Proceedings of the

1986 AMERICAN CONTROL CONFERENCE

Seattle Sheraton Hotel and Towers, Seattle, WA

June 18-20,1986

SPONSORING ORGANIZATION

American Automatic Control Council

MEMBER SOCIETIES

American Institute of Aeronautics and AstronauticsAmerican Institute of Chemical EngineersAmerican Society of Mechanical Engineers

Institute of Electrical and Electronics EngineersInstrument Society of America

Society for Computer Simulation

This page begins

Volume 2

June 19,1986

86CH2336-6

ONR's Perspective on SDI Applications forParallel Processing Technology t

R, Lau, Office of Naval Research

US Army's Perspective on Target RecognitionApplications of Parallel ProcessingTechnology 640

F. Kuhl, ARRADCOM

A Simplified Method for Parallelism inRobotics 641

J. Ish-Shalom IBM Watson Research Center

Factory Automation Applications of ParallelProcessing Technology t

K. Behiti, General Electric

PANEL WE2: Room 428

5:00 pm"Process Control Problems in the Metals Industryin Need of Theory"

The working group on metallurgical processingwill present a round table discussion onsituations where theory limits the application.Gene King of Alcoa will moderate.The panel consists of:D. Fapiano, General Electric Company; M.Grimble, University of Strathclyde; Yoshitani,University of Nagaoka (formerly with NipponSteel); D. Watanapongse, Inland Steel; I.Lefkowitz Case Western Reserve University; G,Wyatt-Mair, Kaiser Aluminum

THURSDAY MORNINGJune 19,1986

PLENARY SESSION II7:30-8:30 Ballroom A

Harold Chestnut"Application of Control Principles toInternational Relations"

SESSION TA1: East A

Recent Developments in Process Control

Chairman: Y. Arkun, Georgia Institute ofTechnology

Co-Chairman: N. Ricker, University ofWashington-Seattle

08:30-09:00 (I)Application of Singular Value Decomposition tothe Design, Analysis, and Control of IndustrialProcesses 643

C. Moore, University of Tennessee

09:00-09:30 (I)Improvements in Compartmental Modeling inDistillation 651

R.R, Horton, B.W. Bequette, T.F. Edgar, Universityof Texas-Austin

09:30-10:00 (I)Analysis of Interactions Using Structural SingularValues 658

P. Grosdidier, M. Morari, California Institute ofTechnology

10:00-10:30 (I)Disturbance Rejection Through ModelDependent Control 664

S.A Svoronos, University of Florida

10:30-11:00 (I)Predictive Control Using Observers for LoadEstimation 669

P. Yuan, D. E. Seborg, University of California-Santa Barbara

11:00-11:30 (I)A Predictive-Based Multivariable Controller forProcesses With Distinct Time Delays t

S. J. Park, D.E. Clough, University of Colorado-Boulder

SESSION TA 2: East B

4D Aircraft Guidance & Expert TrafficManagement

Chairman: A Chakravarty, BoeingCommercial Airplane Co.

Co-Chairman: R. Schwab, Boeing CommercialAirplane Co.

08:30-09:00 (I)4D Flight Planning t

J.A Sorensen, C. Lesiak, Analytical MechanicalAssociation Inc.

09:00-09:30 (I)Computational Enhancements toA 4D Algorithm 676

C.A. Buckham, Boeing Commercial AirplaneCompany

09:30-10:00 (I)Impact of Mismodeled Idle Engine Performanceon Calculation and Tracking of Optimal 4DDescent Trajectories 681

D.H. Williams, NASA Langley Research Center

10:00-10:30 (I)Sensitivity Studies of 4D Descent Strategies in anAdvanced Metering Environment 687

K. H. Izumi, Boeing Commercial AirplaneCompany

10:30-11:00 (I)Time-Based Air Traffic Management Using ExpertSystems 693

L Tobias, J.L Scoggins, NASA Ames ResearchCenter

SESSION TA 3: West A

Adaptive Process Control

Chairman: S. Svoronos, University of FloridaCo-Chairman: E. Ydstie, University of

