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WATCH THIS SPACE FOR COMING ATTRACTIONS

SPECIAL ANNOUNCEMENT: In 1986, the / € E Control Systems Magazine will increase publica- tion to six times per year.

Remember to vote in the upcoming IEEE election. For further information on 1986 IEEE President- Elect, see the candidates' statements in this issue on page 30.

IEEE Control Systems Society 1985 Conference on Decision and Control December 1 1-13, 1985 Fort Lauderdale, Florida

See announcement in this issue on pages 40-41.

1986 American Control Conference June 18-20, 1986 Seattle, Washington

See announcement in this issue on page 37. I

Fourth IFAC Symposium on Control of Distributed Parameter Systems June 30-July 3, 1986 California Institute of Technology Pasadena, California See announcement in this issue on page 39.

cal l for papers

1986 AMERICAN CONTROL CONFERENCE

June 18-20,1986 Seattle Sheraton Hotel & Towers, Seattle, Washington

The American Automatic Control Council will hold the fifth American Control Conference (ACC) on June 18-20, 1986, at the Seattle Sheraton Hotel & Towers, Seattle, Washmgton. This conference will bring together people working in the field of control, automation and related areas from the American Institute of Aeronautics and Astronautics (AIAA), American Institute of Chemical Engineers (AIChE], American Society of Mechanical Engineers (ASME), Institute of Electrical and Electronics Engineers (IEEE). the Instrument Society of America [ISA) and the Society for Computer Simulation [SCS). Both contributed and invited papers will be included in the program. The ACC will cover a range of

topics relevant to theory and practical implementation of control and industrial automation. Topics of interest include, but are not limited to, linear and non-linear systems, estimation, identification, robotics, computer aided design, signal processing, computers and communication in control, automation and real time control of processes. Possible application areas include, but are not limited to, aerospace, automotive, manufacturing automation, defense, chemical and petrochemical process control, electric power, nuclear and biomedical.

CALL FOR CONTRIBUTED PAPERS ~____

The 1986 ACC Program Committee is soliciting three types of papers in all

detail, @)short papers which present recent, perhaps preliminary results, and areas of control and automation: (a) regular papers describing work in some

ing incomplete work in progress. These will present problem statements, (c) a new class of papers [directed toward industrial participants) represent-

preliminary direction and approach and difficulties encountered. Novehteresting problems will be given preference. AU papers accepted for presentation will appear in the Conference Proceedings.

INSTRUCTIONS TO AUTHORS ~_______

papers and papers presenting preliminay work in progress should consist of a Prospective authors should submit six (6) copies of each paper. Short

and should be submitted by October 1, 1985 to one of the SOCIETY REVIEW 700-wOrd (2-3 page] summary. Regular papers should be marked "1986 ACC"

CHAIRMEN. If the author requests, the regular papers will also be considered for journal publication.(If regular papers are to be considered for the IEEE TRANSACTIONS. eight [8) copies are needed.) The other papers which will not be considered for journal publication should be submitted also by October 1.1985 to the PROGRAM VIcE-(3HAIRMAN FOR CONlXIl3uTED PAPERS. AU papers andor summaries should clearly describe the problem, the analytical or experimental techniques employed. and results obtained and relevant references.

CALL FOR INVITED SESSIONS

conference. Prospective organizers should contact the PROGRAM VICE- The Program Committee is soliciting proposals for invited sessions for the

CHAIRMAN FOR INVITED SESSIONS before October 1. 1985. to obtain the forms on which invited sessions proposals are to be submitted. Each invited session may include a panel discussion following the presentations.

under the sponsorship of the AACC in one of the participating societies' Subsequent submission of reports on the panel discussion for publication

journals will be encouraged. Session organizers must submit by November 1, 1985 the completed invited session forms including a session summary and abstracts for the invited papers.

AUTHOR NOTIFICATION

February 1. 1986, at which time the authors' kits will be mailed to the The final selection of contributed and invited sessions will be announced by

corresponding authors with the mats on which papers are to by typed. For inclusion in the Proceedings. the deadline for papers typed on mats is March

pages. Short papers will be limited to two Proceedings pages. There will be a 15. 1986. Authors are requested to limit their manuscripts to six Proceedings

charge of $75.00 per extra page for longer papers.

