonard Princeton University This paper presents analysis and design of feedback control laws for stabilization of parallel and circular trajectories of a network of self-propelled particles. Time-scale separation of inter-particle alignment and spacing controls permits application of previous convergence results for oscillator phase synchronization and particle motion.

MA2 01.54

Paper Session Switched Linear Systems I

Chair: R. Brockett 10:50 - 11:10

Stability and stabilization of switched linear systems with state delay: continuous-time case (full) G. Xie Center for Systems and Control, Peking UniversityL. Wang Center for Systems and Control, Peking University In this paper, the problem of stability analysis and stabilization synthesis of switched linear systems with time delay is studied in continuous-time domain. First, two sufficient conditions are established under which the system is asymptotically stable under arbitrary switching signal, and, if a set of linear matrix inequalities is solvable, a state feedback controller can be designed to stabilize the system under arbitrary switching signal. Secondly, a sufficient condition is given under which a switching signal can be constructed such that the system is asymptotically stable under this switching signal, and, if a set of linear matrix inequalities is solvable, a state feedback controller can be designed to construct a switching signal under which the system is asymptotically stabilized. 11:10 - 11:30

Stability and stabilization of switched linear systems with state delay: discrete-time case (full) G. Xie Center for Systems and Control, Peking UniversityL. Wang Center for Systems and Control, Peking University In this paper, the problem of stability analysis and stabilization synthesis of switched systems with time delay is studied in discrete-time domain. Two linear-matrix-inequality-based conditions are given which guarantee the existence of a switched quadratic Lyapunov function for asymptotic stability of the systems. Then, a switched static state feedback design method and a switched static output feedback design method are established, respectively. Furthermore, these results are extended to multiple time delay case. 11:30 - 11:50

New results on the quadratic stabilization of switched linear systems with polytopic uncertainties (full) Z. Ji Peking UniversityG. Xie Peking UniversityL. Wang Peking University In this paper, the quadratic stabilization of switched linear systems with polytopic uncertainties is considered. Compared with the existing result, a more general switching control method is proposed to guarantee the quadratic stabilization. This switching control method is based on the partition of vertex matrix set of each subsystem. By this method, the

matrix inequalities needed to be solved are always less than that needed to be solved before except one extreme case, for this case, it is equal. The switched control synthesis problem is also studied for both switched state feedback and output feedback. Several bilinear matrix inequalities (BMIs) based conditions are derived for both cases, respectively. 11:50 - 12:10

Robust H∞ control and stabilization of uncertain switched linear systems (full) Z. Ji Peking UniversityG. Xie Peking UniversityL. Wang Peking University This paper addresses the robust H∞ control and stabilization of switched linear systems with norm-bounded time-varying uncertainties. First, based on multiple Lyapunov functions methodology, a sufficient condition is derived for robust stabilization with a prescribed disturbance attenuation level gamma only by employing a state-depended switching rule. Then the robust H∞ control synthesis via switched state feedback is studied. It is shown that a switched state-feedback controller can be designed to stabilize the uncertain switched linear systems with an H∞-norm bound if a matrix inequality based condition is feasible and this condition can be dealt with as linear matrix inequalities (LMIs) if the associated parameters are selected in advance. All the results presented in this paper can be regarded as an extension of some existing results for both switched and non-switched systems. 12:10 - 12:30

Can linear stabilizability analysis be generalized to switching systems? (full) E. De Santis University of L’AquilaM.D. Di Benedetto University of L’AquilaG. Pola University of L’Aquila In this paper, we focus on the subclass of hybrid systems where the continuous dynamics and the reset functions are linear and the transitions depend only on a disturbance event (switching systems). We fully characterize controlled invariant sets and domains of attraction for switching systems. This characterization is useful for assessing stabilizability and asymptotic stabilizability of switching systems in terms of the existence of controlled invariant sets or domains of attraction. We then extend the classical Kalman decomposition to switching systems by also showing that asymptotic stabilizability can be reduced to the stability properties of a particular autonomous (i.e. without continuous input) switching system extracted from the original one.

MA3 91.56

Paper Session Behavorial systems

Chair: E. Zerz 10:50 - 11:10

Dynamical properties of quaternionic behavioral systems (full) R. Pereira University of AveiroP. Vettori University of Aveiro In this paper we study behavioral systems whose trajectories are given as solutions of quaternionic difference equations. As happens in the commutative case, it turns out that quaternionic polynomial matrices play an important role in this context. After introducing some results on quaternions and quaternionic polynomials, we focus our attention on such matrices and derive new results concerning their Smith form. Based on these results, we obtain characterizations of system theoretic properties of quaternionic behaviors such as controllability and stabilizability. 11:10 - 11:30

The behavioral approach to simultaneous stabilization of pairs of linear systems (full) O. Kaneko Osaka UniversityK. Mori Osaka UniversityK. Yoshida Osaka UniversityT. Fujii In this paper, we address simultaneous stabilization problem for pairs of linear systems in a behavioral framework. Here, we provide a necessary and sufficient condition for a pair of linear systems to be simultaneously stabilziable in a behavioral framework. And then we give a parameterization of simultaneous stabilizers with respect to ``interconnection", which is a central concept of ``control" in a behavioral framework. We also give a example in order to show the validity of our results. 11:30 - 11:50

Symmetric linear discrete multidimensional systems (full) P. Vettori University Aveiro The theory developed so far for the analysis of static symmetries of linear shift invariant 1D systems is rather elegant and complete. However, its extension to multidimensional systems is not straightforward: a non trivial regularity assumption and restrictions on the set of allowed symmetries had to be formerly imposed to obtain results analogous to the 1D case. In this paper it is shown how to overcome these difficulties for general multidimensional discrete systems. Namely, a method is presented for constructing ``equivalent'' systems of lower dimension, which actually share the same symmetries. Eventually, the main result follows using an inductive procedure.

11:50 - 12:10

A behavioral framework for compositionality : linear systems, discrete event systems and hybrid systems (full) A.A. Julius University of TwenteA.J. van der Schaft University of Twente In this paper we formulate a general framework based on the behavioral approach to dynamical systems, in which various issues regarding interconnection of systems can be addressed. The main part of the framework is that interconnections or compositions of systems can be modelled with interconnection of behaviors and generalized projection operations. Control problems such as supervisory control problem or feedback control problem can be expressed in terms of behavioral interconnection, and therefore can be put into this framework. In the paper we discuss some variants of control problems and provide solutions to them. 12:10 - 12:30

State maps of general behaviors, their lattice structure and bisimulations (full) A.A. Julius University of TwenteA.J. van der Schaft University of Twente In this paper we discuss the construction of state maps for general behaviors. State maps are special cases of the so called dynamic maps. We also present a lattice structure for the dynamic maps, by which certain concepts, e.g. minimality can be formalized. We also study the bisimulation between behaviors equipped with dynamic maps and show how the bisimulation is related to the lattice structure of the maps.

MA4 01.13

Paper Session H-infinity

Chair: R. Balakrishnan 10:50 - 11:10

Receding horizon Hinfinity control with output feedback for time-varying discrete-time systems (full) H. Katayama Shizuoka UniversityA. Ichikawa Kyoto University In this paper we consider the receding horizon H∞ control problem for time-varying discrete-time systems. We introduce two Riccati inequalities (equations) from the standard H∞ theory, one for the state feedback controller and the other for the filter gain. We rewrite the second Riccati inequality and obtain an equivalent inequality for the inverse. We then rewrite this using LMI to obtain the final form of the inequality which is used to our receding horizon H∞ control problem. We give a numerical example and construct a receding horizon H∞ controller.

11:10 - 11:30

Causal Hinfinity control of discrete-time descriptor systems: an LMI approach in two steps (full) A. Rehm University of StuttgartF. Allgöwer University of Stuttgart The H-infinity control problem for linear discrete-time descriptor systems which are of high index and possibly non-regular is considered. The goal is to compute a descriptor feedback such that the closed loop system is stable, causal, and H-infinity norm bounded by a prescibed real number. In a recent solution of this problem, where causality is established by a preliminary feedback and where stability and H-infinity norm bound are guaranteed in a second step, the pratically important question remained open whether the achievalbe H-infinity performance of the closed loop is determined by the preliminary feedback. We show that this is not the case. Actually, the achievalbe H-infinity performance is invariant with respect to any preliminary feedback achieving causality of the closed loop system. A numerically appealing LMI based solution to the problem is presented that explicitly shows all degrees of freedom in guaranteeing causality on the one hand and H-infinity performance on the other hand.

11:30 - 11:50

Stochastic reduced-order unbiased filtering (full) H. Souley Ali Universite Henri Poincare, Nancy IS. Halabi Universite Henri Poincare, Nancy IH. Rafaralahy Universite Henri Poincare, Nancy IM. Zasadzinski, M. Darouach This paper investigates both the H-infinity and robust H-infinity reduced order unbiased filtering problems for a nominal linear stochastic system and a linear stochastic system affected by norm-bounded uncertainties in some of the state matrices respectively. The unbiasedness is considered with respect to the drift term of the error dynamics. Then, the problem is solved via LMI. 11:50 - 12:10

Adaptive gain-scheduled H∞ control of linear parameter-varying systems with time-delayed elements (full) Y. Miyasato The Institute of Statistical Mathematics, Japan This paper concerns with a new class of adaptive gain-scheduled $H_{\infty}$ control of linear parameter-varying (LPV) systems with unknown time-delayed elements, where scheduled parameters are also unknown. In the proposed adaptive schemes, the estimates of the scheduled parameters are obtained successively, and the current estimates are fed to the gain-scheduled controllers to stabilize the plants and to attain $H_{\infty}$ control performance adaptively. Additionally, the control gain to compensate the effect of time-delayed elements, is tuned recursively. Stability analysis of the adaptive control systems is carried out by utilizing Lyapunov-Krasovskii functions based on linear matrix inequalities in the bounded real lemma. 12:10 - 12:30

Robust adaptive pole placement in Hinfinity (full) P. Suchomski Gdansk University of Technology Piotr Suchomski Robust adaptive pole placement in H_\infty The paper deals with a problem of numerically reliable \delta - domain synthesis of robust adaptive control. A simple Youla-based method for robust adaptive pole placement method for SISO plants is presented based on an H_\infty rule for tuning a time-varying Youla parameter. The \delta - operator formulation has better numerical conditioning at higher sampling rate and is less sensitive to arithmetic round-off errors and allows for describing the asymptotic behaviour of discrete-time models of continuous-time systems as the sampling period converges to zero. A numerical example is given to illustrate the method.

MA5 01.01

Minisymposium Strong Stabilization of Linear Systems

Organization: A. Feintuch Chair: A. Feintuch 10:50 - 11:30

”Stabilizing” the stabilizing controllers (full) A. Quadrat INRIA Sophia Antipolis, France The main purpose of this paper is to revisit the internal/simultaneous/robust stabilization problems without assuming the existence of doubly coprime factorizations for the transfer matrices. Indeed, it has been recently shown in the literature that an internally stabilizable does not generally admit doubly coprime factorizations. Firstly, we give new necessary and sufficient conditions for internal stabilizability by means of matrix equalities. On these characterizations, the fact that internal stabilizability does not imply the existence of coprime factorizations becomes obvious. Secondly, we recall that a necessary condition for strong stabilizability is the existence of a doubly coprime factorization for the transfer matrix. Then, using the concept of stable range sr(A) of a ring A, introduced in (algebraic, topological) K-theory, we prove that sr(A)=1 implies that every transfer matrix defined over the quotient field of A and which admits a left- or a right-coprime factorization is strongly stabilizable. In particular, this result holds for A=H_{\infty}(\mathbb{D}), H_{\infty}(\mathbb{C}_+), W_+ and A(\mathbb{D}), solving a question asked by A. Feintuch. Thirdly, we point out that the simultaneous stabilization problem is not equivalent to the strong stabilization problem if the plants do not admit doubly coprime factorizations. Using the fractional ideal approach to stabilization problems, we give a necessary and sufficient condition for a pair of SISO plants to be simultaneously stabilizable without assuming the existence of coprime factorizations. Finally, using the parametrization of all stabilizing controllers of an internally stabilizable SISO plant (which does not necessarily admit coprime factorizations), we show how to transform the non-linear sensitivity minimization problem into an affine, and thus, convex minimization problem.

11:30 - 12:10

On stable H-infinity controllers for time-delay systems (full) H. Ozbay The Ohio State University S. Gumussoy The Ohio State University In this paper, we study the stability of suboptimal H-infinity controllers for time-delay systems. The optimal H-infinity controller may have finitely or infinitely many unstable poles. A stable suboptimal controller design procedure is given for both of these cases. The design method is illustrated with examples.

12:10 - 12:50

On strong stabilization of linear time-varying systems (full) A. Feintuch Ben Gurion University of the Negev - No Abstract Available -

MA6 01.19

Paper Session Signal Processing I

Chair: B. Vanrumste 10:50 - 11:10

Stochastic signal estimates by nonlinear filters with given memory (full) A. Torokhti University of South Australia The problem of stochastic signal estimation, considered in this paper, is motivated by restrictions arising in real world. The restrictions are that the raw data set, which contains information about the signal, cannot be entirely observed during one trial and therefore the filtering procedure requires a sequence of observations. Nevertheless the partially observed data must be processed during the current trial. The filter must also satisfy the causality principle. It is assumed that the data is corrupted by noise so that no relationship between the signal and noise is known. By allowing the filter to have several degrees of freedom the associated accuracy can be regulated by variation of the corresponding parameters. We propose and justify new procedures for random signal estimation that recognize the above limitations. The filters are nonlinear and the mathematical models are given by polynomials in matrix form. A rigorous error analysis is given and numerical experiments with real data are used to demonstrate the efficiency of the proposed approach.

11:10 - 11:30

Information analysis in joint problem of continuous-discrete filtering and interpolation with memory observations (full) N. Dyomin Tomsk State University, RussiaS. Rozhkova Tomsk Polytechnic University, RussiaI. Safronova Tomsk State University, Russia The paper has investigated an information aspect of the joint filtering and interpolation problem, when the output of observation channels is the set of realizations of the processes with continuous and discrete time, which depends on both the current and the past values of unobservable process. The expressions, defining evolution of Shannon information amounts, have been obtained. The structure of solution has been investigated. The problem of optimal transmission (optimal coding and decoding) of the stochastic process Markov diffusion type on a continuous-discrete time lag-memory channels has been solved. 11:30 - 11:50

Simulation of mathematical phase noise model for a phase-locked-loop (full) A. Rangsiwatakapong Sirindhorn International Institute of Technology (SIIT) A. Amornthipparat Sirindhorn International Institute of Technology (SIIT) D. Eungdamrong Sirindhorn International Institute of Technology (SIIT)

Abstract Phase noise in a phase-locked-loop (PLL) is originated from each electronic component in the PLL itself. The pattern of phase noise is derived from the plot of power spectrum density in frequency domain. By using a reliable phase noise model, the output phase noise due to each noise source is, therefore, predicted correctly by calculating the relation between an input power spectrum density and its closed-loop transfer function. There are four noise sources considered in PLL, which are generated by reference oscillator, voltage-controlled oscillator, filter, and main divider. This paper uses a regenerative divider in place of the main divider to improve the phase noise in phase-locked-loop. Since regenerative divider is based on feedback system, the phase noise is more satisfied. A simulation of the output phase noise is done using MATLAB. 11:50 - 12:10

Partial fault detection and isolation: a geometric approach (full) J.C. Martinez-Garcia CINVESTAV-IPN, MexicoB. Del Muro-Cuellar Instituto Mexicano del Petroleo, MexicoM. Malabre CNRS, France The aim of this paper is to introduce a partial version of the so-called Fault Detection and Isolation Beard and Jones Filter Problem FDIBJP. Our partial version is established in terms of the Markov parameters of the matrix transfer function relating the inputs of the system with the outputs of the filter. We give necessary and sufficient condition for the existence of a full-order observer which insures partial fault detection and isolation. The geometric result is obtained as a direct dualization of the result corresponding to partial input-output decoupling. 12:10 - 12:30

Kalman-like observer for time-varying regular bilinear systems (full) H. Bounit University Ibnou Zohr A. Idrissi University Cadi Ayyad In this work, we have considered a class of time-varying bilinear systems which allow some unboudedness of control and observation operators. By looking at the systems as "algebraic" relations between the tree components: input, state and output, we have introduced the so--called time--varying well--posed (absolutely) regular bilinear systems as a quadruples consisting of an evolution family and output, input and input--output maps. In the spirit of R. Schnaubelt work, these maps are represented in terms of admissible observation and control operators (the later in an approximative sense) in the time domain. Regular time--varying bilinear systems are an important subclass of the the well-posed time varying systems. We have also interested to the observer design problem for absolutely regular time--varying bilinear systems in Banach space. We have given sufficient condition for existence of an exponentially Kalman--like observer. We have not supposed any restricted condition on the dynamic operator as it was down (in our knowledge) for standard time--varying bilinear systems.

MA7 01.13

Paper Session Games

Chair: J. Engwerda 10:50 - 11:10

A dual Nash game approach to discrete-time H2/Hinfinity filtering (full) M. Riccardo University of PadovaP. Giorgio University of Padova In the last years many papers on mixed $H_2 / H_\infty$ filtering have appeared. The motivation is to consider in the same problem both stochastic disturbances and finite energy disturbances with completely unknown statistics. The natural problem formulation in this setting is to minimize an $H_2$ criterion subject to a constraint on the $H_\infty$ norm of the transfer function from the deterministic disturbance to the estimation error. In this paper, we shall formulate the mixed $H_2 / H_\infty$ filtering problem for discrete-time linear systems on a finite-horizon time interval as a linear quadratic two-person non-zero sum game (i.e. Nash game) by introducing two performance indices, one related to the $H_\infty$ constraint, and the other to the $H_2$ optimality. We give necessary and sufficient conditions for the existence of the filter using strong duality and thereafter, we derive its state-space representation.

11:10 - 11:30

Guaranteeing cost strategies for uncertain difference games (full) E. Gyurkovics Budapest University of Technology and EconomicsT. Takacs ECOSTAT Institute for Economic Analysis and Informatics The paper addresses the problem of design of guaranteeing cost control strategies for discrete-time two-persons zero-sum uncertain nonlinear games over finite horizon. In the proposed approach the objective functional is appropriately modified in order to cope with the uncertainties, and sufficient condition is given to ensure that a given state-feedback is a guaranteeing cost control. The results are applied for linear systems with uncertainties of linear fractional structure to derive guaranteeing cost strategies for both players. It is shown that this approach can successfully be applied in this case, when the method of introducing fictitious games as proposed in previous papers may come up against a difficulty. 11:30 - 11:50

Certainty equivalence for a class of imperfect information finite state-space stochastic games (full) W.M. McEneaney University of California, San Diego Stochastic games under imperfect information are typically computationally intractable even in the discrete-time/discrete-state case considered here. We consider a problem where one player has perfect information. A function of a conditional probability distribution is proposed as an information state. In the problem form here, the payoff is only a function of the terminal state of the system, and the initial information state is either linear or a sum of max-plus delta

functions. When the initial information state belongs to these classes, its propagation is finite-dimensional. The state feedback value function is also finite-dimensional, and obtained via dynamic programming, but has a nonstandard form due to the necessity of an expanded state variable. Under a saddle point assumption, Certainty Equivalence is obtained and the proposed function is indeed an information state. 11:50 - 12:10

Safe controller design for intelligent cruise control using differential games (full) J.B. De Sousa Faculdade de Engenharia da Universidade do PortoA. Girard University of California at BerkeleyK. Hedrick University of California at Berkeley The problem of design of safe control laws for intelligent cruise control applications is addressed and a solution is proposed. The design problem is formulated as a zero-sum differential game where the objective of the leading vehicle is to provoke a collision and the objective of the following vehicle is to prevent a collision from happening regardless of the motion of the leader. A control strategy is safe if it can guarantee that no collision will occur between vehicles. The approach can be applied to Adaptive Cruise Control (ACC) and Cooperative ACC systems.

MA8 01.25

Paper Session Delay Systems

Chair: G. Meinsma 10:50 - 11:10

Analysis of multidimensional delay system (full) J.Rimas Kaunas University of Technology Analysis of the dynamics of multidimensional delay system with ring form structure is carried out. The analysis is based on the use of the eigenvalues and eigenvectors of the matrix, which describes the structure of the internal links of the system.

11:10 - 11:30

H2-optimal control of systems with multiple i/o delays: time domain approach (full) A. A. Moelja University of TwenteG. Meinsma University of Twente In this paper the H2-optimal control problem of systems with multiple i/o delays is presented. The problem is first converted to an equivalent H2 regulator problem with multiple delays. The idea is to view the regulator problem in time-domain as a linear quadratic regulator problem with multiple input delays. It is shown that the rational part of the optimal controller has the same dimension as the plant and the non-rational part may be chosen to have finite impulse response. Furthermore, the regulator problem solution is also used to solve the H2 filtering problem with multiple delays. 11:30 - 11:50

On numerical computation of the spectrum of a class of convolution operators related to delay systems (full) K. Hirata Osaka Prefecture UniversityH. Kokame Osaka Prefecture University A class of convolution operators on fixed interval with initial values is considered. The numerical computation of its spectra is attempted via a finite-dimensional approximation so-called fast sampling and hold. In contrast to the case of matrices, the spectrum of an operator is not continuous against small perturbations in general. This implies that finier approximation does not necessarily lead to better estimates close to the true values. Therefore, one must provide a mathematical justification of the procedure depending on the operator of interest. In this paper, continuity of the spectum of the convolution operator described above is proved and a numerical computation formula for the calculation of its eigenvalues is given.

11:50 - 12:10

Analysis of persistent bounded disturbance rejection for neutral delay systems (full) M. Yu Peking UniversityF. Hao Peking UniversityL. Wang Peking University This paper deals with the problem of persistent bounded disturbance rejection for uncertain neutral delay systems. Using Lyapunov-Krasovskii functional method, we establish sufficient conditions in terms of linear matrix inequality (LMI) that simultaneously ensure persistent bounded disturbance rejection performance and stability (delay-dependent and delay-independent). Particulary, for the delay-dependent case, an estimation of admissible maximum delay bound is established in terms of a generalized eigenvalue problem which can be solved with the efficient LMI toolbox. Similarly, we study the corresponding problem for the neutral delay systems with norm uncertainty. Finally, a numerical example is worked out to illustrate the efficiency of the proposed approach. 12:10 - 12:30

Robust stability and stabilization of neutral type systems with norm-bounded uncertainties (full) F. Hao Peking UniversityL. Wang Peking UniversityT. Chu Peking University A class of linear neutral delay systems with norm-bounded uncertainty is considered. Results for robust delay-dependent stability and stabilization via state feedback are presented in terms of linear matrix inequalities (LMIs) by using a Lyapunov-Krasovskii functional of description form. Finally, two numerical examples are also worked out to illustrate the efficiency and less conservatism of the proposed approach than some of recent results.

MA9 01.56

Minisymposium Quantum information - Part I

Organization: Leonid Gurvits, Hugo J. Woerdeman

Chair: Hugo J. Woerdeman 10:50 - 11:30

Quantum entanglement and sums of squares (full) P. A. Parrilo ETH ZurichA. C. Doherty F. Spedalieri - No Abstract Available - 11:30 - 12:10

Algebraic, combinatorial and geometric properties of quantum entanglement (full) L. Gurvits Los Alamos National Laboratory - No Abstract Available - 12:10 - 12:30

Algorithms for calculating ground states of interacting spin systems (full) F. Verstraete Max Planck Institut fur QuantenoptikJ.I. Cirac The understanding of phenomena like high-T superconductivity requires an efficient description of ground state wavefunctions of interacting quantum spin Hamiltonians like Heisenberg antiferromagnets. The main problem is the fact that the associated Hilbert space grows exponentially in the number of particles N whereas N>>1. We introduce an efficient variational parameterization of these ground states in the form of valence bond states. Minimizing the energy and calculating properties of D-dimensional systems corresponds to contracting a (large) set of (D+1)-dimensional tensors. We present an efficient numerical algorithm to achieve this, and illustrate it by calculating properties of spins systems with unprecedented accuracy. The techniques involved make highly use of multilinear algebra and its connections to entanglement theory.

MA10 01.31

Paper Session Games

Chair: R. Sepulchre 10:50 - 11:10

Identifiability and estimation of aircraft parameters and delays (full) C.J Jauberthie University of sciences and technologies of LilleL.D.V Denis-Vidal University of sciences and technologies of LilleG.J.B Joly-Blanchard University of technology of Compiègne This paper considers an identifiability and estimation problem given by aerospace domain describing aircraft nonlinear dynamics with time delays. The original idea is to use an approximation well in line with the given system and an algebraic approach to analyze identifiability. Then the approximate model is considered to estimate the parameters and delays of the original model. Numerical results are given.

11:10 - 11:30

Approaches to simulate the operation of the bending machine (full) W. Kongprawechnon SIIT, ThailandC. Theerasilp SIIT, ThailandT. Suksawai SIIT, ThailandO. Ratanapinunchai, K. Chongsrid The study is aimed to simulate the operation of a bending machine. It creates a core concept used to invent an automatic bending machine. Being a prototype model, the task is to generate its duplication by simulating the operation of the bending machine via MATLAB. Two approaches are introduced for the simulation. The first approach is to move the blade so that an entirely new segment is bended each time, while the second approach moves the blade by a smaller amount each time. Therefore the second approach involves a more complicated situation, since there is an initial curve of the blade before bending. Lastly, the results from these two approaches will be compared (in order to create) the best algorithm. 11:30 - 11:50

Vehicle control augmentation based on an integrated design methodology (full) S. Atsushi Nara Institute of Science and TechnologyT. Misato Nara Institute of Science and TechnologyS. Kenji Nara Institute of Science and Technology This paper proposes a new design strategy for vehicle control augmentation system. This strategy is motivated by the design methodology which is used in structure/control integrated design of mechanical control system. As shown in this paper, a problem setting of the control augmentation system design is similar to that of integrated design. In mechanical control

system design, it is known that integrated design by separation is a tractable and powerful strategy. Therefore, from the similarity of both problem settings, it is natural to expect that the similar separation strategy will have effectiveness to control augmentation system design problem as well. According to the above motivation, this paper brings into focus the phase property of a vehicle dynamics in order to improve tracking performance for the reference input by a pilot. From $H_2$ performance analysis with Neal and Smith's flight investigation data, it is observed that phase crossover bandwidth plays important role to improve the pilot rating, which principally depends on aircraft pitch tracking performance. This suggests that the separation strategy and the phase crossover bandwidth analysis have effectiveness for optimal design of not only mechanical control system but also vehicle CAS. An optimal CAS design criterion is given by the bandwidth analysis, and the feedback system which satisfies the criterion is designed by means of $\gamma$-positive real control. 11:50 - 12:10

Global existence of state trajectories for a class of tubular reactor nonlinear models (full) M.E. Achhab Université Chouaïb Doukkali, MoroccoB. Aylaj M. Laabissi Université Chouaïb Doukkali During the last decades, the study of the dynamical properties of tubular chemical and bio-chemical reactors has made a significant progress, thanks to the new methods of analysis and simulation. One of the important tasks in this direction is certainly the analysis of the stability of the related models. However, to investigate this question, the state trajectories of the considered reactor model have to exist on the whole (nonnegative real) time axis. The main contribution of this paper is the proof of the global existence and the uniqueness of states trajectories for a large class of tubular reactor nonlinear models. It has also been proved that the states trajectories are positive and that the set of all physically meaningful admissible states is invariant under the dynamics of the reactions. Our approach is based on nonlinear functional analysis tools. Important open questions are existence and multiplicity of equilibrium points for such systems, and the related stability analysis. These questions are under investigation. 12:10 - 12:30

Nonlinear dynamic control of a flexible joint robot manipulator (full) L. Luyckx Ghent UniversityM. Loccufier Ghent UniversityE. Noldus Ghent University Nonlinear dynamic output feedback laws are designed for the set point control of a flexible joint planar manipulator. The manipulator is collocated actuator-sensor controlled and underactuated, with four degrees of freedom and three actuated inputs. First a controller using both displacement and velocity feedback is constructed using the circle theorem as a design principle. Subsequently some modifications to the procedure are discussed yielding controllers with pure displacement feedback or satisfying hard constraints on the control amplitude. The controller parameters are tuned for maximum damping of the transients and for suppressing the control force sensitivity to high frequency input noise.

SP1 91.54

Semi-Plenary Presentation Chair: A. Ran 14:00 - 15:00

Outer factorizations in one and several variables H. Woerdeman College of William and Mary, Mathematics The Fejer-Riesz lemma for trigonometric polynomials states that q(z) >= 0, |z| = 1, if and only if there exists a polynomial p(z) so that q(z) = |p(z)|2, |z| = 1. In addition, one may choose p to be void of roots inside the open unit circle (i.e., p is outer). Though simple to state and prove, the lemma has many useful applications, e.g., in filter design, Hinf control, and wavelet theory. The result has been generalized to matrix valued and operator valued single variable trigonometric polynomials. In this talk we explore multivariable generalizations of the Fejer- Riesz lemma. As is well-known, mere positivity of a trigonometric polynomial is not sufficient for the existence of a sums of moduli squared respresentation, let alone for a factorization as a single modulus squared. This observation, which goes back to Hilbert, has led to active research in sums of squares problems, multivariable factorization, and related multivariable interpolation problems. In this talk we will raise several questions, and answer some. The talk is based on joint papers with J. S. Geronimo, M. A. Dritschel, and Y. Hachez. SP2 01.54

Semi-Plenary Presentation Chair: J.H. van Schuppen 14:00 - 15:00

Mean field limits for TCP controlled networks F. Baccelli INRIA-ENS, Département d'Informatique This presentation will review various dynamical interaction models allowing one to analyze the throughputs obtained by a large collection of TCP controlled flows sharing many links and routers, from the sole knowledge of the network parameters (capacity, buffer sizes, topology) and of the characteristics of each flow (RTT, route, persistent or on-off structure etc.). In the droptail case persistent flow case, the mean-field limit can be described geometrically as a billiards in the Euclidean space. This billiards has as many dimensions as the number of flow classes and as many reflection facets as there are routers and links. This allows one to determine the possible stationary behaviors of the interacting flows and provides new ways of assessing TCP’s fairness. In the on-off flow case, the mean-field limit can have several stable regimes, even in the single link case. Some phenomena similar to turbulence are identified. The RED case can also be investigated by such mean-field techniques. In the single link case, this allows one to determine in closed form the stationary distribution of the stationary throughputs obtained by the flows. When aggregated, the traffic generated by these models exhibits TCP and network-induced fluctuations that will be compared to statistical properties observed on real traces.

SP3 91.56

Semi-Plenary Presentation Chair: R. Curtain 14:00 - 15:00

An overview of model reduction methods for large-scale systems T. Antoulas Rice University, Electrical and Computer Engineering Dept In many applications one is faced with the task of simulating or controlling complex dynamical systems. Such applications include for instance, weather prediction, air quality management, VLSI chip design, biological systems, MEMS (micro electro–mechanical systems) etc. In all these cases complexity manifests itself as the number of first order differential equations which arise. For the above examples, depending on the level of modeling detail required, complexity may range anywhere from a few hundred to a few million first order equations. Simulating (controlling) systems of such complexity becomes a challenging problem, irrespective of the computational resources available. In this talk after presenting some motivating examples, we will define the model reduction problem in mathematical terms. Subsequently, the prevailing methodologies for its solution will be sketched; they all involve projections and fall into three broad categories. (I) SVD–based methods, which are well known in the systems and control community, and have good system theoretic properties. (II) Krylov– based methods, which are well known in the numerical analysis community and to a lesser degree to the system theory community, and have good numerical properties. (III) SVD–Krylov based methods, which seek to develop methods which combine the best attributes of (I) and (II). Furthermore, the class of weighted SVD methods, establish a link between (I) and (II). The talk will conclude with some new results, open problems and directions for future research.

MP1 91.54

Minisymposium Multidimensional systems and repetitive processes -

Part I

Organization: Krzysztof Galkowski, Eric Rogers Chair: K. Galkowski 15:30 - 16:10

Putting 2D control schemes into operation (full) T. Al-Towaim University of SouthamptonP.L. Lewin University of SouthamptonE. Rogers University of SouthamptonD.H. Owens The essential unique characteristic of a repetitive process (also termed a multipass process in the early literature) can be illustrated by considering machining operations where the material or workpiece involved is processed by a series of sweeps, or passes, of the processing tool. In recent years, a number of so-called algorithmic examples have emerged where adopting a repetitive process setting for analysis has clear advantages over alternative approaches to systems related analysis. These include a powerful class of iterative learning control schemes and in this paper we report the results of the experimental validiation of such schemes on a laboratory scale chain conveyor system. 16:10 - 16:30

Optimum wavelet for image sequence superresolution (full) N. K. Bose The Pennsylvania State University, USA In recent works on wavelet superresolution, the important problem of mother wavelet selection was neglected. Finitely supported families for optimum selection of mother wavelet, considered jointly with Surapong Lertrattanapanich, are discussed here for realizing desirable properties in the task of image sequence superresolution. Similar properties of interest for wavelets with infinite support, being studied currently with Nilesh Ahuja, are also summarized. Important consequences of the results are not only in the appreciation of the need for identifying optimum mother wavelets for different applications but also in the incorporation of quantitative characterization, to the extent currently feasible. 16:30 - 16:50

Embedding binary mathematical morphology into a multidimensional systems theory framework (full) J. Velten University of Wuppertal, GermanyA. Kummert University of Wuppertal, Germany

Binary mathematical morphology is a set theoretical approach to multidimensional signal processing. It enables extraction of shape features and is thus a well known and successfully applied kind of operation for image processing and recognition tasks. Nevertheless, a system theoretical treatment of these operations seems to be difficult, due to its mathematical origin of integral geometry. A system theoretical description of binary mathematical morphology is given in the present paper. The latter reveals very favorable options for implementation of corresponding operations. 16:50 - 17:10

Application of operator theory to discrete simulation of continuous systems (full) V.Dymkou University of Erlangen-NurembergR.Rabenstein University of Erlangen-NurembergP.Steffen University of Erlangen-Nuremberg This paper investigates the properties of initial-boundary-value problems that typically arise in technical areas. For generality, the theory of non-self-adjoint partial differential operators serves as mathematical basis. The solution of initial-boundary-value problems can be represented by means of semigroups generated by sectorial operators with compact resolvent operator. It is shown that the solution can be expressed in terms of eigenfunctions and associated eigenfunctions. This representation defines a functional transformation for a system description in the frequency domain. Computationally efficient numerical algorithms can be derived by proper methods well-known from the theory of digital signal processing. 17:10 - 17:50

Time optimal control problem for a class of linear differential-algebraic systems with delay (full) S.M.Dymkou RWTH Aachen, Germany G.Jank RWTH Aachen, Germany The paper presents some new results concerning the time optimal control problem for a class of differential-algebraic delayed systems. The past decade has seen continuously growing interest in application of these systems to both theoretical and practical problems. In particular, there exist close structural links between the objects under consideration and some classes of repetitive processes which are widely used in the mathematical modeling of various engineering problems. In this paper, we first establish the optimal control law for the fastest possible driving the process dynamics to zero equilibrium state subject to an integral control constraint. 17:30 - 17:50

Batch crystallisation control based on population balance models (full) U. Vollmer Rober Bosch GmbHJ. Raisch Otto-von-Guericke University In this contribution, we investigate feedforward control synthesis for a batch cooling crystalliser based on a simple population balance model. Population balance models are multidimensional dynamical systems, where one of the independent variables represents time, the other(s) ``property coordinate(s)'' as, e.g., particle size. They typically describe the temporal evolution of number density functions and are therefore naturally suited to model

particulate processes in chemical engineering. Crystallisation represents an important class of particulate processes. It is well established in the chemical and pharmaceutical industry as a purification and separation technique. The quality of crystalline products is strongly influenced by physical properties, such as crystal size distribution (CSD). In batch cooling crystallisers, the fact that solubility depends on temperature is exploited. In this contribution, the process is described by a standard population balance model consisting of a partial differential equation and an ordinary differential equation. The model describes the temporal evolution of both crystal size distribution and solute concentration. Temperature in the crystalliser is considered to be the control input, and the control objective is to achieve a desired crystal size distribution at the end of the batch. The suggested procedure uses a time scaling which transforms the partial differential equation into a simple transport equation and makes the associated (finite dimensional) moment model a flat system. It checks whether the desired final CSD is achievable, i.e., whether it is compatible with the model assumptions and, if the outcome is affirmative, generates the appropriate control signal.

MP2 01.54

Minisymposium Nonsmooth dynamics and control

Organization: J.M. Schumacher, J.W. Polderman

Chair: J.W. Polderman 15:30 - 16:10

Necessary and sufficient conditions for the controllability of complementarity systems (full) M.K. Camlibel Tilburg UniversityJ.M. Schumacher Tilburg University This paper deals with the controllability problem of a class of piecewise linear systems, known as linear complementarity systems. It is well-known that checking certain controllability properties of very simple piecewise linear systems are undecidable problems. However, we establish algebraic necessary and sufficient conditions for the controllability of linear complementarity systems by exploiting the special structure of the linear complementarity systems. Our treatment makes use of the ideas and the techniques from geometric control theory together with mathematical programming. 16:10 - 16:50

Balancing dwell times for switched linear systems (full) N. K. Bose University of L’AquilaJ.W. Polderman University of TwenteM.D. Di Benedetto University of L’Aquila Switching Linear Systems (SLSs) are a subclass of hybrid systems characterized by a Finite State Machine (FSM) and a set of linear dynamical systems, each corresponding to a state of the FSM. The transition between two different states of the FSM is caused by external uncontrollable events that act as discrete disturbances. In the past few years structural properties of SLSs have been the topic of intensive study and in particular much work has been devoted to the attempt of characterizing their stability and/or stabilizability properties. We focus on the class of uncontrolled SLSs with a dwell time associated to each transition. Loosely, a dwell time function assigns to each transition a dwell time that serves as a minimal delay for the transitions. Notice that in our setting the dwell time is associated with transitions rather than with locations. The motivation to use the notion of dwell time function lies in the possibility to quantify the balance between long delays for some transitions and short delays for others. For instance, in a cycle of transitions, instantaneous transitions could be compensated by long delays elsewhere in the cycle. A recent result (see "Can linear stabilizability analysis be generalized to switching systems?" by E. De Santis, M.D. Di Benedetto, G. Pola), which extends Kalman decomposition to the class of controlled SLSs, shows that a controlled SLS is asymptotically stabilizable if and only if an uncontrolled SLS, appropriately associated to the controlled SLS, is asymptotically stable. Then, the stabilizability problem for the class of controlled SLSs directly translates into the stability analysis of uncontrolled SLSs. Therefore, we focus on stability problems for uncontrolled

SLSs. It is well-known that if transitions are sufficiently delayed and if the dynamics in each location is asymptotically stable, then the uncontrolled SLS is asymptotically stable. The case of stability under quadratic Lyapunov function analysis is investigated. In this special case, an explicit condition on the dwell time function that ensures asymptotic stability is provided. Although this condition is based on estimates and is therefore conservative, it yields the possibility of instantaneous transitions when applied to the case where a common quadratic Lyapunov function exists. With respect to previous work in this research area, our approach gives less conservative conditions. 16:50 - 17:10

Advances on the identification of hybrid systems (full) R. Vidal Johns Hopkins University This paper presents an algebraic geometric solution to the identification of linear hybrid systems in PWARX form. In the proposed approach we represent the number of discrete states as the degree of a polynomial p and the orders and the model parameters as factors of p. The identification problem is then solved as follows. We first show that one can linearly solve for the coefficients of p thanks to a rank constraint on the data. Given p, the orders and the parameters of each ARX model are estimated from the derivatives of p evaluated at a collection of data points that minimize a certain objective function, thus automatically dealing with a moderate level of noise in the data. We will also present examples and simulation results. 17:10 - 17:30

On structural stability of nonsmooth dynamical systems (full) M. di Bernardo University of Sannio This paper is concerned with the analysis of bifurcations and structural stability of switched and hybrid dynamical systems. It is shown that such systems undergo complex dynamical transitions whenever their asymptotic trajectories interact with the phase space boundaries dividing regions where the system is smooth. Novel conditions for the classification of border-collisions of equilibria in flows are given. The occurrence of grazing bifurcations of limit cycles is discussed.

MP3 91.56

Minisymposium Quadratic differential forms and their applications

Organization: P. Rapisarda

Chair: P. Rapisarda 15:30 - 15:50

An introduction to bilinear- and quadratic differential forms (tutorial) (full) P. Rapisarda University of MaastrichtJ. C. Willems Katholieke Universiteit Leuven Often when considering modeling and control problems, the need arises to study functionals of the system variables and their derivatives: for example in optimal control, in the theory of Lagrangian or Hamiltonian mechanics, in Lyapunov stability theory, etc. When studying linear systems, such functionals are usually taken to be bilinear or quadratic. An efficient representation of such functionals by means of two-variable polynomial matrices has been proposed by Willems and Trentelman, who introduced the concepts of BDF and QDF. The tutorial introduces the basic definitions and concepts regarding BDFs and QDFs, in order to make the rest of the session ``Quadratic differential forms and their applications" more accessible to the audience. 15:50 - 16:10

A characterization of solutions to discrete-time Riccati equation using quadratic difference forms (full) K. Takaba Kyoto UniversityC. Kojima Kyoto UniversityO. Kaneko Osaka UniversityP. Rapisarda This paper considers the discrete-time algebraic Riccati equation (DARE) based on quadratic difference forms (QDFs) along the line of the continuous-time results due to Trentelman and Rapisarda (2001). It is shown by using QDFs that the DARE is solvable when the system of interest satisfies a certain dissipativity. A characterization of all unmixed solutions is derived in terms of the Pick matrix. As a byproduct of this characterization, we obtain an existence condition of a nonnegative definite solution. One of main contributions of this paper is to resolve the difficulties specific to the discrete-time case in solving the Riccati equation. 16:10 - 16:30

On a behavioral theory for nonlinear systems (full) I. Pendharkar IIT Bombay, IndiaH. K. Pillai IIT Bombay, India

It is of interest to investigate stability of autonomous behaviors defined by nonlinear differential equations. This paper is an attempt to develop such a theory in the behavioral-theoretic framework developed by Willems. We consider the following problem in this paper: Given a class of nonlinearities N, can one parametrize a class of linear systems that when interconnected with every nonlinearity in N yields a stable autonomous system? We make use of QDFs to first define such a class of nonlinearities. We further exploit the theory of QDFs to analyse the stability of nonlinear behaviors. We show that several classical results in nonlinear systems analysis can be brought under the fold of behavioral theory by using the methods outlined in this paper. 16:30 - 16:50

Synthesis of dissipative behaviors with dynamics in the weighting matrices (full) M.N. Belur Indian Institute of Technology, BombayH.L. Trentelman University of Groningen In this paper we formulate the problem of synthesis of dissipative systems for the general case that the weighting function contains derivatives of the concerned variables. Moreover, we study the situation when the to-be-controlled variables of the plant are not necessarily the variables through which we can control the plant. This situation has already been studied for the case that derivatives of the concerned variables do not appear in the weighting function. It is the dynamics in the weighting matrix that forms the novel aspect about this paper. We provide some necessary conditions for the solvability of the above dissipativity synthesis problem (DSP), and then provide certain additional `regularity' conditions which, together with the necessary conditions, are sufficient for solvability of the DSP (i.e., the existence of a controlled behavior which is dissipative, implementable and sufficiently large). We then elaborate on an example to relate how the problem of the weighted H-infinity control is a special case of the above DSP. 16:50 - 17:10

On totally dissipative systems and unimodular spectral factorizations (full) O. Kaneko Osaka UniversityP. Rapisarda University of MaastrichtK. Takaba Kyoto University In this paper we consider a special class of discrete-time dissipative systems, that consisting of those systems for which the dissipation rate is instantaneously positive on all nonzero trajectories of the system. The first main result of this paper is a theorem characterizing such class of systems, which are called totally dissipative systems. The second main result is an algorithm of spectral factorization of unimodular polynomial matrices as one of the applications of totally dissiptaive systems. 17:10 - 17:30

Conserved and zero-mean quantities for oscillatory systems (full) P. Rapisarda University of MaastrichtJ. C. Willems Katholieke Universiteit Leuven In this paper we consider linear oscillatory systems and we study which quadratic functionals of the system variables and their derivatives are conserved quantities, which are constant

along the trajectories of the system; and which are zero-mean quantities, whose time average over the whole real axis is zero along the trajectories of the system. We also consider an application of such analysis to the statement of a deterministic generalized equipartition of energy principle for oscillatory systems.

MP4 01.13

Paper Session LMIs and algorithms

Chair: P. Benner 15:30 - 15:50

Sum of squares relaxations for polynomial semi-definite programming (full) C.W.J. Hol Delft University of TechnologyC.W. Scherer Delft University of Technology - No Abstract Available - 15:50 - 16:10

Asymptotically exact relaxations for robust LMI problems based on matrix-valued sum-of-squares (full) C.W. Scherer Kyoto UniversityC.W.J. Hol Kyoto University In this paper we consider the problem of characterizing whether a symmetric polynomial matrix is positive definite on a semi-algebraic set. Based on suitable sum-of-squares representations we can construct LMI relaxation for this decision problem. As key novel technical contributions it is possible to prove that these relaxations are exact. Our proof is based on a sum-of-squares representation of $r^2-\|x\|^2$ with respect to affine functions with a priori constraints on the degree. This is a nontrivial extension of a rather deep result from Jacobi and Prestel (2001) obtained by semi-definite duality arguments. 16:10 - 16:30

On existence of smooth solutions of parameter-dependent convex programming problems (full) P.-A. Bliman INRIA, FranceC. Prieur CNRS-ENS de Cachan, France We show in this paper that, under general conditions, any convex program-ming problem depending continuously upon scalar parameters, and solvable for any value of the latter in a fixed compact set (resp. open set), admits a branch of solutions which is polynomial (resp. smooth) with respect to these parameters. This result may be useful to generate tractable approximations of uncertain convex programming problems with vanishing conservativeness. 16:30 - 16:50

Convex analysis for S-procedure and its applications (full) A. Ohara Osaka University This paper investigates S-procedure and related nonconvex problems from points of view of convex analysis. We show the relations between the union and intersection of two polar

cones play the fundamental role in addition to the assumption on structure of a convex cone under consideration. The relation with Farkas's lemma and applications to a certain nonconvex quadratic programming problems are presented. Further we relate so-called lineality space condition in convex analysis with necessity of controllability assumption for non-strict inequality version of the KYP lemma. 16:50 - 17:10

H2 performance on preview feedforward action (full) A. Kojima Tokyo Metropolitan Institute of Technology An $H_{2}$ preview control problem is discussed and the relation between the preview time and the achievable performance is clarified. In highlight with the $H^{\infty}$ preview control, the resulting control law is significantly simple and it is shown that the feedback control and the preview compensation law are independently given in the design procedure. We first provide a basic result on $H_{2}$ preview compensation law for stabilized control systems and clarify the achievable performance. By employing this result, the solution to a standard $H_{2}$ preview (full-information) control problem is provided. The feature of $H_{2}$ preview action is illustrated with a numerical example. 17:10 - 17:30

Computing L2-gain of finite-horizon systems with boundary conditions (full) H. Fujioka Kyoto University A bisection algorithm is developed for computing the L2-gain of a finite-horizon system with boundary conditions. Upper and lower bounds of the gain are also derived for the initial step of the algorithm. 17:30 - 17:50

Distributed control design for spatially interconnected systems with robustness to small communication delays (full) R. S. Chandra Cornell UniversityC. Langbort Cornell UniversityR. D’Andrea Cornell University Recent results by the authors have shown how to construct a class of structured controllers for large scale spatially interconnected systems via linear matrix inequalities. Of paramount importance in the control of interconnected systems is that the controlled system be stable when arbitrarily small communication delays are present between subsystems. In this paper, it is shown how to realize the structured controllers obtained from the linear matrix inequalities in order to ensure this property for the closed loop system.

MP5 01.01

Minisymposium Infinite-dimensional systems - Part I: Theory

Organization: Birgit Jacob, Michael A. Demetriou,

Kirsten Morris Chair: Birgit Jacob 15:30 - 15:50

Exact controllability, vector corona condition and mean winding of characteristic function (full) D. V. Yakubovich Spain - Dpto. Matematicas In this talk we discuss a close relationship between exact controllability and a Nagy--Foias type model. For a fixed operator $A$, every exactly controllable system $\dot x(t)=A x(t) +B u(t)$ gives rise to a functional model of $A$ up to similarity, and vice versa. This leads to a definition of what we call a generalized characteristic function of $A$. It is a matrix-valued $H^\infty$ function in some left half-plane. We describe the change of the generalized characteristic function when the control operator $B$ changes. This gives a formula for all generalized characteristic functions of $A$, provided one such function is known. This topic is related to a matrix corona theorem (results by Fuhrmann, Vasyunin and Tolokonnikov). Upper and lower estimates of the time of exact controllability in terms of certain ``mean winding numbers'' and the dimension of the control will also be discussed. 15:50 - 16:10

Transfer functions for infinite-dimensional systems (full) H. Zwart University of Twente Transfer functions for infinite-dimensional systems Hans Zwart Department of Applied Mathematics, University of Twente P.O. Box 217, NL-7500 AE Enschede, The Netherlands The notion of a transfer function is classical in systems theory. One could even state that without transfer functions there is no systems theory. Here we study transfer functions for infinite-dimensional state linear systems. We introduce three notions of a transfer functions. In the first definition we call the fraction of the output and input the transfer function, provided that the input, state, and output are exponential functions and form a solution of the state-linear system. In the second notion, we define the transfer function as the Laplace transform of the impulse response. The third definition of a transfer function is similar to the first one, but without the assumption that the state is an exponential function. It is not hard to show that on some right-half plane of the complex plane, all these notions give the same function. However, outside this right-half plane things are not that nice anymore. First of all, the third notion gives in general not a unique value for the transfer function. However, if the resolvent set of the infinitesimal generator is connected, then the third notion gives for every point in the resolvent set a unique value, which equals the first definition of a transfer function. The relation between the first and second notion is more complicated. We show by means of an example that they may differ on the region of convergence for the Laplace transform, even when the resolvent set is connected.

16:10 - 16:30

Standard diffusive systems are well-posed linear systems (full) D. Matignon Telecom Paris & CNRSH. Zwart University of Twente The class of well-posed linear systems as introduced by Salamon has become a well-understood class of systems, see e.g. the work of Weiss and the book of Staffans. Many partial partial differential equations with boundary control and point observation can be formulated as a well-posed linear system. In paralell to the development of well-posed linear system, the class of diffusive systems has been developed. These systems are used to model systems for which the impulse response has a long tail, i.e., decays slowly, or systems with a diffusive nature, like the Lokshin model in acoustics. Another class of models are the fractional differential equations, i.e. a system which has fractional powers of $s$ in its transfer function. The aim of this work is to show that (standard) diffusive systems form a subset of the class of well-posed linear systems. It turns out that the proof of this is not complicated, and hence they form a more or less easy class within the general class of well-posed linear. This has two important consequences: * firstly, the theory as developed for well-posed linear systems, like feedback, interconnection, etc, is directly applicable to diffusive systems; * secondly, (new) notions and results for the class of well-posed systems can be illustrated by means of diffusive systems, without having to use deep results on functional analysis or partial differential equations. Moreover, on standard diffusive systems, we will address the classical questions of weak controllability, weak observability, strong stability and exponential stability: they will be illustrated by a few striking examples, that are both easy and linked to diffusion PDEs in a straightforward way.

16:30 - 16:50

Exponential stabilization of a Rayleigh beam - actuator and feedback design (full) G. Weiss Imperial College London Our plant is a hinged elastic beam described by the Rayleigh beam equation on the interval $[0,\pi]$. We assume the presence of two sensors: one measures the angular velocity of the beam at a point $\xi\in(0,\xi)$ and the other measures the bending (curvature) of the beam at the same point. The corresponding operator semigroup is unitary on a suitable Hilbert state space. These two measurements are advantageous because they make the open-loop system exactly observable, regardless of the point $\xi$. We design the actuators and the feedback law in order to exponentially stabilize this system. Using the theory of colocated feedback in a recent paper by Ruth Curtain and the author, we design the actuators such that they are colocated, meaning that $B=C^*$. It turns out that the actuators cause discontinuities of the measured quantities exactly at $\xi$ (this is the price, in this example, of having colocated actuators and sensors). This obliges us to use an extension of the observation operator $C$. It turns out that for all positive feedback gains in a suitable finite range, the closed-loop system is well-posed and exponentially stable, as follows from the general theory in the paper by Curtain et al mentioned earlier. 16:50 - 17:10

On restrictions and extensions of the implemented semigroup (full) Z. Emirsajlow Technical University of Szczecin The paper introduces some natural restrictions and extensions of the implemented semigroup. Since the implemented semigroup is not strongly continuous one has to work with a weaker topology. This causes several new theoretical problems which do not appear in the strongly continuous semigroup context. The presented results exploit the concept of a sequential completion of a topological space on norm bounded sets. Our development is motivated by applications of the implemented semigroup to operator differential Sylvester and Lyapunov equations which frequently appear in the infinite-dimensional systems and control theory. 17:10 - 17:30

On controllability of diagonal systems with one-dimensional input space (full) B. Jacob University of DortmundJ.R. Partington University of Leeds This paper deals with diagonal systems on a Hilbert space with a one-dimensional input space and a (possibly unbounded) input operator. A priori it is not assumed that the input operator is admissible. Necessary and sufficient conditions for different notions of controllability such as null controllability and exact controllability are presented. These conditions, which are given in terms of the eigenvalues of the diagonal operator and in terms of the input operator, are linked with the theory of interpolation in Hardy spaces.

17:30 - 17:50

Asymptotic stability of linear conservative systems when coupled (full) D. Matignon Telecom Paris & CNRSC. Prieur CNRS - ENS de Cachan In this paper we study linear conservative systems of finite dimension coupled with an infinite dimensional system of diffusive type. Computing the time-derivative of an appropriate energy functional along the solutions helps us to prove the well-posedness of the system and a stability property. But in order to prove asymptotic stability we need to apply a sufficient spectral condition. We also illustrate the sharpness of this condition by exhibiting some systems for which we do not have the asymptotic property.

MP6 01.19

Minisymposium New approaches for analysis and observation of

infinite dimensional systems (PDE and FDE)

Organization: E.I. Verriest, P. Pepe Chair: Erik I. Verriest 15:30 - 16:10

Localization and transfer matrix computation for linear multidimensional control systems (full) J.-F. Pommaret France - ENPC It is now well known that many results concerning control systems defined by systems of ordinary differential (OD) equations can be obtained by bringing these systems to Kalman form. It is thus a challenge to wonder what could be a similar specific form for control systems defined by systems of partial differential (PD) equations, also called multidimensional systems. Our purpose is to give a positive answer to this question by introducing effective new tools from the formal theory of systems of OD/PD equations and algebraic analysis. In particular, using this new approach and the localization technique of homological algebra in place of Laplace transform, we show out and illustrate how these new results can help studying the transfer matrix for multidimensional systems with constant or variable coefficients, even when the number of equations is greater than the number of outputs. The presentation will adopt a self-contained tutorial style and a particular emphasis will be put on the possibility to use computer algebra packages. 16:10 - 16:30

Delay-differential systems from a behavioral point of view (full) H. Gluesing-Luerssen University of Kentucky We will consider linear differential systems with commensurate delays from a behavioral perspective. The nice algebraic structure of the underlying operator algebra leads to a Galois correspondence between behaviors (the solution spaces of DD-systems) on the one side and submodules (the images of the operator matrices) on the other. Among other things, that allows an algebraic characterization of when two systems share the same behavior. After reporting on the implications of these results for behavioral theory we will briefly switch to systems with noncommensurate delays and draw a comparison. 16:30 - 16:50

State estimation problems for time delay systems: a geometric approach (full) G. Conte Università Politecnica delle MarcheA.M. Perdon Università Politecnica delle Marche - No Abstract Available -

16:50 - 17:10

Finite observability and asymptotic observation for delay systems (full) E. I. Verriest Georgia Institute of Technology For systems with commensurate discrete delays, the method of steps lets one compute the response with respect to arbitrary inputs and initial data. In fact, as long as one is only interested in the behavior of the system for finite time, a finite dimensional model of the system suffices. This is not so in the observation problem. Perfect knowledge of the output on any finite interval does not allow an unequivocal reconstruction of the initial data, unless further side information is given. In this paper, that builds upon our earlier results, we present a notion of finite-observability, which is associated with detecting the initial data from a class of signals, which is itself finitely generated. Forward integration lets us then reconstruct the state of the delay system at any time The resulting structure is a finite dimensional system, but with varying dimension as time increases. Although this may be unfavorable, it leaves the possibility of designing asymptotic observers of fixed dimension using a receding horizon approximation. This approach may also be viable in practice due to Weierstrass's theorem: "In any finite interval, a continuous function can be approximated arbitrarily closely by a polynomial," or generalizations thereof. Hence, we also introduce a notion of polynomial observability, for a delay system. This notion has for instance seen relevance in the problem of control over a network. Our result further hinges on a notion of constrained observability. An algebraic characterization and a generalized version of the PBH-tests were derived for the latter in our previous work. 17:10 - 17:30

A state observer for a class of nonlinear systems with multiple discrete and distributed time delays (full) A. Germani University of L’AquilaP. Pepe University of L’Aquila This paper considers the state observer problem for a class of nonlinear systems, which present multiple non commensurate time delays as well as distributed delay terms. The proposed algorithm is an extension of the observer for nonlinear delayless systems proposed in 1993 by Ciccarella, Dalla Mora, Germani. It is proved that a suitable gain can be easily chosen such that the observation error goes to zero exponentially, with arbitrarily fixed decay rate. The algorithm presented here is a basis for future developments of observers for hybrid systems with multiple discrete and distributed mode dependent time delays. 17:30 - 17:50

Nonlinear delay systems and nonautonomous linear approximations (full) S.P.Banks University of SheffieldP.Borruel University of Sheffield Nonlinear Delay Systems and Nonautonomous Linear Approximations by S.P.Banks and P. Borruel Department of Automatic Control and Systems Engineering, University of Sheffield, UK. s.banks@sheffield.ac.uk Abstract In this paper we study the stability of nonlinear, neutral delay equations by first replacing the nonlinear system by a sequence of linear, time-varying delay systems which converges uniformly on any compact time interval to the solution of the nonlinear equation. This reduces the problem to studying the stability of linear, time-varying

neutral delay systems (with noncommensurate delays) which is done by rewriting the system as a difference equation on a suitable space of functions, which are defined on the mimimum delay period. The stability of the system is then determined by the spectrum of the operator in the difference equation. A simple example to illustrate the theory will be given and some simulation results showing the convergence of the method will be presented.

MP7 01.07

Paper Session Optimal Control

Chair: G. Jank 15:30 - 15:50

H2 optimal control for linear stochastic periodic systems (full) V. Dragan Romanian AcademyT. Morozan Romanian Academy For a linear system with periodic coefficients subject to Markovian swiching and to multiplicative and aditive white noises two cost functionals are considered. Each of those cost functional may be view as an extension to this framework of the well known $H_2$-norm, intensively investigated in the case of linear time-invariant systems. It is shown that in the case of full state measurements the optimal control is obtained in a state feedback form. The optimal feedback gain is constructed based on the stabilizing solution of a system of coupled Riccati differential equations. 15:50 - 16:10

Linear-quadratic problem for sampled-data systems with state-dependent noise (full) V. Dragan Romanian AcademyA. Stoica University Politehnica of Bucharest The aim of this paper is to present the solution of a linear-quadratic optimization problem for sampled-data systems with state-dependent noise. The linear-quadratic problem developed in this paper consists in determining the discrete-time control, such that the resulting closed-loop system is exponentially stable in mean square and it minimizes a quadratic cost function. The solution of the problem is a state-feedback control law which gain is expressed in terms of the stabilizing solution of a specific system of coupled Riccati-type equations. Conditions for the existence of the stabilizing solution and a numerical iterative algorithm to compute it are also presented. The paper ends with a numerical illustrative example. 16:10 - 16:30

Second-order necessary conditions of optimality for measure driven control systems (full) A. Arutyunov Peoples Friendship Russian UniversityV. Dykhta Baikal State University of Economics and LawF. Pereira Faculdade de Engenharia da Universidade do Porto In this communication, we discuss necessary conditions of optimality for impulsive control problems. That is, problems whose control space includes measures besides the conventional class of measurable functions. More precisely, we present second-order necessary conditions of optimality for control problems with equality and inequality endpoint state constraints and control constraints. These enable the selection of informative multipliers provided by the local maximum principle even when the optimal control process is abnormal.

16:30 - 16:50

Optimal temperature control of diffusive tubular chemical reactors: terminal cost criterion (full) F. Logist KULeuven: BioTeC, Bioprocess Technology and ControlI.Y. Smets KULeuven: BioTeC, Bioprocess Technology and ControlJ.F. Van Impe KULeuven: BioTeC, Bioprocess Technology and Control In this paper optimal jacket fluid temperature profiles are derived for tubular chemical reactors with axial mass and heat dispersion/diffusion. According to the minimum principle of Pontryagin, the optimal control will be of the bang-bang type for the specified terminal cost criterion. Since the exact switching position is not provided by the minimum principle, it has to be determined by numerical simulation and optimisation. However, the Danckwerts boundary conditions for dispersive/diffusive systems complicate reactor simulation. Therefore a weighted shooting-type procedure to obtain the correct Danckwerts boundary conditions, is introduced. Following this procedure, the optimal switching location is determined and the impact of dispersion/diffusion on this position is assessed. 16:50 - 17:10

A max-plus finite element method for solving finite horizon deterministic optimal control problems (full) M. Akian INRIA, FranceS. Gaubert INRIA, FranceA. Lakhoua INRIAWe introduce a max-plus analogue of the Petrov-Galerkin finite element method, to solve Hamilton-Jacobi equations associated to finite horizon deterministic optimal control problems. The method relies on a max-plus variational formulation, and exploits the properties of projectors on max-plus semimodules. We obtain a nonlinear discretized semigroup, corresponding to a zero-sum two players game. We give an error estimate of order $\sqrt{\Delta t}+\Delta x(\Delta t)^{-1}$, for a subclass of problems in dimension 1. We compare our method with a max-plus based discretization method previously introduced by Fleming and McEneaney. 17:10 - 17:30

An iterative controller design for the mixed H2/D-stability problem (full) Y. Kami Kyushu Institute of TechnologyE. Nobuyama Kyushu Institute of TechnologyThis paper is concerned with the mixed $H_2/$ D-stability control problem. In this paper, firstly, we show a property of the globally optimal solution of this problem. Next, we give an iterative algorithm for finding a sub-optimal controller of this problem. The controller obtained by our algorithm satisfies a necessary condition to be globally optimal controller of the mixed $H_2/$ D-stability control problem. Numerical examples show the effectiveness of our algorithm. 17:30 - 17:50

Optimal output feedback control for uncertain linear system (full) T. Pesetskaya Institute of Mathematics

National Academy of Siences of BelarusA problem of synthesis of optimal controls of feedback type for optimization of a linear

dynamical system with disturbances and terminal constrains is under consideration. An algorithm of operating an optimal controller which is able to calculate values of optimal feedback during each particular control process in real time is described. It is based on special modification of dual method of liner programming which allows to take into account dynamical nature of problem and gives an opportunity to control sufficiently fast processes. During the control process only incomplete and inexact information about the states of a control system is accessible and so a problem of optimal observation is introduced.

