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 1

June 18,1986

86CH2336-6

CODING: WAWPWETATPFAFP(DTBA

PROGRAM 'i" f '= Wednesday morning= Wednesday afternoon= Wednesday evening= Thursday morning= Thursday afternoon= Friday morning= Friday afternoon= Invited Paper= To be announced

WEDNESDAY MORNINGJune 18,1986

PLENARY SESSION 18:00-9:00 Ballroom A

Peter L. SutcliffeBoeing Commercial Airplane Company"The Boeing 7J7 Advanced TechnologyAirplane

SESSION WA 1: East A

Robustness and Modeling Issues inProcess Control

Chairman: J. Kantor, University of NotreDame

Co-Chairman: V. Manousiouthakis, University ofCalifornia-Los Angeles

09:00-09:30 (I)Design of the IMC Filter by Using the StructuredSingular Valve Approach 1

E. Zafiriou, M. Morari, California Institute ofTechnology

09:30-10:00 (I)Spectral Radius Design for Robust MultivariableControl 7

J.C, Kantor, University of Notre Dame

10:00-10:30 (I)The Dynamic Block Relative Gain and Its Role Inthe Design of Robust Decentralized Control 11

Y. Arkun, Georgia Institute of Technology; V.Manousiouthakis, University of California-LosAngeles

10:30-11:00 (I)Toward the Development of Prudent and RobustSelf-Tuning Adaptive Controllers for ProcessControl 17

R. Sela, W. H. Ray, University of Wisconsin

11:00-11:30 (I)Impact of Modeling Decisions on theRobustness of Tubular Reactors 25

A N. Palazoglu, S. E. Owens, University ofCalifornia-Davis

11:30-12:00 (I)The Equivalence of Non-Interacting ControlSystem Design Methods in Distillation 31

B.W. Bequette, T.F. Edgar, University of Texas

SESSION WA 2: East B

Stochastic Control

Chairman: AV. Balakrishnan, University ofCalifornia-Los Angeles

Co-Chairman: TBA

09:00-09:30Robust Controller Design for Linear StochasticSystems with Uncertain Parameters 39

T, Basar, University of Illinois; P. McDowell,McDonnell Douglas Corporation

09:30-10:00Stochastic Teams with Nonclassical InformationRevisited: When is an Affine Law Optimal? 45

R. Bansal, T. Basar, University of Illinois

10:00-10:30Constrained Variance Design Using StateCovariance Assignment 51

E.G. Collins, R.E. Skelton, Purdue University

10:30-11:00Decoupling Stochastic Systems Under Plant andController Parameter Variation 57

G. K. F. Lee, A H. Bamani, Colorado StateUniversity

11:00-11:30Feedback and Feedforward LOG ControllerDesign for Scalar Self-Tuning Control Systems 63

M. J. Grimble, University of Strathclyde

11:30-12:00Stochastic Recursive Algorithm with ModifiedSPR Condition 70

M. El-Sharkawy, Bucknell University; B. Peikari,Southern Methodist University,

12:00-12:15Stabilizing Uncertain Systems: Recovering FullState Feedback Performance Via an Observer 77

C.V. Hollot, University of Massachusetts; A R.Galimidi, University of Wisconsin

12:15-12:30Asymptotic and Transient Decomposition in theDesign of Robust Controllers for UncertainNonlinear Systems 82

R. Barnard, Wayne State University; S. Jayasuriya,and C, D. Kee, Michigan State University

SESSION WA 3: West A

Stability Theory for Adaptive Control

Chairman: R. Kosut, Integrated Systems,Inc.