SCHEJIULE SUMMARY

Oct. 1,1985 Deadline for contributed papers Deadline for request on invited sessions

Nov. 1,1985 Deadline for final submission of completed invited session forms

Announcement of final selection of contributed papers and invited sessions

Feb. 1,1986

Mar. 15,1986

Deadline for typed mats for Proceedmgs

Conference June 18,1986

FOR FURTHER INFORMATION PLEASE CONTACT

GENERALCHAIRMAN Dr. Edwin B. Stear The Washington Technology Center 376 Loew Hall, FH-10 University of Washington Seattle. WA 98195 [206) 545-1920 '

PROGRAM CHAIRMAN Dr. Daniel L. Alspach ORINCON Corporation 3366 North Torrey Pines Court Suite 320 La Jolla, CA 92037 (6191 455-5530

Reader Service # 36

August 1985 37

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CTRL-C@ CONNECTSTO ACSL & NASTMN@ Now you can work with your ACSL simulations and NASTRAN Don’t Waste Any More models inside CTRL-C - the industry’s leading control system Time! Call Now: design environment. New interface products make it easy to save SCT 1-800-227-1910 time and extend your capabilities. Call us now. or

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ACSL is a product of Mitchell & Gauthier Associates, Inc. 0 NASTRAN @ is a reg. trademark of NASA 0 CTRL-C@ is a reg. trademark of Systems Control Technology, Inc.

IFAC SYMPOSIUM ON CONTROL OF DISTRIBUTED PARAMETER SYSTEMS Pasadena, California, USA June 30-July 3, 1986

FIRST ANNOUNCEMENT AND CALL FOR PAPERS Organized under the auspices of the

American Automatic Control Council and

IEEE Control Systems Society with the

Jet Propulsion Laboratory California Institute of Technology

PURPOSE OF THE SYMPOSIUM The aim of the Symposium is to present the state-of-the-art in control theory for distributed parameter systems and to explore current and future applications to industrial and engineering prob- lems. The Symposium will provide a forum where leading researchers can share ideas and practical experience with real- world control problems. The Symposium will include invited survey papers and panel discussions on basic problems and in- dustrial applications.

Earlier symposia with a similar theme have been held at Banff, Canada (1971), Coventry, Great Britain (1977), and Toulouse, France (1982).

ABSTRACTS Five copies of each paper's abstract (300 words) should be sent to:

G . Rodriguez; M/S 198-326; Jet Propulsion Laboratory 4800 Oak Grove Drive; Pasadena, CA 91109 Phone (818) 354-4057

SCHEDULE ' Oct. 1, 1985

Dec. 1, 1985

Feb. 15, 1986

April 15, 1986

June 30, 1986

Deadline for submittal of five copies of ab- stract (300 words)

Deadline for submittal of five copies of full paper Acceptance of papers subject to corrections

Deadline for fiial text typed on special mats

Symposium starts

INTERNATIONAL. PROGRAM COMMITTEE H. T. BANKS, Chai rman (USA)

ORGANIZING COMMLVEE H. E. RAUCH, Chai rman (USA) G. RODRIGUEZ (USA) J . SEINFELD (USA)

TOPICS Papers will be selected on the following and related topics:

THEORY AND METHODOLOGY Modeling and identification techniques Estimation and fdtering Stochastic systems Control techniques, compensation, and optimal control Optimum design Systeins described by variational inequalities Real-time and practical considerations in control design Algorithms and simulation Computational techniques

APPLICATIONS Flexible space structures Energy and power systems Large ground structures Thermal and chemical process control Bioengineering Acoustics and electromagnetism Food industry Pollution Water resource systems Transportation

LANGUAGES All written and oral presentations are to be in English. No simultaneous translation will be provided.

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . REPLY FORM

0 I intend to submit a paper 0 I intend to participate in the Symposium

TITLE of proposed paper:

Last name, first name:

Professional address:

City Country Zip Code

Please mail this form to: Telephone:

G. Rodriguez; M/S 198-326; Jet Propulsion Laboratory; 4800 Oak Grove Jkive; Pasadena, CA 91109; USA Reader Service # 6

August 1985 39

DECISION & CONTROL - Dec.11-13 7985

R E G I S T R A T I O N Now is the time to register for the 24th CDC. A record

number of papers have been submitted. Sessions are planned for many areas of control systems theory and applications. Invited sessions cover issues on: Large Scale, Power, Adaptive, Expert, Stochastic, Distributed, Robust, and Non-Linear Systems, Manufacturing and Robotics, Operations Research,

B

Tutorial Workshop on Control Design For Nonlinear Systems

Lectures by JOHN BAILLIEUL GEORGE MEYER

L.R. HUNT RENJENG SU

Tuesday, December 10, 1985 (preceding the 1985 CDC)