MP8 01.25

Minisymposium Current Trends in Nonlinear Model Predictive

Control

Organization: Frank Allgöwer, Rolf Findeisen Chair: Frank Allgöwer 15:30 - 15:50

Optimal control of constrained piecewise affine systems with state- and input-dependent disturbances (full) S. V. Rakovic Imperial College LondonE. C. Kerrigan University of CambridgeD. Q. Mayne Imperial College London Finite horizon optimal control of piecewise affine systems with a piecewise affine (1-norm or infinity-norm) stage cost and terminal cost is considered. Provided the respective constraint sets are given as the unions of polyhedra, it is shown that the partial value functions and partial optimal control laws are piecewise affine on a polyhedral cover of the set of states that can be steered, by an admissible control policy, to a terminal set of states in a finite number of steps. Existing results only consider the case of systems without disturbances, or systems with disturbances that are independent of the state and input. This paper extends these results to the case where the disturbance is dependent on the state and input. 15:50 - 16:10

A generalization of Barbalat’s lemma with applications to robust model predictive control (full) F. A. C. C. Fontes Universidade do MinhoL. Magni Universita degli Studi di Pavia Barbalat’s lemma is a well-known and powerful tool to deduce asymptotic stability of nonlinear systems, specially time-varying systems, using Lyapunov-like approaches. Although simple variants of this lemma have already been used successfully to prove stability results for Model Predictive Control (MPC) of nonlinear and time-varying systems, further modifications are needed to address systems allowing uncertainty. The generalization proposed here can be used to guarantee that the state trajectory (resulting from the MPC algorithm) asymptotically approaches some set containing the origin, if there is a function that coincides with the trajectory at a sequence of instants of time and satisfies some boundedness and smoothness conditions. We discuss here the way the proposed lemma can help to establish robust stability results for MPC of nonlinear systems subject to bounded disturbances.

16:10 - 16:30

Robust stability of min-max MPC controllers for nonlinear systems with bounded uncertainties (full) D. Limon University of SevillaT. Alamo University of SevillaE.F. Camacho University of Sevilla The closed loop formulation of the robust MPC has been shown to be a control technique capable of robustly stabilize uncertain nonlinear systems subject to constraints. Robust asymptotic stability of these controllers has been proved when the uncertainties are decaying. In this paper we extend the existing results to the case of uncertainties that decay with the state but not tending to zero. This allows us to consider both plant uncertainties and external disturbances. When the uncertainties are modelled as bounded, some controllers, as the min-max MPC, compute the control action considering the worst expected uncertainty. This fact makes the control law depend on the modelled bound of the uncertainties. First, we provide some results on robust stability under the considered kind of systems. Based on these, we prove robust stability of the min-max MPC. In the paper we show how the robust design of the local controller is translated to the min-max controller and how the persistent term of the uncertainties determines the convergence rate of the closed-loop system. 16:30 - 16:50

An MPC approach to agressive motorcycle maneuvering (full) J. Hauser University of Colorado, Boulder - No Abstract Available - 16:50 - 17:10

On optimality of nonlinear model predictive Control (full) F. Di Palma University of PaviaL. Magni University of Pavia In this note the Infinite Horizon (IH) optimality property of Nonlinear Model Predictive Control (MPC) is analysed. In particular it is shown with a contra example that the conjecture that the IH cost of the closed-loop system controlled with a stabilizing MPC controller is a monotonic decreasing function of the optimization horizon is fallacius. 17:10 - 17:30

Min-max output feedback predictive control with guaranteed stability (full) R. Findeisen Institut for Systems Theory in EngineeringF. Allgöwer Institut for Systems Theory in EngineeringThis paper considers the output-feedback stabilization problem for nonlinear continuous time systems. Specifically we propose the combination of a min-max nonlinear model predictive control (NMPC) scheme with observers that deliver set-based state information. Provided the observer estimates are consistent and the min-max NMPC controller is designed suitably, it is show that the closed-loop is stable. In comparison to approaches based on the certainty equivalence principle, the outlined approach does not rely on inherent robustness properties which standard state-feedback NMPC might possess. Rather the min-max NMPC controller takes the state uncertainty directly into account.

17:30 - 17:50

Nonlinear Predictive Control of Under-actuated Mechanical Systems Application : the ECP505 inverted pendulum (full) A. Chemori LAG - INPG, FranceM. Alamir LAG - INPG, France Under-actuated mechanical systems are those systems having fewer actuators than generalized coordinates. A key feature of this class of mechanical systems is that they usually include nonlinear coupling between actuated and unactuated degrees of freedom, second order non holonomic constraints, and non minimum phase zero dynamic. In the present paper a low dimensional nonlinear predictive control scheme is proposed for stabilization as well as stable limit cycle generation. The stability issue is discussed through the Poincaré's section that enables stability of the whole resulting closed loop system to be analyzed. Furtheremore, it allows the domain of attraction to be determined. An interesting area of application of our approach is the ECP 505 inverted pendulum. Simulation results obtained for this system and concerning two applications namely stabilization in the vertical position and limit cycle generation are investigated. To state the efficiency of the proposed control scheme robustness of the proposed controller is tested in two cases, parameter uncertainties and external disturbances.

MP9 01.56

Minisymposium Quantum information - Part II

Organization: Leonid Gurvits, Hugo J. Woerdeman

Chair: Hugo J. Woerdeman 15:30 - 16:10

Two-way entanglement purification for finite block size (full) A. Ambainis University of California, BerkeleyD. Gottesman Perimeter Institute Entanglement purification protocols (EPPs) with one-way classical communications are equivalent to quantum error-correcting codes (QECCs), but EPPs using two-way classical communications are known to be substantially more powerful than QECCs. We study the minimum distance problem for two-way EPPs, in which Alice and Bob wish to extract k EPR pairs from an initial set of n pairs, given that no more than t of the pairs have errors. We show that two-way EPPs can be better than any QECC in this scenario, and give a lower bound on the existence of asymptotically large two-way EPPs. 16:10 - 16:30

Progress on additivity conjectures for memoryless channels in quantum information theory (full) M.B. Ruskai Tufts University States of quantum particles can be to encode and transmit information. The extent to which a state is corrupted by noise can be measured by the entropy of the output. It is natural to ask if there are situations in which sending entangled states through a memoryless channel is better than using optimal product inputs. This can be formulated precisely in several equivalent additivity conjectures about channel capacity, entanglement cost, and minimal entropy. This talk will explain the basic concepts, and then summarize recent results which support additivity. 16:30 - 16:50

There, and back again: quantum theory and global optimisation (full)K.M.R. Audenaert University of Wales, Bangor We consider a problem in quantum theory that can be formulated as an optimisation problem and present a global optimisation algorithm for solving it, the foundation of which relies in turn on a theorem from quantum theory. To wit, we consider the maximal output purity $\nu_q$ of a quantum channel as measured by Schatten $q$-norms, for integer $q$. This quantity is of fundamental importance in the study of quantum channel capacities in quantum information theory. To calculate $\nu_q$ one has to solve a non-convex optimisation problem that typically exhibits local optima. We show that this particular problem can be approximated to arbitrary precision by an eigenvalue problem over a larger matrix space, thereby circumventing the problem of local optima. The mathematical proof behind this algorithm

relies on the Quantum de Finetti theorem, which is a theorem used in the study of the foundations of quantum theory. We expect that the approach presented here can be generalised and will turn out to be applicable to a larger class of global optimisation problems. We also present some preliminary numerical results, showing that, at least for small problem sizes, the present approach is practically realisable. 16:50 - 17:10

Stabilizer states, conditional Clifford operations, and their possible role in quantum computation (full) J. Dehaene Katholieke Universiteit LeuvenB. De Moor Katholieke Universiteit Leuven We discuss a possible road towards new quantum algorithms. The approach is based on the formalism of stabilizer states and Clifford operations, using linear and quadratic algebra over binary vector spaces (with addition modulo 2). We work with a subset of stabilizer states and a set of Clifford and conditional Clifford operations preserving those states. Conditional Clifford operations do not belong to the Clifford operations and are conditional in the same sense as the well known CNOT operation. The possibility of straightforward efficient simulation on a classical computer is avoided by inserting an extra operation in the beginning, which can be thought of as combining the end state for an exponential number of possible inputs. Our approach has not yet led to algorithms with a significant speed up over their classical counterparts, but we argue why we think that generalizations of our approach may achieve this goal. 17:10 - 17:30

Local equivalence of stabilizer states (full) M. Van den Nest Katholieke Universiteit LeuvenJ. Dehaene Katholieke Universiteit LeuvenB. De Moor Katholieke Universiteit Leuven In this paper we study local equivalence classes of stabilizer states. We discuss equivalence under stochastic local operations and classical communication (SLOCC), local unitary equivalence (LU) and local Clifford equivalence (LC). We show that two stabilizer states are SLOCC-equivalent iff they are LU-equivalent. Focussing subsequently on LU-equivalence, we discuss LU-invariants. Furthermore, we give a graphical description of the action of LC-operations on graph states and present an efficient algorithm which recognizes whether two given stabilizer states are LC-equivalent.

MP10 01.31

Paper Session Applications

Chair: R. Pintelon 15:30 - 15:50

Identification of pollution sources in a river (full) A. El Badia University of Technology of CompiegneA. Hamdi University of Technology of CompiegneT. Ha-Duong University of Technology of Compiegne - No Abstract Available - 15:50 - 16:10

Identifiability and identification of a pollution source: a semi-discretization method (full) N. Verdiere University of Technology of CompiegneL. Denis-Vidal University Sciences & Tech. LilleG. Joly-Blanchard University of Technology of Compiegne The river pollution, due to localized sources, is an important and complex problem nowadays. In order to be able to remedy this problem, it is essential to know the localization of the pollution source and the flow rate of the pollutant. The aim of this paper is to identify the localization and the flow rate by measuring the concentration of a substrate giving significant information. This concentration is assumed to be measured in two points of the river. The simplest model of such a problem consists in a parabolic partial derivative equation. This equation is discretized in space by a centered difference scheme which leads to a system of differential equations in time depending on the parameters. Then, the analysis of identifiability is carried out using an approach based on differential algebra. A major drawback for applying differential algebra tools is the Dirac operator at the source localization which appears in the right hand side member of the equations. The solution adopted here consists in approximating the Dirac operator by a Gaussian function. A numerical parameter estimation is inferred from this procedure, which gives a first parameter estimate without a priori knowledge about unknown parameters. It is experimentally proved that a good estimate is obtained when observations are on both sides of the pollution source. 16:10 - 16:30

Continuous-time model identification by using fast adaptive observer (full) K. Ikeda The University of TokushimaY. Mogami The University of TokushimaT. Shimomura The University of Tokushima This paper introduces a new method to identify a continuous-time model from sampled I/O data by using an adaptive observer. The boundedness of the parameter estimate and the exponential convergence of the parameter estimation error to 0 under the assumption of Persistently Exciting (PE) signals are guaranteed. The adaptive algorithm is based on the

Recursive Least Squares (RLS) method that the convergence of the parameter is considereably improved compared to the steepest descent method. In order to identify the plant from a finite number of I/O data, an adaptive observer for a backward system is also proposed. 16:30 - 16:50

Nonlinear models to forecast the market demand for semiconductor devices by classes (full) G. Tomarchio Università di CataniaM. Bucolo Università di CataniaL. Fortuna Università di CataniaF. Caizzone The developed idea points to investigate about common features in time series, representing economic systems, and to group them in classes represented by the same mathematical model. This problem has been faced in relation with the definition of a suitable strategy that, based on supervised clustering, allows to characterize and to forecast the market demand of products of a worldwide semiconductor firm, STMicroelectronics, based on its historical trend. A supervised multivariate analysis has been used to cluster the time series; meanwhile nonlinear modelling strategy based on the results of the first phase has been performed on classes and not series by series. 16:50 - 17:10

Detecting material interfaces via kalman filtering (full) F. Marcuzzi Università di PadovaG. Picci Università di Padova The problem of detecting the existence, position and shape of local variations in the elastic properties of a continuous medium from vibration tests is here considered. We propose a Kalman filtering technique which detects the changes induced in the propagation of waves by such material coefficients variations, and reconstruct their position and shape. Numerical simulations show the effectiveness of this approach.

Tuesday, July 6, 2004 P2 Aula Pieter De Somer

Plenary Presentation Chair: V. Blondel 09:00 - 10:00

A new class of singular stochastic control problems arising in finance P.-L. Lions Ecole Normale Supérieur. Département Mathématique et

Informatique In this talk, we present some examples of models in Finance and Economics that lead to new questions in stochastic control and stochastic differential games. We begin with a classical influence model in Finance which leads, through utility maximization, to a new class of singular stochastic control problems that we solve. We then propose a model for the formation of volatility through the trading of a large number of investors. An we describe briefly a related class of problems concerning Nash points for N players and its asymptotic behavior as N goes to infinity. TA1 91.54

Minisymposium New frameworks in multidimensional systems

Organization: Joseph Ball, Victor Vinnikov

Chair: Victor Vinnikov 10:30 - 11:30

Overdetermined discrete time multidimensional (full) J. A. Ball Virginia TechV. Vinnikov Ben Gurion University of the Negev , Israel We consider $d$-dimensional input-state-output systems with evolution along the integer lattice ${\mathbb Z}^d$ where the evolution of the whole state vector is specified by $d$ separate update equations in $d$ linearly independent directions (for simplicity we shall assume most of the time $d=2$). Such a system is overdetermined and is to be considered together with admissibility difference equations for the input and the output signals. We shall survey the theory of these systems, both in time domain and in frequency domain, where the admissibility conditions naturally lead to functions on an algebraic curve in a multidimensional space. There will be a special emphasis on energy balance conditions and conservative systems, and their relation to Lax--Phillips type scattering systems with two commuting evolutions.

11:30 - 12:10

Structured noncommutative multidimensional (full) J. A. Ball Virginia TechG. Groenewald North West UniversityT. Malakorn Virginia Tech We introduce a class of multidimensional linear systems with evolution along a free semigroup. The transfer function for such a system is a formal power series in noncommuting indeterminants. We show that standard system-theoretic ideas (controllability, observability, Kalman decomposition, state space similarity theorem, minimal state space realizations, Hankel operators, realization theory) can be developed for this class of systems. We also draw out the connections with the much earlier studied theory of rational and recognizable formal power series and indicate connections with linear-fractional-models for classical discrete-time systems having structured time-varying uncertainty. 12:10 - 12:30

Multidimensional (n-D) linear systems with evolution along a free semigroup (full) T. Malakorn Naresuan University We consider a class of structured multidimensional (or $n$-D) linear systems having evolution along a free semigroup and introduce the added formalism to describe such systems in general. With this added formalism, we present unified proofs of the results on controllability, observability, Kalman decomposition, state-space similarity, and minimality of realizations. By the results here, the situation in the noncommutative case is much more like the classical 1-D case. A possible direction for future work is the application of the noncommutative theory as a vehicle for deeper understanding of the commutative $n$-D case.

TA2 01.54

Paper Session Stochastic Hybrid Systems

Chair: R. Boel 10:30 - 10:50

A stability criterion for stochastic hybrid systems (full) A. Abate UC BerkeleyL. Shi S. N. Simic S. S. Sastry This paper investigates the notion of stability for Stochastic Hybrid Systems. The uncertainty is introduced in the discrete jumps between the domains, as if we had an underlying Markov Chain. The jumps happen every fixed time $T$; moreover, a result is given for the case of probabilistic dwelling times inside each domain. Unlike the more classical Hybrid Systems setting, the guards here are time-related, rather than space-related. We shall focus on vector fields describing input-less dynamical systems. Clearly, the uncertainty intrinsic to the model forces to introduce a fairly new definition of stability, which can be related to the classical Lyapunov one though. Proofs and simulations for our results are provided, as well as a motivational example from finance. 10:50 - 11:10

Theoretical foundations of stochastic hybrid systems (full) M.L. Bujorianu University of CambridgeJ. Lygeros University of Patras In this paper we set up a mathematical structure, called Markov Strings, to obtaining a very general class of models for stochastic hybrid systems. Markov strings are, in fact a class of Markov processes, obtained by a mixing mechanism of stochastic processes, introduced by Meyer. We prove that Markov strings are strong Markov processes with the cadlag property. We then show how a very general class of stochastic hybrid processes can be embedded in the framework of Markov Strings. This class, which is reffered to as General Stochastic Hybrid Systems (GSHS) includes as special cases all the classes of stochastic hybrid processes, proposed in the literature. Keywords: stochastic hybrid systems, Markov strings, Markov processes, strong Markov property, cadlag. 11:10 - 11:30

State estimation and prediction in a class of stochastic hybrid systems (full) E. Cinquemani University of PadovaM. Micheli Brown UniversityG. Picci University of Padova We consider a dynamical system whose state equation evolves continuously in time according to a linear stochastic differential equation; the parameters of such SDE depend on

a discrete variable that follows the laws of a continuous-time Markov process. Noisy measurements of the continuous state are made available at discrete deterministic times, by a static linear equation whose parameters depend, again, on the discrete state. Therefore the discrete state may switch among different values between successive measures. We solve the problem of estimating both the continuous and the discrete state, given the measurements up to a certain time, in an on-line manner. Models like the one we analyze arise naturally in industrial applications such as fault detection. 11:30 - 11:50

Stabilization of a class of stochastic systems with Markovian switching (full) C. Yuan University of CambridgeJ. Lygeros University of Patras Stability of stochastic differential equations with Markovian switching has recently been discussed by many authors, for example, Basak et al. [3], Ji and Chizeck [13], Mariton [20], Mao et al. [18,19] and Shaikhet [24], a few to name. The aim of this paper is to study the stabilization of a class of stochastic systems with Markovian switching. 11:50 - 12:10

Ellipsoidal techniques for hybrid dynamics: the reachability problem (full) A.B.Kurzhanski University of California at BerkeleyP.Varaiya University of California at Berkeley This paper deals with the dynamics of hybrid systems under piecewise open-loop control restricted by hard bounds. The system equations may be reset when crossing some prespecified domains (“the guards”) in the state space. Therefore the continuous dynamics which govern the motion between the guards are complemented by discrete transitions which govern the resets. A state space model for such systems is proposed and reachability sets for such models are described on the basis of the Hamiltonian formalism. The computational side of reachability is treated through ellipsoidal techniques that indicate routes for numerical procedures. The advantage of such algorithms lies in better efficiency as compared with other approaches as well as in the possibility to effectively use parallel computations. 12:10 - 12:30

Anticipative ramp metering control for freeway traffic networks (full)T. Bellemans K.U.LeuvenB. De Schutter Delft University of TechnologyB. De Moor K.U.Leuven We develop an anticipative model-based predictive traffic control approach for ramp metering in freeway traffic networks. If ramp metering is implemented in a freeway network with alternative routes, traffic can spontaneously re-route due to the response of the drivers to the applied control actions. Although spontaneous re-routing can have a significant influence on the resulting traffic situation in the traffic network and on the performance of the traffic network as a whole, re-routing is usually not automatically included in current freeway traffic control frameworks. In this paper, we develop a new method to efficiently calculate and incorporate re-routing effects into a model-based predictive traffic control framework. In this way, anticipative model predictive control for ramp metering in freeway networks is realized.

TA3 91.56

Minisymposium Behavioral systems

Organization: P. Rocha

Chair: P. Rocha 10:30 - 10:50

A behavioral approach to the LQ optimal control problem (full) G. Parlangeli Università di LecceM.E. Valcher Università di Padova This paper aims at providing new insights into the linear quadratic optimal control problem within the behavioral setting. A different and simple statement is first provided, by considering linear, time-invariant and complete continuous-time systems, described as the kernels of some polynomial matrix operators, and by assuming as cost function the integral of a suitable quadratic differential form. Initial conditions are introduced by assigning the value, at t=0, of a minimal state map for the system behavior. The problem solution is here derived in a clean and simple way, by making use of the typical tools developed within the behavioral setting, in particular, state maps and quadratic differential forms, and without resorting to state-space realizations. A comparison with the standard LQ problem in the state-space approach is finally provided. Some examples allow to further explore the relevance of the present approach for the class of state-space models. 10:50 - 11:10

New algorithms for polynomial $J&-spectral factorizationp problems in the synthesis of dissipative systems (full) H.L. Trentelman University of Groningen New Algorithms for Polynomial J-spectral Factorization Problems in the Synthesis of Dissipative Systems'. H.L. Trentelman Abstract: In this talk we shall consider the property of strict half-line dissipativity of system behaviors represented in kernel representation. The propery of strict half-line dissipativity is equivalent to the existence of certain canonical J-spectral factors of a para-hermitian polynomial matrix associated with the polynomial matrix representing the system. We will present a time-domain proof of this equivalence that uses quadratic differential forms and their associated two-variable polynomial matrices. We will also give an algorithm to compute the required J-spectral factors. This algorithm uses so-called Pick matrices that can be derived from a given two-variable polynomial matrix associated with the polynomial matrix representing the system. Finally, the results will be applied to the synthesis problem of computing a controller behavior such that the interconnection is strictly half-line dissipative. 11:10 - 11:30

OreModules: a symbolic package for the study of multidimensional

linear systems (full) F. Chyzak France - INRIA RocquencourtA. Quadrat France - INRIA Sophia AntipolisD. Robertz RWTH - Aachen The purpose of this paper is to give an introduction to the new package OreModules (http://wwwb.math.rwth-aachen.de/OreModules) for Maple which offers symbolic methods to investigate the structural properties of multidimensional linear systems over Ore algebras. An Ore algebra is a ring of non-commutative polynomials in functional operators with polynomial or rational coefficients (e.g., ordinary and partial differential operators, time-delay and time-advance operators, shift operators, difference operators). Within the Ore algebras framework, we can simultaneously deal with different classes of multidimensional linear systems with constant, polynomial or rational coefficients such as systems of ordinary differential equations (ODEs), differential time-delay systems, systems of partial differential equations (PDEs), repetitive systems, convolutional codes... Using a module-theoretic approach, some homological algebra characterizations of structural properties (e.g., controllability, observability, primeness, parametrizability, flatness) of multidimensional linear systems over Ore algebras have recently been obtained in: Chyzak, F., Quadrat, A., Robertz, D. ``Linear control systems over Ore algebras: Effective algorithms for the computation of parametrizations'', CDRom of the Workshop on Time-Delay Systems (TDS03), IFAC Workshop, INRIA Rocquencourt (France) (08-10/09/03), Chyzak, F., Quadrat, A., Robertz, D. ``Effective algorithms for parametrizing linear control systems over Ore algebras'', INRIA Report 5181, available at http://www.inria.fr/rrrt/rr-5181.html. Using the recent progress of non-commutative Groebner bases over Ore algebras, we are now in position to effectively test the algebraic properties of general multidimensional linear systems (e.g., controllability, observability, parametrizability, flatness, $\pi$-freeness), to compute different types of parametrizations and to propose some feedback laws (motion planning, tracking, optimal control, pole placement). The advantage of describing the structural properties in the language of homological algebra carries over to the implementation of OreModules: up to the choice of the domain of operators which occur in a given system, all algorithms are stated and implemented in sufficient generality such that ODEs, PDEs, differential time-delay systems, discrete systems... are covered at the same time. The cases of linear systems with constant, polynomial or rational coefficients can be coped with. Up to our knowledge, OreModules is the first implementation of homological methods in this generality with regard to applications in control theory and engineering sciences. Finally, the main functions of OreModules will be illustrated on different explicit examples (e.g., bipendulum, differential algebraic systems, vibrating string, electric transmission line, Maxwell equations, Einstein equations). 11:30 - 11:50

Bilateral convolutional codes over a finite field (full) E. Fornasini University of PaduaR. Pinto University of Aveiro Convolutional coding has been a common research area for coding and system theorists. While systems theory studies the input/output relations of linear systems, coding theory concentrates on the set of output sequences, i.e., the code. The behavioral approach to systems theory, provides a common methodology framework for dynamical systems and convolutional codes, since a convolutional code is a linear, time-invariant behavior. In this communication, we consider convolutional codes over a finite field constituted by bilateral sequences (bilateral convolutional codes). We start by giving a definition of a bilateral convolutional code using the behavioral approach to systems theory. Next, we analyze the encoders and syndrome formers, which are the image and kernel representations of the

code. In such analysis, Matrix Fraction Descriptions are used to characterize some properties of the encoders and the structure of the code. 11:50 - 12:10

Strong controllability of continuous multidimensional behaviors (full) E. Zerz University of KaiserslauternP. Rocha University of Aveiro Two concepts of controllability of two-dimensional discrete behaviors were introduced by the second author: the first one amounts to the possibility of concatenating any two restrictions of trajectories (the classical behavioral controllability paradigm). A stronger controllability notion resulted from dropping the assumption that the local data to be concatenated should be restrictions of trajectories. The characterization of the second definition failed to generalize straightforwardly to higher dimensions, and to continuous behaviors. Recently, the study of extendable behaviors has provided deeper insights into the problem. This makes it possible to eventually generalize ``strong controllability'' to continuous behaviors of arbitrary dimension. 12:10 - 12:30

Behaviors and controllability (full) F. Colonius University of AugsburgW. Kliemann Iowa State University This note proposes a topological framework for the analysis of the time shift on behaviors and its limit behavior as time tends to infinity. This is related to controllability properties. 12:30 - 12:50

On the Markov property for continuous multidimensional behaviors (full) P. Rocha University of AveiroJ.C. Willems K.U. LeuvenI. Brás University of Aveiro In this paper the relation between Markovianity and representability by means of first order PDEs is investigated. It is shown that the Markov property introduced by Willems for continuous nD behaviors is not equivalent to first order representability. In order to ensure first order representability we introduce a strong version of Markovianity in higher dimensions which (similar to the weak version) can be regarded as a generalization of the one-dimensional Markov property. For finite-dimensional behaviors, we prove that strong Markovianity is indeed equivalent to the representability by means of decoupled first order partial differential equations with particular structure.

TA4 01.13

Paper Session Stochastic Systems

Chair: R. Peeters

10:30 - 10:50 A probabilistic framework for passive cooperation among UAV’s performing a search (full) M. Flint University of Cincinnati E. Fern ández-Gaucherand University of Cincinnati M. Polycarpou University of Cincinnati This paper presents a probabilistic framework for short-term (within a limited planning horizon) passive cooperation among unmanned aerial vehicles (UAV’s) performing a search. This structure is suitable for solution using a Dynamic Programming (DP) planning algorithm.Extending significantly previous work, the framework presented in this paper provides methodsto enhance cooperation. This takes the form of explicitly accounting for multiple vehicle interference in the one-step gain function of the planning algorithm, and by approximating theprobability of vehicle interference using dynamic environment information. Some simulationresults are shown to demonstrate the effectiveness of the approach.

10:50 - 11:10 On relations between entropy and other characteristics of random variables (full) O.E. Trofimov Siberian Branch of Russian Academy of Sciences. Z.N. Yamaldinova Chelyabinsk State Pedagogical University - No Abstract Available -

11:10 - 11:30 Factorization of shape and motion dynamics in tracking points (full) Giambattista Gennari University of Padova Ruggero Frezza University of Padova Standard tracking and data association techniques treat tracked points (targets) independently.In the current work the relations or shape exhibited by points are considered. A suitable modelof such relations is useful in solving the data association problem. The dynamical model of points is factorized into separate models of motion and shape. The motion model treats pointsindependently. Shape model describes the motion-invariant relations exhibited by tracked points and allows to track different objects performing unpredictable motions. The factorized model isembedded into a particle filtering framework well suited to deal with multimodal densities arisingfrom clutter and with missing data.

11:30 - 11:50

On reachability under stochastic disturbances (full) I.A. Digailova Moscow State (Lomonosov) University A.B. Kurzhanski Moscow State (Lomonosov) University Among the recent problems of control of special interest are those of reachability underdisturbances and resets of system dynamics. The present paper deals with the problem ofreachability under stochastic disturbances. Considered is a linear system subjected toperturbations generated by Brownian noise which may or may not be dependent on the valuesof the control. The latter in its turn may be either unbounded or bounded by hard bounds. Thereachabilty sets introduced here are deterministic. They consist of all points whose mean-square deviation from some controlled trajectory is small. These sets are presented in terms of level sets to solutions of certain types of the Hamilton-Jacobi-Bellman equation. The respective controls are explicitly calculated when the controls are unbounded and are presented in termsof solutions to some dual optimization problems when the controls are bounded.

11:50 - 12:10 Wold decompositions and two-time parameter stationary processes (full) D.E. Popovici University of the West Timisoara The basic problem in prediction theory is to estimate a certain, desired behavior of the phenomenon under study (in our case a stationary process) using the information alreadyobtained about it. In order to accomplish this we should separate completely the deterministicpart from the part corrupted by noises. This is done via a Wold-type decomposition. For some particular two-time parameter stationary processes (the associated bi-shift operator is double commuting) Kallinapur and Mandrekar obtain a decomposition into a deterministic, a 1-deterministic and 2-pure, a 1-pure and 2-deterministic, respectively a moving average of amaximal white noise stationary process. We prove that such a decomposition holds true ingeneral, the moving average part being replaced by a, so-called, weak moving average. Finally we show that the weak moving average part contains a maximal moving average process.

12:10 - 12:30 A value iteration algorithm for partially observed Markov decision process multi-armed bandits (full) V. Krishnamurthy The University of British Columbia B. Wahlberg KTH, Sweden F. Lingelbach KTH, Sweden A value iteration based algorithm is given for computing the Gittins index of a Partially ObservedMarkov Decision Process (POMDP) Multi-armed Bandit problem. This problem concerns dynamical allocation of efforts between a number of competing projects of which only one canbe worked on at any time period. The active project evolves according to a finite state Markovchain and generates then a reward, while the states of the idle projects remain fixed. In this contribution, it is assumed that the state of the active project only can be indirectly observedfrom noisy observations. The objective is to find the optimal policy based on partial informationto determine which project to work on at a certain time in order to maximize the total expectedreward. The solution is obtained by transforming the problem into a standard POMDP problem,for which there exist efficient near-optimal algorithms. A numerical example from the field of task planning for an autonomous robot is presented to illustrate the algorithms.

12:30 - 12:50 Approximation of first passage times of switching diffusion (full) J. Krystul University of Twente A. Bagchi University of Twente This paper studies the approximation of first passage time of a multi-dimensional switching diffusion process to a given target domain. We propose a discrete-time strong approximation scheme for switching diffusion processes with state-dependent switching rates. If $\tau $ and $\tau ^{h}$ are the first passage times of the continuous and discretized processes respectively,then under some conditions we show that $\tau^{h} $ converges in distribution to $\tau $ as the discretization step tends to zero.

TA5 01.01

Minisymposium Infinite-dimensional systems - Part II: Adaptation and

performance

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten Morris

Chair: Birgit Jacob

10:30 - 10:50 Adaptive low-gain sampled-data integral control of multivariable well-posed systems (full) H. Logemann University of Bath S. Townley University of Exeter We show that sampled-data integral control with a simple and natural adaption of the discrete-time integrator gain achieves tracking of constant reference signals for every exponentiallystable, multivariable, well-posed, infinite- dimensional, linear system whose steady-state gain operator has its spectrum in the open right-half plane. Our results considerably extend, improve and simplify previous work by the authors (see IEEE Trans Automatic Control, vol. 42 (1997),pp. 22-37).

10:50 - 11:10 A natural observer-based adaptive controller for structurally perturbed second order distributed parameter systems (full) M. A. Demetriou Worcester Polytechnic Institute F. Fahroo Naval Postgraduate School, USA In this note we consider a class of second order distributed parameter systems with structuredperturbations and with partial position and velocity measurements. It is desired to design acontroller so that the plant follows a second order reference model. The proposed modelreference adaptive controller utilizes both state position and velocity estimates and the on-line approximators of the unknown perturbation functions. As argued in earlier work by the author, anatural second order observer is required in order to provide estimates of the state position andstate velocity with the added property that the estimate of the velocity equals the derivative of the state position. We thus propose a natural second order adaptive observer in order toimplement the model reference controller. The well posedness of the above observer andadaptive controller are examined along with the adaptive policy for updating the on-line approximators and the subsequent stability of the closed loop system.

11:10 - 11:30 Asymptotically H2-optimal tuning of low gain robust controllers for DPS (full)

T. Hämäläinen Tampere University of Technology S. Pohjolainen Tampere University of Technology It is well known that a low-gain controller of the form $C_\varepsilon(s) = \sum_{k=-n}^n \varepsilon K_k/(s - i\omega_k)$ is able to track and reject constant and sinusoidal reference and disturbance signals for exponentially stable well-posed systems. In this paper we investigate the optimal tuning of the matrix gains $K_k$ of the controller as the positive scalargain $\varepsilon \to 0$. The cost function is the maximum energy of the error between the reference signal and the output signal over all suitably bounded reference and disturbancesignal amplitudes.

11:30 - 11:50 Performance evaluation for robust control of non-periodic two-dimensional channel flow (full) E. O’Dea University of Southampton O.R. Tutty University of Southampton E. Rogers University of Southampton L. Baramov Flow control is currently attracting considerable interest in the fluids research community. Amajor motivation for this is the possibility of reducing drag on a body by preventing or delayingtransition from laminar to turbulent flow. The systems dealt with in these problems are, in controlterms, very complex, nonlinear and infinite dimensional, even if, in fluid mechanical terms, the structure of the flow field is simple in nature. Plane Poiseuille flow, i.e. flow between two infiniteparallel plates is one of the simplest and best understood cases of fluid dynamics. Controllingthis flow to delay the onset of the transition from laminar to turbulent flow is, however, still anextremely challenging problem, even if it is assumed that deviations from the steady-state are small enough for the governing equations to be linearized. It has become a benchmark problem for developing control algorithms for fluid flows. In this contribution we will report on theevaluation of controllers obtained by this approach through simulations with a computationalfluid dynamics (CFD) code in the loop. This will include nonlinear 2D and linear 3D disturbances.

11:50 - 12:10 Determination of optimum measurement efforts for parameter estimation of distributed systems (full) D. Ucinski University of Zielona Gora The paper aims at presenting an approach to determine a spatial distribution of measurementeffort in such a way as to maximize the accuracy of parameter identification of a distributedsystem defined in a given spatial domain. A general criterion defined on the Fisher informationmatrix related to the estimated parameters is used as the design criterion. The approachconverts the problem to a classical experimental design one in which the idea of continuousdesigns is exploited. Its solution can be obtained with the use of first-order numerical algorithms. A simple illustrative example is presented to clearly demonstrate the ideas andtrends presented in the paper.

TA6 01.19

Minisymposium Semi-separable systems - Part I

Organization: P. Dewilde, M. Gu, S. Chandrasekaran

Chair: P. Dewilde 10:30 - 11:10 Super-fast sparse solvers (full) S. Chandrasekaran University of California, Santa Barbara M.Gu University of California, Berkeley B. Lyons - No Abstract Available - 11:10 - 11:30 Fast and stable Grammian computations for MIMO systems (full) A. Barnard S. Chandrasekaran M. Gu University of California, Berkeley A. Mullhaupt - No Abstract Available - 11:30 - 11:50 Approximate inversion of a large semiseparable positive matrix (full) A.-J. van der Veen Delft University of Technology The inversion of a large ($n\times n$) positive matrix is considered. We assume that the matrixhas a semi-separable structure, which implies that all submatrices away from the main diagonalhave rank less than $q$ (the matrix itself may be full). In practice, a specified matrix will notexactly have low-rank submatrices. Given a threshold and a positive matrix $T$, thesubmatrices of $T$ are rank truncated to this threshold (balanced model reduction) and theinverse of a Cholesky factor of $T$ is computed using time-varying state-space techniques. The proposed algorithm requires $O(n^2 q)$ operations, where $q$ is the average rank of the submatrices as detected by the algorithm.

11:50 - 12:10 Fast algorithms for semiseparable matrices and kernels (full) I. Koltracht University of Connecticut - No Abstract Available -

TA7 01.07

Minisymposium Control, quantization and communication constraints

- Part I

Organization: S. Zampieri Chair: S. Zampieri

10:30 - 11:10 Fillipov linearization of a discontinuous feedback system (full) R. Brockett Harvard University - No Abstract Available -

11:10 - 11:50 Data-rate problems in feedback stabilization of drift-free nonlinear control systems (full) J. Baillieul Boston University This paper examines problems of data-rate-limited feedback channels in nonlinear systems which are qualitatively very di�erent from the linear feedback systems that have beenextensively studied in the recent literature.

11:50 - 12:30 A statistical mechanical view of Kalman filtering (full) S. K. Mitter Massachusetts Institute of Technology N. J. Newton University of Essex We develop a physical analogy for the Kalman-Bucy filter, in which the partially observed signal describes a statistical mechanical system interacting with a heat bath. The `universe'comprising this system and the heat bath obeys a non-decrease law of entropy similar to the Second Law of Thermodynamics. However, this law can be violated in the presence of partialobservations. Like Maxwell's demon, the filter uses observations to extract work from the signal,thus `cooling' it, but without causing any increase in entropy. The analogy provides aquantitative example of Landauer's Principle. Further analogies and generalisations are brieflymentioned.

TA8 01.25

Minisymposium Issues in model reduction of large-scale systems

Organization: A.C. Antoulas

Chair: A.C. Antoulas

10:30 - 10:50 Model order reduction of MEMS for efficient computer aided design and system simulation (full) J. G. Korvink Freiburg University E. B. Rudnyi Freiburg University In the present paper we focus on the application aspect of Krylov-subspace-based model order reduction. We present the software mor4ansys that allows us to directly apply model reductionto ANSYS finite element models. We show that, for many MEMS thermal and structural mechanics problems, model reduction is very efficient means to generate compact models forsystem-level simulation. Finally, we discuss on how one can use model reduction during theengineering design process.

10:50 - 11:10 Bandlimited Laguerre-Kautz reduced order modeling (full) L. Knockaert Ghent University It is well-known that the scaled Laguerre functions form a complete orthonormal basis in Hardyspace. The same can be said about the more general two-pole Kautz basis. The problem with orthonormality over the imaginary axis is that it extends over an infinite frequency range, andhence at first sight, it would seem impossible with these simple bases to zoom in on anarrowband frequency range. Fortunately however, this can be done by judiciously projectingthe infinite range orthonormality relations onto orthonormality relations over a narrowbandfrequency support by means of a rational frequency coordinate transform, resulting in a bandlimited orthonormal real-rational basis satisfying narrowband orthonormality relations. As aprimary application, we consider reduced order modeling (ROM). The main objective of ROM,when the system order is large, is to replace the original transfer function with a proximate transfer function of lower system order. In projection based ROM this is implemented by meansof a unique column-orthogonal matrix acting on the system matrices. It is shown how to obtain asuitable column-orthogonal matrix in terms of the previously defined bandlimited Laguerre-Kautz basis together with a simple quadrature rule employing only narrowband information.Also, with the column-orthogonal matrix chosen in this manner, it is found that the originaltransfer function and the reduced order transfer function are reasonably close over the narrowfrequency band under consideration.

11:10 - 11:30 Interpretation of proper orthogonal decomposition as singular value decomposition and HJB-based feedback design (full)

S. Volkwein University of Graz K. Kunisch University of Graz L. Xie University of Graz The numerical realization of closed loop control for distributed parameter systems is still asignificant challenge and in fact infeasible unless specific structural techniques are employed. Inthis paper we propose the combination of model reduction techniques based on properorthogonal decomposition (POD) with the numerical treatment of the Hamilton-Jacobi-Bellman (HJB) equation for infinite horizon optimal control problems by a modification of an algorithmoriginated by Gonzales-Rofman and further developed by Falcone-Ferretti. The feasibility of the proposed methodology is demonstrated numerically by means of optimal boundary feedback-control for the Burgers equation with noise in the initial condition and in the forcing function.

11:30 - 11:50 Controller reduction by Krylov projection methods (full) S. Gugercin Virginia Tech. C. A. Beattie Virginia Tech.A. C. Antoulas Rice University E. Gildin Many control design methodologies lead to high-order controllers whose order is generically as high as the order of the plant. Typically such large-scale controllers are unsuitable for real-time applications and one needs to obtain a reduced order controller. In this paper, we introduce acomputationally efficient controller reduction approach using a rational Krylov method. We showthat a reduced-order controller obtained via a Krylov projection is guaranteed to match the full-order closed loop system response at shifts used in the Krylov reduction of the controller. Anumerical example illustrates the effectiveness of the proposed approach.

11:50 - 12:10 Existence and computation of second order reduced systems using Krylov subspace methods (full) A. Bunse-Gerstner Zentrum fuer Technomathematik B. Salimbahrami Institut fuer Automatisierungstechnik R. Grotmaack Zentrum fuer Technomathematik B. Lohmann In some fields of application like Electrical Circuits and Micro-Electro-Mechanical Systems mathematical modeling leads to a large number N of second order differential equations. Ifmodel reduction methods have to be applied, it is desirable to construct a smaller dimensional model that approximates the behavior of the original system while preserving its second orderstructure. Often the equivalent first order model of dimension 2N is considered and reductionmethods are employed to approximate it by a smaller dimensional first order system. This smaller system, however, will in general not be equivalent to a second order system. A firstorder system equivalent to a second order one has its first Markov parameter equal to zero.Using Krylov subspace methods, it is possible to preserve this property in the 2q dimensionalreduced first order system by matching the first Markov parameter and at most 2q-1 moments. In this talk we show for single-input-single-output LTI systems that in this case the reduced firstorder model can be converted into second order form again.

12:10 - 12:30 Second order structure preserving balanced truncation (full) Y. Chahlaoui Florida State University D. Lemonnier Université catholique de Louvain A. Vandendorpe Université catholique de Louvain P. Van Dooren The purpose of this paper is to present model reduction techniques that preserve the secondorder form of the system one wants to reduce. For SVD techniques, we define two pairs ofgramians, one for the position space and the other for the velocity space. One then projects thestate space by keeping the dominant position and velocity subspaces with respect to each pairof gramians. Second-order structure preserving Krylov techniques are also considered where it is shown how to construct a second order transfer function that satisfies tangential interpolationconditions with respect to the original second order transfer function.

12:30 - 12:50 Derivation of an H2 error bound for model reduction of second order systems (full) D.C. Sorensen Rice University C. Teng Rice University A.C. Antoulas Rice University This note derives an error bound in the H_2 norm for the reduction of a second order dynamicalsystem. The reduction preserves second order form and is based upon a dominant eigenspaceof a controllability gramian. An equivalent frequency domain definition of this gramian isobtained from the Parseval theorem and this form is key to the derivation of the bound.

TA9 01.56

Paper Session Quantum Theory

Chair: J. Dehaene

10:30 - 10:50 Coarse control (full) E.A. Jonckheere University of Southern California P. Lohsoonthorn University of Southern California We show how a topological space X can be coarsened by going to a noncommutative algebraover X. Next we investigate how a, possibly controlled, flow over X can be coarsened bymapping it to a, possibly controlled, action on the noncommutative algebra. The (functorial) passage from the topological dynamics over X to the coarse dynamics over the algebra takesthe concrete form of the passage from an ordinary differential equation to a partial differentialequation. The solution to this PDE can only be altered by a so-called coarse feedback. Some quantum mechanics and quantum control interpretations are provided.

10:50 - 11:10 Open quantum dynamical systems driven by coherent controls: structure of the sets of reachable states (full) C. Altafini Italy - SISSA Int. School for Advanced Studies A Markovian model of an open quantum dynamical system, i.e., a quantum system interactingwith its environment, is characterized by a dissipative dynamics which tends irreversibility tobring the system to an equilibrium point and which cannot be fully compensated by means ofunitary control authority. In this work, the idea of ``irreversibility in spite of the control action'' ismade rigorous using standard notions from classical control theory. For example, it is shown that the accessibility property is generically satisfied, but that small-time controllability or controllability in finite time do not hold. The structure of the set of reachable states can bestudied accordingly. For the case of unital dissipation such a set has an ordered structure thatgrows as the purity of the system monotonically decreases, regardless of the control action. Forthe case of affine dissipation, the structure is more complicated. What is common in both casesis that the change of purity in the state, and thus the possibility of steering the system out of asphere of constant purity, is only due to the dissipation, not to the coherent controls.

11:10 - 11:30 Trajectory tracking for quantum systems: a Lyapounov approach (full)M. Mirrahimi Ecole des Mines de Paris P. Rouchon Ecole des Mines de Paris A Lyapounov-based approach for trajectory tracking of the Schrödinger equation is proposed. Inthe finite dimensional case, convergence is analyzed: the connection between the controllabilityof the linear tangent approximation around the reference trajectory and asymptotic tracking isstudied. Closed-loop simulations of a physical example illustrate the interest of such feedbacklaws for large dimensional systems. More precisely we will consider a finite dimensional

quantum system: $$\iota \dot \Psi=(H_0+u(t)H_1)~\Psi$$ where $H_0$ and $H_1$ are $n\times n$ Hermitian matrices with complex coefficients. We will study the convergence of the trajectories of this system toward an arbitrary reference trajectory $t \mapsto (\Psi_r(t),u_r(t))$ of this system: $$\iota \dot \Psi_r=(H_0+u_r(t)H_1)\Psi_r$$ using feedbacks of the form: $$u(t)=u_r(t)+c~\Im(\langle H_1\Psi(t)~|~\Psi_r\rangle) $$ with such feedbacks the Lyapounov function $$V(t,\Psi)=\langle \Psi-\Psi_r~|~\Psi-\Psi_r\rangle$$ will decrease along the trajectories of the system. We show that controllability of the first variation around the referencetrajectory is a necessary condition for the global asymptotic convergence. A sufficient conditionfor asymptotic convergence is also proposed: it is based on an asymptotically persistence of thecontrollability of the first variation around the reference trajectory. Finally we will use this Lyapounov based method for a short-cut model of large dimension, classical in the physicsliterature, of a discrete state coupled with a continuum.

11:30 - 11:50 Stability and robustness in coherent quantum control (full) F. Ticozzi Università di Padova A. Ferrante Università di Padova M. Pavon Università di Padova and ISIB-CNR Even for the easy and apparently well known quantum "coherent control" problem, the standardanalysis methods of system theory can give some deeper insight and natural formalization of two fundamental properties: stability and robustness. A weak Input to State Stability isdemonstrated for unitary evolution. The Robustness idea is quantitatively formulated in aclassical control theory framework and verified by comparing the analysis results with theevaluations found in literature.

TA10 01.31

Minisymposium Orthogonal basis functions in estimation,

identification, systems and control

Organization: A. Bultheel, A. Lasarow, Chair: A. Bultheel

10:30 - 10:50 On explicit characterization of reproducing kernels with applications in estimation theory (full) H. Hjalmarsson Royal Institute of Technology, Sweden B. Ninness University of Newcastle, Australia Reproducing kernels have been found very useful in function estimation and model fitting.Recently, another, rather unexpected, connection between estimation theory and reproducingkernels has established. The covariance function of an estimated frequency function is itself closely linked to a reproducing kernel. In this contribution we discuss how to explictly representa reproducing kernel for a finite dimensional space. A link to certain bilinear forms is establishedwhich allows this theory to be applied to the aforementioned problem of characterizing thecovariance function of an estimated frequency function. Furthermore, novel lower and upperbounds for the magnitude of a finite dimensional reproducing kernel are established. Finally,positive kernels are discussed.

10:50 - 11:10 Frequency domain identification of multivariable systems using vector orthogonal polynomials (full) R. Pintelon Vrije University Brussel Y. Rolain Vrije University Brussel A. Bultheel Katholieke Universiteit Leuven M. Van Barel - No Abstract Available -

11:10 - 11:30 Generalized orthonormal basis functions: Hambo transform and realization theory (full) P. S.C. Heuberger T.U. Delft P.M.J. Van den Hof T.U. Delft

B. Wahlberg Royal Institute of Technology (KTH) , Sweden

In this presentation a comprehensive account is given of the unitary transforms that result when

considering series expansion representations of signals and systems in terms of a special class of rational orthonormal basis functions, the so called Hambo functions. This transformgeneralizes the Z- and the Laguerre transform, and has very intriguing structural properties.These signal and system (Hambo) transforms have proved to be useful analysis tools in various modeling problems. It is shown how minimal state space realizations of the system transformcan be obtained from minimal state space realizations of the original system, and vice versa.Furthermore we discuss how the concepts of classical realization theory can be generalized andembedded in the orthonormal basis framework.

11:30 - 11:50 A data driven orthonormal parameterization of the generalized entropy maximization problem (full) A. Blomqvist Royal Institute of Technology, Sweden B. Wahlberg Royal Institute of Technology, Sweden During the past years Lindquist and coworkers have formulated and studied the so calledgeneralized maximum entropy problem. It generalizes the maximum entropy problem and thus includes problem like the Carathéodory extension problem and the Nevanlinna-Pick interpolation problem. A central ingredient in the theory is the dual (in mathematicalprogramming sense) convex optimization problem. This paper studies a re-parameterization with orthonormal basis functions of that optimization problem. The basis functions can bechosen independent of the original problem; for instance they can be chosen to be data driven.In numerical examples it is shown that a sensible choice of basis functions can improve the numerical conditioning of the optimization problem.

11:50 - 12:10 Orthonormal rational function vectors (full) S. Delvaux Katholieke Universiteit Leuven M. Van Barel Katholieke Universiteit Leuven In this paper, we develop a matrix framework to solve the problem of finding orthonormalrational function vectors with prescribed poles, with respect to a certain discrete inner productthat is defined by a set of data points and corresponding weight vectors. Our algorithm for solving the problem is recursive, and it is of complexity $O(n^3)$ for $n$ data points. If all datapoints are real or lie on the unit circle, then the complexity is reduced by an order of magnitude.

SP4 91.54

Semi-Plenary Presentation Chair: H. Dym

14:00 - 15:00 Semidefinite programming duality: implications for system theory and computation R. Balakrishnan Purdue University, Electrical and Computer

Engineering Several important problems in systems and control theory can be reformulated as semidefiniteprogramming (SDP) problems, i.e., minimization of a linear objective subject to Linear MatrixInequality (LMI) constraints. From convex optimization duality theory, conditions for infeasibilityof the LMIs as well as dual optimization problems can be formulated. These can in turn be re-interpreted in control or system theoretic terms, often yielding new results or new proofs forexisting results from control theory. We present such connections for a few problems associated with linear timeinvariant systems. We then turn to computational issues. The reduction of acontrol problem to an SDP problem often requires a large number of auxiliary variables, so thatthe resulting SDP problem can be very large, even though the underlying control problem is notparticularly large-scale. This limits the problem sizes that can be handled by general-purpose SDP solvers, and hence the applicability of SDP in practical engineering problems. This is truefor example with SDP problems where the underlying LMIs have a special form that is typicallyencountered with the application of the Kalman-Yakubovich-Popov (KYP) Lemma. We discuss effcient implementations of primal-dual interior-point methods for SDP problems with KYP LMIs, and show how orders-of-magnitude savings in computation can be realized when problemstructure is exploited using straightforward linear algebra techniques.

SP5 01.54

Semi-Plenary Presentation Chair: A. Goldbeter

14:00 - 15:00 Dynamic Modelling of Signal Transduction Pathways: Simulating what cannot be simulated O. Wolkenhauer University of Rostock, Mathematics Many neuro- and cancer-related diseases can be considered a failure of communication atmolecular level. The area of cell signaling investigates the transmission of information fromreceptors at the cell surface to gene activation in the nucleus. Signals are relayed by means ofbiochemical reactions occuring in space and time and organized in pathways. There areprincipally two conceptual frameworks in which to model and/or simulate biochemical reactionnetworks: a) stochastic simulation of the chemical master equation (CME), derived from theChapman-Kolmogorov equation and b) generalized mass action (GMA) models, employingnonlinear differential equations. I am going to compare the two frameworks with respect to theirmathematical roots and application to signal transduction pathways. This will include a criticalreview of some conclusions made in recent publications. Although we are now beginning to have technologies that enable us to generate signal response time series at the molecular level,I am going to describe the problems arising in modeling intracellular dynamics using such data.On the other hand, despite the lack of reliable, accurate and sufficiently rich data sets, we findthat even simple simulations and the modeling process itself can provide the bio/medicalresearcher with useful information, guiding the design of experiments, helping to identify whichvariables to measure and why.

SP6 91.56

Semi-Plenary Presentation Chair: H. Trentelman

14:00 - 15:00 Controllability for systems of partial differential equations S. Shankar Chennai Mathematical Institute, Mathematics In this talk I explain the behavioural generalisation of Kalman’s fundamental notion of statespace controllability due to Willems, and beyond to distributed systems. It turns out thatcontrollability is now identical to the notion of a potential in physics or vanishing homology inmathematics. This is the ‘external side of it’. The larger purpose of the talk is to explain andjustify a modelling process and the resulting class of models. A model is a picture of reality, andthe closer it is to reality, the better the picture it will be and the more the nail will have been hit on the head. The closest we can get to reality, as we imagine it, is to take together everyvariation (with respect to space, time, et cetera) of the attributes of the system, the collection ofall trajectories as it were, itself as the model. This collection considered all together in onesmind as an object of study is the behaviour of the system and is completely analogous toPoincare’s conception of the collection of all phase curves of a vector field - the phase portrait -as an object of study. A priori perhaps any variation of the attributes of the system could haveoccured, but the laws of the system which these variations must obey specify those that actuallydo. I consider here linear shift invariant behaviours specified by local laws, that is by partial differential equations. I justify this behavioural approach by the remarkable fact thatcontrollability now is nothing more, nor less, than the existence of a potential. Equally importantis the fact that the behavioural theory is computationally effective, for instance controllability of adistributed system can be determined by a finite procedure. This entire development relies andbuilds on classical work of H¨ormander, Malgrange, Palamodov and others in partial differential equations and several complex variables. It also requires the setting up of PDE equivalents offundamental notions from algebraic geometry - the Hilbert Nullstellensatz, the radical of an ideal, complete variety and the elimination problem. The behavioural theory thus lies in the intersection of many important streams, from physics, mathematics and engineering.

TP1 91.54

Paper Session Biological/medical Systems

Chair: P. De Leenheer

15:30 - 15:50 Sensitivity analysis of autonomous oscillations: application to biochemical system (full) B.P. Ingalls University of Waterloo This work addresses sensitivity analysis of autonomously oscillating biochemical systems byextending previous treatments which considered special cases or empirical approximations tosystem response. Building on results from the engineering literature, an analysis is presentedwhich addresses sensitivity of key features of the oscillatory trajectory: namely the period andlocal maximum or minimum values of species concentrations and reaction rates. A discussion ofsensitivity invariants generalizes results from steady-state sensitivity analysis to this context.

15:50 - 16:10 In silico analysis of long-run tolerance of metabolic networks to transient random faults (full) L. Farina University of Rome C. De Persis University of Rome In this paper we aim to describe the propagation of a "failure event" through a metabolicnetwork (i.e. no formation of a set of metabolites) and, by means of a Markov chain, to be ableto compute the long--run failure probability of each metabolite following a transient randomfailure event occurring somewhere in the network. Moreover, we will introduce and motivate the definition of a "tolerance index" for each metabolite. The in silico analysis reveals that in most ofthe 142 organisms' metabolic network we considered, such tolerance index is approximatelyuniformly distributed among nodes with the same in--degree, while the failure distribution and the connection degree is not. A list of metabolites ranked by failure probability and tolerance index for all the 142 organism isalso provided in the supplementary material to this paper(http://www.dis.uniroma1.it/~farina/robustness/).

16:10 - 16:30 On the identification of sparse gene regulatory networks (full) R.L.M. Peeters Universiteit Maastricht R.L. Westra Universiteit Maastricht A linear dynamical model structure is introduced to describe the gene interactions in a sparse gene regulatory network, which generalizes a set-up described in the literature. An identification technique from robust statistics based on L1-minimization is introduced to estimate the underlying sparse network from a limited number of observations, e.g. obtainable from micro-array data. If the unknown parameters appear in a linear way, as in the present set-up, then the

approach leads to an LP problem and large instances can be computed by switching to the dual LP problem. Simulation experiments are carried out to analyze the performance of the algorithmand to demonstrate the potential of the proposed approach.

16:30 - 16:50 Common principles in construction of biological networks (full) N. Kizilova Kharkov National University Experimental data on geometry of arterial and venous beds in mammals, conducting systems inleaves and roots of higher plants, branches and shoots in trees, trophic fluid transport systemsin sponges and river basins reveal statistical regularities in geometry of long-distance transport systems. In spite of the complicated topology of the networks a few mathematical principlesunderlie the patterns of structure, bifurcations and closed loops in the network organization. The principles correspond to the model of optimal branching tree-like pipeline which provide the liquid delivering at the minimal total costs of the liquid motion and the pipeline construction andmaintenance. Here statistical data on network geometry of the venation system of plant leavesare presented. It was shown that the branching long-range transport systems in mammal tissues and high plants are statistically identical and correspond to the model of the optimalpipeline. A mathematical model of the sap motion in the conducting system of the leaf as aviscous liquid motion in a rigid cylindrical tube with permeable wall is proposed. On the base ofthe solution of an optimization problem the principle of optimal construction of a bifurcation in plant leaf venation that correspond to Murray’s law for the diameters of the conducting vesselsin a bifurcation is obtained.

16:50 - 17:10 Bayesian least squares support vector machines for classification of ovarian tumors (full) C. Lu K.U. Leuven T. Van Gestel K.U. Leuven J. A. K. Suykens K.U. Leuven S. Van Huffel, I. Vergote, D. Timmerman The aim of this study is to develop the Bayesian Least Squares Support Vector Machine (LS-SVM) classifiers, for preoperatively predicting the malignancy of ovarian tumors. We describehow to perform parameter estimation, input variable selection for LS-SVM within the evidence framework. The issue of computing the posterior class probability for risk minimization decision making is addressed. The relation between the LS-SVM model and kernel principal component analysis is also indicated and used for interpretation of the LS-SVM classifiers.

17:10 - 17:30 Spatio-temporal analysis of an electrophysiological wave phenomenon (full) E. Jonckheere University of Southern California P. Lohsoonthorn University of Southern California An electrophysiological phenomenon running along the spine, referred to as Network SpinalAnalysis (NSA) wave, is analyzed from the inverse viewpoint of constructing the traveling andstationary wave phenomena from the surface electromyographic signals recorded at variouspoints along the paraspinal muscles. Statistical correlation techniques on a subband signal are used to identify the propagation delay and phase shift of the phenomenon from one point toanother along the spine. As a therapeutic application, it is shown that partial recovery from

spinal cord injury can be assessed by the correlation between the sEMG signals on both sides of the injury.

17:30 - 17:50 Influence of multivoxel processing and model order for time-domain MRSI quantitation (full) P. Pels Katholieke Universiteit Leuven L. Vanhamme Katholieke Universiteit Leuven S. Van Huffel Katholieke Universiteit Leuven P. Van Hecke Using Magnetic Resonance Spectroscopic Imaging (MRSI), the spatial distribution ofmetabolites can be investigated in the human body. To be able to use the diagnostic information present in the MRSI data, accurate quantitation is needed. In this paper AMARES, a timedomain method which provides maximum likelihood parameter estimates is extended tomultivoxel processing using a FIR filter for solvent suppression. The advantage of this multivoxel approach is that relations between parameters of different voxels can be used by thealgorithm. This new algorithm will be applied to simulated MRS data as well as to in-vivo data. We show that depending on the prior knowledge imposed, the multivoxel approach improves the accuracy of parameter estimates. We also demonstrate that the model order has aninfluence on the parameter estimates.

TP2 01.54

Minisymposium New tools for hybrid system analysis

Organization: F. LAMNABHI-LAGARRIGUE

Chair: F. LAMNABHI-LAGARRIGUE

15:30 - 15:50 Discrete and continuous structural properties for observability (full) A. Balluchi PARADES, Italy L. Benvenuti University of Rome A. Sangiovanni-Vincentelli PARADES, Italy A hybrid system is said to be generic final-state asymptotically determinable if any generic input/output experiment permits the identification of the discrete state, after a finite number oftransitions, and the asymptotic determination of the continuous state. Since this notion of observability regards both the discrete and the continuous components of the hybrid state, thenverification of the observability property is very involved due to the complex interactionsbetween the discrete and continuous behaviors. In this work, sufficient conditions for hybridsystems´ observability are given for several classes of living hybrid systems with no multipletransitions.

15:50 - 16:10 Stabilization of hybrid switching systems : a viability approach (full) L. Burlion LSS, SUPELEC-C.N.R.S, Université Paris-XI Sud T. Ahmed-Ali ENSIETA F. Lamnabhi-Lagarrigue LSS, SUPELEC-C.N.R.S, Université Paris-XI Sud This paper deals with the stabilization of nonlinear switching systems. The control law is hybrid in the sense that it has discrete and continuous components. Although there are well-established techniques to design the low-level controllers (continuous control laws), the difficultyof dealing with hybrid systems is to mix them with the design of a discrete event supervisor. Ourapproach proposes a new stabilizing algorithm based on Viability Theory. We obtain a discreteevent supervisor and we also build a lower semi-continuous extended function which enjoys a Lyapunov property.

16:10 - 16:30 A viability approach to the reachability problem for uncertain hybrid systems (full) Y. Gao University of Shanghai for Science and TechnologyJ. Lygeros University of Patras M. Quincampoix Universite de Bretagne Occidentale We present a new approach to the study of reachability problems for uncertain hybrid systemsbased on viability theory. The reachability problem is formulated as a game between the

controls and disturbances that affect the system. The continuous part of the argument is thenshown to involve a differential game with two players and two targets. The winning states ofeach player of this game are characterized using tools from non-smooth analysis and viability theory.

16:30 - 16:50 Robust optimal stabilization of the Brockett integrator via a hybrid feedback (full) C. Prieur CNRS - ENS de Cachan E. Trelat Universite Paris-Sud The problem of global robust stabilization of the Brockett integrator (also called Heisenberg system) in minimal time is addressed and solved by means of a hybrid feedback law. It is shownthat the solutions of the closed-loop system converge to the origin in minimal time (for a givenbound on the control) with a robustness property with respect to small measurement noise,external disturbance and actuator noise.

16:50 - 17:10 The guaranteed hybrid kernel algorithm applied to evaluate barrier options in finance (full) P. Saint-Pierre Universite Paris-Dauphine Reaching a target while remaining in a given set for impulse dynamics can be characterized bya non deterministic controlled differential equation and a controlled instantaneous resetequation. The set of initial conditions from which a given objective can be reached is calculatedusing the Hybrid Guaranteed Capture Basin Algorithm. This algorithm was developed inFinance to evaluate options in the presence of uncertainty but in absence of impulse. We studythe problem of reaching a target in the presence of both impulse and uncertainty and weillustrate this approach through the problem arizing in Finance for valuating an optien in thepresence of barriers.

17:10 - 17:30 Equivalence of hybrid dynamical systems (full) A.J. van der Schaft University of Twente We lay out a framework for studying bisimulation of hybrid systems described by lineardifferential and algebraic equations and linear inequalities. First we extend the notion ofbisimulation of continuous dynamical systems as developed in previous work of the author tolinear continuous systems in pencil-form. Then a notion of structural hybrid bisimulation isdeveloped by merging the notion of bisimulation for continuous dynamical systems in pencil-form with the standard notion of bisimulation for concurrent processes.

TP3 91.56

Paper Session Nonlinear systems

Chair: B. Maschke

15:30 - 15:50 Local transformations to generalized chained forms (full) M.-C. Laiou RWTH Aachen University, Germany A. Astolfi Imperial College London, U.K. In this paper an algorithm is presented for the conversion of a class of nonlinear systems withtwo inputs to a high-order chained, or generalized chained, form. The feedback transformation accomplishing this conversion is derived, provided certain conditions hold, by solving a systemof partial differential equations. The proposed algorithm is illustrated by means of two physicallymotivated examples: an under-actuated manipulator and an under-actuated surface vessel.

15:50 - 16:10 Mechanics on discrete manifolds (full) V. Talasila University of Twente J Clemente-Gallardo Universidade de Coimbra A.J. van der Schaft University of Twente The mathematical/geometric structure of discrete models of systems, whether these models areobtained after discretization of a smooth system or as a direct result of modeling at the discretelevel, have not been studied much. Mostly one is concerned regarding the nature of the solutions, but not much has been done regarding the structure of these discrete models. In thispaper we provide a framework for the study of discrete models, specifically we present aHamiltonian point of view.

16:10 - 16:30 Flatness and finite bisimulations in discrete time (full) P. Tabuada University of Notre Dame In this paper we provide an important connection between two fundamental system theoreticconcepts: flatness and bisimulation. Flatness was introduced by Fliess and co-authors as a powerful generalization of Kalman's controllability notion which has played a fundamental role inlinear systems theory. On the other hand, the notion of bisimulation, credited to Milner, is one ofthe cornerstones of concurrency theory. In this paper we reveal an important connectionbetween such notions by showing that every nonlinear flat control system in discrete-time admits finite bisimulations. The importance of such connection stems from the bridge it creates between continuous models of control systems and finite models of control and computation.

