40TH IEEE CONFERENCE ON
DECISION AND CONTROL
Hyatt Regency Grand Cypress, Orlando, Florida
December 4-7, 2001
http://www.ecs.umass.edu/cdc2001
I. INVITATION
On behalf of the IEEE Control Systems Society, the Operating and Program Committees invite you to participate in the 40th
IEEE Conference on Decision and Control (CDC). The CDC is the annual meeting of the IEEE Control Systems Society
(CSS), conducted in cooperation with the Society for Industrial and Applied Mathematics (SIAM) and the INstitute For
Operations Research and the Management Sciences (INFORMS).
The IEEE Control Systems Society was founded in 1954 and today has over 10,500 members all around the world. It is
internationally recognized as the premier scientific and engineering organization dedicated to the advancement of the theory
and practice of systems and control.
The 40th IEEE CDC will be held at the Hyatt Regency Grand Cypress, Orlando, Florida on Tuesday December 4, through
Friday December 7, 2001. Tutorial workshops will precede the Conference on Monday, December 3. The Program
Committee has assembled a technical program covering a broad spectrum of topics in decision and control. It consists of
plenary lectures, special presentations and thirteen parallel tracks consisting of invited and contributed sessions. The
Operating Committee has made every effort to create an environment whereby participants derive maximum benefit from the
Conference. We hope that you will participate in this scientific meeting and help make it a memorable event. Please check
the conference web site (http://www.ecs.umass.edu/cdc2001) for all the latest information related to the conference.
This marks the third time for holding the CDC in the Orlando area. Orlando now enjoys the distinction of having the largest
concentration of theme parks in the world. It boasts four Walt Disney theme parks in addition to Universal Studios and Sea
World. The major theme parks, as well as all the other supporting attractions, dining, and entertainment establishments, make
Orlando a perfect vacation destination. The entertainment opportunities are not limited to young families: in recent years
much has been done to create attractions for all ages. The CDC offers a great opportunity to blend business and pleasure, so
come join us and bring the family.
Ted Djaferis, General Chair
II. CONFERENCE HIGHLIGHTS
Technical Program Overview
A total of 1416 papers were submitted to the Conference. Thanks to the efforts of a large number of individuals, the technical
program consists of 949 contributed and invited papers and is assembled into 156 sessions. The collection of papers covers
all aspects of the theory and applications of systems involving decision, control, optimization, and adaptation, and includes
contributions from authors in association with the Society for Industrial and Applied Mathematics (SIAM). There are three
plenary sessions at the Conference and three special presentations:
Tuesday morning at 8:30 Professor John Doyle of The California Institute of Technology will present a lecture
entitled: “A New Physics?”
Thursday morning at 8:30 Professor Dennis S. Bernstein of The University of Michigan will give a lecture
entitled: “Lyapunov’s Second Method and the Past, Present, and Future of Control Theory.”
Friday morning at 11:00 Professor Alberto Isidori of Washington University and The University of Rome, the
recipient of this year's Bode Prize, will deliver the Bode Lecture entitled: “Finesse et Geometrie: The Spirit of Nonlinear
Feedback.”
The Conference also has three special invited presentations.
Tuesday at 3:20 PM, Rear Admiral Jay M. Cohen, Chief of Naval Research (ONR) will deliver a talk entitled:
“Opportunities and Challenges in Systems and Control at the Office of Naval Research.” This session has been organized by
Kishan Baheti, program director of CNCI at NSF.
Wednesday at 5:00 PM, the following two parallel special presentations will be held: Dr. Siva S. Banda of The
Wright-Patterson Air Force Base will speak on the topic “Current Research and Open Problems in Control Science: An Air
Force Research Laboratory Perspective.” Professor Bassam Bamieh of The University of California Santa Barbara will also
present a lecture entitled: “Distributed Systems and Distributed Control.”
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Tutorial Workshops
Six workshops have been organized for the Monday prior to the CDC, on December 3. Detailed descriptions of these
tutorials are provided in section VIII. The titles and presenters of these workshops are listed below:
1 “Simulation and Monte Carlo Methods,”
J. C. Spall, I.-J. Wang
2. “Control Using Logic and Switching,”
J. P. Hespahna, D. Liberzon, A. S. Morse
3. “Time-delay Systems: Stability, Robustness and Applications,”
S.-I. Niculescu, K. Gu, V. Kharitonov, J. Chen
4. “Smart Materials and Structures,”
R. Moheimani, R. Gorbet, H. Gavin
5. “Quantified Multivariate Polynomial Inequalities: Theory and Applications to Practical Feedback Design Problems,”
P. Dorato, C. Abdallah, S. Malan
6. “Networked Autonomous and Semi-Autonomous Vehicles,”
J. Sousa, R. Sengupta, A. Girard, Karl Hedrick, S. Sastry, S. Tripakis, T. Simsek, P. Varaiya, W. Wei, S. Yovine
The tutorial workshop presenters are leaders in their fields who have published extensively and are experienced lecturers.