Summary: This workshop is a tutorial review of geometric control methods and an introduction to a new control design technique based on exact nonlinear to linear transformations and a combination open loop/closed loop control structure. Appli- cations to automatic control of aircraft, including reports on suc- cessful flight tests, will be presented. This workshop should interest engineers, mathematicians, and scientists. Four one and one-half hour lectures will cover a history of geometric control theory, a description of an overall design scheme, the appropriate mathematical theory, and various applications. The workshop begins with a short meeting to introduce the lec- turers and to present an overview of the problems to be addressed. The first speaker will present his perspective on the history of geometric control theory dating from the early work of 1960s through significant developments of the last several years. A detailed introduction to some of the most important basic results on the modeling; control, and optimization of nonlinear systems will be presented. The extent to which early hopes and expectations for the field have been realized will be discussed. The specific technical focus of this presentation will be on various problems in the position control of flexible and articulated structures (complex spacecrafts, robots, etc.) In the second session, the speaker will describe applications of the nonlinear to linear transformations for design of flight control systems. This “exact linearization” method is compared to various other schemes (such as approximate linearization and gain scheduling) from the point of view of the engineering designer. A totally automatic flight control system will be discussed and flight test results, including those on the UH-1H helicopter, will be reported. This should be particularly interesting to those in the aerospace industry. The third session contains an introduction to the mathematics associated with the design through transformation method. Simple differential geometric concepts will be presented. The lecturer stresses the role of differential geometry in nonlinear control that parallels the use of linear algebra and algebra in linear con- trol. Moreover, the theoretical results concerning those nonlinear systems that are feedback equivalent to linear systems are motivated, stated and explained. The combination open loop/closed loop structure is as interesting as the nonlinear to linear transformation theory. Therefore, the fourth speaker will analyze this control method. The trajectory generator and the regulator are discussed, and time domain and frequency domain design objectives are outlined. Comparison to both classical and modem design techniques will be made. Other applications of this new design method, including satellite attitude control and robotics, will also be discussed. The lecturers will reassemble in the evening for discussions with and questions from the participants.

TENTATIVE PROGRAM:

Speaker: L.R. Hunt

Geometric Methods in CDntrol Lecturer: John Baillieul

Automatic Flight Control System Design Lecturer: George Meyer

Feedback Equivalence for Nonlinear Systems Lecturer: L.R. Hunt

Combination Open LooplClosed Loop Controller Design kcturer: Renjeng Su

Wrap-up, Discussions and Questions Coordinator: L.R. Hunt

INTRODUCTION: 8:45-9:00 AM

SESSION 1: 9:00-10:30 AM

SESSION 2: 11:00-12:30 PM

SESSION 3: 2:00-3:30 PM

SESSION 4: 4:00-5:30 PM

CONCLUSION: 7:00-8:00 PM

~~ ~

Advance Registration

Conference and/or Tutorial Workshop FOR

Name ( F h t Name) Gst Same)

Affiiation

Address

City State Zip

-JEEE Membership Number -SIAkl

-0RSA

Phone Number Are you a member of the IEEE CSS? yes no Have you attended CDC within the last t no years? yes no Note: Deadline for advance registration is Nov. 29th. Registration fee (except students) includes Welcoming Reception (December 10,7:30 P.M.), Plenary Luncheon (December 11, 12:OO Noon), and one copy of the Conference Proceedings.

CONFERENCE

Registration Registration Before After

Nov. 15 Nov. 15

IEEE/SIAM/ORSA Member $135 $160

Non-member* 3160 $185

Student** $35 $35

Additional Copies of Conference Record (With Conference Registration)

Member $65

Non-Member $75

TUTORIAL WORKSHOP

Attending CDC $85

Not attending CDC $140

Student $30

Notes Only s35

Total Remittance: $

Please make checks payable to 24th IEEE CDC. Only U.S. currency is acceptable. Mail advance registration and check to:

K . David Young Lawrence Livermore National Laboratory P. 0. Bar 808, L-156 Livermore, CA 94550

**Student registration covers attendance at sessions only. *a0 can be applied towards IEEE dues if you join at the Conference.