16:30 - 16:50 Monotone measures and almost global stability of dynamical systems (full) P. Monzón Universidad de la República The almost global stability of dynamical systems was recently introduced into the controlcommunity, along with a sufficient condition: the existence of a density function. In this work weexplore the same ideas but in terms of Borel measures. We state the relationships between almost global stability and monotone Borel measures for dynamical systems. We study somerelated general results and deduce some particular properties for planar systems combining thisnew framework with the classical Poincaré-Bendixson Theorem.

16:50 - 17:10 A critical case of the circle criterion (full) T Fliegner International University in Germany H. Logemann Unibersity of Bath E.P Ryan UNiversity of Bath Absolute stability, and its relation to the concept of positive-real transfer functions, permeates much of the classical and modern control literature. An absolute stability result of circle criteriontype is derived for finite-dimensional linear plants with nonlinearity in the feedback loop. The linear plant contains an integrator (and so is not asymptotically stable). The (possibly time-varying) nonlinearity satisfies a sector condition which allows for cases with zero lower gain(such as saturation and deadzone). The conjunction of stable, but not asymptotically stable,linear plants and nonlinearities with possibly zero lower gain is a distinguishing feature of thepaper. We indicate how the absolute stability result can be used to derive convergence andstability properties of low-gain integral feedback control in the context of exponentially stablelinear systems subject to input and output nonlinearities.

17:10 - 17:30 Legendre transforms on max-plus spaces as a tool for nonlinear control problems (full) W.M. McEneaney Univ. of California, San DIego Max-plus methods have been explored for solution of first-order, nonlinear Hamilton-Jacobi-Bellman partial differential equations (HJB PDEs) and corresponding nonlinear controlproblems. These methods exploit the max-plus linearity of the associated semigroups. Thesemethods have been used successfully to compute solutions. Although they provide certainadvantages, they still generally suffer from the curse-of-dimensionality. The natural analog to the Laplace transform in ordinary spaces is the Legendre/Fenchel transform over max-plus spaces, the range space being referred to as the dual space. One can transform the semigroupoperators into operators on the dual space. There are natural operations on the transformed operators which may be used to construct solutions of nonlinear control problems. Naturalbuilding blocks correspond to transforms of operators for linear/quadratic problems. A methodfor exploiting these dual-space construction operations is used to develop a method for certainproblems such that the computational growth in the most time-consuming portion of the computations can be hugely reduced.

17:30 - 17:50

Global transformation of nonlinear dynamic systems into controllability canonical forms (full) A. Zhirabok Far Eastern State Technical Univercity A. Michtchenko Far Eastern State Univercity - No Abstract Available -

TP4 01.13

Minisymposium Riccati equations and related topics - Part I

Organization: G. Freiling

Chair: G. Freiling

15:30 - 15:50 Generalized Riccati theory: from factorizations to equations and back I (full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest This tutorial is an updated brief overview of an original approach - which we call the Generalized Riccati Theory - to the algebraic Riccati equation and its applications to the control and robustcontrol of linear dynamical systems. It gives a systematic account on both the symmetric andnonsymmetric algebraic Riccati equations under assumptions on the matrix coefficients relaxedas far as possible. We consider also extensions to settings so general that even the Riccatiequation is no longer defined as such, and has to be replaced by an appropriate substitute:factorization techniques. The origin of the present paper resides in our feeling that thetechniques developed within the Generalized Riccati Theory have reached a generality and maturity that propels the research towards searching their unifying aspect. The unifying aspectis actually rendered by the Popov function which constitutes the central part of all results relatedto Riccati equations and bonds together all their applications in systems and control theory.

15:50 - 16:10 Generalized Riccati theory: from factorizations to equations and back II (full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest This tutorial is an updated brief overview of an original approach - which we call the Generalized Riccati Theory - to the algebraic Riccati equation and its applications to the control and robustcontrol of linear dynamical systems. It gives a systematic account on both the symmetric and nonsymmetric algebraic Riccati equations under assumptions on the matrix coefficients relaxedas far as possible. We consider also extensions to settings so general that even the Riccatiequation is no longer defined as such, and has to be replaced by an appropriate substitute:factorization techniques. The origin of the present paper resides in our feeling that thetechniques developed within the Generalized Riccati Theory have reached a generality andmaturity that propels the research towards searching their unifying aspect. The unifying aspectis actually rendered by the Popov function which constitutes the central part of all results relatedto Riccati equations and bonds together all their applications in systems and control theory.

16:10 - 16:30

BDF methods for large-scale differential Riccati equations (full) P. Benner Technische Universität Chemnitz H. Mena Escuela Politécnica Nacional We consider the numerical solution of large-scale Riccati differential equations (RDEs). We review the existing methods for RDEs and investigate whether they are suitable for large-scale problems arising in LQR and LQG design for semi-discretized partial differential equations. Based on this review, we suggest an efficient implementation of the backward differentiationformulae. The nonlinear systems of equations to be solved during the time steps are algebraicRiccati equations. These are treated with Newton's method based on a low-rank ADI iteration for Lyapunov equations.

16:30 - 16:50 On double Newton steps (full) T. Damm Technische Universität Braunschweig In this note we try to adapt some results of C-H.~Guo and P.~Lancaster on the use of double Newton steps for the solution of Riccati equations to a more general situation. It is well-known that the rate of convergence of the Newton-iteration tends to be only linear, if the linearized equation is singular at the limit point. In this situation the use of double Newton steps can be fruitful to accelerate the convergence. We discuss this approach for a generalized type ofRiccati equations. Numerical examples illustrate the idea.

16:50 - 17:10 An iterative procedure for computation of the maximal solution of a class of generalized Riccati differential equations (full) V. Dragan The Romanian Academy T. Morozan G. Freiling A. Hochhaus In this note we propose an algorithm for the computation of the stabilizing (and maximal) solution of a class of stochastic Riccati-type differential equations with time-varying coefficients. The procedure is based on the successive solution of Lyapunov differential equations. Eachiteration involves the computation of the unique bounded solution of a standard Lyapunov differential equation instead of the bounded solution of a perturbed Lyapunov differentialequation as in the case of the Newton-Kantorovich procedure.

17:10 - 17:30 Upper bounds on the solution of coupled algebraic Riccati equation (full) A. Czornik Silesian Technical University A. Nawrat Silesian Technical University A. Swierniak Silesian Technical University It is well known that algebraic Riccati equation is widely applied to various engineering areas such us signal processing and especially, control theory. In the area of control systems analysisand design, these equation plais important role in system stability analysis, optimal controllersand filters design, the transient behavior estimates, etc. There are many numerical algorithms ofcomputation of their solution. Despite that, the problem to find bounds to the solution of this

equation has been intensively studied in past two decades. In the presen paper upper boundsfor eigenvalues of a solution to continuous time coupled algebraic Riccati equation (CCARE)and discrete time coupled algebraic Riccati equation (DCARE) are developed as special casesof bounds for the unified coupled algebraic Riccati equation (UCARE). They include bounds of the maximal eigenvalues, the sums of the eigenvalues and the trace.

17:30 - 17:50 Nested Riccati equations connected with a completely integrable system (full) G. Freiling Universität Duisburg V. Yurko The Inverse Problem Method on the Half-Line and a Nested System of Riccati EquationsGerhard FREILING (Duisburg, Germany) and Vjacheslav YURKO (Saratov, Russia) We studyan initial boundary value problem for a fourth order completely integrable nonlinear partial differential equation. The PDE is equivalent to the Lax equation of the form L'=[A,L], where Land A are fourth resp. third order differential expressions. For solving the mixed problem weapply the inverse spectral method. We reduce the solution of the mixed problem by the inverse problem method to the solution of the inverse spectral problem of recovering the fourth-order linear differential operator L on the half-line from the Weyl-Yurko matrix. We derive evolution equations for the elements of the Weyl-Yurko matrix and show that they consist of a nestedsystem of matrix Riccati differential equations. Furthermore, we give an algorithm for thesolution of problem .

TP5 01.01

Minisymposium Adaptive L2 stabilization

Organization: A. Megretski

Chair: A. Megretski

15:30 - 15:50 Fundamental limits on robust stabilization (full) K. Poolla University of California Berkeley S. Cusumano Kirtland Airforce Base Plant models are inherently inaccurate. This maxim dictates that we represent the physical plant not by a single model but rather by a family F of all possible plant models. Any controller wedesign must meet the design specifcations for all plants in F, i.e., it must be robust. Any realisticdescription of modeling uncertainty of this sort must include both parameter uncertainty andunmodeled dynamics in the true plant model. Our approach to adaptive robust controlessentially attempts a marriage of traditional H1 robust control and adaptive control techniques. We restrict our attention to the discrete-time adaptive robust control problem. We begin with afamily F of plant models that accounts for both parameter variation and unmodeled dynamics inthe true plant. The family consists of multiinput multioutput possibly nonlinear and time-varying plant models with arbitrary delay. We then cover this family with a set of smaller families Fi ofplant models for which robust linear time-invariant controllers Ki can be designed using standard H1 techniques. These controllers Ki need not have the same structure or even be ofthe same McMillan degree. The problem then reduces to one of adapting between these robustcontrollers Ki. To perform this adaptation, we implement a convex combination of the individualcontrollers Ki (in Youla parameter space), the coefficients ¸ of which are tuned based on certainerror measurements. It is clear that the feasibility of our adaptive robust control schemedepends critically on the tuning algorithm for ¸. Our tuning algorithm is global in the sense that we adjust the parameters ¸ based on the entire past measurement information. In particular, wedevelop an adaptation strategy of switching abruptly between these robust controllers. Thisresults in a nonlinear controller KNL that uniformly (input-output) stabilizes the entire family F. Since the notion of stability we establish in this paper is input-output stability, we are able to treat adaptive feedback systems with persistent exogenous disturbances. Whereas switchingcontrollers have been studied in the literature, we would like to emphasize, however, that thenotion of stability established in our principal result is significantly stronger. The prooftechniques we employ to establish stability of the adaptive feedback are operator-theoretic. A key ingredient in the proof of our main result and one we believe to be of independent interest isa new weak-stability Small-gain Theorem. Essentially this theorem asserts a weak form ofstability for feedback systems for which the open loop operator is weakly contractive. We would like to emphasize at the outset that these global tuning strategies generally yield imprac- tical control designs. The significance of these tuners is that they allow us to compute absolute,inviolable bounds on adaptive stabilizability. More precisely we use our approach to adaptiverobust control to determine fundamental limits on the ability to adaptively stabilize againstunmodeled dynamics. We provide an absolute, computable, tight bound on the radius ofunmodeled dynamics ±NLTV max against which stabilization is possible by the use of arbitrarynonlinear feedback. Using this result, we are able to quantitatively compare the relative meritsof nonlinear feedback and linear feedback in the context of robust stabilization. In particular, we

have conjectured a general design principle which compares the relative merits of linear andnonlinear feedback. Essentially, we are able to substantiate the claim that nonlinear feedback isvastly superior to linear feedback in the context of robust stabilization if the plant to becontrolled exhibits significantly more parametric modeling uncertainty than unmodeleddynamics.

15:50 - 16:10 A simple analysis of a supervised set-point control containing a compact continuum of finite-dimensional linear controllers (full) A. S. Morse Yale University - No Abstract Available -

16:10 - 16:30 Smooth adaptive controllers have discontinuous closed loop operators (full) M. French U. of Southampton Given a familty of first order continuous time LTI plants with an undetermined pole location, it isshown, for an appropriate class of universal adaptive controllers possessing operatorlinearisations, that the resulting closed loop operator mapping external disturbances to internalsignals must be discontinuous at zero, thus precluding the existence of a closed loop $L^2$gain.

16:30 - 16:50 Examples and counterexamples in finite L2 gain adaptive control (full)G. Vinnicombe University of Cambridge Small closed loop L2-gain is possibly asking for too much in adaptive control: we aresimultaneously saying that disturbances must be tolerated when arbitrarily large and notexcessively amplified even when they are arbitrarily small. Nevertheless if achievable, withreasonable gains, we would argue it to be a good thing. If nothing else, it is interesting to seewhere the search for finite L2-gain leads us. By means of simple examples, we establish some limits on both what can and what cannot be expected of an adaptive controller if the aim is finiteL2-gain stability. The results are all in discrete time.

16:50 - 17:10 L2 gain bounded adaptive control of a first order linear system (full) A. Rantzer LTH, Lund University The problem of adaptive control is considered from a perspective of L2-gain. It has recently been shown that without an a priori bound on the system parameters, there exists no singledynamic feedback law that achieves bounded gain from disturbances to state for all first orderlinear systems. In this paper, a converse statement is proved for a standard adaptive schemewhere the parameter estimate is saturated at a prespecified level. It is proved that the L2-gain with this controller grows at most linearly with the size of the a priori bound on the unknownparameter.

17:10 - 17:30

A nonlinear dynamical game interpretation of adaptive L2 control: performance limitations and suboptimal controllers (full) A. Megretski US-MIT The paper describes a nonlinear game theory approach to suboptimal adaptive control with L2performance objectives. Feasibility of a given set of closed loop specifications in an adaptive feedback control design problem is shown to be equivalent to existence of a controlled invariantsubset of a given nonlinear deterministic finite order dynamical system. In particular, this impliesthat a feasible set of closed loop adaptive L2 gain specifications can always be satisfied by a controller with a a-priori defined state dynamics (only the control output map to be desined). It isalso shown that adaptive finte L2 gain stabilization over non-compact sets of stabilizable plants is not possible in general.

17:30 - 17:50 Open problems of adaptive L2 control (full) A. Megretski MIT, USA M. French University of Southampton The paper presents a collection of simply stated unsolved (to the extent of author's knowledge) problems in the area of adaptive control with L2 performance constraints. It is known thatadaptive finite L2 gain stabilization is possible for arbitrary compact sets of stabilizable systems,while it is infeasible for some non-compact sets. One group of questions is concerned with finding a minimal relaxation of the finite closed loop L2 gain constraint which would make itfeasible for typical non-compact sets of stabilizable plants. Another group of questions aims atachieving a guaranteed degree of L2 gain suboptimality for compact and finite uncertainty sets.

TP6 01.19

Minisymposium Structured Matrices and Applications - Part I

Organization: V.Olshevsky, Y.Eidelman

Chair: V.Olshevsky

15:30 - 16:10 Bezoutians for matrix valued entire functions (full) V.Olshevsky University of Connecticut L. Sakhnovich University of Connecticut In this paper we propose a general scheme to study Bezoutians that is based on the methodknown as the method of operator identities in the operator theory literature. Its finite dimensionalcounterpart is known under the name displacement structure method in the engineering andnumerical literature. The latter approach allows us to carry over from classical matrixBezoutians to generalized operator Bezoutians two classical theorems of Jacobi and Hermite.The Jacobi theorem says that the number of common roots of two polynomials equals to thedimension of the kernel of their Bezoutian. The Hermite theorem says that a polynomial is stable if the corresponding Bezoutian matrix is positive definite. Our generalizations imply, asspecial cases, several known results scattered in the mathematical and engineering literature(e.g., of Sakhnovich, Gohberg-Heinig, Anderon-Jury, Lerer-Tysmenetsky, Lerer-Rodman). The unified approach results in a transparent concise derivation of fairly general results allowing usto include, in one paper, most of known special cases (such as matrix polynomials and rationalmatrix functions) as well as some new (such as matrix analytic functions).

16:10 - 16:30 A formula for the Moore-Penrose inverse of a toeplitz matrix and its applications (full) G.Heinig Kuwait University M. Van Barel Katholieke Universiteit Leuven P. Kravanja Katholieke Universiteit Leuven Formulas for the Moore-Penrose inverse of a (non-square) Toeplitz matrix are presented that generalize formulas for the inverses of Toeplitz matrices. It is shown how these formulas can beused for fast solution of Toeplitz least squares and minimal norm problems. Applications topolynomial gcd computation and systems identification problems will also be discussed.

16:30 - 16:50 Subtotally positive and Monge matrices (full) M.Fiedler Institute of Computer Sciences, Academy of

Sciences of the Czech Republic A real matrix is it k-subtotally positive if the determinants if all its submatrices of order at most kare positive. We show: If A is a real m x n matrix, then only mn inequalities suffice for

distinguishing whether a real matrix is a k-subtotally positive matrix, if k is fixed, and this isindependently of k, 1 <= k <= min(m,n). Also: The product of k-subtotally positive matrices (which can be multiplied) is also a k-subtotally positive matrix. Every square k-subtotally positive matrix has the property that its k eigenvalues of maximum moduli are simple and positive. An mx n matrix C = (cik) is called a Monge matrix if it satisfies cik +cjl <= cil+cjk for all i,j,k,l, i

16:50 - 17:10 Solving certain matrix structured problems (full) D.A.Bini Universita di Pisa - No Abstract Available -

17:10 - 17:30 The Kharitonov-like results for quasi-polynomials, entire functions, and matrix polynomials (full) V.Olshevsky University of Connecticut L.Sakhnovich University of Connecticut The classical Kharitonov theorem on interval stability cannot be carried over from polynomials toarbitrary entire functions. In this paper we identify a class of entire functions for which thedesired generalization of the Kharitonov theorem can be proven. The class is wide enough toinclude quasi-polynomials occurring in the study of retarded systems with time delays. We also derive results for matrix polynomials and matrix entire functions.

17:30 - 17:50 Some inverse eigenvalue problems in structural identification of rods and beams (full) D. Fasino Università di Udine A. Morassi Università di Udine Non-destructive techniques for identification and diagnosis of materials and structures aregaining popularity in recent years, both in civil and industrial engineering. Their use is potentiallyof great interest, because they can provide a direct assessment of integrity of structures during service or can be employed as a tool to validate the model of a mechanical structure. If the aimof non-destructive testing is clear, and the related experimental methods are well consolidated,the interpretation of the measurements presents in fact intrinsic difficulties that are only partlyunderstood and managed successfully in the technical and scientific literature. Such difficultiesarise mainly from the lack of a theoretical analysis of both the continuous models and their discrete counterpart, even concerning such fundamental questions as existence, identifiability(uniqueness), conditioning and accuracy of discrete solutions with respect to their continuouscounterparts. A paradigmatic example of this situation is given by the inverse problems thatoccur when non-destructive techniques based on dinamic data (frequencies and vibrationalmodes) are used for identification and diagnostic purposes. The simplest of discrete models invibration is that of an in-line system of masses $m_1,\ldots,m_n$ connected to each other by ideal massless springs whose stiffness is denoted by $k_1,\ldots,k_{n-1}$. The description of the system is completed by providing two more coefficients, $k_0$ and $k_n$, related to the endpoint conditions. The vibrational modes of such system are then related to the solutions of ageneralized tridiagonal eigenvalue problem. More complicated but related examples occur inthe modelization of multilayer rods and beams. In the class of identification problems in vibration, the aim is to determine some mechanical properties of a vibrating system (forexample, the stiffnesses $k_i$) by taking measurements of some of its natural frequencies and

mode shape components. In real situations, both analytical models and measurement tools of vibrating systems offer a good precision for the first few modes only, rapidly loosing accuracyfor those of higher order. Then one has only a finite amount of significant data, possibilycontaminated by measurement errors, while an infinite number of solutions may exist. For thesecases what one would like to have are estimates of the error in identifying the unknowncoefficients starting from a finite amount of information, and a suitable criterion to selectphysically meaningful solutions. Such estimates for inverse spectral problems are rather rareeven when dealing with simple one-dimensional vibrating systems. The aim of this talk is to givean account of a currently undergoing research project on structured inverse spectral problems arising in the above context. Some of our problems fall into known classes of the so-called additive inverse eigenvalue problem, for which existence, uniqueness, and numerical solutiontechniques are known, while some others appear to be rather unknown.

TP7 01.07

Minisymposium Communication networks and control theory

Organization: Patrick Thiran

Chair: Patrick Thiran

15:30 - 16:10 Stability of buffer-based AQMs: the effect of routing and departure-rate models (full) H. Han University of Massachusetts Amherst C.V. Hollot University of Massachusetts Amherst Y. Chait University of Massachusetts Amherst V. Misra In this paper we review stability conditions for congestion control of the present Internet characterized by TCP-controlled sources and buffer-based active queue management schemes. We also introduce a model accounting for departure rates in congested links, andfinally, examine the effect routing has on congestion ontrol.

16:10 - 16:50 Utility maximization, fairness and routing (full) S.H. Low Caltech, USA We review some recent results on fairness and efficiency of congestion control, and itsinteraction with shortest-path routing. It turns out that TCP--AQM can be interpreted as solving a utility maximization problem and its Lagrangian dual. Different algorithms solve the sameproblem with different utility functions. We identify bandwidth allocation policies with a class ofutility functions, and show that, contrary to common belief, a fair policy is not necessarilyinefficient. We interpret TCP--AQM/IP as approximately maximizing utility over both sourcerates and routes. We exhibit an inevitable tradeoff between routing stability and achievable utility.

16:50 - 17:10 Some modeling and estimation issues in control of heterogeneous networks (full) K. Jacobsson Royal Institute of Technology N. Möller Royal Institute of Technology K. H. Johansson Royal Institute of Technology H. Hjalmarsson Heterogeneous communication networks with their variety of application demands, uncertaintime-varying traffic load, and mixture of wired and wireless links pose several challengingproblem in modeling and control. In this paper we focus on the round-trip time (RTT), which is a particularly important variable for efficient end-to-end congestion control. Based on a simple

aggregated model of the network, an algorithm combining a Kalman filter and a changedetection algorithm is proposed for RTT estimation. It is illustrated on real data that thisalgorithm provides estimates of significantly better accuracy as compared to the RTT estimatorcurrently used in TCP. We also analyze how wireless links affect the RTT distribution. Link re-transmissions induce delays which do not conform to the assumptions on which the transportprotocol is based. This causes undesired TCP control actions which reduce throughput. A linklayer solution based on adding carefully selected delays to certain packets is proposed to counteract this problem.

17:10 - 17:30 On the dynamic estimation of multicast group sizes (full) S. Alouf INRIA Sophia Antipolis E. Altman INRIA Sophia Antipolis C. Barakat INRIA Sophia Antipolis Ph. Nain This paper concerns multicast applications that are interested in the evolution of theirmembership over time. It covers optimal on-line estimation algorithms for determining the membership of a multicast group. The paper briefly reviews the related work and our own contributions to the field. Using a probabilistic acknowledgement scheme and signalprocessing's filtering techniques, we have derived MSE-optimal estimators under the assumptions of Poisson subscribers arrival and either exponentially or hyperexponentially distributed lifetime of receivers. Our estimators have been tested through trace-driven simulations using data from real multicast video sessions over which they exhibit very goodperformance.

17:30 - 17:50 An analysis of overlay multicast communication via first passage percolation (full) F. Baccelli INRIA & Ecole Normale Superieure A. Chaintreau INRIA & Ecole Normale Superieure Z. Liu Watson T.J. Research Center Multicast overlays use a tree of point-to-point TCP connections for transferring packets to end-systems of a group communication. Two cases are studied: File-and-Forward, where memory available in end-system is infinite, and packet latency might become large as communication goes on, and Store-and-Forward in which this memory is bounded. In this second case, a back-pressure mechanism is needed between neighboring nodes to prevent buffer overflow andthroughput is affected by the group’s size. We represent these mechanisms as first passage percolation through random graphs and show that even an infinite tree has a positivethroughput and latency that is linear in the distance from the source.

TP8 01.25

Minisymposium Spectral Value Sets and Transient Behaviour

Organization: D. Hinrichsen, F. Wirth

Chair: F. Wirth

15:30 - 16:10 Transient behavior and robustness (full) F. Wirth Hamilton Institute We present recent developments in the analysis of transient behavior of linear dynamical systems. In particular, the relation to robustness properties of the system is discussed. First,bounds for the transient behavior using spectral value sets and time-invariant perturbation theory are recalled. We then give an interpretation of transient bounds in terms of the variability of the exponential growth rate with respect to time-varying perturbations and we compare stability radii with respect to complex time-invariant and real time-varying perturbations and their different interpretations in terms of norms.

16:10 - 16:50 Non-normality and non-linearity in the transition to turbulence (full) B. Eckhardt Philipps-Universitaet Marburg - No Abstract Available -

16:50 - 17:10 Spectral value sets and eigenvalue condition numbers for structured perturbations (full) M. Karow Technische Universitaet Berlin The subject of the talk are eigenvalue condition numbers, $c_\lambda(A,B,C)$, for structured matrix perturbations of the form $A \leadsto A_{\Delta}=A+B\Delta C$, where $A,B,C$ are fixed matrices and the matrix $\Delta$ is an element of a given perturbation class ${\boldsymbol \Delta}$. We give explicit formulas for $c_\lambda(A,B,C)$ in terms of the Jordan decomposition of $A$ and the so called $\mu$-function associated with the perturbation class. Our formulas include the more difficult cases that \begin{enumerate} \item the nominal matrix $A$ has multiple eigenvalues, \item the perturbation class ${\boldsymbol \Delta}$ contains only real matrices. \end{enumerate} Moreover, we discuss the relationship of condition numbers withspectral value sets (structured pseudospectra).

17:10 - 17:30 Stabilization of linear systems with prescribed transient bounds (full) E. Plischke Universität Bremen F. Wirth Hamilton Institute The analysis of asymptotic stability does not take into account the transient effects in thebehaviour of dynamical systems, but these are of importance in the presence of physical constraints. We therefore consider the notion of $(M,\beta)$-stability and study the feedback synthesis of such $(M,\beta)$-stable systems. We derive conditions such that there exists astate feedback matrix $F$ for which the closed loop system $\dot x = (A+BF)x$ satisfies a growth bound $\|\exp{(A+BF)t}\|\leq M e^{\beta t}$ for given $M\geq 1$ and $\beta<0.$

17:30 - 17:50 Pseudozero set decides on polynomial stability (full) S. Graillat Université de Perpignan Ph. Langlois Université de Perpignan A polynomial is stable if all its roots have negative real part, and unstable otherwise. For astable polynomial, the distance to the nearest unstable polynomial is an important parameter incontrol theory for example. In this paper, we focus on this distance called the stability radius ofpolynomial $p$. We propose to modify the level contour function of the pseudozero set to derivea bisection algorithm that computes an arbitrary accurate approximation of this stability radius. Numerical simulations and comparisons with pseudozero graphics are here after presented.

TP9 01.56

Minisymposium Geometric optimization with applications in numerical

linear algebra, robotics, and computer vision

Organization: Knut Huper Chair: Knut Huper

15:30 - 15:50 Continuous-time flows on quotient spaces for principal component analysis (full) P.-A. Absil Florida State University A matrix flow that computes a few principal or minor eigenvectors of a symmetric matrix $A$ is constructed and analyzed. The principle is to decompose the dynamics $\dot Y = F(Y)$ into three components: one term forces $Y$ to converge to the set of orthonormal matrices, anotherterm steers the column space of $Y$ to the dominant or minor eigenspace of $A$, and the thirdterm controls the remaining degrees of freedom to obtain the corresponding eigenvectors. Theconvergence analysis of the flow is based on semidefinite Lyapunov functions and on theinvariance properties of $\omega$-limit sets.

15:50 - 16:10 Generalized shifted inverse iterations on grassmann manifolds (full) J. Jordan University of Wuerzburg P.-A. Absil Florida State University R. Sepulchre University of Liege Eigenspace computations play an important role in engineering and physical science. For thecase of one-dimensional subspaces the Inverse Iteration with Rayleigh shift is a classical andvery successful algorithm. A generalization for p-dimensional subspaces, the Grassmann-RQI, can be interpreted as a shifted Inverse Iteration on the Grassmann manifold with a certainfeedback control. We generalize this idea by using different feedback strategies which ensurethat the corresponding algorithm is well-posed on the Grassmann manifold. Similar to theGrassmann-RQI eigenspaces are corresponding to the fixed points of the algorithm.Furthermore we prove local convergence for a certain set of algorithms.

16:10 - 16:30 A new geometric algorithm to generate spline curves (full) R.C. Rodrigues Instituto Superior de Engenharia de Coimbra F.S. Leite Universidade de Coimbra This paper presents a new geometric algorithm to construct a $C^{\,k}$-smooth spline curve that interpolates a given set of data on a complete Riemannian manifold. Although based on amodification of the De Casteljau procedure, our algorithm is implemented in three steps only,

independently of the required degree of smoothness, and therefore introduces a significant reduction in complexity. The key role is played by the choice of an appropriate smoothingfunction. Another important feature relies on the fact that the calculation of each spline segmentdepends only on local data, as in the De Casteljau procedure. This is particularly useful in applications, since any change in the data at a particular instant of time only requires therecalculation of two segments of the spline.

16:30 - 16:50 Pose estimation via a Gauss-Newton-on-manifold approach (full) P.Y. Lee (1) Australian National University.

(2) National ICT Australia Ltd.

J. B. Moore (1) Australian National University. (2) National ICT Australia Ltd.

We present a Gauss-Newton-on-manifold approach for estimating the relative pose (position and orientation) between a 3D object and its projection on a 2D image plane from a set of pointcorrespondences. The pose estimation problem is formulated as an optimization over threerotation parameters on the intersection of the manifold of the rotation matrices and a coneconstraint on these matrices to ensure positive depth parameters. The optimization is based onNewton-type iterations and is locally quadratically convergent. A key feature of the proposedapproach, not used in earlier studies, is an analytic geodesic search, alternating betweengradient, Gauss-Newton and a random direction, which ensures the escape from local minimaand convergence to a global minimum without the need to reinitialize the algorithm. Indeed, for a prescribed number of iterations, the proposed algorithm achieves significantly lower poseestimation errors than earlier methods and it converges to a global minimum in typically 5--10 iterations.

16:50 - 17:10 Essential matrix estimation via Newton-type methods (full) U. Helmke University of Wuerzburg K. Hueper National ICT Australia Ltd P.Y. Lee RSISE, Australian National University J.B. Moore In this paper camera parameters are assumed to be known and a novel approach for essential matrix estimation is presented. We estimate the essential matrix from point correspondencesbetween a stereo image pair. The technical approach we take is a generalization of the classicalNewton method. It is well-known that the set of essential matrices forms a smooth manifold.Moreover, it is quite natural to minimise a suitable cost function the global minimum of which isthe essential matrix we are looking for. In this paper we present several algorithms generalisingthe classical Newton method in the sense that (i) one of our methods can be considered as anintrinsic Newton method operating on the Riemannian manifold consisting of all essentialmatrices, (ii) the other two methods approximating the first one but being more efficient from a numerical point of view. To understand the algorithm requires a careful analysis of theunderlying geometry of the problem. All our algorithms are locally quadratically convergent.

17:10 - 17:30 A path following method for tracking of time-varying essential matrices (full) M. Baumann Universitaet Wuerzburg U. Helmke Universitaet Wuerzburg Epipolar geometry can be applied to solve the motion estimation problem of a 3D object using Npairs of corresponding image points, taken from different perspectives. Since the 3D-pose of object points is uniquely determined, up to a scalar factor, by the so-called essential matrix, estimation of essential matrices is the key step to reconstruct the motion. In this paper, we propose two algorithms, which approximatively track the time-varying essential matrix. The first one is derived by minimizing a suitable cost function, using a time-varying Newton flow in the surrounding parameter space, while the second one minimizes the cost function by the use of an intrinsic Newton flow. Both algorithms asymptotically track the minimum of the cost function.A modification of the algorithms enhances the tracking properties by increasing the domain ofattraction.

17:30 - 17:50 On the various generalisations of optimisation algorithms to manifolds (full) J.H. Manton The University of Melbourne Numerical minimisation of a cost function on Euclidean space is a well studied problem.Sometimes though, the most appropriate formulation of an optimisation problem is not inEuclidean space, but rather, it is required to minimise a cost function defined on a (notnecessarily Riemannian) manifold. A natural question is how best to generalise existingoptimisation algorithms to the manifold setting. This paper reviews and draws connectionsbetween existing techniques. It also proposes several new ideas. These ideas are in theirinfancy; they are intended to motivate further research in this area.

TP10 01.31

Paper Session Electromagnetical Modelling

Chair: J. Scherpen

15:30 - 15:50 An infinite dimensional descriptor system model for electrical circuits with transmission lines (full) T. Reis Technische Universität Kaiserslautern, Germany For applying infinite dimensional system theory, rewriting partial differential equations with timederivatives as abstract ordinary differential equations on Hilbert spaces is a convenienttechnique. In an analogous way, several partial differential-algebraic equations can be written as descriptor systems with infinite dimensional state spaces. While as infinite dimensionalsystems as descriptor systems are well-studied topics, the research on the combination of thesetwo theories is still in embryonal state. A practical example of an infinite dimensional descriptorsystem is given in this paper. A model of linear electrical circuits with transmission lines isderived. The equations obtained by the modified nodal analysis (MNA) are boundary-coupled with the telegraph equations who describe the behavior of the transmission lines. The resultingsystem of equations turns out to be an abstract differential-algebraic system and it is formulated as a descriptor system whose (generalized) state space is an infinite dimensional Hilbert space.

15:50 - 16:10 On limit cycles in singularly perturbed electrical circuits (full) M. Prochaska University of Hannover W. Mathis University of Hannover Since Prandtl's work at the beginning of the last century singular perturbation techniques are ofprime importance for calculation of dynamical systems. In this connection, the theory ofsingularly perturbed systems is often successfully used, especially for reduced order modeling. In this work we will present an analytic methodology for the analysis of singularly perturbedharmonic oscillators. We combine geometric methods with the theory of singularly perturbedsystems. So we are able to model the steady state oscillation as well as the start-up behavior of sinusoidal oscillators. Furthermore, we demonstrate our technique by means of the 4th OrderClapp Oscillator.

16:10 - 16:30 An application of control theory to electromagnetic obstacle scattering (full) F. Zirilli Università di Roma L. Fatone Università di Modena e Reggio Emilia, Italy M.C. Recchioni Università Politecnica delle Marche, Italy We consider furtivity and masking problems in time dependent three dimensionalelectromagnetic obstacle scattering. That is we propose a criterion based on a merit function to"minimize" or to "mask" the electromagnetic field scattered by a bounded obstacle when hit by

an incoming electromagneitc field and with respect to this criterion we derive the optimal strategy. These problems are natural generalizations to the context of electromagneticscattering of the furtivity problem in time dependent acoustic obstacle scattering. We proposemathematical models of the furtivity and masking time dependent three dimensional electromagnetic scattering problems that consist in optimal control problems for systems ofpartial differential equations derived from the Maxwell equations. These control problems areapproached using the Pontryagin maximum principle. We formulate the first order optimalityconditions for the control problems considered as exterior problems defined outside theobstacle for systems of partial differential equations. Moreover the first order optimalityconditions derived are solved numerically with a highly parallelizable numerical method basedon a perturbative series. Finally we assess and validate the mathematical models and thenumerical method proposed analyzing the numerical results obtained with a parallelimplementation of the numerical method in several experiments on test problems. Reallyimpressive speed up factors are obtained executing the algorithms on a parallel machine whenthe number of processors used in the computation ranges between 1 and 100. Some virtualreality applications and some animations relative to the numerical experiments can be found inthe website:http://www.econ.unian.it/recchioni/w10/.

16:30 - 16:50 Discrete-time control design for an HVDC transmission between a synchronous generator and an infinite bus (full) L. Teppoz INP Grenoble, France G. Bornard INP Grenoble, France G. Besançon INP Grenoble, France This paper proposes a discrete-time control scheme for an HVDC system composed by asynchronous generator, a transmission line and an infinite bus interconnected together throughVSC actuators. The discontinuities induced by these actuators have been taken intoconsideration in the study. The paper deals, on the one hand, with the DC bus voltageregulation and the DC current tracking, in order to guarantee some given power transmissionand on the other hand with the regulation of the reactive powers in order to guarantee unitypower factor. These targets are achieved by a linear optimal control of the line from the currents generated by the converters at each end, and appropriate regulation of those currents.

16:50 - 17:10 Transient analysis of electrical drives: applications to the permanent magnet synchronous machine (full) E. Delaleau University Paris-sud This paper establishes that differential flatness, a property shared by most of the model ofelectrical drives, allows to perform transient analysis on the models of electrical machines.Transient analysis of electrical machines is indeed a difficult subject not completely solvedtoday. The possibility to parameterize the trajectories of a system from the differential flatnessproperty gives the possibility to perform simple transient analysis in various operation modes.

17:10 - 17:30 On the state space representation of synchronous generators (full) E. Delaleau University Paris-sud The paper aims to present a formalism allowing the selection of state variables in dymamicmodels. This is applied to the model of a synchronous generator resulting in a new form of the

state equations not encountered in the existing litterature. The paper will present the propertiesof this new model in terms of simulation, stability and control, and compares it to more conventional state-space models. The main difference relies in the fact that the modelpresented here does not include any load which are externeal to the generator. This shouldhave consequences for simulation softwares.

Wednesday, July 7, 2004

P3 Aula Pieter De Somer

Plenary Presentation Chair: S. Van Huffel

09:00 - 10:00 Mathematical modelling of circadian rhythms in genetic regulatory networks A. Goldbeter Université Libre de Bruxelles, Faculté des Sciences, Chimie In view of the large number of variables involved and of the complexity of cellular feedbackprocesses that can generate oscillations, mathematical models and numerical simulations areneeded to fully grasp the molecular mechanisms and functions of biological rhythms. The presentation will focus on circadian rhythms, which occur spontaneously with a period close to24 h in nearly all living organisms. These rhythms allow the organisms to adapt to theirperiodically changing environment. In all organisms studied so far circadian rhythms originate from the negative auto-regulation of gene expression. Mathematical models of increasingcomplexity for the genetic regulatory network producing circadian rhythms in the fly Drosophilapredict the occurrence of sustained circadian oscillations of the limit cycle type. Whenincorporating the effect of light, the models account for phase shifting of the rhythm by lightpulses and for entrainment by light-dark cycles. The models also provide an explanation for thelong-term suppression of circadian rhythms by a single pulse of light. Stochastic simulationspermit to test the robustness of circadian oscillations with respect to molecular noise.Extensions of the mathematical models to the mammalian circadian clock allow us to investigate the dynamical bases of physiological disorders related to perturbations of the sleep-wake cycle in humans.

WA1 91.54

Minisymposium Cell biology with control and system theory

Organization: J.H. van Schuppen

Chair: J.H. van Schuppen

10:30 - 11:10 Unique form of metabolic compartmentation in trypanosomes offers prospects for drug interference (full) P.A.M. Michels Christian de Duve Institute of Cellular Pathology Glucose metabolism by glycolysis is considered a potentially excellent target for drugs to bedeveloped against trypanosomes, unicellular parasites living in human blood and causingAfrican sleeping sickness, because this process is the only source of ATP for these organisms.Moreover, most enzymes of the glycolytic pathway are sequestered in glycosomes,peroxisome-like organelles. This unique form of metabolic compartmentation is associated withspecific kinetic and structural properties of the enzymes. These specific properties are exploited for drug design. Compartmentation of glycolysis appears essential to the parasites. Therefore,compounds interfering with the biogenesis of glycosomes may also be selective anti-trypanosome drugs.

11:10 - 11:30 Kinetic modelling of the metabolic network of trypanosoma brucei (full) B.M. Bakker Vrije Universiteit Amsterdam Kinetic modelling of the metabolic network of Trypanosoma brucei Barbara M. Bakker –Molecular Cell Physiology, Faculty of Biology, Vrije Universiteit Amsterdam. In order to acquire a quantitative understanding of the adaptation of parasites to putative antiparasitic drugs, adetailed mathematical model was constructed of glucose metabolism in the parasiteTrypanosoma brucei. The model is a set of ordinary differential equations, in which measuredenzyme-kinetic parameters serve as input. The output generated by the model consists of time-dependent and steady-state metabolite concentrations and metabolic fluxes. The model allowedto ask the following questions: 1. Can we understand the system properties of a metabolicnetwork in terms of the kinetics of its constituent enzymes? 2. Which enzymes are effectivedrug targets, in the sense that the glycolytic flux is reduced strongly upon inhibition of these enzymes? 3. Can we find combinations of inhibitors that act synergistically? 4. What is thefunction of compartmentation of glycolysis in trypanosomes? Our current and future research innetwork-based drug design develops in two directions. On the one hand we are testing the hypotheses generated by the model experimentally. This involves in vitro cultivation of parasitesand quantitative determination of fluxes and metabolite concentrations. On the other hand weare extending the model by (i) adding host cells and to study the selectivity of drugs against theparasite and (ii) by including the kinetics of gene expression and protein synthesis, to studydrug action at the timescale of parasite growth.

11:30 - 11:50 Growth models for cells in the chemostat (full) V. Lemesle France - INRIA J-L. Gouze France - INRIA A chemostat is a continuous device where microorganisms consume a nutrient to grow. Todescribe microorganisms growth in the chemostat, Monod introduced a very simple model. Droop then presented another model considering the possible nutrient storage in a planktoncell. However, this work was mainly based on experimental observations and was notcompletely justified by biochemical arguments. In this paper, a new model of phytoplankton growth is proposed. Though our model is finally similar to the Droop one, we base our modellingon biochemical arguments. We study two versions of our model considering or not cell mortality.We give also some indications on the observation of such models, and related observers.

11:50 - 12:10 Qualitative modeling and simulation of genetic regulatory networks (full) G. Batt INRIA, France H. de Jong INRIA, France J. Geiselmann Université Joseph Fourrier M. Page The development and functioning of living organisms are controlled by genetic regulatorynetworks. A genetic regulatory network consists of a set of genes, gene products and theirmutual regulatory interactions. Given that most networks of biological interest consist of a large number of components and interactions, connected by positive and negative feedback loops, anintuitive understanding of their functioning is difficult to obtain. Mathematical methods andcomputer tools for the modeling and simulation of genetic regulatory networks are thereforeindispensable. Methods developed for the qualitative simulation of dynamical systems haveturned out to be powerful tools for studying genetic regulatory networks and their dynamics. They overcome two major difficulties hampering modeling and simulation studies, viz.incomplete knowledge on the biochemical reaction mechanisms and the absence of quantitativeinformation on kinetic parameters and molecular concentrations. We will present a method that, given a qualitative model of a genetic regulatory network, consisting of a system of piecewiselinear differential equations and inequality constraints on the parameter values, produces agraph of qualitative states and transitions between qualitative states. This graph summarizes the qualitative dynamics of the system. The qualitative simulation method has beenimplemented in Java in the computer tool Genetic Network Analyzer. The validity of a model,expressing hypotheses on the genes and proteins involved and their mutual interactions, can betested by means of experimental data. Model validation consists in verifying whether thepredictions, obtained through simulation, are consistent with the observations. For mostsystems of biological interest, qualitative simulation results in a state transition graph that is toolarge to be analyzed through visual inspection. This has motivated our work on an extension ofthe qualitative simulation method, directed at the automated validation of models of genetic regulatory networks. In this presentation, we will show that a combination of qualitativesimulation and model-checking techniques can be used to perform model validation correctlyand efficiently. Model-checking tools have been widely used to automatically test if a property is satisfied by a state transition system. In this framework, the property is formulated as a temporallogic formula and the state transition system is represented by a Kripke structure. It is possibleto rephrase the observation as a temporal logic formula, to transform the state transition graphinto a Kripke structure and, using this approach, to test if the observation is accounted for by thepredicted state transition graph. By means of the example of the regulatory network controlling

the initiation of sporulation in Bacillus subtilis, we argue that the above approach is well-adapted to the kind of questions biologists habitually ask and to the kind of data available to answerthese questions.

12:10 - 12:30 System theory of rational positive systems for cell reaction networks (full) J.H. van Schuppen CWI, Amsterdam Biochemical reaction networks are in realistic cases best modeled as rational positivesystems. Rational positive systems for biochemical cell reaction networks are definedas dynamic systems which are rational in the state but linear in the inputs. Results arepresented for the realizability of an input-output relation as a rational positive systems and for the form of state-space isomorphisms.

WA2 01.54

Minisymposium Model predictive control for discrete-event systems

and hybrid systems

Organization: B. De Schutter, T. van den Boom Chair: B. De Schutter

10:30 - 10:50 Model predictive control for discrete-event systems and hybrid systems - Part I: Discrete-event systems (full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology Model predictive control (MPC) is a very popular controller design method in the process industry. Usually MPC uses linear or nonlinear discrete-time models. In this paper and its companion paper ("Part II: Hybrid Systems") we give an overview of some results in connectionwith MPC approaches for discrete-event systems and hybrid systems. In general, the resultingoptimization problems are nonlinear and nonconvex. However, for some classes of discrete-event systems and hybrid systems tractable solution methods exist. In this paper we discussMPC for a special class of discrete-event systems, viz. max-plus-linear discrete-event systems, for both the noise-free and perturbed case.

10:50 - 11:10 Model predictive control for discrete-event systems and hybrid systems - Part II: Hybrid systems (full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology Model predictive control (MPC) is a very popular controller design method in the processindustry. Usually MPC uses linear or nonlinear discrete-time models. In this paper and its companion paper ("Part I: Discrete-Event Systems") we give an overview of some results inconnection with MPC approaches for some tractable classes of discrete-event systems and hybrid systems. After having discussed MPC for max-plus-linear discrete-event systems in the companion paper, we now discuss MPC for some classes of hybrid systems, viz. mixed logicaldynamical systems, max-min-plus-scaling systems, and continuous piecewise-affine systems.

11:10 - 11:50 MPC for max-plus-linear discrete-event systems (full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology Model predictive control (MPC) is a very popular controller design method in the process industry. Usually MPC uses linear or nonlinear discrete-time models. In this paper and its

companion paper ("Part II: Hybrid Systems") we give an overview of some results in connectionwith MPC approaches for discrete-event systems and hybrid systems. In general, the resulting optimization problems are nonlinear and nonconvex. However, for some classes of discrete-event systems and hybrid systems tractable solution methods exist. In this paper we discussMPC for a special class of discrete-event systems, viz. max-plus-linear discrete-event systems, for both the noise-free and perturbed case.

11:50 - 12:10 MPC for mixed logical dynamical systems and continuous piecewise-affine systems (full) B. De Schutter Delft University of Technology T. van den Boom Delft University of Technology Model predictive control (MPC) is a very popular controller design method in the processindustry. Usually MPC uses linear or nonlinear discrete-time models. In this paper and its companion paper ("Part I: Discrete-Event Systems") we give an overview of some results inconnection with MPC approaches for some tractable classes of discrete-event systems and hybrid systems. After having discussed MPC for max-plus-linear discrete-event systems in the companion paper, we now discuss MPC for some classes of hybrid systems, viz. mixed logicaldynamical systems, max-min-plus-scaling systems, and continuous piecewise-affine systems.

WA3 91.56

Paper Session Controllability

Chair: F. Colonius

10:30 - 10:50 Characterizing controllability probabilities of stochastic control systems via Zubov’s method (full) F. Camilli Universita de l’Aquila, Italy L. Gruene University of Bayreuth, Germany F. Wirth NUI Maynooth, Germany We consider a controlled stochastic system with an almost surely locally exponentiallycontrollable compact set. Our aim is to characterize the set of points which can be driven by asuitable control to this set with either positive probability or with probability one. This will be obtained by associating to the stochastic system a suitable control problem and thecorresponding Bellman equation which turns out to be a generalized version of the classicalZubov equation. We then show that this approach can be used as basis for numericalcomputations of these sets and present a numerical example.

10:50 - 11:10 Exact controllability of an aeroacoustic model (full) L. Cot Laboratoire Mip, France J.P. Raymond Laboratoire Mip, France J. Vancostenoble Laboratoire Mip, France We study the exact controllability of a fluid-structure model. The fluctuations of velocity in thefluid are described by a potential, and the structure is a membrane located in a part of the boundary of the domain. The potential and the transverse displacement satisfy a coupledsystem of two wave equations. Taking two boundary controls, we identify the space ofcontrollable initial conditions when the geometrical controllability conditions are satisfied. Since the coupling terms induce several difficulties, we use a variant of the classical HilbertUniqueness Method to establish our controllability result.

11:10 - 11:30 On reachability under stochastic disturbances (full) I.A. Digailova Moscow State (Lomonosov) University A.B. Kurzhanski Moscow State (Lomonosov) University - No Abstract Available -

11:30 - 11:50 Reachability sets for 2D continuous-discrete linear system with uncertain boundary conditions and ellipsoidal disurbances (full) E. Krasoń Air Force Academy, Poland A model of 2D continuous-discrete linear system with unknown boundary conditions anddisturbances is considered. The information on boundary conditions and disturbances is limitedto given ellipsoidal sets in appropriate spaces. Reachability set, defined as the set including thestate vector of considered system at the moment ( t,k ) ( t – continuous variable, k – discrete variable), is described by the support function. It is shown the reachability set in consideredcase has the form of the vector sum of 2k+1 ellipsoids in the state space of the system.

11:50 - 12:10 Controllability of semilinear stochastic systems (full) S. Zorlu Faculty of Arts and Sciences,

Eastern Mediterranean University

N. Mahmudov Faculty of Arts and Sciences, Eastern Mediterranean University

In this paper, some sufficient controllability conditions for semilinear stochastic system areobtained using one of the fixed point methods, namely contraction mapping principle. Assuming controllability of the associated linear system under some natural conditions, the approximateand complete controllability of the semilinear stochastic system is studied.

WA4 01.13

Paper Session Robustness

Chair: H. Katayama

10:30 - 10:50 Performance and robustness preservation in MIMO systems when applying SPR substitutions (full) G. Fernandez-Anaya Universidad Iberoamericana J. C. Martinez-Garcia CINVESTAV-IPN, Mexico V. Kucera Czech Technical University in Prague D. Aguilar-George We are concerned in this paper by controlled Linear Time-Invariant (LTI) Multi Input Multi Output (MIMO) systems in continuous-time. We study here the preservation under strictlypositive real substitutions of coprime factorizations as well as stabilizing properties inparametrized controllers. We also tackle here both the preservation of well-posedness (of the tracking feedback control scheme) and the preservation of H-infinity-optimality properties insome classes of closed-loop systems affected by multiplicative unstructured uncertainty,including the so-called suboptimal H-infinity-control problem by stable controllers (i.e., preservation of both strong stabilization and H-infinity-boundedness).

10:50 - 11:10 On the classification of solutions of the time-varying Riccati inequality (full) N. Carpanese University of Padova, Italy Differential Riccati inequalities in a time-varying setting are considered in this paper, the set of solutions under study must be ordered with a minimum element to obtain a parameterization.The parameterization obtained is in geometrical terms involving the invariant subspaces of aclosed loop system matrix associated to the minimum solution. Smoothness of solutions and of the basis change map involved in the parameterization are guaranteed by narrowing theinvariant subspaces considered to have constant range over the time span considered,otherwise, the full time-varying setting cannot be easily studied if smooth solutions are requested. As a consequence of the monotonicity of the kernel of solutions map the role of theparameters involved in the parameterization is further explained. Again, the time-varying matrices are constrained such that the phase space of the underlying dynamical system has insome way constant range.

11:10 - 11:30 A study on the structure of reliable controllers (full) N. Sebe Kyushu Institute of Technology This paper is concerned with the structure of reliable controllers. The reliable control becomesvery important for multivariable control systems. The integrity is the property that closed-loop systems remain stable in the presence of failures of sensors and/or actuators. Especially, the

$k$-out-of-$m$ integrity, which allows the prespecified number $k$ of failures out of $m$possible sensors and/or actuators, is a very important notion from the view point of practicaluse. This paper gives numerical examples of 1-out-of-3 and 2-out-of-3 integrity, and investigates the rank deficiency of the reliable controllers.

11:30 - 11:50 Persistent bounded disturbance rejection for linear systems subject to actuator saturation (full) Z. Zuo China This paper studies the problem of persistent bounded disturbance rejection for linearcontinuous-time systems subject to actuator saturation. By using the Lyapunov function method,a sufficient condition is given in terms of linear matrix inequalities, which ensures the internal stability and the desired $L_1$ performance of the closed-loop systems. An optimization procedure is proposed to obtain the largest invariant ellipsoid which is inside the domain ofattraction. Based on the Project Lemma, a less conservative result is presented by introducing a slack variable. Finally, an example is carried out to illustrate the effectiveness of the developedmethods.

11:50 - 12:30 Eqivalence between the stabilizability and the pairwise simultaneous stabilizability of a plant family (full) Q. Wu Beijing Institute of Technology L. Xu Akita Prefectural University Y. Anazawa Akita Prefectural University Let ${\cal P}(s,\mbox{\boldmath$\delta$})$ be a plant family whose coefficients vector $p$ is affine in an uncertain parameter vector $\mbox{\boldmath$\delta$}$ defined in a convex set $\Omega_{\delta}\subset{\cal R}^m$. The plant family ${\cal P}(s,\mbox{\boldmath$\delta$})$ is said to be stabilizable if every element $P(s)\in{\cal P}(s,\mbox{\boldmath$\delta$})$ is stabilizable, and to be pairwise simultaneously stabilizable if every pair of elements$(P_1(s)\,,\,P_2(s))\subset{\cal P}(s,\mbox{\boldmath$\delta$})$ is simultaneously stabilizable by a common controller. The purpose of this paper is to clarify for the first time that the pairwisesimultaneous stabilizability of such a plant family is in fact equivalent to its stabilizability. It iswell known that the robust stabilization problem of a given plant family is a very hard problem and no clean solution has as yet been found for the design of a robustly stabilizing controller. Apossible way to avoid the difficulty is to verify if a choosen controller can robustly stabilize theplant family by using value set approaches. However, it is strongly desired to exclude, before such trial, the case where the given plant family is originally not robustly stabilizable. It isobvious that both the stabilizability and pairwise simultaneous stabilizability are necessaryconditions for a plant family to be robustly stabilizable. The result obtained in this paper is ofspecial significance as it reveals that, when we try to exclude a robustly unstabilizable case, thepairwise simultaneous stabilizability does not provide stronger restriction and it is enough to just check the stabilizability of the given plant family.

WA5 01.01

Minisymposium Infinite-dimensional systems - Part III: Computational

issues

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten Morris

Chair: Birgit Jacob

10:30 - 10:50 On the continuity of the J-spectral factorization mapping (full) O.V. Iftime University of Groningen The continuity of the mapping which associates a $J$-spectral factor to a spectral density is analyzed. For the class of essentially bounded functions on the imaginary axis that are boundedaway from zero it is well known that this mapping, even for the scalar case, is not continuous. Inthis paper three results concerning the continuity of the mapping which associates a $J$-spectral factor to a spectral density are provided for matrix-valued functions in the Wiener class. One of them is well known, and the other two are extensions of theorems concerning thecontinuity of the spectral factorization mapping.

10:50 - 11:10 Closed form closed-loop solutions in PDE boundary control problems (full) A. Smyshlyaev Univ. of California at San Diego M. Krstic Univ. of California at San Diego The recently introduced backstepping approach to boundary stabilization of certain classes oflinear parabolic PDEs avoids the need to solve operator Riccati equations and instead requiresthe solution of Klein-Gordon-like linear hyperbolic PDEs on triangular domains. For a widerange of problems these PDEs are solvable analytically, yielding explicit formulae for the kernel(gain) function of the boundary control law. This, in turn, allows the closed loop solutions of theplant PDE to be found explicitly, which has many benefits, including the benefit of making the well posedness and stability analysis (nearly) trivial, and providing a direct insight into the effectof the boundary controller on eigenvalues and eigenfunctions.

11:10 - 11:30 Temperature regulation of a nonisothermal plug flow reactor by LQ-feedback (full) I. Aksikas Université Catholique de Louvain J. J. Winkin University of Namur (FUNDP) D. Dochain Université Catholique de Louvain

The Linear-Quadratic optimal temperature regulation problem is studied for a partial differential equation model of a nonisothermal plug flow tubular reactor. This problem is studied by using anonlinear infinite dimensional Hilbert state space description which is linearized around aconstant temperature equilibrium profile along the reactor. The concept of state LQ-feedback operator is introduced: it is reported that such feedback is LQ-optimal from the Input/Output viewpoint and stabilizing. Such a feedback turns out to be computable by spectral factorization. In addition it is reported that, under some conditions, the chosen constant temperatureequilibrium profile is an asymptotically stable equilibrium of the resulting nonlinear closed--loop system.

11:30 - 11:50 From concept to real-time implementation: POD based reduced order control of a cantilever beam (full) H. T. Tran North Carolina State University B. M. Lewis MIT Lincoln Laboratory We consider the synthesis of a control methodology for the attenuation of vibrations of a cantilever beam caused by a narrow-band exogenous force in a smart structure paradigm. Thecontrol method under consideration is based on the minimization of a quadratic cost functionalconstrained by an affine plant. Although the control methodology is not new, this study emphasizes the development of real-time control methodologies based on reduced ordermodels derived from physical first principles. Specifically, an integral component of this researchis the proper orthogonal decomposition (POD) reduction technique and its application to real-time control of beam vibrations.

11:50 - 12:10 Iterative solution of algebraic riccati equations using a modified Newton-Kleinman method (full) K. A. Morris Univ. of Waterloo C. Navasca Univ. of California Algebraic Riccati equations of large dimension arise when using approximations to designcontrollers for systems modelled by partial differential equations. One approach to solving largeRiccati equations is the Newton-Kleinman method.We use here a modified Newton-Kleinman iteration first proposed by Banks and Ito. In both standard and modified Newton-Kleinman, a Lyapunov equation must be solved at each iteration. However, the right-hand-side in the modified method has fewer terms than that in the standard Newton-Kleinman method. Also, in the modified method the rank of the right-hand-side depends only on the number of controls, and not the weight on the state. In practice, the number of controls is much less than thenumber of states. A recently developed Lyapunov solver uses these features, as well as anysparseness in the matrices. We use this Lyapunov solver with both standard and modifiedNewton-Kleinman to solve a number of standard control examples, including one with several space variables. Our results indicate that modified Newton-Kleinman achieves considerable savings in computation time over standard Newton-Kleinman.

12:10 - 12:30 A discrete Ingham type inequality (full) M. Negreanu Universidad Complutense de Madrid - No Abstract Available -

WA6 01.19

Paper Session Signal Processing II

Chair: J.H.Manton

10:30 - 10:50 On the estimation and compression of distributed correlated signals with incomplete observations (full) H. I. Nurdin University of Twente R. R. Mazumdar Purdue University A. Bagchi University of Twente In this paper we study the problem of optimal compression and signal reconstruction based ondistributed correlated observations of the signal. In the mean square estimation context thisinvolves finding the optimal signal representation based on multiple incomplete or only partialobservations which are correlated. In particular this leads to the study of finding the optimal Karhunen-Lo\`{e}ve basis based on the censored observations. We give a precisecharacterization of the necessary conditions with or without side information. We also providenew insights into the structure of the problem. In particular, we show that a recently proposed scheme provides estimates that satisfy only necessary conditions for optimality and hence canbe sub-optimal.

10:50 - 11:10 On some new filtering results (full) A.E.Bashirov Eastern Mediterranean University A detailed study of the nature of noises arising in guidance and control of spacecrifts showsthat, more adequately, the noises disturbing the respective signal-observation system are shifted in time so that the signal noise delays the observation noise. In the light of this we consider the filtering problem for the linear signal-observation system with the signal noise delaying the observation noise. Two cases of dalay are considered. The first case is atranslation that corresponds to delays arising in guidance and control of Earth orbiting satellites.The second one is a rotation covering dalays in guidance and control of spacecrifts flying awayfrom the Earth. In both these cases Kalman type optimal filters are derived together with therespective Riccati systems of equations.

11:10 - 11:30 Method of partitioned data orthogonalisation for principal component determinatioN (full) A. Torokhti University of South Australia P. Howlett University of South Australia S. Lucas University of South Australia In this paper, we propose and justify an estimator which allows us to estimate a random vectorand its principal components from observed data with a higher associated accuracy and a bettercompression ratio than those by principal component analysis (PCA), for the same or smaller

computational work as that by PCA. Such advantages are achieved under a certain conditionwhich follows from a comparison of the error estimate associated with the presented method and that of PCA. The proposed estimator is implemented through a sequence of procedureswhich involve a partition of the observed data, a special orthogonalisation of the partitoned data,and the rank-constrained minimization of the associated error. An extension of this technique to the case of the unconstrained error minimization is also studied. We give rigorous proofs of thestatements associated with the proposed technique. The theory of the method is illustrated withresults of numerical experiments using real data.

11:30 - 11:50 On the local sensitivity of the H2 estimation problem (full) N. D. Christov Technical University of Sofia, Bulgaria M. Najim ENSEIRB, France E. Grivel ENSEIRB, France The paper deals with the local sensitivity analysis of the discrete-time infinite-horizon $H^2$ estimation problem. Improved, nonlinear sensitivity estimates are derived which are lessconservative than the existing, condition number based linear sensitivity estimates.

11:50 - 12:10 A noise signature approach to fault detection and isolation (full) R. Guidorzi University of Bologna R. Diversi University of Bologna U. Soverini University of Bologna A. Valentini This paper introduces a novel approach, noise signature, in fault detection and isolation, basedon the use of errors-in-variables (EIV) models. Differently from more common stochasticenvironments, in these models all variables (inputs and outputs) are assumed as affected by additive and uncorrelated noise. The identification procedures developed for EIV models allowto estimate the covariance matrix of the noise that constitutes, in absence of faults, a signaturefor the system. In fact the variations in the estimated noise variances in presence of faults lead to effective ways to detect and isolate faults on both sensors and actuators.

WA7 01.07

Minisymposium Networks, sensors, and control

Organization: Peter H. Bauer, Kamal Premaratne

Chair: Peter H. Bauer

10:30 - 10:50 Controller tuning for active queue management using a parameter space method (full) H. Ozbay Ohio State University M. Saglam Bilkent University S. Ezercan Bilkent University S. Gumussoy In recent years, different mathematical models have been proposed for widely used internetcontrol mechanisms. Simple low order controllers (such as PID, and Smith predictor basedlinear controllers that are easy to implement) are desired for network traffic management. Inorder to design such simple controllers for Active Queue Management (AQM), delay basedlinear models have been considered. In this paper we discuss tuning of the PID controllers byusing a parameter space method, which computes stability regions of a class of quasi-polynomials in terms of free controller parameters.

10:50 - 11:10 Robust controllers for resource management in distributed sensor networks---an approach using positive invariant sets (full) J. Zhang University of Miami K. Premaratne University of Miami - No Abstract Available -

11:10 - 11:50 A switched system approach to synchronization errors in networked control systems (full) P.H. Bauer University of Notre Dame, USA C. Lorand University of Notre Dame, USA The problem addressed in this paper originates from the use of non-identical clocks in distributed systems, i.e. clocks with slightly different frequencies. At first we introduce an eventdriven state space model for asynchronous system operations. Then we derive necessary andsufficient conditions for stability and show that unlike in the case of synchronous operations, theslightest mismatch in clock frequencies can destabilize the system, even if the synchronously operating system has a large margin of stability. New light is shed on the importance of thedegree of synchronization and its connection to stability.

11:50 - 12:10 Cross-layer error-control channel transcoding scheme for voice over ip transport over heterogeneous wired/wireless networks (full) C.M. Garrido University of Miami M. Chen University of Miami M.N. Murthi University of Miami In this paper, we propose a novel cross-layer error-control coding scheme for Voice over IP (VoIP) transport over heterogeneous networks. Wired and wireless networks suffer fromdifferent impairments requiring different error control coding solutions. For example, applicationlayer packet Forward Error Correction (FEC) is used to tackle packet loss on a wired channel, while channel codes such as convolutional codes are used to combat physical layer bit errorson a wireless channel. We propose the use of cross-layer error-control channel transcoding through the use of an edge proxy. In particular, an edge proxy at the boundary between a wiredand wireless network is used to decode and remove the application layer FEC intended for thepacket loss of the wired channel before transmission on a wireless channel, thereby allowingthe use of more powerful channel codes to combat physical layer impairments on the wirelesslink. Consequently, the cross-layer error-control channel transcoding scheme provides a largegain in end-to-end Quality of Service for VoIP over heterogeneous networks in comparison to a concatenated error-control scheme in tests with the Adaptive Multi-Rate (AMR) codec and internet Low Bit-rate Codec (iLBC). For a fixed wired packet loss percentage, the cross-layer error-control channel transcoding scheme requires a wireless SNR 5dB less than a concatenated error-control scheme requires to achieve a fixed voice QoS level.