Workshop registration fees include lecture notes and are payable either through pre-registration or on-site at the Registration
Desk (see “Registration” section for details). Pre-registration is strongly encouraged, both to reserve space and to prevent
workshop cancellation. A workshop will be canceled if the number of pre-registrants does not exceed a specified limit. In the
unlikely event that a workshop is canceled, pre-registrants will be contacted as soon as possible after the pre-registration
deadline of October 15. When registering please include your email address, telephone or Fax numbers for this purpose.
Exhibits
Exhibits will be sponsored by book publishers and developers of control software and hardware products. Exhibits will be
located in Regency Hall. For information concerning Exhibits please contact the Exhibits Chair, Dimitry Gorinevsky. Final
arrangements will be made during the Fall but the following exhibitors have signed up early:
SIAM
Magnetic Moments
dSPACE
Opal-RT
www.siam.org
www.mmsb.com
www.dspaceinc.com
www.opal-rt.com
Speakers' Breakfast
Complimentary breakfast will be served every morning starting at 7:00 AM in Regency Hall for speakers and session chairs
and co-chairs of that day only. This will facilitate session planning. If you are speaking at the Conference, please plan to
attend the breakfast on the day of your session, and provide your session chair with a brief biographical sketch of yourself and
some information on your co-author(s) (if any). Note that for those papers with multiple authors, only the author presenting
the paper is invited to attend the breakfast.
CSS Board of Governors Meeting
The semi-annual IEEE Control Systems Society Board of Governors meeting will be held at the Hyatt Regency Grand
Cypress on Monday, December 3, from 1:00 PM to 6:00 PM. This is an open meeting and all members of the Society are
welcome to attend. Check the hotel bulletin boards for the exact location of the meeting.
Student Travel Support
The National Science Foundation is expected to provide partial travel support for students from the U.S. who will be
participating in the conference. Please check the Conference web site for more information.
Travel Support for Participants from Financially Disadvantaged Countries
A new travel support program has been adopted by the IEEE Control Systems Society to help participants from financially
disadvantaged countries to attend CDC01. Please check the Conference web site for more information.
III. CONFERENCE REGISTRATION
Starting with CDC 2001, the Control Systems Society will host its own on-line registration service for CSS sponsored
conferences (see Conference web site). The Operating Committee wishes to give special thanks to Prof. Pradeep Misra for
his efforts in the development of this system. Advance registration is highly recommended. Please make every effort to use
the on-line registration procedure accessible via our Conference web site. Even if you miss the advance registration deadline
you are still encouraged to register on-line while the site is open as it will facilitate the registration process. For your
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convenience a hardcopy Conference Registration Form has also been inserted in the Advance Program (see insert after section
VIII). The hardcopy form must be completed and returned with a check or money order in U.S. currency with a U.S. banking
system routing number (payable to 40th IEEE CDC), or with credit card details, as indicated on the form. The fee schedule
is as follows:
IEEE/SIAM/INFORMS Member
Non-member
Reduced Rate*
Registration Received
Before October 15, 2001
After October 15, 2001
(Advance Registration)
(On site or Late Registration)
$330
$410
$410
$490
$110
$120
*The Reduced Rate may be used only by students, retirees, or registrants who qualify for the IEEE “minimum income”
membership fee reduction. Students please check the Conference web site for student travel support.