Massachusetts08:30-09:00 (I)Adaptive Inferential Control 701

J.F. Pollard, Shell Development; C. Brosilow,Case Western Reserve University

09:00-09:30 (I)Adaptive Inferential Control for ChemicalProcesses With Limited MeasurementProblems 707

G.C. Shen, W.K. Lee, Ohio State University09:30-10:00 (I)Stable Discrete-Time Adaptive Control in thePresence of Unmodeled Dynamics 713

W.R. Cluett, S.L Shah, D.G. Fisher, J.M. Martin-Sanchez, University of Alberta

10:00-10:30 (I)A Comparison of Multivariable Long RangePredictive Control with GMV Control in a HighlyNon-Linear Environment 721

G.A Montague, M.T. Tham, University of NewCastle; A J. Morris, University of Alberta

10:30-11:00 (I)On-LIne Estimation of Time Delay andContinuous-Time Process Parameters 728

M. Agarwal, University of California-SantaBarbara; C. Canudas, LaboratoireD'Automatique De Grenoble

11:00-11:30 (I)On-Line Adaptive Optimal Control 734

J. N. Petersen, G. Whyatt, Washington StateUniversity

SESSION TA 4: West B

Multivariable Systems

Chairman: J. Vagners, University ofWashington-Seattle

Co-Chairman: V. Walton, Boeing Co.

08:30-09:00A Multivariable Generalized Self-TuningDecoupling Controller and Application 739

T.Y. Chai, Northeast University of Technology09:00-09:30Tuning of Muifivariable Pi-Controllers forUnknown Delay-Differential Systems 745

T. Jussila, H. N. Koivo, Tampere University ofTechnology

09:30-10:00Multivariable High-Gain Control WithFeedforward Compensation—A DesignTechnique 751

A Hemami, Concordia University

10:00-10:15Effects of Groups of Operators on GeneralizedNyquist Diagrams 759

Z. P. Lin, Cambridge University

10:15-10:30Calculation of the Multiloop Stability Margin 761

R.R.E. De Gaston, M.G. Safonov, University ofSouthern California

10:30-11:00Relations Between Properties of MultivariableFeedback Systems at Different Loop-BreakingPoints: Part II 771

J.S. Freudenberg, University of Michigan; D.P.Looze, Alphatech, Inc.

11:00-11:15Zero Models and Pole Models for MultivariableSystems 778

S-Y Zhang, Brookhaven National Laboratories

11:15-11:30Frequency-Domain Criteria for Controllabilityand Observability of Multivariable Systems 782

M. Tarokh, University of New Mexico

11:30-11:45Comparison of Time Domain and FrequencyDomain State Feedbacks 788

S-Y Zhang, Brookhaven National Laboratories

SESSION TA 5: Aspen

Direct-Drive Robot Arms

Chairman: J. Slotine, MassachusettsInstitute of Technology

Co-Chairman: H. Asada, Kyoto University

08:30-09:00 (I)Experimental Evaluation of the FeedforwardCompensation and Computed-Torque ControlSchemes 790

P. Khosla, T. Kanade, Carnegie-Mellon University09:00-09:30 (I)Hybrid Sliding Control of Manipulators in End-Effector Space t

J-J. E. Slotine, Massachusetts Institute ofTechnology; O. Khatib, Stanford University

09:30-10:00 (I)Load Sensitivity Analysis and Adaptive Controlof a Direct-Drive Arm 799

H. Asada, K. Hara, Kyoto University

10:00-10:30 (I)Two-Time Scale Sliding Control of Manipulatorswith Flexible Joints 805

J.-J. E. Slotine, S. Hong, Massachusetts Institute ofTechnology

10:30-11:00 (I)The Design and Control of Manipulators withDecoupled and Configuration-InvariantInertia Tensors 811