12:10 - 12:30 SmartSAM: a multisensor network based framework for video surveillance and monitoring (full) G. Seetharaman Air Force Institute of Technology H. V. Le Hanoi University of Technology S. S. Iyengar Louisiana State University R. Loganathraj - No Abstract Available -

WA8 01.25

Minisymposium Learning theory and kernel methods - Part I

Organization: J.A.K. Suykens

Chair: J.A.K. Suykens 10:30 - 11:10 An introduction to support vector machines and kernel based learning (full) J.A.K. Suykens K.U. Leuven In this talk we give a basic introduction on support vector machines and related kernel-based learning methods. We explain the notion of large margin classifiers, highlight primal-dual representations, give convex optimization formulations and discuss the use of Mercer's theorem(commonly known as the `kernel trick' in this area) which allows employing any positive definitekernel in the model. The wider use of this kernel trick for a range of classical statistical methodsis explained. For least squares approaches we show a number of extensions to standardsupport vector machines that are applicable to a wider range of problems. For the staticregression case, we point out links with Gaussian processes and learning in reproducing kernelHilbert spaces.

11:10 - 11:50 Algorithmic stability and generalization: sufficient conditions for non-erm algorithms and necessary and sufficient conditions for erm algorithms (full) S. Mukherjee US - MIT R. Rifkin T. Poggio P. Nyogi - No Abstract Available -

11:50 - 12:30 Probably approximately correct learning with beta-mixing input sequences (full) R.L. Karandikar Indian statistical institute M. Vidyasagar Tata conslutancy services - No Abstract Available -

WA9 01.56

Minisymposium Positive systems

Organization: T. Kaczorek

Chair: T. Kaczorek

10:30 - 10:50 Descriptor systems: K-positivity versus B-positivity (full) T. P. de Lima University of Coimbra We study descriptor discrete-time systems having nonnegative coefficients and/or nonnegative solutions. In the standard case, a state-space discrete-time system is positive when for each nonnegative initial state-vector and for each nonnegative control sequence the state-vector is nonnegative, or, equivalently, if its matrix coefficients are nonnegative. Unfortunately, in thedescriptor case, we must distinguish between K-positive systems (when the matrix coefficients are nonnegative – Kaczorek, 1997) and B-positive systems (when the system trajectory is nonnegative – Bru et al., 2002). We explore the relation between the spectrum of a matrix penciland the solutions of a descriptor system in order to find nonnegative trajectories.

10:50 - 11:10 On realizations for periodic compartmental systems (full) R. Bru Univ. Politècnica de València, Spain R. Cantó Univ. Politècnica de València, Spain B. Ricarte Univ. Politècnica de València, Spain - No Abstract Available -

11:10 - 11:30 Controllability and reachability of 2D positive systems: a graph theoretic approach (full) E. Fornasini Università di Padova, Italy M. E. Valcher Università di Padova, Italy When dealing with two-dimensional (2D) discrete state-space models, reachability, controllability and zero-controllability are introduced in two different forms: a local form, whichrefers to single local states, and a global form, which instead pertains the infinite set of localstates lying on a separation set. In this paper, these concepts are investigated in the context of 2D positive systems. Their combinatorial nature suggests a graph theoretic approach to theiranalysis, as, indeed, to every 2D positive state-space model of dimension n with m inputs one can associate a 2D influence digraph with n vertices and m sources. For all these properties,necessary and sufficient conditions, which refer to the structure of the digraph, are provided. Itturns out that while the global reachability index is bounded by the system dimension n, thelocal reachability index may far exceed the system dimension and even reach n^2/4.

11:30 - 11:50 Feedback and positive feedback stabilizability and holdability of linear discrete-time systems (full) V. G. Rumchev Curtin University of Technology, Australia B.N. Dimitrov Kettering University, USA Consider the following problem. Given a discrete-time linear system, find, if possible, linear state-feedback laws such that under these laws all trajectories originating in the non-negative orthant of the state space remain non-negative while asymptotically deteriorating to the origin.This problem is called feedback stabilizability-holdability problem (FSH). If, in addition, the requirement of non-negativity is imposed on controls, the problem is a positive feedback stabilizability-holdability problem (PFSH). The FSH and PFSH problems are formulated andstudied in this paper for linear discrete-time systems. Geometry of the problems is examined indetails. It is shown that the set of all linear state feedback controllers that make the open-loop system holdable and stabilizable is a polyhedron and the external and its dual (internal)representation of this polyhedron are found. A constructive linear programming based approachto the solution of FSH and RFSH problems is proposed and developed in the paper. Thisapproach provides a simple computationally efficient procedure to find out not only whether theFSH, respectively the PFSH, problem has a solution or not but also to determine a linear state feedback controller, respectively a non-negative linear state feedback controller, that endowsthe closed-loop (positive)system with a maximal stability margin and guarantees the fastespossible convergence to the origin. Necessary and sufficient conditions for non-existence of the solution to FSH and PFSH problems are obtained in terms of the parameters of the system forany given stability margin.

11:50 - 12:10 Optimal control of positive 2-D systems with infinite horizon (full) D. Idczak University of Łódź, Poland S. Walczak University of Łódź, Poland In the paper, the following optimal control problem zxy = f(x,y,z,zx,zy,u), (x,y) in P^{\infty }:=[0,\infty )\times \lbrack 0,\infty )\ a.e., $$ $$ z(x,0)=\varphi (x),\ z(0,y)=\psi (y),\ x,y\in \lbrack 0,\infty ), $$ $$ J_{\infty }(z,u)=\underset{\chi (X,Y)\rightarrow \infty }{\lim } \int_{0}^{X}\int_{0}^{Y}f^{0}(x,y,z(x,y),u(x,y))dxdy \rightarrow \min . $$ is investigated ($f:P^{\infty }\times (\mathbb{R}^{n})^{3}\times \mathbb{R} ^{r}\rightarrow \mathbb{R}^{n}$ and $\chi $ is a real function of two nonnegative variables). This problem is studied in the spaces $AC_{loc}(P^{\infty },\mathbb{R}^{n})=\{z:P^{\infty }\rightarrow \mathbb{R} ^{n};\ z$ is absolutely continuous on each interval $[0,X]\times \lbrack 0,Y]\subset P^{\infty }$ with $X>0$, $Y>0\}$ of trajectories and $ L_{loc}^{1}(P^{\infty },M)=\{u:P^{\infty }\rightarrow M;\ u$ is integrable on each interval $[0,X]\times \lbrack 0,Y]\subset P^{\infty }$ with $X>0$, $ Y>0\}$ of controls ($M\subset \mathbb{R}^{r}$ is some fixed set). In the first part, a theorem on the existence of a uniquesolution $z\in AC_{loc}(P^{\infty },\mathbb{R}^{n})$ to the above control system, correspondingto control $u\in L_{loc}^{1}(P^{\infty },M)$), is proved. A question concerning the positivity of such system is considered. In the second part, we give a number of definitions of the solution tothe above optimal control problem and compare them. Next, some optimality principle is proved.

12:10 - 12:30 Structure decomposition and computation of minimal realization of normal transfer matrix of positive systems (full) T. Kaczorek Warsaw University of Technology The notions of the normal matrix and of the structure decomposition of normal matrices are extended for linear standard positive systems. It is shown that there exists the structuredecomposition of a transfer matrix if and only if the transfer matrix is normal. A procedure forcomputation of the structure decomposition is derived. The structure decomposition is appliedfor establishing the existence conditions and for the computation of minimal positive realizationsof transfer matrices. A procedure for computation of minimal positive realizations with the matrixin the Jordan form is presented and illustrated by a numerical example.

WA10 01.31

Paper Session Control Applications II

Chair: S. Stramigioli

10:30 - 10:50 Flatness based adaptive tracking control for a distributed collector solar field (full) J.M. Igreja INESC-ID/ISEL, Portugal J.M. Lemos INESC-ID/IST, Portugal R.N. Silva FCT-UNL, Portugal This paper is concerned with the design of an adaptive servo controller for tracking variablereferences in a distributed collector solar field. The structure proposed is made up of three mainblocks: A motion planner, an incremental controller and an adaptation mechanism. The motionplanner selects the time profile of the manipulated variable (oil flow) such that the plant state (oil temperature distribution along the solar field) is driven between successive equilibrium states asspecified. This is done on the basis of a simplified, yet distributed parameter, model and usesthe methods of flat systems and the concept of orbital flatness. In order to stabilize the actual oil temperature around this nominal path, a linear controller is used. This control law is thenmodified according to a Lyapunov function strategy for incorporating adaptation through theadjustment of a parameter which conveys the most significative plant uncertainty. The approachis illustrated through simulations performed in a detailed solar field model.

10:50 - 11:10 A clamped free beam controlled by a piezoelectric actuator (full) E. Crépeau INRIA, France C. Prieur CNRS, France In this paper, we study the exact controllability of a metallic beam clamped at one end and freeat the other one, by a piezoelectric actuator. The motion of the beam is modelized by aBernouilli-Euler equation with an internal control. We prove with Hilbert Uniqueness Method thatthe space of exactly initial controllable data depends on the location of the piezoelectric patch'sends. The most important point of the proof, namely the inequality of observability, is obtained via Ingham's inequality and new results on diophantine approximation. We check on numericalsimulations, obtained with a spectral method, the result of exact controllability.

11:10 - 11:30 Flatness based control of a rotary vane actuator (full) M. Broecker TRW Automotive, Germany F. Heidtmann Universität Duisburg-Essen, Germany In the case of rotational movements, rotary vane actuators can be integrated alternatively to theso far usual differential cylinders at the arms of manipulators. In this paper a nonlinear dynamicmodel for two one behind the other chained rotary vane actuators and a flatness basedcontroller are derived for such a driven robot arm. The experimental results demonstrate the

importance of a suitable nonlinear system modeling for the controller design and a goodtracking performance for the flatness based control of each rotary vane actuator.

11:30 - 11:50 Standard and lifted approaches of iterative learning control applied on a motion system (full) I. Rotariu University of Sydney B. Dijkstra Delft University of Technology M. Steinbuch Eindhoven University of Technology Iterative Learning Control (ILC) is a technique for improving the performance of systems or processes that operate repetitively over a fixed time interval. The basic idea of ILC is that itexploits every possibility to incorporate past repetitive control information, such as trackingerrors and control input signals into the construction of the present control action. Past controlinformation is stored and then used in the control action in order to ensure that the systemmeets the control specifications such as convergence. The goal of the research presented inthis paper is to liken two different ILC techniques applied to the wafer stage of a wafer scannermotion system. Namely, we consider briefly the concepts of standard and lifted ILC and weevaluate the ILC performance in terms of tracking errors.

11:50 - 12:10 Modeling and control of an electrohydraulic system (full) R. Musset Universite Henri Poincare, Nancy I H. Souley Ali Universite Henri Poincare, Nancy I M. Zasadzinski Universite Henri Poincare, Nancy I M. Darouach This paper deals with modeling, simulation, and control of an electrohydraulic experiementaldevice. The experimental device represents a trailor directional axle of articulated log vehicles.The directional axle is used in order to move articulated long vehicles into roundabouts. A nonlinear model of the experimental device, using physical laws, is established. For the controldesign, the equilibrium conditions are first established, then the nonlinear model is linearizedaround an equilibrium point. Finally the linearized is reduced an a state feedback law methodwith an observer is used to design the contoller. The camparison between experimental andsimulation results shows a good agreement.

12:10 - 12:30 Maneuver regulation, transverse feedback linearization, and zero dynamics (full) C. Nielsen University of Toronto M. Maggiore University of Toronto This paper presents necessary and sufficient conditions for the local linearization of dynamicstransverse to an embedded submanifold of the state space. The main focus is on outputmaneuver regulation where stabilizing transverse dynamics is a key requirement.

SP7 91.54

Semi-Plenary Presentation Chair: A. van der Schaft

14:00 - 15:00 Model reduction, realization and Hankel theory for nonlinear systems J. Scherpen Delft University of Technology, Delft Center for

Systems and Control In the theory of continuous time linear systems, the system Hankel operator plays an importantrole in a number of problems. For example, when viewed as mapping from past inputs to futureoutputs, it plays a direct role in the abstract definition of state. It also plays a central role inminimality theory, in model reduction problems, in realization theory, and related to these, in linear identification methods. Specifically, the Hankel operator supplies a set of similarityinvariants, the so called Hankel singular values, which can be used to quantify the importanceof each state in the corresponding input-output system. The Hankel operator can also be factored into the composition of an observability and controllability operator, from whichGramian matrices can be defined and the notion of a balanced realization follows. The Hankelsingular values are most easily computed in a state-space setting using the product of the Gramian matrices, though intrinsically they depend only on the given input-output mapping. The linear Hankel theory is rather complete and the relations between and interpretations in thestate-space and input-output settings are fully understood.The continuous time nonlinear extension of the linear theory is the topic of this presentation. Abrief overview will be given about previous results on the controllability and observabilityfunction and their relation with minimality. Furthermore, the relation with the Hankel operator willbe considered and a combination of state-space and input-output thinking results in the so-called axis-singular value functions that correspond to an input-normal/output diagonal representation. In these developments we rely heavily on the concept of a nonlinear Hilbertadjoint. This is a main ingredient for the Hankel singular value analysis that characterizes theaxis-singular value functions. Based on this, a nonlinear state-space system is brought in balanced form. This state-space realization forms a basis for a new balanced model reductionscheme for nonlinear systems.

SP8 01.54

Semi-Plenary Presentation Chair: A. Bultheel

14:00 - 15:00 Local Optimization of Nonsmooth, Nonconvex Spectral and Pseudospectral Functions in Theory and Practice M. Overton New York University, Courant Institute of

Mathematical Sciences Many functions arising in systems and control are nonsmooth and nonconvex. For continuous-time systems these include the spectral abscissa (maximum real part of the eigenvalues of amatrix), the pseudospectral abscissa (maximum real part of the epsilon-pseudospectrum of a matrix), the distance to instability (smallest perturbation that makes a matrix unstable) and the distance to uncontrollability (smallest perturbation that makes a matrix pair uncontrollable).Analogous measures apply to discrete-time systems. When matrices depend on parameters it isnatural to consider optimization of such functions. We give an overview of variational analysis of these functions in matrix space, emphasizing the importance of regularity (in the sense ofClarke). We then discuss algorithms for evaluating these functions and locally optimizing themover parameters, computing, for example, locally optimal low-order controllers for challenging problems from the applications literature.

SP9 91.56

Semi-Plenary Presentation Chair: C. Scherer

14:00 - 15:00 Control of Dead-Time Systems: A New Look at Some Old Ideas L. Mirkin Technion - Israel Institute of Technology,

Faculty of Mechanical Engineering Loop delays arise naturally in numerous control applications, both from delays in processes andcontrol interfaces and from the use of delays to model complicated physical phenomena. Such systems (known as dead-time systems) form one of the simplest classes of distributedparameter models. Yet when dead-time systems are treated by general-purpose methods of infinite-dimensional systems theory, the structure of the delay element might be lost. As a result, many existing solutions lack the transparency of the classical predictor-based dead-time compensators. In this talk recent progress in delay-oriented methods for control of dead-time systems will be discussed. We will review some dead-time compensation ideas and demonstrate how these ideas show up through optimization-based approaches, such as H2, Hinf, and L1. The main emphases will be put on the following two aspects: •problem-oriented techniques exploiting the structure of the delay element in both time and frequency domains; •system-theoretical interpretations of the resulting control algorithms. Some multiple-delay extensions will also be discussed.

WP1 91.54

Minisymposium Mathematical theory of oscillations in networks and

systems

Organization: R. Sepulchre Chair: R. Sepulchre

15:30 - 16:10 From simple to complex oscillatory behavior in cellular regulatory networks (full) A. Goldbeter Université Libre de Bruxelles - No Abstract Available -

16:10 - 16:30 Drosophila circadian rhythms: stability robustness analysis and model reduction (full) J. M. Goncalves University of Cambridge T. Yi University of California at Irvine This paper shows how biological oscillations can be rigorously analysed using several analysistools from the field of control and dynamical systems theory. Testing for local stability of theperiodic orbit provides information about the system close to the limit cycle. It determines which modes of the system are harder or easier to control and may lead to a simplification of themodel. Local stability, by definition, does not guarantee stability further away from the limitcycle. However, the approximation of nonlinear models by piecewise linear systems can be used to determine more global robustness properties of the system. To illustrate these ideas,this paper investigates two models of circadian rhythms in Drosophila: one by Gonze et al. anda more generic model by Vilar et al. that describes the biological clock in Drosophila as well asother organisms. For both models, local stability analysis shows that most small perturbations toinitial conditions around the limit cycle disappear after one cycle (24 hours). In addition, we demonstrate that in each model only two modes are relevant. Thus both models can be reducedto third-order systems, and the direction of the excitable modes identify the disturbances whichcan cause the most harm. Analysing the piecewise linear approximation of the Gonze-Goldbeter model reveals large regions of stability around both limit cycles, which confirms the linearanalysis results and offers further insight into the source of robustness in these systems. Insummary, the tools described in this paper should help characterise the mechanisms underlyingthe control and regulation of circadian rhythms and other limit cycle behaviours.

16:30 - 16:50 On the robustness of limit cycles (full) U.T. Jonsson Royal Institute of Technology A. Megretski Massachusetts Institute of Technology We consider systems consisting of a feedback interconnection of an exponentially stable lineartime-invariant (LTI) plant with a memoryless nonlinearity. In [1] we show that a limit cycle in such a system persists and remains stable after bounded perturbations of the LTI plant if certaininvertibility conditions hold for the variational system which is obtained after a linearization alongthe nominal limit cycle. Neither the nominal system nor the perturbation need to be finitedimensional but they are required to be bounded in an appropriate induced norm. The situationsimplifies considerably when the nominal system is finite dimensional. Then the conditionsreduce to a well-known stability and robustness condition for finite dimensional systems. Thedistinction is that we allow the perturbation of the system to be dynamic of any order. Ourdiscussion will focus around this result and its applications. Its interest lies in applications where system design and system modeling is based on finite dimensional approximations. Therobustness result allows the systems analyst to rigorously verify that a modeled or designedlimit cycle will appear also in the true infinite dimensional system. [1] U. Jonsson and A. Megretski. A small gain theory for limit cycles. Technical Report TRITA/MAT-03-OS07, Department of Mathematics, Royal Institute of Technology, 2003.

16:50 - 17:10 A negative Bendixson-like criterion for a class of hybrid systems (full)A. Pogromsky Eindhoven University of Technology H. Nijmeijer Eindhoven University of Technology J.E. Rooda Eindhoven University of Technology A condition which ensures absence of periodic orbits for nonsmooth dynamical systems is presented. The condition is a higher dimensional generalization of Bendixson's criterionapplicable to diferential inclusions. The main argument is based on contraction analysis of thed-measured volume along the system trajectories. A connection to the methods for estimates of the Hausdorff dimension is emphasized.

17:10 - 17:30 Contraction analysis of synchronisation and desynchronisation in networks of nonlinearly coupled oscillators (full) J.J.E. Slotine US-MIT W. Wang US-MIT K. El Rifai US-MIT Nonlinear contraction theory allows surprisingly simple analysis of synchronisation phenomenain distributed networks of coupled nonlinear elements. The key idea is the construction of avirtual contracting system whose particular solutions include the individual subsystems' states.The paper also studies the roles, in both nature and system design, of co-existing ``power'' leaders, to which the networks synchronize, and ``knowledge'' leaders, to whose parameters the networks adapt. Applications to large scale computation using neural oscillators are alsodescribed. Similarly, contraction theory can be systematically and simply extended to addressclassical questions in hybrid nonlinear systems. The key idea is to view the formal definition of a virtual displacement, a concept central to the theory, as describing the state transition of adifferential system.

17:30 - 17:50 Dissipativity and global analysis of limit cycles in networks of oscillators (full) G.B. Stan University of Liege R. Sepulchre University of Liege This paper is concerned with the global analysis of synchrone oscillations in special networks ofoscillators. In previous work, we defined a class of high-dimensional, parameter-dependent nonlinear systems exhibiting almost globally asymptotically stable limit cycle oscillations. In thispaper, we show how the limit cycle stability analysis carried for one system extends to thestability analysis of a synchrone oscillation in a network of $N$ identical systems linearlycoupled through their outputs. In our approach, global synchronization results from anincremental dissipativity property of the network.

WP2 01.54

Minisymposium Finite dynamical systems: theory and practice

Organization: Reinhard Laubenbacher

Chair: Reinhard Laubenbacher

15:30 - 16:10 Finite dynamical systems: a survey (full) R. Laubenbacher Virginia Polytechnic Institute and State

University Finite dynamical systems are time-discrete dynamical systems on finite state sets. Well-known examples include cellular automata and Boolean networks, which have found broadapplications in engineering, computer science, and, more recently, computational biology. One underlying mathematical question that is common to many of these applications is how toanalyze the dynamics of the models without actually enumerating all state transitions, sinceenumeration has exponential complexity in the number of model variables. This paper gives an overview over some existing theoretical results and select applications that are the focus ofother talks in this minisymposium.

16:10 - 16:50 Sequential dynamical systems: a mathematical framework for computer simulations (full) H. Mortveit Los Alamos National Laboratory C. Reidys Los Alamos National Laboratory C. L. Barrett Los Alamos National Laboratory We present theoretical aspects and applications of a new class of dynamical systems that were designed to capture key features of computer simulations. This new class, which we refer to assequential dynamical systems (SDS), captures aspects such as e.g. locality of information andcomputation as well as order dependencies and causality. Specifically we address the following topics: Equivalence and reduction of SDSs: For many purposes it is not necessary to know theexact SDS. An SDS with equivalent dynamics will do, and finding a computationally simpler butequivalent SDS is desirable. We present various notions of equivalence and related results. Inparticular we show how a graph covering map p:Y->Z allows us to dervive phase space embeddings of the corresponding SDSs. The importance of this is that the state spaces of theSDS over the image graph Z is significantly smaller than the phase spaces of the original SDSsover Y, and whatever we can deduce about the dynamics of the Z-SDS applies directly to the dynamics of the Y-SDSs. This is similar in spirit to the Hartman-Grobman linearization theorem. Product SDSs: Various types of SDS composition or product constructs naturally merge in thestudy of computer simulations. We show some of these constructs and present initial results ontheir properties. Applications of SDS theory to scheduling: We present an example from transport computations over a set of cells. The cells have interdependencies and the cells mustbe updated in a way that respects this. This naturally gives rise to an SDS formulation of thewhole computation. We show how SDS theory was used to implement the computation on a

parallel machine in order to achieve a high degree of concurrency with resulting gains incomputational speed.

16:50 - 17:30 C-ImmSim: playing with the immune response (full) F. Castiglione Institute for Computing Applications M. Bernaschi Institute for Computing Applications Most simulators of the immune response are deterministic. However, the assumptions made bythe deterministic method do not hold true for many intracellular processes which are sensitive tothe behavior of a relatively small number of molecules. An agent-based model like the one we present (C-ImmSim) offer the chance to simulate deterministic behavior, avoiding the mean fieldapproximation and taking into account the effect of the spatial distribution. The versatility of theC-ImmSim model can be exploited to make a virtual laboratory, where experiments can bemade prior to the design of a real in vitro or in vivo experiment.

WP3 91.56

Minisymposium Port-Hamiltonian systems: an approach to modeling

and control of complex physical systems

Organization: A.J. van der Schaft Chair: A.J. van der Schaft

15:30 - 16:10 Port-Hamiltonian systems: an approach to modeling and control of complex physical systems (full) A.J. van der Schaft University of Twente Prevailing trend in the modeling and simulation of complex physical systems is modularmodeling, where the system is represented as the network interconnection of ideal components. During the last fiteen years it has been shown how a particular type of network modeling,namely port-based modeling, where the sub-systems are interacting with each other through power exchange represented by pairs of conjugated variables, immediately leads to generalized Hamiltonian equations of motion. In fact, the interconnection structure of the complex system,together with power-preserving elements like transformers and workless constraints, defines ageometric object, which is called a Dirac structure. The equations of motion are Hamiltonianwith respect to this Dirac structure and the Hamiltonian defined by the total energy of thesystem, together with the energy-dissipation structure. The resulting class of geometricallydefined systems has been called port-Hamiltonian systems. Recently, this framework has beenextended to distributed-parameter systems. Typical infinite-dimensional components include the transmission line, Maxwell's equations on a bounded domain, beam models, as well as ideal fluid models. This mini-symposium collects some recent advances in the modeling, analysis andcontrol of port-Hamiltonian systems. It will start with a general introduction to the theory of port-Hamiltonian systems, emphasizing the main concepts and treating some typical examples.

16:10 - 16:30 Port-based modeling and analysis of snakeboard locomotion (full) V. Duindam University of Twente G. Blankenstein Katholieke Universiteit Leuven S. Stramigioli University of Twente The snakeboard is a locomotion device, similar to the skateboard, that is often used as anexample to study nonholonomic mechanical systems. Several techniques (on the Lagrangian aswell as on the Hamiltonian side) have been developed in the literature to find simple explicit equations that describe its dynamics. Recently, a new port-based method was proposed that shows explicitly the energy-structure of the system. In this method, the nonholonomicconstraints are written in terms of the configurations and their corresponding momenta. Then abasis for the set of momenta satisfying the constraints is chosen. The basis is constructed insuch a way that its basis (co-)vectors are orthogonal with respect to the kinetic energy metric,and have constant length. New coordinates are defined to express the momenta in the chosen

basis. The system dynamics can be written in terms of the new variables, yielding a reduced setof explicit ordinary differential equations. By construction, the kinetic energy in the new variables is simply a weighted sum of squares of the new momentum coordinates. This allows to interpretthe kinetic energy as the sum of the kinetic energies in the various distinguished `momentum-directions'. Furthermore, it allows to graphically represent the dynamics of the system as a bondgraph network, explicitly showing the individual energy storage elements and theirinterconnection. As shown in the current paper, the bond graph representation can be veryuseful for the analysis and the controller design of the snakeboard. A simple controller,consisting of passive springs, which puts all the energy of the snakeboard in its forward motion,is designed by direct investigation of the bond graph. Furthermore, the port-based method is compared to the well known results on Hamiltonian and Lagrangian reduction. In particular, weshow that the port-based method is actually a special case of the approach of Van der Schaftand Maschke. Furthermore, we show that, for a specific choice of basis, one of the reduced variables corresponds to the nonholonomic momentum map as defined in Bloch,Krishnaprasad, Marsden, and Murray. Its evolution equation, called the momentum equation,directly follows from the bond graph.

16:30 - 16:50 On iterative learning control of nonholonomic Hamiltonian systems (full) K. Fujimoto Nagoya University, Japan This paper is concerned with iterative learning control of Hamiltonian systems withnonholonomic constraints. The author has proposed a novel iterative learning control methodbased on the symmetric property of Hamiltonian control systems. Unfortunately, however, it isnot applicable to nonholonomic systems. The present paper proposes a set of feedback andcoordinate transformations converting a given system into a form to which our method isapplicable. Furthermore, an approximated version of the lerning procedure is also propsedwhich only requires a little knowledge of the plant system.

16:50 - 17:10 Non-minimal representation of Dirac structures for physical systems with switching interconnection (full) M. Magos University Claude Bernard Lyon 1 C. Valentin University Claude Bernard Lyon 1 B. Maschke University Claude Bernard Lyon 1 This paper presents a systematic method, to obtain the hybrid incidence matrix IM(W)associated with the network graph of a wide class of physical switching systems. Then, all theadmissible (physically possible) configurations can by analysed from IM(W) and a non minimal hybrid Dirac structure of the system including real and discrete variables can be calculatedsystematically, leading to an implicit Hamiltonian formulation of the system. The advantages ofthis formulation are that the discrete state of the switching part is explicit and the equations are directly related to the interconnection constraints, energy supply, storage and dissipation.

17:10 - 17:30 Distributed port-hamiltonian formulation of infinite dimensional systems (full) A. Macchelli University of Bologna A. J. van der Schaft University of Twente C. Melchiorri University of Bologna In this paper, some new results concerning the modeling and control of distributed parametersystems in port Hamiltonian form are presented. The classical finite dimensional portHamiltonian formulation of a dynamical system is generalized in order to cope with thedistributed parameter and multi-variable case. The resulting class of infinite dimensionalsystems is quite general, thus allowing the description of several physical phenomena, such asheat conduction, piezoelectricity and elasticity. Furthermore, classical PDEs can be rewrittenwithin this framework. The key point is the generalization of the notion of finite dimensional Dirac structure in order to deal with an infinite dimensional space of power variables. In thisway, also in the distributed parameter case, the variation of total energy within the spatialdomain of the system can be related to the power flow through the boundary. Since this relation deeply relies on the Stokes theorem, these structures are called Stokes--Dirac structures. As far as concerns the control problem, it seems natural that also finite dimensional controlmethodologies developed for finite dimensional port Hamiltonian systems can be extended inorder to cope with infinite dimensional systems. In this paper, the control by interconnection andenergy shaping methodology is applied to the stabilization problem of a distributed parametersystem by means of a finite dimensional controller. The key point is the generalization of thedefinition of Casimir function to the hybrid case, that is the dynamical system to be consideredresults from the power conserving interconnection of an infinite and a finite dimensional part. A simple application concerning the stabilization of the one-dimensional heat equation is presented.

17:30 - 17:50 On interconnections of infinite dimensional port-Hamiltonian systems (full) R. Pasumarthy University of Twente A. J. van der Schaft University of Twente Network modeling of complex physical systems leads to a class of nonlinear systems calledport-Hamiltonian systems, which are defined with respect to a Dirac structure (a geometric structure which formalizes the power-conserving interconnection structure of the system). Apower conserving interconnection of Dirac structures is again a Dirac structure. In this paper westudy interconnection properties of mixed finite and infinite dimensional port-Hamiltonian systems and show that this interconnection again defines a port-Hamiltonian system. We also investigate which closed-loop port-Hamiltonian systems can be achieved by power conservinginterconnections of finite and infinite dimensional port-Hamiltonian systems. Finally we study these results with particular reference to the transmission line.

WP4 01.13

Minisymposium Riccati equations and related topics - Part II

Organization: G. Freiling

Chair: G. Freiling

15:30 - 15:50 Riccati equations and optimal control for infinite-dimensional linear systems (full) K. M. Mikkola Helsinki University of Technology O. J. Staffans Åbo Akademi University We generalize the standard theory on algebraic Riccati equations and optimization to infinite-dimensional well-posed linear systems, thus completing the work of George Weiss, OlofStaffans and others. We show that the optimal control is given by the stabilizing solution of anintegral Riccati equation. If, e.g., the input operator is not maximally unbounded, then thisintegral Riccati equation is equivalent to an algebraic Riccati equation. Our theory covers allquadratic (possibly indefinite) cost functions, but the optimal state feedback need not be well-posed unless the cost function is uniformly positive or the system is sufficiently regular.

15:50 - 16:10 A singular perturbation problem for the Riccati equation (full) V. Kostrykin Fraunhofer-Institut für Lasertechnik K. A. Makarov - No Abstract Available -

16:10 - 16:30 Constructive solutions to general (J,J\')-lossless factorization with respect to the disc (full) C. Oara University Polytechnica Bucharest R. Stefan University Polytechnica Bucharest Constructive Solutions to General (J,J')--Lossless Factorization with Respect to the DiskCristian Oara and Radu Stefan Faculty of Automatic Control and Computers UniversityPolytechnica Bucharest, Bucharest, Romania We consider a rich extension of the usual (J,J')--lossless factorization theory which has been previously developed in state--space only for proper full column rank rational matrices having no poles and/or zeroes on the unit circle. In thispaper we extend the approach by using the same line of thinking as for solving the generalinner--outer factorization problem. Actually, we use state--space realizations to construct solutions to the factorization problem with respect to the unit disk formulated for a completely general rational matrix. The underlying algorithm is based exclusively on orthogonaltransformations and standard reliable procedures for solving Stein and Riccati equations. Theformulas apply in to general descriptor systems or polynomial matrices, and provide the main

technical tool to deal with singular H--infinity control. The main novelty is that we allow forarbitrary rank, poles and zeros on the unit circle, or at infinity.

16:30 - 16:50 The open-loop linear quadratic differential game revisited (full) J. Engwerda Tilburg University The open-loop linear quadratic differential game revisited. Jacob Engwerda (Tilburg University,The Netherlands) In this paper we consider the indefinite open-loop Nash linear quadratic differential game with an infinite planning horizon. We derive both necessary and sufficientconditions for the existence of Nash equilibria. Moreover, we present a sufficient conditionunder which the game will have a unique equilibrium. (Some) results are elaborated for the zero-sum game and the scalar case.

16:50 - 17:10 A numerical algorithm to find soft-constrained Nash equilibria in scalar LQ-games (full) J. Engwerda Tilburg University A numerical algorithm to find soft-constrained Nash equilibria in scalar LQ-games Jacob Engwerda (Tilburg University, The Netherlands) In control theory an extensive theory of robustdesign is already in place. Recently, this background is also used to model risk aversion in a dynamic game context in a linear quadratic setting. This results in the search for so-called soft-constrained Nash equilibria. In this paper we provide a numerical algorithm to calculate all soft-constrained Nash equilibria in a regular scalar indefinite linear-quadratic game. The algorithm is based on the calculation of the eigenstructure of a certain matrix. The analysis follows the linesof a recent approach to calculate all solutions of a set of scalar coupled feedback Nashalgebraic Riccati equations.

17:10 - 17:30 Open loop Nash games and positive systems - solvability conditions for non symmetric Riccati equations (full) D. Kremer RWTH Aachen G. Jank RWTH Aachen In this paper we define positive games, which are based on the notion of positive systems. Especially, two player open loop Nash games on the infinite time horizon are studied. It isknown that the existence of a unique Nash equilibrium is mainly related with the existence of aleft-right stabilizing solution to the algebraic Nash Riccati equation. For the games proposed,such a solution can be constructed with the Newton method under rather mild conditions. Animplementation of this algorithm yields an effective calculation of the desired solution, if it exists. Finally, a numerical example is dicussed.

17:30 - 17:50 Optimal control of disturbed continuous time 2D-systems (full) G. Jank RWTH Aachen We consider disturbed linear $2D$-systems of Fornasini-Marchesini type in the continuous time case. These systems are also named Goursat-type systems. Conditions for unique solvability of the disturbed optimal control problem with a quadratic cost functional are obtained. Thedisturbed or worst case optimal control guarantees to minimize the cost functional for anyunknown disturbance input.

WP5 01.01

Minisymposium Infinite-dimensional systems - Part IV: Stabilization

and controller design

Organization: Birgit Jacob, Michael A. Demetriou, Kirsten Morris

Chair: Birgit Jacob 15:30 - 15:50 New results on the Lyapunov-Krasovskii approach to delay systems (full) E. Plischke Universität Bremen V. L. Kharitonov Control Automatico The construction of complete-type Lyapunov-Krasovkii functionals for a linear time-invariant delay system depends on so-called delay Lyapunov matrices which inherit properties ofclassical quadratic Lyapunov functions for ordinary delay-free differential equations and can be used for stability and robustness analysis. These delay Lyapunov matrices are given as asolution to a matrix delay equation which satisfies additional boundary and symmetryconditions. We will demonstrate how to obtain existence and uniqueness results for delayLyapunov matrices of certain systems. A direct proof can be given in case of a exponentiallystable delay system.

15:50 - 16:10 The suboptimal Nehari problem for stable infinite-dimensional linear systems: bridging the gap (full) R.F. Curtain University of Groningen M.R. Opmeer University of Groningen We solve the suboptimal Nehari problem for a vector-valued transfer function that has a state-space realization as a stable state linear system with bounded input and outputoperators. We give an explicit parameterization of all solutions in terms of thegenerating operators and the usual arbitrary stable parameter.

16:10 - 16:30 A Hamiltonian-based solution to the mixed sensitivity problem for stable pseudorational plants (full) K. Kashima Graduate school of Informatics, Kyoto University Y. Yamamoto Graduate school of Informatics, Kyoto University H. Ozbay The Ohio State University, Japan For the one-block H∞

16:30 - 16:50 Output regulation of periodic signals for DPS : an infinite-dimensional signal generator (full) E. Immonen Tampere University of Technology, Finland S. Pohjolainen Tampere University of Technology, Finland We consider an output regulation problem for exponentially stabilizable infinite-dimensional linear systems. The reference signals are periodic functions in Sobolev spaces$H_{per}^\alpha(0,p)$, $\alpha > \half$, and they are generated by an infinite-dimensional exogenous system. We generalize a result known to hold for finite-dimensional linear plants and - in certain form - for nonlinear plants and linear infinite-dimensional plants, which states that for finite-dimensional exosystems the output regulation problem is solvable if and only if the operator Sylvester type regulator equations are solvable. We also consider the actual solution ofthe regulator equations in the SISO case; this allows us to characterize the solvability of theregulation problem by the growth of certain transfer functions on the imaginary axis. Our resultscan be used to deduce that all periodic reference signals in $H_{per}^\alpha(0,p)$, for some $\alpha > \half$, can be asymptotically tracked. An example from delay-differential equations is presented.

16:50 - 17:10 PID stabilization of SISO delay systems and robust stabilization of systems with multiple transmission delays (full) C. Bonnet INRIA J.R. Partington University of Leeds We consider here PID methods and coprime factor methods to analyse the stabilization of delaysystems in the frequency domain. We deal first with SISO delay systems beginning with dead-time systems with transfer function of the form $\displaystyle G(s)= e^{-sh}\frac{p(s)}{q(s)}$ where $h>0$ and $p$ and $q$ are real polynomials satisfying $\deg p \leq \deg q$ and then examining systems with transfer function $\displaystyle G(s)=\frac{1}{\alpha s + \beta + (\gamma s + \delta)e^{-sT}}$ where $\alpha$, $\beta$, $\gamma$, $\delta$ are real, $\alpha \ne 0$, and $\gamma \ne 0 $ (neutral case) or $\gamma = 0 $ (retarded case); we consider their $H_\infty$-stabilization by PID controllers, and highlight some of the limitations of the PIDtechnique. \medskip Second, we consider multivariable delay systems with transfer function ofthe form $\displaystyle G(s)=\left[ e^{-sh_1}R_1(s),\ldots,e^{-sh_n}R_n(s)\right]$, where the delays $h_1,\ldots,h_n$ are non-negative, and the functions $R_1,\ldots,R_n$ are real, rational and proper. Coprime and B\'ezout factors are obtained in several cases, including where$R_j(s)$ has the form $a_j/(s-\sigma_j)$, where $a_j$ and $\sigma_j$ are constants.

17:10 - 17:30 Coprime factorizations and stabilizability of infinite-dimensional linear systems (full) K. M. Mikkola Helsinki University of Technology O. J. Staffans Åbo Akademi University We present new and extend classical results on coprime factorizations to proper transferfunctions whose values are allowed to be bounded operators between Hilbert spaces of anydimensions. We give sufficient and/or necessary conditions for a proper transfer function tohave 1. a quasi-right coprime, 2. doubly coprime factorization, in terms of A. quotients of stable

transfer functions, B. (state-feedback) stabilizability and/or detectability of realizations, C.dynamic (or ``internal'') stabilizability of realizations, D. the ranges of the Hankel and Toeplitzoperators of the transfer function.

17:30 - 17:50 Sampled-data feedback stabilization of a beam equation with boundary control (full) R. Rebarber University of Nebraska J. Azzam University of Nebraska J. Windle University of Nebraska In this talk we consider the problem of stabilizing an infinite dimensional system with sampled-data feedback. Since there is a huge literature on the design of continuous-time feedback controls for the stabilization of infinite dimensional systems, we consider the following question:Suppose a continuous-time feedback stabilizes the system. Will a sampled-data version of this feedback stabilize the system, if the sampling rate is sufficiently fast?. For finite dimensionallinear systems, the answer is yes, but in infinite dimensions the sampling could introduce instabilities. Roughly speaking, the answer is yes for a linear infinite dimensional system if eitherof the following conditions is true: the system dynamics are governed by an analytic semigroup;or the input operator is bounded operator. For diagonal systems this last condition is slightlyweakened to include cases where the continuous time transfer function can be realized withbounded input and output operators. There is an example in the literature where neither ofthese conditions holds, and stabilization is not obtained for all sufficiently small sampling times.However, there has been no example where the system doesn't satisfy either of theseconditions, yet the sampled-data feedback stabilizes the system for all sufficiently smallsampling times. This is a significant question, since we would like to know whether it is possibleto stabilize a hyperbolic PDE with sampled-data feedback in a boundary control term. In this talkwe show that for a beam equation with boundary control, the sampled-data version of a stabilizing continuous-time feedback also stabilizes for sufficiently small sampling times.

WP6 01.19

Minisymposium Structured Matrices and Applications - Part II

Organization: V. Olshevsky, Y.Eidelman

Chair: V. Olshevsky

15:30 - 15:50 Direct approach to the band completion problem (full) Y. Eidelman Tel Aviv University I. Gohberg Tel Aviv University We consider the problem of the completion of a block matrix with a specified band. The completion is required to be invertible and the inverse to be a band matrix of the same width asthe specified band of the original matrix. The usual methods for solving this problem were basedon the factorization of the inverse matrix. We solve the same problem in a different way. The completion of original data is made directly via explicit formulas. This approach also offers away to obtain the known results as well as new ones. For instance a new permanence principlefor inverse matrices is established. This in particular yields a new inversion formula which weuse extensively. It turns out that the solution of the band completion problem coincides with theproblem of completion of a band to a Green matrix. This result is based on a theorem onrelations between the ranks of submatrices of a block matrix and the ranks of the correspondingsubmatrices of its inverse. Notice that the completion obtained belongs to the class ofquasiseparable matrices. Separately we consider the case of positive completions.

15:50 - 16:10 Anti-reflective boundary conditions and re-blurring (full) M. Donatelli Universita dell’ Insubria - Sede di Como S. Serra-Capizzano Universita dell’ Insubria - Sede di Como

16:10 - 16:30 A unitary Hessenberg QR-based algorithm via semiseparable matrices (full) L.Gemignani University of Pisa In this paper we present a novel method for solving the unitary Hessenberg eigenvalueproblem. In a first phase, an algorithm is designed to transform the unitary matrix into adiagonal-plus-semiseparable (dpss) form. Then we rely on our earlier adaptation of the QRalgorithm which exploits the semiseparable matrix structure to approximate the eigenvalues in afast and robust way.

16:30 - 16:50 A new inertia theorem for Stein equations, inertia of invertible hermitian block Toeplitz matrices and matrix orthogonal polynomials (full) L. Lerer Technion A.C.M. Ran Vrije Universiteit In his paper we solve two interconnected problems. The first is to derive an inertia result forStein equations with an indefinite right hand side. The main tool here is an extension result forisometries in indefinite inner product spaces. The second problem is to identify the inertia of an invertible hermitian block Toeplitz matrix T in terms of associated orthogonal matrix polynomialsin the case when the (0,0)-block entry of the inverse of T is indefinite. The main tools here arethe new inertia theorem,established in this paper, and some earlier results of I.Gohberg andL.Lerer who solved this problem for the definite case.

16:50 - 17:10 The eigendecomposition of arrowhead matrices: an overview (full) N. Mastronardi National Council of Italy M. Van Barel Katholieke Universiteit Leuven E. Van Camp Katholieke Universiteit Leuven - No Abstract Available -

17:10 - 17:30 Superfast solver for real symmetric toeplitz systems using real trigonometric transformations (full) M.Van Barel Katholieke Universiteit Leuven G. Codevico Katholieke Universiteit Leuven G.Heinig Kuwait University In this talk a new fast algorithm for the solution of linear systems of equations $T_n x= b$ with anonsingular real $n\times n$ {symmetric} Toeplitz coefficient matrix $T_n=[\,a_{|i-j|}\,]_{i,j=0}^{n-1}$ is presented that computes the solution with computational complexity $O(n\log^2n)$. In the literature several superfast algorithms have been designed. All these algorithms are based on the Fast Fourier Transform. In contrast to this, the new algorithm is based on real trigonometrictransforms. Since the complexity for trigonometric transforms is essentially less than that onefor complex FFT, even less than real FFT, the new algorithm should be, if the implementationdetails are worked out properly, faster than previous ones.

17:30 - 17:50 The Kharitonov theorem and bezoutians (full) A.Olshevsky MIT V.Olshevsky University of Connecticut In this correspondence we answer a question posed by Willems and Tempo in 1999, andprovide an elementary proof of the Kharitonov theorem deducing it from the classical Hermitecriterion. The proof is based on the concept of a Bezoutian matrix. Generally, exploiting the special structure of such matrices (e.g., Bezoutians, Toeplitz, Hankel or Vandermonde matrices,

etc.) can be interesting, e.g., leading to unified approaches in different cases, as well as tofurther generalizations. Here the concept of the Bezoutian matrix is used to provide a unifiedderivation of the Kharitonov-like theorems for the continuous-time and discrete-time settings. Finally, the (block) Anderson-Jury Bezoutians are used to propose a possible technique toattack an open difficult problem related to the robust stability in the MIMO case.

WP7 01.07

Minisymposium Randomized algorithms and probabilistic methods in

systems and control

Organization: Roberto Tempo Chair: Roberto Tempo

15:30 - 16:10 An overview of randomized algorithms in robust control theory (tutorial) (full) M. Vidyasagar Tata Consultancy Services, India - No Abstract Available -

16:10 - 16:30 An overview of quasi-Monte Carlo methods in control systems (full) P.F. Hokayem University of Illinois at Urbana-Champaign C. T. Abdallah University of New Mexico P. Dorato University of New Mexico S. Mastellone - No Abstract Available -

16:30 - 16:50 Guaranteed cost regulator design: probabilistic solution and randomized algorithm (full) Y. Fujisaki Kobe University, Japan Y. Oishi The University of Tokyo This paper presents a gradient-based randomized algorithm to design a guaranteed cost regulator for a plant with general parametric uncertainties. The algorithm either provides withhigh confidence a probabilistic solution that satisfies the design specification with highprobability for a randomly sampled uncertainty or claims that the feasible set of the design parameters is too small to contain a ball with a given radius. In both cases, the number ofiterations executed in the algorithm is of polynomial order of the problem size and isindependent of the dimension of the uncertainty.

16:50 - 17:10 Stochastic approximation algorithms for robust output feedback controller design (full) C. M. Lagoa Pennsylvania State University X. Li Pennsylvania State University M. Sznaier Pennsylvania State University The focal point of this paper is the design of robust controllers for uncertain linear time-invariant systems with arbitrary uncertainty structure. We provide a class of nonstandard stochasticapproximation algorithms which, depending on the choice of the algorithm parameters, enables one to solve several robust design problems including some that are considered the be open upuntil now. As an example of the application of this new approach, we provide a numericalexample where the algorithm is applied to the problem of robust multi-objective controller design.

17:10 - 17:30 The randomized ellipsoidal algorithm with application to fault-tolerant control (full) S. Kanev Delft University of Technology M. Verhaegen Delft University of Technology In this paper we present a randomized ellipsoid algorithm with application to robust active fault-tolerant control (FTC) design problems. The majority of FTC design approaches that have beendeveloped usually deal with some restricted class of faults, e.g. faults that "enter" the state-space matrices in a linear way such as some sensor and actuator faults. Many deterministicapproaches to FTC have been proposed that can deal with some specific cases of faults. Inpractice, however, many faults (for instance parametric faults) do not enter the state-space matrices necessarily in a linear manner. Moreover, as faults are not directly measurable, but areestimated online by dedicated algorithms, their estimates are often only known to lie in some time-varying uncertainty intervals. Addressing the problem of FTC for general nonlinear faultswith uncertainty in a deterministic framework becomes an NP-hard problem. In this paper this problem is instead addressed in a probabilistic framework. We present a robust active FTC method based on randomized parameter-varying controller (LPV) design that can deal withnonlinear faults with time-varying uncertainties.

17:30 - 17:50 Randomized algorithms for some hybrid systems problems (full) H. Ishii University of Tokyo T. Basar University of Illinois at Urbana-Champaign R. Tempo Politecnico di Torino In this talk, we present probabilistic algorithms for some control problems arising in hybridsystems. We first describe a stability analysis method for quantized sampled-data control systems. Here, we extend stochastic approximation techniques which have been applied tovarious convex problems in robust control. Then, we consider the problem of synthesis of switching rules for switched systems. The specific condition here has a nonconvex structure,which turns out to be a generalization of the convex one encountered in the first problem. Thischange in the class of problems requires us to employ a broader notion of convergence for the algorithms.

WP8 01.25

Minisymposium Learning theory and kernel methods - Part II

Organization: J.A.K. Suykens

Chair: J.A.K. Suykens

15:30 - 15:50 Complexity and regularization issues in kernel-based learning (full) M. Sanguineti University of Genova Learning from data is investigated in the context of kernel methods. Regularization andcomplexity issues are discussed for learning tasks modelled as minimization of regularizedempirical error functionals in Reproducing Kernel Hilbert Spaces. Generalization capabilitiesunder constraints on model complexity are discussed.

15:50 - 16:10 When do support vector machines learn fast? (full) I. Steinwart Los Alamos National Laboratory C. Scovel We establish learning rates to the Bayes risk for support vector machines (SVM's) with hingeloss. Since a theorem of Devroye states that no learning algorithm can learn with a uniform rateto the Bayes risk for all probability distributions we have to restrict the class of considereddistributions: in order to obtain fast rates we assume a noise condition recently proposed byTsybakov and an approximation condition in terms of the distribution and the reproducing kernel Hilbert space used by the SVM. For Gaussian RBF kernels with varying widths we propose ageometric noise assumption on the distribution which ensures the approximation condition. Thisgeometric assumption is not in terms of smoothness but describes the concentration of the marginal distribution near the decision boundary. In particular we are able to describe nontrivialclasses of distributions for which SVM's using a Gaussian kernel can learn with almost linearrate.

16:10 - 16:30 alfa, beta and 2-norm stability for additively regularized LS-SVMs via convex optimization (full) K. Pelckmans K.U. Leuven J.A.K. Suykens K.U. Leuven B. De Moor K.U. Leuven This paper considers the design of an algorithm that maximizes explicitly its own stability. The stability criterion - as often used for the construction of bounds on the generalization error of alearning algorithm - is proposed to compensate for overfitting. The primal-dual formulation characterizing Least Squares Support Vector Machines (LS-SVMs) and the additive regularization framework are employed to derive a computational and practical approach

combined with convex optimization. The method is elaborated for non-linear regression as well as classification. The proposed stable kernel machines also lead to a new notion of $L_\alpha$ and $L_\beta$ curves instead of the traditional L-curves defined on training data.

16:30 - 16:50 Designing kernel functions using the karhunen-loeve expansion (full) M. Sugiyama Tokyo Institute of Technology H. Ogawa Tokyo Institute of Technology In this contribution, we propose a design method of kernel functions for kernel regression. Weformulate the kernel design problem as finding the optimal approximation to a set of local functions. This formulation enables us to use the well-known Karhunen-Loeve expansion---the optimal kernel function is given by the principal component of the correlation operator of localfunctions. Using this methodology, we give a specific kernel function for binary regressionproblems, where the learning target function is binary.

16:50 - 17:10 Efficiently updating and tracking the dominant kernel eigenspace (full)L. Hoegaerts Katholieke Universiteit Leuven L. De Lathauwer Centre National de la Recherche Scientifique J.A.K. Suykens Katholieke Universiteit Leuven J. Vandewalle The dominant set of eigenvectors of the symmetric kernel Gram matrix is frequently used inmany important kernel methods (like e.g. kernel Principal Component Analysis, featureapproximation, denoising, compression, prediction) in the machine learning domain. Yet in thecase of dynamic and/or large scale data, the batch calculation nature and computational demands of the eigenvector decomposition limit these methods in numerous applications. Inthis paper we present an efficient incremental approach for fast calculation of the dominantkernel eigenbasis, which allows to track the kernel eigenspace dynamically. Experiments show that our updating scheme delivers a numerically stable and accurate approximation at everyiteration in comparison to the batch algorithm.

17:10 - 17:30 Least squares support vector machines for kernel CCA in nonlinear state-space identification (full) V. Verdult Delft University of Technology J. .A. K. Suykens K. U. leuven J. Boets K. U. leuven I. Goethals, B. De Moor We show that kernel canonical correlation analysis (KCCA) can be used to construct a state sequence of an unknown nonlinear dynamical system from delay vectors of inputs and outputs.In KCCA a feature map transforms the available data into a high dimensional feature space,where classical CCA is applied to find linear relations. The feature map is only implicitly defined through the choice of a kernel function. Using a least squares support vector machine (LS-SVM) approach an appropriate form of regularization can be incorporated within KCCA. The statesequence constructed by KCCA can be used together with input and output data to identify anonlinear state-space model. The presented identification method can be regarded as anonlinear extension of the intersection based subspace identification method for linear time-invariant systems.

17:30 - 17:50 The ingredients of the fundamental theorem of learning (full) J. Shawe-Taylor University of Southampton A. Ambroladze The fundamental theorem of learning asserts that if the VC dimension of a hypothesis class is finite, then the probability that the training set will not mislead us is big independently of thedistribution generating the set. This means that for a typical training set any hypothesisconsistent with the set has a good generalization ability (the generalization error is small). Hereone counts even those training sets for which there are no hypothesis consistent with the giventraining set at all. Such training sets does not mislead us but at the same time does not leadanywhere either. In this work we investigate how big is the portion of those training sets forwhich there exist consistent hypotheses and any such hypothesis has a good generalizationability. Our main result is that this portion is small and it does not help if we drop the requirement on the bounds to be distribution free.

WP9 01.56

Minisymposium Modelling, analysis and design of positive systems

Organization: J. J. Winkin

Chair: J. J. Winkin

15:30 - 15:50 A tutorial on monotone systems- with an application to chemical reaction networks (full) P. De Leenheer DIMACS/Rutgers University D. Angeli Universita di Firenze E.D. Sontag Rutgers University Monotone systems are dynamical systems for which the flow preserves a partial order. Some applications will be briefly reviewed in this paper. Much of the appeal of the class of monotonesystems stems from the fact that roughly, most solutions converge to the set of equilibria.However, this usually requires a stronger monotonicity property which is not always satisfied oreasy to check in applications. Following a result by J.Jiang we show that monotonicity is enoughto conclude global attractivity if there is a unique equilibrium and if the state space satisfies aparticular condition. The proof given here is self-contained and does not require the use of any of the results from the theory of monotone systems. We will illustrate it on a class of chemicalreaction networks with monotone, but otherwise arbitrary, reaction kinetics.

15:50 - 16:10 The geometry of the reachability set for linear discrete-time systems with positive controls (full) L. Benvenuti Universita di Roma L. Farina Universita di Roma In this paper we study the geometrical properties of the set of reachable states of a single inputdiscrete-time LTI system with positive controls. This set is a cone and it can be expressed asthe direct sum of a linear subspace and a proper cone. In order to give a complete geometricalcharacterization of the reachable set, we provide a formula to evaluate the dimension of thelargest reachable subspace and conditions for polyhedrality of the proper cone.

16:10 - 16:30 Modelling and analysis of nonlinear compartmental systems: an overview. (full) G. Bastin Université Catholique de Louvain Many processes in numerous fields of engineering and physical sciences are mainly governedby mass and flux conservation laws which are expressed by systems of nonlinear differential equations that are called compartmental systems. The goal of this talk is to give an overview of

available results concerning the analysis of nonlinear compartmental systems, with a specialemphasis of the qualitative aspects. The following topics will be covered : definition and basic structural properties of compartmental systems, existence of equilibria, stability, connection withstoichiometric conditions, special properties of cooperative compartmental systems, positivecontrol of compartmental systems.

16:30 - 16:50 Positivity and invariance properties of a tubular biochemical reactor nonlinear model (full) M. Laabissi Université Chouaib Doukkali J. J. Winkin University of Namur (FUNDP) D. Dochain Université Catholique de louvain M. E. Achhab The existence and uniqueness of the state trajectories (limiting substrate and living biomass)are analyzed for a tubular biochemical reactor nonlinear model. It is mainly reported that thetrajectories exist on the whole (nonnegative real) time axis and the set of all physically feasiblestate values is invariant under the dynamics equations. This set takes into account the positivityof the state variables as well as a saturation condition on the substrate. This axial dispersion fixed bed reactor model is derived by using mass balance principles and consists of nonlinearpartial differential equations with Danckwertz type boundary conditions. The main nonlinearity inthe model originates from the substrate inhibition term in the model equations, and is a specificrational function of the state components. The analysis essentially uses Lipschitz anddissipativity properties of the nonlinear operator involved in the dynamics and the concept ofstate trajectory positivity.

16:50 - 17:10 Positive control for competition models with inhibition in the chemostat (full) J.L. Gouze INRIA, France G. Robledo INRIA, France The purpose of this paper is to find sufficient conditions for the coexistence of two species in competition in a chemostat with a single substrate and nonmonotone uptake functions bymeans of control theory and using the dilution rate as the control variable. Competition theoryfor chemostat models without control predicts that the principle of competetive exclusion holds,i.e. at most one species survives and the other one tends to extinction. Recently, De Leenheerand Smith have obtained sufficient conditions for the coexistence in a chemostat model withmonotone uptake functions, considering the dilution rate as feedback control variable andkeeping the input substrate concentration at a fixed value. We want to extend this resultconsidering nonmonotone uptake functions, deterministic noise in the outputs and nonzero removal rates. In this paper we survey some results concerning nonmonotone uptake functionsand sketch some preliminary results concerning uncertain outputs and different removal rates.The importance of studying nonmonotone uptake functions has been pointed out by several works that consider substrates which are growth limiting at low concentrations but are inhibitoryfor the species at higher concentrations. Common examples of those cases are the inhibition ofNitrobacter winogradskyi and Nitrosomas by nitrite and ammonia respectively, the inhibition ofPseudomonas putida and Thricosporon cutaneum by phenol, and the inhibition of Candida utilisby ethanol.

17:10 - 17:30 On controlling the transient response of a SISO LTI system (full) D. Swaroop Texas A&M University S.P. Bhattacharyya Texas A&M University W. A Malik Texas A&M University The main topic of investigation of this paper is to find a bound for the set of control parametersK so that a rational proper transfer function N(s,K)/D(s,K) has a decaying, non-negative impulse response. It is assumed that the coefficients of the polynomials N(s,K) and D(s,K) are affine inK. A broad class of transient response control problems can be formulated in this way. An earlier result by the authors enables one to constructively find the set of controllers K thatrender D(s,K) Hurwitz as a countable union of polyhedral sets. Another result by the authorsprovides two necessary conditions for the transfer function N(s,K)/D(s,K) to have a non-negative impulse response: the dominant root of D(s,K) be real and no real root of N(s,K) be greater thanthe dominant root of D(s,K). Using these two results and the Descartes' rule of signs, aprocedure is outlined to construct an outer approximation (as a union of polyhedral sets) of theset of controllers K so that N(s,K)/D(s,K) has a non-negative and decaying impulse response.

17:30 - 17:50 Positive filters with charge routing networks for image processing (full) L. Benvenuti Università di Roma A. De Santis Università di Roma L. Farina Università di Roma This paper deals with the implementation of a filter of interest in the field of image processingusing an integrated Charged Coupled Device technology (CRN) aiming to embed, on a singlechip, an image sensing device and a filter.

WP10 01.31

Minisymposium Interpolation and factorization in several variables

Organization: Hugo J. Woerdeman

Chair: Hugo J. Woerdeman

15:30 - 15:50 Remarks on generalized lemniscates (full) M. Putinar University of California Let A be a n \times n complex matrix, with cyclic vector v. The level set of the function \| (A-z)^{-1}v\| >1 is a generalized lemniscate. These semi- algebraic sets appear naturally in planar potential theory. I will review some of the geometric, algebraic and analytic properties related tothese sets.

15:50 - 16:10 Deconvolution of absolutely summable signals supported by sector semigroups in Z^N (full) F. Zrostlík Czech Technical University in Prague Within MTNS'98 and IASTED'01, E. Krajník provided a convolution Banach algebra backgroundfor modelling multidimensional (or N-D) discrete signals and systems; within IASTED'01, among others, interrelations between convolution Banach algebras of all absolutely summablesequences supported by a so-called sector semigroup (or sector) in Z^N (CBAs over sectors inZ^N) and certain associated periodic convolution Banach algebras of all N-D ''parallelogram-periodic sequences'' were discussed. This paper deals with an indirect computation ofconvolution and, primarily, deconvolution (if it exists) in the former algebras via a DFT-compatible approximation method, realized (except for certain homomorphisms) in the latteralgebras. The method is associated with a sequence of so-called circular convolution operators and, therefore, called the circular convolution operator method (CCOM). The CCOM is appliedwithin a generally accepted approximation framework, adopted from Hagen et al. "SpectralTheory of Approximation Methods for Convolution Equations," 1995. Apart from other things, akey explicit formula for the recipe of a generalized circular convolution over a "parallelogram-truncation" of a sector in Z^N, N in {1, 2}, is presented. Above all, with a contribution of someKrajník's results, constructive necessary and sufficient conditions for "applicability" of the CCOMto computing deconvolution in the CBAs over sectors in Z^N, N in {1, 2}, are obtained.

16:10 - 16:30 Stochastic control, Bellman function, harmonic analysis (full) A. Volberg USA - MSU - No Abstract Available -

16:30 - 16:50 Tangential interpolation of operator functions on the bidisk (full) L. Rodman USA - College of William and Mary Bitangential interpolation problems are formulated for classes of operator-valued functions whose values are Hilbert--Schmidt operators and which are analytic in a polydisk. A procedure is described for reduction of the problems in the $d$-polydisk to the analogous problems in the $(d-1)$-polydisk. Using this procedure, for the case of the bidisk, minimal norm solutions areexplicitly described in terms of the interpolation data, and formulas for the general solution areobtained. These formulas, and the description of minimal norm solutions, make it possible insome cases to describe the general solutions, as well as the minimal norm solution, of one--sided interpolation problems in classes of Hilbert--Schmidt operator valued functions that enjoy certain symmetries. Applications to multipoint interpolation are made. The talk is based on jointworks with D. Alpay, V. Bolotnikov, and M. C. B. Reurings.

16:50 - 17:10 Scattering systems with several evolutions and multidimensional input/state/output systems (full) J.A. Ball Virginia Tech C. Sadosky Howard University V. Vinnikov Ben Gurion University of the Negev The one-to-one correspondence between one-dimensional linear (stationary, causal) input/state/output systems and scattering systems with one evolution operator, in which thescattering function of the scattering system coincides with the transfer function of the linear system, is well understood, and has significant applications in $H^{\infty}$ control theory. Here we consider this correspondence in the $d$-dimensional setting in which the transfer and scattering functions are defined on the polydisk.Unlike in the one-dimensional case, the multidimensional state space realizations and the corresponding multi-evolution scattering systems are not necessarily equivalent, and the cases $d=2$ and $d>2$ differ substantially. Anew proof of And\^o's dilation theorem for a pair of commuting contraction operators and a newstate-space realization theorem for an inner function on the bidisk are obtained as corollaries ofthe analysis.

Thursday, July 8, 2004 P4 Aula Pieter De Somer

Plenary Presentation Chair: P. Van Dooren

09:00 - 10:00 A unified approach to modeling, analysis and numerical solution for control problems V. Mehrmann Technische Universität Berlin, Institut für Mathematik We discuss the analysis and numerical solution of over- and underdetermined systems of nonlinear differential-algebraic equations. Such equations allow a unified treatment of simulationand control problems for many systems arising in applications such as circuit theory or multibody systems. The general approach that we present is useful, in particular, for systemsthat are automatical generated, since then typically the system has redundancies. Our approachincorporates control problems via the behaviour framework. We give a general (local) existenceand uniqueness theory, discuss issues like the appropriate index, and we show when generalnonlinear implicit control problems can be made regular by state or output feedback.Thetheoretical analysis also leads to new numerical methods for the simulation as well as theconstruction of feedbacks. We present some numerical examples.