Co-Chairman: S. Sastry, University of California-Berkeley

09:00-09:30 (I)Stability/Instability Analysis of Continuous-TimeAdaptive Controllers for Pure Delay Systems 86

R. Ortega T. Yu, University of Mexico

09:30-10:00 (I)Stability of Reduced-Order Adaptive ControlSystems 91

C.C.H, Ma, M. Vidyasagar, University ofWaterloo

10:00-10:30 (I)Stability of Slow Adaptation for Non-SPR Systemswith Disturbances 97

B. Riedle, P. Kokotovic, University of Illinois

10:30-11:00 (I)Adaptive Control of Partially Known Systems 103

E.W. Bai, S.S. Sastry, University of California-Berkeley

11:00-11:30 (I)Fixed Point Theorems for Adaptive ControlAnalysis t

R. L. Kosut, Integrated Systems, Inc.

11:30-12:00 (I)Example of Robust Adaptive Control in SampledData Systems t

C. E. Rohrs, Tellabs Research; J, Sisianni,University of Notre Dame

SESSION WA 4: West B

Robotics

Chairman: J. Speyer, University of Texas-Austin

Co-Chairman: M. Railey, University of Akron

09:00-09:30Existence of the Time Optimal Control forRobotic Manipulators 109

J. Wen, Jet Propulsion Lab; A Desrochers,Rensselaer Polytechnic

09:30-10:00Cartesian Control of Robotic Manipulators withJoint Compliance 114

S.D. Hill, R,J. Vaccaro, University of Rhode Island

10:00-10:30Algorithmic Approach to Straight Line TrajectoryPlanning for Mechanical Manipulators 121

B. H. Lee, Purdue University

10:30-10:45Decoupled Simulation of Two-Arm RobotSystems 127

J. N. Anderson, Tennessee Tech University

10:45-11:00Analysis for the Design and Control of BracedManipulators for Part Referencing t

H. West, Massachusetts Institute of Technology;H. Asada, Kyoto University

11:00-11:15A Variable Structure Model Following ControlDesign for Robotics Applications t

K. D. Young, University of California-Livermore

11:15-11:30Performance Evaluation of RoboticMechanisms 130

W. Homsup, J. N. Anderson, Tennessee TechUniversity

11:30-11:45Compliant Control of Robot ManipulatorsIncorporating Force Sensor and ConstraintModels 137

R.P. Judd, Oakland University; C.W. Mousseau,US Army Tacom

SESSION WA 5: Aspen

Artificial Intelligence in Process Control

Chairman: R. Moore, LISP Machines, Inc.Co-Chairman: T. McAvoy, University of

Maryland

09:00-09:30 (I)Use of Expert Systems in Closed LoopFeedback Control 140

K-E Arzen, Lund Institute of Technology

09:30-10:00 (I)Expert System Rules From CAD Databases 146

W.G. Beazley, WGB & Associates

10:00-10:30 (I)DISPATCHER: An Intellgent Approach toFactory Control 152

R. Zemel and M. Acock, Carnegie Group, Inc.10:30-11:00 (I)Performance Analysis of Real-Time ExpertSystem Tools t

R. L Leah, K Sinnamohideen, Johnson Controls

11:00-11:15 (I)Towards an Expert Control Designer t

J.L Jacobs, Harris Corporation; P.J. Antsaklis,University of Notre Dame

11:15-11:45 (I)Application of Intelligence to Chemical ProcessSupervision Systems 2130

P. Visuri, PI Consultants; M. N. Karim, ColoradoState University

SESSION WA 6: Cedar

Control of Safety Constrained Processes

Chairman: R. Asok, Pennsylvania StateUniversity

Co-Chairman: J. Benard, MassachusettsInstitute of Technology

09:00-09:30 (I)Failure—Accomodating Control of LargeFlexible Spacecraft 156

S. M. Joshi, NASA Langley Research Center

09:30-10:00 (I)An Approach to Heuristics at the High FluxIsotope Reactor t

D.K. Wehe, N.C. Clapp, P.J. Otaduy, J.AMullens, University of Michigan

10:00-10:30 (I)A Real-Time Simulation Evaluation of anAdvanced Detection, Isolation, andAccommodation Algorithm for Sensor Failuresin Turbine Engines 162

W. Merrill, J. Delaat, NASA Lewis ResearchCenter

10:30-11:00 (I)The Application of Digital Technology to theOperation of Safety-Constrained Processes t

J.A Bernard, A Ray, Massachusetts Institute ofTechnology

11:00-11:30 (I)Providing Nuclear Reactor Control Informationin the Presence of Instrument Failures 170

