Lecture Notes in Control and Information Sciences 208

Editor: M. Thoma

Hassan Khalil, Joe Chow and Petros Ioannou (Eds)

Proceedings of Workshop on Advances in Control and its Applications

~ Springer

Series A d v i s o r y B o a r d

A. Bensoussan • M.J. Grimble • P. Kokotovic • H. Kwakernaak ].L. Massey • Y.Z. Tsypkin

Edi tors

Hassan K. Khalil , Professor D e p a r t m e n t o f Electrical Eng inee r ing , Mich igan State Univers i ty , East Lansing, M148824-1226, USA

Joe H. Chow, Professor Electrical , C o m p u t e r , a n d Systems E n g i n e e r i n g Po ly t echn ic Ins t i tu te , Troy, NY 12180-3590, USA

Department, Renssdaer

Pet ros A. I o a n n o u , Professor D e p a r t m e n t o f Electrical Eng inee r ing-Sys tems , Un ive r s i t y o f Sou the rn Cal i fornia , Los Angeles, CA 90089-2563, USA

ISBbl 3-540-19993-4 Springer-Verlag Berlin Heidelberg New York

British Library Cataloguing in Publication Data Workshop on Advances in Control and Its Applications

Proceedings of Workshop on Advances in Control and Its Applications. - (Lecture Notes in Control & Information Sciences; Vol.208) I. Title If. Khalil, Hassan K. III. Series 629.8312

ISBN 3-540-19993-4

Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress

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T O P R O F E S S O R P E T A R V. K O K O T O V I C O N T H E O C C A S I O N OF HIS 6 0 T H B I R T H D A Y

Preface

On Saturday, May 21, 1994, colleagues and former students of Professor Petar V. Kokotovic gathered at the University of Illinois, Urbana-Champaign, to celebrate his 60th birthday. The "Workshop on Advances in Control and its Applications" was organized by Professor Tamer Basar of the University of Illinois together with the three coeditors of this Proceedings to honor Professor Kokotovic. The efforts of the organizers to keel) the workshop a surprise for Petar was apparently successful. The day-long presentations and the evening banquet in the new Grainger library on the Urbana-C, hampaign campus were enjoyable events. They brought back a lot of fond memories to Petar and his friends. To Petar's students, the day was a special occasion to show their gratitude to the man they affectionately call PK. They respect his expert knowledge in both theory and industrial applications, his dedication to his profession, and his personal mettle.

All the speakers at the workshop were former students of PK. Their papers, arranged in the order of presentation at the workshop, cover a wide range of topics in both control theory and applications. The paper by Liubakka, Rhode, and Winkehnan (presented by Rhode) uses sensitivity methods and slow adap- tation to design an adaptive controller for automotive speed control. The paper by Datta and loannou (presented by Ioannou) gives a modified model refer- ence adaptive controller with improved performance and examines the tradeoff between nominal performance versus robustness to unmodeled dynamics. The paper by Kanellakopoulos gives an account of recent advances in adaptive non- linear control. The paper by Khalil presents a methodology for nonlinear output feedback control using high-gain observers. It illustrates the use of saturation nonlinearities to overcome the peaking phenomenon. The paper by Jamshidi describes a number of hardware implementation schemes for fuzzy control sys- tems. The paper by Niinomi and Krogh (presented by Krogh) gives algorithms for modeling and analysis of a hybrid system, that is, a system with both discrete and continuous state models. The paper by Lin, Saberi, Sannuti, and Shamash (presented by Sannuti) gives an explicit eigenstructure assignment procedure by low and high gain state feedback that achieves perfect regulation. The paper by Young examines the role of manifolds in system reduction and feedback de- signs which exploit time-scale separation. The paper by Zaad and Khorasani (presented by Khorasani) utilizes the concept of integral manifolds to design a dynamical composite control strategy for nonminimum phase singularly per- turbed systems and applies it to flexible link manipulators. The paper by Taylor applies sampled-data techniques to nonlinear singularly perturbed systems and illustrates the results by a permanent magnet synchronous motor example. The paper by Chow presents a new nonlinear model reduction formulation for large power systems, based on slow coherency and aggregation ideas. The paper by Ahmed-Zaid, Jang, Awed-Badeeb, and Taleb (presented by Ahmed-Zaid) inves- tigates the aggregation of synchronous generators with small and large induction motors in a hybrid multimachine representation of power systems.