THA1 91.54

Minisymposium Multidimensional systems and repetitive processes -

Part II

Organization: K. Galkowski, E. Rogers Chair: K. Galkowski

15:30 - 15:50 Every internally stabilizable multidimensional system admits a doubly coprime factorization (full) A. Quadrat INRIA Sophia Antipolis, France The purpose of this paper is to show how to combine some new results on internal stabilizability(A. Quadrat, ``The fractional representation approach to synthesis problems: an algebraicanalysis viewpoint. Part I: (weakly) doubly coprime factorizations. Part II: internal stabilization'',SIAM Journal on Control and Optimization, 42 (2003), 266-299 and 300-320, A. Quadrat, ``On a generalization of the Youla-Kucera parametrization. Part I: The fractional ideal approach toSISO systems'', Systems and Control Letters, 50 (2003), 135-148, A. Quadrat, ``A generalization of the Youla-Kucera parametrization for MIMO stabilizable systems'',Proceedings of the Workshop on Time-Delay Systems (TDS03), IFAC Workshop, INRIARocquencourt (France) (08-10/09/03)) with a result on multidimensional linear systems, independently obtained by Byrnes-Spong-Tarn (C. I. Byrnes, M. W. Spong, T.-J. Tarn, ``A several complex variables approach to feedback stabilization of linear neutral delay-differential systems'', Mathematical Systems Theory, 17 (1984), 97-133) and Kamen-Khargonekar-Tannenbaum (E. Kamen, P. P. Khargonekar, A. Tannenbaum, ``Pointwise stability andfeedback control of linear systems with noncommensurate time delays'', Acta ApplicandaeMathematicae, 2 (1984), 159-184) in order to prove a conjecture of Z. Lin (Z. Lin, ``Feedback stabilizability of MIMO $n$-D linear systems'', Multidimensional Systems and Signal Processing,9 (1998), 149-172, Z. Lin, ``Feedback stabilization of MIMO 3-D linear systems'', IEEE Transactions on Automatic Control, 44 (1999), 1950-1955, Z. Lin, ``Output feedback stabilizability and stabilization of linear n-D systems'', in Multidimensional Signals,Circuits andSystems, edited by K. Galkowski, J. Wood, Taylor and Francis, 59-76, 2001). In particular, we shall show that every internal stabilizable multidimensional linear system (in the sense of thestructural stability) admits a doubly coprime factorization, and thus, all stabilizing controllers ofan internally stabilizable multidimensional linear system can be parametrized by means of the Youla-Kucera parametrization.

15:50 - 16:10 Poles, polynomial-exponential trajectories, and the MPUM (full) E. Zerz University of Kaiserslautern We study multidimensional behaviors given by linear constant-coefficient PDE. The poles of a behavior correspond to its polynomial-exponential trajectories. For a fixed pole, the problem canbe reduced to finding polynomial solutions. We show how to decide whether the polynomial

solution set of a system of PDE is finite-dimensional. If yes, we construct a basis. Generally, wecan only do this for the polynomial solutions whose degree is bounded. We describe theasymptotics of the dimensions of these spaces as the degree bound grows. Finally, weconstruct the most powerful unfalsified model for a given finite set of polynomial-exponential trajectories. ~

16:10 - 16:30 On the use of behavioural theory in the analysis and control of discrete (full) V.R.Sule Indian Institute of Technology E. Rogers University of Southampton The essential unique characteristic of a repetitive, or multipass, process is a series of sweeps,termed passes, through a set of dynamics defined over a fixed finite duration known as the passlength. On each pass an output, termed the pass profile, is produced which acts as a forcingfunction on, and hence contributes to, the next pass profile. This, in turn, leads to the uniquecontrol problem for these processes in that the output sequence of pass profiles generated can contain oscillations that increase in amplitude in the pass-to-pass direction. The purpose of this paper is to continue the investigation of the key problems of repetitive systems theory for theimportant sub-class of so-called discrete linear repetitive processes within the framework of behavioural systems theory. In this framework an analysis of the dynamic system is developedusing the most natural model of the system rather than in terms of models in which inputsoutputs and states are pre-specified. This offers several advantages and allows transformationsof all the variables of the system rather than being restricted to these three separate classesinputs, outputs or states. Previous work has shown that such an approach has the potential tosolve currently open systems theoretic problems for these processes. Here we give new resultson the key problem of whether and when does there exist a constant output feedback stabilizingcontroller which is also causal.

16:30 - 16:50 Unknown input observers for 2D systems (full) M. Bisiacco University of Padova, Italy M.E. Valcher University of Padova, Italy In this paper, dead-beat unknown input observers (UIOs) for two-dimensional (2D) state-space models, described by a Fornasini-Marchesini model, are investigated. Dead-beat UIOs are observers which produce an exact estimate of the original system state trajectory, after a finitenumber of evolution steps, independently of the system and observer initial conditions and of the unknown disturbances that affect the system functioning. Necessary and sufficientconditions for the existence of a dead-beat UIO can be expressed in terms of suitable Bezoutequations. Consequently, a complete parametrization of all problem solutions, by this meaning all possible solutions of the Bezout equations and hence all possible UIOs transfer matrices, isprovided. As a further result, 2D systems which admit a unique dead-beat UIO (transfer matrix) are fully characterized.

16:50 - 17:10 Bang-bang controls and piecewise constant ones for continuous Roesser systems (full) D. Idczak University of Łódź M. Majewski University of Łódź \noindent In the paper we consider a system of type \begin{eqnarray*} z_{x}^{1} &=&A_{11}(x,y)z^{1}+A_{12}(x,y)z^{2}+f^{1}(x,y,u^{1}) \\ z_{y}^{2} &=&A_{21}(x,y)z^{1}+A_{22}(x,y)z^{2}+f^{2}(x,y,u^{2}) \end{eqnarray*} for $(x,y)\in P=[0,1]\times [0,1]$ a.e., with the boundary conditions $$ z^{i}(x,0)=z^{i}(0,y)=0,\ x,y\in [0,1],\ i=1,2, $$ where $z^{i}\in \mathbb{R}^{n_{i}}$, $A_{ij}$ are matrix-valued functions of appropriate dimensions and $f^{i}:P\times \mathbb{R}^{r_{i}}\rightarrow \mathbb{R}^{n_{i}}$. In the first part, we derive thebang-bang principle for such system in the case when the functions $f^{i}$ are linear in $u^{i}$.This principle says, roughly speaking, that the set of points $(z^{1}(1,1),z^{2}(1,1))$ is the samefor a class of measurable controls taking their values in a set $M_{1}\times M_{2}$ (by a control we mean a pair of functions $((u^{1})_{y},(u^{2})_{x})$) and for a class of measurable controlstaking their values in a set $N_{1}\times N_{2}$, provided these sets are compact and have thesame convex hulls. In the second part, we prove some density result concerning the piecewise constant controls. This result states that the set of points $(z^{1}(1,1),z^{2}(1,1))$,corresponding to the class of piecewise constant controls is dense in the set of points$(z^{1}(1,1),z^{2}(1,1))$, corresponding to the class of integrable controls.

17:10 - 17:30 State feedback stabilization of discrete linear repetitive processes with switched dynamics (full) K. Galkowski University of Zielona Gora D. Mehdi L.A.I.I, France E. Rogers University of Southampton O. Bachelier Linear repetitive processes are a distinct class of 2D systems of both system theoretic andapplications interest. The essential unique characteristic of such a process is a series ofsweeps, termed passes, through a set of dynamics defined over a fixed finite duration known asthe pass length. On each pass an output, termed the pass profile, is produced which acts as aforcing function on, and hence contributes to, the next pass profile. This, in turn, leads to theunique control problem for these processes in that the output sequence of pass profilesgenerated can contain oscillations that increase in amplitude in the pass-to-pass direction. This paper reports new results when the process dynamics are the subject of switching.

THA2 01.54

Paper Session Switched Linear Systems II

Chair: C. Lagoa

10:30 - 10:50 A monotonicity property of the joint spectral radius (full) F. Wirth Hamilton Institute, Ireland We show that the joint spectral radius of a set of matrices is strictly increasing as a function ofthe data in the sense that if a set of matrices is contained in the relative interior of the convexhull of an irreducible set of matrices, then the joint spectral radius of the smaller set is strictly smaller than that of the larger set. This observation has some consequences in the theory oftime-varying stability radii and their calculation. We show by example that, strict monotonicitynotwithstanding, $0$ may be a proximal normal of the joint spectral radius of some (finitelyparameterized) matrix polytopes functions. This shows that the time-varying stability radius is not in general Lipschitz continuous when it is continuous.

10:50 - 11:10 Computationally efficient approximations of the joint spectral radius (full) V. Blondel Université Catholique de Louvain Y. Nesterov Université Catholique de Louvain The joint spectral radius of a set of matrices is a measure of the maximal asymptotic growth rate that can be obtained by forming long products of matrices taken from the set. This quantityappears in a number of application contexts but is notoriously difficult to compute and toapproximate. We introduce in this paper a procedure for approximating the joint spectral radius of a finite set of matrices with arbitrary high accuracy. Our approximation procedure ispolynomial in the size of the matrices once the number of matrices and the desired accuracyare fixed. As a by-product of our results we prove that a widely used approximation of the jointspectral radius based on common quadratic Lyapunov functions (or on ellipsoid norms) hasrelative accuracy $1/\sqrt m$, where $m$ is the number of matrices.

11:10 - 11:30 On the relations between discrete and continuous time stability for switched linear systems (full) V.D. Blondel Université Catholique de Louvain J. Theys Université Catholique de Louvain In this note, we present some elementary observations on the relations between stability properties of switched linear systems in discrete and continuous time. We show that the usualmatrix bilinear transformation between continuous and discrete time preserves the existence ofcommon quadratic Lyapunov functions for both time domains. We then exhibit an example of asystem that is stable in continuous time but becomes unstable in discrete time after applicationof the bilinear transformation. We also consider the matrix exponential transformation and show

with an example that the existence of a common quadratic Lyapunov function is not preservedunder this transformation. We also exhibit an unstable continuous time switched linear systemthat becomes stable in discrete time after application of the matrix exponential transformation.

11:30 - 11:50 Preliminary results on the stability of switched positive linear systems (full) L. Gurvits Los Alamos National Laboratory R. Shorten Hamilton Institute, NUI Maynooth O. Mason Hamilton Institute, NUI Maynooth It was recently conjectured that the Hurwitz stability of a polytope of Metzler matrices wasnecessary and sufficient for the stability of the associated switched linear system for arbitraryswitching sequences. In this paper we show: (i) that this conjecture is true for a polytopeconstructed from a finite number of second order Metzler matrices; and (ii) that the conjecture isin general false for higher order systems. The implications of our results for the design ofswitched positive linear systems are discussed toward the end of the paper.

11:50 - 12:10 Stability of 2D switched linear systems with conic switching (full) H. Lens University of Toronto M. E. Broucke University of Toronto A. Arapostathis University of Texas The objective of this paper is to explore necessary and sufficient conditions for stability of aclass of switched linear systems in the plane. The switched systems we consider consist ofseveral linear subsystems with a conic switching law specifying the active subsystem at eachpoint in R2. We introduce the notion of "characteristic values" of a switched system, which are ageneralization of eigenvalues of a single linear system.

12:10 - 12:30 Realization theory for linear switched systems (full) M. Petreczky Universiteit Amsterdam The paper deals with realization theory of switched linear systems. A switched system is a finitefamily of linear systems for which an external switching sequence determines which linear system is visited next. The input-output behavior of a linear switched system is a map from theset of all possible switching sequences and continuous input functions to the output trajectories.The paper presents sufficient and necessary conditions for an input-output map of the above form to be realizable by a linear switched system. Necessary and sufficient conditions arestated for a linear switched system to be a minimal realization of its input-output map. The paper uses extensively results on abstract realization theory.

THA3 91.56

Paper Session Systems Theory I

Chair: S. Zampieri

10:30 - 10:50 Coprime factorizations for linear systems over rings and realization of precompensators by feedback (full) H. Inaba Tokyo Denki University K. Arai Oyama National College of Technology S. Townley University of Exeter ABSTRACT: For linear systems defined over the real number field, various factorizationapproaches of transfer matrices have been studied and applied to many important controlproblems. In particular, the coprime factorization approach using stable transfer matrices hasbeen extenssively studied, and has been playing an important role to develop a frequency-domain approach of linear systems over the real number field. However such a coprimefactorization approach for systems over rings has not been thoroughly developed because itcannot be established by simply extending an existing coprime factorization approach to the case of rings in a straight forward manner. This paper develops a general factorization theory oftransfer matrices for linear systems defined over rings. Restricting the rings to the class ofunique factorization domains (UFD’s) and introducing a notion of denominator sets and a generalized notion of coprimeness, a coprime factorization for the transfer matrix of a systemdefined over a UFD is developed, and various important properties of the coprime factorizationare presented. Further, the problem of realizing precompensators by state or output feedback isexamined, and necessary and/or sufficient conditions for the realizability are presented.

10:50 - 11:10 On simultaneous stabilizability with local-global principle without coprime factorizability (full) K. Mori The University of Aizu This paper addresses the applicability of the local-global principle to the simultaneous stabilizability of plants. We show that the simultaneous stabilizability over the set of stable causal transfer functions cannot be given by the simultaneous stabilizability over local rings ingeneral. We do not assume the coprime factorizability of given plants.

11:10 - 11:30 2-D fourier transform for systems and control theory (full) J. Jezek UTIA CAS, Czech Republic P. Zezula UTIA CAS, Czech Republic - No Abstract Available -

11:30 - 11:50 Nyquist stability criterion of sampled-data systems with the 2-regularized determinant and its applications to robust stability analysis (full) T. Hagiwara Kyoto University Y. Tsuruguchi Using the 2-regularized determinant associated with Hilbert-Schmidt operators, this paper derives a Nyquist stability criterion of sampled-data systems that covers the general setting of sampled-data systems, which gives a necessary and sufficient condition for internal stability ofclosed-loop sampled-data systems. This criterion is applied to the derivation of robust stabilitytheorems such as the small-gain and passivity theorems with respect to the internal stability ofsampled-data systems, by which the usefulness of the derived Nyquist stability criterion isdemonstrated.

11:50 - 12:10 State feedback stabilization of a class of discrete time, linear, time variant systems (full) D. Mehdi ESIP, France O. Bachelier ESIP, France K. Galkowski University of Zielona Gora In this note, we give an original solution to the stabilization problem of a class of discrete two sweeps linear systems. These systems are described by two different time invariant state spaceequations. Those equations involve two successive states with different dynamics. Thestabilization problem is solved by the computation of two state-space feedback gains, for standard and uncertain systems described in the polytopic form. This computation hinges upona condition expressed in terms of Linear Matrix Inequalities (LMI).

THA4 01.13

Minisymposium Riccati equations and related topics - Part III

Organization: G. Freiling

Chair: G. Freiling

10:30 - 10:50 Matrix Riccati equations and inequalities and nonlinear oscillations (full) V. Rasvan University of Craiova The paper deals with nonlinear systems with feedback : a linear block which may be timeinvariant, time varying(e.g. periodic), described by ordinary differential equations or containingan input delay, or discrete time, connected in feedback with a nonlinear block described by asector restricted nonlinearity (of Lurie type). This system is sometimes subject to a forcingoscillatory (e.g. periodic or almost periodic) input. Its qualitative behavior is analyzed using aquadratic Liapunov function. The inequalities imposed to the derivative of this function in order to ensure existence of forced or self-sustained oscillations are Linear Matrix Inequalities ofRiccati type; such inequalities occur also in the theory of the absolute stability andhyperstability(dissipativity). Existence of solutions for all these inequalities of Riccati type isequivalent to some rather strong properties of an associated canonical (or Hamiltonian) system- strong disconjugacy and exponential dichotomy (hyperbolicity). In the time invariant casethese two conditions are equivalent to a Popov or circle type frequency domain inequality.

10:50 - 11:10 Riccati equations in delay systems (full) E. Verriest Georgia Institute of Technology We give an overview of how the Riccati equation makes its appearance in the stability analysisof linear systems with delays. We avoid complexities as time-invariance, added perturbations, distributed delays etc, to get to the main issues. Most generalizations can be or have beencarried out, but do not add substantially to our understanding. We also show the connectionbetween quadratic stability and an optimization problem. The notion of Riccati stability isintroduced as the existence of a positive definite triple of matrices satisfying a certain Riccati equation. While having its origin in the problem of delay systems, the partial characterization ofthis Riccati stability is carried out as an independent endeavor.

11:10 - 11:30 Stability of linear functional differential equations: a new Lyapunov technique (full) E. Fridman Tel Aviv University Stability, $L_2$-gain analysis and state-feedback \hinf control of linear systems with uncertain time-varying delays are considered in the case, where the nominal values of delays are

constant and {\it non-zero}. A new construction of Lyapunov-Krasovskii functionals (LKFs) is introduced: to a nominal LKF, which is appropriate to the system with nominal delays, terms areadded that correspond to the perturbed system and that vanish when the delay perturbations approach $0$. In the present paper we combine nominal LKF which is based on the descriptormodel transformation with the corresponding to this transformation additional terms. Sufficientconditions are given in terms of linear matrix inequalities (LMIs). Numerical examples illustratethe efficiency of the method.

11:30 - 11:50 On calculating the maximal radius of delay deviation (full) K. Gu Southern Illinois University at Edwardsville S.-I. Niculescu Universite de Technologie de Compiegne J. Chen University of California at Riverside This paper discusses the calculation of maximum radius of delay deviation for linear systemswith two delays. This work is based on our previous work on the classification of the stability crossing curves in the delay parameter space for case. The set of frequencies with possiblecrossing can be expressed by three constraints: first, this set forms a finite number of intervalsof finite length, second, the corresponding set of delay parameters forms a series of smoothcurves, and third, these curves may be closed, open ended, and spiral-like with axis in the horizontal, vertical or diagonal directions, such that the category of the curve is determined by which constraint is violated at the two ends of the corresponding frequency set. Based on theresults mentioned above, an explicit algorithm to calculate the maximum radius of delaydeviation without changing the number of right hand zeros of the characteristic equation is formulated.

11:50 - 12:10 An input delay approach to robust sampled-data stabilization (full) E. Fridman Tel Aviv University A. Seuret J.P. Richard A new approach to robust sampled-data control is introduced. The system is modelled as acontinuous-time one, where the control input has a piecewise-continuous delay. Sufficient linear matrix inequalities (LMIs) conditions for sampled-data state-feedback stabilization of such systems are derived via descriptor approach to time-delay systems. The only restriction on the sampling is that the distance between the sequel sampling times is not greater than someprechosen $h>0$ for which the LMIs are feasible. For $h\to 0$ the conditions coincide with the necessary and sufficient conditions for continuous-time state-feedback stabilization. Our approach is applied to two problems: sampled-data stabilization of systems with polytopic type uncertainties and to regional stabilization by sampled-data saturated state-feedback.

12:10 - 12:30 Stability and bifurcation analysis of some fluid flow model of TCP behavior (full) W. Michiels Katholieke Universiteit Leuven S.-I. Niculescu Universite de Technologie de Compiegne This note focuses on the stability analysis of some classes of nonlinear time-delay models, encountered as fluid models for TCP/AQM network. By combining analytical and numericaltools, the attractors of these models, as well as the local and global behavior of the solutions

are studied. Among others, the presence of a chaotic attractor is shown, which supports theproposition that TCP itself as a deterministic process can cause or contribute to chaoticbehavior in a network. The main goals of the paper are firstly to provide qualitative and quantitative information on the dynamics of the models under consideration, and secondly toillustrate the capabilities of computational tools for stability and bifurcation analysis of delaydifferential equations to analyze fluid flow models.

THA5 01.01

Minisymposium Convolutional Codes

Organization: J. Rosenthal, H. Gluesing-Luerssen

Chair: J. Rosenthal

10:30 - 10:50 A classification of convolutional codes based on Justesen’s construction (full) J.-J. Climent Universitat d’Alacant, Spain V. Herranz Universidad Miguel Hernández, Spain C. Perea Universidad Miguel Hernández, Spain An important parameter of a convolutional code is its free distance since it determines thedecoding capability of a code under maximum likelihood decoding. This motivates the searchfor convolutional codes with a specified rate and degree that have maximum free distance. Thiscodes are said MDS-convolutional codes. Justensen [New convolutional code constructions and a class of asymptotically good time-varying codes. \emph{IEE Transaction on Information Theory}, 19(2): (1973)] showed that the generator polynomial of a Reed-Solomon block code define noncatastrophic fixed convolutional codes whose free distances are exactly the minimum distance of the Reed-Solomon code. In this paper, starting from a fixed Reed-Solomon, we introduce necessary and sufficient conditions (depending on the parameters of the block code)under the convolutional codes based on the Justesen's construction are MDS convolutionalcodes. We get also that these codes are in fact compact codes, and suggest, with severalexamples, that they have not maximum distance profile. However we show that if theconvolutional code constructed via Justesen has maximum distance profile, this code is astrongly MDS-convolutional code.

10:50 - 11:10 Recent results on cyclic convolutional codes (full) H. Gluesing-Luerssen Univerity of Kentucky B. Langfeld Technical University of Munich W. Schmale Carl von Ossietzky University Oldenburg, Germany The powerful class of cyclic block codes suggests to study the impact of cyclicity forconvolutional codes as well. Already in the seventies it has been observed that convolutional codes which are invariant under the cyclic shift are block codes. This has led to a more generalnotion of cyclicity for convolutional codes, based on left ideals in a certain skew-polynomial ring. In this talk we will show how this concept generalizes the algebraic theory of cyclic block codesin a nice, yet nontrivial, way to convolutional codes.

11:10 - 11:30 Convolutional goppa codes (full) J.M. Muñoz Porras University of Salamanca J.A. Dominguez Perez University of Salamanca J.I. Iglesias Curto University of Salamanca G. Serrano Sotelo - No Abstract Available -

11:30 - 11:50 Fault protection of digital sequential systems using convolutional codes over large alphabets (full) C. N. Hadjicostis University of Illinois T. Ernst University of Illinois In digital sequential systems that operate over several time steps, a state-transition fault at any time step during the operation of the system can corrupt its state in a way that renders its future functionality useless. In this paper, we discuss a methodology for systematically constructingredundant sequential systems whose state is encoded in a way that allows an external checkerto capture transient state-transition faults via checks that are performed periodically. Morespecifically, this approach allows the checker to detect and identify errors due to past state-transition faults based on an analysis of the current, possibly corrupted system state. Themotivation for periodic checking stems from our desire to relax the reliability requirements onthe checker, which now operates at slower speeds than the original system. Our construction ofredundant sequential systems makes use of coding techniques that are closely related to MDS convolutional codes over large alphabets.

11:50 - 12:10 On superregular matrices (full) R. Hutchinson University of Notre Dame J. Trumpf The Australian National University For all positive integers $n$ and $\delta$, it has been shown that strongly MDS $(n,n-1,\delta)$ convolutional codes exist over a sufficiently large finite field and that they can be constructedusing superregular lower triangular Toeplitz (LTT) matrices. A superregular LTT matrix is characterized by the property that every submatrix with a determinant that is not trivially zerohas a nonzero determinant. We provide an upper bound on the field size required for theexistence of an $n\times n$ superregular LTT matrix, as well as methods for constructing new superregular LTT matrices from a given one.

12:10 - 12:30 New convolutional codes from old convolutional codes (full) J.J. Climent Universitat d’Alacant V. Herranz Universidad Miguel Hernández C. Perea Universidad Miguel Hernández In this paper, starting with a family of $(n,k,\delta_i)$-convolutional codes $\mathcal{C}^{(i)}$ of memory $\nu_i$ generated by the minimal-basic generator matrix \[ G^{(i)}(D) = \sum_{j=0}^{\nu_{i}} G_{j}^{(i)}D^{j}. \] for $i=1,2,\ldots,s$, we define a new convolutional code

$\widetilde{\mathcal{C}}$ of rate $sk/sn$ as the convolutional code whose generator matrix is \[ \widetilde{G}(D) = \left( \begin{array}{cccc} G^{(1)}(D) & & & \\ & G^{(2)}(D) & & \\ & & \ddots & \\& & & G^{(s)}(D) \end{array} \right) \] that is, \[ \widetilde{\mathcal{C}} = \{ u(D)\widetilde{G}(D) \in \mathbb{F}^{sn}(D) \, : \, u(D) \in \mathbb{F}^{sk}(D) \}. \] We show that the generator matrix $\widetilde{G}(D)$ is minimal-basic provided that $G^{(i)}(D)$ is minimal-basic and we get the degree of the new convolutional code $\widetilde{C}$ from the degrees of the codes $\mathcal{C}^{(i)}$. We establish necessary and sufficient conditions so that the code$\widetilde{\mathcal{C}}$ is a compact code and, as a consequence, we can establish theexistence of an $(sn,s,s\delta)$-compact convolutional code. On the other hand, we comparethe generator matrix $\widetilde{G}(D)$ with the blocking matrix $G^{[M]}(D)$ used to constructnew convolutional codes from old ones, via puncturing. Furthermore, we establish necessaryand sufficient conditions to the code generated for the matrix $\widetilde{G}(D)$ is also a compact code. Finally, we construct a $P$-puncturing $\widetilde{C}$ code and propose the construction of $\widetilde{C}$ considering $(n_i,k,\delta_i)$-convolutional codes $\mathcal{C}^i$ for $i=1,2,\ldots, M$.

THA6 01.19

Minisymposium Semi-separable systems - Part II

Organization: P. Dewilde, M. Gu, S. Chandrasekaran

Chair: P. Dewilde

10:30 - 11:10 On a polynomial root-finder based on semi-separable matrices (full) D. Bini University of Pisa L. Gemignani University of Pisa V. Pan - No Abstract Available -

11:10 - 11:30 A comparison between the semiseparable and the tridiagonal (full)eigenvalue solvers M. Van Barel Katholieke Universiteit Leuven R. Vandebril Katholieke Universiteit Leuven N. Mastronardi Katholieke Universiteit Leuven In this paper we give an overview on the use of semiseparable matrices instead of tridiagonalmatrices for solving symmetric eigenvalue problems and moreover we compare both of thealgorithms, w.r.t. speed and accuracy.

11:30 - 11:50 On characteristic polynomials, eigenvalues and eigenvectors of quasiseparable matrices (full) Y. Eidelman University of Tel Aviv I. Gohberg University of Tel Aviv V. Olshevsky University of Connecticut We study spectral properties of quasiseparable of order one matrices. This class of structured matrices contains at least three well-known classes: diagonal plus semiseparable matrices,tridiagonal matrices and unitary Hessenberg matrices. We present various recursive relationsfor characteristic polynomials of the principal submatrices of such matrices and obtain a fastalgorithm for the computation of the coefficients of these polynomials. These recursionsgeneralize some well-known results for the polynomials orthogonal on the real line and for theSzego polynomials. We obtain conditions when an eigenvalue of a quasiseparable matrix issimple and derive the explicit formula for the corresponding eigenvector. Next we extend themethod of computation of the eigenvectors on the case when these conditions are not valid. The computation of every eigenvector is performed using a linear complexity algorithm.

11:50 - 12:30 Rational Krylov iterations and diagonal-plus-semiseparable matrices (full) D. Fasino Università di Udine We consider the interplay between symmetric diagonal-plus-semiseparable matrices (dpss) and a class of rational Krylov matrices. Our symmetric dpss matrices are those matrices $M$ thatcan be written as the sum of a diagonal matrix $D$ and a semiseparable matrix $S$, $M = D + S$. Moreover, we consider rational Krylov matrices defined in terms of a symmetric matrix $A$,a nonzero vector $v$, and suitably defined rational functions $\phi_i(x)$ having prescribed (real) poles $d_1, \ldots, d_n$, as $K = [ \phi_1(A)v, \ldots, \phi_n(A)v ]$, under the sole hypothesis that all matrices $A - d_i I$ are nonsingular. There is a link between rational Krylov matrices anddpss matrices that mirrors the one existing between classical Krylov matrices and tridiagonals: If the rational Krylov matrix $K$ is nonsingular, and $K = QR$ is its orthogonal factorization, then$Q^T A Q$ is a symmetric dpss matrix, $Q^T A Q = D+S$, with the diagonal matrix $D =\mathrm{diag}(d_1,\ldots,d_n)$ containing the poles of the rational functions $\phi_i(x)$. By virtue of the above theorem, any algorithm to compute the QR factorization of a rational Krylovmatrix (as the rational Krylov iteration by A. Ruhe) can be seen as a method to reduce asymmetric matrix into dpss form by an orthogonal transformation. The converse is also true: If $M = D+S$ is a dpss matrix obtained by an orthogonal transformation of some symmetric matrix$A$, $M = Q^T A Q$, then $Q$ is the orthogonal factor of a rational Krylov matrix defined by$A$, the rational functions whose poles are the diagonal entries of the matrix $D$, and asuitably defined vector $v$. Indeed, in some sense, dpss matrices are a counterpart ofirreducible tridiagonal matrices, exactly as rational Krylov matrices are of classical Krylovmatrices. This analogy extends over the effect of QR steps on rational Krylov sequences,implicit-Q theorems and some inverse eigenvalue problems for dpss matrices, the Gram-Schmidt ortogonalization of rational functions, and the construction of Gauss-type quadrature formulas for rational functions.

THA7 01.07

Minisymposium Modelling and control of neworks

Organization: M di Bernardo

Chair: M di Bernardo

10:30 - 11:10 A modelling framework for network usage (full) J.M. Schumacher Tilburg University I. Korostil Tilburg University Models for network usage are presented that are based on Wardropean equilibrium, but that arenevertheless phrased in a dynamic setting. The models can be applied in situations wherepossibly multiple users may divide their demand over several resources, and a cost (forinstance in terms of delay) is associated with each resource which depends on the total loadplaced on that resource. It is shown that the constructed models fall in the category of cone complementarity systems. A discussion is given of the way in which control may beimplemented in this context.

11:10 - 11:30 The statistics of intermittency maps and dynamical modelling of networks (full) D. Arrowsmith Queen Mary, University of London - No Abstract Available -

11:30 - 11:50 Synthesis of robust active queue management controllers (full) S. Manfredi University of Naples M. di Bernardo University of Sannio F. Garofalo University of Naples This paper is concerned with the derivation of improved AQM control schemes to cope withunwanted variations of characteristic parameters such as the the average round-trip time, the load and the link capacity. To achieve this aim, we use novel robust control strategies for time-delay systems, which are based on the use of robust reduction methods and H$^{\infty}$ strategies resulting in memory and memoryless control laws respectively. To avoid the need forfull state availability, difficult to satisfy in realistic network applications, the control strategy iscomplemented by a robust observer for time delay system. The control laws presented in thepaper are validated and tested on different network scenarios through numerical simulations in both Matlab/Simulink and Network Simulator-2.

11:50 - 12:10 A chaos based approach for generating self-similar process (full) G. Mazzini University of Ferrara R. Rovatti University of Bologna G. Setti University of Ferrara Non-Poisson bursty traffic has been detected in many real-world communication networks. It is traditionally modeled as an ON/OFF discrete-time second-order self-similar random process. It can be proved that self-similar random processes are identified by means of: a polynomiallydecaying trend of the auto-covariance function or a polynomially decaying trend with $k$ of thethe probability of staying in either the ON or OFF states a number $k$ of time steps. In this workwe concentrate on the second condition and show that we can design chaotic maps whosequantized trajectories produce ON/OFF processes with heavy tailed distribution of the sojourntimes in the OFF state or both. These maps are infinite piecewise affine Markov maps and are characterized by a synthetic parameter which allows the tuning of the generator to emulatedifferent Hurst parameter in the traffic process, independently from the traffic load. Somesimulations are reported showing how, according to the theory, the map design is able to fit those specifications.

12:10 - 12:30 Design of robust AQM controllers for improved TCP Westwood congestion control (full) M. di Bernardo University of Sannio A. Grieco Politecnico di Bari S. Manfredi University of Naples S. Mascolo This paper is concerned with the application of a novel robust AQM controller recentlypresented in the literature to TCP Westwood congestion control. The aim is twofold. Firstly weassess the performance of the scheme when applied to networks where the traffic is generatedby sources controlled by Westwood TCP. Secondly, we validate the controller throughnumerical simulations showing that it guarantees better performance in the presence ofunwanted variations of the load, the round trip time and the link capacity when compared toother existing AQM control schemes.

THA8 01.25

Minisymposium Identification and control in computer vision

Organization: Alessandro Chiuso

Chair: Alessandro Chiuso

10:30 - 11:10 Gait recognition using dynamic affine invariants (full) A. Bissacco University of Los Angeles - CA 90095 P. Saisan University of Los Angeles - CA 90095 S. Soatto University of Los Angeles - CA 90095 We present a method for recognizing classes of human gaits from video sequences. Wepropose a novel image-based representation of human gaits. At any instant of time a gait isrepresented by a vector of affine invariant moments. These invariants are computed on the binary silhouettes corresponding to the moving body. We represent the time trajectories of theaffine invariant moment vector as the output of a linear dynamical system driven by white noise.The problem of gait classification then boils down to formulating distances and performing recognition in the space of linear dynamical systems. Experimental results demonstrate thediscriminative power of the proposed approach.

11:10 - 11:50 GPCA: Geometric clustering in vision & control (full) R. Vidal Johns Hopkins University This paper presents recent advances on the development of a new algebraic geometricframework for simultaneous data segmentation and model estimation called GeneralizedPrincipal Component Analysis (GPCA). This algebraic geometric approach is based on fitting,differentiating and dividing polynomials that are satisfied by all data points, regardless of whichpoint belongs to which model. The degree of the polynomials corresponds to the number ofgroups and the factors of the polynomials encode the model parameters associated with eachgroup. We also present various applications of GPCA in computer vision and systemidentification problems such as video/motion segmentation, face clustering, segmentation of dynamic textures, and identification of hybrid systems in PWARX form.

11:50 - 12:30 Robust GPCA algorithm with applications in video segmentation via hybrid system identification (full) K. Huang University of Urbana-Champaign Y. Ma University of Urbana-Champaign We introduce the robust recursive GPCA algorithm that can segment a set of data points intomultiple unknown linear models with different dimensions in the presence of noise and outliers.The algorithm is designed based on a robust model selection criterion for mixtures of subspaces

called minimum effective dimension (MED). We apply the robust GPCA algorithm in a videosegmentation problem via hybrid linear system identification. The hidden dynamics for the video sequence is modeled as a hybrid linear system without input. Two video segmentation schemeshave been developed. Both generate satisfactory video segmentation results in a series ofexperiments.

THA9 01.56

Minisymposium Numerical methods for control

Organization: V. Mehrmann, H. Fassbender

Chair: H. Fassbender 10:30 - 10:50 Factorized solution of Sylvester equations with applications in control (full) P. Benner TU Chemnitz, Germany Sylvester equations play a central role in many areas of applied mathematics and in particular insystems and control theory. Here we will show how low-rank solutions for stable Sylvester equations can be computed based on the matrix sign function method. We discuss applicationsin model reduction as well as in observer design. Numerical experiments demonstrate theefficiency of the proposed method.

10:50 - 11:10 Low rank iterative methods for projected generalized Lyapunov equations (full) T. Stykel Technische Universitaet Berlin We discuss numerical solution of large-scale projected generalized Lyapunov equations. Suchequations play a fundamental role in balanced truncation model order reduction for descriptorsystems. We present generalizations of an alternating direction imlicit method and a cyclicSmith method that can be used to compute low rank approximations of the solution of projectedgeneralized Lyapunov equations with a low rank right-hand side.

11:10 - 11:30 The Hinfinity norm calculation for large sparse systems (full) Y. Chahlaoui Florida State University K.A. Gallivan Florida State University P. Van Dooren Universite catholique de Louvain In this paper, we describe an algorithm for estimating the H-infinity norm of a large linear time invariant dynamical system described by a discrete time state-space model. The algorithm is designed to be efficient for state-space models defined by (A,B,C,D) where A is a large sparsematrix of order n which is assumed very large relative to the input and output dimensions of thesystem. The algorithm is based on the time-varying coefficient version of the Chandrasekhar iteration. Initial empirical evidence is presented that the algorithm is efficient for large systems and its accuracy is competetive with standard methods.

11:30 - 11:50 Computation of least order solutions of linear rational equations (full) A. Varga German Aerospace Center We propose a numerically reliable approach for computing solutions of least McMillan order oflinear equations with rational matrix coefficients. The main computational ingredients are theorthogonal reduction of the associated system matrix pencil to a certain Kronecker-like staircase form and the solution of a minimal dynamic cover design problem. For these computations wediscuss numerically reliable algorithms relying on matrix pencil and descriptor systemtechniques.

11:50 - 12:10 A semi-smooth Newton method for optimal boundary control of a nonlinear reaction-diffusion system (full) S. Volkwein University of Graz R. Griesse University of Graz This paper is concerned with optimal boundary control of an instationary reaction-diffusion system in three spatial dimensions. This problem involves a coupled nonlinear system ofparabolic differential equations with bilateral as well as integral control constraints. We includethe integral constraint in the cost by a penalty term whereas the bilateral control constraints are handled explicitly. First- and second-order conditions for the optimization problem are analyzed.A primal-dual active set strategy is utilized to compute optimal solutions numerically. Thealgorithm is compared to a semi-smooth Newton method.

12:10 - 12:30 Arithmetic-like binary operations on matrix pencils with applications to control (full) R. Byers University of Kansas P. Benner TU-Chemnitz This talk reviews arithmetic-like operations on matrix pencils. The arithmetic-like operations extend elementary formulas for sums and products of rational numbers to matrix pencils. Thealgebra of linear transformations is a special case. These operation give an unusual perspectiveon a variety of pencil related computations including generalizations of monodromy matrices,the matrix exponential and the matrix sign function to the case of matrix pencils that may havezero or infinite eigenvalues or that may be singular pencils.

THA10 01.31

Minisymposium Representation of function classes and differential

equations

Organization: Andreas Lasarow, Adhemar Bultheel Chair: Andreas Lasarow

10:30 - 10:50 de Branges Rovnyak spaces and Schur functions: the hyperholomorphic case (full) D. Alpay Ben-Gurion University of the Negev, Israel D. Volok - No Abstract Available -

10:50 - 11:10 Symmetric lossless extensions and Schur analysis (full) L. Baratchart France - INRIA P. Enqvist France - INRIA It is well-known from Darlington synthesis that any contractive rational function can be extendedto a lossless one without increasing the McMillan degree. Many applications also requiresymmetry (reciprocity), but to the author's knowledge, when and how a \emph{symmetric} Darlington synthesis can be carried out for rational functions with complex coefficients has notbeen much studied in the literature. In this paper we characterize the symmetric complexcontractive rational matrices $S$ who admit a symmetric lossless extension of twice the sizeand of the same McMillan degree, as those for which the zeros of $I-SS^\star$ all have even multiplicities.

11:10 - 11:30 On modules of rational matrix-valued functions and some related problems (full) A. Lasarow Katholieke Universiteit Leuven In view of a multiple Nevanlinna-Pick problem for matrix-valued Caratheodory functions, we study some modules of rational matrix-valued functions. In particular, we show that this interpolation problem can be considered as a moment problem for rational matrix-valued functions. Moreover, we explain a connection between these problems, a problem forreproducing kernels, and orthogonal rational matrix-valued functions. Using these interactions, we present some particular solutions of the multiple Nevanlinna-Pick problem which have certain extremal properties.

11:30 - 11:50 Inverse problems for small perturbations of canonical systems (full) H. Winkler University of Groningen We consider a singular two-dimensional canonical system $Jy' =-zHy$ on the positive real line such that Weyl's limit point case prevails at infinity. Here $H$ is a measurable, real andnonnegative definite matrix function with trace $H=1$, called Hamiltonian. It follows from resultsof L. de Branges that each Nevanlinna function $Q$ is the Titchmarsh-Weyl coefficient of a canonical system with a unique Hamiltonian H. Unfortunately, a recipe for the explicitreconstruction of $H$ from any given $Q$ is still unknown. In our talk we present how theHamiltonian of a canonical systems changes if its Titchmarsh-Weyl coefficient or the corresponding spectral measure undergoes certain small perturbations. This generalizes aresult of H. Dym and N. Kravitsky for so-called vibrating strings and a formula of I.M. Gelfandand B.M. Levitan for Sturm-Liouville systems.

11:50 - 12:30 Isoprincipal deformations of Fuchsian systems and rational solutions of the Schlesinger system (full) V. Katsnelson The Weizmann Institute of Science, Israel D. Volok - No Abstract Available -

SP10 91.54

Semi-Plenary Presentation Chair: B. Wahlberg

14:00 - 15:00 Geometric Control of Mechanical Systems F. Bullo University of Illinois at Urbana-Champaign, Coordinated

Science Laboratory This talk will outline a comprehensive set of modeling, analysis and design techniques for aclass of mechanical systems. We concern ourselves with simple mechanical control systems, that is, systems whose Lagrangian is kinetic energy minus potential energy. Example devicesinclude robotic manipulators, aerospace and underwater vehicles, and mechanisms thatlocomote exploiting nonholonomic constraints.Borrowing techniques from nonlinear control and geometric mechanics, we propose acoordinateinvariant control theory for this class of systems. First, we take a Riemanniangeometric approach to modeling systems de1ned on smooth manifolds, subject to nonholonomic constraints, external forces and control forces. We also model mechanicalsystems on groups and symmetries. Second, we analyze some control-theoretic properties of this class of systems, including controllability, averaged response to oscillatory controls, andkinematic reductions. Finally, we exploit the modeling and analysis results to tackle controldesign problems. Starting from controllability and kinematic reduction assumptions we proposesome algorithms for generating and tracking trajectories.

SP11 01.54

Semi-Plenary Presentation Chair: J.M. Schumacher

14:00 - 15:00 Modeling and Control of Hybrid Systems

A. Bemporad University of Siena,Dip. di Ingegneria dell'Informazione

Hybrid systems are heterogeneous systems that exhibit both continuous dynamics (difference or differential equations) and discrete dynamics (automata, logic transitions and switching,piecewise linear mappings, quantized commands, etc.). In this talk we introduce a modelingframework for hybrid systems that is directly tailored to the synthesis of stabilizing model predictive controllers based on combinatorial optimization and multiparametric programming.We show that hybrid optimal control laws can be computed in closed-form and that they are piecewise affine state-feedback functions, a very attractive feature for fast-sampling applications. We also propose the combined use of convex programming and constraintsatisfaction techniques as an efficient approach to solve complex optimal control problems forhybrid systems. The effectiveness of the techniques will be illustrated through a few industrialcase studies.

SP12 91.56

Semi-Plenary Presentation Chair: G. Picci

14:00 - 15:00 Generalized interpolation in Hinf with applications to systems and control and signal processing A. Lindquist Royal Institute of Technology, Department of

Mathematics In a well-known paper, Sarason generalized some classical interpolation problems for Hinffunctions on the unit disc with norm not greater than one to problems concerning operators on a coinvariant subspace K = H2 O phi H2, where phi is an inner function. These operators havenorm not greater than one, and, among his results, he studied the structure of generalizedinterpolants for operators having norm one. In a variety of interesting cases, there is a unique such interpolant, which is given by the quotient of functions in K. In this talk we consider thecase where the operator is a strict contraction. There turns out to be an infinite number ofinterpolants that are such quotients, and we give a complete parameterization of these. Eachsuch interpolant can be obtained as the unique minimizer to a strictly convex functional.Our methodology is inspired by the engineering applications of classical interpolation problemsin circuits, systems and signal processing, cases which all deal with the situation where phi is afinite Blaschke product and in which the quotient representation is physically natural. We giveseveral examples of such applications. We also demonstrate that the case when phi is a singular inner function has a natural systems-theoretical interpretation.

THP1 91.54

Minisymposium Computational biosignal processing

Organization: S. Van Huffel

Chair: S. Van Huffel

15:30 - 16:10 Independent brain activity networks (full) S. Makeig University of California - No Abstract Available -

16:10 - 16:30 Modeling heart rate variability (full) P. laguna University of Zaragoza, Spain L. Sörnmo Lund University, Sweden Heart rate variability (HRV) gives important insights into the central nervous system (CNS)behaviour measured non-invasively that makes it very attractive to analyze this signal. Howeverthe information obtained from the HRV signal is not always straightforward to "decode" so that clincial information can be obtained. This decoding is several times made in aphenomenological way since the mechanisms of the CNS controling heart rate are not well-described. However, modeling of the CNS action helps considerably in designing proper techniques for HRV analysis. This presentation reviews signal descriptions used for HRVanalysis and proposes a representation signal based on the integral pulse frequency modulation(IPFM) model.

16:30 - 16:50 On medical image registration (full) B. Fischer University of Luebeck J. Modersitzki University of Luebeck On medical image registration Image registration is central to many challenges in medicalimaging today and has a vast range of applications. Examples include treatment verification bycomparison of pre- and post-intervention images, creation of population averages, growthmonitoring of tumours using time series, or rearrangement of histological sections, to name afew.The purpose of this note is to provide a unified but extremely flexible framework for imageregistration. It includes some of the most promising non-linear registration strategies used in medical imaging. We discuss individual methods for various medical applications and demonstrate the performance of these schemes.

16:50 - 17:10 Magnetic resonance spectroscopy data quantification (full) L. Vanhamme Katholieke Universiteit Leuven P. Lemmerling Katholieke Universiteit Leuven P. Van Hecke Katholieke Universiteit Leuven S. Van Huffel (Nuclear) Magnetic Resonance ((N)MR) is a non-invasive technique that has been used to acquire spatially resolved images of living organisms and to monitor changes in the metabolism.Another application of clinical MR is MRS in which chemical information can be extracted from awell-defined region (e.g. a voxel) in for example the human brain. Brain tumors, multiplesclerosis, epilepsy and Alzheimer constitute some very important research areas where MRS can identify the pathology, provide insight in the underlying biochemical processes or monitorthe effect of medication. Depending on the measurement protocol used, so-called single-voxel or multi-voxel (multiple signals acquired simultaneously over a larger region, one per voxel) long- or short-echo-time proton signals are obtained. Applying spectral analysis methods canderive quantitative information about the metabolites. The quantitation is however hamperedsince these signals typically suffer from a low signal-to-noise ratio, deviations from the theoretical model function and the presence of disturbing components (like residual water andlipids). Moreover, the exact number of spectral components is unknown. To complicate mattersfurther, short-echo-time signals are characterized by the presence of an unknown broadbaseline underlying the resonances of the metabolite signals of interest and heavily overlappingmetabolite signals. To exploit the full potential of MRS the reliable determination of the metabolites present and their concentrations is essential. We discuss the state of the art of dataprocessing methods for long- and short-echo-time proton measurements including techniques to remove unwanted features that hamper the quantification.

17:10 - 17:30 Observing slow EEG activity from same area as spikes in paediatric patients with focal epilepsy by using signal decomposition and dipole modelling (full) B. Vanrumste Katholieke Universiteit Leuven R.D. Jones Chirstchurch Hospital P.J. Bones University of Canterbury G.J. Carroll The EEG from eight peadiatirc patients with epilepsy was analyzed by an automated methodwhich detects epochs with a single underlying source having a dipolar potential distribution. The EEG with the highlighted detections was then rated by a clinical neurophysiologist (EEGer) withrespect to epileptiform activity. Although EEGer-marked events and computer detections often coincided, in five out of the eight patients a substantial number of other detections were found toarise from the same area as the marked events. The morphology of a high proportion of theseother detections did not resemble typical epileptiform activity and had a frequency contentmainly in the delta and theta ranges.

17:30 - 17:50 Design of a robust multi-microphone noise reduction algorithm for hearing instruments (full) S. Doclo Katholieke Universiteit Leuven A. Spriet Katholieke Universiteit Leuven M. Moonen Katholieke Universiteit Leuven J. Wouters, Katholieke Universiteit Leuven, Lab. Exp. ORL This paper discusses the design and low-cost implementation of a robust multi-microphone noise reduction scheme, called the Spatially Pre-processed Speech Distortion Weighted Multi-channel Wiener Filter (SP-SDW-MWF). This scheme consists of two parts: a robust fixed spatialpre-processor and a robust adaptive Multi-channel Wiener Filter (MWF). Robustness againstsignal model errors is achieved by incorporating statistical information about the microphone characteristics into the design procedure of the spatial pre-processor and by taking speech distortion explicitly into account in the optimisation criterion of the MWF. Experimental resultsusing a hearing aid show that the proposed scheme achieves a better noise reductionperformance for a given maximum speech distortion level, compared to the widely studiedGeneralised Sidelobe Canceller (GSC) with Quadratic Inequality Constraint (QIC). Forimplementing the adaptive SDW-MWF, an efficient stochastic gradient algorithm in thefrequency-domain can be derived, whose computational complexity and memory usage iscomparable to the NLMS-based Scaled Projection Algorithm for implementing the QIC-GSC.

THP2 01.54

Minisymposium Decentralized and distributed control and diagnosis of

systems

Organization: R.K. Boel, J.H. van Schuppen Chair: J.H. van Schuppen 15:30 - 15:50 Model reduction in distributed supervision (full) J.G. Thistle University of Waterloo S. Nazari University of Waterloo In distributed supervisory control, it may be of interest to check whether one discrete eventsubsystem in a network of interacting systems may be blocked by the other subsystems fromreaching its set of marked states. We consider the case of networks of arbitrary size consistingof isomorphic components. Variants of this problem involving a distinguished component areknown to be undecidable; it is shown here that this undecidability carries over to the case where all components are isomorphic. A scheme is then developed that, while not guaranteed toterminate in all instances, offers the possibility of showing that blocking in networks of arbitrarysize can be checked by considering only finitely many networks. It is shown that the effectiveness (i.e., the termination) of these procedures is undecidable.

15:50 - 16:10 Distributed control of teams of unmanned air vehicles (full) J. Sousa University of California at Berkeley P. Varaiya University of California at Berkeley T. Simsek University of California at Berkeley The design of a distributed control framework for teams of unmanned combat air vehicles (UAV)is discussed. The problem is formulated for a scenario where there is a set of UAVs with different capabilities (sensors, weapons, decoys), collectively called the Blue force, and a set oftargets called the Red force. The Blue force is used to attack the Red force, which threatens theattacking Blue force. The distributed control framework consists of a hierarchy of taskcontrollers, vehicle supervisors, and elemental maneuver feedback controllers, which determineactual flight paths, weapons release, and sensor management. The control framework isdescribed as interacting hybrid automata using Shift a programming language for dynamicnetworks of hybrid automata.

16:10 - 16:30 Do what you know: using knowledge to understand the control of distributed systems (full) S.L. Ricker Mount Allison University Epistemic notions, such as knowledge, provide a compact and powerful way of describing and

explaining the behaviour of agents in distributed systems. Formal reasoning about knowledge isapplied to the analysis of decentralized discrete-event control problems. In particular, the knowledge logic allows the formulation of more intuitive expressions of complex controlprotocols. A summary of the work in this area, including communication between controllers, ispresented.

16:30 - 16:50 Runs of a distributed system are a product of local runs (full) E. Fabre Irisa/Inria, France We propose the notion of tile system, a convenient framework to model distributedasynchronous DEDS. In such systems, runs are not represented as sequences of events, butrather as partial orders of events. This semantic captures the fact that several components of alarge system can operate in parallel as far as they don't have interactions, and synchronize onspecific events. Considering a large distributed system composed of many interacting modules,we show that the trajectory set of the global system can be represented as a special product oflocal trajectory sets, one per component. This factorized representation is at the core of modular or distributed processings, for problems like failure diagnosis. We illustrate this with a simpleexample: determine the possible behaviours of a given component once it is inserted into aglobal system.

16:50 - 17:10 Contextual analysis of Petri nets for distributed applications (full) G. Jiroveanu Ghent University R.K. Boel Ghent University This paper proposes a new method for the analysis of Petri Nets (PN) models of very largesystems, suitable for on-line applications performed in distributed architectures. For PN models,no matter which is the goal of the analysis (e.g. supervisory control, fault detection, diagnosis),first a reachabilty analysis must be derived, computing the set of possible traces (sequences of transitions) the system followed and the set of possible present markings (states). The standardmethod for exploring the state space of PN models, is the forward search, meaning that, startingfrom the initial marking, one searches for explaining the observation by generating a traceforward firing either unobservable transitions or the observed ones. There are a few drawbacksusing this method once very large systems must be analyzed (huge search spaces). In the firstplace, the forward search does not allow one to distinguish in a derived trace (that explains anobservation) which transitions (events) must have happened and which could possibly havehappened before an observed transition. Secondly, the computation requires the knowledge of the initial marking, or for the case of systems with uncertain marking, the upper estimation of theinitial (uncertain) marking. To alleviate these drawbacks of the forward search method, wepropose here a backward method, that starts from observation deriving the minimal initial sub-marking that allows for a minimal trace that provides the minimal explanation of observation.The minimal initial sub-marking and the minimal explanation give the minimal context withinwhich the occurrence of the observation is possile. Because of minimality, a minimalexplanation includes only unobservable transitions (events) that must have happened before.This helps one to distinguish between what must have happened before observation (e.g.diagnosis of the past) and what could have happened or is about to happen in future(prognosis) and moreover we avoid searching the entire search space, keeping the set ofpossible traces in compact structures.

17:10 - 17:30 A Petri net model for distributed learning (full) S. Abbes IRISA, France A. Benveniste IRISA, France S. Haar IRISA, France Recently, the use of trace models has shown to be relevant for the study of asynchronousnetworked systems. In this paper, we present a probabilistic model of Petri nets, called Markov nets, that randomizes the traces of executions. The model is specified through local probabilisticparameters, and we are interested in the estimation of these local parameters from localobservations of the system. For this, we state and apply the Strong law of large numbers in theconcurrent probabilistic framework.

17:30 - 17:50 Real-time encoding-decoding of Markov sources in noisy environments (full) D. Teneketzis University of Michigan Abstract -- We consider the real-time information transmission problem for the point-to-point communication system, the broadcast system, and a variation of the Wyner-Ziv problem. We discover the structure of optimal real-time encoders and decoders for the above systems.

THP3 91.56

Paper Session Systems Theory II

Chair: E. Noldus

15:30 - 15:50 Unification of continuous-time and discrete-time systems: the linear case (full) Z. Bartosiewicz Bialystok Technical University E. Pawluszewicz Bialystok Technical University We develop here the basics of linear control theory on time scales. A time scale is a closedsubset of the real line which represents the time domain. For discrete-time systems the time scale is the set of integer numbers and for continuous-time systems it is the whole real line. Differential calculus on time scales unifies ordinary differential equations and differenceequations, allowing to use the same language to discrete-time and continuous-time control systems. In particular we present criteria of controllability and observability for linear time-variant systems on time scales.

15:50 - 16:10 Ellipsoidal estimates for domains containing all periodic orbits of general quadratic systems (full) K.E. Starkov CITEDI-IPN, USA A.P. Krishchenko Bauman Moscow State Technical University We describe one method to bound domains with all periodic orbits of autonomous differentiableright-side systems with help of ellipsoids. In case of general quadratic systems these ellipsoidsare constructed by using general quadratic polynomials satisfying special conditions. Ourresults are illustrated by examples of the Rikitake equations and the Pikovski- Rabinovich-Trakhtengerts equations.

16:10 - 16:30 A least squares approach to reduce stable discrete systems preserving their stability (full) S. Feldmann Technical University of Kaiserslautern, Germany P. Lang Fraunhofer Institute for Industrial Mathematics, Germany A new stability preserving model reduction algorithm for discrete linear SISO-systems based on a least squares approach is proposed. Similar to the Pad\'e approximation, an equation system for the Markov parameters involving a high dimensional Hankel matrix is considered. It isproved that approximate solutions, computed via the Moore-Penrose pseudo inverse, give rise to a stability preserving reduction scheme. Furthermore, the proposed algorithm is compared to the balanced truncation method, showing comparable performance of the reduced systems.

16:30 - 16:50 Model reduction of interconnected systems (full) A. Vandendorpe Université Catholique de Louvain P. Van Dooren Université Catholique de Louvain Large scale linear systems are often composed of subsystems that interconnect to each other.Instead of reducing the entire system without taking into account its structure, it makes sense toreduce each subsystem by taking into account its interconnection with the others subsystems inorder to approximate the entire system. It turns out that many model reduction techniques suchas weighted balanced truncation, controller reduction and second-order balanced truncation can be seen as particular interconnected model reduction techniques. The purpose of this paper isto present a new balanced truncation technique for interconnected systems. Krylov techniquesare also briefly discussed.

16:50 - 17:10 Approximate nonnegative matrix factorization via alternating minimization (full) L. Finesso ISIB-CNR, Italy P. Spreij Universiteit van Amsterdam - No Abstract Available -

17:10 - 17:30 Affine iterations on nonnegative vectors (full) V. Blondel Université catholique de Louvain L. Ninove Université catholique de Louvain P. Van Dooren Université catholique de Louvain We study the convergence of three scaled affine iterations on nonnegative vectors occurring in graphs algorithms. In particular, we analyze the connection between the convergence of theiterates of a scaled affine function and the spectral radii of the observable and unobservableparts.

17:30 - 17:50 On characteristic equations, dynamic eigenvalues, Lyapunov exponents and Floquet numbers for linear time-varying systems (full) P. van der Kloet Delft Univeristy of Technology F.L. Neerhoff Delft University of Technology Electronic circuits are nonlinear by nature. Roughly speaking, two different kinds of operationcan be distinguished. The first one is described by the behavior of small signals around a fixedoperating point, like class A amplifiers. The behavior of small signals can be derived as a setlinear algebraic differential equations with constant coefficients. This set of equations is used forstability problems, distortion problems, noise problems and so on. In a mathematical sense, theset of equations is obtained by considering variations around the fixed operating point and hence known as the set of variational equations. The second kind of operation contains circuitsthat behave in a time-varying mode of operation, like oscillators. Here also the set of variationalequations is identified as a set of linear differential equations. The coefficients, however, are

time-dependent. The field of applications is the same as in the first kind of operation: stabilityproblems, distortion problems, noise problems and so on. The time-behavior of the coefficients in the variational equations is derived from the time-behavior of the (time-varying) mode of the circuit. For oscillators, the coefficients of the variational (differential) equations are periodicfunctions of time. A representation for the solution of linear time-varying differential equations is derived, either in the form of the fundamental matrix or in the form of a sum of modal solutions.Moreover, it is shown there that these modal solutions reduce to the well-known modal solutions of the exponential type for invariant set of equations. These modal solutions are characterizedfor circuits with n dynamical elements as the product of an n-dimensional dynamic eigenvector and an exponential function containing the dynamic eigenvalues. For the subclass of linear time-varying differential equations with periodic coefficients the fundamental solution can berepresented as the product of a periodic matrix and an exponential matrix containing theFloquet numbers. As a consequence there are two representations for solutions of linear time-varying differential equations with periodic coefficients. Since the solution is unique, there mustbe relations between the periodic matrix and Floquet numbers on one hand, and the dynamiceigenvectors and dynamic eigenvalues at the other. It turns out that the Floquet numbers aremean values of the dynamic eigenvalues. As a consequence dynamic eigenvalues containmore detailed information in comparison with the Floquet numbers. They are relevant in generalstability problems for nonlinear systems and they might give a theoretical base of moving polesin oscillator problems. If the coefficients of the linear time-varying differential equations are non-periodic, then the Floquet numbers has to be replaced by the Lyapunov exponents. Thus, it appears to be usefull to include this aspect also is this paper.

THP4 01.13

Minisymposium Semi-algebraic Geometry, Operator Theory and

Applications

Organization: William Helton, Pablo Parrilo, Mihai Putinar

Chair: J. William Helton

15:30 - 15:50 Exploiting algebraic structure in sum of squares programs (full) P.A. Parrilo ETH Zurich - No Abstract Available -

15:50 - 16:10 Commutative versus noncommutative semialgebraic geometry (full) M. Putinar University of California In general, the difference between positive and non-negative polynomials on semi-algberaic sets is quite sensible. In the framework of a free *-algebra however, this difference disappears, at least in some special cases. I will discuss the classical counterexamples related to thisphenomenon, and the proofs of the new, better results in the free *-algebra setting.

16:10 - 16:30 Formal positivity and matrix-positivity of kernels in non-commuting (full) D.S. Kalyuzhnyi-Verbovetzkii Ben-Gurion University of the Negev V. Vinnikov Ben-Gurion University of the Negev We prove that a kernel given by a formal power series in $2d$ non-commuting variables is positive in the sense of formal power series if and only if its evaluation on pairs of jointlynilpotent $d$-tuples of matrices of any size is a positive kernel (in the usual sense) on $d$-tuples of matrices.

16:30 - 16:50 Convexity vs. LMIs (full) J. W. Helton UC San Diego - No Abstract Available -

16:50 - 17:10 Conservative realizations for formal power series with contractive values on noncommutative multivariable operator balls (full) J.A. Ball Virginia Tech G. Groenewald North West University T. Malakorn Naresuan University We introduce a class of conservative structured multidimensional linear systems with evolutionalong a free semigroup. The system matrix for such a system is unitary and the associated transfer function is a formal power series in noncommuting indeterminants. A formal powerseries $T(z_{1}, \dots, z_{d})$ in the noncommuting indeterminants $z_{1}, \dots, z_{d}$ arising in this way satisfies a noncommutative von Neumann inequality, i.e., substitution of a $d$-tuple of noncommuting operators $\delta = (\delta_{1}, \dots, \delta_{d})$ on a fixed separable Hilbert space which is contractive in the appropriate sense yields a contraction operator $T(\delta) = T(\delta_{1}, \dots, \delta_{d})$. We also obtain the converse realization theorem: any formalpower series satisfying such a von Neumann inequality can be realized as the transfer functionof such a conservative structured multidimensional linear system. Equivalently, $I - T(z) T(z')$ has a noncommutative Agler decomposition (or sum-of-squares representation) $H(z) (I - Z(z) Z(z')^{*}) H(z')^{*}$ for the appropriate linear operator pencil $Z(z) = \sum_{j=1}^{d} I_{j} z_{j}$. There are also applications to $\mu$-analysis for time-varying structured uncertainty.

17:10 - 17:30 Combinatorics hidden in hyperbolic polynomials and related topics (full) L. Gurvits LANL, USA The famous Rado theorem on the rank of intersection of two matroids , where first is matroid of transversals and the second is a geometric matroid , can be equivalently formulated in terms ofdeterminantal polynomials Det(A_i x_i +...+A_n x_n) , where A_i are PSD hermitian matrices .The main topic of this talk is a "hyperbolic" generalization of the Rado theorem . The main toolis a recent proof of the Lax conjecture . I will present various computer science applications ofthis result , mainly that similarly to the intersection of two matroids situation , the "hyperbolic" Rado conditions can be checked in deterministic oracle polynomial time . The main message ofthis talk is that hyperbolicity is hidden in many combinatorial and complexity-theoretic results . Time permit , I will pose a few open problems .

THP5 01.01

Paper Session Infinite Dimensional Systems

Chair: O. Staffans

15:30 - 15:50 On the stabilization of the wave equation with dynamical control (full) B. Chentouf Sultan Qaboos University M. S. Boudellioua Sultan Qaboos University In this paper, we consider a hybrid system which consists of a wave equation in a boundeddomain $\Omega$ of $\R ^n$ and two ordinary differential equations on the boundaries of$\Omega$. Then a boundary feedback law involving only a damping term is proposed. Next, we introduce an energy-norm and we show that the problem is well posed in the sense ofsemigroups theory. Finally, using LaSalle's invariance principle, asymptotic convergence to arest position which depends on the initial data is shown for the solutions of the system.

15:50 - 16:10 The linear quadratic regulator problem for a large class of infinite dimensional systems (full) M.R. Opmeer University of Groningen We introduce a new class of infinite-dimensional linear systems, which we call abstract linearsystems. This class includes all known classes. Moreover, it contains systems which have notbeen studied in control theory before (e.g. systems where A does not generate a stronglycontinuous semigroup, but only an integrated semigroup), but are interesting from a control-theoretic point of view. We show the close relation between abstract linear systems anddiscrete-time systems and we use this relation to solve the linear quadratic regulator problem for the class of abstract linear systems. This unifies and extends all known results.

16:10 - 16:30 Boundary feedback stabilization of the Navier-Stokes equations with gradient constraints (full) M.Badra Universite Paul Sabatier, France We study the local exponential stabilization near a given steady-state flow of the solutions of 2-D and 3-D Navier-Stokes equations defined in a bounded domain. Control is effected throughthe Dirichlet boundary condition in order to reduce the norm of the gradient velovity, which isinvolved in the drag functional. We choose to augment the system by adding an evolutionequation on the boundary. Then we apply a linear feedback controller, obtained by theresolution of a linear quadratic control problem.

16:30 - 16:50 Boundary feedback stabilization of a linear first order hyperbolic system with non smooth coefficients (full) B. Chentouf Sultan Qaboos University M.S. Boudellioua Sultan Qaboos University In this work, we investigate the stabilization of a wide class of linear first order hyperbolicsystems with $L^{\infty}$-coefficients. We consider boundary inputs (actuators) which lead us toa hyperbolic system with non smooth coefficients and non homogeneous boundary conditions.Our main contribution is to prove the exponential stability of such systems under suitableconditions on the coefficients and the feedback gains. The key idea of the proof is to use theclassical method of regularization and the characteristics method.