J. L. Tylee, J. E. Purviance, University of Idaho

11:30-12:00 (I)Implementation of a Fault DetectionProcedure 176

H.P. Polenta, A Ray, Pennsylvania StateUniversity, P.T. Menadier, J.A Benard, D.D.Lanning, Massachusetts Institute of Technology

SESSION WA 7: Douglas

Advanced Instrumentation Based onOptimal Excitation and Estimation

Techniques Using Multi-Sensors

Chairman: O.A Asbjornsen, University ofHouston

Co-Chairman: G. H. Beerel, University ofHouston

09:00-09:30 (I)On Line Component Estimation and AnalyzerCalibration for a Complex Industrial ProcessingPlant Using Kalman Filtering 2111

O. Norderhaug, J.G. Balchen, T. Onshus,University of Trondheim

09:30-10:00 (I)New Intelligence in Instrumentation of Solid FuelPower Plants 182

U. Kortela, Y. Maranne, Tempere University ofTechnology

10:00-10:30 (I)Least Square Estimates of Automotive-DragCoefficients from Coast-Dawn Tests 189

J.M. Griffith, J.R. Venhuizen, Idaho NationalEngineering Laboratory

10:30-11:00 (I)On Line Estimation of Heat Capacity ofProcess Fluids Using Dynamic Excitationof Temperature 195

G.H. Beerel, O.A Asbjornsen, University ofHouston

11:00-11:30 (I)Estimation of Reaction Kinetic Parameters byLocal On Line Dynamic Experimentation 201

O.A Asbjornsen, P. Robinson, University ofHouston

11:30-12:00 (I)A Dynamic Process Simulator for StochasticallyDefined Systems 207

R.W. Freedman, Tulane University

SESSION WA 8: Juniper

Modeling & Control of Dynamic Systems

Chairman: E. I. Verriest, Georgia Institute ofTechnology

Co-Chairman: D.J. Bernays, Boeing Co.

09:00-09:30Methods for Obtaining Robust Tracking ControlLaws 212

W. E. Schmitendorf, Northwestern University

09:30-10:00Dynamics of a Ferromagnetic SuspensionSystem 217

K.V. Hebbale, GM Research Labs; D.L Taylor,Cornell University

10:00-10:30Modeling Continuous Time State Equations fromDiscrete Equations t

C. E. Hwang, University Tinin-Taiwan10:30-11:00The Research of a Parameter Adaptive Schemeof Aircraft Longitudinal and Lateral CommandAugmentation t

X. Shunda, NW Polytech Xian, PRC11:00-11:30A New Algorithm to Search for a Limit Cycle inNonlinear Control Systems 224

V.K. Pillai, H.D. Nelson, Arizona State University

11:30-12:00Reducing the Measure of Mismatch forUncertain Dynamical Systems 229

Y.H. Chen, University of California-Berkeley

12:00-12:30Rudder Roll Stabilization: Controller DesignBased on an Adaptive Criterion 237

J. van Amerongen and H.R. van Nauta Lemke,Delft University of Technology; P.G.M. van derKlugt, Van Rietschoter & Hourvens

SESSION WA 9: Madrono

Modeling and Control of Advanced PowerTrains

Chairman: M. Hubbard, University ofCalifornia-Davis

Co-Chairman: A Dohner, Dohner & Associates,Inc.

09:00-09:30 (I)Analytical Evaluation of the Transfer Function ofa Turbo-Charged Diesel Engine t

D.E. Winterbone, AK. Sedigh, UMIST-Manchester,UK

09:30-10:00 (I)A Dynamic Simulation of the Detroit DieselElectronic Control System for Evaluating Engineand Driveline Interactions 243

M.J. Jennings, P.N. Blumberg, IntegralTechnologies; R.W. Amann, GMC-Detroit Diesel