Many of the topics covered in these papers started in collaboration with

viii

Petar, and are still his favorite topics. Liubakka's paper builds on the sensitivity points method developed by Petar in the sixties. The papers by Khalil, Lin, Young, Zaad, Taylor, and Chow use singular perturbation theory, the major theme of Petar's work from the late sixties till the early eighties, the influence of his pioneering work in the seventies on the connection between high-gain feedback and singular perturbation is evident in the papers by Khalil, Lin, and Young. The concept of composite control of two-time-scale systems that was developed by Petar in the late seventies is used in the papers by Zaad and Taylor. His work on the use of integral manifolds in the analysis and design of two-time- scale systems in the early eighties is used in the papers by Young, and Zaad. His breakthrough discovery in the early eighties of the relationship between the time scales of slow and fast dynamics on one hand and strong and week, or dense and sparse connections, on the other hand, is the impetus for the aggregation methods of power systems presented in the papers by Chow and Ahmed-Zaid. His work on nonlinear control in the late eighties which revealed the destabilizing effect of the peaking phenomenon associated with high-gain feedback has a direct impact on the paper by Khalil. His work on robustness of adaptive control in the eighties is the starting point of a large body of work that leads into the paper by Datta. Finally, the confluence of nonlinear and adaptive control ideas, the thrust of Petar's work since the late eighties, represents the hulk of development in nonlinear adaptive control theory, surveyed by Kanellakopoulos.

In addition to the speakers, whose names appeared in the preceding para- graphs, the workshop was attended by several colleagues who collaborated with Petar over the years, including Les Fink, Zoran Gajic, Abe Haddad, Harold Javid, Alan Laub, Jim Winkelman, and the University of Illinois friends: Tamer Basar, Ken Jenkins, Jure Medanic, M.A. Pai, Bill Perkins, Peter Sauer, and Mark Spong. Some of them were joined in the evening banquet by their wives, including Petar's wife Anna Bergman. We thank all of them for attending the presentations and speaking at the evening banquet. We also thank Rose Harris (Petar's secretary for many years) and Sue Jenkins for their speeches at the banquet. We are grateful to Tamer Basar for his efforts in organizing this work- shop. We also thank his secretary Becky Lonberger for her excellent work before and during the workshop. Finally, we extend our thanks to Imke Mowbray and Christopher Greenwell of Springer-Verlag for their cooperation in publishing this proceedings.

Hassan Khalil Joe Chow Petros Ioannou

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C o n t e n t s

P e t a r V. Kokotovic Biography Selected Publications Former Ph.D. Students

Papers

Adap t ive A u t o m o t i v e Speed Contro l by M. K. Liubakka, D. S. Rhode and J. R. Winkelman

Modif ied Model Reference Adapt ive Control." Design, Analysis and Pe r fo rmance Bounds

by A. Datta and P. A. Ioannou

Advances in Adap t ive Nonl inear Contro l by I. Kanellakopoulos

Nonl inear O u t p u t Feedback Cont ro l by H. K. Khalil

~-klzzy Logic Cont roh Hardware Imp lemen ta t i ons by M. Jamshidi

Model ing and Analysis of Swi tched-Mode Hybr id Systelns Driven by Thresho ld Events

by T. Niinomi and B .H. Krogh

Perfect Regu la t ion of Linear Mul t ivar iab le S y s t e m s - - a Low-and-High-Gain Design

by Z. Lin, A. Saberi, P. Sannuti and Y. Shamash

Manifo ld Based Feedback Design by K. D. Young

Cont ro l of N o n m i n i m u l n Phase Singular ly P e r t u r b e d Systems wi th Appl ica t ions to Flexible Link Man ipu la to r s

by K. H. Zaad and K. Khorasani

Digi tal R e d u c e d - O r d e r Model ing and Feedback Design for Nonl inear Sys tems

by D. G. Taylor

A Nonl inear Model Reduc t i on Formula t ion for Power Sys tem Slow Coherency and Aggrega t ion

by J. H. Chow

xi o o o

XIII o ° o

XXUl

27

68

108

133

155

173

193

234

257

282

Aggrega t ion of Synchronous G e n e r a t o r s and Induc t i on M o t o r s in M u l t i m a c h i n e Power Sys tems

by S. Ahmed-Zaid, S. S. Jang, O. Awed-Badeeb and M. Taleb 299

Pe ta r V. Kokotovic

Petar V. Kokotovic was born on March 18, 1934, in Belgrade, Yugoslavia. He received his Dipl. Ing. and Magistar degrees from the University of Belgrade in 1958 and 1962, respectively, and his Ph.D. degree in 1965 from the Institute of Control Sciences, Moscow, U.S.S.R. His interest in feedback control started while working at a power station in France in 1956, and at a magnetic laboratory in Germany in 1957. In 1958 he joined the Pupin Institute in Belgrade, first as a control engineer and then as head of the process control division. In 1965 he was invited to the United States to present a series of seminars oi1 sensitivity analysis to more than 20 uniwersities and research instiUltions. Soon after, he joined the ECE Department and Coordinated Science Laboratory, University of Illinois, Champaign-Urbana, where he remained for 25 years. While in Illinois, he supervised 25 Ph.D. students, received the Eminent Faculty Award and held the endowed Grainger Chair. In 1991 Professor Kokotovic joined the University of California, Santa Barbara, as Co-director of the newly formed Center for Control Engineering and Computation.