16:50 - 17:10 Uniform stabilization of the Euler-Bernoulli equation with variable coefficients (full) S. E. Rebiai University of Batna Uniform stabilization of the Euler-Bernoulli equation with non-constant coefficients in the principal part is studied. Dissipative boundary feedback operators are introduced. By usingmultiplier techniques, the exponential decay is established on the space of optimal regularity.

17:10 - 17:30 Time sampling of diffusion systems using semigroup decomposition methods (full) J.M. Lemos INESC-ID/IST, Portugal J.M.F. Moura Carnegie Mellon University The paper considers the time sampling of the {\em a priori} probability distribution function of the state of a diffusion process by semigroup decomposition methods. We approximate thesemigroup generated by the evolution equation associated to the diffusion by Trotter's formula.We benchmark the approximation against an exact method, {\em viz.} the Wei-Norman decomposition). We illustrate both methods through the discretization of the Fokker-Planck equation associated with the PLL estimation error probability distribution function.

THP6 01.19

Minisymposium Observer theory, design and applications

Organization: J. Trumpf, U. Helmke

Chair: J. Trumpf 15:30 - 15:50 Genericity of algebraically observable polynomial systems: The discrete-time case (full) U. Helmke University of Wuerzburg J.H. Manton The University of Melbourne A polynomial system is algebraically observable if the initial state can be expressed as apolynomial function of (a finite number of) observations. Algebraically observable systems are ofinterest, as polynomial high gain observers can be constructed for them. We provide insight intowhy algebraic observability is not a generic property for discrete-time polynomial systems and present an embedding result for polynomial maps. We also formulate a conjecture that algebraic observability is generic within a subclass of polynomial systems whose state map hasa polynomial inverse.

15:50 - 16:10 Integral mapping based observers for nonlinear systems (full) R. Engel University of Kassel A nonlinear observer approach for systems with inputs is presented. It covers some systemclasses for which standard construction methods are not applicable, e.g. nonsmooth systemsand systems with singular inputs. Its characteristic feature is that the dynamic part of the observer is linear. The observer is completed by a static nonlinearity which maps the observerstate in the original state space. An associated observation mapping is introduced and isinterpreted in terms of an orthonormal expansion of the input and output signals. It is shown thatunder certain conditions an observer with arbitrary small asymptotic observation error can beobtained.

16:10 - 16:30 PI-observers for nonlinear descriptor systems (full) P.C. Mueller University of Wuppertal For nonlinear state space systems a design method for nonlinearity estimation andcompensation is well-known. In this paper this design method will be extended to nonlineardescriptor systems showing the similarities and the differences compared to the state spacedesign methods. For the estimation problem a PI-Observer is designed either as a full order singular observer or as a reduced order regular observer. The compensation of thenonlinearities follows directly the method of disturbance rejection. Finally, the closed-loop control system is discussed demonstrating the efficiency of the PI-observer for the estimation and compensation of nonlinear effects in descriptor systems.

16:30 - 16:50 Observability criteria for slow and fast reliability states within a reliability control system (full) I. Pabst University of Wuppertal Conventionally, component and system reliability characteristics, e.g. failure rates or failureprobabilities, are estimated before reliability analysis is completed and the system is put intoservice. The Reliability Control System (RCS) shows a method which provides online estimatesof reliability properties of components or systems. The new approach also considers the influence of system dynamics, load histories as well as couplings between the reliabilityproperties which may lead to a singular model description. The RCS is introduced and a partialobserver for the slow reliability states and a criterion for fast reliability state observation are presented.

16:50 - 17:10 On duality in some problems of geometric control relating to observers (full) P.A. Fuhrmann Ben-Gurion University of the Negev In the algebraic approach to problems of disturbance attenuation and observer theory,questions of stabilization and more generally spectral assignability are central. These relate tothe concepts of controllability and observability subspaces of geometric control theory. We will outline here a functional characterization of these subspaces and in particular describe someresults on the limit of spectral assignability and the parametrization of the corresponding statefeedback and output injection maps.

17:10 - 17:30 Functional observers for systems with unknown inputs (full) M. Darouach IUT de Longwy This paper is concerned with the design of linear functional state observers for linear time-invariant systems with unknown inputs. The order of these observers is equal to the dimension rof the functional to be estimated. Necessary and sufficient conditions for the existence andstability of these observers are given. Continuous and discrete time systems are considered.

17:30 - 17:50 Observers for linear time-varying systems (full) J. Trumpf The Australian National University As in the time invariant case the fundamental property of an observer turns out to be thetracking property, roughly speaking the ability of the observer to produce an accurate estimate ifstarted with a correct guess. Characterizations of this property are given as well as sufficientconditions for an observer to always produce asymptotically accurate estimates. Sufficientexistence conditions are discussed for both cases.

THP7 01.07

Paper Session Network Dynamics and Control

Chair: H. Hjalmarsson

15:30 - 15:50 Networked control methods robust to jitter and their evaluation by inverted pendulum (full) N. Adachi Nara Institute of Science and Technology K. Aida M. Nitta K. Sugimoto Control systems over the Internet often suffer from a peculiar transmission delay named jitter,which is an irregular variation of delay time due to network congestion. In order to make the closed-loop system robust to jitter, this paper proposes to apply two types of control methods;namely, i) a phase margin guarantee method known in control theory, and ii) a packet sortingmethod in network architecture. The paper evaluates the effectiveness of these methodsthrough various experiments in stabilization of an inverted pendulum.

15:50 - 16:10 An LMI approach to networked control systems with data packet dropout and transmission delays (full) M. Yu Center for Systems and Control, Peking University L. Wang Center for Systems and Control, Peking University T. Chu Center for Systems and Control, Peking University This paper mainly deals with the problems of data packet dropout and transmission delays induced by communication channel in networked control systems (NCSs). Two approaches areintroduced to deal with the problems. One is the delay system approach, the other is theswitched system approach. Sufficient conditions on the stabilization of the NCSs are established in terms of linear matrix inequality (LMI), which can be easily solved with theefficient LMI toolbox. Attention is focused on the design of memoryless state feedback controllerthat guarantee stability of the closed-loop systems in spite of data packet loss and transmissiondelays.

16:10 - 16:30 Global stability of a dual congestion control under time-varying queueing delays (full) F. Paganini UCLA, USA This paper concerns the global dynamics of a certain ``dual" network congestion control, forwhich the feedback signal measures a queueing delay at congested links. Earlier studies haveshown properties of local stability for arbitrary networks, and global stability results under more restrictive assumptions; all these, however, assume that delays are fixed. For protocols thatbuild real queues and therefore introduce a time-varying delay, the dynamics are significantly

more complex. In this paper we study a single link and source network under these conditions, and give a global stability theorem for the resulting nonlinear, time-varying, time-delay system.

16:30 - 16:50 Traffic reduction in randomly generated information networks (full) N.S.M. Kenny United Kingdom - UMIST M.R. Muldoon United Kingdom - UMIST A random Boolean network (RBN) is used to model a computer network. When thinking of aRBN in this way; a node becomes a server, edges become network connections and staterequests become packets. The synchronous updating, found in classic RBNs, is compared tothe fixed periodic refreshing used in, for example, the domain name system (DNS). Theproposed method for reducing traffic in the network is to give each node the power to regulate the accuracy of the information it holds. That is the nodes attempt to control the probability thattheir information is up to date (correct). Each node is fitted with a learning algorithm thatrequires only local information and determines how frequently the node should refresh in order to achieve its desired accuracy. This approach permits substantial reductions in the volume oftraffic without altering network topology or consideration of particular routing/queueingprotocols.

16:50 - 17:10 The parallel phase I algorithm for the multicommodity network flow problem: an application for the data routing problem (full) C.M. Ribeiro Brazil UNIPAC L.N. Moreira Brazil UNIPAC The Network Flow Problems and the Multicommodity Network Flow Problem have severalpractical applications. Problems such as water or gas distribution, the electrical or telephonenetwork planning, the hydroelectric energy generation, the air traffic control, the data routingand some financial problems among others, may be formulated as network flow problemsoptimization. Generally, the network flow problems belong to a large size problems class and forthat reason are generally quite complexes. Since the size of the computing networks growsrapidly, the data routing problem has become of great relevance. Hence, studies regarding thedevelopment of algorithms in order to solve data routing problems have considerably increased.In this paper is presented a parallel algorithm allowing to find a feasible initial solution for the routing problem. The developed algorithm can be used to find an initial solution for themulticommodity network flow problems with linear or nonlinear objective function. It solves, infast way, problems of large size. The algorithm was written in C and implemented in computernetworks. The operating system UNIX was used. Experimental results, as well as an analysis ofthe efficiency and the speedup of the algorithm are presented.

17:10 - 17:30 A power and rate control algorithm for wireless networks with state-delayed dynamics (full) S. Ananth UCLA, USA A. H. Sayed UCLA, USA Power consumption is a key limiting factor in the performance of wireless networks. Thislimitation is further compounded by the fact that nodes in a network need to cater to desireddata rates, which in turn require the SNR level, and consequently the power level, to be abovecertain values. As such, a fundamental tradeoff exists between power levels, data rates, and

congestion rates in a network. Most of the available solutions in the literature do not combine ina cohesive manner the requirements of power, data rate, and congestion. For this reason, suchsolutions may not perform well when the rates in a network need to vary due to the use of rate adaptation or congestion control algorithms. In this paper, we propose an algorithm that allowsfor the joint control of rate and power in a network. We also show how to develop an algorithmfor the more demanding situation when there are delayed measurements in the network. From asystem-theoretic perspective, the problem requires that we deal with state-delayed models. As a result of the analysis, we will end up with a joint rate and power control algorithm thatminimizes a bound on the error variance between the desired and actual signal-to-interference ratios (SIR).

THP8 01.25

Paper Session Identification

Chair: X. Bombois 15:30 - 15:50 H2-optimal linear parametric design (full) I. Markovsky Katholieke Universiteit Leuven S. Van Huffel B. De Moor We consider discrete-time linear time-invariant parameter dependent systems $\tilde H(z,p):=\sum_{i=1}^{n_p}p_iH_i(z)$. The parameter $p$ is a design variable. $H_2$-optimal parametric design problem is defined as $\min_p\norm{\tilde H(z,p)}_2^2$. The solution depends critically on the function $\tilde H(z,\cdot)$. Affine function $\tilde H(z,\cdot)$ corresponds to an open-loop design and leads to a convex quadratic optimization problem. An analytic solution is given in this case. Affine-fractional function $\tilde H(z,\cdot)$ corresponds to a closed-loop design and leads to a non-convex optimization problem. This case remains anopen problem.

15:50 - 16:10 Solution of inverse scattering problems by means of parametric identification techniques (full) S. Perabo University of Padova G. Picci University of Padova F. Marcuzzi University of Padova In this paper we consider a rather general inverse scattering problem of determining the coefficients in a system of second order hyperbolic partial differential equations. By usingGalerkin-type approximation we formulate this problem as a system identification problemwhere the unknown parameters of a linear system are to be estimated. This can be done bystandard system identification algorithms without resorting to the classical gradient-type optimization rutines which are complicated and time-consuming.

16:10 - 16:30 A stochastically balanced realization on a finite-interval (full) H. Tanaka Kyoto University T.Katayama Kyoto University This paper studies minimum phase properties of a stochastically balanced realization on afinite-interval ([1] Maciejowski, 1996) based on an idealized assumption that an exact and finitecovariance data is given. A finite-interval realization algorithm ([2] Lindquist and Picci, 1996) isintroduced, and it is shown that the algorithms [1] and [2] give the same realizations. It is then proved that the systems defined by the finite-interval realization are of minimum phase, and thisfact implies that the stochastically balanced realization [2] is also of minimum phase. Anextension to a stochastic subspace identification is also briefly discussed with a numerical simulation result.

16:30 - 16:50 Continuous-time subspace system identification using generalized orthonormal basis functions (full) Y. Ohta Osaka University T. Kawai This paper proposes a new subspace identification algorithm for continuous-time systems using generalized orthonormal basis functions. It is shown that a generalized orthonormal basisinduces the transformation of continuous-time stochastic systems into discrete-time stochastic systems, and that the transformed noises have the ergodicity properties. With these basicobservations, the standard subspace identification methods such as the MOESP algorithm areapplied to estimate the system matrices.

16:50 - 17:10 Iterative estimation of the extended observability matrix (full) G. Salazar-Silva CINVESTAV-IPN J.C. Martinez-Garcia CINVESTAV-IPN We present in this paper an iterative algorithm which computes an estimate of the extendedobservability matrix associated to the solution of the deterministic discrete-time subspace model identification problem.

17:10 - 17:30 Separable least squares for projected gradient identification of composite local linear state-space models (full) J. Borges Instituto Superior Técnico V. Verdult Delft University of Technology M. Verhaegen Delft University of Technology M. Ayala Botto This paper proposes a novel approach towards the identification of composite local linear state-space models from input-output measurements of a nonlinear dynamical system. It combinesthe estimation of the model parameters, using the principle of separable least squares, with theuse of a projected gradient method, also known as data driven local coordinates. In this way, the method avoids the need for a canonical parametrization of the local linear models and isthus expected to lead to a better conditioned optimization problem. By means of Monte-Carlo simulations we show that the proposed method allows to achieve a reduction in the number ofiterations, for the optimization procedure, and an increase of the model accuracy, whencompared with a method that does not use separable least squares.

17:30 - 17:50 Decentralized system identification and sensor fusion (full) J. A. Ramos Indiana University Purdue University-Indianapolis In this paper we study the problem of decentralized system identification using obliqueprojections of the past and future of the observation process. With the help of these projections,the problem breaks down into a series of canonical correlation analysis problems, which is awell known problem and various algorithms have been presented in the literature. Each sensor

computes its contribution to the state by independently solving a canonical correlation problem.These are sent to the central processor which then adds up all the state estimates to determinethe total state. If any of the sensors fail, then that piece of information may get lost but it does not deteriorate significantly the overall performance.

THP9 01.56

Paper Session Linear Algebra

Chair: M. Van Barel

17:30 - 17:50 On characteristic equations, dynamic eigenvalues, Lyapunov exponents and Floquet numbers for linear time-varying systems (full) P. van der Kloet Delft Univeristy of Technology F.L. Neerhoff Delft University of Technology Electronic circuits are nonlinear by nature. Roughly speaking, two different kinds of operation can be distinguished. The first one is described by the behavior of small signals around a fixedoperating point, like class A amplifiers. The behavior of small signals can be derived as a setlinear algebraic differential equations with constant coefficients. This set of equations is used for stability problems, distortion problems, noise problems and so on. In a mathematical sense, theset of equations is obtained by considering variations around the fixed operating point andhence known as the set of variational equations. The second kind of operation contains circuitsthat behave in a time-varying mode of operation, like oscillators. Here also the set of variationalequations is identified as a set of linear differential equations. The coefficients, however, are time-dependent. The field of applications is the same as in the first kind of operation: stabilityproblems, distortion problems, noise problems and so on. The time-behavior of the coefficients in the variational equations is derived from the time-behavior of the (time-varying) mode of the circuit. For oscillators, the coefficients of the variational (differential) equations are periodicfunctions of time. A representation for the solution of linear time-varying differential equations is derived, either in the form of the fundamental matrix or in the form of a sum of modal solutions.Moreover, it is shown there that these modal solutions reduce to the well-known modal solutions of the exponential type for invariant set of equations. These modal solutions are characterized for circuits with n dynamical elements as the product of an n-dimensional dynamic eigenvector and an exponential function containing the dynamic eigenvalues. For the subclass of lineartime-varying differential equations with periodic coefficients the fundamental solution can berepresented as the product of a periodic matrix and an exponential matrix containing theFloquet numbers. As a consequence there are two representations for solutions of linear time-varying differential equations with periodic coefficients. Since the solution is unique, there mustbe relations between the periodic matrix and Floquet numbers on one hand, and the dynamiceigenvectors and dynamic eigenvalues at the other. It turns out that the Floquet numbers are mean values of the dynamic eigenvalues. As a consequence dynamic eigenvalues containmore detailed information in comparison with the Floquet numbers. They are relevant in generalstability problems for nonlinear systems and they might give a theoretical base of moving poles in oscillator problems. If the coefficients of the linear time-varying differential equations are non-periodic, then the Floquet numbers has to be replaced by the Lyapunov exponents. Thus, itappears to be usefull to include this aspect also is this paper.

15:50 - 16:10 Schemes of polynomial characteristic equations for scalar linear systems (full) F.L. Neerhoff Delft University of Technology P. van der Kloet Delft University of Technology - No Abstract Available -

16:10 - 16:30 Reliable algorithms for computing minimal dynamic covers for descriptor systems (full) A. Varga German Aerospace Center Dynamic covers play an important role in solving many minimal dimension control synthesis problems (e.g., functional observers, fault detection filters, generalized inverses, modelmatching). We propose numerically reliable algorithms to compute two basic types of minimaldimension dynamic covers for linear descriptor systems. The proposed approach is based on aspecial controllability staircase condensed form of a structured descriptor pair, which can becomputed using exclusively orthogonal similarity transformations. Using such a condensed formminimal dimension covers and corresponding feedback/feedforward matrices can be easilycomputed. The overall algorithm has a low computational complexity and is provablynumerically reliable.

16:30 - 16:50 The extended (J, J’)-spectral factorization of rational matrices (full) D. Chu National University of Singapore - No Abstract Available -

16:50 - 17:10 Minor component analysis by incremental inverse iteration (full) D.M. Sima Katholieke Universiteit Leuven S. Van Huffel Katholieke Universiteit Leuven Minor Component Analysis (MCA) involves computing the direction of lowest variance in a cloudof data points. In this paper, a new stochastic method for Minor Component Analysis isproposed. The motivation lies in the unsatisfactory convergence properties of other sequentialmethods for MCA, such as neural methods. The new `incremental inverse iteration' methoduses the given data sequentially, but takes into account the advantages of classical inverse iteration and Rayleigh quotient iteration methods. Moreover, from a statistical point of view, themethod is able to track the minor component of the sample covariance matrix with sufficientaccuracy as the sample size grows, when new data is given. The new algorithm has a quadratic computational complexity per iteration, and a fast convergence rate.

17:10 - 17:30 A multidimensional systems approach to polynomial optimization (full) I.W.M. Bleylevens Universiteit Maastricht B. Hanzon Universiteit Leiden R.L.M. Peeters Universiteit Maastricht We consider a special class of polynomials for which the global minimization problem is solvedby associating a system of multidimensional difference equations to the set of multivariate polynomial equations which is constituted by the first order conditions. The solutions coincidewith the multi-poles of the associated multidimensional system. This approach leads to largeeigenvalue problems which are solved by Jacobi-Davidson or Arnoldi methods. For such methods one does not need to specify the large matrix involved, it suffices to implement theaction of the linear operator. This can be efficiently achieved by solving the system of differenceequations for a given set of initial values. An example demonstrates the method.

17:30 - 17:50 On the maximum rank of Toeplitz block matrices of blocks of a given pattern (full) G. Reiszig Universitaet Magdeburg We show that the maximum rank of block lower triangular Toeplitz block matrices equals theirterm rank if the blocks fulfill a structural condition, i.e., only the locations but not the values oftheir nonzeros are fixed.

THP10 01.31

Minisymposium Interpolation and operator theory methods

Organization: M.A. Kaashoek, A.E. Frazho

Chair: M.A. Kaashoek 15:30 - 16:10 Analytic interpolation and spectral analysis: advances and applications (full) T. Georgiou University of Minnesota - No Abstract Available -

16:10 - 16:30 An augmented basic interpolation problem (full) H. Dym The Weizmann Institute of Science A number of bitangential interpolation problems in the Schur class $\mathcal{S}^{p\times q}(\mathbb{D})$ of $p\times q$ mvf's (matrix valued functions) that are holomorphic andcontractive in the open unit disc $\mathbb{D}=\{\lambda\in\mathbb{C}:\,\vert\lambda\vert<1\}$ can be incorporated into a general scheme that is formulated in terms of an observable pair $\{C\in\mathbb{C}^{\,m\times n}, A\in\mathbb{C}^{\,n\times n}\}$, and a positive semidefinite solution $P$ of the Stein equation \begin{equation*} P-A^*PA=C^*JC,\quad\textrm{where}\quad J\,=\,\left[\begin{array}{cc} I_p & 0\\ 0 & -I_q\end{array}\right]\quad\textrm{and}\quad p+q=m. \label{eq:lyap} \end{equation*} In this setting, the aim is to describe the set$\widehat{\mathcal{S}}(C,A,P)$ of mvf's $S\in {\mathcal{S}}^{p\times q}(\mathbb{D})$ that meet the following three conditions, wherein $F(\lambda)=C(I_n-\lambda A)^{-1}$. % \begin{enumerate} \item [(C1)] $[I_p\quad -S]Fu$ belongs to the Hardy space $H^p_2$ forevery $u\in\mathbb{C}^n$. \item [(C2)] $[-S^*\quad I_q]Fu$ belongs to the Hardy space ${H^q_2}^{\perp}$ for every $u\in\mathbb{C}^n$. \item [(C3)] ${\displaystyle\frac{1}{2\pi} \int^{2\pi}_0} F(e^{i\theta})^* \left[\begin{array}{cc} I_p & -S(e^{i\theta})\\ -S(e^{i\theta})^*& I_q\end{array}\right]F(e^{i\theta})d\theta\leq P$. \end{enumerate} % The complexity of the problem depends upon the spectrum $\sigma(A)$ of $A$ and whether or not $P$ is invertible. In this talk I will adapt the methodology of Katsnelson, Kheifets andYuditskii (which is based on the Arov-Grossman formula for the unitary extensions of a givenisometric operator) to obtain a description of the set $\widehat{\mathcal{S}}(C,A,P)$ that is applicable to both singular and nonsingular $P$ without any constraints on $\sigma(A)$.

16:30 - 16:50 Boundary interpolation problems (full) H. Dym The Weizmann Institute of Science In this talk I shall present a brief survey of tangential interpolation problems in the Schur class$\mathcal{S}^{p\times q}(\mathbb{D})$ of $p\times q$ mvf's (matrix valued functions) that are holomorphic and contractive in the open unit disc

$\mathbb{D}=\{\lambda\in\mathbb{C}:\vert\lambda\vert\le 1\}$ when the interpolation points are located on the boundary $\mathbb{T}$ of $\mathbb{D}$. % In this setting interpolation conditions on a mvf $S\in\mathcal{S}^{p\times q}(\mathbb{D})$ are formulated in terms of radial limits (or equivalently nontangential limits) of the mvf $S(\lambda)$ and its derivatives $S^{(j)}(\lambda)$ as $\lambda$ tends to the boundary $\mathbb{T}$ of $\mathbb{D}$. The results to be reported on are based largely on joint work with V. Bolotnikov.

16:50 - 17:10 An optimization problem and Nevanlinna-Pick expansion (full) A.E. Frazho Purdue University - No Abstract Available -

17:10 - 17:30 A Grassmanian approach to the Hankel norm approximation problem (full) O.V. Iftime University of Groningen M.A. Kaashoek FEW Vrije Universiteit H. Sandberg Lund Institute of Technology A.J. Sasane This paper concerns the unifying framework to strictly contractive extension problems, which is usually referred to as the band method. The solution to the so-called strictly contractive extension problem in this abstract framework, when applied to a certain concrete case, yields acomplete characterization of solutions to the sub-optimal Nehari problem. The sub-optimal Hankel norm approximation problem is a more general problem, which is closely related to themodel reduction problem in control theory. It covers the Nehari problem as a special case, butdoes not fit into the existing abstract framework. This problem is addressed in the presentpaper. In this paper the Grassmannian version of the band method is suitable enlarged so as toinclude the sub-optimal Hankel norm approximation problem as a special case as well. Our abstract result is illustrated on two concrete problems, one for time-invariant infinite dimensional systems and the other for time-variant periodic finite dimensional systems.

17:30 - 17:50 Real interpolating units via positive functions (full) Prashant Batra Technical University Hamburg-Harburg, Germany Several problems of stabilization have been shown to be equivalent to interpolation problems onfunctions of a restricted type. For example, it is well-known that the parameterization of all stable controllers yields the equivalent question of feasible interpolation by units, This leads tothe task of constructing units whenever possible. Moreover, as the unit enters additively into thecontroller there is strong interest in low degree interpolation. A construction suggested byCusumano et al. in 1987 showed that a rational unit might be obtained from the solution of arelated Nevanlinna-Pick interpolation problem for strictly positive functions. Several modifications to obtain real or low degree solutions in specific cases have been suggestedsubsequently. All of these schemes are based on solutions to the Nevanlinna-Pick problem of degree generically no less than $2k-1$ for $2k$ interpolation points. This paper proposes a new method to produce a real unit for interpolation data symmetric to the real axis. Starting frompositive functions instead of strictly positive functions exploiting inherent data dependencies, thebasic Nevanlinna-Pick problem can be solved by functions of lower degree.

Friday, July 9, 2004

P5 Aula Pieter De Somer

Plenary Presentation Chair: Y. Yamamoto

09:00 - 10:00 Convolutional Codes, Systems over Finite Fields and Fault Tolerance J. Rosenthal University Notre Dame, Deparment of Mathematics It is well known that a convolutional code is essentially a linear system defined over a finite field.Despite this well known connection convolutional codes have been studied in the past mainly bygraph theoretic methods and in contrast to the situation of block codes there exist only few algebraic constructions. It is a fundamental problem in coding theory to construct convolutionalcodes with a designed distance. A first part of the talk describes the connection between convolutional codes and linearsystems. Using systems theoretic methods we explain how to construct codes with maximal ornear maximal free distance. We show how decoding can be viewed as a discrete trackingproblem where the received signals have to be optimally matched with a sequence generatedby the encoder. We also report on recent progress in the construction of convolutional codes byalgebraic means.Convolutional codes have been used in the past mainly for the purpose of point to pointcommunication. Recent work by Hadjicostis, Verghese, Fliess and their collaborators have shown interesting applications to Fault Tolerant systems where codes over a large alphabetplay an important role. In a final part of the talk we will address these applications.

FA1 91.54

Minisymposium Robust control via polynomial and optimisation

methods

Organization: Michael Sebek, Didier Henrion, Zdenek Hurak

Chair: Zdenek Hurak

10:30 - 11:10 Overcoming non-convexity in polynomial robust control (full) D. Henrion LAAS-CNRS M. Sebek Czech Technical University in Prague When developing efficient and reliable computer-aided control system design (CACSD) tools for low-order robust control systems analysis and synthesis, the main issue faced by theoreticiansand practitioners is the non-convexity of the stability domain in the space of polynomialcoefficients, or equivalently, in the space of design parameters. In this paper, we survey someof the recently developed techniques to overcome this non-convexity, underlining their respective pros and cons. We also enumerate some related open research problems which, inour opinion, deserve particular attention.

11:10 - 11:30 MIMO L-optimal control via Block Toeplitz operators (full) Z. Hurak Czech Technical University A. Boettcher Technische Universitat Chemnitz The paper is devoted to the standard problem of $\ell_{1}$-optimal control for MIMO systems, that is, to the design of a feedback compensator that minimizes peaks in the amplitude of theregulated variables under the assumption that the exogenous variables are bounded inmagnitude and persistent. The solution proposed avoids interpolation completely and istherefore distinguished by fine numerical properties. An alternative proof for the finiteness of the impulse response in the square (one-block) case is given, while both lower and upper boundsfor the optimal value of the norm are established in the general multiblock case.

11:30 - 11:50 Control of linear systems subject to time-domain constraints with polynomial pole placement and LMIs (full) D. Henrion LAAS-CNRS, France S. Tarbouriech LAAS-CNRS, France V. Kucera Czech Technical University in Prague The paper focuses on the control of continuous-time linear systems subject to time-domain constraints (input amplitude limitation, output overshoot) on closed-loop signals. Using recent

results on positive polynomials, it is shown that finding a Youla-Kucera polynomial parameter of fixed degree (hence a controller of fixed order) such that time-domain constraints are satisfied amounts to solving a convex linear matrix inequality (LMI) optimization problem as soon asdistinct strictly negative poles are assigned by pole placement.

11:50 - 12:10 Symmetric factorization algorithm for 2-D control problems (full) J. Jezek UTIA CAS CZ P. Zezula FEE, Czech Technical University in Prague - No Abstract Available -

12:10 - 12:30 Block Toeplitz methods in polynomial matrix computations (full) J.-C. Zuniga France - LAAS-CNRS D. Henrion France - LAAS-CNRS Some block Toeplitz methods applied to polynomial matrices are reviewed. We focus on thecomputation of the structure (rank, null-space, infinite and finite structures) of an arbitrary rectangular polynomial matrix. We also introduce some applications of this structural informationin control theory. All the methods outlined here are based on the computation of the null-spaces of suitable block Toeplitz matrices.

FA2 01.54

Paper Session Hybrid and Discrete Systems

Chair: R. Bemporad 10:30 - 10:50 Symmetric cellular automata (full) A. Popovici University of the West Timisoara D.E. Popovici University of the West Timisoara Any (deterministic) cellular automaton (CA) can be completely determined by a certainassociated natural number, called its code. Since these numbers are relatively big for morecomplicated CA, it becomes naturally to introduce another kind of codes (smaller) to characterize some special classes of CA. In this paper we establish a connection between thecodes associated to symmetric CA and the ones associated to general CA. We also give anecessary and sufficient condition on an arbitrary CA (represented by its code) to be a symmetric CA.

10:50 - 11:10 Complexity of control on finite automata (full) J.-C. Delvenne Université Catholique de Louvain V. D. Blondel Université Catholique de Louvain We consider control questions for finite automata viewed as input/output systems. In particular,we find estimations of the minimal number of states of an automaton able to control a givenautomaton. We show that on average, feedback control automata are not smaller than open-loop automata.

11:10 - 11:30 Distinguishing global asymptotic stability and marginal stability for piecewise affine dynamical systems is undecidable. (full) J. Foy National University of Ireland, Maynooth - No Abstract Available -

11:30 - 11:50 A trajectory-space approach to hybrid systems (full) P. Collins Nederland - Centrum voor Wiskunde en Informatica We develop a framework for studying dynamical properties of hybrid systems based on considering the space of all possible trajectories of the system. In this way it is possible to treatboth nondeterministic systems and systems for which the evolution does not dependcontinuously on the initial conditions. We show that the trajectory space is compact for the classof upper-semicontinuous hybrid systems, obtain results on Zeno properties and invariantmeasures for systems with compact trajectory set. Since many classes of hybrid system can berecast in upper-semicontinuous form, these results are of general applicability.

11:50 - 12:10 Reachability of affine systems on polytopes in the plane (full) L.C.G.J.M. Habets Technische Universiteit Eindhoven J.H. van Schuppen Centrum voor Wiskunde en Informatica Reachability analysis of piecewise-affine hybrid systems addresses the problem whether it ispossible to transfer the system from an initial state to a specified set of final states. The problemconsists of two parts: a continuous reachability problem for affine systems on polytopes, and adiscrete switching problem for a finite automaton. The discrete switches are triggered when thecontinuous state reaches a facet of the corresponding state polytope. We focus on thecontinuous reachability problem and derive a method for obtaining the domains of attraction ofthe exit facets for two-dimensional systems on polygons.

12:10 - 12:30 Stabilizing receding horizon control of piecewise linear systems: an LMI approach (full) M. Lazar Eindhoven University of Technology W.P.M.H. Heemels Eindhoven University of Technology S. Weiland Eindhoven University of Technology A. Bemporad Receding horizon control has recently been used for regulating discrete-time Piecewise Affine (PWA) systems. One of the obstructions for implementation consists in guaranteeing closed-loop stability a priori. This is an issue that has only been addressed marginally in the literature.In this paper we present an extension of the terminal cost method for guaranteeing stability inreceding horizon control to the class of unconstrained Piecewise Linear (PWL) systems. Alinear matrix inequalities set-up is developed to calculate the terminal weight matrix and theauxiliary feedback gains that ensure stability for quadratic cost based receding horizon control.It is shown that the PWL state-feedback control law employed in the stability proof globallyasymptotically stabilizes the origin of the PWL system. The additional conditions needed to extend these results to constrained PWA systems are also pointed out. The implementation ofthe proposed method is illustrated by an example.

FA3 91.56

Minisymposium Realization theory and model reduction for nonlinear

systems

Organization: J.M.A. Scherpen, W.S. Gray Chair: J.M.A. Scherpen

10:30 - 10:50 Balancing and model reduction for discrete-time nonlinear systems based on Hankel singular value analysis (full) K. Fujimoto Nagoya University J.M.A. Scherpen Delft University of Technology This paper is concerned with balanced realization and model reduction for discrete-time nonlinear systems. Singular perturbation type balanced truncation method is proposed. In thisprocedure, the Hankel singular values and the related controllability and observability propertiesare preserved, which is a natural generalization of both the linear discrete-time case and the nonlinear continuous-time case.

10:50 - 11:10 Balanced realizations near stable invariant manifolds (full) W.S. Gray Old Dominion University E.I. Verriest Georgia Institute of Technology It is shown that the notion of balancing a state space realization about a stable, isolatedequilibrium point can be generalized to systems possessing only a stable invariant regularsubmanifold of arbitrary dimension, for example, a stable limit cycle.

11:10 - 11:30 Identification of nonlinear state-space systems using zero-input responses (full) V. Verdult Delft University of Technology J.M.A. Scherpen Delft University of Technology This paper studies the generalization of linear subspace identification techniques to nonlinearsystems. The basic idea is to combine nonlinear minimal realization techniques based on the Hankel operator with embedding theory used in time-series modeling. We show that under the assumption of zero-state observability, a collection of several zero-input responses can be used to construct a state sequence of the nonlinear system. This state sequence can then be used toestimate a state-space model via nonlinear regression. We also discuss how the zero-input responses can be obtained. The proposed method is illustrated using a pendulum as anexample system.

11:30 - 11:50 On the acceleration of a POD-based model reduction technique (full) P. Astrid TU Eindhoven S. Weiland TU Eindhoven K. Willcox US - MIT The method of proper orthogonal decomposition is well known to be an effective method for model reduction of large scale systems. The method amounts to calculating a suitableorthonormal basis of a spatial domain that is optimal in a well defined sense. Reduced ordermodels are obtained by projecting the system dynamics on the span of the first $n$ basis functions. However, due to the high dimensional coordinate system, the low order model doesnot automatically improve the computational aspects of the model when compared to theoriginal model. For large scale systems with time varying model parameters or numerically intractable non-linear models, Galerkin type of projections need to be performed on a constantlychanging model. In this paper, we use a method of Missing Point Estimation (MPE) to modifythe classical POD-procedure so as to recover or reconstruct the dynamic features of the systemon the basis of partial measurements. We show that the states of the POD-based reduced model can be obtained more efficiently by conducting projection onto a selected number ofstates which have been chosen with the information from the POD basis vectors. In turn, thisleads to an approach to quantify efficient sensor locations in a system to recover systemdynamics.

11:50 - 12:10 Model reduction of nonlinear RF systems (full) M. Condon RF Modelling and Simulation Group, Dublin

City University Abstract The paper is concerned with model reduction of nonlinear systems and in particular,with the definitions of gramians that are employed in balancing-style model reduction algorithms. It proposes new improved definitions for empirical gramians based on ageneralisation of the fundamental solution for Linear Time-Varying systems. Initially, the new gramians are compared to existing propositions for empirical gramians via a bilinear system and then the new gramians are employed in direct model reduction of a nonlinear system. Sampleresults will indicate the efficacy of new proposals for empirical gramians.

12:10 - 12:30 Model reduction of weakly nonlinear systems using modified Carelman bilinearization and projection formulation (full) Z. Bai University of California D. Skoogh Swedish Defence Research Agency We first present two modified Carleman bilinearization schemes to improve the accuracy of approximations of weakly nonlinear systems by bilinear systems. Then we discuss numericaltechniques for dimension reduction of the bilinear systems using subspace projectionformulations. They include one-sided orthogonal projection and two-sided oblique projection methods. The orthogonal projection method is numerically stable, but the oblique projectionmethod is computational efficient in term of multimoment-matching. Numerical examples are presented to demonstrate the efficiency of the proposed approaches.

FA4 01.13

Minisymposium LMIs in systems and control: some recent progress

and new trends

Organization: P.-A. Bliman, V. Balakrishnan Chair: P.-A. Bliman

10:30 - 10:50 Efficient SDP algorithms for applications in control and signal processing (full) L. Vandenberghe University of California Los Angeles As an introduction to the minisymposium, this talk will provide a survey of recent progress in thenumerical solution of some classes of large-scale semidefinite programming problems (SDPs)that are common in control and signal processing applications. We focus on SDPs associatedwith sum-of-squares representations of nonnegative polynomials and SDPs derived from theKalman-Yakubovich-Popov (KYP) lemma.

10:50 - 11:10 LMI relaxations in robust control (tutorial) (full) C.W. Scherer Delft University of Technology This paper accompanies a survey presentation within the mini-symposium entitled ``LMIs in systems and control: some recent progress and new trends''. We address the fundamental roleof robust LMI problems for the analysis and synthesis of control systems. Moreover we discusshow to systematically construct families of relaxations in a unified framework if the data matrices admit linear fractional representations. We conclude by presenting recent insights intonumerical tests for verifying the exactness of a given relaxation, and comment on theconstruction of relaxation families that are guaranteed to be asymptotically exact.

11:10 - 11:30 On model order reduction: an SDP approach offers better quality for less effort (full) A. Megretski US - MIT A new class of LTI model reduction algorithms based on semidefinite programming is shown to produce lower bounds at least as good, and generally strictly larger, than those delivered byHankel model reduction. The algorithm can work with partial information about the originalsystem: in one version, it is sufficient to have a finite set of sampled frequency response values;another version of the algorithm operates with a finite set of time response samples. Thisenables application of the method to very large scale systems.

11:30 - 11:50 Reduced LMIs for fixed-order polynomial controller design (full) D. Henrion LAAS-CNRS, France A. Hansson Linkoping University R. Wallin Linkoping University A reduction procedure based on semidefinite programming duality is applied to LMI conditions for fixed-order scalar linear controller design in the polynomial framework. It is namely shownthat the number of variables in the reduced design LMI is equal to the difference between theopen-loop plant order and the desired controller order. A standard linear system of equations must then be solved to retrieve controller parameters. Therefore high computational load is notnecessarily expected when the number of controller parameters is large, but rather when alarge number of plant parameters are to be controlled with a small number of controllerparameters. Tailored interior-point algorithms dealing with the specific structure of the reduceddesign LMI are also discussed.

11:50 - 12:10 Dynamical system design via generalized KYP lemma (full) S. Hara The University of Tokyo T. Iwasaki University of Virginia This paper provides an overview of the authors' recent developments on a generalization of theKalman-Yakubovich-Popov (KYP) lemma that provides a unified linear matrix inequality (LMI) characterization of frequency domain inequalities (FDIs) in (semi)finite frequency ranges forboth continuous- and discrete-time systems and its application to dynamical system design. Wealso derive a robust generalized KYP lemma for systems with parametric uncertainties. We thendiscuss how to apply the generalized KYP lemma to two typical industrial design problems,controller order reduction and finite impulse response (FIR) filter synthesis.

12:10 - 12:30 On robust semidefinite programming (full) P.-A. Bliman INRIA, France This paper is devoted to the study of robust semidefinite programming. We show that to theissue of computing the worst-case optimal value of semidefinite programs depending polynomially upon a finite number of bounded scalar parameters, one may associate acountable family of standard semidefinite programs, whose optimal values convergemonotonically towards the requested quantity. The results is linked to representation formula and positiveness criterion for matrix-valued polynomials.

FA5 01.01

Minisymposium Linear and non-linear passive infinite-dimensional

systems

Organization: H. Zwart Chair: H. Zwart

10:30 - 10:50 A functional analytic approach towards nonlinear dissipative well-posed systems (full) B. Jacob University of Dortmund H. J. Zwart University of Twente For linear infinite-dimensional systems there exists a well-studied functional analytic approach. However, in applications, nonlinear systems and nonlinear partial differential equations areimportant, and it is not a priori clear whether functional analysis is useful for these systems. Inthis paper we show that for a class of nonlinear systems functional analytic ideas developed for linear systems are still applicable. In particular, we study dissipative nonlinear systems and wewill characterize them via extended nonlinear semigroups. This approach has been successfullyapplied by Callier and Grabowski for linear systems and we extend their approach successfullyto nonlinear dissipative systems. In this paper we explain this approach by means of anexample, namely equations of quasi-hyperbolic type.

10:50 - 11:10 A special class of conservative linear systems comprising the Maxwell equations (full) G. Weiss Imperial College London We introduce a class of conservative linear systems motivated by examples from mathematicalphysics. The state space of the system is $X=E\oplus H$, where $E$ and $H$ are Hilbert spaces. We also have a Hilbert space $H_0$ which is dense in $H$, with continuousembedding, and $H_0'$ is the dual of $H_0$ with respect to the pivot space $H$. The inputspace is the same as the output space, and it is denoted by $U$. The semigroup generator hasthe following structure: $A_{11}=0$, $A_{12}=L$, $A_{21}=-L^*$, $A_{22}=-\frac{1}{2}K^*K$, where $L\in {\cal L}(H_0,E)$ and $K\in{\cal L}(H_0,U)$ are such that $[L\ K]^T$ is closed as a densely defined operator from $H$ to $E\oplus U$. The observation operator is $C=[O\ -K]$, which extends naturally to $E \oplus H_0$. The control operator is $B=-C^*$ and the output equation is $y=Cx+u$. It can be shown that for a dense space of initial conditions and input functions we have $\frac{d}{d t}\|x(t)\|^2= \|u(t)\|^2-\|y(t)\|^2$, where $u$ is the input function and $y$ is the output function. In particular, this implies that the system is well-posed. Moreover, the dual system satisfies a similar power balance equation, so that this system is conservative, inthe sense of Arov and Nudelman (1996), or Weiss, Staffans and Tucsnak (2001). A typicalexample are the Maxwell equations in a non-conducting (and possibly unbounded) domain, where the two components of the state are the electric field and the magnetic field. The control

and the observation are localized on a part of the boundary. This example does not fit into theframework of the systems analyzed in the papers by Tucsnak and Weiss (2003). We indicatethree possible proofs of conservativity, of which one is based on the Cayley transform ofsystems.

11:10 - 11:30 Low-gain integral control of well-posed systems subject to input hysteresis: an input-output approach (full) H. Logemann University of Bath, UK E.P. Ryan University of Bath, UK We consider a general class of hysteresis operators with certain natural monotonicity andLipschitz continuity properties (recall that a hysteresis operator is defined to be a causal and rate independent operator mapping the space of continuous functions into itself). The class ofhysteresis nonlinearities under consideration contains, in particular, backlash, elastic-plastic and operators of Prandtl and Preisach type. It is shown that closing the loop around an L2-stable, time-invariant linear system, subject to input hysteresis of this class and compensated by anintegral controller, guarantees tracking of constant reference signals, provided that (a) thesteady-state gain of the linear part of the plant is positive, (b) the positive integrator gain issmaller than a certain constant given by a positive-real condition on the linear system and (c) the reference value is feasible in a natural sense. Finally, it is shown how to use the input-output approach to obtain an analogous state-space result in the context of strongly stable well-posed infinite-dimensional state-space systems.

11:30 - 11:50 Passive and conservative infinite-dimensional linear state/signal systems (full) D. Z. Arov South-Ukrainian Pedagogical University O. J. Staffans Åbo Akademi We develop the theory of linear infinite-dimensional passive and conservative time-invariant systems in discrete and continuous time. The model that we use is built around a state/signal node, which differs from a standard input/state/output node in the sense that we do notdistinguish between input singnals and output signals, only between the "interior" state spaceand the "exterior" signal space. Our state/signal model is an infinite-dimensional version of Willem's behavioral model with latent variables interpreted as the state. We first take both thestate space and the signal space to be Hilbert spaces, and explain what standard notions, suchas existence and uniqueness of solutions, continuous dependence on initial data, observability,controllability, duality, stabilizability, detectability, and stability mean in this setting. Out of theseespecially our notion of (approximate) controllability seems to be new in a behavioral context. We then replace the signal space by a Krein space, and look more closely at systems that aresimple and conservative or minimal and passive. In particular, we construct a minimal balancedpassive realization of a given passive transfer function by interpolating half-way between a minimal optimal and a minimal $*$-optimal realization. All of these realizations are unique up tounitary similarity. By looking at a conservative or passive state/signal system from differentpoints of view (i.e., by splitting the signal space into the sum of an input space and an outputspace in different ways) we recover the well-know scattering, impedance, and transmission input/state/output settings. The family of different scattering (or impedance or transmission) systems that we obtain in this way is the orbit of one fixed scattering system under a linearfractional transformation whose coefficient matrix is $J$-unitary, where the choice of $J$ depends on the setting. We pay special attention to the case where the transfer function is lossless from one or two sides, connecting this property to the strong one-sided or two-sided

stability of the main semigroup of the simple conservative scattering representation, and to theone-sided or two-sided strong conditional stability of the simple conservative state/signalrealization.

11:50 - 12:10 Reciprocal passive linear time-invariant systems (full) D. Z. Arov South-Ukrainian Pedagogical University O. J. Staffans Åbo Akademi We develop the theory of reciprocal linear infinite-dimensional time-invariant scattering, impedance and transmission systems in discrete and continuous time. The transfer function $F$of such a system has the reciprocity property $F(z^*)^*=JF(z)J$, where $J$ is a given signature operator. (An alternative formulation involving involutions is also avaliable.) In the case of ascattering or impedance system the operator $J$ can be taken to be the identity, but in thetransmission case we have neither $J = I$ nor $J = -I$. It has been known for a long time that in the finite-dimensional case such an "external" reciprocity symmetry is equivalent to theexistence of a realization which has an analogous "internal" symmetry. Here we extend thatresult to an infinite-dimensional setting. In the scattering case we have the following result. Let$F(z)$ be a scattering matrix of the Schur class $S(U)$, i.e., $F$ is an operator-valued contractive holomorphic function, mapping $U$ into itself, defined on $\Omega_+$ (which is either the open unit disk or the open right half-plane depending on whether we work in discrete or continuous time). In addition, suppose that $F$ has the reciprocity property$F(z^*)^*=JF(z)J$ for all $z \in \Omega_+$. Then it is possible to construct two types of realizations of this scattering matrix with the additional property that the main operator is similarto its adjoint, with a similarity operator that is both unitary and self-adjoint (i.e., a signature operator). One of these is a simple conservative realization, and the other is a minimal balancedpassive realization. Both of these are unique up to unitary similarity. We get the balancedrealization by interpolating half-way between a minimal optimal and a minimal $*$-optimalrealization. The main operator and the full system matrix of these internally reciprocal systemsis shown to have a special structure. Analogous results are true for reciprocal impedance andtransmission systems, i.e., for operator functions $F(z)$ with have the reciprocity symmetry and belong to the Caratheodory-Herglotz class $C(U)$ or to the Potapov class $P(U)$. Our resultsare based on a new notion of a state/signal node, and this enables us to construct realizationsof impedance and transmission matrices without any extra assumptions on the regularity ofthese functions at zero (for transmission systems in discrete time) or at infinity (in continuoustime).

12:10 - 12:30 A semigroup approach to Port Hamiltonian systems associated with linear skew symmetric operator (full) Y. Le Gorrec Universite Claude Bernard Lyon-1 H. Zwart Univeristy of Twente B. Maschke Universite Claude Bernard Lyon-1 In this paper we first define a Dirac structure on a Hilbert spaces associated with a skew-symmetric linear operator including port variables on the boundary of its domain. Secondly, weassociate C0-semigroup with some parameterization of the boundary port variables and definea family of boundary control systems. Thirdly we define a linear port controlled Hamiltonian system associated with the previously defined Dirac structure and generated by a symmetricpositive operator defining the energy of the system.

FA6 01.19

Minisymposium Semi-separable systems - Part III

Organization: P. Dewilde

Chair: P. Dewilde 10:30 - 10:50 Optic flow computations and time-varying system theory (full) K. Diepold Technische Universität München P. Dewilde Delft University of Technology W. Bamberger Technische Universität München We give an introduction to the algorithm of Horn and Schunk for computing the optical flow fortwo given images taken from a video sequence. We present the origin of the problem and theunderlying practical considerations, and embed the original problem in the setting of time-varying system theory. We consider how the optic flow problem can be formulated to arrive at asystem of equations consisting of a block matrix such that each block is an $n \times n$ matrix by itself. It will be shown that computing the optic flow for a given pair of images gives rise tomatrices that are not semi-separable in themselves but have a hierarchical structure such thateach level of the hierarchy is a block tridiagonal matrix.

10:50 - 11:10 A semi-separable approach to a tridiagonal hierarchy of matrices with application to image flow analysis (full) P. Dewilde Delft University of Technology K. Diepold Technische Universitaet Muenchen W. Bamberger Technische Universitaet Muenchen Image flow analysis (e.g. as derived by Horn and Schunck) gives rise to matrices that are notsemi-separable in themselves but have a hierarchical structure such that each level of thehierarchy block tridiagonal matrices appear, whose block entries contain themselves blocktridiagonal matrices.In this paper we explore how typical algorithms to handle the inversion ofsemi-separable systems can be adapted to that hierarchical situation. At first it appears that theattractive property of linearity in the number of equations given the state dimension of nonhierarchical semi separable inversion gets lost, due to a gradual increase of the semi separablecomplexity at a lower level of the hierarchy. We indicate how this increase can be kept in check. This leads to hierarchical algorithms for a more general class than covered by the 'HSS' class.

11:10 - 11:30 Experiments with preconditioning of hierarchically structured matrices (full) A. Bunse-Gerstner University of Bremen I. Gutierrez-Canas In this paper we focus on the numerical solution of the Electric Field Integral Equation (EFIE).

The method of moments transforms the physical problem to a dense linear system of equations$Ax=b$. Due to the large number of unknowns, $N$, the system has to be solved by iterativemethods. The Multilevel Fast Multipole Method (MLFMM) provides a fast matrix-vector product operation in $\mathcal{O}(NlogN)$ operations. Nevertheless the combination with apreconditioner to accelerate or even achieve convergence in large scale problems ismandatory. We report results on the performance, convergence and accuracy for differentpreconditioners.

11:30 - 12:10 Generalized Schur algorithm and generalized functions: the time-varying case (full) D. Alpay University of the Negev, Beer Sheva P. Dewilde D. Volok - No Abstract Available -

12:10 - 12:30 Minimal semi-separable representation of the inverse of a semi-separable matrix (full) E. Alijagic Delft University of Technology P. Dewilde Delft University of Technology In this note we derive closed form minimal state space representations for the inverses ofmatrices given in semi-separable form. We first consider the case of inverting a causal operatorwith (possibly) mixed inverse. It turns out that a simple one-pass square root algorithm is capable of producing an efficient closed form for the in general non-causal inverse system, at the cost of a reduced Lyapunov-Stein recursion that runs in the opposite direction. It is,however, possible to provide efficient, non-minimal representations of the inverse system with asimple unilateral recursion. Next we present minimal realizations for semi-separable inverses of semi separable originals. The formulas obtained are believed to be new. All algorithmspresented are backward numerically stable (they are all of the 'QR' type).

FA7 01.07

Minisymposium Control, quantization and communication constraints

- Part II

Organization: S. Zampieri Chair: S. Zampieri

10:30 - 10:50 On stabilization of nonlinear systems under data-rate constraints: The case of discrete-time systems (full) C. De Persis University of Rome We discuss the problem of semi-globally asymptotically stabilizing general nonlinear discrete-time systems in the presence of data-rate constraints under the stabilizability assumption only.The proposed solution relies on a simple result on asymptotic estimation for nonlinear systems under data-rate constraints, which holds for trajectories confined within a known bounded regionof the state space. To render the region actually invariant, the data rate must be suitablychosen. The data rate needed to achieve the stabilization goal is shown to depend on the sizeof the set of initial conditions only.

10:50 - 11:10 Steady state and transient performance in memoryless quantized controllers (full) F. Fagnani Politecnico di Torino S. Zampieri Università di Padova It is well-known that memoryless quantized controllers do not yield asymptotic stability of theclosed loop system but only practical stability. In this situation the performance of the controllerhas to be evaluated by means of two parameters, one measuring the steady state propertiesand another one describing the transient behavior of the closed loop system. In this contributionwe show that an already proposed symbolic analysis of the closed loop system allows us to quantify the trade of relation between these two performance parameters.

11:10 - 11:30 Achievable rate regions for decentralised stabilisation (full) G.N. Nair Uni. Melbourne R.J. Evans Uni. Melbourne P.E. Caines McGill Uni. This paper considers the following question: given a deterministic linear plant with multiplesensors and controllers, how can one characterise the combination of channel data ratesbetween all sensor-controller pairs which permits stability to be achieved? Under different stability objectives, two sets of data rate inequalities which must be satisfied by any stabilising

decentralised coding and control scheme are presented. It is then shown that if another set ofinequalities is feasible, then a stabilising decentralised coding and control scheme can alwaysbe constructed. Finally, a tight data rate inequality for stabilisability is obtained for a specialclass of decentralised plant.

11:30 - 11:50 Quantised control in distributed embedded systems (full) B. Picasso Scuola Normale Superiore L. Palopoli Scuola Superiore S. Anna A. Bicchi Unicversità di Pisa K.H. Johansson We consider the practical stability problem for multiple scalar systems through a limited capacity shared channel. The systems are affected by process noise and can be controlled by actuatorstaking values in fixed finite sets. The goal is to find an optimal allocation of the sharedcommunication resource to the different control activities and to identify correct choices for the design parameters. The control objective is to make the trajectories of each system convergefrom a large invariant set 'L' to within a small invariant neighborhood 'S' of the equilibrium (L,S-stability). We provide the fundamental conceptual tools to solve the design problem in theformal framework of an optimization problem. Namely, we propose a feasibility criterion todecide whether a given set of design parameters conforms with a control specification (i.e., with the L,S-stability for specified sets L and S for each system). Moreover, we offer the explicitcomputation of the minimum bit rate necessary to achieve the stabilization task, which is ofutmost importance for solving the optimization problem.

11:50 - 12:10 Cooperative vector quantization (full) T. Simsek University of California, Berkeley - No Abstract Available -

12:10 - 12:30 On multi-vehicle rendezvous under quantized communication (full) F. Fagnani Polytechnic of Torino K.H. Johansson Royal Institute of Technology A. Speranzon Royal Institute of Technology S. Zampieri A rendezvous problem for a team of autonomous vehicles, which communicate over quantizedchannels, is analyzed. The paper illustrates how communication topologies based on uniformand logarithmic quantizations influence the performance. Since a logarithmic quantizer ingeneral imposes fewer bits to be communicated compared to a uniform quantizer, the results indicate estimates of lower limits on the amount of information that needs to be exchanged inorder for the vehicles to meet. Simulation examples illustrate the results.

FA8 01.25

Minisymposium Robust control: from linear to nonlinear

Organization: G. Scorletti

Chair: G. Scorletti

10:30 - 10:50 Performance and robustness analysis and design for LTI system: a quick overview from a ”robust control” point of view (full) S. Font Supelec, France - No Abstract Available -

10:50 - 11:10 Performance and robustness analysis for nonlinear systems: theoretical foundation (full) V. Fromion INRA Montpellier In the impressive development of performance and robustness analysis for linear time invariant systems, the use of the weighted H-infinity norm has a central position. For extending theseresults to nonlinear systems, an important step is the choice of a suitable extension of the(linear) weighted H-infinity norm. In this talk, the weighted incremental norm is presented as afruitful extension of the weighted H -infinity norm. In this talk, we explain how the incrementalnorm framework can be useful for analyzing the properties of nonlinear closed loop systemsfrom both a qualitative point of view and a quantitative point of view. In conclusion, the mainpurpose of this talk is to present the theoretical and practical interest of the incremental normframework for analyzing nonlinear control problems.

11:10 - 11:50 Performance and robustness analysis for nonlinear systems: available tests and practical applications (full) G. Scorletti France - GREYC Equipe Automatique V. Fromion France - LASB In many industrial applications, nonlinearities can no longer be neglected. With the robustcontrol, interesting engineering (CAD) methods are emerged for LTI control. Recently, a newframework was proposed as as an extension of robust control to nonlinear system. In order toobtained engineering methods, the complexity of the underlying algorithms are to bereasonnable. In the talk, we present preleminary results throught two examples : performanceanalysis of a PI controlled nonlinear missile and performance analysis of an LTI plant controlledby a nonlinear PI controller.

11:50 - 12:10 From gain scheduling practice to nonlinear performance control (full) V. Fromion INRA, France The weighted incremental norm approach was originally introduced as a natural framework for extending well-known H-infinity linear control concepts into the nonlinear context. In this talk, weinvestigate the numerous links between this new approach and the classical gain-scheduling technique. Althought based on heuristic rules, gain-scheduled control is probably the most widespread nonlinear technique. In this talk, we point out that the control objectives of the gain-scheduled controller design can be expressed as the weighted incremental norm minimizationof a nonlinear operator. The result interest is twofold: it first provides a rigorous mathematicalformulation of the gain-scheduling problem. Furthermore, existing gain-scheduling techniques can be interpreted as approximate solutions to the weighted incremental norm minimization of a nonlinear operator.

12:10 - 12:30 LPV system control: an overview (full) M. Dinh France - GREYC - Equipe Automatique G. Scorletti France - GREYC - Equipe Automatique Numerous approaches were considered for the control of LPV systems, leading to numerous sufficient conditions which are generally in the form of an optimization problem over LMIconstraints. Nevertheless, the relation between these sufficient conditions are not alwaysexplicit. And yet, to our best knowledge, no simple classification of these approaches has beengiven. In this talk, an insight into these numerous approaches is proposed by defining a limitednumber of problem features and techniques which allows to classify the existing results. Anumerical example on the design of a missile autopilot illustrates the different approaches.

FA9 01.56

Paper Session Numerical Linear Algebra

Chair: A. Varga

10:30 - 10:50 Algorithms for extreme eigenvalue problems (full) M. Nikpour University of Melbourne J. H. Manton University of Melbourne I. M. Y. Mareels University of Melbourne V. Adamyan This paper presents a versatile framework for the solution of the largest or smallest generalisedeigenvectors of the matrix pair $\left ( A, B \right)$ where $B$ is positive definite. The algorithmsdeveloped encompass the problem of tracking the minor or principal components of anindefinite Hermitian matrix as a special case, and are the first algorithms capable of doing so with $\Ord{nr^{2}}$ complexity. These are also the first unified algorithms for computing theminor or principal generalised eigenvectors of an Hermitian matrix pair $\left ( A, B \right)$ subject to $B$ being positive definite but with $A$ allowed to be indefinite. The applications in systems theory and signal processing are very broad.

10:50 - 11:10 Trust-region methods on Riemannian manifolds with applications in numerical linear algebra (full) P.A. Absil Florida State University C.G. Baker Florida State University K.A. Gallivan Florida State University A general scheme for trust-region methods on Riemannian manifolds is proposed. A truncatedconjugate-gradient method is utilized to solve the trust-region subproblems. Under appropriate conditions, the sequences of iterates generated by the algorithm converge to a set of stationarypoints of the cost function, and convergence to nondegenerate local minima is at leastquadratic. The method is illustrated on problems of numerical linear algebra: full eigenvalue and singular value decomposition, and computation of a few dominant or dominated eigenvectors ofa symmetric matrix.

11:10 - 11:30 Optimal scaling of companion pencils (full) D. Lemonnier Universite Catholique de Louvain P. Van Dooren Universite Catholique de Louvain Computing roots of a polynomial matrix may be done by computing the generalized eigenvaluesof a corresponding block companion pencil using any generalized eigenvalue algorithm. If the algorithm is backward stable, it computes exact roots of a slightly modified polynomial matrix,but it may yield very poor backward errors in the coefficients of the polynomial matrix. In thispaper we investigate what can be done to improve these errors using geometric ideas. Weshow that preconditioning the block companion pencil using a scaling transformation mayachieve this goal.

11:30 - 11:50 Orbit and bundle stratification of controllability and observability matrix pairs in StratiGraph (full) E. Elmroth Umeå University P. Johansson Umeå University S. Johansson Umeå University B. Kågström The canonical structures of controllability and observability pairs $(A,B)$ and $(A,C)$associated with a state-space system are studied under small perturbations. We show howprevious work for general matrix pencils can be applied to the stratification of orbits and bundlesof matrix pairs. A stratification provides qualitative information about the closure relation between canonical structures. We also present how the new results are used in StratiGraph,which is a software tool for computing and visualizing closure hierarchies.

11:50 - 12:10 Computation of Kronecker-like forms of periodic matrix pairs (full) A. Varga German Aerospace Center We propose a computationally efficient and numerically reliable algorithm to computeKronecker-like forms of periodic matrix pairs with time-varying dimensions. The eigenvalues and Kronecker indices are defined via the Kronecker structure of an associated lifted matrix pencil.The proposed reduction method relies on structure preserving manipulations of this pencil toextract successively lower complexity subpencils which contains the finite and infinite eigenvalues as well as the left and right Kronecker structures. The new algorithm usesexclusively orthogonal transformations and for the overall reduction the backward numericalstability can be proved.

12:10 - 12:30 An elementary derivation of the Kronecker canonical form. (full) S. Serban University Polytechnica Bucharest A new, elementary derivation for the Kronecker canonical form of singular matrix pencils ispresented. The proof is constructive and straight-forward. Strictly equivalence transformations which bring the pencil to its Kronecker form are directly given in terms of vector basis andrelated to the fundamental spaces of the pencil's matrices.

FA10 01.31

Minisymposium Identification for robust control

Organization: X. Bombois

Chair: X. Bombois

10:30 - 10:50 Least costly identification experiment for control (full) X. Bombois Delft University of Technology G. Scorletti ISMRA, France P. Van den Hof Delft University of Technology M. Gevers, R. Hildebrand This paper presents a new approach for identification experiment design where the objective isto design the least costly experimental conditions such that the controller designed with the identified model stabilizes and achieves a prescribed level of $H_{\infty}$ performance with the unknown true system $G_0$. Our paper deals with linear time-invariant single input single output systems.

10:50 - 11:10 A framework for mixed Hinfinity and H2 input design (full) H. Jansson The Royal Institute of Technology H. Hjalmarsson The Royal Institute of Technology A framework for input design in identification is introduced in this contribution. By introducing a finite linear parametrization of the input spectrum, the input design is reduced to convex andfinite-dimensional optimization problems. Thus, a global solution exists if the problem isfeasible. It is shown that several performance or quality constraints on models can be incorporated in the framework. Among these, some frequency by frequency constraints areconsidered as important contributions, since such constraints can be used to guarantee robuststability for all models in an identified model set. The results for optimal input design dependson the unknown true system and are therefore infeasible in a practical situation. A systematicmethod is suggested to robustify the input design with respect to the true system.

11:10 - 11:30 Consequences of the choice of uncertainty structure in identification for robust control (full) S. G. Douma Delft University of Technology P. M.J. Van den Hof Delft University of Technology Various techniques of system identification exist providing for a nominal model and anuncertainty bound. An important question is what the implications are for the particular choice ofthe structure in which the uncertainty is described when dealing with robuststability/performance analysis of a given controller and when dealing with robust synthesis. It

can be shown that an amplitude-bounded (circular) uncertainty set can equivalently bedescribed in terms of an additive, Youla parameter and $\nu$-gap uncertainty. As a result, the choice of structure does not matter provided that the identification methods deliver optimaluncertainty sets rather than an uncertainty bound around a prefixed nominal model. Frequencydependent closed-loop performance functions based on the uncertainty sets are again bounded by circles in the frequency domain, allowing for analytical expressions for worst-case performance and for the evaluation of the consequences of uncertainty for robust design. In thispresentation the practical consequences are investigated of the choice of uncertainty structure from an identification point of view. In particular the role of identification will be discussed inproviding for a model uncertainty for robust stability analysis, robust performance analysis androbust performance design.