Hardcopy registrations received after October 15, 2001 will NOT be processed. Registration by fax or email will NOT be
accepted. Please make sure that checks or money orders are in U.S. currency with a U.S. banking system routing number,
payable to 40th IEEE CDC. Bon de Commande or other Purchase Orders will NOT be accepted. If Bank Transfers are
used, add amount equal to bank transfer fees. Be sure to include phone, fax, and email address so you may be contacted in the
event of a workshop change. Non-U.S. registrants who have special registration payment requirements or restrictions should
pre-register by September 30, 2001, so that checks and money orders are received by the deadline. The cut-off date for
advance registration will be strictly enforced. Attendees may also register at the CDC Registration Desk at the Hyatt Regency
Grand Cypress during the following hours:
Sunday
Monday
Tuesday
Wednesday
Thursday
Friday
December 2,
December 3,
December 4,
December 5,
December 6,
December 7,
6:00 PM to 8:00 PM
7:30 AM to 12:00 noon and 5:00 PM to 8:00 PM
7:30 AM to 1:00 PM and 5:00 PM to 8:00 PM
7:30 AM to 5:00 PM
8:00 AM to 4:00 PM
8:00 AM to 11:00 AM
Full registration includes Welcoming and Farewell Receptions, Thursday's Conference Banquet, and the Conference CDROM Proceedings. CD-ROM Proceedings will be available at the Conference. Hardcopy Proceedings will be printed after
the Conference and can be ordered for an additional fee. They will be mailed directly to the participant in January 2002.
Reduced Rate registration includes admission to the Welcoming and Farewell Receptions and one set of the Conference CDROM Proceedings. A registration packet containing all needed materials will be given to each attendee at the Registration
Desk.
Refund Policy
Registration fees for the Tutorial Workshops and the Conference may be refunded in full if a written request is received by the
Registration Chair before November 3, 2001. After November 3, 2001 there WILL BE NO REFUNDS. Questions relating
to registration should be addressed to:
Professor Edwin K. P. Chong
Dept. of Electrical and Computer Engineering
Colorado State University
Fort Collins, CO 80523
Tel: 970-491-7858
Fax: 970-491-2249
echong@engr.colostate.edu
Proceedings
Additional set(s) of CD-ROM Proceedings may be purchased by advance registration or at the Registration Desk (Member @
$30, Non-Member @ $50). Hardcopy Proceedings can be ordered by via the Conference registration process or at the
Registration Desk during the Conference (Member @ $200, Non-Member @ $240 and includes 4th class or book mailing).
After the Conference, copies of the hardcopy Proceedings may be purchased (at a price set by the IEEE) by directly
contacting:
IEEE Service Center
445 Hoes Lane
Piscataway, NJ 08854 USA
800-678-4333 (or 732-981-0060)
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IV. SOCIAL EVENTS
Opening Reception (6:00 PM, Monday, December 3)
Following CDC tradition, an Opening Reception (cash bar) will be held on Monday, December 3, 2001 from 6:00 to 8:00 PM
in the Portico Area on the Convention level of the Hyatt Regency Grand Cypress.
Companions Orientation (9:00 AM, Tuesday, December 4)
There will also be an orientation coffee/tea get together especially for companions of Conference attendees on Wednesday
from 9:00 to 10:00 AM in the Camellia room of the hotel. A tour representative will give information about local attractions.
Newcomer/Student Reception (6:45 PM, Tuesday, December 4)
Our CDC attendance always includes a number of students and first time attendees. There will be a brief reception starting at
6:45 PM on Tuesday in the Gardenia room of the hotel to welcome newcomers to CDC. IEEE Control Systems Society
officers and Organizers of the Conference will be on hand to answer questions about CDC and the Society. This will also be
an opportunity to arrange dinner with new friends.
Awards Ceremony (6:45 PM, Thursday, December 6)
The Awards Ceremony will take place on Thursday, December 6, at 6:45 PM in the Grand Cypress Ballroom (Convention
Level). It will feature presentations of Control Systems Society and IEEE Awards. All are warmly welcomed to attend.
Conference Banquet (8:00 PM, Thursday, December 6)
The Conference Banquet will take place on Thursday, December 6, at 8:00 PM in the Grand Cypress Ballroom (Convention
Level) immediately after the Awards Ceremony. One Banquet ticket will be included in each registration packet (except for
reduced registration participants). Additional Banquet tickets may be pre-ordered, at $75 each, through the Advance
Registration process. On that form please also indicate your dinner choice (beef, fish, or vegetarian). A limited number of
tickets will also be available at the Registration Desk until 12:00 noon on Tuesday, December 4. Requests for special meals
should also be placed before that time. Those not planning to attend the Banquet are asked to please turn in their tickets at the
Registration Desk for use by reduced registration attendees.
Farewell Reception (6:45 PM, Friday, December 7)
There will be a closing reception from 6:45 to 8:30 PM on Friday, December 7 in the Portico Area on the Convention Level.
V. HOTEL RESERVATIONS
A block of rooms has been reserved for CDC participants and their families at the Conference venue, the Hyatt Regency
Grand Cypress. Single rooms are available at $159 per night, and double rooms are available at $169 per night. There is no
extra fee if a room is shared with a third or fourth person. Conference participants are provided free daily transportation to
Walt Disney World attractions.