In the early 1960's Kokotovic developed the sensitivity points method, a pre- cursor to adaptive control that is still in industrial use for automatic tuning of controller parameters. In the late 1960's and 1970's, Kokotovic pioneered singu- lar perturbation techniques for multi-time-scale analysis and composite design of control systems and flight trajectories. This methodology has spurred many extensions and applications, numerous books and hundreds of papers. In apply- ing it to large-scale systems, Kokotovic and coworkers discovered a fundamental relationship between slow and fast dynamic phenomena and strong and weak connections of subsystems. This result became a cornerstone of an efficient pro- gram for dynamic equivalencing of power systems.

In the early 1980's, Kokotovic and coworkers identified the main forms of adaptive systems instability caused by unmodeled dynamics. This led to robust redesigns of adaptive controllers which made them more suitable for applica- tions. Kokotovic's most recent research is in nonlinear control, both robust and adaptive, where he and his coworkers have developed a novel recursive design procedure - backstepping, and solved several open adaptive stabilization and tracking problems.

As a long-term industrial consultant, Professor Kokotovic contributed to the design of first control computers for car engines at Ford, and to power system stability analysis at General Electric.

Professor Kokotovic is a Fellow of the IEEE, received two outstanding IEEE Transactions Paper Awards (1983 and 1993) and delivered the 1991 IEEE Con- trol Systems Society Bode Prize Lecture. In 1990 he was awarded the Triennial Quazza Medal by the International Federation of Automatic Control, and in 1995 he was awarded the IEEE Control Systems Field Award.

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PETAR V. KOKOTOVI(

SELECTED PUBLICATIONS 1964- 1994 ARRANGED BY TOPICS

1 S E N S I T I V I T Y A N A L Y S I S

Survey

1.1 P. V. Kokotovid and R. Rutman. Sensitivity of automatic control systems (survey). Automation and Remote Control, 26:727-748, 1965.

Algebraic Sensitivity

1,2 P. V. Kokotovid and D. Siljak. The sensitivity problem in continuous and sampled-data linear systems by generalized Mitrovic method. IEEE Trans. Part II, 83:321-324, 1964.

1.3 P. V. Kokotovid and D. Siljak. Automatic analog solution of algebraic equa- tions and plotting of root loci by generalized Mitrovic method. IEEE Trans. Part II, 83:324-328, 1964.

Sensitivity Points

1.4 P. V. Kokotovid. Structural method for simultaneous obtaining of sensitivity functions in linear feedback systems. Automatika, 2:96-99, 1964. (Also: The structure of the parameter influence analyzer. Proe. 2nd IFAC Congress, 517-518, Basle, 1963).

1.5 P. V. Kokotovid and D. Djokovic. A homogeneity property of the solution of linear differential equations with constant coefficients. Mathematical Review, 16:44-48, Belgrade 1964.

1.6 P. V. Kokotovid. Method of sensitivity points. In R. Tomovic, Sensitivity Analysis of Dynamic Systems, 57-78, McGraw-Hill, New York, NY, 1964.

1.7 P. V. KokotoviS. Method of sensitivity points in the investigation and opti- mization of linear control systems. Automation and Remote Control, 25:1670- 1676, 1964. (Also: Sensitivity Points, Soviet Encyclopedia of Modern Engi- neering, pp. 1512-1517).

1.8 P. V. Kokotovid and R. Rutman. Sensitivity matrices and their modeling. Automation and Remote Control, 27:1067-1079, 1966. (Also: On the deter- mination of sensitivity functions with respect to the change of system order. Proc. IFAC Syrup. Sensitivity Analysis, 131-142, Pergamon Press, London, 1964).

xiv

Parameter Optimization and Adaptation

1.9 S. Bingulac and P. V. Kokotovi& Automatic optimization of linear feedback control systems on an analog computer. Proc. Int. Assoc. Analog Computa- tion, 8:12-17, Brussels, 1965.

t.10 P. V. Kokotovifi, J. Medani(,, M. Vu~kovi~, and S. Bingulac. Sensitivity method in the experimental design of adaptive control systems. Proe. 3rd IFAC Congress, 45 B. 1-45 B. 12, London, 1966.

1.11 P. V. Kokotovi~ and J. Heller. Direct and adjoint sensitivitiy equations for parameter optimization. IEEE Trans. Automatic Control, AC-12:609-610, 1967.

Optimally Sensitive Systems

1.12 P. V. Kokotovid, J. B. Cruz, Jr., J. Heller, and P. Sannuti. Synthesis of op- timally sensitive systems. Proc. IEEE, 56:1318-1324, 1968.

1.13 P. V. Kokotovid and A. Haddad. Estimators for optimally sensitive systems. Proe. IEEE, 56:1399-1400, 1968.

1.14 P. V. Kokotovid and D. Salmon. Design of linear feedback controllers for nonlinear plants. IEEE Trans. Automatic Control, AC-14:289-292, 1969.