11:30 - 11:50 Frequency domain uncertainty sets with guaranteed probability level in prediction error identification (full) X. Bombois Delft University of Technology

B.D.O. Anderson Australian National University and National ICT Australia

M. Gevers Universite Catholique de Louvain A model G(z, htheta) identified in the Prediction Error framework is always an approximation ofthe real-life system G(z, theta0) we want to identify. A model is therefore useless if it is not accompanied with information about the achieved error (z, htheta)-G(z, theta_0). A classical domain where it is convenient to express the features of this error is the frequencydomain. We determine here a set of parametrized transfer functions G(z, theta) whose frequency response is at each frequency constrained to lie in an ellipse in the Nyquist plane andthat has the property to contain the true system G(z,theta0) at a probability level of at least alpha.

11:50 - 12:10 Algorithms and asymptotic results for direct data based control design (full) A. Lecchini University of Cambridge The terminology 'direct data based' denotes control design methods in which data obtained froma plant, whose transfer function is unknown or only partially known, are used directly to design acontroller for the plant. This terminology is used to distinguish from methods in which one firstidentifies a model of the plant and then designs the controller on the basis of the identified model. In the direct approach, it is typically assumed that the controller belongs to aparameterized class of controllers, which is often the case in industrial applications (e.g. PID),and one wants to deliver to the designer an algorithm which can be easily applied to perform the direct step from a set of data to the parameters of the desired controller. This presentationdelivers an overview on two direct design methods: Virtual Reference Feedback Tuning (VRFT)and Iterative Feedback Tuning (IFT). In particular, some recent variants and improvements inthe design algorithms will be illustrated. These improvements are based on the asymptotic (withthe number of data) expressions of cost functions constructed from data.

12:10 - 12:30 Discussion round (full) X. Bombois Delft University of Technology The mini-symposium will be terminated by a discussion round between the audienceand the authors of the papers.

SP13 91.54

Semi-Plenary Presentation Chair: A. Rantzer

14:00 - 15:00 Dynamics and control of bounce juggling R. Sepulchre University of Liège, Electrical Engineering and

Computer Science Beyond the artistic enchantment, bounce juggling leaves few scientists indifferent and offers itsown puzzle to many disciplines. As a control problem, it raises basic questions pertaining to thefeedback stabilization of rhythmic tasks. The talk will survey the multidisciplinary history of theproblem, then focus on our ongoing work on two-dimensional bounce juggling in the actuated wedge billiard.The mathematical model of this toy experiment exhibits amazingly rich dynamical properties,tightly linked to properties of Hamiltonian systems in the vicinity of integrable configurations(KAM theory) and to the dynamics of coupled impact oscillators. In the spirit of energy-based stabilization methods, exploiting the open-loop dynamics in the design of feedback laws resultsin robust and well-performing schemes. The results demonstrate the important role of phasevariables in the control of rhythmic tasks. Particular emphasis will be put on how much and whattype of feedback is needed to reach stabilization in large domains of attraction. The metronomewill be shown to be a key ingredient. The talk will also describe ongoing experiments with our wedge billiard to assess keyparameters of robotic and human performance in the control of rhythmic tasks. The work is incollaboration with Manuel Gerard, Renaud Ronsse, and Philippe Lefµevre.

SP14 01.54

Semi-Plenary Presentation Chair: J. Vandewalle

14:00 - 15:00 Process Query Systems: Information retrieval for dynamic systems G. Cybenko Dartmouth, Thayer School of Engineering Process Query Systems (PQS) are a new kind of information retrieval technology in which user queries are expressed as process descriptions. The goal of a PQS is to detect the processesusing a datastream or database of events that are correlated with the processes' states. This isin contrast with most traditional database query processing, information retrieval systems and web search engines in which user queries are typically formulated as Boolean expressions.Many applications of current interest involve using databases or datastreams of events to detectinstances of processes. In those applications, events provide evidence that is used to infer theexistence and estimate the states of the various processes of interest. Examples of suchapplications include: network and computer security; network management; sensor networktracking; military situational awareness and; critical infrastructure monitoring and protection.In this work, we have adopt the thinking of modern systems and control theory (including suchareas as communications, speech recognition and other areas that use Hidden Markov Models for example) in which processes have 'internal' or 'hidden' states that are not always externallyobservable. The processes' hidden states generate observable events from which we seek toinfer the existence of the processes and estimate the hidden states of the instantiated processes as observable events are collected. The algorithmic elements of PQS include: Viterbialgorithms, Kalman filtering, multi-target tracking, content-based routing, and a variety of new detection and estimation algorithms for “weak” models of dynamical systems. We will outline themain features of Process Query Systems and the technical challenges that process detectionentails. Furthermore, we present several importance application areas that can benefit fromPQS technology. Our working prototype of a PQS, called TRAFEN (for TRAcking and FusionENgine) is described as well.

SP15 91.56

Semi-Plenary Presentation Chair: J.C. Willems

14:00 - 15:00 Digital signal processing via sampled-data control theory Y. Yamamoto Kyoto University, Dept. Applied Analysis &

Complex Dynamical Systems There has been remarkable progress in sampled-data control theory in the last decade. The main accomplischment here is that there exists a digital (discrete-time) control law that takes the intersample behavior into account and makes the overall analog (continuous-time) performance optimal, in the sense of Hinf-norm. The same hybrid nature of designing a digitalfilter for analog signals is also prevalent in digital signal processing. A crucial observation is that the perfectly band-limited hypothesis, widely accepted in the signal processing literature, isoften inadequate for many practical situations. In practice, the original analog signals (sounds,images, etc.) are neither fully band-limited nor even close to be band-limited in the current processing standards. This is the problem of interpolating high-frequency components, which in turn is that of recovering the intersample behavior. Sampled-data control theory provides an optimal platform for such problems. This talk starts by reviewing some background in systemtheory, shows that how certain ideas in sampled-data control have roots in early system theory, and then points out the problem in the theory in the pure discrete-time domain. We then proceed to review certain aspects of digital signal processing, provide a new problemformulation, and a new design procedure, which does not rely on the perfect band-limiting hypothesis. We give various applications in sound processing/compression and image processing.

MTNS 2004 Participation List (closed on June 10, 2004) ALESSANDRO ABATE University of California, at Berkeley Electrical Engineering and Computer Science 2335 Eunice st. 94708 Berkeley - CA, USA Tel. +001 510 643-4867 Email aabate@eecs.berkeley.edu SAMY ABBES Université de Rennes IRISA/INRIA Campus de Beaulieu 35042 Rennes - France Tel. +33 299847162 Fax. +33 3299847162 Email samy.abbes@irisa.fr PIERRE-ANTOINE ABSIL Florida State University CSIT DSL Office 480 32306 Tallahassee - USA Tel. +1-850-644-0178 Fax. +1-850-644-0098 Email absil@csit.fsu.edu ELARBI ACHHAB Chouaïb Doukkali Faculté des Sciences LINMA Faculté des Sciences El Jadida - MAROC Tel. 212 23 34 30 03 Fax. 212 23 34 21 87 Email achhab@ucd.ac.ma DIRK AEYELS Ghent University SYSTeMS Technologiepark 914, 9052 Zwijnaarde - Belgium Tel. +32-9-264 5656 Fax. +32-9-264 5840 Email dirk.aeyels@ugent.be TAREK AHMED-ALI ENSIETA Control Systems 2 Rue François Verny 29806 Brest cedex 09 - France Tel. 0033298348856 Email ahmedali@ensieta.fr

ILYASSE AKSIKAS UCL Mathematical Engineering CESAME Av G. Lemaître 4-6 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 25 96 Fax. +32 10 47 21 80 Email aksikas@auto.ucl.ac.be VOLBERG ALEXANDER Michigan State University Mathematics Dept. Math., MSU 48824 East Lansing - USA Tel. 517 353 6884 Fax. 517 432 1562 Email volberg@yandex.ru EDIN ALIJAGIC Delft University of Technology EWI Circuits and Systems Mekelweg 4 2628 CD Delft - Netherlands Tel. +31 15 2786465 Fax. +31 15 2786190 Email e.alijagic@ewi.tudelft.nl SARA ALOUF INRIA Sophia Antipolis Maestro Team 2004, Route des Lucioles, B.P.93 06902 Sophia Antipolis - France Tel. +33-(0)492387199 Fax. +33-(0)492387971 Email Sara.Alouf@sophia.inria.fr DANIEL ALPAY Ben-Gurion University Mathematics Ben-Gurion Avenue 84105 Beer-Sheva - Israel Tel. 00 972 8 6461603 Fax. Email dany@math.bgu.ac.il CLAUDIO ALTAFINI Int. School for Advanced Studies Functional Analysis and Applications via Berut 4 34014 Trieste - Italy Tel. +39-040-3787-431 Fax. +39-040-3787-528

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Email altafini@sissa.it AMIRAN AMBROLADZE Southampton University Electronics and Computer science ISIS Graham road N15 3NH London - UK Tel. 4420 8888 40 62 Fax. 4423 8059 4498 Email aa@ecs.soton.ac.uk BLOMQVIST ANDERS KTH Mathematics Optimization and Systems Theory Linstedtsvägen 25 SE-10044 Stockholm - Sweden Tel. +46 8 790 75 07 Fax. +46 8 22 53 20 Email anders.blomqvist@math.kth.se MILENA ANGUELOVA Chalmers University of Technology Mathematics Mathematical Sciences Eklandagatan 86 41296 Gothenburg - Sweden Tel. +46-31-413183 Fax. +46-31-161973 Email milena@math.chalmers.se ATHANASIOS ANTOULAS Rice University Electrical and Computer Engineering 6100 South Main TX 77005 Houston - USA Tel. +1-713-3484756 Fax. +1-713-348-5686 Email aca@rice.edu KAZUMICHI ARAI Oyama National College of Technology Mathematics 771 Nakakuki 3230806 Oyama - Japan Tel. +81-285-20-2177 Fax. +81-285-20-2880 Email k-arai@oyama-ct.ac.jp DAVID ARROWSMITH Queen Mary, University of London School of Mathematical Sciences Applied Mathematics Mile End Road AL5 5QS London - UK Tel. 0044(0)2078825464 Fax. 0044(0)208 981-9587 Email d.k.arrowsmith@qmul.ac.uk

PATRICIA ASTRID Eindhoven University of Technology Electrical Engineering Control Systems Group P.O.Box 513 5600 MB Eindhoven - The Netherlands Tel. +31-40-2473284 Email p.astrid@tue.nl SATOH ATSUSHI Nara Institute of Science and Technology Department of Information Science Takayama 8916-5 630-0192 Ikoma - Japan Tel. +81-743-72-5353 Fax. +81-743-72-5359 Email s-atushi@is.aist-nara.ac.jp KOENRAAD AUDENAERT University of Wales, Bangor School of Informatics Dean Street LL57 1UT Bangor (Gwynedd) - UK Tel. 0032 9 2512708 Email kauden@informatics.bangor.ac.uk FRANCOIS BACCELLI INRIA - ENS Département d'Informatique Projet TREC 45 rue d' ULM 75 230 PARIS - FRANCE Tel. (+33) 6 78 06 85 44 Fax. (+33) 1 44 32 21 51 Email francois.baccelli@ens.fr MEHDI BADRA Université Paul Sabatier Toulouse Mathematics MIP route de Narbonne 31062 Toulouse CEDEX 4 - France Tel. 0033670633453 Email badra@mip.ups-tlse.fr JOHN BAILLIEUL Boston University Aerospace/Mechanical Engineering 110 Cummington Street 02215 Boston, MA - USA Tel. +1 617 353 9848 Fax. +1 617 353 5866 Email johnb@bu.edu

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BARBARA BAKKER Vrije Universiteit Amsterdam Molecular Cell Physiology Faculty of Earth and Life Sciences De Boelelaan 1085 1085 HV Amsterdam - The Netherlands Tel. +31 20 4447196 Fax. +31 20 4447229 Email barbara.bakker@falw.vu.nl VENKATARAMANAN BALAKRISHNAN Purdue University Electrical and Computer Engineering 465 Northwestern Avenue IN 47907 West Lafayette - USA Tel. +001-765-494-0728 Fax. +001-765-494-6951 Email ragu@ecn.purdue.edu JOSEPH A. BALL Virginia Tech Mathematics College of Science 460 McBryde Hall 24061 Blacksburg - USA Tel. +1-540-231-7080 Fax. +1-540-231-5960 Email ball@math.vt.edu ANDREA BALLUCHI PARADES Via San Pantaleo, 66 00186 Rome - Italy Tel. +39 06 68100331 Fax. +39 06 68807926 Email balluchi@parades.rm.cnr.it LEI BAO KTH Royal Institute of Technology Signals, sensors and systems Communication Theory Osquldas vägen 10 10044 Stockholm - Sweden Tel. +46-(0) 8-790 8441 Fax. +46-(0) 8-790 7260 Email lei@s3.kth.se LAURENT BARATCHART INRIA SOPHIA ANTIPOLIS APICS 2004 ROUTE DES LUCIOLES 06903 SOPHIA ANTIPOLIS - FRANCE Tel. +33 4 92 38 78 24 Fax. +33 4 92 38 78 58 Email Laurent.Baratchart@sophia.inria.fr

MARTA BARENTHIN Kungliga Tekniska Högskolan (KTH) Signals, Sensors, Systems Automatic Control Osquldas väg 10/12 100 44 Stockholm - Sweden Tel. +46 8 790 74 66 Fax. +46 8 790 73 29 Email marta@s3.kth.se OSCAR BARRERO MENDOZA KATHOLIEKE UNIVERSITEIT LEUVEN ESAT SCD-SISTA Kasteelpark Arenberg 10 3001 LEUVEN - BELGIUM Tel. +32 16 328661 Fax. +32 16 321970 Email oscar.barrero@esat.kuleuven.ac.be ZBIGNIEW BARTOSIEWICZ Bialystok Technical University Institute of Mathematics and Physics Wiejska 45 15-229 Bialystok - Poland Tel. +48-85-7469073 Fax. +48-85-7443204 Email bartos@pb.bialystok.pl, zbartos@interia.pl AGAMIRZA BASHIROV Eastern Mediterranean University Mathematics Eastern Mediterranean University, Famagusta 90 Famagusta - Cyprus (via Mersin 1 Tel. +90-392-6301422 Fax. +90-392-3651604 Email agamirza.bashirov@emu.edu.tr GEORGES BASTIN UCL Mathematical Engineering CESAME Av. G. Lemaître 4 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 80 38 Fax. +32 10 47 21 80 Email bastin@auto.ucl.ac.be PRASHANT BATRA Technical University Hamburg-Harburg Computer Science Engineering Distributed Compute Systems Schwarzenbergstrasse 95 21071 Hamburg - Germany Tel. +49-40-42878-3478 Fax. +49-40-42878-2798 Email batra@tuhh.de

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GREGORY BATT INRIA Rhone-Alpes Helix 655 avenue de l'Europe 38334 Montbonnot (Grenoble - France Tel. 0033476615372 Email batt@inrialpes.fr PETER BAUER University of Notre Dame Electrical Engineering Engineering Fitzpatrick Hall 269 46556 Notre Dame - USA Tel. (001) 574 631 8015 Fax. (001) 574 631 4393 Email pbauer@nd.edu MOHAMED ALI BELABBAS Harvard DEAS Maxwell Dworkin 33 Oxford Street MD338 02138 Cambridge, MA - USA Tel. +1 617 495 7871 Email belabbas@hrl.harvard.edu TOM BELLEMANS K.U. Leuven ESAT SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32 16 32 17 09 Fax. + 32 16 32 19 70 Email Tom.Bellemans@esat.kuleuven.ac.be ALBERTO BEMPORAD University of Siena Dip. di Ingegneria dell'Informazione Via Roma 56 53100 Siena - Italy Tel. +39-0577-234631 Fax. +39-02700-543345 Email bemporad@unisi.it PETER BENNER TU Chemnitz Fakultät für Mathematik Mathematik in Industrie und Technik 09107 Chemnitz - Germany Tel. +49-371-5318367 Fax. +49-371-5312657 Email benner@mathematik.tu-chemnitz.de

STEVEN BEX K.U.Leuven ESAT SCD-Sista Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321925 Fax. +32-16-321970 Email steven.bex@esat.kuleuven.ac.be DARIO ANDREA BINI Pisa Mathematics Via Buonarroti 2 56127 Pisa - Italy Tel. +39-050-2213279 Fax. +39-2213-224 Email bini@dm.unipi.it PIERRE-ALEXANDRE BLIMAN INRIA Rocquencourt BP 105 78153 Le Chesnay cedex - France Tel. +33-1-39 63 55 68 Fax. +33-1-39 63 57 86 Email pierre-alexandre.bliman@inria.fr VINCENT BLONDEL UCL INMA - ANMA Av G. Lemaître 4-6 1348 Louvain-la-neuve - 0 Tel. +32 10 47 23 81 Fax. +32 10 47 21 80 RENE' BOEL Universiteit Gent SYSTeMS Technologiepark-Zwijnaarde 914 B9052 Gent - Belgium Tel. +32-9-2645658 Fax. +32-9-2645840 Email rene.boel@UGent.be JEROEN BOETS Katholieke Universiteit Leuven Elektrotechniek (ESAT) SCD-Sista Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-328588 Fax. +32-16-321970 Email jeroen.boets@esat.kuleuven.ac.be

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DOMINIKA BOGUSZ University of Lodz Faculty of Mathematics Division of Differential Equations and Computer Sc Banacha 22 90-238 Lodz - Poland Tel. +48426355949 Fax. +48426354266 Email bodomi@math.uni.lodz.pl XAVIER BOMBOIS Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2785150 Fax. +31-15-2786679 Email x.j.a.bombois@dcsc.tudelft.nl CATHERINE BONNET INRIA Rocquencourt Projet SOSSO Domaine de Voluceau BP 105 Le Chesnay cedex - France Tel. +33 1 39 63 51 40 Fax. +33 1 39 63 57 86 Email Catherine.Bonnet@inria.fr JOSÉ BORGES Instituto Superior Técnico Department of Mechanical Engineering GCAR/IDMEC Av. Rovisco Pais 1 1049-001 Lisboa - Portugal Tel. + 351 218 417 545 Fax. + 351 218 498 097 Email j.borges@dcsc.tudelft.nl PABLO BORRUEL University of Sheffield Automatic Control and systems engineering Mappin Street S13JD Sheffield - ENGLAND Tel. +44(0)1142225137 Fax. +44(0)1142225661 Email Pablo.BORRUEL@goodrich.com NIRMAL BOSE Pennsylvania State University Electrical Engineering College of Engineering 121 Electrical Engineering East 16802 University Park - United States Tel. +001-814-863-1263 Fax. +001-814-865-7065 Email nkb1@psu.edu

ISABEL BRAS Universidade de Aveiro Departamento de Matemática Campus Universitário de Santiago 3810-193 Aveiro - Portugal Tel. 351-234-370680 Fax. 351-234-382014 Email isabelb@mat.ua.pt ROGER BROCKETT Harvard University Electrical Engineering Division of Engineering and Applied Sciences 33 Oxford St 02138 Cambridge - USA Tel. 1-617-495-4202 Fax. 1-617-496-6404 Email brockett@hrl.harvard.edu RAFAEL BRU Universidad Politécnica de Valencia Matemática Aplicada Camino de Vera s.n. 46071 Valencia - Spain Tel. +34-96-3877007 Fax. +34-96-3877139 Email rbru@mat.upv.es MANUELA BUJORIANU University of Cambridge Department of Engineering Control Group Trumpington Street CB2 1PZ Cambridge - United Kingdom Tel. +44 (0)1223 339706 Fax. +44 (0)1223 332662 Email lmb56@eng.cam.ac.uk FRANCESCO BULLO University of Illinois at Urbana-Champaign Coordinated Science Laboratory 1308 West Main Street 61801 Urbana - Illinois, U.S.A. Tel. +1-217-333-0656 Fax. +1-217-244-1653 Email bullo@uiuc.edu ADHEMAR BULTHEEL K.U.Leuven Computer Science Celestijnenlaan 200A B-3001 Leuven - Belgium Tel. +32 16 327540 Fax. +32 16 327996 Email adhemar.bultheel@cs.kuleuven.ac.be

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ANGELIKA BUNSE-GERSTNER Mathematics and Computer Science Zentrum fuer Technomathematik Bibliothekstr.1 28359 Bremen - Germany Tel. +49 4212184205 Fax. +49 4212184863 Email Bunse-Gerstner@math.uni-Bremen.de EDUARDO F. CAMACHO University of Seville System engineering and automation Escuela Superior de Ingenieros, Avda/ de los descubrimientos, s/n 41092 Sevilla - Spain Tel. +34-954487347 Fax. +34-954487340 Email eduardo@esi.us.es KANAT CAMLIBEL Tilburg University Econometrics and OR Warandelaan 2 5000 LE Tilburg - The Netherlands Tel. +31-13-4663151 Email k.camlibel@uvt.nl NEVIO CARPANESE Universita` di Padova Dipartimento Ingegneria Informazione via Gradenigo 6A 35131 Padova - Italy Tel. +39-348-8422842 Email carpanev@dei.unipd.it FILIPPO CASTIGLIONE Italian National Research Council (CNR) Institute for Computing Applications "M.Picone" (I Viale del Policlinico 137 00161 Rome - Italy Tel. +39 06 88470 241 Fax. +30 06 440 4306 Email f.castiglione@iac.cnr.it YOUNES CHAHLAOUI Florida State University CSIT 480 Dirac Science Library 32306 Tallahassee - USA Tel. +1-850-644-0178 Fax. +1-850-644-0098 Email chahlaou@csit.fsu.edu

AUGUSTIN CHAINTREAU INRIA & Ecole Normale Supérieure Groupe TREC 45 rue d'Ulm 75005 Paris - FRANCE Tel. +33 6 08 37 10 07 Email augustin.chaintreau@ens.fr RAMU CHANDRA Cornell University Mechanical and Aerospace Engineering Mechanical Engineering 138 Upson Hall 14853 Ithaca, NY - USA Tel. 1-607-255-9114 Email rsc28@cornell.edu SHIVKUMAR CHANDRASEKARAN University of California Electrical and Computer Engineering ECE Dept., University of California 93106 Santa Barbara - USA Tel. 01-805-893-7542 Fax. 01-805-893-3262 Email shiv@ece.ucsb.edu AHMED CHEMORI Institut National Polytechnique de Grenoble (INPG ENSIEG - LAG rue de la houille blanche 38402 Saint Martin d'hères - France Tel. +33476826437 Fax. +33476826388 Email Ahmed.Chemori@inpg.fr BOUMEDIENE CHENTOUF Sultan Qoboos University Mathematics & Statistics PO Box 36 123 Muscat - Oman Tel. +968-513333 ext 2418 Fax. +968-515490 Email chentouf@squ.edu.om CAROL CHEYENNA Politecnico di Milano Dipartiemento di Ingegneria via Roma 12 20045 Milano - Italy Tel. +39028860239 Email carol@polimi.it ALESSANDRO CHIUSO University of Padova Dept. of Information Engineering Via Gradenigo 6/b 35100 Padova - Italy Tel. +39-049-8277709 Fax. +39-049-8277699

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Email chiuso@dei.unipd.it EUGENIO CINQUEMANI University of Padova Department of Information Engineering via Gradenigo 6/B 35131 Padova - Italy Tel. (+39) 049 8277757 Email eugenio.cinquemani@unipd.it DE PERSIS CLAUDIO University of Rome "La Sapienza" Dip. di Informatica e Sistemistica "A. Ruberti" Via Eudossiana 18 00184 Rome - Italy Tel. +39-06-44585959 Fax. +39-06-44585367 Email depersis@dis.uniroma1.it JOAN-JOSEP CLIMENT Alacant Ciencia de la Computacio i IA Campus de Sant Vicent del Raspeig E-03690 Alacant - Spain Tel. +34 96 590 3655 Fax. +34 96 590 3902 Email jcliment@ua.es GIANNI CODEVICO K.U.Leuven Dept. of Computer Science Numerical Approximation and Linear Algebra Group ( Celestijnenlaan 200A B-3001 Heverlee - Belgium Tel. + 32 16 32 76 35 Fax. + 32 16 32 79 96 Email Gianni.Codevico@cs.kuleuven.ac.be BERT COESSENS KULeuven ESAT SCD - BioI Kasteelpark Arenberg 10 3000 Leuven - BELGIUM Tel. +3216327931 Fax. +3216321970 Email bcoessen@esat.kuleuven.ac.be PIETER COLLINS Centrum voor Wiskunde en Informatica Modelling, Analysis and Simulation Computing and Control Kruislaan 413, P.O. Box 94079 1090 GB Amsterdam - Nederland Tel. +31-20-5924094 Fax. +31-20-5924199 Email Pieter.Collins@cwi.nl

FRITZ COLONIUS Universitaet Augsburg Mathematik Universitaetsstrasse 13 86135 Augsburg - Germany Tel. +49-821-598 2246 Fax. +49-821-598 2339 Email fritz.colonius@math.uni-augsburg.de MARISSA CONDON Dublin City University School of Electronic Engineering Glasnevin 9 Dublin - IRELAND Tel. +353 1 7005405 Fax. +353 1`7005508 Email marissa.condon@dcu.ie LAETITIA COT Paul Sabatier Mathematics Laboratory MIP 118, route de Narbonne 31062 Toulouse - France Tel. 33561557639 Fax. 33561558385 Email cot@mip.ups-tlse.fr EMMANUELLE CREPEAU INRIA Rocquencourt SOSSO Domaine de Voluceau-Rocquencourt 78153 Le Chesnay - France Tel. 33 1 39 63 57 58 Fax. 33 1 39 63 57 86 Email Emmanuelle.Crepeau@inria.fr RUTH CURTAIN University of Groningen Mathematics and Computing Science Systems and Control Blauwborgje 3 9700AV Groningen - The Netherlands Tel. 31 50 3633985 Fax. 31 50 3633800 Email R.F.Curtain@math.rug.nl GEORGE CYBENKO Dartmouth Thayer School of Engineering 8000 Cummings Hall 03755 Hanover, NH - USA Tel. 603 646-3843 Fax. 603 646-2277 Email gvc@dartmouth.edu

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ADAM CZORNIK Silesian Technical University Automatic Control Control Theory Akademicka 16 44-100 Gliwice - Poland Tel. +48 32 2371051 Fax. +48 32 2371051 Email adamczor@zeus.polsl.gliwice.pl TOBIAS DAMM TU Braunschweig Computational mathematics Numerische Mathematik Pockelsstrasse 14 38106 Braunschweig - Germany Tel. +49 531 3917539 Fax. +49 531 391 8206 Email t.damm@tu-bs.de MOHAMED DAROUACH University Henri Poincare, Nancy I IUT Henri Poincare de Longwy CRAN 186 rue de Lorraine 54400 Cosnes et Romain - France Tel. 03 82396221 Fax. 03 82396291 Email darouach@iut-longwy.uhp-nancy.fr TIJL DE BIE KULeuven ESAT SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-32 79 24 Fax. +32-16-32 19 70 Email tijl.debie@esat.kuleuven.ac.be PATRICK DE LEENHEER Rutgers Mathematics 96 Frelinghuysen Rd 08854 Piscataway - USA Tel. 17324454580 Fax. 17324455932 Email leenheer@math.rutgers.edu BART DE MOOR Katholieke Universiteit Leuven ESAT Electrical Engineering SCD Kasteelpark Arenberg 10 B-3001 Leuven - Belgium Tel. +32-(0)16321709 Fax. +32-(0)16321970 Email bart.demoor@esat.kuleuven.ac.be

ELENA DE SANTIS University of L'Aquila (I) Dep. of Electrical Engineering Monteluco di Roio 67040 L'Aquila - Italy Tel. +30 0862 434435 Fax. +30 0862 434403 Email desantis@ing.univaq.it BART DE SCHUTTER Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2785113 Fax. +31-15-2786679 Email b.deschutter@dcsc.tudelft.nl FILIP DE SMET Ghent University Dept. of Electrical Energy, Systems and Automation SYSTeMS Technologiepark Zwijnaarde 914 9052 Zwijnaarde - Belgium Tel. +32-9-2645655 Fax. +32-9-2645840 Email filip.desmet@ugent.be JEROEN DEHAENE K.U.Leuven ESAT SCD Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32-16-321799 Fax. +32-16-321970 Email jeroen.dehaene@esat.kuleuven.ac.be EMMANUEL DELALEAU Université Paris-sud Laboratoire des signaux et systèmes 3 rue Joliot-Curie 91192 Gif-sur-Yvette - France Tel. +33-1-69851715 Fax. +33-1-69851765 Email emmanuel.delaleau@lss.supelec.fr STEVEN DELVAUX K.U.Leuven Dept. of Computer Science Numerical Approximation and Linear Algebra Group ( Celestijnenlaan 200A B-3001 Heverlee - Belgium Tel. + 32 16 32 76 35 Fax. + 32 16 32 79 96 Email Steven.Delvaux@cs.kuleuven.ac.be

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JEAN-CHARLES DELVENNE UCL Applied Mathematics Av. G. Lemaître 4 1348 Louvain-la-neuve - BELGIUM Tel. + 32 10 47 23 83 Fax. +32 10 47 21 80 Email delvenne@inma.ucl.ac.be MICHAEL DEMETRIOU Worcester Polytechnic Institute Mechanical Engineering 100 Institute Road 01609 Worcester, MA - USA Tel. +001-508-8315459 Fax. +001-508-8315680 Email mdemetri@wpi.edu LILIANNE DENIS-VIDAL University of sciences and technologies of Lille Mathematics Cité scientifique 59655 Villeneuve D'ascq Ce - FRANCE Tel. +33 3 20 43 45 74 Email denvid@attglobal.net PATRICK DEWILDE Delft University of Technology EWI Circuits and Systems POB 5031 2600GA Delft - Netherlands Tel. +31 15 2785089 Fax. +31 15 2786190 Email p.dewilde@ewi.tudelft.nl EVELYNE DEWITTE K.U.Leuven SCD SISTA Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32-16-321801 Fax. -32-16-321970 Email dewitte@esat.kuleuven.ac.be MARIO DI BERNARDO University of Sannio Engineering Piazza Roma 82100 Benevento - Italy Tel. +39 0824305570 Fax. +39 0824 325246 Email dibernardo@unisannio.it

FEDERICO DI PALMA University of Pavia Dipartimento di informatica e sistemistica Via Ferrata, 1 27100 Pavia - Italy Tel. +39-0382-505437 Fax. +39-0382-505373 Email federico.dipalma@unipv.it KLAUS DIEPOLD Technische Universität München EE & IT Information and Communication Technology Arcisstr. 21 80333 Munich - Germany Tel. +49 89 2892 3602 Fax. +49 89 2892 3600 Email kldi@ei.tum.de MARC DINH Université de Caen / ISMRA GREYC Automatique Boulevard Marechal Juin 14050 Caen cedex - France Tel. +033231452716 Email mdinh@greyc.ismra.fr SIMON DOCLO Katholieke Universiteit Leuven Dept. of Electrical Engineering ESAT - SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321899 Fax. +32-16-321970 Email simon.doclo@esat.kuleuven.ac.be JOSE-ANGEL DOMINGUEZ Salamanca Mathematics Plaza de la Merced 1 37008 Salamanca - Spain Tel. 34-923294459 Fax. 34-923294583 Email jadoming@usal.es VASILE DRAGAN Romanian Academy Institute of Mathematics Differential equations and control systems Calea Grivitei, 21 014700 Bucharest - Romania Tel. + 40 21 2125648 Fax. + 40 21 212 5126 Email vasile.dragan@imar.ro, vdragan@fx.ro

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VINCENT DUINDAM Unversity of Twente EE-Math-CS Control Engineering P.O.Box 217 7500 AE Enschede - Netherlands Tel. +31-53-4892817 Fax. +31-53-4892223 Email v.duindam@utwente.nl HARRY DYM The Weizmann Institute of Science Mathematics Faculty of Mathematics and Computer Science Ziskind Building 76100 Rehovot - Israel Tel. 972 8 934 2902 Fax. 972 8 934 4122 Email harry.dym@weizmann.ac.il VITALI DYMKOU University of Erlangen-Nuremberg Lehrstuhl für Nachrichtentechnik Multimedia Communications and Signal Processing Cauerstr. 7 91058 Erlangen - Germany Tel. +49 9131 85 28904 Fax. +49 9131 85 28849 Email dymkou@lnt.de BRUNO ECKHARDT Philipps-Universitaet Marburg Fachbereich Physik Renthof 6 35043 Marburg - Germany Tel. + 49 6421 28 21316 Fax. +49 6421 28 24291 Email bruno.eckhardt@psysik.uni-marburg.de YULI EIDELMAN Tel-Aviv University Mathematics Haim Levanon 69978 Tel-Aviv - Israel Tel. +972-3-6405357 Fax. +972-3-6409357 Email eideyu@post.tau.ac.il ABDELLATIF EL BADIA University of Technology of Compiegne G.I. B.P. 20529 60205 Compiegne - France Tel. 00 33 3 44 23 45 01 Fax. 00 33 3 44 23 44 77 Email abdellatif.elbadia@utc.fr

ZBIGNIEW EMIRSAJLOW Technical University of Szczecin Institute of Control Engineering Control Theory Group Gen. Sikorskiego 37 70-313 Szczecin - Poland Tel. +48-91-4495410 Fax. +48-91-4495349 Email emirsaj@we.ps.pl ROBERT ENGEL University of Kassel Department of Electrical Engineering Control and Systems Theory Wilhelmshoeher Allee 73 34121 Kassel - Germany Tel. +49 561 8046494 Fax. +49 561 8046383 Email engel@uni-kassel.de JACOB ENGWERDA Tilburg University Dept. of Econometrics and Operations Research Warandelaan 2 5000 LE Tilburg - The Netherlands Tel. +31-134662174 Fax. +31-134663280 Email engwerda@uvt.nl HELMUT ENNSBRUNNER Johannes Kepler University Linz Institute of Automatic Control and Control Systems Altenbergerstr. 69 4040 Linz - Austria Tel. +43-732-2468-9733 Fax. +43-732-2468-9734 Email helmut.ennsbrunner@jku.at MARCELO ESPINOZA K.U.Leuven ESAT SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32 16 328655 Fax. +32 16 321970 Email mespinoz@esat.kuleuven.ac.be DUANGRAT EUNGDAMRONG Thammasat University Sirindhorn International Institute of Technology Telecommunications 131Moo5 Tiwanont Rd., Bangkadi, A. Maung 12000 Pathum Thani - Thailand Tel. 6663687399 Fax. 6625013524 Email duangrat@siit.tu.ac.th

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ERIC FABRE Rennes I - IRISA Campus de Beaulieu 35040 Rennes - France Tel. +33 2 99 84 73 26 Fax. +33 2 99 84 71 71 Email Eric.Fabre@irisa.fr GIOVANNA FANIZZA KTH Stockholm Mathematics Optimization and System Theory Lindstedtsvägen 25, 100 44 Stockholm - Sweden Tel. +46-8-7907132 Fax. + 46-8-22 53 20 Email vanna@math.kth.se LORENZO FARINA University of Rome "La Sapienza" Dipartimento di Informatica e Sistemistica "A. Rub Via Eudossiana 18 00184 Roma - Italy Tel. +39-06-44585690 Fax. +39-06-44585367 Email lorenzo.farina@uniroma1.it DARIO FASINO University of Udine Dept. of Mathematics and Computer Science Viale delle Scienze, 208 33100 Udine - Italy Tel. +39 0432 558443 Fax. +39 0432 558499 Email fasino@dimi.uniud.it HEIKE FASSBENDER TU Braunschweig Institut für Angewandte Mathematik Abteilung Numerische Mathematik Pockelsstr. 14 38106 Braunschweig - Germany Tel. +49-531-391 7535 Fax. +49-531-391 8206 Email h.fassbender@tu-bs.de AVRAHAM FEINTUCH Ben Gurion Univ. of Negev Dept. Mathematics 84105 Beersheva - Israel Email abie@cs.bgu.ac.il SVEN FELDMANN Kaiserslautern Mathematical Department Control Theory Paul-Ehrlich-Strasse, Building 48 67653 Kaiserslauteren - Germany Tel. 0049 631 205 2735

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Email sven@mathematik.uni-kl.de EMMANUEL FERNANDEZ University of Cincinnati Electrical & Comp. Eng. & C.S. 837 Rhodes Hall, P.O. Box 210030 45221 Cincinnati - USA Tel. (513) 556-4785 Fax. (513) 556-7326 Email emmanuel@ececs.uc.edu MIROSLAV FIEDLER Academy of Sciences of the Czech Republic Institute of Computer Science Pod Vodarenskov Vezi 2 18207 Prague 8 - Czech Republic Tel. +420 266053220 Email FIEDLER@MATH.cas.cz ROLF FINDEISEN University of Stuttgart Institute for Systems Theory in Engineering Pfaffenwaldring 9 70563 Stuttgart - Germany Tel. +49711-685-7748 Fax. +49711-685-7735 Email findeise@ist.uni-stuttgart.de LORENZO FINESSO National Research Council Institute of Biomedical Engineering Information Engineering Corso Stati Uniti, 4 35127 Padova - ITALY Tel. +39-049-8295755 Fax. +39-049-8295763 Email finesso@isib.cnr.it BERND FISCHER University of Lübeck Institute of Mathematics Wallstrasse 40 23560 Lübeck - Germany Tel. +49-451 7030-434 Fax. +49-451-7030-434 Email fischer@math.uni-luebeck.de MATTHEW FLINT University of Cincinnati Electrical and Computer Engineering and Computer S College of Engineering University of Cincinnati 45221 Cincinnati - USA Tel. 00 1* 513 556 4767 Fax. 00 1* 513 556 7326 Email flintmd@email.uc.edu

STEPHANE FONT Supelec Automatic 3 rue Joliot-Curie / Plateau de Moulon F91192 Gif-sur-Yvette cedex - FRANCE Tel. + 33 [0]1 69 85 13 8 Fax. + 33 [0]1 69 85 13 8 Email stephane.font@supelec.fr FERNANDO FONTES University of Minho Dept. of Mathematics for Science and Technology Campus de Azurem 4800-058 Guimaraes - Portugal Tel. +351-253-510 425 Fax. +351-253-510 401 Email ffontes@mct.uminho.pt JOHN FOY National University of Ireland Maynooth Hamilton Institute Maynooth 12345 Co. Kildare - Ireland Tel. +353 1 708 4536 Fax. +353 1 708 6269 Email john.foy@may.ie ARTHUR FRAZHO Purdue University Aeronautics and Astronautics Engineering Dynamics and Control Grant 47907 West Lafayette, Indi - USA Tel. 001-765-497-4729 Email frazho@purdue.edu GERHARD FREILING Duisburg-Essen Mathematics Lotharstrasse 65 D-47048 Duisburg - Germany Tel. +49 203 379 2903 Fax. +49 203 379 2689 Email freiling@math.uni-duisburg.de MARK FRENCH University of Southampton Electronics and Computer Science Highfield SO17 1BJ Southampton - UK Tel. +44 023 8059 2688 Fax. +44 023 8059 4498 Email mcf@ecs.soton.ac.uk

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EMILIA FRIDMAN Tel Aviv University Engineering Electrical Engineering/ Systems Ramat Aviv 69978 Tel Aviv - Israel Tel. 972-3-6405313 Fax. 972-3-6407095 Email emilia@eng.tau.ac.il VINCENT FROMION INRA MIA 4 place P. Viala 34060 Montpellier - France Tel. 33 4 99 61 22 38 Fax. 33 4 67 52 14 27 Email fromion@ensam.inra.fr PAUL A. FUHRMANN Ben Gurion University Mathematics 84105 Beer Sheva - Israel Tel. +972 8 6469262 Email paf@bgumail.bgu.ac.il KENJI FUJIMOTO Nagoya University Graduate School of Engineering Department of Mechanical Science and Engineering Furo-cho, Chikusa-ku 464-8603 Nagoya - Japan Tel. +81-52-789-3854 Fax. +81-52-789-3854 Email fujimoto@nuem.nagoya-u.ac.jp HISAYA FUJIOKA Kyoto University Dept of AACDS Yoshida-Hommachi 606-8501 Kyoto - Japan Tel. +81-75-753-5902 Fax. +81-75-753-5517 Email fujioka@i.kyoto-u.ac.jp YASUMASA FUJISAKI Kobe University Department of Computer and Systems Engineering Faculty of Engineering Nada 657-8501 Kobe - Japan Tel. +81-78-803-6246 Fax. +81-78-803-6391 Email fujisaki@cs.kobe-u.ac.jp

KRZYSZTOF GALKOWSKI Zielona Gora Electrotechnics, Informatics and Telecommunication Control and Computation Engineering Podgorna 50 65-246 Zielona Gora - Poland Tel. +48-68-3282611 Fax. +48-68-3254615 Email k.galkowski@issi.uz.zgora.pl KYLE GALLIVAN Florida State University Computational Science 476 Dirac Science Library 32306 Tallahassee - United States Tel. 850 6450306 Fax. 850 6440098 Email gallivan@csit.fsu.edu LUCA GEMIGNANI Pisa Mathematics Numerical Analysis via F. Buonarroti 2 56127 Pisa - Italy Tel. +39-050-2213291 Fax. +39-050-2213224 Email gemignan@dm.unipi.it GIAMBATTISTA GENNARI University of Padova Information Engineering Department via Gradenigo 6/A 35131 Padova - Italy Tel. +39 049 827 7749 Fax. +39 049 827 7699 Email simpson@dei.unipd.it TRYPHON GEORGIOU University of Minnesota Electrical Engineering and Computer Science 200 Union street SE 55455 Minneapolis - United States Tel. 612 6253303 Fax. 612 6253303 Email tryphon@ece.umn.edu MANUEL GERARD Université de Liège Systems Eletrical engineering and computer science Grande Traverse 10 4000 Liège - Belgium Tel. +3243663749 Fax. +3243662989 Email manuel.gerard@ulg.ac.be

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CHRISTOPHE GERMAY University of Liege Electrical engineering and computer science Systems Grande Traverse,10 B-4000 Liege - Belgium Tel. +32 4 366 26 61 Fax. +32 4 366 2989 Email germay@montefiore.ulg.ac.be STEVEN GILLIJNS KULeuven Electrical Engineering (ESAT) SCD Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32-16-32-21801 Fax. +32-16-32-21709 Email steven.gillijns@esat.kuleuven.ac.be VINNICOMBE GLENN University of Cambridge Dept. of Engineering Trumpington St CB2 1PZ Cambridge - UK Tel. +44 1223 339063 Fax. +44 1223 332662 Email gv@eng.cam.ac.uk HEIDE GLUESING-LUERSSEN University of Kentucky Dept. of Mathematics 715 Patterson Office Tower 40506 Lexington, KY - USA Tel. +001+859-257-6796 Fax. +001+859+257-4078 Email heidegl@ms.uky.edu IVAN GOETHALS KULeuven ESAT SCD-Sista Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32 16 321798 Fax. +32 16 321970 Email ivan.goethals@esat.kuleuven.ac.be ALBERT GOLDBETER Univ. Libre de Bruxelles Fac. des Sciences - Chimie Unité de Chronobiologie Théorique Campus de la Plaine, CP 231, Boulevard du Triomphe 1050 Bruxelles - Belgium Tel. +32-2-6505772 Fax. +32-2-6505767 Email agoldbet@ulb.ac.be

JORGE GONCALVES University of Cambridge Engineering Information Engineering Trumpington Street CB2 1PZ Cambridge - UK Tel. +44 1223 3 32770 Fax. +44 1223 3 32662 Email jmg77@eng.cam.ac.uk DANIEL GOTTESMAN Perimeter Institute 35 King Street North N2J 2W9 Waterloo, ON - Canada Tel. 1-519-569-7600, exte Fax. 1-519-569-7611 Email dgottesman@perimeterinstitute.ca JEAN-LUC GOUZE INRIA COMORE BP 93 06902 Sophia-Antipolis - France Tel. + 33 4 92 38 78 75 Fax. + 33 4 92 38 78 58 Email gouze@sophia.inria.fr STEF GRAILLAT Universite de Perpignan Departement de Mathematiques et Informatique 52, avenue Paul Alduy 66860 Perpignan - France Tel. +33-4-68 662 126 Fax. +33 -4-68 506 013 Email graillat@univ-perp.fr W. STEVEN GRAY Old Dominion University ECE Department 231 Kaufman Hall, Hampton Blvd, Old Dominion University 23529 Virginia Beach, Virg - U.S.A. Tel. +1-757-683-4671 Fax. +1-757-683-3220 Email gray@ece.odu.edu LARS GRUENE University of Bayreuth Mathematics and Physics Mathematical Institute Universitaetsstr. 30 95440 Bayreuth - Germany Tel. +49-921-553281 Fax. +49-921-555361 Email lars.gruene@uni-bayreuth.de

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SERKAN GUGERCIN Virginia Tech. Mathematics Virginia Tech, 442 McBryde Hall, Mail Code: 0123 24061 Blacksburg - USA Tel. +1-540-231-6549 Fax. +1-540-231-5960 Email gugercin@math.vt.edu ROBERTO GUIDORZI Bologna DEIS Viale del Risorgimento 2 40136 Bologna - Italy Tel. +39 051 2093027 Fax. +39 051 2093073 Email rguidorzi@deis.unibo.it SUAT GUMUSSOY The Ohio State University Electrical and Computer Engineering Control 101 Curl Dr. #684 43210 Columbus, OH - USA Tel. 1-614-6889508 Email gumussoy.1@osu.edu LEONID GURVITS Los Alamos National Lab. CCS-3 MS - 256 NM 87545 L - USA Tel. 1-505-665-1556 Fax. 1-505 - 667-1126 Email gurvits@lanl.gov IGNACIO GUTIERREZ-CANAS Bremen university Industrial Mathematics AG Numerical Mathematics Bibliothekstr.1 28334 Bremen - Germany Tel. 0049-421-2184821 Fax. 0049-421-2184863 Email ignacio@math.uni-bremen.de EVA GYURKOVICS Budapest University of Technology and Economics Differential Equations Muegyetem rkp. 3. H-1521 Budapest - Hungary Tel. +36-1-4632509 Fax. +36-1-4631291 Email gye@math.bme.hu

LUC HABETS Eindhoven University of Technology Department of Mathematics and Computer Science P.O. Box 513 5600 MB Eindhoven - The Netherlands Tel. + 31 40 2474230 Fax. + 31 40 2442489 Email l.c.g.j.m.habets@tue.nl CHRISTOFOROS HADJICOSTIS University of Illinois Electrical and Computer Engineering 148 CSL, 1308 West Main Street 61801 Urbana, Illinois - USA Tel. +1-217-265-8259 Fax. +1-217-244-1653 Email chadjic@control.csl.uiuc.edu TOMOMICHI HAGIWARA Kyoto University Department of Electrical Engineering Kyotodaigaku-Katsura, Nishikyo-ku 615-8510 Kyoto - Japan Tel. +81-75-383-2250 Fax. +81-75-383-2251 Email hagiwara@kuee.kyoto-u.ac.jp TIMO HAMALAINEN Tampre University of Technology Mathematics PL BOX 553 33101 Tampere - Finland Tel. +358 3 2124303 Fax. +358 3 31153549 Email timo.t.hamalainen@tut.fi BERNARD HANZON Leiden University Mathematical Institute Applied Analysis P.O. Box 9512 2300 RA Leiden - The Netherlands Tel. +31-71-527 7124 Fax. +31-71-527 7101 Email bhanzon@eos.tuwien.ac.at FRANK HEIDTMANN University of Duisburg-Essen Dept. Engineering Sciences Chair of Dynamics and Control Lotharstrasse 1 47057 Duisburg - Germany Tel. +49-203-3791587 Fax. +49-203-3793027 Email heidtmann@uni-duisburg.de

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UWE HELMKE Wuerzburg University Department of Mathematics Am Hubland 97074 Wuerzburg - Germany Tel. +49 931 888 5003 Fax. +49 931 888 4611 Email helmke@mathematik.uni-wuerzburg.de J. WILLIAM HELTON UC San Diego Math Gilliman Dr 92093 San Diego, Califor - USA Tel. 01 858 7553437 Fax. 01 858 755 2379 Email helton@math.ucsd.edu MORTVEIT HENNING Los Alamos National Laboratory CCS-5 - CCS NM 87545 Los Alamos - USA Tel. +1-505-665-7285 Fax. +1-505-665-7464 Email henning@lanl.gov DIDIER HENRION UTIA - AVCR Pod Voderenskou vezi 18208 Prague - Czech Republic Email henrion@utia.cas.cz VICTORIA HERRANZ Universidad Miguel Hernández Dpto.Estadística y Matemática Aplicada. Centro de Matemática Aplicada Avda. Universidad, s/n. 03202 Elche - España Tel. +34966658537 Fax. +3496 6658715 Email mavi.herranz@umh.es DIEDERICH HINRICHSEN University of Bremen Mathematics Institut für Dynamische Systeme Bibliotheksstr. 1 28334 Bremen - Germany Tel. +49 -421-218 3544 Fax. +49 -421-218 4235 Email dh@math.uni-bremen.de

KENTARO HIRATA Osaka Prefecture University Electrical and Electronic Systems Electrical and Infomation Engineering 1-1 Gakuen-cho Sakai 5998531 Osaka - JAPAN Tel. +81-72-254-9252 Fax. +81-72-254-9907 Email kent@ecs.ees.osakafu-u.ac.jp HÅKAN HJALMARSSON Royal Institute of Technology Department of Signals, Sensors and Systems Automatic Control Osquldas v 10 100 44 Stockholm - Sweden Tel. +46 8 790 8464 Fax. +46 8 790 7329 Email hakan.hjalmarsson@s3.kth.se LUC HOEGAERTS KULeuven Applied sciences- Electrical engineering SISTA-SCD Kasyteelpark arenberg 10 B-3001 Heverlee - belgium Tel. +32-16-32.85.40 Fax. +32-16-32.19.70 Email luc.hoegaerts@esat.kuleuven.ac.be CAMILE HOL Delft University of Technology Mechanical Engineering Delft Centre of Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2781660 Fax. +31-15-2789387 Email C.W.J.Hol@dcsc.tudelft.nl CHRISTOPHER HOLLOT University of Massachusetts Amherst Electrical and Computer Engineering 100 Natural Resources Way 01003 Amherst - MA Tel. +usa-413-545-1586 Email hollot@ecs.umass.edu ERIK HOSTENS Katholieke Universiteit Leuven Elektrotechniek ESAT-SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +3216328587 Fax. +3216321970 Email erik.hostens@esat.kuleuven.ac.be

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KNUT HUEPER ANU SECAS Program Canberra Labs Locked Bag 8001 ACT 2601 Canberra - Australia Tel. +61 2 6247 8775 Fax. +61 2 6125 8660 Email knut.hueper@nicta.com.au ZDENEK HURAK Czech Technical University in Prague Center for Applied Cybernetics Automatic Control Karlovo namesti 13/E 12135 Prague - Czech Republic Tel. +420-224357683 Fax. +420-224916648 Email z.hurak@c-a-k.cz RYAN HUTCHINSON University of Notre Dame Mathematics 1734 Strasburg Rd 48161 Monroe, MI - USA Tel. +61-2-6125-8677 (unt Fax. +61-2-6125-8660 (unt Email rhutchin@nd.edu DARIUSZ IDCZAK University of Lodz Faculty of Mathematics Division of Differential Equations and Computer Sc Banacha 22 90-238 Lodz - Poland Tel. +48426355949 Fax. +48426354266 Email idczak@math.uni.lodz.pl OREST IFTIME University of Groningen Department of Mathematics and Computing Science Systems and Control beukenlaan 19 9741 HJ Groningen - The Netherlands Tel. +31-(0)64-541-0048 Fax. +31 (0)50 3633800 Email iftime@math.rug.nl JOSE IGNACIO IGLESIAS CURTO University of Salamanca Mathematics Algebraic Geometry Pl. de la Merced, 1 37008 Salamanca - Spain Tel. +34-923294500 Email joseig@usal.es

JOSÉ M. IGREJA ISEL INESC-ID R. Alves Redol 9 1000-029 Lisboa - Portugal Tel. +351-213100259 Fax. +351-213145843 Email jmigreja@deq.isel.ipl.pt KENJI IKEDA The University of Tokushima Department of Information Science and Intelligent 2-1 Minamijosanjima 7708506 Tokushima - Japan Tel. +81-88-656-7504 Fax. +81-88-656-7504 Email ikeda@is.tokushima-u.ac.jp EERO IMMONEN Tampere University of Technology Mathematics P.O.Box 553 FI-33101 Tampere - Finland Tel. +358 3 3115 3506 Fax. +358 3 3115 3549 Email Eero.Immonen@tut.fi HIROSHI INABA Tokyo Denki University Department of Information Sciences Hatoyama-machi 350-0394 Saitama - Japan Tel. +81-49-296-2911 Fax. +81-49-296-6403 Email inaba@cck.dendai.ac.jp BRIAN INGALLS University of Waterloo Applied Mathematics 200 University Avenue West N2L 3G1 Waterloo, Ontario - Canada Tel. +1-519-8884567 ext. Fax. +1-519-7464319 Email bingalls@math.uwaterloo.ca HIDEAKI ISHII University of Tokyo Department of Information Physics and Computing 7-3-1, Hongo, Bunkyo-ku 113-8656 Tokyo - Japan Tel. +81-3-5841-6890 Fax. +81-3-5841-6890 Email hideaki_ishii@ipc.i.u-tokyo.ac.jp

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TETSUYA IWASAKI University of Virginia Mechanical Engineering 122 Engineers Way 22904 Charlottesville - USA Tel. +1-434-9243046 Fax. +1-434-9822037 Email iwasaki@virginia.edu BIRGIT JACOB University of Dortmund Department of Mathematics Institut for Analysis Vogelpothsweg 87 D-44221 Dortmund - Germany Tel. +49-231-7553447 Fax. +49-231-7555942 Email birgit.jacob@math.uni-dortmund.de GERHARD JANK RWTH-Aachen University Institute II of Mathematics Templergraben 55 52056 AACHEN - GERMANY Tel. ++49 241 804524 Fax. ++49 241 8092136 Email jank@math2.rwth-aachen.de FRIZO JANSSENS Katholieke Universiteit Leuven Electrical Engineering - ESAT SCD - bioi Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32-16-328653 Fax. +32-16-321970 Email Frizo.Janssens@esat.kuleuven.ac.be HENRIK JANSSON KTH Signals, Sensors and Systems Automatic Control Osquldas vag 10 100 44 Stockholm - Sweden Tel. +4687907424 Fax. +4687907329 Email henrik.jansson@s3.kth.se JAN JEZEK Academy of Sciences Control Theory Control Theory Pod Vodarenskou Vezi 4 182 08 Prague - Czech Republic Tel. +420 2 6605 2387 Email jezek@utia.cas.cz

GEORGE JIROVEANU Ghent University EESA - SYSTeMS Research Group Technologiepark 914 9052 Zwijnaarde - Belgium Tel. +32.9.264.56.55 Fax. +32.9.264.5840 Email George.Jiroveanu@UGent.be PEDHER JOHANSSON Umeå University Department of Computing Science Petrus Laestadius väg 901 87 Umeå - Sweden Tel. +46-90-7867707 Fax. +46-90-7866126 Email pedher@cs.umu.se STEFAN JOHANSSON Umeå University Department of Computing Science Petrus Laestadius väg 901 87 Umeå - Sweden Tel. +46-90-7865634 Fax. +46-90-7866126 Email stefanj@cs.umu.se KARL JOHANSSON Royal Institute of Technology Signals, Sensors and Systems Automatic Control Osquldas vag 10 100 44 Stockholm - Sweden Tel. +46-8-7907321 Fax. +46-8-7907329 Email kallej@s3.kth.se EDMOND JONCKHEERE University of Southern California Electrical Engineering--Systems Viterbi School of Engineering 3740 McClintock Ave, Room 306 90089 Los Angeles, CA - USA Tel. 1-213-740-4457 Fax. 1-213-821-1109 Email jonckhee@usc.edu ULF JONSSON Royal Institute of Technology Mathematics Optimization and Systems Theory Lindstedtsv 25 SE 10044 Stockholm - Sweden Tel. +46 8 790 8450 Fax. +46 8 22 53 20 Email ulfj@math.kth.se

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JENS JORDAN University of Würzburg / Université de Liège Mathematics Analysis Am Hubland 97074 Würzburg - Germany Tel. +49 931 888 4940 Email jordan@mathematik.uni-wuerzburg.de AGUNG JULIUS Univ. Twente Applied Mathematics Signals Systems and Control PO Box 217 7500AE Enschede - The Netherlands Tel. +31-53-4893459 Fax. +31-52-4893800 Email a.a.julius@math.utwente.nl MARINUS KAASHOEK Vrije Universiteit Amsterdam Mathematics De Boelelaan 1081a 2012 PM Amsterdam - Netherlands Tel. +31-20-4447683 Fax. +31-20-4447653 Email ma.kaashoek@few.vu.nl TADEUSZ KACZOREK Warsaw University of Technology Electrical Engineering Dept., Institute of Control Control Division Koszykowa 75 00-662 Warszawa - Poland Tel. +48 22 6256278 Fax. +48 22 6256278 Email kaczorek@isep.pw.edu.pl YASUSHI KAMI Kyushu Institute of Technology Systems Innovation and Informatics 680-4 Kawazu 820-8502 Iizuka city, Fukuoka - Japan Tel. +81-948-29-7728 Fax. +81-948-29-7709 Email yasushi@bach.ces.kyutech.ac.jp STOYAN KANEV Delft University of Technology Mechanical Engineering Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - the Netherlands Tel. +31-15-27-86707 Fax. +31-15-27-86679 Email s.kanev@dcsc.tudelft.nl

JOHAN KARLSSON KTH Mathematics Optimization and systemscience Lindstedtsvägen 25 100 44 Stockholm - Sweden Tel. +46-8-790 75 07 Email johan.karlsson@math.kth.se MICHAEL KAROW TU-Berlin Institut fuer Mathematik Sekretariat MA 4-5 Straße des 17. Juni 136 D-10623 Berlin - Germany Tel. + 49 30 314 25 004 Fax. + 49 30 314 79 706 Email karow@math.tu-berlin.de KENJI KASHIMA Kyoto Univ. Graduate school of Infomatics Yoshida Honmachi, Sakyo-ku 606-8265 Kyoto - Japan Tel. +81-75-702-8439 Fax. Email kashima@acs.i.kyoto-u.ac.jp HITOSHI KATAYAMA Shizuoka University Department of Electrical and Electronic Engineerin 3-5-1 Johoku 432 8561 Hamamatsu - JAPAN Tel. +81 53 478 1619 Email thkatay@ipc.shizuoka.ac.jp NATASHA KENNY UMIST Maths Dynamical systems PO Box 88 M60 1QD Manchester - UK Tel. 441612008922 Fax. 441612003669 Email n.kenny@postgrad.umist.ac.uk NATALYA KIZLOVA Kharkov National University Dept. Theoretical Mechanics N.Uzvij Street 88-50 61195 Kharkov - Ukraine Tel. +380572160183 Fax. +380572141408 Email nnk_@bk.ru

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LUC KNOCKAERT Ghent University INTEC IMEC St. Pietersnieuwstraat 41 9000 Ghent - Belgium Tel. +32 9 264 33 28 Fax. +32 9 264 35 93 Email knokaert@intec.ugent.be AKIRA KOJIMA Tokyo Metropolitan Institute of Technology Dept. Electronic Systems Engineering Asahigaoka 6-6, Hino 191-0065 Tokyo - Japan Tel. +81-42-585-8646 Fax. +81-42-586-9086 Email kojima@ec.tmit.ac.jp ISRAEL KOLTRACHT University of Connecticut Department of Mathematics Division of Applied Mathematics 196 Auditorium Road, Unit 3009 06269 Storrs, Connecticut - USA Tel. 1-860-486-3919 Fax. 1-860-486-4238 Email koltracht@math.uconn.edu WAREE KONGPRAWECHNON Thammasat University Communications, Instrumentations and Control Instrumentations and Control P.O. Box 22 Thammasat Rangsit Post Office 12121 Pathumthani - Thailand Tel. +66-2-501-3505 Fax. +66-2-501-3524 Email waree@siit.tu.ac.th JAN GERRIT KORVINK IMTEK University of Freiburg, Germany Institute for Microsystemtechnologie Simulation Georges Koenier Allée 103 79110 Freiburg - Germany Tel. + 49 761 203 7380 Fax. + 49 761 203 7382 Email SECSIM@IMTEK.UNI-FREIBURG.DE EWA KRASOÑ Air Force Academy Aviation Department ul. Rogowskiego 4/39 08-521 Deblin - Poland Tel. +480818837721 Fax. +48 81 883 7493 Email ekras7@wp.pl

MIROSLAV KRSTIC University of California, San Diego Dep of Mechanical and Aerospace Engineering Mail Code 0411 92093 La Jolla, California - USA Tel. +1-858 8221374 Fax. +1-858 8223107 Email krstic@ucsd.edu JAROSLAV KRYSTUL University of Twente Department of Applied Mathematics Faculty of Electrical Engineering, Mathematics P.O. Box 217 7500 AE Enschede - The Netherlands Tel. +31-645384611 Fax. +31-534893800 Email j.krystul@ewi.utwente.nl VLADIMIR KUCERA Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 16627 Prague - Czech Republic Tel. +420-224 310 386 Fax. +420-224 310 784 Email kucera@fel.cvut.cz ANTON KUMMERT Bergische Universität Wuppertal Communication Theory Rainer-Gruenter-Str. 21 42119 Wuppertal - Germany Tel. +49-202-4391961 Fax. +49-202-4391959 Email kummert@uni-wuppertal.de YOHEI KUROIWA Royal Institute of Technology Mathematics Optimization and Systems Theory Lindstedtsvägen 25 100 44 Stockholm - Sweden Tel. 46 8 790 6660 Fax. 46 8 22 53 20 Email yohei@math.kth.se ALEXANDER KURZHANSKI Moscow State(Lomonosov) University - and -UC-Berke Comput.Mathematics &Cybernetics-and- EECS Systems Analysis - and- ERL Moscow State University(MGU) , 2-nd training building 119992 Moscow - Russia Tel. +7 095 939 5135 Fax. +7 095 938 5520

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Email kurzhans@mail.ru -and- kurzhans@eecs.berkeley.edu CONSTANTINO LAGOA Pennsylvania State University Electrical Engineering 209 Electrical Engineering West 16802 University Park, Pen - USA Tel. +1-814-8650244 Fax. +1-814-8650244 Email lagoa@engr.psu.edu PABLO LAGUNA Zaragoza Aragon Institute for Engineering Research (I3A) Biomedical Engineering Maria de Luna, 1 50018 Zaragoza - Spain Tel. +34-976-761931 Fax. +34-976-762111 Email laguna@unizar.es MARIA-CHRISTINA LAIOU RWTH-Aachen Process Systems Engineering Templergraben 55 D-52056 Aachen - Germany Tel. +49-241-8095543 Fax. +49-241-8092326 Email laiou@lpt.rwth-aachen.de ASMA LAKHOUA INRIA Rocquencourt Maxplus Domaine de Voluceau - Rocquencourt- B.P. 105 78153 Le Chesnay - France Tel. +33139635254 Fax. +33139635786 Email asma.lakhoua@inria.fr BAVO LANGEROCK UGent Electrical Energy, Systems and Automation Systems Technologiepark 914 9052 Zwijnaarde - Belgium Tel. +32-9-2645655 Fax. +32-9-2645840 Email bavo.langerock@ugent.be BARBARA LANGFELD Technical University of Munich Combinatorial Geometry Applied Geometry & Discrete Mathematics Boltzmannstr. 3 85747 Garching bei Muenche - Germany Tel. ++49-(0)89-289-16882

Fax. ++49-(0)89-289-16859 Email langfeld@ma.tum.de

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ANDREAS LASAROW K.U. Leuven Departement Computerwetenschappen Afd. Num. Analyse en Toeg. Wiskunde Celestijnenlaan 200 A B-3001 Heverlee - België Tel. +32 16 327834 Email Andreas.Lasarow@cs.kuleuven.ac.be REINHARD LAUBENBACHER Virginia Tech Virginia Bioinformatics Institute 1880 Pratt Drive 24061 Blacksburg, Virginia - USA Tel. 001-540-231-7506 Fax. 001-540-231-2891 Email reinhard@vbi.vt.edu MIRCEA LAZAR Eindhoven University of Technology Electrical Engineering Control Systems Den Dolech 2 5612 AZ Eindhoven - Netherlands Tel. +31-40-2473795 Fax. +31-40-2434582 Email m.lazar@tue.nl YANN LE GORREC Claude Bernard Lyon 1 LAGEP Bat 308 G, CPE, 43 bd du 11 nov 1918 69622 Villeurbanne Cedex - France Tel. (33)(0)472431841 Fax. (33)(0)472431682 Email legorrec@lagep.univ-lyon1.fr ANDREA LECCHINI University of Cambridge Engineering Trumpington Street CB2 1PZ Cambridge - UK Tel. +44 (0)1223 3 39222 Fax. +44 (0)1223 3 32662 Email al394@cam.ac.uk PEI YEAN LEE The Australian National University Systems Engineering Research School of Information Sciences & Eng. The Australian National University 0200 CANBERRA - AUSTRALIA Tel. +61 2 6125 8830 Fax. +61 2 6125 8660 Email peiyean@syseng.anu.edu.au