These prices do not include an 11% state, local and occupancy tax. A one night's room charge plus taxes in U.S. dollars or
credit card information is required for room reservations. Reservations may be canceled at no charge up to 3 days before
intended arrival. Reservations using the hotel reservation form (insert at the end of section VIII) should be sent to:
Reservation Department
Hyatt Regency Grand Cypress
One Grand Cypress Boulevard
Orlando, FL 32836 USA
Tel: 888-591-1234 (or 407-239-1234)
Fax: 407-239-3800.
Do not forget to mention the 40th IEEE CDC to receive the Conference rates. Please make every effort to reserve your hotel
room by October 15, 2001, as the hotel may not be able to honor the Conference rate if space is not available.
The Resort Services Program
For an additional charge of $10.00 per room hotel guests can have access to the following services, activities and amenities:
In-room coffee and tee service. Daily newspaper delivery. In-room safe. Unlimited access for local, 800 or 888 calls and instate credit card calls. Unlimited access to the Health Club. Unlimited use of the following Resort activities: 9-hole
Pitch&Putt course, Resort golf driving range access, Water sports including motorized boats, Sun Kats, sail boats, paddle
boats, canoe and hydrobikes. Bicycle rentals, including quadracycles. Court time at the Resort Racquet Club.
Roommate Location Service (Attention Conference Attendees)
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On behalf of the Women in Control (WiC), Prof. May-Win Thein will be organizing a Roommate Location Service for
CDC01. If you would like to share a hotel room and need assistance finding a roommate, send an email message to
mthein@cisunix.unh.edu with your: (1) name, (2) gender, (3) email address and other contact information, (4) date arriving at
the Conference hotel, (5) date checking out of the Conference hotel, (6) smoking preference, (7) any other information you
wish to add. This information will be compiled into separate lists for male/female respondents and distributed by email. You
will be responsible for contacting and screening prospective roommates from that list and making your own hotel reservations
and arrangements. Please note that this service is a resource to merely locate potential roommates, not to match specific
individuals together. In so doing, neither the organizer nor WiC will be held responsible for any situations that arise as a
result of room sharing between particular parties. In addition, this service will end after November 1, 2001. Therefore,
interested individuals should send the above information well before this date. The Operating Committee of the 40th CDC
would like to thank WiC and Prof. May-Win Thein of The University of New Hampshire for organizing this Roommate
Location Service.
Child Care
The 2001 CDC Operating Committee is pleased to recommend the hotel child care facilities and services. The Hyatt Grand
Cypress operates a Child Care Center which is located near the main hotel lobby. For more information regarding times of
operation, child-care charges as well as in-room sitter service please call extension 4440 or 4441.
VI. TRANSPORTATION
Special Airfare
Delta Air Lines has been selected as the official carrier for the Conference, and it offers special discounted fares to CDC
participants. To take advantage of the special fares, travel Delta round-trip from anywhere within the U.S., Canada, Bermuda,
Caribbean, Mexico to Orlando.
1. Call, or have your travel agent call 1-800-241-6760 from 8:00 a.m. - 11:00 p.m. Eastern Time daily.
2. Refer to Delta File Number: 179050A. Applicable restrictions must be met. Seats are limited.
Airport-To-Hotel
The Hyatt Regency Grand Cypress is located 18 miles from Orlando International Airport. The hotel can be reached by
shuttle, taxi or car. A discount has been arranged with Mears Motor Shuttle where the round trip fare is $27. To receive the
$4 discount please print out the Coupon which can be found at the Conference web site and present it at the Mears Motor
Shuttle Counter.
Car Rentals
For those that would like to rent a car while at the CDC, special Conference rates have been arranged with Avis Rent A Car.
Avis has cars are available on site at the airport. The following rates are available:
Car Type
Subcompact
Compact
Intermediate
Full Size (2 Door)
Full Size (4 Door)
Premium
Luxury
Mini Van
Convertible
SUV
Daily
$29.99
$30.99
$32.99
$36.99
$38.99
$41.99
$54.99
$48.99
$54.99
$48.99
Weekly
$102.99
$111.99
$147.99
$170.99
$184.99
$195.99
$279.99
$251.99
$279.99
$251.99
Weekend Daily
$30.99
$31.99
$33.99
$37.99
$39.99
$42.99
$59.99
$53.99
$59.99
$53.99
These rates include free unlimited mileage and no drop-off charges within the State of Florida. Taxes, state and local
surcharges and optional items such as LDW, additional driver fee, and fuel are extra. To make reservations, call the toll-free
number 1-800-331-1600 and mention the Avis Worldwide Discount (AWD) Number A606079. Reservations can also be
made on-line (see Conference web site).