K. Youcef-Toumi, Massachusetts Institute ofTechnology; H. Asada, Kyoto University

11:00-11:30 (I)Joint Torque Sensory Feedback in theControl of a PUMA Manipulator 818

L. Pfeffer, O. Khatib, and J. Hake, StanfordUniversity

11:30-12:00Application of Model Reference AdaptiveControl to a Flexible RemoteManipulator Arm 825

D. Meldrum, California Institute of Technology;M. Balas, Rensselaer Polytechnical Institute

SESSION TA 6: Cedar

Applications of Control to Military Systems

Chairman: H. E. Cohen, U.S. Army-MaterielSystems Analysis Activity

Co-Chairman: R. Beck

08:30-09:00 (I)Wideband Linear Quadratic Control of a GyroStabilized E-0 Sight System 833

W. J. Bigley, V, J. Rizzo, Lockheed ElectronicsCompany

09:00-09:30 (I)Enhanced Armored Vehicle Fire Control SystemDesign Modification 841

T. Perkins, J. Groff, Ballistics Research Laboratory

09:30-10:00 (I)Closed Loop Methodology (CLM) Applied toSignal Processing—A Revisitation 847

A Fermelia, R. Larson, Hughes Aircraft Company

10:00-10:30 (I)Optimal Control With Exact Linearization ofRobotic Manipulators 852

N. Coleman, US Army Armament R&D Center;N.K, Loh and Y.L. Gu, Oakland University

10:30-11:00 (I)Multivariable Flight Control for an AttackHelicopter 858

D. Enns, Honeywell, Inc.

11:00-11:30 (I)Stochastic Optimal Control of Systems withFast and Slow States 864

G. L Blankenship, Systems Engineering, Inc.

SESSION TA 7: Douglas

Adaptive Control of Drug Delivery Systems

Chairman: H. Chizeck, Case WesternReserve University

Co-Chairman: G. Voss, Eli Lilly & Company

08:30-09:00 (I)Adaptive Control Theory and Applications toDrug Delivery 871

H. J. Chizeck, Case Western Reserve

09:00-09:30 (I)Recent Progress and Research Opportunities inMicrosensors for Control of Drug Delivery t

P. W. Cheung, University of Washington

09:30-10:00 (I)Adaptive Control of Arterian Blood Pressure WithSodium Nitroprusside t

D. R. Westenskow, University of Utah

10:00-10:30 (I)Automated Control of Arterial Pressure andCardiac Output in Anesthetized Dogs 874

G.I. Voss, Eli Lilly Company; P.G. Katona, H.J.Chizeck, Case Western Reserve

10:30-11:00 (I)Stochastic Control of Pharmacokinetic Systems t

A Schumitzky, University of Southern California

11:00-11:30 (I)Improvement in Arterial Oxygen ControlUsing Multiple Model AdaptiveControl Procedures 878

C. Yu, W.G. He, J, So, R. J. Roy, H. Kaufman,Rensselaer Polytechnic

SESSION TA 8: Juniper

Estimation & Tracking

Chairman: G. Anderson, ORINCONCorporation

Co-Chairman: T. Assefi, Boeing Co.

08:30-09:00New Nonlinear Filters and Exact Solutions of theFokker-Planck Equation 884

F. E., Daum, Raytheon Company

09:00-09:30Development of Practical PDA Logic forMultitarget Tracking by Microprocessor 889

R. Fitzgerald, Raytheon Company

09:30-10:00Nonlinear Distributed Filtering With DifferentLocal Models 899

AT. Alouani, J.D. Birdwell, University ofTennessee

10:00-10:15Robust Adaptive Kalman Filtering With UnkownInputs 905

A Moghaddamjoo, R. L. Kirlin, University ofWyoming

10:15-10:00Treatment of Test-Specific Initial-ConditionParameters in Maximum Likelihood ParameterEstimation t

M.D. Shuster, D.W. Porter, BTS, Inc.; D.A Payne,JHU/Applied Physics Laboratory

10:30-10:45Target Tracking Sensor System Algorithm UsingRobust Eigensystem Processing t