PHILIPPE LEMMERLING KUL ESAT SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321796 Fax. +32-16-321970 Email philippe.lemmerling@esat.kuleuven.ac.be JOÃO M. LEMOS IST INESC-ID R. Alves Redol 9 1000-029 Lisboa - Portugal Tel. +351-213100259 Fax. +351-213145843 Email jlml@inesc.pt HENDRIK LENS University of Toronto Electrical and Computer Engineering 10 King's College Road M5S 3G4 Toronto - Canada Tel. +1.416.542.1427 Fax. +1.416.978.0804 Email hendrik.lens@utoronto.ca LEONID (ARIE) LERER Technion - Israel Institute of Technology Mathematics Technion city 32000 Haifa - Israel Tel. 972 - 4 - 8294199 Fax. 972 - 4 - 8293388 Email llerer@techunix.technion.ac.il ANDERS LINDQUIST Royal Institute of Technology Department of Mathematics Optimization and Systems Theory Lindstedsv. 25 10044 Stockholm - Sweden Tel. +46-8-7907311 Fax. +46-8-225320 Email alq@math.kth.se FRANK LINGELBACH KTH - S3 Automatic Control Osquldasväg 10 10044 Stockholm - Sweden Tel. +46702931936 Email frankl@s3.kth.se

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PIERRE-LOUIS LIONS Ecole Normale Supérieure Dépt. de Mathématique et Informatique 45, rue d'Ulm 75230 Paris Cedex 05 - France Tel. +33-1-44323000 Fax. +33-1-44322099 MIA LOCCUFIER Ghent University Electrical Energy, Systems and Automation SYSTeMS Technologieparr-Zwijnaarde 913 9052 Zwijnaarde-Gent - Belgium Tel. + 32 (0) 9 264 55 87 Fax. + 32 (0) 9 264 58 39 Email Mia.Loccufier@Ugent.be HARTMUT LOGEMANN University of Bath Mathematical Sciences Claverton Down BA2 7AY Bath - United Kingdom Tel. +44-1225-386008 Fax. +44-1225-386492 Email hl@maths.bath.ac.uk FILIP LOGIST KULeuven Chemical Engineering Bioprocess Technology and Control (BioTeC) W. de Croylaan 46 3001 Heverlee - Belgium Tel. +32-16-32.27.03 Fax. +32-16-32.29.91 Email Filip.Logist@cit.kuleuven.ac.be STEVEN LOW California Institute of Technology Computer Science & Electrical Engineering Engineering & Applied Science 1200 E California Blvd 91125 Pasadena, CA - USA Tel. 1-626-395-2813 Fax. 1-626-568-3603 Email cortega@caltech.edu CHUAN LU Katholieke Universiteit Leuven Dept. of Electrical Engineering ESAT-SCD-SISTA Kasteelpark Arenberg 10 B-3001 Leuven - Belgium Tel. +32-16-321884 Fax. +32-16-321970 Email chuanlu@esat.kuleuven.ac.be

JOHN LYGEROS University of Patras Electrical and Computer Engineering Systems and Control University Campus GR-26500 Rio, Patras - Greece Tel. +30 2610 996458 Fax. +30 2610 991812 Email lygeros@ee.upatras.gr ALESSANDRO MACCHELLI University of Bologna DEIS viale Risorgimento 2 40136 Bologna - Italy Tel. +39-051-2093874 Fax. +39-051-2093073 Email amacchelli@deis.unibo.it JAN MACIEJOWSKI Cambridge Engineering Information Engineering Trumpington Street CB2 1PZ Cambridge - England Tel. +44 1223 332732 Fax. +44 1223 332662 Email jmm@eng.cam.ac.uk SVEN MAERIVOET Katholieke Universiteit Leuven Department of Electrical Engineering ESAT SCD (SISTA) Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321146 Fax. +32-16-321970 Email sven.maerivoet@esat.kuleuven.ac.be MAREK MAJEWSKI University of Lodz Faculty of Mathematics Div of Differential Equations and Computer Sc Banacha 22 90-238 Lodz - Poland Tel. +48426355949 Fax. +48426354266 Email marmaj@math.uni.lodz.pl SCOTT MAKEIG University of California San Diego Instute for Neural Computation Swartz Center for Computational Neuroscience 9500 Gilman Dr. 92093-09 La Jolla, CA - USA Tel. +1 858 458 1927 x11 Fax. +1 858 458 1847 Email smakeig@ucsd.edu

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TANIT MALAKORN Naresuan University Electrical and Computer Engineering Tambol Tha-Pho, Amphor Meung 65000 Phitsanulok - THAILAND Tel. +66-6-5445421 Fax. +66-55-261062 Email tmalakor@vt.edu SABATO MANFREDI Università di Napoli Federico II Informatica e Sistemistica Via Claudio 21 80125 Napoli - Italy Tel. +39 081 7683845 Fax. +39 081 7683816 Email smanfred@unina.it JONATHAN MANTON University of Melbourne Electrical & Electronic Engineering Grattan Street, Parkville 3010 Melbourne - Australia Tel. + 61 3 8344 8063 Fax. + 61 3 8344 7412 Email j.manton@ee.mu.oz.au FABIO MARCUZZI Università di Padova Dipartimento di Matematica Pura ed Applicata via Belzoni, 7 35131 Padova - Italy Tel. 39 49 8275844 Fax. 39 49 8275892 Email marcuzzi@math.unipd.it IVAN MARKOVSKY K.U. Leuven ESAT - SCD Kasteelpark Arenberg 10 B-3001 Leuven-Heverlee - Belgium Tel. +32-16-32 17 10 Fax. +32-16-32 19 70 Email Ivan.Markovsky@esat.kuleuven.ac.be JUAN CARLOS MARTINEZ-GARCIA CINVESTAV-IPN Automatic Control Av. IPN No. 2508 07300 Mexico City - Mexico Tel. + 52 55 50 61 37 43 Fax. + 52 55 50 61 38 12 Email jcmg1964@prodigy.net.mx

BERNHARD MASCHKE Claude Bernard Lyon 1 LAGEP Bat 308 G, CPE, 43 bd du 11 nov 1918 69622 Villeurbanne Cedex - France Tel. (33)(0)472431842 Fax. (33)(0)472431682 Email maschke@lagep.univ-lyon1.fr SILVIA MASTELLONE University of New Mexico Electrical & Computer Engineering MSC01 1100, 1 University of New Mexico 87131 Albuquerque, NM - USA Tel. +1-505-277-0298 Fax. +1-505-277-1439 Email silvia@ece.unm.edu NICOLA MASTRONARDI Consiglio Nazionale delle Ricerche Istituto per le Applicazioni del Calcolo "M.Picone sez. Bari via Amendola 122/D 70126 Bari - Italy Tel. +390805929740 Fax. +390805929770 Email n.mastronardi@area.ba.cnr.it DENIS MATIGNON ENST & CNRS TSI dept. & LTCI UMR 5141 37-39 rue Dareau 75014 PARIS - FRANCE Tel. 33 1 45 81 75 60 Fax. 33 1 45 81 71 44 Email matignon@tsi.enst.fr WILLIAM MCENEANEY Univ. of California, San Diego Mathematics 9500 Gilman Drive 92093 La Jolla, CA - USA Tel. +01-858-534-2651 Fax. +01-858-534-5273 Email wmceneaney@ucsd.edu ALEXANDRE MEGRETSKI Massachusetts Institute of Technology EECS - LIDS Building 32 02139 Cambridge, Massachus - USA Tel. 1-617-2539828 Email ameg@mit.edu

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VOLKER MEHRMANN TU Berlin Mathematik und Naturwissenschaften Mathematik Str. des 17. Juni 126 10623 Berlin - Germany Tel. 0049 (0)-30-314-2573 Fax. 0049 (0)-30-314-7970 Email mehrmann@math.tu-berlin.de GJERRIT MEINSMA University of Twente Dept. of Applied Mathematics Math. Systems & Control Drienerlolaan 7500 AE Enschede - The Netherlands Tel. +31-53-4893451 Fax. +31-53-4893800 Email g.meinsma@math.utwente.nl HERMANN MENA Escuela Politecnica Nacional / TU Chemnitz Dep Matematica / Fakultät für Mathemat 17-01-27-59 None Quito - Ecuador Tel. +49-371-531-2659 Fax. +49-371-531-2657 Email benner@mathematik.tu-chemnitz.de MARIO MICHELI Brown University & University of Padova Applied Mathematics 182 George Street 02912 Providence, RI - USA Tel. +1 401 863 2230 Email mariom@dam.brown.edu PAUL MICHELS UCL Biochemistry ICP-TROP Av. Hippocrate 74 1200 Brussel - België Tel. + 32-2-764 74 73 Fax. + 32-2-762 68 53 Email michels@bchm.ucl.ac.be WIM MICHIELS Katholieke Universiteit Leuven Computer Science Numerical Analysis and Applied Mathematics Celestijnenlaan 200A 3001 Heverlee - Belgium Tel. +32-16-327537 Fax. +32-16-327996 Email Wim.Michiels@cs.kuleuven.ac.be

LEONID MIRKIN Technion - Israel Institute of Technology Faculty of Mechanical Engineering 32000 Haifa - Israel Tel. +972-4-8293149 Fax. +972-4-8295711 Email mirkin@technion.ac.il MAZYAR MIRRAHIMI Ecole Nationale Supérieure des Mines de Paris Automatique et Systèmes 60 Bd Saint Michel F75272 Paris - France Tel. + 33 1 40 51 91 64 Fax. + 33 1 40 51 91 65 Email mazyar.mirrahimi@ensmp.fr YOSHIHIKO MIYASATO The Institute of Statistical Mathematics Department of Prediction and Control 4-6-7 Minami-Azabu, Minato-ku 106-8569 Tokyo - JAPAN Tel. +81-3-54218752 Fax. +81-3-54218796 Email miyasato@ism.ac.jp AGOES MOELJA University of Twente Applied Mathematics Signals, Sytems, and Control Postbus 217 7500 AE Enschede - The Netherlands Tel. +31-53-4893453 Email a.a.moelja@math.utwente.nl NIELS MÖLLER Royal Institute of Technology, KTH, Stockholm Signals, Sensors and Systems Automatic Control Osquldas väg 10 SE-100 4 Stockholm - Sweden Tel. +46 8 790 7422 Fax. +46 8 790 7329 Email niels@s3.kth.se PABLO MONZON Universidad de la Republica Facultad de Ingenieria Instituto de Ingenieria Electrica J. Herrera y Reissig 565 11300 Montevideo - Uruguay Tel. (598 2) 711 0974 Fax. (598 2) 711 7435 Email monzon@fing.edu.uy

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MARC MOONEN K.U.Leuven Dept. Elektrotechniek, ESAT SCD (SISTA) Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32/16/321060 Fax. +32/16/321970 Email marc.moonen@esat.kuleuven.ac.be JOHN MOORE The Australian National University Systems Engineering Res School of Information Sciences & Engine The Australian National University 0200 CANBERRA - AUSTRALIA Tel. +61 2 6125 58604 Fax. +61 2 6125 8660 Email john.moore@anu.edu.au LUC MOREAU Eindhoven University of Technology Mechanical Engineering Dynamics and Control P.O. Box 513 5600 MB Eindhoven - The Netherlands Tel. +31-40-247-3358 Fax. +31-40-246-1418 Email L.P.M.Moreau@tue.nl JAVIER MORENO Université de Liège Dept of Electrical Engineering and Computer Systems and Control B28 B-4000 Liège Sart-Tilman - Belgium Tel. +32 4 366 37 49 Fax. +32 4 366 29 89 Email moreno@montefiore.ulg.ac.be KAZUYOSHI MORI The University of AIZU School of Computer Science and Engineering Tsuruga Ikki-machi 965-8580 Aizu-Wakamatsu - JAPAN Tel. +81.242.37.2615 Fax. +81.242.37.2747 Email Kazuyoshi.MORI@IEEE.ORG KIRSTEN MORRIS University of Waterloo Applied Mathematics 200 University Ave. W N2L 3G1 Waterloo - Canada Tel. 519 888 4567 x6218 Fax. 519 746 4319 Email kmorris@uwaterloo.ca

A. STEPHEN MORSE Yale University Dept. Electrical Engineering PO Box 208267 CT 06520 New Haven - U.S.A. Tel. +1-203-4324295 Fax. +1-203-4327481 Email morse@sysc.eng.yale.edu BART MOTMANS K.U.Leuven Electrical Engineering SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-328555 Fax. +32-16-321970 Email Bart.Motmans@esat.kuleuven.ac.be PETER C. MUELLER Wuppertal Safety Engineering Safety Control Engineering Gauss Str. 20 42019 Wuppertal - Germany Tel. +49 202 4392018 Fax. +49 202 4392586 Email mueller@srm.uni-wuppertal.de SHAYAN MUKHERJEE Duke University Computational Biology and Statistics E25 201, 45 Carlton St. 02139 Cambridge - MA Tel. 1-617-258-0725 Email sayan@mit.edu JOSE MUNOZ-PORRAS Salamanca Mathematics - Algebra Plaza de la Merced 1-4 37008 Salamanca - Spain Tel. 34-923-294460 Fax. 34-923-294583 Email jmp@usal.es RICCARDO MURADORE University od Padova Department of Chemical Engineering Principles Via Marzolo 9 35131 Padova (PD) - Italy Tel. +39 049 827 5491 Fax. +39 049.827.5461 Email muradore@dei.unipd.it

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MANOHAR MURTHI University of Miami Electrical and Computer Engineering McArthur 406 1251 Memorial Dr. 33124 Coral Gables, Florid - USA Tel. +1-305-284-3342 Fax. +1-305-284-4044 Email mmurthi@miami.edu GIRISH NAIR University of Melbourne Dept. Elec. & Electr. Engin. Grattan St. VIC 3010 Melbourne - AUSTRALIA Tel. +61-3-83446701 Fax. +61-3-8344-6678 Email gnair@ee.mu.oz.au CARMELIZA NAVASCA University of California, Los Angeles Math Department Box 951555 90095 Los Angeles - USA Tel. 1 310 206 8685 Fax. 1 310 206 6673 Email navasca@math.ucla.edu NIGEL NEWTON Essex University Electronic Systems Engineering Wivenhoe Park CO4 3SQ Colchester - UK Tel. + 44 1206 872932 Fax. + 44 1206 872900 Email njn@essex.ac.uk SILVIU-IULIAN NICULESCU Universite de Technologie de Compiegne HeuDiaSyC Centre de Recherche de Royallieu, BP 20529 60205 Compiegne - France Tel. +33.3.44.23.44.84 Fax. +33.3.44.23.44.77 Email silviu@hds.utc.fr CHRIS NIELSEN Univ. of Toronto Electrical and Computer Engineering 10 King's College Rd M5S 3G4 Toronto, ONTARIO - CANADA Tel. +1-416-5421427 Fax. +1-4169780804 Email nielsen@control.utoronto.ca

MAZIAR NIKPOUR UCL Mathematical Engineering CESAME Av G. Lemaître 4-6 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 80 05 Fax. +32 10 47 21 80 Email nikpour@inma.ucl.ac.be LAURE NINOVE UCL Applied Mathematics Av. G. Lemaître 4 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 80 46 Fax. +32 10 47 21 80 Email ninova@inma.ucl.ac.be EITAKU NOBUYAMA Kyushu Institute of Technology Systems Innovation and Informatics 680-4 Kawazu 820-8502 Iizuka city, Fukuoka - Japan Tel. +81-948-29-7728 Fax. +81-948-29-7709 Email nobuyama@ces.kyutech.ac.jp ERIK NOLDUS Ghent University TW08 Electrical Energy, Systems and Automation Faculty of Aplied Sciences Technologiepark Zwijnaarde 914 9052 Zwijnaarde - Belgium Tel. 32 (0)9 264 5578 Fax. 32 (0)9 264 5839 Email Noldus@autoctrl.UGent.be HENDRA NURDIN University of Twente Applied Mathematics Systems, Signals and Control Ravelijn Gebouw, Drienerlolaan 5 7522 NB Enschede - The Netherlands Tel. +31-53-4893370 Fax. +31-53-4893800 Email h.i.nurdin@math.utwente.nl ATSUMI OHARA Osaka University Systems Science 1-3, Machikane-yama 560-8531 Toyonaka - Japan Tel. +81-6-6850-6356 Fax. +81-6-6850-6341 Email ohara@sys.es.osaka-u.ac.jp

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YOSHITO OHTA Osaka University Computer-controlled Mechanical Systems 2-1 Yamadaoka 565-0871 Suita - Japan Tel. +81-6-68797328 Fax. +81-6-68797247 Email ohta@mech.eng.osaka-u.ac.jp VADIM OLSHEVSKY University of Connecticut Department of Mathematics 196 Auditorium Rd CT06269 Storrs - USA Tel. 508-791-4165 Fax. 508-791-1144 Email olshevsky@math.uconn.edu MARK OPMEER University of Groningen Department of mathematics Blauwborgje 3 9700 AV Groningen - The Netherlands Tel. +31 50 363399 Fax. +31 50 3633800 Email opmeer@math.rug.nl MICHAEL L. OVERTON New York University Courant Institute of Mathematical Sciences Computer Science and Mathematics 251 Mercer Street NY 10012 New York - U.S.A. Tel. +1-212-9983121 Fax. +1-212-9954121 Email overton@cs.nyu.edu HITAY OZBAY The Ohio State University Department of Electrical and Computer Engineering 2015 Neil Avenue 43210 Columbus, Ohio - U.S.A. Tel. +1-614-292-1347 Fax. +1-614-292-7596 Email ozbay.1@osu.edu ILONA PABST Wuppertal Safety Engineering Safety Control Engineering Gauss Str. 20 42019 Wuppertal - Germany Tel. +49 202 4392336 Fax. +49 202 4392586 Email ipab@uni-wuppertal.de

FERNANDO PAGANINI UCLA Electrical Engineering PO Box 951594 90095 Los Angeles, CA - USA Tel. +1-310-206-1426 Fax. +1-310-206-4865 Email paganini@ucla.edu DEREK PALEY Princeton University Mechanical and Aerospace Engineering Dynamical Control Systems Laboratory MAE Eng-Quad D210, Olden St. 08544 Princeton, NJ - USA Tel. 609 258-0304 Fax. 609 258-6109 Email dpaley@princeton.edu RAMKRISHNA PASUMARTHY University of Twente Faculty of EEMCS Dept. of Applied Mathematics PO Box 217 7500AE Enschede - The Netherlands Tel. +31534893458 Fax. +31534893800 Email R.Pasumarthy@math.utwente.nl TERESA PEDROSO DE LIMA University of Coimbra Faculty of Economics Av. Dias da Silva, 165 3004-512 Coimbra - Portugal Tel. +351 239 790591 Fax. +351 239 790514 Email tpl@fe.uc.pt RALF PEETERS Mathematics Department P.O. Box 616 6200 MD Maastricht - The Netherlands Tel. +31-43-3883365 Fax. +31-43-3884910 Email ralf.peeters@math.unimaas.nl KRISTIAAN PELCKMANS KULeuven ESAT SCD-S&C Kasteelpark 10 3001 Leuven (Heverlee) - Belgium Tel. +32 16 321145 Fax. +32 16 321970 Email kristiaan.pelckmans@esat.kuleuven.ac.be

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PIETER PELS Katholieke Universiteit Leuven ESAT - SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321067 Fax. +32-16-321970 Email pieter.pels@esat.kuleuven.ac.be ISHAN PENDHARKAR Indian Institute of Technology Bombay, Mumbai. Electrical Engineering Powai. 400076 Mumbai (Bombay) - INDIA Tel. +91-22-25764427 Email ishan@ee.iitb.ac.in PIERDOMENICO PEPE L'Aquila Electrical Engineering Automatic Control Poggio di Roio 67040 L'Aquila - Italy Tel. +39-0862-434422 Fax. +39-0862-434403 Email pepe@ing.univaq.it STEFANO PERABO` University of Padova Department of Information Engineering Via Gradenigo 6/B 35131 Padova - Italy Tel. +39-049-8277757 Email perabo@dei.unipd.it ANNA MARIA PERDON Università Politecnica delle Marche Dipartimento di Ingegneria Informatica, Gestionale via Brecce Bianche 60131 Ancona - Italia Tel. +39 071 2204598 Fax. +39 071 2204870 Email perdon@univpm.it CARMEN PEREA Universidad Miguel Hernández Estadística y Matemática Aplicada. Centro de Inve Matemática Aplicada Campus de Orihuela. Ctra. de Beniel km 3,2 03312 ORIHUELA (Alicante) - SPAIN Tel. +34-96-674 9618 Fax. +34-96-6749619 Email perea@umh.es

RICARDO PEREIRA Aveiro Mathematics Campus de Santiago 3810-193 Aveiro - Portugal Tel. +351234370359 Fax. +351234382014 Email ricardo@mat.ua.pt FERNANDO PEREIRA FEUP - Porto University DEEC Institute for Systems and Robotics-Porto Rua Dr. Roberto Frias 4200-465 Porto - Portugal Tel. + 351-22-5081857 Fax. + 351-22-5081443 Email flp@fe.up.pt TATIANA PESETSKAYA Institute of Mathematics of National Academy Department of Cntrol Process Theory Surganov str 11 220072 Minsk - Belarus Tel. +375 17 284 19 52 Fax. +375 17 284 09 15 Email tanya_pesetskaya@yahoo.com MIHALY PETRECZKY Centrum voor Wiskunde en Informatica (CWI) Modelling, Analysis and Simulation Computing and Control Kruislaan 413, P.O Box 94079 1090 GB Amsterdam - The Netherlands Tel. +31-20-5924094 Fax. +31-20-5924199 Email M.Petreczky@cwi.nl BRUNO PICASSO Scuola Normale Superiore Science - Mathematics Piazza dei Cavalieri 7 56126 Pisa - Italy Tel. +39-050509111 Fax. +39-050563513 Email b.picasso@sns.it GIORGIO PICCI University of Padova Information Engineering via Gradenigo 6/B 35131 PADOVA - Italy Tel. +39-049-8277705 Fax. +39-049-8277699 Email picci@dei.unipd.it

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HARISH PILLAI IIT Bombay Electrical Engg Powai 400076 Mumbai - India Tel. +91 22 2576 7424 Fax. +91 22 2572 3480 Email hp@ee.iitb.ac.in RIK PINTELON Vrije Universiteit Brussel ELEC Pleinlaan 2 1050 Brussel - Belgium Tel. +32-2-6292944 Fax. +32-2-6292850 Email rik.pintelon@vub.ac.be MARIA RAQUEL ROCHA PINTO University of Aveiro Department of Mathematics Campus Universitário de Santiago 3810-193 Aveiro - Portugal Tel. +351-234-370359 Fax. +351-234-382014 Email raquel@mat.ua.pt ELMAR PLISCHKE Universität Bremen Fachbereich 3, Mathematik Center for Technomathematics Postfach 330400 28334 Bremen - Germany Tel. +494122183544 Fax. +49412218 Email elmar@tzi.de BERT PLUYMERS Katholieke Universiteit Leuven Department of Electrotechnical Engineering SCD - SISTA Kasteelpark Arenberg 10 3000 Leuven - Belgium Tel. +32-16-32 17 09 Fax. +32-16-32 19 70 Email bert.pluymers@esat.kuleuven.ac.be NATHALIE POCHET KULeuven ESAT - SCD Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32-16-328651 Fax. +32-16-321970 Email nathalie.pochet@esat.kuleuven.ac.be

ALEXANDER POGROMSKY Eindhoven University of Technology Mechanical Engineering Systems Engineering Den Dolech 2 5600MB Eindhoven - The Netherlands Tel. +31 40 247 34 64 Fax. +31 40 2452505 Email a.pogromsky@tue.nl SEPPO POHJOLAINEN Tampere University of Technology Mathematics P.O. Box 553 FIN-3310 Tampere - Finland Tel. +358 405003683 Fax. +358 3 31153549 Email seppo.pohjolainen@tut.fi JAN WILLEM POLDERMAN University of Twente Department of Applied Mathematics Drienerlolaan 5 7522 NB Enschede - The Netherlands Tel. +31-53-4893438 Fax. +31-53-4893800 Email j.w.polderman@math.utwente.nl JEAN-FRANÇOIS POMMARET Ecole Nationale des Ponts et Chaussées (ENPC) Centre d'Enseignement et de Recherche en Mathémat 6/8 Av Blaise Pascal, Cité descartes 77 455 Marne-la -Vallée Ce - FRANCE Tel. 33 1 64 15 35 85 Fax. 33 1 64 15 35 86 Email pommaret@cermics.enpc.fr KAMESHWAR POOLLA University of California, Berkeley Mechanical Engineering and EECS 1250 Grizzly Peak 94708 Berkeley - USA Tel. 1+510-909-9640 Email poolla@me.berkeley.edu ADRIANA POPOVICI University of the West Timisoara Department of Mathematics and Computer Science Bd. V. Parvan 4 300223 Timisoara - Romania Tel. +40-256-497485 Fax. +40-256-494002 Email dianap@math.uvt.ro

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DAN POPOVICI University of the West Timisoara Department of Mathematics and Computer Science Bd. V. Parvan 4 300223 Timisoara - Romania Tel. +40-256-497485 Fax. +40-256-494002 Email popovici@math.uvt.ro KAMAL PREMARATNE University of Miami Electrical & Computer Engineering 1251 Memorial Drive, #EB406 33146 Coral Gables, Florid - USA Tel. +1-305-2844051 Fax. +1-305-2844044 Email kamal@miami.edu CHRISTOPHE PRIEUR CNRS ENS de Cachan Laboratoire SATIE 61 avenue du Pdt Wilson 94235 Cachan - France Tel. +33-147402707 Fax. +33-147402199 Email prieur@satie.ens-cachan.fr MARCUS PROCHASKA University of Hannover Faculty of Electrical Engineering and Information Inst of Electromagnetic Theory and Microwave Appelstraße 9A 30167 Hannover - Germany Tel. +49 (511) 762-3595 Fax. +49 (511) 762-3204 Email prochaska@tet.uni-hannover.de MIHAI PUTINAR University of California Mathematics South Hall CA 93106 Santa Barbara - USA Tel. 805-893-3252 Fax. 805-893-2385 Email mputinar@math.ucsb.edu ALBAN QUADRAT INRIA Sophia Antipolis CAFE project 2004 Route des Lucioles, BP 93, 06902 Sophia Antipolis ced - France Tel. +33-4-92-38-76-42 Fax. +33-4-92-38-78-58 Email Alban.Quadrat@sophia.inria.fr

JOERG RAISCH Otto-von-Guericke Universitaet Magdeburg Institut fuer Automatisierungstechnik Chair for Systems Theory in Engineering Lehrstuhl Postfach 4120 39016 Magdeburg - Germany Tel. +49-391-67-18708 Fax. +49-391-67-11191 Email raisch@mpi-magdeburg.mpg.de SASA V. RAKOVIC Imperial College Electrical and Electronic Engineering Control and Power Research Group Exhibition Road SW7 2BT London - United Kingdom Tel. + 44 - 207 - 5946108 Email sasa.rakovic@imperial.ac.uk JOSE RAMOS Indiana University Purdue University-Indianapolis Dept of Electrical and Computer Engineering School of Engineering and Technology 723 West Michigan Street 46112 Indianapolis - USA Tel. 001-317-274-0044 Fax. 001-317-274-4493 Email jaramos@iupui.edu ANDRE RAN Vrije Universiteit Amsterdam Mathematics - FEW De Boelelaan 1081a 1081 HV Amsterdam - The Netherlands Tel. +31-20-4447691 Fax. +31-20-4447653 Email ran@cs.vu.nl ANDERS RANTZER Lund University Dept. of Automatic Control Box 118 SE22474 Lund - Sweden Tel. +46-46-2228778 Fax. +46-46-138118 Email rantzer@control.lth.se PAOLO RAPISARDA Univ. Maastricht Mathematics (TS6) P.O. Box 616 6200 MD Maastricht - Nederland Tel. +31-43-3823360 Fax. +31-43-3884910 Email p.rapisarda@math.unimaas.nl

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VLADIMIR RASVAN University of Craiova Automatic Control System Theory A.I. Cuza Str. No.13 200585 Craiova - ROMANIA Tel. +40251438198 Fax. +40251438198 Email vrasvan@automation.ucv.ro RICHARD REBARBER University of Nebraska Department of Mathematics 810 Oldfather Hall 68588 Lincoln, NE - USA Tel. +1-402-472-7235 Fax. +1-402-472-8466 Email rrebarbe@math.unl.edu SALAH-EDDINE REBIAI Batna Mathematics - Sciences Chahid Boukhlouf 05000 Batna - Algeria Tel. +213 33 86 89 64 Fax. +213 33 86 89 64 Email rebiai@hotmail.com ANSGAR REHM University of Stuttgart - IST Institut für Systemtheorie technischer Prozesse Pfaffenwaldring 9 70550 Stuttgart - Germany Tel. +49-711-6857741 Fax. +49-711-6857735 Email ansgar@isr.uni-stuttgart.de TIMO REIS University of Kaiserslautern Mathematics Erwin-Schrödinger-Strasse 67655 Kaiserslautern - Germany Tel. +49 631 205 4134 Fax. +49 631 205 3052 Email reis@mathematik.uni-kl.de GUNTHER REISZIG Otto-von-Guericke-Universtuitaet Magdeburg Elektrotechnik und Informationstechnik Chair of Systems Theory of technical processes Universitaetsplatz 2, PF 4120 39016 Magdeburg/Magdeburg - Germany Tel. +49-391-6718590 Fax. +49-391-6711191 Email gr@ieee.org

MARTINE REURINGS The College of William and Mary Mathematics P.O. Box 8795 23187 Williamsburg, VA - U.S.A. Tel. +001-757-2214626 Fax. +001-757-2217400 Email mcreurin@math.wm.edu CASSILDA M RIBEIRO University of the State of São Paulo - UNESP mathematics FEG Av. Ariberto Pereira da Cunha 333 12500-00 Guaratinguetá - SP - Brazil Tel. 55-12-31232848 Fax. 55-12-3125 2466 Email cassilda@feg.unesp.br BEATRIZ RICARTE Universidad Politécnica de Valencia Matematica Aplicada Camino de Vera s.n. 46071 Valencia - Spain Tel. +34-96-3877007 Fax. +34-96-3877139 Email bearibe@mat.upv.es LAURIE RICKER Mount Allison University Mathematics and Computer Science 67 York Street E4L 1E6 Sackville, NB - Canada Tel. +1-506-364-2541 Fax. +1-506-2583 Email lricker@mta.ca JONAS RIMAS Kaunas University of Technology Department of Applied Mathematics Faculty of Fundamental Sciences Studentu 50 51368 Kaunas - Lithuania Tel. 37037300311 Fax. 37037456472 Email jonas.rimas@ktu.lt DANIEL ROBERTZ RWTH Aachen Lehrstuhl B fuer Mathematik Templergraben 64 D-52062 Aachen - Germany Tel. +49-241-80-93508 Fax. +49-241-80-92502 Email daniel@momo.math.rwth-aachen.de

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GONZALO ROBLEDO INRIA Projet COMORE Sophia Antipolis 2004 Route des Lucioles B.P. 93 06902 Sophia Antipolis - France Tel. (33)492387180 Fax. (33)492387858 Email grobledo@sophiainria.fr PAULA ROCHA Aveiro Mathematics Campo Universitario de Santiago 3810-193 Aveiro - Portugal Tel. +351-234-370359 Fax. + 351-234-382014 Email procha@mat.ua.pt LEIBA RODMAN College of William and Mary Mathematics Williamsburg VA 23187 Williamsburg - USA Tel. 1-757-221-2027 Fax. 1-757-221-7400 Email lxrodm@math.wm.edu RUI RODRIGUES Universidade de Coimbra Engenharia Electrotécnica I.S.R. Universidade de Coimbra - Polo II 3030-290 Coimbra - Portugal Tel. +351-239-790200 Fax. +351-239-790201 Email ruicr@isec.pt ERIC ROGERS UNiversity of Southampton Electronics and Computer Science Highfield SO17 1BJ Southampton - UK Tel. 44 2380 592197 Fax. 44 2380 594498 Email etar@ecs.soton.ac.uk JONATHAN ROGGE Ghent University SYSTeMS Technologiepark 914 9052 Zwijnaarde - Belgium Tel. +32-9-264-5657 Fax. +32-9-264-5840 Email jonathan.rogge@ugent.be

JOOST ROMMES Utrecht University Mathematics and Computer Science Mathematics Budapestlaan 6 3584 CD Utrecht - The Netherlands Tel. +31 (0)30 2531520 Fax. +31 (0)30 2518394 Email rommes@math.uu.nl RENAUD RONSSE Université de Liège Electrical Engineering and Computer Science Systems and Control Engineering Grande Traverse, 10 B-4000 Liège - Belgium Tel. +32-4-3662697 Fax. +32-4-3662989 Email R.Ronsse@ulg.ac.be DIRK ROOSE K.U.Leuven Dept. Computer Science Scientific Computing Celestijnenlaan 200A 3001 Heverlee - Belgium Tel. +32-16-327546 Fax. +32-16-327996 Email Dirk.Roose@cs.kuleuven.ac.be JOACHIM ROSENTHAL University of Notre Dame Dept. of Mathematics Electrical Engineering 46556-46 Notre Dame, Indiana - U.S.A. Tel. +1-574-6318370 Fax. +1-574-6316579 Email rosenthal.1@nd.edu IULIANA ROTARIU The University of Sydney Australian Centre for Field Robotics Aerospace Mechanics and Mechatronical Engineering The Rose Street Building J04 NSW 2006 Sydney - Australia Tel. +61-2-90365369 Fax. +61-2-93517474 Email j.rotariu@acfr.usyd.edu.au PIERRE ROUCHON Ecole Nationale Supérieure des Mines de Paris Automatique & Systèmes 60 Bd Saint Michel F75272 Paris - France Tel. + 33 1 4051 91 15 Fax. + 33 1 4051 91 65 Email pierre.rouchon@ensmp.fr

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SVETLANA ROZHKOVA Tomsk Polytechnic University Department of Natural Sciences and Mathematics Higher Mathematics 30 Lenin ave. 634034 Tomsk - Russia Tel. +7-3822-417209 Email oni@cam.tpu.ru VENTSI RUMCHEV Curtin University of Technology Mathematics and Statistics Engineering, Computing & Science Building 314 Room 345, Kent Street 6102 Bentley - Western Australia, A Tel. 61 892667672 Fax. 61 892663197 Email rumchevv@maths.curtin.edu.au ANN RUNDELL Purdue University Biomedical Engineering 500 Central Drive 47907 W Lafayette - USA Tel. +1 765-746-4256 Fax. +1 765-494-1193 Email rundell@ecn.purdue.edu MARY BETH RUSKAI Tufts University Mathematics 503 Boston Avenue 02155 Medford, MA - USA Tel. 781 646 9377 Fax. 617 627 3966 Email marybeth.ruskai@tufts.edu SERBAN SABAU University "Politehnica" Bucharest Faculty of Automatic Control and Computers A.I.S. Automatic Control and Systems Engineering Splaiul Independentei, No. 313, 77206 Bucharest - ROMANIA Tel. 40 021 2323898 Email serban@riccati.pub.ro PATRICK SAINT-PIERRE University Paris Dauphine Centre de Recherches Viabilité, Jeux, Contrôle Place du Maréchal de Lattre de Tassigny 75116 Paris - France Tel. 00 33 1 40 95 04 54 Fax. Email patrick.saint-pierre@viab.dauphine.fr

LEV SAKNOVICH 735 Crawford ave. 11223 New York - USA Tel. +1 718-646-27-57 Fax. +1 718-646-27-57 Email lev.sakhnovich@verizon.net MARCELLO SANGUINETI University of Genova DIST Via Opera Pia, 13 16145 Genova - Italy Tel. +39 010 353 2799 Fax. +39 010 353 2154 Email marcello@dist.unige.it ALI SAYED University of California at Los Angeles (UCLA) Electrical Engineering Department Henry Samueli School of Engineering & Applied Scie Electrical Engineering Department 90095 Los Angeles - USA Tel. +1-310-441-0278 Fax. +1-310-267-2142 Email sayed@ee.ucla.edu CARSTEN SCHERER Delft University of Technology Mechanical Engineering Delft Centre of Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2785899 Fax. +31-15-2784263 Email c.w.scherer@dcsc.tudelft.nl JACQUELIEN M.A. SCHERPEN Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-278 6152 Fax. +31-15-278 6679 Email j.m.a.scherpen@dcsc.tudelft.nl KURT SCHLACHER Johannes Kepler University Linz Institute of Automatic Control and Control Systems Altenbergerstr. 69 4040 Linz - Austria Tel. +43-732-2468-9730 Fax. +43-732-2468-9734 Email kurt.schlacher@jku.at

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J.M. SCHUMACHER Tilburg University Department of Econometrics and OR Faculty of Economics PO Box 90153 5000 LE Tilburg - the Netherlands Tel. +31-13-4662050 Fax. +31-13-4663280 Email jms@uvt.nl GÉRARD SCORLETTI University of Caen GREYC Equipe Automatique 6 Bd maréchal Juin F14050 Caen cedex - France Tel. 33231452712 Email scorletti@greyc.ismra.fr NOBORU SEBE Kyushu Institute of Technology Artificial Intelligence 680-4, Kawazu, Iizuka 820-8502 Fukuoka - Japan Tel. +81-948-29-7621 Fax. +81-948-29-7601 Email sebe@ai.kyutech.ac.jp GUNA SEETHARAMAN Air Force Institute of Technology Dept of Electrical and Computer Engineering AFIT/ENG 2950 P St, Bldg 641, Rm 220, 2950 Hobson Way 45433 Wright Patterson AFB - USA Tel. 1 937-255-3636 ext 4 Fax. 1 937 656 4055 Email guna@afit.edu RODOLPHE SEPULCHRE University of Liege Electrical Engineering and Computer Science Systems and Control Institut Montefiore, B28 4000 Liege Sart-Tilman - Belgium Tel. +32-4-3662987 Fax. +32-4-3662989 Email r.sepulchre@ulg.ac.be STEFANO SERRA CAPIZZANO Insubria - Sede di Como Fisica e Matematica Via Valleggio 11 22100 Como - Italy Tel. +390312386370 Fax. +390312386209 Email stefano.serrac@uninsubria.it

GIANLUCA SETTI University of Ferrara Engineering Department Via Saragat 1 44100 Ferrara - Italy Tel. +39-329-7506502 Fax. +39-051-2095410 Email gsetti@ing.unife.it SHIVA SHANKAR Chennai Mathematical Institute Mathematics 92, G.N.Chetty Road, T.Nagar 600017 Chennai (Madras) - India Tel. 91-44-28157854 Fax. 91-44-28157671 Email sshankar@cmi.ac.in DIANA SIMA KU Leuven ESAT SCD-SISTA Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32 16 32 1710 Fax. +32 16 32 1970 Email diana.sima@esat.kuleuven.ac.be LIYANA SIMENOVA UCL FSA - Auto Av. G. Lemaître 4 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 80 53 Fax. +32 10 47 21 80 Email SIMEONOVA@auto.ucl.ac.be DANIEL SKOOGH Swedish Defence Research Agency Autonomous Systems System Technology Enköpingsvägen 126, Sundbyberg 17290 Stockholm - Sweden Tel. +46-8-55503536 Fax. +46-8-55503651 Email skoogh@foi.se JEAN-JACQUES E. SLOTINE Massachusetts Institute of Technology Mechanical Engineering 77 Massachusetts Avenue, Room 3-338 02139 Cambridge, MA - USA Tel. +1-617-253-2883 Fax. +1-617-258-5802 Email jjs@mit.edu, deborah@mit.edu

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STEFANO SOATTO University of California, L.A. Computer Science Engineering 405 Hilgard Avenue 90095 Los Angeles CA - USA Tel. +1310 794-4840 Fax. +1 310 794-5056 Email soatto@ucla.edu DANNY SORENSEN Rice University Computational & Appl Mathematics Engineering 6100 Main St., M.S. 134 77005 Houston - USA Tel. 1-713-348-5193 Fax. 1-713-348-5318 Email sorensen@rice.edu FRANCESCO SORRENTINO Università di Napoli Federico II Informatica e Sistemistica Via Claudio 21 80125 Napoli - Italy Tel. +39 081 7683854 Fax. +39 081 7683816 Email fsorrent@unina.it JOÃO SOUSA University of Porto - FEUP Depa of Electrotecnic and Computer Eng Rua Dr. Roberto Frias, I202 4200-465 Porto - Portugal Tel. +351225081539 Fax. +351225081443 Email jtasso@fe.up.pt ALBERTO SPERANZON Royal Institute of Technology Signals, Sensors and Systems Automatic Control Osquldasvag 10 SE-10044 Stockholm - Sweden Tel. +46 (0)8 790 7326 Fax. +46 (0)8 790 7329 Email albspe@s3.kth.se PETER SPREIJ Universiteit van Amsterdam Korteweg-de Vries Institute for Mathematics Plantage Muidergracht 24 1018TV Amsterdam - The Netherlands Tel. +31-20-5256070 Fax. +31-29-5255101 Email spreij@science.uva.nl

OLOF STAFFANS Åbo Akademi Department of Mathematics Fänriksgatan 3B 20500 Åbo - Finland Tel. +358 2 215 4222 Fax. +358 2 215 4865 Email olof.staffans@abo.fi GUY-BART STAN University of Liege Electrical Engineering and Computer Science Nonlinear Systems Grande Traverse, 10 4000 Liege - Belgium Tel. +32-4-3662696 Fax. +32-4-3662989 Email gb.stan@ulg.ac.be KONSTANTIN STARKOV CITEDI- IPN Investigations 2498 Avenida del Parque 1310 22510 Tijuana - MEXICO Tel. 52 664 623 1344 Fax. 52 664 623 1388 Email konst@citedi.mx MAARTEN STEINBUCH Eindhoven University of Technology Mechanical Engineering Control Systems Technology p.o.box 513 5600 MB Eindhoven - THE NETHERLANDS Tel. +31402475444 Fax. +31402461418 Email m.steinbuch@tue.nl INGO STEINWART Los Alamos National Laboratory CCS-3 B256 87545 Los Alamos - USA Tel. +001-505-665 7914 Fax. +001-505-667 1126 Email ingo@lanl.gov STEFANO STRAMIGIOLI University of Twente EE-MATH-CS EE P.O. Box 217 7621AE Enschede - The Netherlands Tel. +31 650 278 116 Fax. +31 53 489 4830 Email S.Stramigioli@ieee.org

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TATJANA STYKEL Technische Universitaet Berlin Institut fuer Mathematik Strasse des 17. Juni 10623 Berlin - Germany Tel. +49-30-31429292 Fax. +49-30-31479706 Email stykel@math.tu-berlin.de PIOTR SUCHOMSKI Gdansk University of Technology Department of Automatic Control Faculty of Electronics Telecommunication Narutowicza 11/12 80-952 Gdansk - Poland Tel. +4858 3471274 Fax. +4858 3416132 Email piotrjs@poczta.onet.pl TOSHIHARU SUGIE Kyoto University Dept. of Systems Science Graduate School of Informatics Gokasho 611-0011 Uji - Japan Tel. +81-774-38-3950 Fax. +81-774-38-3945 Email sugie@i.kyoto-u.ac.jp KENJI SUGIMOTO Nara Institute of Science and Technology Graduate School of Information Science 8916-5 Takayama, Ikoma, Nara 630-0192 Ikoma city - JAPAN Tel. +81-743-72-5350 Fax. +81-743-72-5359 Email kenji@is.naist.jp MASASHI SUGIYAMA Fraunhofer FIRST/Tokyo Institute of Technology IDA / Dept. Computer Science Kekulestr. 7 12489 Berlin - Germany Tel. +49-30-63921884 Fax. +49-30-63921805 Email sugi@cs.titech.ac.jp TEERUT SUKSAWAI Thammasat University Engineering Electrical Engineering P.O. Box 22 Thammasat Rangsit Post Office 12121 Pathumthani - Thailand Tel. +66-2-501-3505 Fax. +66-2-201-3524 Email fenderman_joh@hotmail.com

JOHAN SUYKENS K.U. Leuven ESAT SCD-SISTA Kasteelpark Arenberg 10 B-3001 Leuven (Heverlee) - Belgium Tel. 32 16 32 18 02 Fax. 32 16 32 19 70 Email johan.suykens@esat.kuleuven.ac.be PAULO TABUADA University of Notre Dame Electrical Engineering 268 Fitzpatrick Hall 46556 Notre Dame - United States Tel. +1-574-3866564 Fax. +1-574-3866564 Email ptabuada@nd.edu KIYOTSUGU TAKABA Kyoto University Applied Mathematics and Physics Yoshida-Honmachi, Sakyo-ku 6068501 Kyoto - Japan Tel. +81-75-753-5512 Fax. +81-75-753-5507 Email takaba@amp.i.kyoto-u.ac.jp VISWANATH TALASILA University of Twente E.W.I. Applied Mathematics P.O. Box 217 7500 AE Enschede - Netherlands Tel. ++ 31 53 489 3453 Fax. ++ 31 53 489 3800 Email talasilav@cs.utwente.nl HIDEYUKI TANAKA Kyoto University Applied Physics and Mathematics Graduate School of Informatics Yoshida-Honmachi 606-8501 Kyoto City - Japan Tel. +81-75-753-4754 Fax. +81-75-753-5507 Email htanaka@amp.i.kyoto-u.ac.jp ROBERTO TEMPO Politecnico di Torino Automatica & informatica Corso Duca degl Abruzzi, 24 10129 Torino - Italy Tel. +39(0)11 564 5408 Fax. +39(0)11 546 7099 Email roberto.tempo@polito.it

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DEMOSTHENIS TENEKETZIS University of Michigan EECS 1301 Beal Avenue, Rm. 4230 EECS 48109 Ann Arbor - USA Tel. 734-763-0598 Fax. 734-763-8041 Email teneketzis@eecs.umich.edu LAURENT TEPPOZ INPG ENSIEG Laboratoire d'Automatique de Grenoble ENSIEG BP 46 38402 St Martin d'Hères - FRANCE Tel. (33)4 76 82 64 87 Fax. (33)4 76 82 63 88 Email Laurent.Teppoz@inpg.fr SANNE TER HORST Vrije Universiteit Amsterdam (VUA) Mathematics Analysis De Boelelaan 1081a 1081 HV Amsterdam - The Netherlands Tel. 31 20 4447689 Email terhorst@cs.vu.nl CHANUNCHIDA THEERASILP Thammasat University Engineering Electrical Engineering P.O. Box 22 Thammasat Rangsit Post Office 12121 Pathumthani - Thailand Tel. +66-2-501-3505 Fax. +66-2-201-3524 Email amm_gangload@hotmail.com JACQUES THEYS UCL INMA - ANMA Av G. Lemaître 4-6 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 25 97 Fax. +32 10 47 21 80 Email theys@inma.ucl.ac.be JOHN THISTLE University of Waterloo Electrical and Computer Engineering 200 University Avenue West N2L 3G1 Waterloo, Ontario - Canada Tel. +1-519-888-4567-2910 Fax. +1-519-746-3077 Email jthistle@kingcong.uwaterloo.ca

FRANCESCO TICOZZI University of Padova Departement of Information Engineering Via Gradenigo 6/B 35131 Padova - Italy Tel. (+39) 049 8277757 Email ticozzi@dei.unipd.it GIUSEPPINA TOMARCHIO university of catania DIEES viale andrea doria 95121 catania - catania Tel. +390957382307 Email gtomarch@diees.unict.it ANATOLI TOROKHTI University of South Australia Centre for Industrial & Applied Mathematics Division of Information Technology, Engineering Mawson Lakes Boulevard 5095 Mawson Lakes - Australia Tel. +618 8302 3061 Fax. +618 8302 5785 Email ingrid.vanparidon@unisa.edu.au STUART TOWNLEY Exeter Mathematical Sciences North Park Road EX44QE Exeter - UK Tel. +44-1392-263975 Fax. +44-1392-263997 Email townley@maths.ex.ac.uk HIEN TRAN North Carolina State University Mathematics Center for Research in Scientific Computation Campus Box 8205 27695 Raleigh, North Carol - USA Tel. 919-515-8782 Fax. 919-515-1636 Email tran@math.ncsu.edu HARRY TRENTELMAN University of Groningen Department of Mathematics PO Box 800 9700 AV Groningen - The Netherlands Tel. 31 50 3633998 Fax. 31 50 3633800 Email h.l.trentelman@math.rug.nl

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OLEG TROFIMOV Russian Academy of Sciences Siberian Branch Institute of Automation and Electrometry Prospect academica Koptyuga 1 630090 Novosibirsk - Russia. Tel. +73832343243 Fax. +73832333863 Email trofimov@iae.nsk.su JOCHEN TRUMPF The Australian National University Systems Engineering Research School of Information Sciences& Eng The Australian National University 0200 CANBERRA - AUSTRALIA Tel. +61 2 6125 58677 Fax. +61 2 6125 8660 Email Jochen.Trumpf@rsise.anu.edu.au DARIUSZ UCINSKI University of Zielona Góra Institute of Control and Computation Engineering Podgorna 50 65-246 Zielona Góra - Poland Tel. +48-68-3282501 Fax. +48-68-3247295 Email d.ucinski@issi.uz.zgora.pl MARIA ELENA VALCHER Padova Information Engineering via Gradenigo 6B 35131 Padova - Italy Tel. +39-049-8277795 Fax. +39-049-8277699 Email meme@dei.unipd.it MARC VAN BAREL K.U.Leuven Dept. of Computer Science Numerical Approximation and Linear Algebra Group ( Celestijnenlaan 200A B-3001 Heverlee - Belgium Tel. + 32 16 32 75 63 Fax. + 32 16 32 79 96 Email Marc.VanBarel@cs.kuleuven.ac.be RAF VAN DE PLAS K.U.Leuven ESAT-SCD Sista Kasteelpark Arenberg 10 3001 Heverlee-Leuven - Belgium Tel. +32-474-243046 Fax. +32-16-321970 Email raf.vandeplas@esat.kuleuven.ac.be

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TON J.J. VAN DEN BOOM Delft University of Technology Department of Mechanical Engineering Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2784052 Fax. +31-15-2786679 Email T.J.J.vandenboom@dcsc.tudelft.nl PAUL VAN DEN HOF Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628 CD Delft - The Netherlands Tel. +31-15-2784509 Fax. +31-15-2786679 Email p.m.j.vandenhof@dcsc.tudelft.nl MAARTEN VAN DEN NEST Katholieke Universiteit Leuven ESAT - SCD Kasteelpark Arenberg 10 B-3001 Leuven - Belgium Tel. +32-(0)16-329606 Email mvandenn@esat.kuleuven.ac.be PIETER VAN DER KLOET Delft University of Technology Electrical Engineering, Mathematics and Computer Maerten Trompstraat 21 2628 RC Delft - the Netherlands Tel. +31 15 2622720 Fax. + 31 15 2562269 Email t.vanderkloet@petitrix.nl CORNELIS VAN DER MEE University of Cagliari Department of Mathematics and Computer Science Viale Merello 92 09123 Cagliari - ITALY Tel. +39-070-6755605 Fax. +39-070-6755601 Email cornelis@bugs.unica.it ARJAN VAN DER SCHAFT University of Twente Applied Mathematics Systems, Signals and Control P.O.Box 217 7521BB Enschede - Netherlands Tel. +31-53-4893449 Fax. +31-53-4893800 Email a.j.vanderschaft@math.utwente.nl

ALLE-JAN VAN DER VEEN Delft University of Technology Dept. Electrical Eng. Circuits and Systems group Mekelweg 4 2628CD Delft - The Netherlands Tel. +31 15 278 6240 Fax. +31 15 278 6190 Email allejan@cas.et.tudelft.nl PAUL VAN DOOREN UCL INMA - ANMA Av G. Lemaître 4-6 1348 Louvain-la-neuve - 0 Tel. + 32 10 47 80 40 Fax. +32 10 47 21 80 Email vandooren@anma.ucl.ac.be TOM VAN HERPE Katholieke Universiteit Leuven Electrotechniek (ESAT) SISTA Kasteelpark Arenberg 10 B-3001 Leuven - Heverlee - Belgium Tel. +32 16 32 79 22 Fax. +32 16 321970 Email tom.vanherpe@esat.kuleuven.ac.be SABINE VAN HUFFEL Katholieke Universiteit Leuven Electrical Engineering (ESAT) SCD Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32 16 32 17 03 Fax. +32 16 32 19 70 Email sabine.vanhuffel@esat.kuleuven.ac.be JOHAN VAN KERCKHOVEN Vrije Universiteit Brussel (VUB) ELEC Pleinlaan 2 1050 Brussel - België Tel. + 32 2 629 36 64 Email jvkerckh@vub.ac.be GEERT VAN MEERBERGEN KULeuven ESAT - SISTA Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321817 Fax. +32-16-321970 Email gvanmeer@esat.kuleuven.ac.be

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JAN H. VAN SCHUPPEN CWI Dept. MAS Kruislaan 413 1098 SJ Amsterdam - Netherlands Tel. +31-20-5924085 Fax. +31-20-5924199 Email J.H.van.Schuppen@cwi.nl STEVEN VAN VOOREN KULeuven Electrical Engineering SISTA Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. +32 16 32 86 54 Fax. +32 16 32 19 70 Email Steven.VanVooren@esat.kuleuven.ac.be TOON VAN WATERSCHOOT Katholieke Universiteit Leuven ESAT - SCD Kasteelpark Arenberg 10 B-3001 Leuven - Belgium Tel. +32 16 321927 Fax. +32 16 321970 Email toon.vanwaterschoot@esat.kuleuven.ac.be LIEVEN VANDENBERGHE University of California Los Angeles Electrical Engineering Department 68-119 Engineering IV Building CA90095 Los Angeles - USA Tel. +1-310 2061259 Fax. +1-310 2064685 Email vandenbe@ee.ucla.edu ANTOINE VANDENDORPE UCL INMA - ANMA Av G. Lemaître 4-6 1348 Louvain-la-neuve - BELGIUM Tel. +32 10 47 24 05 Fax. +32 10 47 21 80 Email vandendorpe@anma.ucl.ac.be JOOS VANDEWALLE K.U.Leuven Elektrotechniek, ESAT SCD (SISTA) Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. +32-16-321052 Fax. +32-16-321970 Email joos.vandewalle@esat.kuleuven.ac.be

BART VANLUYTEN Katholieke Universiteit Leuven Elektrotechniek ESAT SCD-SISTA Kasteelpark Arenberg 10 3001 Leuven - Belgium Tel. 0032-16-328588 Fax. 32-16-321970 Email bart.vanluyten@esat.kuleuven.ac.be BART VANRUMSTE KUL ESAT/SCD Kasteelpark Arenbertg 10 B-3001 Leuven - Belgium Tel. +32-16-321884 Fax. +32-16-321970 Email bart.vanrumste@esat.kuleuven.ac.be ANDRAS VARGA German Aerospace Center DLR Oberpfaffenhofen Institute of Robotics and Mechatronics Münchnerstr. 20 82234 Wessling - Germany Tel. +49-8153-282407 Fax. +49-8153-281441 Email Andras.Varga@dlr.de JOERG VELTEN University of Wuppertal Electrical, Information and Media Engineering Communication Theory Reiner-Gruenter-Str. 21 42097 Wuppertal - Germany Tel. +49-202-439 1811 Fax. +49-202-439 1959 Email velten@uni-wuppertal.de NATHALIE VERDIERE Université de Technologie de Compiègne Génie Informatique Lab de Mathématiques Appliquées de Compièg Centre de Recherche de Royallieu BP 20529 60205 Compiègne - France Tel. 33 (0)3 44 23 44 65 Fax. 33 (0)3 44 23 44 77 Email nverdier@dma.utc.fr VINCENT VERDULT Delft University of Technology Delft Center for Systems and Control Mekelweg 2 2628CD Delft - The Netherlands Tel. +31-15-2785768 Fax. +31-15-2786679 Email v.verdult@dcsc.tudelft.nl

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ANNELEEN VERGULT K.U.Leuven Electrical Engineering SCD-SISTA Kasteelpark Arenberg 10 3001 Heverlee - Belgium Tel. 016/321806 Fax. 016/321970 Email anneleen.vergult@esat.kuleuven.ac.be ERIK VERRIEST Georgia Institute of Technology School of ECE 777, Atlantic Dr. 30332-02 Atlanta - Georgia, USA Tel. +1-404-894-2949 Fax. +1 404 -894-5935 Email erik.verriest@ee.gatech.edu FRANK VERSTRAETE Max Planck Institut fur Quantenoptik PAOLO VETTORI Aveiro Mathematics Campus de Santiago 3810-193 Aveiro - Portugal Tel. +351234370359 Fax. +351234382014 Email pvettori@mat.ua.pt MATHUKUMALLI VIDYASAGAR Tata Consultancy Services Advanced Technology Center No. 1 Software Units Layout, Madhapur 500081 Hyderabad - india Tel. +91 40 5567 3001 Fax. +91 40 5567 2222 Email sagar@atc.tcs.co.in JAVIER VILLEGAS University of Twente Faculty of EEMCS Department of Applied Mathematics PO BOX 217 7500 AE Enschede - Netherlands Tel. +31 53 489 3458 Fax. +31 53 489 3800 Email j.a.villegas@math.utwente.nl VICTOR VINNIKOV Ben Gurion UNiversity of the Negev Mathematics POB 553 84105 Beer-Sheva - Israel Tel. +972-8-6461618 Fax. +972-8-6477648 Email vinnikov@math.bgu.ac.il

STEFAN VOLKWEIN University of Graz Institute of Mathematics Applied Mathematics Heinrichstrasse 36 A-8010 Graz - Austria Tel. + 43 316 3809815 Fax. + 43 316 3809815 Email stefan.volkwein@uni-graz.at BO WAHLBERG KTH - S3 Automatic Control Osquldas väg 10 100 44 Stockholm - SWeden Tel. +46-8-790 7242 Fax. +46-8-790 7329 Email bo@s3.kth.se LONG WANG Peking University Department of Mechanics and Engineering Science Haidian Yiheyan 100871 Beijing - China Tel. +86-10-62764388 Fax. +86-10-62764388 Email longwang@mech.pku.edu.cn GEORGE WEISS Imperial College London Electrical and Electronic Engineering Faculty of Engineering Exhibition Road SW7 2AZ London - United Kingdom Tel. +44-20-75946196 Email G.Weiss@imperial.ac.uk RONALD WESTRA Universiteit Maastricht Mathematics Systems Theory PObox616 6200MD Maastricht - Netherlands Tel. +31-43-3883722 Fax. +31-43-3884910 Email westra@math.unimaas.nl JAN C. WILLEMS K.U.Leuven Elektrotechniek, ESAT SCD (SISTA) Kasteelpark Arenberg 10 3001 Leuven - België Tel. +32-16-329621 Fax. +32-16-321970 Email jan.willems@esat.kuleuven.ac.be

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JOSEPH WINKIN UCL Mathematics Rampart de la Vierge 8 5000 Namur - BELGIUM Tel. + 32 81 72 49 10 Fax. + 31 81 72 49 14 Email joseph.winkw@fundp.ac.be HENRIK WINKLER Univ. Groningen Mathematics and Computer Science Mathematics PO Box 800 9700 AV Groningen - The Netherlands Tel. +31 50 3633964 Fax. +31 503633800 Email winkler@math.rug.nl FABIAN WIRTH NUI Maynooth Hamilton Institute none Maynooth, Co. Kildar - Ireland Tel. +353-1-7084536 Fax. +353-1-7086269 Email Fabian.Wirth@may.ie HUGO WOERDEMAN The College of William and Mary Mathematics P. O. Box 8795 VA 23187 Williamsburg - USA Tel. +1-757-221-2022 Fax. +1-757-221-7400 Email hugo@math.wm.edu OLAF WOLKENHAUER University of Rostock Institute for Informatics Systems Biology and Bioinformatics Group Albert Einstein Str. 21 18051 Rostock - Germany Tel. +49-381-4983400 Fax. +49-381-4983399 Email wolkenhauer@informatik.uni-rostock.de LI XU Akita Prefectural University Dept. of Electronics and Information Systems Faculty of Systems Science and Technology 84-4 Ebinokuchi, Tsuchiya 015-0055 Honjo, Akita - Japan Tel. +81-184-272101 Fax. +81-184-272187 Email xuli@akita-pu.ac.jp

DMITRY YAKUBOVICH Universidad Autonoma de Madrid Mathematics Santa Beatriz, 2C 28038 Madrid - Spain Tel. +34-91-4977637 Fax. +34-91-4974889 Email dmitry.yakubovich@uam.es YUTAKA YAMAMOTO Kyoto University Dept. Applied Analysis & Complex Dynamical Systems Graduate School of Informatics 606-8501 Kyoto - Japan Tel. +81-75-7533356 Fax. +81-75-7535517 Email yy@i.kyoto-u.ac.jp CHENGGUI YUAN University of Cambridge Department of Engineering Control Group Trumpington Street CB2 1PZ Cambridge - UK Tel. 441223369222 Fax. 441223332662 Email cy222@eng.cam.ac.uk SANDRO ZAMPIERI Universita' di Padova Dipartimento di Ingegneria dell'Informazione via GRADENIGO 6/A 35131 Padova - Italy Tel. 0039 049 8277648 Fax. 0039 049 8277699 Email zampi@dei.unipd.it MICHEL ZASADZINSKI University Henri Poincare, Nancy I IUT Henri Poincare de Longwy CRAN 186 rue de Lorraine 54400 Cosnes et Romain - France Tel. 03 82396222 Fax. 03 82396222 Email mzasad@iut-longwy.uhp-nancy.fr EVA ZERZ University of Kaiserslautern Department of Mathematics Erwin-Schroedingerstr. 48 67663 Kaiserslautern - Germany Tel. +49 631 205 4489 Fax. +49 631 205 3052 Email zerz@mathematik.uni-kl.de

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PAVEL ZEZULA Czech Technical University Control Engineering Control Theory Technicka 2 16636 Prague - Czech Republic Tel. +420 2 24357336 Email xzezulap@lab.felk.cvut.cz FRANCESCO ZIRILLI Universita Roma La Sapienza Dipartimento di Matematica G. Castelnuovo Piazzale A. Moro 2 00185 Roma - Italy Tel. +39 06 49913282 Fax. +39 06 44701007 Email apzrm@caspur.it SONUC ZORLU Eastern Mediterranean University Mathematics Eastern Mediterranean University, Famagusta 90 Famagusta - Cyprus Tel. +90-392-6301421 Fax. +90-392-3651604 Email sonuc.zorlu@emu.edu.tr FILIP ZROSTLÍK Czech Technical University in Prague Department of Mathematics Faculty of Electrical Engineering Technická 2 166 27 Prague 6-Dejvice - Czech Republic Tel. +420-2-24353482 Fax. +420-2-33339238 Email zrostlik@math.feld.cvut.cz JUAN CARLOS ZUNIGA ANAYA LAAS/CNRS MAC 7, avenue du colonel roche 31077 Toulouse - France Tel. +33-5-61336949 Email jczuniga@laas.fr HANS ZWART University of Twente Department of Applied Mathematics P.O. Box 217 7500AE Enschede - The Netherlands Tel. +31-53-4893464 Fax. +31-53-4893800 Email h.j.zwart@math.utwente.nl

The information in this list is provided exclusively for the benefit of the registrants of the MTNS2004 conference. The information in this list should not be made public or passed to any party not entitled to receive it. (c) Copyright 2004 – Dept. Of Electrical Engineering, K.U.Leuven. All rights reserved.