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A functional integral approach to solution of a class of evolution equations is described. This is done by introducing the Feynman-Kac formula. Then selected applications to quantum mechanical and classical wave propagation problems are presented. A connection with the nonlinear filtering theory is also discussed.
A new low sensitivity realization for the quadratic regulator is derived. The main idea is the generalization of the "balanced realizations" of Moore via the separation principle. The results lead directly to a new approximation method for the LQG problem and reduced order regulator synthesis.
The problem of management of production for an automated manufacturing system is described. The system consists of machines which can perform a variety of operations on a family of parts. The machines are unreliable, and the chief difficulty the control system faces is to meet production requirements while the machines fail and become repaired at random times. A three-level hierarchical control algorithm...
This paper presents limit theorems for the behaviour of adaptive estimators using the LMS algorithm when the driving or input sequence is a member of a broad class of random processes which are not necessarily almost surely bounded and are dependent over time. Convergence in distribution of the estimates is established in the stationary case while general nonstationary tracking is characterised in...
In this paper we describe the application of an input estimation technique to the problem of inferring the acceleration of a maneuvering target from noise-corrupted position measurements. The input estimation algorithm computes the maximum aposteriori probability (MAP) estimate of the input given the measurements. Results obtained using the algorithm, including those obtained using data for an M60...
An explicit self-tuning controller is described based upon the weighted minimum variance control law. The controller has the advantage that a non-minimum phase system can be stabilised under conditions where other minimum variance control laws fail. The system can be multivariable and can include unknown transport delay terms which are different in each loop.
The generalization of the Extended Least Squares algorithm for parameter estimation in MIMO systems with ARMA for the noise allows a parallel estimation of row parameters in the model. From this result a new algorithm is proposed which estimates process and noise parameters separately resulting in a further reduction in computer time.
We present two new algorithms to estimate the domain of attraction of an isolated asymptotically stable equilibrium and we present a new result (using the comparison principle) which can sometimes be used to extend the applicability of these algorithms to high order systems.
We present a heuristic algorithm for partitioning the nodes of a graph into a given number of subsets in such a way that the number of edges connecting the various subsets is a minimum. The sizes of the subsets must be specified in advance.
By a polynomial formulation, we explicitely and exhaustively define the set of tracking and regulation transfer functions a process can assume by linear closed loop control under constraint of internal stability. This result exhibits the freedom let to control law designers and allows us to study new results on adaptive control in a unified framework.
Two joints of an industrial robot have been redesigned and fabricated to include torque sensing capability by means of strain gauges. The resulting control systems reduced the effective frictional torques of the joints from 1072 oz.-inches to 33.5 oz-inches. The stability of the closed-loop systems was analyzed by means of the describing function for limit cycles exhibited in the system, which can...
A class of interconnected systems composed of subsystems connected to form a simple loop are analyzed. A number of very simple tests for stability and stabilizability of such systems are developed.
A new stability criterion for discrete time systems which is obtained purely from the geometry of stability domain in the canonical parameter space is presented. The stability criterion is simple and recursive in nature. The connection between the new stability criterion and the Schur-Cohn criterion is established, leading to a simple algorithm to find the root distribution with respect to the unit...
This paper presents a new approach to the position and velocity control of a manipulator by using the adaptive (self-tuning) controllers. The complicated model of a manipulator system is modeled by a set of time varying difference equations. The parameters of the system are determined by an on-line recursive algorithm based on the least squares error criterion. An adaptive controller is designed on...
Using singular value decomposition techniques, and making systematic use of the Schur complement for a partitioned matrix, an investigation is carried out of how the input and output spaces associated with a square transfer matrix can be decomposed in terms of the way in which a system responds to vector impulses of various orders. The results so obtained are then used to characterise the forms of...
The infinite zero structure of linear multivariable systems is investigated via the geometric approach. The basic tools used are the new concepts of almost (A, B)-invariant and almost controllability subspaces. These concepts permit advantageous geometric interpretation of infinite zeros. This interpretation is a natural generalization of the finite case. Connection is made with the Smith McMillan...
The notions of common right and common left divisors of two polynomial matrices are well established. They can be used to characterize the unobservable and the uncontrollable modes of a system and to study polynomial matrix equations of the form a1V1 + a2V2 = V3. The new notion of common (right, left) divisors of two polynomial matrices is introduced here and it is used to characterize the modes of...