This monograph presents design methodologies for (robust) fractional control systems. It shows the reader how to take advantage of the superior flexibility of fractional control systems compared with integer-order systems in achieving more challenging control requirements. There is a high degree of current interest in fractional systems and fractional control arising from both academia and industry and readers from both milieux are catered to in the text. Different design approaches having in common a trade-off between robustness and performance of the control system are considered explicitly. The text generalizes methodologies, techniques and theoretical results that have been successfully applied in classical (integer) control to the fractional case. The first part of Advances in Robust Fractional Control is the more industrially oriented. It focuses on the design of fractional controllers for integer processes. In particular, it considers fractional-order proportional-integral-derivative controllers, because integer-order PID regulators are, undoubtedly, the controllers most frequently adopted in industry. The second part of the book deals with a more general approach to fractional control systems, extending techniques (such as H-infinity optimal control and optimal input-output inversion based control) originally devised for classical integer-order control. Advances in Robust Fractional Control will be a useful reference for the large number of academic researchers in fractional control, for their industrial counterparts and for graduate students who want to learn more about this subject.

This book presents the latest results on predictive control of networked systems, where communication constraints (e.g., network-induced delays and packet dropouts) and cyber attacks (e.g., deception attacks and denial-of-service attacks) are considered. For the former, it proposes several networked predictive control (NPC) methods based on input-output models and state-space models respectively. For the latter, it designs secure NPC schemes from the perspectives of information security and real-time control. Furthermore, it uses practical experiments to demonstrate the effectiveness and applicability of all the methods, bridging the gap between control theory and practical applications. The book is of interest to academic researchers, R&D engineers, and graduate students in control engineering, networked control systems and cyber-physical systems.

Digital Twins for Healthcare: Design, Challenges and Solutions establishes the state-of-art in the specification, design, creation, deployment and exploitation of digital twins' technologies for healthcare and wellbeing. A digital twin is a digital replication of a living or non-living physical entity. When data is transmitted seamlessly, it bridges the physical and virtual worlds, thus allowing the virtual entity to exist simultaneously with the physical entity. A digital twin facilitates the means to understand, monitor, and optimize the functions of the physical entity and provide continuous feedback. It can be used to improve citizens' quality of life and wellbeing in smart cities and the virtualization of industrial processes.

This book collects the latest theoretical and technological concepts in the design and control of various linear machines and drive systems. Discussing advances in the new linear machine topologies, integrated modeling, multi-objective optimization techniques, and high-performance control strategies, it focuses on emerging applications of linear machines in transportation and energy systems. The book presents both theoretical and practical/experimental results, providing a consistent compilation of fundamental theories, a compendium of current research and development activities as well as new directions to overcome critical limitations.

In 1960, R. E. Kalman published his celebrated paper on recursive min imum variance estimation in dynamical systems [14]. This paper, which introduced an algorithm that has since been known as the discrete Kalman filter, produced a virtual revolution in the field of systems engineering. Today, Kalman filters are used in such diverse areas as navigation, guid ance, oil drilling, water and air quality, and geodetic surveys. In addition, Kalman's work led to a multitude of books and papers on minimum vari ance estimation in dynamical systems, including one by Kalman and Bucy on continuous time systems [15]. Most of this work was done outside of the mathematics and statistics communities and, in the spirit of true academic parochialism, was, with a few notable exceptions, ignored by them. This text is my effort toward closing that chasm. For mathematics students, the Kalman filtering theorem is a beautiful illustration of functional analysis in action; Hilbert spaces being used to solve an extremely important problem in applied mathematics. For statistics students, the Kalman filter is a vivid example of Bayesian statistics in action. The present text grew out of a series of graduate courses given by me in the past decade. Most of these courses were given at the University of Mas sachusetts at Amherst.

The interest in control of nonlinear partial differential equation (PDE) sys tems has been triggered by the need to achieve tight distributed control of transport-reaction processes that exhibit highly nonlinear behavior and strong spatial variations. Drawing from recent advances in dynamics of PDE systems and nonlinear control theory, control of nonlinear PDEs has evolved into a very active research area of systems and control. This book the first of its kind- presents general methods for the synthesis of nonlinear and robust feedback controllers for broad classes of nonlinear PDE sys tems and illustrates their applications to transport-reaction processes of industrial interest. Specifically, our attention focuses on quasi-linear hyperbolic and parabolic PDE systems for which the manipulated inputs and measured and controlled outputs are distributed in space and bounded. We use geometric and Lyapunov-based control techniques to synthesize nonlinear and robust controllers that use a finite number of measurement sensors and control actuators to achieve stabilization of the closed-loop system, output track ing, and attenuation of the effect of model uncertainty. The controllers are successfully applied to numerous convection-reaction and diffusion-reaction processes, including a rapid thermal chemical vapor deposition reactor and a Czochralski crystal growth process. The book includes comparisons of the proposed nonlinear and robust control methods with other approaches and discussions of practical implementation issues."