1.15 P. V. Kokotovifi, J. Heller, and P. Sannuti. Sensitivity comparison of optimal controls. Int. J. Control, 9:111-115, 1969.

1.16 P.V. Kokotovid and J. B. Cruz, Jr. An approximation theorem for linear optimal regulators. J. Math. Analysis Appl., 27:249-252, 1969.

1.17 M. Jamshidi, G. D'Ans, and P. V. Kokotovi& Application of a parameter- imbedded Riecati equation. IEEE Trans. Automatic Control, AC-15:682- 683, 1970.

1.18 P. V. Kokotovi~., A. H. Haddad, and J. B. Cruz, Jr. Design of control systems with random parameters. Int. J. Control, 13:981-992, 1971.

1.19 P. V. Kokotovi~ and W. R. Perkins. Deterministic parameter estimation for near-optimum feedback control. Automatica, 7:439-444, 1971.

2 SINGULAR PERTURBATIONS AND OPTIMAL CONTROL

Books

B.1 P. V. Kokotovi~, H. K. Khalil, and J. O'Reilly. Singular Perturbation Meth- ods in Control: Analysis and Design. Academic Press, New York, NY, 1986. (Review by M. Mangel, SIAM Review, p. 674, 1988).

B.2 P. V. Kokotovi~ and H. K. Khalil, editors. Singular Perturbations in Systems and Control. IEEE Press, 1986.

B.3 P. V. Kokotovi~., A. Bensoussan, and G. Blankenship, editors. Singular per- turbations and asymptotic analysis in control systems. Lecture Notes in Con- trol and Information Sciences, 90, Springer-Verlag, 1986.

B.4 P. V. Kokotovid and W. Perkins, editors. Singular perturbations: Order re- duction in control systems design. ASME, 1972.

XV

Surveys

2.1 P. V. Kokotovid. Applications of singular perturbation techniques to con- trol problems. SIAM Review, 26:,501-,550, 1984. (In French: Perturbations singulieres en controle optimal, in Outils el Modeles Mathematiques Pour l'Automatique, I. D. Landau, Ed., C.N.R.S., Paris, 135-175, 1983).

2.2 P. V. Kokotovid, R. E. O'Malley, Jr., and P. Sannuti. Singular perturbations and order reduction in control theory - an overview. Automatica, 12:123-132, 1976.

2.3 V. R. Saksena, J. O'Reilly, and P.V. Kokotovid. Singular perturbations and time-scale methods in control theory: Survey 1976-1983. Automatzca, 20:273-293, 1984.

Linear Regulator Design

2.4 P. Sannuti and P. V. Kokotovid. Near-optimum design of linear systems by a singular perturbation method. IEEE Trans. Automatic Control, AC-14:15- 22, 1969.

2.5 A. It. Haddad and P. V. Kokotovi& Note on singular perturbation of linear state regulators. IEEE Trans. Automatic Control, AC-16:279-281, 1971.

2.6 P. V. Kokotovi5 and R. A. Yackel. Singular perturbation of linear regulators: basic theorems. IEEE Trans. AutomatZc Control, AC-17:29-37, 1972.

2.7 R. A. Yackel and P. V. KokotoviC A boundary layer method for the matrix Riecati equation. IEEE Trans. Automatic Control, AC-18:17-24, 1973.

2.8 R. R. Wilde and P. V. Kokotovid. Stability of singularly perturbed systems and networks with parasitics. IEEE Trans. Automatic Control, AC-17:245- 246, 1972.

2.9 P. V. Kokotovi& A Riccati equation for block-diagonalization of ill-conditioned systems. IEEE Trans. Automatic Control, AC-20:812-814, 1975.

2.10 J. H. Chow and P. V. Kokotovi& A decomposition of near-optimum regula- tors for systems with slow and fast modes. IEEE Trans. Automatic Control, AC-21:701-705, 1976.

2.11 A. H. Haddad and P. V. Kokotovi(!. Stochastic control of linear singularly perturbed systems. IEEE Trans. Automatic Control, AC-22:815-821, 1977.

2.12 K. D. Young, P.V. Kokotovid, and V. I. Utkin. A singular perturbation analysis of high gain feedback systems. IEEE Trans. Automatic Control, AC-22:931-938, 1977.

2.13 J. H. Chow, J . J . Allemong, and P.V. Kokotovid. Singular perturbation analysis of systems with sustained high frequency oscillations. Automatica, 14:271-279, 1978.

2.14 J. J. Allemong and P. V. Kokotovid. Eigensensitivilfies in reduced order mod- eling. IEEE Trans. Automatic Control, AC-25:821-822~ 1980.

