This book presents an operator theoretic approach to robust control analysis for linear time-varying systems. It emphasizes the conceptual similarity with the H control theory for time-invariant systems and at the same time clarifies the major difficulties confronted in the time varying case. The necessary operator theory is developed from first principles and the book is as self-contained as possible. After presenting the necessary results from the theories of Toeplitz operators and nest algebras, linear systems are defined as input- output operators and the relationship between stabilization and the existance of co-prime factorizations is described. Uniform optimal control problems are formulated as model-matching problems and are reduced to four block problems. Robustness is considered both from the point of view of fractional representations and the "time varying gap" metric, and the relationship between these types of uncertainties is clarified. The book closes with the solution of the orthogonal embedding problem for time varying contractive systems. This book will be useful to both mathematicians interested in the potential applications of operator theory in control and control engineers who wish to deal with some of the more mathematically sophisticated extension of their work.

The ability of fuzzy systems to provide shades of gray between "on or off" and "yes or no" is ideally suited to many of todaya (TM)s complex industrial control systems. The static fuzzy systems usually discussed in this context fail to take account of inputs outside a pre-set range and their off-line nature makes tuning complicated.

Advanced Fuzzy Logic Technologies in Industrial Applications addresses the problem by introducing a dynamic, on-line fuzzy inference system. In this system membership functions and control rules are not determined until the system is applied and each output of its lookup table is calculated based on current inputs.

The tuning process is a major focus in this volume because it is the most difficult stage in fuzzy control application. Using new methods such as A-law technique, histogram equalization and the Bezier-based method, all detailed here, the tuning process can be significantly simplified and control performance improved.

The other great strength of this book lies in the range and contemporaneity of its applications and examples which include: laser tracking and control; robot calibration; image processing and pattern recognition; medical engineering; audio systems; autonomous underwater vehicles and data mining.

Advanced Fuzzy Logic Technologies in Industrial Applications is written to be easily understood by readers not having specialized knowledge of fuzzy logic and intelligent control. Design and application engineers and project managers working in control, as well as researchers and graduate students in the discipline will find much to interest them in this work.

Geared primarily to an audience consisting of mathematically advanced undergraduate or beginning graduate students, this text may additionally be used by engineering students interested in a rigorous, proof-oriented systems course that goes beyond the classical frequency-domain material and more applied courses. The minimal mathematical background required is a working knowledge of linear algebra and differential equations. The book covers what constitutes the common core of control theory and is unique in its emphasis on foundational aspects. While covering a wide range of topics written in a standard theorem/proof style, it also develops the necessary techniques from scratch. In this second edition, new chapters and sections have been added, dealing with time optimal control of linear systems, variational and numerical approaches to nonlinear control, nonlinear controllability via Lie-algebraic methods, and controllability of recurrent nets and of linear systems with bounded controls.

This thesis investigates the use of blade-pitch control and real-time wind measurements to reduce the structural loads on the rotors and blades of wind turbines. The first part of the thesis studies the main similarities between the various classes of current blade-pitch control strategies, which have to date remained overlooked by mainstream literature. It also investigates the feasibility of an estimator design that extracts the turbine tower motion signal from the blade load measurements. In turn, the second part of the thesis proposes a novel model predictive control layer in the control architecture that enables an existing controller to incorporate the upcoming wind information and constraint-handling features. This thesis provides essential clarifications of and systematic design guidelines for these topics, which can benefit the design of wind turbines and, it is hoped, inspire the development of more innovative mechanical load-reduction solutions in the field of wind energy.

This book provides a comprehensive discussion of nonlinear multi-modal structural vibration problems, and shows how vibration suppression can be applied to such systems by considering a sample set of relevant control techniques. It covers the basic principles of nonlinear vibrations that occur in flexible and/or adaptive structures, with an emphasis on engineering analysis and relevant control techniques. Understanding nonlinear vibrations is becoming increasingly important in a range of engineering applications, particularly in the design of flexible structures such as aircraft, satellites, bridges, and sports stadia. There is an increasing trend towards lighter structures, with increased slenderness, often made of new composite materials and requiring some form of deployment and/or active vibration control. There are also applications in the areas of robotics, mechatronics, micro electrical mechanical systems, non-destructive testing and related disciplines such as structural health monitoring. Two broader themes cut across these application areas: (i) vibration suppression - or active damping - and, (ii) adaptive structures and machines. In this expanded 2nd edition, revisions include: An additional section on passive vibration control, including nonlinear vibration mounts. A more in-depth description of semi-active control, including switching and continuous schemes for dampers and other semi-active systems. A complet e reworking of normal form analysis, which now includes new material on internal resonance, bifurcation of backbone curves and stability analysis of forced responses.Further analysis of the nonlinear dynamics of cables including internal resonance leading to whirling. Additional material on the vibration of systems with impact friction. The book is accessible to practitioners in the areas of application, as well as students and researchers working on related topics. In particular, the aim is to introduce the key concepts of nonlinear vibration to readers who have an understanding of linear vibration and/or linear control, but no specialist knowledge in nonlinear dynamics or nonlinear control.