10:00-10:30 (I)Directly Control of Pneumatic Clutch for HeavyDuty Vehicles 252

T. Shimazu and S. Yanagihara, Daikin Clutch Co.Ltd.; H. Tanaka, Yokohama National University-Japan

10:30-11:00 (I)Robust Multivariable Idle Speed Control 258

H. P. Geering, C. Baumgaiiner, C. H. Onder andE. Shafai, Swiss Federal Institute of Technology

11:00-11:30 (I)Closed Loop Control of an Afterburning F100Gas Turbine Engine 266

S.A Eisa, H.P. Tyler, Allied Bendix Aerospace

11:30-12:00 (I)Dynamic Modeling and Analysis of theHydraulic System of Automotive AutomaticTransmissions 273

AM. Karmel, GM Research

12:00-12:30 (I)A Methodology for Modeling the Dynamics ofthe Mechanical Paths of Automotive Drivetrainswith Automatic Step Transmissions 279

A M. Karmel, GM Research

SESSION WA 10: Ballroom A

Performance/Robustness Tradeoffs inController Design

Chairman: A Bryson, Stanford UniversityCo-Chairman: TBA

09:00-09:30 (I)Multivariable Regulator Design for Robustnessand Performance; A Realistic Example 285

J. Bossi, R.D. Jones, University of Washington, U.LLy, Boeing Co.

09:30-10:00 (I)Performance/Robustness Tradeoffs in ControllerDesign t

AE. Bryson, S. Hermelin, Stanford University; J.Sun, Systems Control Technology

10:00-10:30 (I)Robust Controller Synthesis; An Example t

P.J. Lynch, T.E. McQuade, S.S. Banda, AFWAL

10:30-11:00 (I)On-Orbit Tuning of an Optical StabilizationSystem t

R. L. Kosut, M. G. Lyons, Integrated Systems

SESSION WA 11: Room 428

Linear Systems 1

Chairman: A Haddad, Georgia Institute ofTechnology

Co-Chairman: A Nadkarni, Boeing Co.

09:00-09:30Nash Strategies for Discrete-Time Linear Systemswith Multirate Controllers 289

P.J. West, W.R. Perkins, University of Illinois

09:30-10:00The Recursive Solution of Linear Quadratic NashGames for Weakly Interconnected Systems 295

B. Petrovic, University of Belgrade; Z. Gajic, yf

Rutgers University

10:00-10:30Reachable Outputs in Systems with BoundedParameter Uncertainties: Application to FailureDetection 301

D.T. Horak, D.M. Goblirsch, Bendix AerospaceTechnology Center

10:30-10:45Comments on Achievable Eigenvectors 309

J. Griffith, Idaho National EngineeringLaboratory

10:45-11:00Linear Output Feedback Control 316

A Felachi, West Virginia University

11:00-11:15On Feedback Stabilization of Linear Systems 318

P.T. Kabamba, University of Michigan; R.W.Longman, Columbia University; J-G Sun, NanjingAeronautical Institute

11:15-11:30Stability of System Matrices with PerturbedCoefficients 320

M, B. Argoun, University of Wisconsin-Milwaukee

11:30-11:45A Method for Computing the Interval of DelayValues for Which a Differential-Delay System isStable 324

J. Chiasson, Purdue University

11:45-12:00On Decentralized Control of Complex FeedbackSystems 326

O. D. I. Nwokah, Purdue University

12:00-12:15Reduced Order Modeling in the Discrete-TimeDomain 332

M. Farsi, University of Newcastle; K. Warwick,University of Oxford

WEDNESDAY AFTERNOON

SESSION WP 1: East A

Advances in Model Predictive Control

Chairman: B. Holt, University ofWashington-Seattle

Co-Chairman: C. Garcia, Shell DevelopmentCo.

01:00-01:30 (I)A State Space Analysis of the Stability andRobustness Properties of Model PredictiveControl (MPC) 335

J.G. Reid, S. Mahmood, R.K. Mehra, ScientificSystems, Inc.