2.15 V. R. Saksena and P.V. Kokotovid. Singular perturbation of the Popov- Kalman-Yakubovich lemma, fiystems and Control Letters, 1:65-68, 1981.

2.16 K. K. D. Young and P. V. Kokotovid. Analysis of I~edback-loop interactions with actuator and sensor parasitics. Automatica, 18:577-582, 1982.

xvi

Optimal Control

2.17 P. V. Kokotovi~ and P. Sannuti. Singular perturbation method for reducing the model order in optimal control design. IEEE Trans. Automatic Control, AC-13:377-384, 1968.

2.18 P. Sannuti and P. V. Kokotovi~.. Singular perturbation method for near- optimum design of high-order non-linear systems. Automatica, 5:773-779, 1969.

2.19 R. R. Wilde and P. V. Kokotovi~. A dichotomy in linear control theory. IEEE Trans. Automatic Control, AC-17:382-383, 1972.

2.20 R. R. Wilde and P. V. Kokotovi~. Optimal open- and closed-loop control of singularly perturbed linear systems. IEEE Trans. Automatic Control, AC- 18:616-625, 1973.

2.21 P. V. Kokotovi~ and A. H. Haddad. Controllability and time-optimal control of systems with slow and fast modes. IEEE Trans. Automatic Control, AC- 20:111-113, 1975.

2.22 P. V. Kokotovid and A. H. Haddad. Singular perturbations of a class of time- optimal controls. IEEE Trans. Automatic Control, AC-20:163-164, 1975.

2.23 S. H. Javid and P. V. Kokotovid. A decomposition of time scales for iterative computation of time-optimal controls. Y. Optim. Theory Appl., 21:459-468, 1977.

2.24 B. D. O. Anderson and P. V. Kokotovid. Optimal control problems over large time intervals. Aulomatica, 23:355-363, 1987.

Applications of Optimal Control

2.25 G. D'Ans, P. V. Kokotovi~, and D. Gottlieb. A nonlinear regulator problem for a model of biological waste treatment. IEEE Trans. Automatic Control, AC-16:341-347, 1971.

2.26 G. D'Ans, P.V. Kokotovi~., and D. Gottlieb. Time-optimal control for a model of bacterial growth. J. Optim. Theory and Appl., 7:61-69, 1971.

2.27 G. D'Ans, D. Gottlieb, and P. V. Kokotovi~.. Optimal control of bacterial growth. Automatica, 8:729-736, 1972.

2.28 P. V. Kokotovid and G. Singh. Minimum-energy control of a traction motor. IEEE Trans. Automatic Control, AC-17:92-95, 1972.

3 LARGE SCALE SYSTEMS

Books

B.5 J. I-I. Chow, editor, B. Avramovic, P. V. Kokotovi~, G. Peponides, and J. Winkelman. Time-Scale Modeling of Dynamic Networks. Lecture Notes in Control and Information Sciences, 46, Springer-Verlag, 1982.

B.6 P. V. Kokotovi~., J. B. Cruz, Jr., J. V. Medani~ and W. R. Perkins, editors. Systems engineering for power: Organizational forms for large scale systems- Volume II. US Department of Energy, Conf-79090-P3, 1979.

xvii

Tutorial

3.1 P.V. Kokotovi& Subsystems, time scales and multimodeling. Automatica, 17:789-795, 1981.

Multimodeling

3.2 H. K. Khalil and P. V. Kokotovi& Control strategies for decision makers using different models of the same system. IEEE Trans. Automatic Control, AC-23:289-298, 1978.

3.3 H. K. Khalil and P. V. Kokotovi& Control of linear systems with multipa- rameter perturbations. Automatica, 15:197-207, 1979.

3.4 H. K. Khalil and P. V. Kokotovi& D-stability and multi-parameter singular perturbation, bVAM J. Control and Optim., 17:56-65, 1979.

3.5 H. K. Khalil and P. V. Kokotovi& Feedback and well-posedness of singularly perturbed Nash games. IEEE Trans. Automatic Control, AC-24:699-708, 1979.

Coherency and Aggregation

3.6 P.V. Kokotovi~, :~. Avramovic, J. H. Chow, and J. R. Winkelman. Co- herency based decomposition and aggregation. Automatica, 18:47-56, 1982.

3.7 R.G. Phillips and P.V. Kokotovi& A singular perturbation approach to modeling and control of Markov chains. IEEE Trans. Automatic Control, AC-26:1087-1094, 1981.

3.8 F. Delebecque, J. P. Quadrat, and P.V. Kokotovi& A unified view of ag- gregation and coherency in networks and Markov chains. Int. J. Control, 40:939-952, 1984.

3.9 J. H. Chow and P. V. Kokotovi& Time scale modeling of sparse dynamic networks. IEEE Trans. Automatic Control, AC-30:714-722, 1985.