D. Groutage, R.MacCallum, Naval OceanSystems Center; D.Gary, ORINCON Corporation

10:45-11:00A Smoothing Algorithm for Improved Tracking inClutter and Multitarget Environment 908

A K. Mahalanabis, S. Prasad and A Garg,Pennsylvania State University

11:00-11:15Prediction of Nitrogen Dioxide Levels byDistributed Filtering Theory 911

S. Omatu, T.J.H. Soeda, University of Tokushima;J. H. Seinfeld, California Institute of Technology

11:15-11:30A Linear Robust State Estimator With FastTransient Response 913

H. Sehitoglu, H S Consulting Services

11:30-12:00Effects of Structural Error on the Estimates ofParameters of Dynamical Systems 917

F.Y. Hadaegh, Jet Propulsion Laboratory; G.ABekey, University of Southern California

SESSION TA 9: Madrono

Heavy Duty and Off-Highway AutomotiveControls

Chairman: A Dohner, Dohner & Associates,Inc.

Co-Chairman: M. Hubbard, University ofCalifornia-Davis

08:30-09:00 (I)Time Series Analysis of Power Loading Patternsfor Agricultural Tractors 925

N.K. Regier, M.D. Schrock, J.G. Thompson, S.S.Yang, Kansas State University

09:00-09:30 (I)Vision-Based Guidance of an AgriculturalTractor 931

S. W. Searcy and J. F. Reid, Texas A & MUniversity

09:30-10:00 (I)Automatic Hay Bale Stackwagon Controller 937,

C.E. Bohman, J.G. Berger, Speery New Hollan

10:00-10:30 (I)A Vehicle Model of a Robotic M113 PersonnelCarrier 943

J.J. Nitao, FMC Corporation

10:30-11:00 (I)A Pilot for a Robotic Vehicle System 951

J.J. Nitao, AM. Parodi, FMC Corporation

11:00-11:30 (I)Caterpillar 3406 PEEC (Programmable ElectronicEngine Control) t

M.E. Moncelle, G.C. Fortune, Caterpillar TractorCompany

11:30-12:00 (I)Simulation of an Electrohydraulic Draft ControlSystem for an Agricultural Tractor 957

D. J. Olson, Dohner & Associates, Inc.

SESSION TA 10: Ballroom A

Invited Session/Panel Discussion "CADSoftware in Control Education/Research"

Co-Chairmen: D. M. Auslander, University ofCalifornia, Berkeley

N.A Kheir, The University ofAlabama in Huntsville

8:30Panelists:

G. B, Lamont, Air Force Institute of Technology;D. K. Fredrick, Rensselaer Polytechnical Institute;F.E. Cellier, The University of Arizona; J.D.Bridwell, University of Tennessee; C. J. Herget,Lawrence Livermore National Laboratory; M.Rimvall, Institute of Automatic Control, Zurich,Switzerland; A J. Laub, University of California,Santa Barbara; G. Taylor, Naval Post GraduateSchool; D. Auslander, University of California,Berkeley.

SESSION TA 11: Room 428

Linear Systems 3

Chairman: J. D. Blight, Boeing MilitaryAirplane Co.

Co-Chairman: R. Longman, ColumbiaUniversity

08:30-09:00Eigenstructure Assignment by Dynamic OutputFeedback 963

F. L. Lewis, Georgia Institute of Technology; B, L.Stevens, R. S. Kemp, R. D. Marshall, Lockheed-Georgia Company

09:00-09:30Parametric State Feedback Control WithResponse Insensitivity 970

T, J. Owens, Teesside Polytechnic; J. O'Reilly,University of Strathclyde

09:30-09:45Stabilization and Realization of a Class ofGeneralized Linear Systems 976