Conference attendees must make their own hotel reservations. IEEE has arranged for a block of rooms to be set aside in the Bonaventure Hotel. Make your reservations early and mention 1985 IEEE CDC to obtain the group rates. BONAVENTUREHOTEL RATES IEEE CDC I I 250 Racquet Club Road Ft. Lauderdale, FL 33326

Single: 555 Double: 560

Tel: 1-800-327-8090 or Suites Available 1-305-389-3300

Reader Service # 41

TWO REASONS WHY YOUR CONTROLS LAB NEEDS AN ANALOG

- to simulate systems to be controlled Before placing your newly designed controller into service, test it under predictable, realistic yet simulated operating conditions. When you connect it to an analog computer simulator, you can drive it to and beyond safe limits without fear of any consequences. All phases of a control system design ... the analysis of system characteristics, the pro- posed control scheme, the layout of analogidigital and digi- tallanalog interface, the validation of microcomputer software, the processor emulation and finally the complete hardware check out ... can be evaluated in a laboratory set- ting before the design is subjected to real world uncertain- ties. Analog simulators are ideal media to be controlled. As the electrical analogs of physical models. they respond to inputs and produce outputs like the real processes or mechanisms they represent. But, being programmable, their operating characteristics can at any time be changed to suit new test requirements.

- to program linear circuits If you need a linear circuit fast ... a filter. controller, scaling amplifier or any other to manipulate an instrumentation signal ... patch it on the analog computer. The analog com- puter is the only way to create a circuit simply by program- ming it. Cumbersome breadboarding is the alternative. Using formal methods that encourage good scaling and as- sure stable operation, patch cord connections easily turn the analog computer’s selection of high quality operational amplifiers, summing resistors. integrating capacitors, at- tenuators, multipliers. etc. into the linear circuits that are needed in control system designs. As you become adept at using the analog computer, you‘ll find it to be as handy a general purpose instrument as your laboratory could possi- bly own. Find out more about analog simulation and linear circuit programming. Send for further details and a copy of our free article “Two Reasons Why Your Controls Laboratory Needs an Analog Computer.”

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The Leader Then-The Leader Now The ASAP integrated workstation is the first IBM@ PC hosted solution for control engineers. It is the one package that auto- mates the complex analytical tasks associated with the study, analysis and design of dynamic control systems.

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August 1985 43

control SyStemEqpeenng on the IBM=PC

N ow you can solve complex controls engineering problems

quickly and easily on your personal computer-with HR-CONTROLS.

Control Systems Analysis HR-CONTROLS is a powerful soft- ware tool for control system design and analysis. Control systems can be modelled as transfer functions, or in state space. You can then compute and plot the time response, frequen- cy response (Bode,Nyquist,Nichols), and root-locus performances. Both discrete and continuous systems are possible.

Quick and easy generation of control .ystem models

HR-CONTROLS also supports linear algebra, polynomial mathematics, and signal processing functions of interest to the controls engineer.

'IBM isa trademarkof International Business Machines Corporation.

Present Your Results Graphically HR-CONTROLS offers you a pro- fessional graphics capability. Graphs are drawn on the screen, and hard copies can be made on a dot matrix printer. Numerous options allow you to individually tailor each graph.

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Tailor Your Analysis HR-CONTROLS offers all the useful linear algebra functions from eigensolutions to matrix arithmetic. Other commands make it easy to edit and manipulate vectors and matrices.

HR-CONTROLS also offers signal processing capabilities of interest to the controls engineer. These include the FFT and its inverse, convolution, correlation, and power spectral density.

Save Your Analysis HR-CONTROLS allows you to write macro commands. The macro

command feature lets you save any useful series of HR-CONTROLS commands for later execution with just a few keystrokes.

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Professionalgraphics capability

HR-CONTROLS allows you to keep track of all vectors and matrices that are used or computed, by storing them in a database. You can easily check intermediate results, or restart your analysis at any point. The database is transparent to the casual user, but the serious user will find it invaluable.

The database can be stored on disk so that work can be continued from session to session, and data can be shared between different users.

Find out for yourself how HR- CONTROLS can make your PC a powerful controls engineering tool. Call us at (408) 738-3066, and ask about our no-risk trial offer. Or write to Hunter Research, 10835 N. Wolfe Road, No. 240, Cupertino, CA 95014.

Reader Service # 81

44 IEEE Control Systems Magazine

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Model and analyze anything that moves with ]EASY5 from Boeing.

Unlike other software packages, EASY5 gives you dynamic modeling, simulation and analysis capabilities in one program. So you can increase pro- ductivity and obtain greater under- standing of the problem at hand. One piece of software can handle all the complex data of almost any transient situation.

Boeing has used EASY5 to help design space vehicles used in NASA and Air Force programs. In more down-to- earth applications, EASY5 assisted in the design of automated people movers for innovative public transportation Customers use EASY5 to help develop drive trains for tractors and earth

movers. And animal population specialists have even found a way to use EASY5 for a more accurate pre- diction of caribou populations. EASY5 has the potential for many more varied uses such as simulating irregular road effects on car and truck parts, modeling complex cooling systems for computers and venfying new, state-of-the-art robotics applications. EASY5 is the first and only package to give you block-oriented, non-linear model building, powerful simulation tools, and a variety of linearized analysis methods. No wonder, in these and other applications, EASY5 has

proven itself the most comprehensive dynamic tool available.