Power Systems and Networks

B. Avramovic, P. V. KokotoviS, J. R. Winkelman, and J o H. C'how. Area decomposition for electromechanical models of power systems. Automatica, 16:637-648, 1980. G. Peponides, P. V. Kokotovifi, and J. H. Chow. Singular perturbations and time scales in nonlinear models of power systems. IEEE Trans. Circuits and Systems, CAS-29:758-767, 1982. P. V. Kokotovi~, J. J. Allemong, J. R. Winkelman, and J. H. Chow. Singular perturbation and iterative separation of time scales. Automatica, 16:23-33, 1980. J. R. Winkelman, J. H. Chow, J. J. Allemong and P. V. Kokotovi& Multi- time-scale analysis of a power system. Automatica, 16:35-43, 1980. J. R. Winkelman, J. H. Chow, B. C. Bowler, B. Avramovic, and P. V. Koko- tovifi. An analysis of interarea dynamics of multi-machine systems. IEEE Trans. Power App. Systems, PAS-100:754-763, 1981. B. H. Krogh and P. V. Kokotovi& Feedback control of overloaded networks. IEEE Trans. Automatic Control, AC-29:704-711, 1984.

3.10

3.11

3.12

3.13

3.14

3.15

xv i i i

Weakly Coupled Systems

3.16 P. V. Kokotovid. Feedback design of large linear systems, in Feedback Sys- tems, J. B. Cruz, Jr., editor, 99-137. McGraw-Hill, New York, 1972.

3.17 P. V. Kokotovid, W. R. Perkins, J. B. Cruz, Jr., and G. D'Ans. e-coupling method for near-optimum design of large-scale linear systems. Proc. IEE, 116:889-892, London, 1969.

3.18 P. V. Kokotovid and G. Singh. Optimization of coupled non-linear systems. Int. J. Control, 14:51-64, 1971.

4 ADAPTIVE CONTROL

Books

B.7 P. A. Ioannou and P. V. Kokotovid. Adaptive Systems with Reduced Models, Lecture Notes in Control and Informalion Sciences, 47. Springer-Verlag, New York, 1983.

B.8 B. D. O. Anderson, R.R. Bitmead, C. R. Johnson, Jr., P.V. Kokotovid, R. L. Kosut, I. Mareels, L. Praly, and B. D. Riedle. Stability of Adaptive Systems: Passivity and Averaging Analysis. MIT Press, Cambridge, MA, 1986. (Russian translation published by Mir, 1989).

Survey

P. V. Kokotovid. Recent trends in feedback design: an overview. Automatica, 21:225-236, 1985.

Robust Design

4.1 P. A. Ioannou and P. V. Kokotovid. An asymptotic error analysis of identi- fiers and adaptive observers in the presence of parasitics. IEEE Trans. Au- tomatic Control, AC-27:921-927, 1982. (Best IEEE Trans. Paper Award).

4.2 P. A. Ioannou and P. V. Kokotovid. Robust redesign of adaptive control. IEEE Trans. Automatic Control, AC-29:202-211, 1984.

4.3 P. A. loannou and P. V. Kokotovid. Instability analysis and improvement of robustness of adaptive control..Automatica, 20:583-,594, 1984.

4.4 P. A. Ioannou and P. V. Kokotovid. Decentralized adaptive control of in- terconnected systems with reduced-order models. Aulomatica, 21:401-412, 1985.

Stability-Instability Criteria

4.5 B. D. Riedle and P. V. Kokotovid. A stability-instability boundary for distur- bance free slow adaptation with unmodeled dynamics. IEEE Trans. Automatic Control, AC-30:1027-1030, 1985. (also 23rd CDC, 1984).

4.6 B. D. Riedle and P. V. Kokotovid. Stability analysis of an adaptive system with unmodeled dynamics. Intl. J. Control, 41:389-402, 1985.

xix

4.7 P.V. Kokotovid, B. D. Riedle, and L. Praly. On a stability criterion for continuous slow adaptation. 5"ystems and Control Letters, 6:7-14, 1985.

4.8 B. Riedle, L. Praly, and P. Kokotovid. Examination of the SPR condition in output error parameter estimation. Automatica, 22:495 498, 1986.

Integral Manifold Method

4.9 B. D. Riedle and P. V. Kokotovid. Integral manifolds of slow adaptation. IEEE Trans. Automatic Control, AC-31:316-323, 1986. (Also: Integral mani- fold approach to slow adaptation, 24th IEEE CDC, Ft. Lauderdale, FL, 1985.) B. D. Riedle and P. V. Kokotovid. Stability of slow adaptation for non-SPR systems with disturbances. IEEE Trans. Automatic Control, AC-32:451 455, 1987. S. T. Hung, P. V. Kokotovid, and J. R. Winkelman. Self tuning of conflicting oscillatory modes: a case study. IEEE Trans. Automatic Control, AC-34:250- 253, 1989.

