"SAFEPROCESS '97" was the third in this major IFAC symposia series and covered a wide range of theoretical and application studies concerned with the reliability, availability and safety of controlled systems.

The goal of the symposium was to bring together experts from different fields to give an overview of the state-of-the-art, present new research results and show future developments. In addition, there was special emphasis on industrial requirements for FDI (fault detection and isolation) and a new session on the human factors aspects of system monitoring and safety that reflects the growing interest in this area.

These proceedings contain the 209 papers presented at the symposium and comprise: plenary overviews; state-of-the-art reviews and surveys; the very latest results; and tutorial papers.

Piecewise Linear (PL) approximation of non-linear behaviour is a well-known technique in synthesis and analysis of electrical networks. However, the PL description should be efficient in data storage and the description should allow simple retrieval of the stored information. Furthermore, it would be useful if the model description could handle a large class of piecewise linear mappings. Piecewise Linear Modeling and Analysis explains in detail all possible model descriptions for efficiently storing piecewise linear functions, starting with the Chua descriptions. Detailed explanation on how the model parameter can be obtained for a given mapping is provided and demonstrated by examples. The models are ranked to compare them and to show which model can handle the largest class of PL mappings. All model descriptions are implicitly related to the Linear Complementarity Problem and most solution techniques for this problem, like Katzenelson and Lemke, are discussed according to examples that are explained in detail. To analyse PL electrical networks a simulator is mandatory. Piecewise Linear Modeling and Analysis provides a detailed outline of a possible PL simulator, including pseudo-programming code. Several simulation domains like transient, AC and distortion are discussed. The book explains the attractive features of PL simulators with respect to mixed-level and mixed-signal simulation while paying due regard also to hierarchical simulation. Piecewise Linear Modeling and Analysis shows in detail how many existing components in electrical networks can be modeled. These range from digital logic and analog basic elements such as transistors to complex systems like Phase-Locked Loops and detection systems. Simulation results are also provided. The book concludes with a discussion on how to find multiple solutions for PL functions or networks. Again, the most common techniques are outlined using clear examples. Piecewise Linear Modeling and Analysis is an indispensable guide for researchers and designers interested in network theory, network synthesis and network analysis.

This book surveys the well-known results and also presents a series of original results on the mathematical modeling of social networks, focusing on models of informational influence, control and confrontation. Online social networks are intended for communication, opinion exchange and information acquisition for their members, but recently, online social networks have been intensively used as the objects and means of informational control and an arena of informational confrontation. They have become a powerful informational influence tool, particularly for the manipulation of individuals, social groups and society as a whole, as well as a battlefield of information warfare (cyberwars). This book aimed at under- and postgraduate university students as well as experts in information technology and modeling of social systems and processes.

This book presents an authoritative collection of contributions by researchers from 16 different countries (Austria, Chile, Georgia, Germany, Mexico, Norway, P.R. of China, Poland, North Macedonia, Romania, Russia, Spain, Turkey, Ukraine, the United Kingdom and United States) that report on recent developments and new directions in advanced control systems, together with new theoretical findings, industrial applications and case studies on complex engineering systems. This book is dedicated to Professor Vsevolod Mykhailovych Kuntsevich, an Academician of the National Academy of Sciences of Ukraine, and President of the National Committee of the Ukrainian Association on Automatic Control, in recognition of his pioneering works, his great scientific and scholarly achievements, and his years of service to many scientific and professional communities, notably those involved in automation, cybernetics, control, management and, more specifically, the fundamentals and applications of tools and techniques for dealing with uncertain information, robustness, non-linearity, extremal systems, discrete control systems, adaptive control systems and others. Covering essential theories, methods and new challenges in control systems design, the book is not only a timely reference guide but also a source of new ideas and inspirations for graduate students and researchers alike. Its 15 chapters are grouped into four sections: (a) fundamental theoretical issues in complex engineering systems, (b) artificial intelligence and soft computing for control and decision-making systems, (c) advanced control techniques for industrial and collaborative automation, and (d) modern applications for management and information processing in complex systems. All chapters are intended to provide an easy-to-follow introduction to the topics addressed, including the most relevant references. At the same time, they reflect various aspects of the latest research work being conducted around the world and, therefore, provide information on the state of the art.

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.