VII. GENERAL INFORMATION
Hyatt Regency Grand Cypress
The 750 room Hyatt Regency Grand Cypress (One Grand Cypress Boulevard, Orlando, FL 32836 USA, Tel: 1-888-5911234, 1-407-239-1234, Fax: 1-407-239-3800) is a beautiful 1,500-acre resort. There are five restaurants on site, three
lounges, an 800,000-gallon grotto pool, a Jack Nicklaus-designed championship golf course, world-class tennis facilities, and
a full-service equestrian center. All this within a short walk from Downtown Disney, an enormous entertainment, dining, and
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shopping complex. Orlando’s theme parks (Walt Disney World, Epcot Center, Disney-MGM Studios, Animal Kingdom,
Universal Studios, and Sea World) are only minutes away by car. The resort setting allows quick and easy access to what
Orlando has to offer but is also an oasis in the midst of all the attractions.
Orlando
If you had come to the area along with the first Europeans in the early 1500s, you would have found native Indians farming
the land by raising maize, squash, and beans and engaging in fishing and hunting. If you happened to come in the mid-1900s,
Orlando was an agricultural area where citrus fruit was grown and cattle were raised. The area was completely transformed in
the early 1970s when Walt Disney came to town. Orlando now has the distinction of hosting the largest concentration of
theme parks in the world. In fact, there are four major Walt Disney theme parks (Magic Kingdom, Epcot Center, DisneyMGM Studios, Animal Kingdom) and two others, Universal Studios and Sea World. Each park has its own character. The
Magic Kingdom is physically the smallest of the four Disney parks. At its epicenter is Cinderella’s Castle, which is
surrounded by Main Street USA, Adventureland, Frontierland, Liberty Square, Fantasyland, and Tomorrowland. Epcot Center
is a part-educational, part-entertaining park that is divided in two major areas: Future World and the World Showcase.
Disney-MGM Studios offers a pleasant mix of fantasy and educational experience presented in the environment of a working
TV and movie studio. Animal Kingdom, the newest Disney park, covers 500 acres and is a combination wild animal park,
exotic zoo, educational adventure, and theme park. Universal Studios Florida is a much more elaborate version of DisneyMGM Studios arranged around six “neighborhoods.” Expo Center, The Front Lot, Hollywood, New York, Production
Central, and San Francisco/Amity. Sea World is a giant marine park where Shamu (a killer whale) reigns. The major theme
parks, as well as all the other supporting attractions, dining, and entertainment establishments, make Orlando a perfect
vacation destination. The CDC offers a great opportunity to blend business and pleasure. The entertainment opportunities are
not limited to families with small children, as in recent years much has been done to create attractions for adults as well. In
December the temperature typically ranges between 72 to 51F (22 to 11C).
Discount Tickets
In order to take advantage of all these entertainment possibilities the Operating Committee has arranged with H. E. S. Inc. to
provide discount tickets for many of these attractions. Tickets can be purchased in advance using the on-line service
accessible form our Conference web site. They can also be purchased using the form provided on the web and also in the
Advance Program (insert after section VIII). The Advance Order deadline is November 12, 2001. Tickets will then be
shipped to you in advance of the Conference. There is also the possibility to purchase these tickets on site during the
Conference. There will be a desk in the registration area staffed by Hello H. E. S. agents on Tuesday and Wednesday,
December 4 and 5, between the hours of 7:30 AM and 1:30 PM.
Kennedy Space Center Tour
We are also pleased to announce that we have arranged for a day tour to the Kennedy Space Center on Wednesday, December
5, 2001. The bus will depart from the Hyatt at 8:30 AM and return at 4:30 PM. The price of each ticket is $55 and it
includes bus fare, admission to the IMAX Theater and the NASA motor coach tour. You can purchase this ticket on the
Conference Registration form. Please register early to ensure that the tour will not be cancelled.
VIII. DESCRIPTION OF TUTORIAL WORKSHOPS
There will be six tutorial workshops this year, preceding the CDC on Monday December 3. The on-line CDC Registration
service or the hardcopy form at the end of this section can be used to register for these Workshops.