Nonlinear and Adaptive Control with Applications provides a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. The authors employ a new tool based on the ideas of system immersion and manifold invariance. Departing, in part, from the Lyapunov-function approach of classical control, new algorithms are delivered for the construction of robust asymptotically-stabilising and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes. These algorithms cater for nonlinear systems with both parametric and dynamic uncertainties. This innovative strategy is illustrated with several examples and case studies from real applications. Power converters, electrical machines, mechanical systems, autonomous aircraft and computer vision are among the practical systems dealt with. Researchers working on adaptive and nonlinear control theory or on control applications will find this monograph of conspicuous interest while graduate students in control systems and control engineers working with electrical, mechanical or electromechanical systems can also gain much insight and assistance from the methods and algorithms detailed.

In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio . concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions."

Fractional order calculus is finding increasing interest in the control system community. Hardware realizations of fractional order controllers have sparked off a renewed zeal into the investigations of control system design in the light of fractional calculus. As such many notions of integer order LTI systems are being modified and extended to incorporate these new concepts. Computational Intelligence (CI) techniques have been applied to engineering problems to find solutions to many hitherto intractable conundrums and is a useful tool for dealing with problems of higher computational complexity. This book borders on the interface between CI techniques and fractional calculus, and looks at ways in which fractional order control systems may be designed or enhanced using CI based paradigms. To the best of the author's knowledge this is the first book of its kind exclusively dedicated to the application of computational intelligence techniques in fractional order systems and control. The book tries to assimilate various existing concepts in this nascent field of fractional order intelligent control and is aimed at researchers and post graduate students working in this field.

Praise for the Series:
"This book will be a useful reference to control engineers and researchers. The papers contained cover well the recent advances in the field of modern control theory."
--IEEE Group Correspondence
"This book will help all those researchers who valiantly try to keep abreast of what is new in the theory and practice of optimal control."
--Control

The IFAC Workshop on Intelligent Components for Autonomous and Semi-Autonomous Vehicles (ICASAV '95) was held in Toulouse, France, 25-26 October 1995 and provided academic and industrial researchers from all over the world with an opportunity to discuss their experiences and research results in this field. Areas covered included vehicle dynamics, navigation, localization estimation, driver assistance and energy management.

This book demonstrates how to apply modern approaches to complex system control in practical applications involving knowledge-based systems. The dimensions of knowledge-based systems are extended by incorporating new perspectives from control theory, multimodal systems and simulation methods. The book is divided into three parts: theory, production system and information system applications. One of its main focuses is on an agent-based approach to complex system analysis. Moreover, specialised forms of knowledge-based systems (like e-learning, social network, and production systems) are introduced with a new formal approach to knowledge system modelling. The book, which offers a valuable resource for researchers engaged in complex system analysis, is the result of a unique cooperation between scientists from applied computer science (mainly from Poland) and leading system control theory researchers from the Russian Academy of Sciences' Trapeznikov Institute of Control Sciences.

There are two main fields of application of pulse-modulated sys tems, communications and control. Communication is not a subject of our concern in this book. Controlling by a pulse-modulated feed attracted our efforts. The peculiarity of this book is that all back the sampled-data systems are considered in continuous time, so no discrete time schemes are presented. And finally, we pay a little at tention to pulse-amplitude modulation which was treated in a vast number of publications. The primary fields of our interest are pulse width, pulse-frequency, and pulse-phase modulated control systems. The study of such systems meets with substantial difficulties. An engineer, who embarks on theoretical investigations of a pulse-mo dulated control, is often embarrassed by the sophisticated mathe matical tools he needs to know. When a mathematician, who looks for practical applications of his mathematical machinery, meets with these systems, he faces a lot of of complicated technical schemes and terms. Probably this is the reason why publications on pulse modu lation are seldom in scientific journals. As for books on this subject (save on amplitude modulation), the significant part of them is in Russian and hardly available for a non-Russian reader."