EASY5, with its pre-programmed building blocks and user-friendly lan- guage, can reduce modeling time and costs. Simulation tools, linear analysis techniques, plus Boeing support make EASY5 cost-effective . . . and make you more productive.

To find out how EASY5 can serve you, and about our “TRY IT” offer, call Ron Griffin on (206) 763-5294. Or write Boeing Computer Services, M/ S 7K-12, P.O. Box 24346, Seattle, WA 98124. EASY5 should be the best move for you.

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The Grumman Corporate Research Center (CRC) program comprises multidisciplinary investigations that are theoretical and experimental in nature. Significant-research programs exist in the areas of System Sciences, Nuclear and Astrophysics, Materials and Structural Mechanics, Aerosciences and Fluid Mechanics. At present, we are seeking scientists, specializing in combat/weapon system analysis, to join our R & D team in the System Sciences Directorate. Successful applicants must meet the requirements necessary to take on responsibilities as outlined below: 0 Ph.0 or Masters Degree with a minimum of three years experience in computer modeling of

e Strong background in systems analysis, control theory and dynamics. e Experience with modeling of Radar/EW systems and artificial intelligence desired. 0 Plan and conduct research investigations leading to improved tactical weapon system design. 0 Plan and conduct research investigation which will result in improved methods to tactical weapon

Grumman offers excellent starting salaries coupled with fully-paid individual benefits including health, dental, vacation, tuition reimbursement, pension and deferred compensation option plans. As evidenced by the Corporate Research Center's participation in technical symposia publication in outside journals and joint programs with university research groups we are committed to each individual scientist's career satisfaction. Send a resume, in strictest confidence to Employment Manager, Dept. RC Grumman Corporation, C07-GHQ Bethpage, New York 11714.

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PROGR~M cc A Hierarchically-Organized, User-Interactive, Graphically-Rich, Comprehensive and Eclectic Computer-Aided Linear Control System Design Program.

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COMPREHENSIVE s. z, w, and t domains; Continuous, Discrete, and Multirate Systems: Conventional and Optimal Filters; State Space and Input-Output RepresentationslManipulations; Classical Single and Multiloop Control; Optimal Control (LOG, Pole Placement, Wiener-Hopf, etc.).

Command Driven (230 hierarchically-arranged commands); Multilevel Interface (novice prompting to expert); On-line Help Facility: Macros and History File Capabilities: Extreme Flexibility- conversions between domains, formulations (state space ** input-output); transformations; entering, building, display alternatives: Expandable Command Set and Other-Program Data Interface. GRAPHICS DISPLAYS 0 Frequency domains (s,w, z, w)-Nyquist. Bode, and Gain-Phase (Nichols): Hybrid Frequency Response (singlelmultirate sampled data)ORoot locus (s,z, w)-Conventi0nal;Optimal

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meet all your analysis needs. You get all the usiful linear algebra functions from MATLAB, including eigenvalues, linear-equation

solution, least-squares, singular value decomposition, and almost anything else you can think of to do with matrices. PC-MATLAB is

also chock full of other analytical capabilities including complex and polynomial arithmetic, FFT’s, digital filtering, and multivariate statistics. Altogether, there are over 200 commands available.

Fast, Accurate, and Reliable PC-MATLAB not only engineers your control systems-it does it

fast, too. Your PC’s powerful numeric coprocessor is fully utilized for near minicomputer performance. For example, it takes only 1

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P G I O O F FEATURES IEEE Siandard Arithmetic 1 MROP Computational Speed 32-bit Floating Point VLSl Chip Set Parallel I/O on IBM PC? Bus FORTRAN Callable Subroutines Extensive Mathematical Software

FORTRAN PROGRAMMING The PGIOO is programmable in. ,ANSII 77 FORTRAN via subroutine ca& 'to the PC-1 00's math library. The math library routines can be linked with user developed a0plica';ion software on the IBM PC. The PC-1 00 math library consists of commonly used matrix/vectorllmutines, linear- equation solvers, numerical integration methods, simulation tools, unconstrained optimization algorithms and least-square curve fitting. FORTRAN callable routines are provided to evaluate trigonometric functions [e.g., SIN[x], COS[x], TAN[x] etc.] and transcendental func- tions [e.g., LOGCx], EXP[x), SQRT[x], etc.]. A control system design package is available for the PC-I00 that contains FORTRAN callable

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