Bifurcations and Drift Instabilities

B. Riedle, B. Cyr, and P. Kokotovid. Disturbance instabilities in an adaptive system. IEEE Trans. Automatic Control, AC-29:822 824, 1984. (Also: Bifur- cating equilibria of adaptive control systems. Proe. 1984 American Control Conference, 238-240, 1984).

4.13 D. A. Schoenwald and P. V. Kokotovid. Global and local stability properties of a non-SPR output error estimator. Int. J. Control, 50:937-953, 1989.

4.14 D. A. Schoenwald and P. V. Kokotovid. Boundedness conjecture for an out- put error adaptive algorithm. Int. J. Adaptive Control and hSgnal Processing, 4:27-47, 1990.

4.15 R. H. Middleton and P. V. Kokotovi& Boundedness properties of simple, in- direct adaptive-control systems. IEEE Trans. Automatic C, ontrol, AC-37:1989- 1994, 1992.

Applications of Adaptive Control

4.16 D. E. Henderson, P. V. Kokotovid, J. L. Schiano, and D. S. Rhode. Adaptive control of an arc welding process. IEEE Control Systems Magazine, 13:49-53, 1993.

4.17 M. K. Liubakka, D. S. Rhode, J. R. Winkelman and P. V. Kokotovid, Adap- tive automotive speed control. IEEE Trans. Automatic Control, 38:1011- 1020, 1993.

4.10

4.11

4.12

5 N O N L I N E A R C O N T R O L

Survey

5.1 P. V. Kokotovi(~. Recent trends in feedback design: an overview. Automatica, 21:225-236, 1985.

XX

Nonlinear Composite Control

5.2 J. It. Chow and P. V. Kokotovi6. Near-optimal feedback stabilization design of a class of nonlinear singularly perturbed systems. SIAM J. Control and Optim., 16:756-770, 1978.

5.3 J. H. Chow and P. V. Kokotovi~. Two-time-scale feedback design of a class of nonlineal" systems. IEEE Trans. Automatic Control, AC-23:438-443, 1978.

5.4 J. H. Chow and P. V. Kokotovi6. A two-stage Lyapunov-Bellman feedback design of a class of nonlinear systems. IEEE Trans. Automatic Control, AC- 26:656-663, 198 I.

Slow Manifold Method

5.5 G. Peponides and P. V. Kokotovi~.. Weak connections, time scales, and ag- gregation of nonlinear systems. IEEE Trans. Circuits and Systems, CAS- 30:416-421, 1983.

5.6 K. Khorasani and P. V. Kokotovi6. Feedback linearization of a flexible ma- nipulator near its rigid body manifold. Systems and Control Letters, 6:187- 192, 1985.

5.7 K. Khorasani and P. V. Kokotovi6. A corrective feedback design for nonlinear systems with fast actuators. IEEE Trans. Automatic Control, AC-31:67-69, 1986.

5.8 M. W. Spong, K. Khorasani, and P. V. Kokotovi6.. An integral manifold ap- proach to the feedback control of flexible joint robots. IEEE J. of Robotics and Automation,RA-3:291-300, 1987.

5.9 R. Marino and P. V. Kokotovi~.. A geometric approach to nonlinear singu- larly perturbed control systems. Automatica, 24:31-41, 1988.

5.10 P. W. Saner, S. Ahmed-Zaid, and P. V. Kokotovi6. An integral manifold ap- proach to reduced order dynamic modeling of synchronous machines. IEEE Trans. Power Sy~stems, PS-3:17-23, 1988.

5.11 P.V. Kokotovi~ and P. W. Sauer. Integral manifold as a tool for reduced- order modeling of nonlinear systems: A synchronous machine case study. IEEE Trans. Circuits and Systems, 36:403-410, 1989.

5.12 It. K. Khalil and P. V. Kokotovifi. On stability properties of nonlinear sys- tems with slowly-varying inputs. IEEE Trans. Automatic Control, 36:229, 1991.

Feedback Linearization and Stabilization

5.13 P.V. Kokotovi5 and R. Marino. On vanishing stability regions in nonlin- ear systems with high-gain feedback. IEEE Trans. Automatic Control, AC- 31:967-970, 1986.

5.14 J. W. Grizzle and P. V. Kokotovi~.. Feedback linearization of sampled-data systems. IEEE Trans. Automatic Control, AC-33:857-859, 1988.

5.15 J. Hauser, S. Sastry, and P. V. Kokotovi~. Zero dynamics of regularly per- turbed systems may be singularly perturbed. Systems and Control Letters, 13:299-314, 1989.

xxi

5.16 H. J. Sussman and P. V. Kokotovid. The peaking phenomenon and the global stabilization of nonlinear systems. IEEE Trans. Automatic Control, AC- 36:424-439, 1991.

5.17 J. ttauser, S. S. Sastry, and P. V. Kokotovi& Nonlinear control via approx- imate input-output linearization: the ball and beam example. IEEE Trans. Automatic Control, AC-37:392-398, 1992.