WORKSHOP #1
ORGANIZERS:
James C. Spall, Applied Physics Laboratory, Johns Hopkins University (USA)
I.-Jeng Wang, Applied Physics Laboratory, Johns Hopkins University (USA)
TITLE:
Simulation and Monte Carlo Methods
DESCRIPTION
Computer simulation and related Monte Carlo methods are widely used in engineering and scientific work. Simulation
provides a powerful tool for the analysis of real-world systems when the system is not amenable to traditional analytical
approaches. In fact, recent advances in hardware, software, and user interfaces have made simulation a “first line” method of
attack for a growing number of problems. Areas where simulation-based approaches have emerged as indispensable include
decision aiding, prototype development for large-scale control systems, performance analysis of communication networks,
control and scheduling of complex manufacturing processes, and computer-based personnel training. Large stochastic
simulations arising in these and other areas present great challenges in the design of the simulation models and in the analysis
of output data. The objective of this workshop is to introduce concepts and statistical techniques that are critical to
constructing and analyzing effective simulations, and to discuss certain applications for simulation and Monte Carlo methods
with a focus on problems of interest to the control systems community.
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The target audience for the workshop includes practitioners, researchers, and students with an interest in simulation. While
certain aspects of the underlying theory will be discussed, the course will not dwell on technical details. Rather, the
instructors will attempt to convey the ideas that are of greatest practical significance, with pointers to the appropriate literature
for the technical details associated with these ideas. The material will be presented at a level that should be accessible to
almost all CDC attendees. In particular, it is expected that participants have had undergraduate courses in probability and
statistics, multivariate calculus, and linear algebra, although we will review critical aspects of this material as needed. Some
practical experience with statistical analysis and simulation will be helpful. Some MATLAB-based exercises will be discussed
for participants to carry out after the workshop.
SCHEDULE
08:3008:45 Course overview and introduction to instructors (JCS and IJW)
08:4509:15 Brief review of relevant probability and statistical methods (JCS)
09:1509:45 Computer-based (pseudo) random number generation (IJW)
09:4510:15 Stochastic timed discrete-event systems model and discrete-event simulations (IJW)
10:1510:30 Break
10:3011:00 Simulation validation and output analysis (IJW)
11:0011:30 Variance reduction techniques for simulation output (IJW)
11:3012:00 Simulation-based optimization (use of simulations for optimizing system performance) with gradient-based
methods such as IPA, LR, etc. (IJW)
12:0001:00 Lunch
01:0001:30 Continuation of simulation-based optimization with gradient-based methods (IJW)
01:3002:30 Simulation-based optimization with non-gradient methods (finite-difference, SPSA, etc.); common random
numbers in optimization (JCS)
02:3003:00 Issues in model building (bias-variance tradeoff, model selection, etc.) (JCS)
03:0003:15 Break
03:1503:45 Comparisons of systems via simulation; selection from discrete number of options (JCS)
03:4504:15 Computer resampling methods (Markov chain Monte Carlo, etc.) (JCS)
04:1504:45 Input selection and optimal experimental design (JCS)
04:4505:00 Wrap-up and open discussion (JCS and IJW).
WORKSHOP #2
ORGANIZERS:
Joao P. Hespahna, University of Southern California (USA)
Daniel Liberzon, University of Illinois, Urbana-Champaign (USA)
A. Stephen Morse, Yale University (USA)
TITLE:
Control Using Logic and Switching
DESCRIPTION
The overall objective of this tutorial workshop is to overview a variety of methods for synthesizing and analyzing logic-based
switching control systems. By a logic-based switching controller is meant a controller whose subsystems include not only
familiar dynamical components {integrators, summers, gains, etc.} but logic-driven elements as well. The overall models of
systems composed of such logics together with the processes they are intended to control, are concrete examples of what
might be called "hybrid dynamical systems." An important category of such systems are those consisting of a continuous-time
process to be controlled, a family of fixed-gain or variable-gain candidate controllers, and an "event-driven switching logic"
called a supervisor whose job is to determine in real time which controller should be applied to the process. Examples of
supervisory control systems include re-configurable systems, fault correction systems, and certain types of parameter-adaptive
systems. Major reasons for introducing logic and switching are to deal with communication, actuator and sensor constraints,
with model uncertainty, with unforeseen events or to avoid performing difficult tasks e.g., precise equipment calibration
which might otherwise be necessary were one to consider only conventional controls. The aim of this workshop is to provide
an overview of algorithms with these capabilities, as well as to discuss various techniques for analyzing the types of switched
systems which result.