Design and Use of Assistive Technology assesses major hurdles in the design and use of assistive technologies, while also providing guidelines and recommendations to improve these technologies. This volume takes an interdisciplinary approach to solving the major issues surrounding designing and using assistive technologies for the physically impaired by blending engineering, computer science and medicine. The most difficult problems in assistive technologies, such as privacy concerns in data gathering and analysis, inherent heterogeneity of the user population, knowledge transfer of novel technologies and incorporation of the user perspective into the design process are all addressed. The book also: -Presents theories on assistive technology through the lens of fields ranging from engineering and computer science to occupational therapy and neurology -Discusses assistive technologies in a broad scope that presents designs and theories that are universally applicable Design and Use of Assistive Technology features contributions from experts in their subject areas who discuss specific methods and mechanisms to integrate the user's experience into design and clinical evaluation in order to both create academic outreach through practical service models and improve knowledge transfer.

Complexity and dynamic order of controlled engineering systems is constantly increasing. Complex large scale systems (where "large" reflects the system's order and not necessarily its physical size) appear in many engineering fields, such as micro-electromechanics, manufacturing, aerospace, civil engineering and power engineering. Modeling of these systems often result in very high-order models imposing great challenges to the analysis, design and control problems. "Efficient Modeling and Control of Large-Scale Systems" compiles state-of-the-art contributions on recent analytical and computational methods for addressing model reduction, performance analysis and feedback control design for such systems. Also addressed at length are new theoretical developments, novel computational approaches and illustrative applications to various fields, along with: - An interdisciplinary focus emphasizing methods and approaches that can be commonly applied in various engineering fields -Examinations of applications in various fields including micro-electromechanical systems (MEMS), manufacturing processes, power networks, traffic control "Efficient Modeling and Control of Large-Scale Systems" is an ideal volume for engineers and researchers working in the fields of control and dynamic systems.

The Dynamics of Control provides a carefully integrated development of the mathematical connections between nonlinear control, dynamical systems, and time-varying perturbed systems for scientists and engineers. The central theme is the notion of control flow with its global dynamics and linearization presented in detail.

The book's scope is comprehensive and includes global theory of dynamical systems under time-varying perturbations, global and local dynamics of control systems, connections between control systems and dynamical systems and the relevant numerical methods for global dynamics, linearization, and stability. Topics are developed with a diverse and extensive selection of applied problems from control and dynamical systems.

Topics and Features:

* complete coverage of unified theory of control flows

* wide array of motivating problems from control and dynamical systems to appeal to mathematicians, scientists, and engineers

* relevant motivation and a listing of important definitions and results at the beginning of each chapter

* a compilation of essential background information in four appendices: nonlinear geometric control, topological theory of dynamical systems, computations of reachable sets, and numerical solution of Hamiltona "Jacobia "Belman equations

* discussion of numerical methods

This new text and self-study reference guide is an excellent resource for the foundations and applications of control theory and nonlinear dynamics. All graduates, practitioners, and professionals in control theory, dynamical systems, perturbation theory, engineering, physics, and nonlinear dynamics will find the book a rich source of ideas, methods, andapplications.

These proceedings showcase the best papers selected from more than 500 submissions, introducing readers to the top research topics and the latest developmental trends in the theory and application of Man-Machine-Environment System Engineering (MMESE). This research topic was first established in China by Professor Shengzhao Long in 1981, with direct support from one of the greatest modern Chinese scientists, Xuesen Qian. In a letter to Shengzhao Long from October 22nd, 1993, Xuesen Qian wrote: "You have created a very important modern science and technology in China!" MMESE primarily focuses on the relationship between Man, Machine and Environment, studying the optimum combination of related Man-Machine-Environment systems. In this paradigm, "Man" refers to working people as the subject at the workplace (e.g. operators, decision-makers); "Machine" is the general name for any object controlled by Man (including tools, machinery, computers, systems and technologies), and "Environment" describes the specific working conditions under which Man and Machine interact (e.g. temperature, noise, vibration, hazardous gases etc.). In turn, the three goals of optimization are to ensure safety, efficiency and economy in this context. These proceedings present interdisciplinary studies on the concepts and methods of physiology, psychology, system engineering, computer science, environmental science, management, education, and other related disciplines. They offer a valuable resource for all researchers and professionals whose work involves interdisciplinary areas touching on MMESE subjects.