This monograph presents a new analytical approach to the design of proportional-integral-derivative (PID) controllers for linear time-invariant plants. The authors develop a computer-aided procedure, to synthesize PID controllers that satisfy multiple design specifications. A geometric approach, which can be used to determine such designs methodically using 2- and 3-D computer graphics is the result. The text expands on the computation of the complete stabilizing set previously developed by the authors and presented here. This set is then systematically exploited to achieve multiple design specifications simultaneously. These specifications include classical gain and phase margins, time-delay tolerance, settling time and H-infinity norm bounds. The results are developed for continuous- and discrete-time systems. An extension to multivariable systems is also included. Analytical Design of PID Controllers provides a novel method of designing PID controllers, which makes it ideal for both researchers and professionals working in traditional industries as well as those connected with unmanned aerial vehicles, driverless cars and autonomous robots.

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 author presents current work in bond graph methodology by providing a compilation of contributions from experts across the world that covers theoretical topics, applications in various areas as well as software for bond graph modeling.
It addresses readers in academia and in industry concerned with the analysis of multidisciplinary engineering systems or control system design who are interested to see how latest developments in bond graph methodology with regard to theory and applications can serve their needs in their engineering fields.
This presentation of advanced work in bond graph modeling presents the leading edge of research in this field. It is hoped that it stimulates new ideas with regard to further progress in theory and in applications.

This edited book aims at presenting current research activities in the field of robust variable-structure systems. The scope equally comprises highlighting novel methodological aspects as well as presenting the use of variable-structure techniques in industrial applications including their efficient implementation on hardware for real-time control. The target audience primarily comprises research experts in the field of control theory and nonlinear dynamics but the book may also be beneficial for graduate students.

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.

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"Hybrid Predictive Control for Dynamic Transport Problems" develops methods for the design of predictive control strategies for nonlinear-dynamic hybrid discrete-/continuous-variable systems. The methodology is designed for real-time applications, particularly the study of dynamic transport systems. Operational and service policies are considered, as well as cost reduction. The control structure is based on a sound definition of the key variables and their evolution. A flexible objective function able to capture the predictive behaviour of the system variables is described. Coupled with efficient algorithms, mainly drawn from area of computational intelligence, this is shown to optimize performance indices for real-time applications. The framework of the proposed predictive control methodology is generic and, being able to solve nonlinear mixed integer optimization problems dynamically, is readily extendable to other industrial processes.

The main topics of this book are:

. hybrid predictive control (HPC) design based on evolutionary multiobjective optimization (EMO);

. HPC based on EMO for dial-a-ride systems; and

. HPC based on EMO for operational decisions in public transport systems.

"Hybrid Predictive Control for Dynamic Transport Problems" is a comprehensive analysis of HPC and its application to dynamic transport systems. Introductory material on evolutionary algorithms is presented in summary in an appendix. The text will be of interest to control and transport engineers working on the operational optimization of transport systems and to academic researchers working with hybrid systems. The potential applications of the generic methods presented here to other process fields will make the book of interest to a wider group of researchers, scientists and graduate students working in other control-related disciplines."

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.

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.

This book is an up-to-date compendium on spacecraft attitude and orbit control (AOC) that offers a systematic and complete treatment of the subject with the aim of imparting the theoretical and practical knowledge that is required by designers, engineers, and researchers. After an introduction on the kinematics of the flexible and agile space vehicles, the modern architecture and functions of an AOC system are described and the main AOC modes reviewed with possible design solutions and examples. The dynamics of the flexible body in space are then considered using an original Lagrangian approach suitable for the control applications of large space flexible structures. Subsequent chapters address optimal control theory, attitude control methods, and orbit control applications, including the optimal orbital transfer with finite and infinite thrust. The theory is integrated with a description of current propulsion systems, with the focus especially on the new electric propulsion systems and state of the art sensors and actuators.

Time-Varying Systems and Computations is a unique book providing a detailed and consistent exposition of a powerful unifying framework (developed by the authors) for the study of time-variant systems and the computational aspects and problems that arise in this context. While complex function theory and linear algebra provide much of the fundamental mathematics needed by engineers engaged in numerical computations, signal processing and/or control, there has long been a large, abstruse gap between the two fields. This book shows the reader how the gap between analysis and linear algebra can be bridged. In a fascinating monograph, the authors explore, discover and exploit many interesting links that exist between classical linear algebraic concepts and complex analysis. Time-Varying Systems and Computations opens for the reader new and exciting perspectives on linear algebra from the analysis point of view. It clearly explains a framework that allows the extension of classical results, from complex function theory to the case of time-variant operators and even finite-dimensional matrices. These results allow the user to obtain computationally feasible schemes and models for complex and large-scale systems. Time-Varying Systems and Computations will be of interest to a broad spectrum of researchers and professionals, including applied mathematicians, control theorists, systems theorists and numerical analysts. It can also be used as a graduate course in linear time-varying system theory.