Z. P. Lin, Cambridge University

09:45-10:00On Minimal Order Stabilization of Single LoopPlants 978

M.C. Smith, McGill University

10:00-10:30Zeros in Reduced Order Models 980

D. K. Lindner, Virginia Tech

10:30-11:00Efficient, Indirect Adaptive Pole Placement forLinear Multivariable Systems 984

M. Das, N. K. Loh, Oakland University

11:00-11:15Linear Control Design for Guaranteed Stabilityof Uncertain Linear Systems 990

R. K. Yedavalli, University of Toledo

11:15-11:30Stability Calculations Using Reduced OrderModels 993

F. J. Alexandra, University of Washington; T.AVanden Berg, The Boeing Company

THURSDAY NOONJune 19,1986

LUNCHEON12:00 Ballrooms B&C

Bill HolmBurke Museum, University of Washington"The Northwest Coast Indians and TheirTechnologies"

THURSDAY AFTERNOON

SESSION TP 1: East A

Nonlinear Process Control*

Chairman: M. Morari, California Institute ofTechnology

02:00-02:30 (I)Nonlinear State Feedback Synthesis by GlobalInput/Output Linearization 997

C. Kravaris and C. B. Chung, University ofMichigan

02:30-03:00 (I)Nonlinear Heat Exchanger Control Throughthe Use of Partially Linearized ControlVariables 1006

AW. Alsop, T. F. Edgar, University of Texas-Austin

03:00-03:30 (I)Stability of State Feedback Transformations forNonlinear Systems—Some PracticalConsiderations 1014

J.C, Kantor, University of Notre Dame

03:30-04:00 (I)Nonlinear Control of an Exothermic CSTR 1017

A Cinar, K. Rigopoulos, X. Shu, Illinois Institute ofTechnology; S. M. Meerkov, University ofMichigan

04:00-04:30 (I)Control Strategies for Nonlinear MultivariableSystems With Time Delays 1023

S. K.-P. Wong, D. E. Seborg, University ofCalifornia-Santa Barbara

04:30-05:00 (I)Nonlinear Control Structures for ChemicalReactors 1025

R.D. Bartusiak and M. J. Reilly,, C. Georgakis,Lehigh University

05:00-05:15 (I)Nonlinear Inferential Control of Reactor EffluentConcentration From Temperature and FlowMeasurements 1027

J.P. Parrish, C.B. Brosilow, Case Western Reserve

05:15-05:30 (I)Nonlinear Internal Model Control t

C. Economou, University of Minnesota; M. Morari,California Institute of Technology'This session is dedicated to the memory of Constantin Economou.

SESSION TP 2: East B

Control of Flexible Spacecraft

Chairman: G. Burmeister, BoeingCompany

Co-Chairman: J. Bossi, University ofWashington

02:00-02:30 (I)A Laboratory Experiment in Control/StructureInteraction 1034

J.A Bossi and J.W. Tsou, University ofWashington

02:30-03:00 (I)Slew Maneuver Control of the SpacecraftControl Laboratory Experiment (SCOLE) 1039

Y.P. Kakad, University of North Carolina

03:00-03:30 (I)Decentralized Control Experiments on NASA'sFlexible Grid 1045

U. Ozguner, S. Yurkovich, J. Martin III and F. Al-Abbass, Ohio State University

03:30-04:00 (I)Design of Robust Failure Detection Filters 1052

W. E. Vander Velde, A M. San Martin,Massachusetts Institute of Technology

04:00-04:30 (I)Comparison of Identification Methods Using theJitter Beam Experimental Data 1060

B. Sridhar, J. N. Aubrun, Lockheed Palo AltoLaboratories

04:30-05:00 (I)Experimental Verification of Control andSystems Identification Techniques for a FlexibleTruss Structure t

M.S. Lukich, C.S. Major, E.B. Shain, F.C. Tung,TRW-Redondo Beach

SESSION TP 3: West A

Adaptive Control

Chairman: H. Kaufman, RensselaerPolytechnic Institute

Co-Chairman: I. Bar-Kana, Rafael-Israel

02:00-02:30A New Adaptive Law for Robust AdaptationWithout Persistent Excitation 1067