SCHEDULE
08:0008:45 Switched Control System: (Liberzon)
08:4510:15 Stability of Switched Systems: (Liberzon)
10:3012:00 Framework for Self-Adjusting Control: (Morse)
12:0001:00 (Lunch)
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01:0002:15 Achieving Detectability: (Morse)
02:1503:45 Supervisory Control of Families of Linear Controllers: (Hespanha)
03:4505:15 Supervisory Control of Families of Nonlinear Controllers: (Hespanha)
WORKSHOP #3
ORGANIZERS:
Silviu-Iulian Niculescu, Universite de Technologie de Compiegne (France)
Keqin Gu, Southern Illinois University-Edwardsville (USA)
Vladimir Kharitonov, CINVESTAV-IPN (Mexico)
Jie Chen, University of California-Riverside (USA)
TITLE:
Time-delay Systems: Stability, Robustness and Applications
DESCRIPTION
This workshop presents an up-to-date tutorial of the stability analysis of time-delay systems and practical applications. Timedelay is a well-known component in many dynamical systems, which may arise, e.g., as an intrinsic part of the system, through
input and measurement channels of feedback, and as a result of simplification from partial differential equations. Process
control (as assumed in the classical Ziegler-Nichols PID control tuning rule) and chaos control are two examples among
numerous practical applications spanning biology, ecology, economy, and of course, engineering. In this tutorial workshop,
after a brief introduction on the problem set up and some classical results, the emphasis will be placed on recent research
achievements on the stability and robust stability results, as well as their applications. Most stability criteria may be checked
using an LMI solver in a digital computer. Frequency domain approaches, as well as Lyapunov-Krasovskii and Razumikhin
approaches are used to obtain results on delay-independent, delay-dependent, and (close to) exact stability criteria.
Uncertainty modeling and robust stability are also covered. The last part will be devoted to practical application examples of
these stability results. The participants will be given a handout containing the materials covered as well as a diskette
containing some MATLAB m-functions to check stability of time-delay systems.
SCHEDULE:
08:0009:30 Introduction to time-delay systems and its stability problem (Niculescu and Gu)
09:3010:30 Frequency domain approaches (Chen)
10:3011:00 Coffee break
11:0012:00 Time-domain approaches (Gu)
12:0001:00 Lunch break
01:0002:00 Robustness (Kharitonov)
02:0002:30 Coffee break
02:3003:30 Applications (Niculescu)
WORKSHOP #4
ORGANIZERS:
Reza Moheimani, University of Newcastle (Australia)
Rob Gorbet, University of Waterloo (Canada)
Henri Gavin, Duke University (USA)
TITLE:
Smart Materials and Structures
DESCRIPTION
The purpose of this workshop is to introduce the emerging field of Smart Materials and Structures to a systems
and control audience. A smart structure is constructed by integrating smart materials, in the form of sensors and
actuators, with a structure. The materials that will be specifically introduced in this workshop are shape memory
alloys, electro-rheological and magneto-rheological fluids and piezoelectric materials. Specific applications of
these materials in areas such as active and passive vibration control, active vibration isolation and shape control
will be discussed. Particular attention will be given to feedback control problems associated with these systems.
This is an important field of research with great potential for developing new technologies in many industries.
Given the important role of feedback control algorithms in optimizing the performance of smart structural systems,
it is expected that this workshop will be of great interest to a systems and control audience.
SCHEDULE
1. Active and passive vibration control using piezoelectric transducers (Moheimani)
08:4510:15 Piezoelectricity; Dynamics and modeling of piezoelectric laminate structures; Model correction; Spatial control
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10:3011:30 Shunt Damping approach to vibration reduction; Dynamics of the composite system with shunted PZT
transducer; Experimental results
2. An introduction to design and control of SMA actuators (Gorbet)
11:3012:30 Shape memory alloys; shape memory effect; SMA actuators
12:3002:00 Lunch
02:0003:30 Actuator design; modelling and feedback control; model dissipativity; shape control
3. Parametric and semi-active control of vibration using ER and MR fluids (Gavin)
03:3004:15 Introduction to semi-active control; ER and MR fluids; dynamic rheological models of devices and feedback
linearization
04:3005:45 Decentralized causal controllers; multi-variable positive real synthesis; experimental results
WORKSHOP #5
ORGANIZERS:
Peter Dorato, University of New Mexico (USA)
Chaouki Abdallah, University of New Mexico (USA)
Stefano Malan, Politecnico di Torino (Italy)
TITLE:
Quantified Multivariate Polynomial Inequalities: Theory and Applications to Practical
Feedback Design Problems
DESCRIPTION
Many practical feedback design problems (problems with fixed controller structures, plant uncertainty, and multiple design
specifications) can be reduced to the mathematical problem of quantifier elimination of logic quantifiers on multivariatepolynomial (polynomial in many variables) inequalities. The multivariate-polynomial inequalities (MPIs) typically arise from
stability constraints and performance specifications, and the logic quantifiers, such as "for all", arise from uncertain plant
parameters. The elimination of these logic quantifiers, either symbolically or numerically, results in a set of admissible
design-parameter values, from which one can then select a final controller design. The class of problems considered do not
have analytical solutions, mainly because of the assumed fixed structure of the controller, yet represent problems likely to be
encountered in practice, e.g. control with a PID controller. In this workshop the link between practical control problems and
quantified MPIs will be illustrated. Three methods will be presented for quantifier elimination (QE), symbolic methods,
deterministic methods based on branch-and-bound techniques for multivariate-polynomial functions, and statistical learning
methods based on Monte Carlo sampling techniques. The three methods are listed in order of the complexity of the problems
that can be solved. One must resort to statistical learning methods for complex problems, and one must settle, in this case, for
probably-approximately-correct(PAC) results. The workshop lectures will outline the theory behind each method, review
related literature, identify available software, and present appropriate examples.