01:30-02:00 (I)Infinity-Norm Formulation of Model PredictiveControl Problems 339

P.Campo, M. Morari, California Institute ofTechnology

02:00-02:30 (I)Adaptive Horizon Adjustment for ModelPredictive Control 344

V. Quigley, C. Brosilow, Case Western Reserve

02:30-03:00 (I)Microprocessor-Based Surge Level Control t

W. B. Stewart, H. K. Lau, Shell Development Co.

03:00-03:30 (I)Model Predictive Control of Gas PipelineNetworks 349

D. Marques, INTEC-Argentina; M. Morari,California Institute of Technology

03:30-04:00 (I)Predictive Control of Multieffect EvaporationSystem 355

N. L. Ricker, T. Sim, C.-M. Cheng, University ofWashington

SESSION WP 2: East B

Nonlinear Systems

Chairman: R. Clark, University ofWashington

Co-Chairman: M. Sankrithi, Boeing Co.

01:00-01:30Control of Unknown Nonlinear Systems UsingGain-Scheduling Tuning Regulators 360

A Solomon, E. J. Davison, University of Toronto

01:30-02:00A Result on Tracking Equilibria for SlowlyVarying Nonlinear Systems 367

C. DeMarko, B. Barmish, University of Wisconsin-Madison

02:00-02:30On the Linearization of Nonlinear Discrete-TimeSystems 373

H-G Lee, S. I. Marcus, University of Texas-Austin

02:30-03:00Stability Analysis of Hybrid CompositeDynamical Systems: Descriptions InvolvingOperators & Difference Equations 379

M.S. Mousa, R.K. Miller, Iowa State University;A N. Michel, University of Notre Dame

03:00-03:15Remarks on Smooth Feedback Stabilization ofNonlinear Systems 385

K, K Lee, A Arapostathis, University of Texas-Austin

03:15-03:30Nonlinearities in Sampled-Data Systems:Sampling Rate vs. Sector Size t

J. H. Lilly, University of Kentucky

03:30-03:45Bifurcation Control and FeedbackStabilization 387

E.H. Abed, University of Maryland; J-H Fu,University of Maryland

03:45-04:00Nonlinear Muscle Length-Tension Curves Affectthe Control of Electrically Stimulated AntagonistMuscles 392

W. K. Durfee, Massachusetts Institute ofTechnology

04:00-04:15Optimal Interpolation and Smoothing of BilinearSystems 394

T.A Dwyer, University of Illinois-Urbana

SESSION WP 3: West A

Simulation Tools for Control Systems

Chairman: M. Shah, IBM CorporationCo-Chairman: M. Dost, IBM Corporation

01:00-01:30 (I)The Role of Dynamic Simulation in ControlSystem Design t

N. E. Pobanz, Bechtel Inc.

01:30-02:00 (I)Integrated Control Systems Design andNonlinear Simulation t

B. Schrick, System Control Technology

02:00-02:30 (I)Two Reasons Why a Controls Laboratory Needsan Analog Computer 398

R. H. Spiess, Comdyna Inc.

02:30-03:00 (I)Simulation in the Support of EigenstructureAssignment for Interacting Control Loops 401

J.R. Venhuizen, EG&G Idaha Inc.

03:00-03:30 (I)System Build: An Object Based Tool forSimulation in Control Engineering t

S.C. Shah, D. Varvell, N.K. Gupta, IntegratedSystems, Inc.

03:30-04:00 (I)Use of Distributed Control System for ProcessSimulation t

E. Stech, Amoco Chemical

SESSION WP 4: West B

Numerical Techniques for MultivariableSystems

Chairman: J. Aplevich, University ofWaterloo

Co-Chairman: R. Patel, Concordia University

01:00-01:30 (I)Balanced Singular Values forLQG/LTR Design 409

J, D. Birdwell, University of Tennessee; A J. Laub,University of California-Santa Barbara

01:30-02:00 (I)Stable Computation of Minimal Representationsof Multi-Operator Linear Systems t

J. D. Aplevich, University of Waterloo

02:00-02:30 (I)Toeplitz Algorithms for Controllability GCD andCauchy Index 415

B. N. Datta and K. Datta, Northern IllinoisUniversity

02:30-02:45 (I)A Theoretical Analysis of the Round-offPropagation in Different KalmanFilter Algorithms 419

M. Verhaegen and P. Van Dooren, NASA AmesResearch Center

02:45-03:15 (I)A Class of Fast Staircase Algorithms forGeneralized State-Space Systems 425