K.S. Narendra, AM. Annaswamy, Yale University

02:30-02:45A Parameter Estimator with Convergence to Pre-Specified Intervals for Discrete-Time Systems1073

K. Ossman, E.W. Kamen, University of Florida

02:45-03:15Adaptive Control With DiscontinuousForgetting Factor and Saturation forImproved Robustness 1075

L Hsu, R.R. Costa, COPPE/UFRJ-Brazil

03:15-03:45Extensions of a Simplified Continuous-TimeMultivariable Adaptive Control Algorithm 1081

I. Bar-Kana, Rafael-Israel

03:45-04:15Issues in Adaptive Control: Disturbances andUnmodelled Dynamics 1087

C. P. Diduch, R. Balasubramanian, University ofNew Brunswick

04:15-04:30Bursting Phenomena in Continuous AdaptiveSystems With a Forgetting Factor 1093

L Hsu, R.R. Costa, COPPE/UFRJ-Brazil

04:30-04:45An Explicit Generalised Minimum VarianceSelf-Tuner 1095

R.W. Jones, University of Strathcylde

04:45-05:15An LQ Adaptive Controller for IndustrialProcesses 1097

M.M/Saad, M. Duque, I.D. Landau, LaboratoiredAutomatique de Grenoble

SESSION TP 4: West B

Missile Navigation, Guidance and Control

Chairman: J. McLean, U.S Army MissileCommand

Co-Chairman: F. Nesline, Raytheon Company

02:00-02:30 (I)An Analysis of Optimal Command Guidancevs. Optimal Semi-Active HomingMissile Guidance 1103

F.W. Nesline, M.L. Nesline, Raytheon Company

02:30-03:00 (I)Design Equation for Proportional NavigationWith Parasitic Feedback 1112

P. Travers, Raytheon Company

03:00-03:30 (I)An Application of Error-Covariance InertialPlatform Errors 1124

S.J. Tucker, H.E. Stern, U.S. Army MissileCommand

03:00-04:00 (I)Modern Control Theory for Design of Autopilotsfor Bank-to-Turn Missiles 1130

D. Williams, B. Friedland, Singer Company

04:00-04:30 (I)Nonlinear Flutter Analysis of a Missile FIN/Actuator 1137

D. Girard, Raytheon Company

04:30-04:45 (I)Design of Controllers for Bank-To-Turn CLOSGuidance Using Optimal Control 1143

G.W. Irwin, Queen's University of Belfast

04:45-05:00 (I)Adaptive Target Tracking 1149

P. Kalata, Drexel University; B. Birnbaum, NavalAir Development Center; G. Konstanzer, AppliedPhysics Laboratory

SESSION TP 5: Aspen

Artificial Intelligence

Chairman: J. D. Birdwell, University ofTennessee

Co-chairman: G. Allgood, Oak Ridge NationalLaboratory

02:00-02:30 (I)An Expert System Using Computer Algebra forthe Analysis of Nonlinear Control Systems 1151

L.S. Su, O. Ahrif, G.L. Biankenship, University ofMaryland

02:30-03:00 (I)Domains of Artificial Intelligence Relevant toSystems 1153

J. D. Birdwell, J. R. B. Cockett, University ofTennessee; J.R. Gabriel, Argonne NationalLaboratory

03:00-03:30 (I)Knowledge Representation by Scripts in anExpert Interface 1159

J. E. Larsson, P. Persson, Lund Institute ofTechnology

03:30-04:00 (I)Expert Systems Architecture for Control SystemDesign 1163

T. L. Trankle, P. Sheu and U. H. Rabin, SystemsControl Technology

04:00-04:30 (I)An Expert System to Control a Fusion EnergyExperiment 1170

R. R. Johnson, T. Canales, D. Lager, LawrenceLivermore Laboratory

SESSION TP 6: Cedar

Simple vs. Complex Models in ProcessControl

Chairman: R. Pearson, E. I. du Pont deNemours & Co.