SCHEDULE
09:0010:30 Reduction of practical feedback design problems to quantified multivariate-polynomial inequalities (Dorato)
10:3010:45 Coffee break
10:4512:00 Symbolic methods and computer software (Dorato)
12:0001:30 Lunch
01:3003:15 Deterministic branch-and-bound methods (Malan)
03:1503:30 Coffee break
03:3005:30 Statistical learning methods (Abdallah)
05:3006:00 Concluding remarks and discussion
WORKSHOP #6
ORGANIZERS:
João Sousa, Raja Sengupta, University of California-Berkeley (USA)
Anouck Girard, Karl Hedrick, Shankar Sastry, Stavros Tripakis, Tunç Simsek, Pravin Varaiya,
Wenbin Wei, University of California-Berkeley (USA)
Sergio Yovine, VERIMAG-CNRS (France)
TITLE:
Networked Autonomous and Semi-autonomous Vehicles
DESCRIPTION
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The objective of the workshop is to present an in-depth description of technologies and tools for designing and implementing
communication and control systems for networked semi-autonomous and autonomous vehicles. The tutorial is organized into
four parts: systems, technologies, tools and a challenge problem.
(i) Systems. Description of beginning-to-end design and implementation of sea, air and land applications with special
emphasis on architectures and problem decomposition, and on layers and theories. The selected applications are the
Automated Highway System (AHS), Mobile Offshore Base (MOB), Air Traffic Management System (ATM), Unmanned
Combat Air Vehicles (UCAV) and Autonomous Underwater Vehicles (AUV).
(ii) Technologies. Discussion of enabling control and communication technologies for networked autonomous and semiautonomous vehicles with examples from the five applications and from the challenge problem. The technologies are hybrid
control design and verification, protocol design and verification, networking, and enterprise control. The exposition is
organized around problems and solutions, with a final segment on related topics and state-of-the-art.
(iii) Tools. Presentation of computational tools for formal modeling, simulation, and implementation. The exposition
addresses the main issues in formal modeling, simulation, and implementation with examples from the AHS and MOB
systems, and gives an overview of the state-of-the-art in this field.
(iv) Challenge problem. The challenge problem calls upon the attendees to exercise the techniques and tools that have been
presented, and illustrates the advantages of an integrated approach for design and implementation.
SCHEDULE
08.0008.15 Overview of the workshop (João Sousa)
Systems
08.1508.45 Automated Highway System (Karl Hedrick)
08.4509.15 UCAV and ATM (Shankar Sastry)
09.1509.45 MOB and AUVs (João Sousa)
Case study I
09:4510:15 Presentation of the challenge problem (Raja Sengupta)
10.1510.30 Coffee break
Tools I
10.3011.30 Formal modeling and implementation (Anouck Girard)
Enabling technologies
11.3012.30 Hybrid control synthesis and verification (João Sousa)
12.3001.30 Lunch
01.3002.30 Protocol design and verification (Sergio Yovine, Stavros Tripakis)
02.3003.30 Networking (Raja Sengupta, Pravin Varaiya)
03.3003.45 Coffee break
03.4504.15 Enterprise control (Raja Sengupta, Wenbin Wei)
Tools II
04.1505.00 Simulation (Tunc Simsek)
Case study II
05.0005.45 Case study (Raja Sengupta)
05.4506.00 Conclusions (João Sousa)
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