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7 Concluding Remarks
As indicated in the Chapter 1, the objectives of this monograph were to present a unified framework for combining compliant motion control,...
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A Homotopy Continuation Solution of the Covariance Extension Equation
Algebraic geometry plays an important role in the theory of linear systems for (at least) three reasons. First, the Laplace transform turns...
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On Existence and Nonexistence of Limit Cycles for FitzHugh-Nagumo Class Models
In this paper we discuss the existence and non-existence of limit cycles of FitzHugh-Nagumo class models. The purpose is to clarify some unclear...
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From Empirical Data to Multi-Modal Control Procedures
In this paper we study the problem of generating control programs, i.e. strings of symbolic descriptions of control-interrupt pairs (or modes) from...
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Control Applications of Sum of Squares Programming
We consider nonlinear systems with polynomial vector fields and pose two classes of system theoretic problems that may be solved by sum of squares...
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LMI Optimization for Fixed-Order H∞ Controller Design
A general H∞ controller design technique is proposed for scalar linear systems, based on properties of positive polynomial matrices. The order of the...
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4 Continuous-time Systems: Tracking Control
In this chapter we treat the problem of H∞ tracking with stochastic multiplicative white noise. We extend the work of [98], which does not involve...
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5 Case Studies
This section demonstrates our hybrid estimation scheme on the basis of the illustrative 3-component cPHA and the BIO-Plex process automation example...
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Reconfiguration Using a Virtual Actuator
This chapter develops the concept of a virtual actuator. The idea of a virtual actuator is to use the input signal meant for the nominal process and...
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1 Introduction
The problem of position control of robot manipulators was addressed in the 1970’s to develop control schemes capable of controlling a manipulator’s...
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An Efficient QR Algorithm for a Hessenberg Submatrix of a Unitary Matrix
We describe an efficient procedure for implementing the Hessenberg QR algorithm on a class of matrices that we refer to as subunitary matrices. This...
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Arithmetic Properties of Observable Time Dependent Systems
Here we consider questions of discrete observability for linear systems of ordinary differential equations, extending work by Martin and Smith in...
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Endomorphisms of Hopf Algebras and a Little Bit of Control
Firstly this paper summarizes some of the the relations between control theory and coalgebra and Hopf algebra theory, particularly the fact that the...
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Analysis of Non-polynomial Systems Using the Sum of Squares Decomposition
Recent advances in semidefinite programming along with use of the sum of squares decomposition to check nonnegativity have paved the way for...
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On the Equivalence of Algebraic Approaches to the Minimization of Forms on the Simplex
We consider the problem of minimizing a form on the standard simplex [equivalently, the problem of minimizing an even form on the unit sphere]. Two...
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2 Hybrid Estimation at a Glance
One of our test applications is a simulation study of the BIO-Plex Test Complex at NASA Johnson Space Center, a five chamber facility for evaluating...
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4 Hybrid Estimation
Whenever we automate a complex physical artifact it is essential to know its operational state at each time. However, it is not always possible or...
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Literature Overview
This chapter introduces the main literature relevant for the field of reconfi-guration. During the last decade, different communities have dealt with...
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Linear Reconfiguration Problem
In this chapter, the general reconfiguration problem is specialised by applying it to linear systems. The advantage is that the problem can be broken...
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9 On Observing Contact States in Overconstrained Manipulation
Estimation of contact state is important to any multi-point interaction that involves frictional stick/slip phenomena. In particular, when there are...