Co-Chairman: J. R. Richards, E. I. du Pont deNemours & Co.

02:00-02:30 (I)The Hierarchy of Models in Chemical ProcessControl 1176

R, K. Pearson, E. I. du Pont de Nemours & Co.

02:30-03:00 (I)Statistically Derived Static Process Models 1182

R.W. McClure, Condux, Inc.

03:00-03:30 (I)Cluster Analysis and Lumpability of Large LinearSystems 1187

P.G. Coxson, Ohio State University; K.B. Bischoff,University of Delaware

03:30-04:00 (I)Low Order, Nonlinear, Dynamic Models forDistillation Columns 4192

S. K. P. Wong, D. E. Seborg, University ofCalifornia-Santa Barbara

04:00-04:30 (I)The Value of Simple Multivariable andNonlinear Models in Process Control 1199

C. Georgakis, Lehigh University

04:30-05:00 (I)Remarks on Stochastic Model Reduction t

K, Zhou, P. Khargonekar, University of Minnesota

SESSION TP 7: Douglas

Control of Mechanical Systems

Chairman: G. Stegen, ScienceApplications International Corp.

Co-Chairman: T. Hughes, NOSC

02:00-02:30Identification Method of MIMO LinearDynamical Systems for Modal Analysis ofMechanical Structures 1204

H. Kano, Fujitsu Ltd.

02:30-03:00Robust Control of a Nonlinear Process WithSystem Uncertainty and Delay Using VariableStructure 1210

G. E. Young, S. Rao, Oklahoma State University

03:00-03:30Ship Steering Control Problem PerformanceCiterion for Energy Minimization 1218

M.R. Katebi, M.J. Grimble and J. Wilkie, Royal 'College-Glasgow

03:30-04:00The Sizing Game 1224

J. Lozier, AT&T Bell Laboratories

04:00-04:30Linear Quadratic Gaussian Control of aNonlinear Drive System 1230

R.V. Spencer, M.J. Krok, General Electric

SESSION TP 8: Juniper

Identification

Chairman: D. Graupe, University of Illinois-Chicago

Co-Chairman: K. Bruce, Boeing Co.

02:00-02:30Identification of Unstable Systems Using Least-Squares Algorithm 1236

J. Jiang, R. Doraiswami, University of NewBrunswick

02:30-03:00Maximum Likelihood Identification of StructurallyConstrained Covariances for Initial ConditionStatistics 1242

R. H. Smith, JHU/Applied Physics Laboratory

03:00-03:30Eigenvalue Assignment in CompensatedParameter Identifiers 1249

A A Abdul-Wahab, M.A Zohdy, K.C. Cheok,Oakland University

03:30-04:00Stochastic Realization of Non-Minimum PhaseSystems 1254

G. Giannakis, J. M. Mendel, University ofSouthern California

04:00-04:30On Model Reduction in SystemIdentification v 1260

B. Wahlberg, Linkoping University

04:30-04:45Identification of Nonprime Systems 1267

B. Stevens, R, Marshall, Lockheed-GeorgiaCompany; F. Lewis, Georgia Institute ofTechnology

04:45-05:00Nonparametric Identification of a MemorylessStochastic System With Cascade Structure 1270

A Krzyzak, Concordia University

SESSION TP 9: Madrona

Control in Optical Systems

Chairman: T. Katonak, AFWL-Kirtland AFBCo-Chairman: H. Levenstein, Perkin-Elmer

Corp.