In this book a general topological construction of extension is proposed for problems of attainability in topological spaces under perturbation of a system of constraints. This construction is realized in a special class of generalized elements defined as finitely additive measures. A version of the method of programmed iterations is constructed. This version realizes multi-valued control quasistrategies, which guarantees the solution of the control problem that consists in guidance to a given set under observation of phase constraints.

Audience: The book will be of interest to researchers, and graduate students in the field of optimal control, mathematical systems theory, measure and integration, functional analysis, and general topology.

This is a book written by leading experts in the fields of cyber-physical systems (CPS) and wireless sensor networks (WSN). This book describes how wireless sensor networking technologies can help in establishing and maintaining seamless communications between the physical and cyber systems to enable efficient, secure, reliable acquisition, management, and routing of data. Topics covered include: an introduction to WSN and CPS; integration issues and challenges between WSN and CPS; enabling CPS design architectures with WSN technologies; cyber security in CPS; data management in CPS with WSN; routing in WSN for CPS; resource management in CPS; mobile sensors in CPS; intelligent WSN in CPS; resilient WSN for CPS; case studies of integrated WSN and CPS; and medical CPS. All chapters of the book have been rigorously peer-reviewed. Cyber-Physical System Design with Sensor Networking Technologies is essential reading for researchers, advanced students and developers working in the areas of cyber-physical systems and sensor networks.

This volume is devoted to presentation of new results of research on systems of non-integer order, called also fractional systems. Their analysis and practical implementation have been the object of spontaneous development for a few last decades. The fractional order models can depict a physical plant better than the classical integer order ones. This covers different research fields such as insulator properties, visco-elastic materials, electrodynamic, electrothermal, electrochemical, economic processes modelling etc. On the other hand fractional controllers often outperform their integer order counterparts. This volume contains new ideas and examples of implementation, theoretical and pure practical aspects of using a non-integer order calculus. It is divided into four parts covering: mathematical fundamentals, modeling and approximations, controllability, observability and stability problems and practical applications of fractional control systems. The first part expands the base of tools and methods of the mathematical basis for non-integer order calculus. Part two focuses on new methods and developments in process modeling and fractional derivatives approximations. In the third part a bunch of papers which raise problems of controllability, observability and stability of non-integer order systems is provided. Part four is devoted to presentation of different fractional order control applications. This book was created thanks to many experts in the field of fractional calculus: authors, anonymous referees whose comments allowed us to improve the final form of the papers and active and inspiring discussion of the participants of RRNR'2015, the 7th Conference on Non-Integer Order Calculus and Its Applications that was organized by the Faculty of Electrical Engineering, West Pomeranian University of Technology, Szczecin, Poland.

The hand is an agency of the brain; it reflects activities of the brain and thereby can be seen as a mirror to the mind. The dexterity of the hand has been investigated widely in developmental psychology and in anthropology. Since robotics launched in the mid-1970s, numerous multi-fingered hands mimicking the human hand have been designed and made in a number of universities and research institutes, in addition to sophisticated prosthetic hands with plural fingers.

Control Theory of Multi-fingered Hands presents a comprehensive insight into the intelligence and dexterity of robotic multi-fingered hands from both the physical and control- theoretic viewpoints. The book:

• focuses on the problem of how to control dexterous movements of fingers interacting with an object in the execution of everyday tasks;
• clarifies what kinds of sensory-motor coordinated signals are necessary and sufficient for realising stable grasping and/or object manipulation, in particular, the synergistic choices of control gains in co-activation signals for finger muscles and tendons crucial in realising secure pinching motions;
• derives a mathematical model of the dynamics of a complicated mechanism of multiple fingers with multiple joints physically interacting; and,
• considers the problem of how to recreate the function of "blind grasping."

Control Theory of Multi-fingered Hands will be a useful reference for postgraduate students and researchers in this field, as well as engineers and roboticists.

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.

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.