] Starting with the research of G. Bogelsack in the 1970s, the analysis of biological locomotion andmanipulation systemsandtheirtechnical realizationhas beenan- portant research eld within the Faculty of Mechanical Engineering at the Ilmenau University of Technology. In 1996, the German Research Foundation (DFG) funded the Innovation College "Motion Systems" at the University of Jena in a coope- tion with engineers at the Ilmenau University of Technology. Thus, research was able to be intensi ed and extended. Of course, the whole spectrum of biologically inspired systems is much too wide, so the analysis was still focused on locomotion and manipulation systems. At this stage J. Steigenberger from the Faculty of Mathematics and Natural S- ences at the Ilmenau University of Technology contributed important studies of worm-like locomotion systems with much dedication and technical competence. Moreover, he conceived and carried out a lecture series entitled "Mathematical Basics for Locomotion Systems," which was based on his evaluation of national and international research developments in this eld. I. Zeidis and K. Zimmermann contributed many publications on the mechanics of worm-like locomotion systems based on continuum and rigid-body models as well as asymptotic methods. Since 2004 the German Research Foundation has supported a series of projects led by K. Zimmermann dedicated to biologically inspired robotics. In addition to these activities, the Department of Technical Mechanics and the Department of Computer Application in Mechanical Engineering (M. Weiss) together with masters and doctoral students started the development of mobile robots for the RoboCup Small-Size League in 1998."

This book reports on the latest findings in the application of the wide area measurement systems (WAMS) in the analysis and control of power systems. The book collects new research ideas and achievements including a delay-dependent robust design method, a wide area robust coordination strategy, a hybrid assessment and choice method for wide area signals, a free-weighting matrices method and its application, as well as the online identification methods for low-frequency oscillations. The main original research results of this book are a comprehensive summary of the authors' latest six-year study. The book will be of interest to academic researchers, R&D engineers and graduate students in power systems who wish to learn the core principles, methods, algorithms, and applications of the WAMS.

This textbook aims to provide a clear understanding of the various tools of analysis and design for robust stability and performance of uncertain dynamic systems. In model-based control design and analysis, mathematical models can never completely represent the "real world" system that is being modeled, and thus it is imperative to incorporate and accommodate a level of uncertainty into the models. This book directly addresses these issues from a deterministic uncertainty viewpoint and focuses on the interval parameter characterization of uncertain systems. Various tools of analysis and design are presented in a consolidated manner. This volume fills a current gap in published works by explicitly addressing the subject of control of dynamic systems from linear state space framework, namely using a time-domain, matrix-theory based approach. This book also: Presents and formulates the robustness problem in a linear state space model framework. Illustrates various systems level methodologies with examples and applications drawn from aerospace, electrical and mechanical engineering. Provides connections between lyapunov-based matrix approach and the transfer function based polynomial approaches. Robust Control of Uncertain Dynamic Systems: A Linear State Space Approach is an ideal book for first year graduate students taking a course in robust control in aerospace, mechanical, or electrical engineering.

This volume surveys three decades of modern robot control theory and describes how the work of Suguru Arimoto shaped its development. Twelve survey articles written by experts associated with Suguru Arimoto at various stages in his career treat the subject comprehensively. This book provides an important reference for graduate students and researchers, as well as for mathematicians, engineers and scientists whose work involves robot control theory.

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of Multi-Locomotion Robotic system. It is useful for students and researchers in the field of robotics in general, bio-inspired robots, multi-modal locomotion, legged walking, motion control, and humanoid robots. Furthermore, it is also of interest for lecturers and engineers in practice building systems cooperating with humans.

The present book includes a set of selected papers from the third "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2006), held in Setubal, Portugal, from 1 to 5 August 2006, sponsored by the Institute for Systems and Technologies of Information, Control and Communication (INSTICC). The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization," "Robotics and Automation" and "Systems Modeling, Signal Processing and Control." The book is based on the same structure. Although ICINCO 2006 received 309 paper submissions, from more than 50 different countries in all continents, only 31 where accepted as full papers. From those, only 23 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers also reflect the interdisciplinary nature of the conference. The diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends. These high quality standards will be maintained and reinforced at ICINCO 2007, to be held in Angers, France, and in future editions of this conference."