02:00-02:30 (I)Control In Optical Systems—An Overview t

J.P. Basu, J.E. Harvey, H.J. Robertson, Perkin-Elmer

02:30-03:00 (I)Adoptive Control in Optical Systems 2124

C. B, Hogge, AFWL

03:00-03:30 (I)Wavefront Compensation for AstronomicalTelescopes t

J.W. Hardy, ITEK Optical Systems

03:30-04:00 (I)Synthetic Aperture Beam Controls t

C.W. Lors, R.W. Scott, United TechnologyResearch Center

04:00-04:30 (I)Active Image Stabilization for Shuttle BasedPayloads 1274

K R. Lorel, J. N. Aubrun, Lockheed

04:30-05:00 (I)Solution of the Bang-Bang Boundary ValueProblem for Nth-Order Systems with ComplexEigenvalues 1284

D.L Cate,AFWL

SESSION TP 10: Ballroom A

The LQG/LTR Design Method: An OverviewWith Applications

Chairman: M, Athans, MassachusettsInstitute of Technology

Co-Chairman: G. Stein, Honeywell SRC

02:00-02:30 (I)A Tutorial on the LQG/LTR Method 1289

M, Athans, Massachusetts Institute ofTechnology

02:30-03:00 (I)Multivariable Control of the GE T700 EngineUsing the LQG/LTR Design Methodology 1297

W. H. Pfeil, General Electric-Lynn; M, Athans,Massachusetts Institute of Technology; H.ASpang III, General Electric-Schenectady

03:00-03:30 (I)Multivariable Control of a Submersible Using theLQG/LTR Design Methodology 1313

R. Martin, Naval Sea Systems Command; L.Valavani, M. Athans, Massachusetts Institute ofTechnology

03:30-04:00 (I)New Concepts for a Submarine DepthchangingSystem t

J. Korn, G. C. Goodman, D. L Weinman,Alphatech, Inc.

04:00-04:30 (I)Multivariable Control of a Twin-Lift HelicopterSystem Using the LQG/LTR DesignMethodology 1325

A Rodriguez, M. Athans, Massachusetts Instituteof Technology

04:30-05:00 (I)A Critique of the LQG/LTR Design Method t

G. Stein, Honeywell and MIT

SESSION TP 11: Room 428

Linear Systems 4

Chairman: E. Noges, University ofWashington-Seattle

Co-Chairman: J-G. Sun, Nanjing Aero. Institute

02:00-02:30Application of a Frequency Domain Approachin Analysis of a Statistical Signal Estimator 1333

P. J. Sherman, Purdue University

02:30-03:00Utilization of Control Effort Constraints in LinearController Design 1339

A G. Ulsoy, University of Michigan

03:00-03:30Design of Feedforward-Cascade Controllers forMultivariable Systems 1347

H. Seraji, Jet Propulsion Laboratory

03:30-04:00Stable Sub-Optimum Controllers for the SmithDead Time Compensation 1354

C. Batur, University of Akron

04:00-04:30Eigensystem Clustering Via FeedbackControl 1359

A A Abdul-Wahab, M.A Zohdy, N.K. Loh,Oakland University

FRIDAY MORNINGJune 20,1986

PLENARY SESSION III8:00-9:00 Ballroom A

Robert RankineBrigadier GeneralUnited States Air Force"Hypersonic Flight and Strategic DefenseInitiative: Future Control Challenges"

SESSION FA 1: East A

Applications of Advanced ProcessControl—I

Chairman: K. Leffew, E. I. du Pont deNemours & Co.

Co-Chairman: F, Schrok, Georgia Institute ofTechnology

09:00-09:30 (I)Predictive Control Using Constrained OptimalControl 1365

T. Edgar, D. L. Little, University of Texas-Austin

09:30-10:00 (I)Achieving Decoupling with PredictiveControllers 1372

P. R. Maurath, D. E. Seborg, D. Mellichamp,University of California-Santa Barbara

10:00-10:30 (I)Synthesizing a Multivariable Predictive Algorithmfor Noninteracting Control 1378

G, R. Arulalan, P, B. Deshpande, University ofLouisville

10:30-11:00 (I)Robust Controller Design for a Fixed-BedMethanation Reactor 1387

J.A Mandler, M. Morari, J.H. Seinfeld, CaliforniaInstitute of Technology