5.18 A. Isidori, S. S. Sastry, P. V. Kokotovid and C. I. Byrnes. Singularly per- turbed zero dynamics of nonlinear systems. IEEE Trans. Automatic Control, AC-37:1625-1631, 1992.

Backstepping Design

5.19 P. V. Kokotovid and H. Sussmann. A positive real condition for global stabi- lization of nonlinear systems. Systems and Control Letters, 13:125-133, 1989.

5.20 A. Saberi, P. V. Kokotovid and H. J. Sussmann. Global stabilization of par- tially linear composite systems. SIAM J. Control and Optim., 28:1491-1503, 1990.

5.21 I. Kanellakopoulos, P. V. Kokotovid and A. S. Morse. A toolkit for nonliner feedback design. Systems and Control Letters, 18:83-92, 1992.

5.22 R. A. Freeman and P. V. Kokotovi& Design and comparison of globally sta- bilizing controllers for an uncertain nonlinear system. Systems, Models and Feedback: Theory and Applications, A. lsidori and T. J. Tarn, (Eds.), 249- 264, Birkhauser, June 1992.

5.23 R. A. Freeman and P.V. Kokotovid. Design of "softer" robust nonlinear control laws. Automatica, 29:1425-1437, 1993.

6 ADAPTIVE NONLINEAR CONTROL

Book

B9 P.V. Kokotovi(~, (ed). Foundations of adaptive control. Lecture Notes in Control and Information ,qciences, Vol. 160. Srpinger-Verlag, Berlin, 1991.

Tutorial

6.1 P. V. Kokotovi~, (ed). The joy of feedback: nonlinear and adaptive. Control Systems Magazine, 12:7-17, 1992. (Revised text of the 1991 IEEE Bode Prize Lecture).

Design with Matching Conditions

6.2 D. G. Taylor, P. V. KokotoviS, R. Marino, and I. Kanellakopoulos. Adaptive regulation of nonlinear systems with unmodeled dynamics. IEEE Trans. Au- tomatic Control, AC-34:405-412, 1989.

6.3 S. S. Sastry and P.V. Kokotovi& Feedback linearization in the presence of uncertainties. Int. J. Adaptive Control and Signal Processing, 2:327-346, 1988.

xxii

6.4 I. Kanellakopoulos, P. V. Kokotovi6, and R. Marino. An extended direct scheme for robust adaptive nonlinear control. Automatica, 27:247-255, 1991.

6.5 R. Marino, P. Tomei, I. Kanellakopoulos, and P. V. Kokotovi6. Adaptive tracking for a class of feedback linearizable systems. IEEE Trans. Automatic Control, 1314-1319, 1994.

Adaptive Backstepping Design

6.6 I. Kanellakopoulos, P. V. Kokotovi6, and A. S. Morse. Systematic design of adaptive controllers for feedback linearizable systems. IEEE Trans. Au- tomatic Control, AC-36:1241-1253, 1991. (Outstanding IEEE Trans. Paper Award).

6.7 I. Kanellakopoulos, P. V. Kokotovifi, and A. S. Morse. Adaptve nonlinear control with incomplete state information. Int. J. Adaptive Control and Sig- nal Processing, 6:367-394, 1992.

6.8 M. Krstic, I. Kanellakopoulos, and P. V. Kokotovi& Adaptive nonlinear con- trol without overparametrization. ,Systems and Control Letters, 19:177-185, 1992.

6.9 M. Krstic, P. V. Kokotovi6, and I. Kanellakopoulos. Transient-performance improvement with a new class of adaptive controllers. Systems and Control Letters, 21:451-461, 1993.

Estimation-Based Design

6.10 A. Teel, R. Kadiyala, P. V. Kokotovi6, and S. Sastry. Indirect techniques for adaptive input-output linearization of non-linear systems. Int. J. Control, 53:193-222, 1991.

6.11 I. Kanellakopoulos, P. V. Kokotovi6, and A.S. Morse. Adaptive output- feedback control of systems with output nonlinearities. IEEE Trans. Au- tomatic Control, AC-37:1666-1682, 1992.

6.12 M. Krstic, I. Kanellakopoulos, and P.V. Kokotovi& Nonlinear design of adaptive controllers for linear systems. IEEE Trans. Automatic Control, 39:738-752, 1994.

6.13 M. Krstic and P. V. Kokotovi& Observer-based schemes for adaptive non- linear state-feedback control. Int. J. Control, 59:1373-1381, 1994.

Compensation of Dead-Zone and Backlash

6.14 G. Tao and P.V. Kokotovi& Adaptive control of systems with backlash. Autornatica, 29:323-335, 1993.

6.15 G. Tao and P. V. Kokotovi& Adaptive control of plants with unknown dead- zones. IEEE Trans. Automatic Control, 39:59-68, 1994.

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