This volume presents various aspects of non-integer order systems, also known as fractional systems, which have recently attracted an increasing attention in the scientific community of systems science, applied mathematics, control theory. Non-integer systems have become relevant for many fields of science and technology exemplified by the modeling of signal transmission, electric noise, dielectric polarization, heat transfer, electrochemical reactions, thermal processes, acoustics, etc. The content is divided into six parts, every of which considers one of the currently relevant problems. In the first part the Realization problem is discussed, with a special focus on positive systems. The second part considers stability of certain classes of non-integer order systems with and without delays. The third part is focused on such important aspects as controllability, observability and optimization especially in discrete time. The fourth part is focused on distributed systems where non-integer calculus leads to new and interesting results. The next part considers problems of solutions and approximations of non-integer order equations and systems. The final and most extensive part is devoted to applications. Problems from mechatronics, biomedical engineering, robotics and others are all analyzed and solved with tools from fractional systems. This volume came to fruition thanks to high level of talks and interesting discussions at RRNR 2013 - 5th Conference on Non-integer Order Calculus and its Applications that took place at AGH University of Science and Technology in Krakow, Poland, which was organized by the Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering.

This book is devoted to a novel conceptual theoretical framework of neuro science and is an attempt to show that we can postulate a very small number of assumptions and utilize their heuristics to explain a very large spectrum of brain phenomena. The major assumption made in this book is that inborn and acquired neural automatisms are generated according to the same func tional principles. Accordingly, the principles that have been revealed experi mentally to govern inborn motor automatisms, such as locomotion and scratching, are used to elucidate the nature of acquired or learned automat isms. This approach allowed me to apply the language of control theory to describe functions of biological neural networks. You, the reader, can judge the logic of the conclusions regarding brain phenomena that the book derives from these assumptions. If you find the argument flawless, one can call it common sense and consider that to be the best praise for a chain of logical conclusions. For the sake of clarity, I have attempted to make this monograph as readable as possible. Special attention has been given to describing some of the concepts of optimal control theory in such a way that it will be under standable to a biologist or physician. I have also included plenty of illustra tive examples and references designed to demonstrate the appropriateness and applicability of these conceptual theoretical notions for the neurosciences."

Neural Networks in Robotics is the first book to present an integrated view of both the application of artificial neural networks to robot control and the neuromuscular models from which robots were created. The behavior of biological systems provides both the inspiration and the challenge for robotics. The goal is to build robots which can emulate the ability of living organisms to integrate perceptual inputs smoothly with motor responses, even in the presence of novel stimuli and changes in the environment. The ability of living systems to learn and to adapt provides the standard against which robotic systems are judged. In order to emulate these abilities, a number of investigators have attempted to create robot controllers which are modelled on known processes in the brain and musculo-skeletal system. Several of these models are described in this book. On the other hand, connectionist (artificial neural network) formulations are attractive for the computation of inverse kinematics and dynamics of robots, because they can be trained for this purpose without explicit programming. Some of the computational advantages and problems of this approach are also presented. For any serious student of robotics, Neural Networks in Robotics provides an indispensable reference to the work of major researchers in the field. Similarly, since robotics is an outstanding application area for artificial neural networks, Neural Networks in Robotics is equally important to workers in connectionism and to students for sensormonitor control in living systems.

This book provides a comprehensive treatment of the principles underlying optimal constrained control and estimation. The contents progress from optimisation theory, fixed-horizon discrete optimal control, receding-horizon implementations and stability conditions to explicit solutions and numerical algorithms, moving horizon estimation, and connections between constrained estimation and control. Several case studies and further developments illustrate and expand the core principles.

Specific topics covered include:

a [ An overview of optimisation theory.

a [ Links to optimal control theory, including the discrete-minimum principle.

a [ Linear and nonlinear receding-horizon constrained control including stability.

a [ Constrained control solutions having a finite parameterisation for specific classes of problems.

a [ Numerical procedures for solving constrained optimisation problems.

a [ Output feedback optimal constrained control.

a [ Constrained state estimation.

a [ Duality between constrained estimation and control.

a [ Applications to finite alphabet control and estimation problems, cross-directional control, rudder-roll stabilisation of ships, and control over communication networks.

Constrained Control and Estimation is a self-contained treatment assuming that the reader has a basic background in systems theory, including linear control, stability and state-space methods. It is suitable for use in senior-level courses and as material for reference and self-study. A companion website is continually updated by the authors.

Tele operation systems, in which robots are controlled remotely, are a potential solution to performing tasks in remote, small, and hazardous environments. However, there is a big disadvantage to these systems; as the direct connection between the human and the environment is lost and operators are deprived of their sense of touch. The recreation of touch feedback through haptic devices is a possible solution, however haptic devices are far from perfect and improving their design is usually a slow trial-and-error process. This book describes 7 scientific studies that try to break this slow loop by using a deductive approach. Through investigating fundamental properties of human haptic perception using psychophysical paradigms, general knowledge on haptic perception of force, position, movement and hardness was gained. The resulting information can be applied to many different haptic devices. Consequently haptic systems can be more easily designed in an intuitive, human-centered way.

