Industrial processes such as long-wall coal cutting and me- tal rolling, together with certain areas of 2D signal and image processing, exhibit a repetitive, or multipass struc- ture characterized by a series of sweeps of passes through a known set of dynamics. The output, or pass profile, produced on each pass explicitly contributes to that produced on the text. This interpass interaction can lead to the growth of oscillations, and hence a form of instability, in the se- quence of pass profiles which require control strategies that explicitly incorporate the essential repetitive struc- ture of the process in their decision making. This monograph is unique in developing the new techniques necessary for sy- stematic control systems design in the form of a stability theory and computationally feasible stability tests based on finite simulations and polynomial analysis. Its development requires a basic knowledge of linear frequency domain and state-space theory and a knowledge of basic functional ana- lysis would be beneficial. The text is aimed at researchers in the area of control and systems theory and should also be of interest to those working in the related area of signal and image processing.

Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique - trajectory following in robots - can be extended to neurological rehabilitation after stroke. Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients' muscles while they are repeatedly performing a task in response to the known effects of stimulation in previous repetitions. As the motor nerves and muscles of the arm reaquire the ability to convert an intention to move into a motion of accurate trajectory, force and rapidity, initially intense external stimulation can now be scaled back progressively until the fullest possible independence of movement is achieved.

After motivating examples, this monograph gives substantial new results on the analysis and control of linear repetitive processes. These include further applications of the abstract model based stability theory which, in particular, shows the critical importance to the dynamics developed of the structure of the initial conditions at the start of each new pass, the development of stability tests and performance bounds in terms of so-called 1D and 2D Lyapunov equations. It presents the development of a major bank of results on the structure and design of control laws, including the case when there is uncertainty in the process model description, together with numerically reliable computational algorithms. Finally, the application of some of these results in the area of iterative learning control is treated --- including experimental results from a chain conveyor system and a gantry robot system.

Caleb Knight is an ordinary boy, but with one difference... he was born with the power of the Archangel, the most powerful angel in Heaven. This power lies dormant inside Caleb until his 12th birthday, when he accepts the gift of the Holy Spirit. Once the power is awakened, Satan sends his demons to kill Caleb. Caleb's father sacrifices himself to protect Caleb, who is rescued and trained by the Angel of the Lord. Eighteen years later, Jim Sinclaire loses his wife to a violent crime and also loses his faith in God. In his moment of weakness, Jim makes a deal with the devil, which could cost him and everyone on Earth their souls. Now a full-fledged Angel Knight, will Caleb have enough power to prevent what could possibly be Hell on Earth?

Tenth entry in the 'Carry On' series. Able seaman Poop-Decker (Bernard Cribbins) signs up for adventure on the high seas with the wicked Captain Fearless (Kenneth Williams). Those swabbing the decks include Juliet Mills, Charles Hawtrey and Donald Houston. The film was originally to be entitled 'Up the Armada', but the British Board of Film Censors objected to such a rude title.

Twelfth entry in the 'Carry On' series. Detective Bung (Harry H. Corbett) investigates a mad professor (Kenneth Williams) and his sister, who are turning their victims into shop window dummies. Those hamming it up in this Hammer horror spoof include Charles Hawtrey, Jim Dale, Joan Sims and Fenella Fielding.

Gerald Thomas directs this seventh film in the 'Carry On' series starring Sid James and Hattie Jacques. Charlie (James), the owner of taxi firm Speedee Taxis, finds he has some serious competition when rival company GlamCabs opens up nearby. With his company facing bankruptcy, Charlie suggests a merger only to call it off when he finds out his wife Peggy (Jacques), who started GlamCabs as a way to get back at him for years of neglect, is the new firm's mysterious owner. However, when Peggy is then kidnapped by bank robbers, Charlie is forced to put his issues to one side and rally the drivers at Speedee Taxis in a bid to rescue her and bring her home to safety. The cast also includes Kenneth Connor, Jim Dale and Cyril Chamberlain.

Eleventh entry in the 'Carry On' series. Marshall P. Knutt (Jim Dale), a former sanitary engineer, becomes the sheriff of Stodge City in the Wild West and must help a young woman beat the Rumpo Kid (Sid James), the outlaw who shot her father. Those getting off their horses and drinking their milk include Kenneth Williams, Charles Hawtrey, Joan Sims and Bernard Bresslaw (making his 'Carry On' debut).

Eighth entry in the 'Carry On' series. Barbara Windsor (in her first 'Carry On' appearance) plays a trainee spy in the British Secret Service, who must use all her talents to prevent an evil mastermind from the organisation S.T.E.N.C.H. obtaining a secret formula. Master spies on the case include Kenneth Williams, Charles Hawtrey and Bernard Cribbins.