Covers advances in the field of computer techniques and algorithms in digital signal processing.

The book is the first book on complex matrix equations including the conjugate of unknown matrices. The study of these conjugate matrix equations is motivated by the investigations on stabilization and model reference tracking control for discrete-time antilinear systems, which are a particular kind of complex system with structure constraints. It proposes useful approaches to obtain iterative solutions or explicit solutions for several types of complex conjugate matrix equation. It observes that there are some significant differences between the real/complex matrix equations and the complex conjugate matrix equations. For example, the solvability of a real Sylvester matrix equation can be characterized by matrix similarity; however, the solvability of the con-Sylvester matrix equation in complex conjugate form is related to the concept of con-similarity. In addition, the new concept of conjugate product for complex polynomial matrices is also proposed in order to establish a unified approach for solving a type of complex matrix equation.

The present book is devoted to problems of adaptation of artificial neural networks to robust fault diagnosis schemes. It presents neural networks-based modelling and estimation techniques used for designing robust fault diagnosis schemes for non-linear dynamic systems.

A part of the book focuses on fundamental issues such as architectures of dynamic neural networks, methods for designing of neural networks and fault diagnosis schemes as well as the importance of robustness. The book is of a tutorial value and can be perceived as a good starting point for the new-comers to this field. The book is also devoted to advanced schemes of description of neural model uncertainty. In particular, the methods of computation of neural networks uncertainty with robust parameter estimation are presented. Moreover, a novel approach for system identification with the state-space GMDH neural network is delivered.

All the concepts described in this book are illustrated by both simple academic illustrative examples and practical applications.

"

Praise for Previous Volumes
"This book will be a useful reference to control engineers and researchers. The papers contained cover well the recent advances in the field of modern control theory."
-IEEE GROUP CORRESPONDANCE
"This book will help all those researchers who valiantly try to keep abreast of what is new in the theory and practice of optimal control."
-CONTROL

1. MOTIVATION In many physical situations, a plant model is often provided with a qualitative or quantitative measure of associated model uncertainties. On the one hand, the validity of the model is guaranteed only inside a frequency band, so that nearly nothing can be said about the behavior of the real plant at high frequencies. On the other hand, if the model is derived on the basis of physical equations, it can be parameterized as a function of a few physical parameters, which are usually not perfectly known in practice. This is e.g. the case in aeronautical systems: as an example, the ae- dynamic model of an airplane is derived from the flight mechanics eq- tions. When synthesizing the aircraft control law, it is then necessary to take into account uncertainties in the values of the stability derivatives, which correspond to the physical coefficients of the aerodynamic model. Moreover, this airplane model does not perfectly represent the be- vior of the real aircraft. As a simple example, the flight control system or the autopilot are usually synthesized just using the aerodynamic model, thus without accounting for the flexible mechanicalstructure: the c- responding dynamics are indeed considered as high frequency neglected 1 dynamics, with respect to the dynamics of the rigid model .

This significantly revised edition presents a broad introduction to Control Systems and balances new, modern methods with the more classical. It is an excellent text for use as a first course in Control Systems by undergraduate students in all branches of engineering and applied mathematics. The book contains: A comprehensive coverage of automatic control, integrating digital and computer control techniques and their implementations, the practical issues and problems in Control System design; the three-term PID controller, the most widely used controller in industry today; numerous in-chapter worked examples and end-of-chapter exercises. This second edition also includes an introductory guide to some more recent developments, namely fuzzy logic control and neural networks.

With contributions by specialists in optimization and practitioners in the fields of aerospace engineering, chemical engineering, and fluid and solid mechanics, the major themes include an assessment of the state of the art in optimization algorithms as well as challenging applications in design and control, in the areas of process engineering and systems with partial differential equation models.

Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control.

The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design.

The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule interpolation, subjective weights based meta learning in multi criteria decision making, swarm-based heuristics for an area exploration and knowledge driven adaptive product representations.

The last part addresses different problems, issues and methods of applied mathematics. This includes perturbation estimates for invariant subspaces of Hessenberg matrices, uncertainty and nonlinearity modelling by probabilistic metric spaces and comparison and visualization of the DNA of six primates.