This book presents the most recent advances in the research and applications of reconfigurable mechanisms and robots. It collects 93 independently reviewed papers presented at the Third ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015) held in Beijing, China, 20-22 July 2015. The conference papers are organized into seven parts to cover the reconfiguration theory, topology, kinematics and design of reconfigurable mechanisms including reconfigurable parallel mechanisms. The most recent results on reconfigurable robots are presented including their analysis, design, simulation and control. Bio-inspired mechanisms are also explored in the challenging fields of rehabilitation and minimally invasive surgery. This book further addresses deployable mechanisms and origami-inspired mechanisms and showcases a wide range of successful applications of reconfigurable mechanisms and robots. Advances in Reconfigurable Mechanisms and Robots II should be of interest for researchers, engineers and postgraduate students in mechanical engineering, electrical engineering, computer science and mathematics.

Real-Time Systems in Mechatronic Applications brings together in one place important contributions and up-to-date research results in this fast moving area. Real-Time Systems in Mechatronic Applications serves as an excellent reference, providing insight into some of the most challenging research issues in the field.

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.

The problem of asymptotic regulation of the output of a dynamical system plays a central role in control theory. An important variant of this problem is the output regulation problem, which can be used in such areas as set-point control, tracking reference signals and rejecting disturbances generated by an external system, controlled synchronization of dynamical systems, and observer design for autonomous systems. This book is one of the first systematic studies on the nonlinear output regulation problem that embraces both the local and global solvability analysis, covering such aspects as solvability conditions, controller design, and practical implementation issues.

The book opens with the development of the mathematical apparatus of convergent systemsa "very useful for studying nonlinear control systemsa "laying the foundation for most of the results presented in the work. The study then proceeds to a new problem statementa "the so-called uniform output regulation problem. A comprehensive solvability analysis of this problem is provided in the next part of the work. Based on the solvability analysis, constructive controller design methods for the global uniform output regulation problem are presented for various classes of nonlinear systems.

In an attempt to bridge the gap between theory and practice, the authors conclude with a presentation of an experimental case study. The experimenta "one of the first in the field of nonlinear output regulationa "deals with control of a translational oscillator with a rotational actuator, illustrating the applicability of the nonlinear output regulation theory in experiments and raising a number of questions to be addressed in futureresearch.

The scope of questions addressed in the book, the uniformity of their treatment, the novelty of the proposed approach, and the obtained results make this volume unique with respect to other works on the problem of nonlinear output regulation. In addition to being an excellent reference for the uniform output regulation problem, the book has a tutorial value on convergent systems. The work will be of interest to control engineers, theorists, and students, and may be used as a textbook for a graduate course on nonlinear control.

In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. These methods are applied to both parallel and serial multi-degree of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy. Indexed in Conference Proceedings Citation Index- Science (CPCI-S)

While sailing has a long tradition, both as a means of transportation and as a sport, robotic sailing is a fairly new area of research. One of its unique characteristics is the use of wind for propulsion. On the one hand, this allows for long range and long term autonomy. On the other hand, the dependency on changing winds presents a serious challenge for short and long term planning, collision avoidance, and boat control. Moreover, building a robust and seaworthy sailing robot is no simple task, leading to a truly interdisciplinary engineering problem. These proceedings summarize the state of the art as presented at the International Robotic Sailing Conference 2011. Following an overview of the history of autonomous sailing a number of recent boat designs is presented, ranging from small one-design boats to vessels built to cross the Atlantic Ocean. Subsequently, various aspects of system design and validation are discussed, further highlighting the interdisciplinary nature of the field. Finally, methods for collision avoidance, localization and route planning are covered.

This book aims at reporting some of the most challenging open problems of control theoretic nature raised by robotics applications. Topics covered in the book represent many of the most innovative areas in contemporary robotics research, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, flexible and cooperative robots, or assembly systems. The basic idea behind the book is to present the variety of innovative applications and related technology demands that arise from robotics and automation to a larger community, including in particular, researchers in automatic control, applied mathematics, mechanical engineering, or computer science. The book is intended for an audience of researchers and graduate students in those disciplines and in robotics. It is the outcome of a workshop held in Las Vegas, Nevada on December 14, 2002 jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society.

Implementation of Smart Healthcare Systems using AI, IoT, and Blockchain provides imperative research on the development of data fusion and analytics for healthcare and their implementation into current issues in a real-time environment. While highlighting IoT, bio-inspired computing, big data, and evolutionary programming, the book explores various concepts and theories of data fusion, IoT, and Big Data Analytics. It also investigates the challenges and methodologies required to integrate data from multiple heterogeneous sources, analytical platforms in healthcare sectors. This book is unique in the way that it provides useful insights into the implementation of a smart and intelligent healthcare system in a post-Covid-19 world using enabling technologies like Artificial Intelligence, Internet of Things, and blockchain in providing transparent, faster, secure and privacy preserved healthcare ecosystem for the masses.