T. Beelen, P. Van Dooren and M. Verhaegen,Philips Research Laboratory-Belgium

03:15-03:45 (I)Characterization and Computation ofDecentralized Fixed Modes of MultivariableSystems 427

P. Misra, R.V. Patel, Concordia University

03:45-04:00 (I)Algorithms for Robust Pole Assignment inSingular Systems 433

J. Kautsky, Flinders University-Australia; N. K.Nichols, University of Reading-U.K

04:00-04:30 (I)Geometric Aspects in the Computation of theStructural Singular Value 437

M. K. H. Fan, A L. Tits, University of Maryland

SESSION WP 5: Aspen

Artificial Intelligence Applications inSensor Fusion and Command and Control

Chairman: S. L. Brodsky, Sperry CorporationCo-Chairman: TBA

01:00-01:30 (I)Technology Demonstrations of Naval BattleManagement Applications within the DARPAStrategic Computing Program 442

J. Flynn, DARPA

01:30-02:00 (I)Naval Command Center Battle Management t

M. Hall, T. Senator, Space & Naval WarfareCommand

02:00-02:30 (I)A Tactical Intelligence ProcessingSystem (TIPS) 445

F. Hills, Sperry Corporation

02:30-03:00 (I)Ambiguity Resolution in Contact DataCorrelation 452

B. Dunning, Sperry Corporation

03:00-03:30 (I)Multi-System Report Integration UsingBlackboards 457

J. Delaney, Stanford University

03:30-04:00 (I)Overlooked and Unconventional Al Techniquesfor Command and Control t

M. Grover, M. Stachnick, Advanced DecisionSystems

SESSION WP 6: Cedar

Aerospace Applications 1

Chairman: J. Elliot, NASA-Langley ResearchCenter

Co-Chairman: G. Anderson, Oricon Corp.

01:00-01:30Aeroelastic Control of ObliqueWing Aircraft 463

J. J. Burken, G.S. Alag, G.B. Gilyard, NASA AmesResearch Center

01:30-02:00Decoupling Control Synthesis for an ObliqueWing Aircraft 472

R.W. Kempel, J.W. Pahie, NASA Ames ResearchCenter; G. Alag, Western Michigan University

02:00-02:30Variable Structure Control of aTurbojet Engine 482

C.Y. Chao, C.W. Chen, B.C. Wang, NationalChiao-Tung University

02:30-03:00Aircraft Flutter Suppression via Adaptive LQGControl 488

A Chakravarty, J. B. Moore, Boeing CommercialAirplane Co.

03:00^03:15Adaptive Control Robustness in Flexible AircraftApplication 494

E.N. Sanchez, NASA

03:15-03:30Redundancy Management for AutonomousSpacecraft Attitude Control Systems 497

B. H. Kawauchi, The Aerospace Corporation

03:30-03:45Bank-To-Turn Utilizing Sampled Data Non-LinearControl 507

D.J. Caughlin, Department of Air Force; T.Bullock, University of Florida

03:45-04:00Time Scale Analysis of a Digital Flight ControlSystem 509

D.S. Naidu, D.B. Price, NASA

SESSION WP 7: Douglas

Deterministic Control of Uncertain Systems

Chairman: C. Blackwell, University of Texas-Austin

Co-Chairman: M. Corless, Purdue University

01:00-01:30 (I)New Matching Conditions for Robust StabilizingControllers t

B. R. Barmish, M-Y Fu, University of Wisconsin

01:30-02:00 (I)Stabilizing Uncertain Systems via anObserver 511

C.V. Hollot, University of Massachusetts

02:00-02:30 (I)Control of Uncertain Discrete-Time Systems 515

M. Corless, Purdue University; J, Manela,University of California-Berkeley

02:30-03:00 (I)Stabilization of Uncertain Systems Using StateDetection: Application to a Maglev Vehicle 521

Y-H Chen, University of California-Berkeley

03:00-03:30 (I)Deterministic Control of Uncertain ModalSystems t

C. Blackwell, B. Wang, C. Wang, University ofTexas-Arlington; R. Laskin, S. Sirlin, Jet PropulsionLab

03:30-04:00 (I)Control of Aircraft Rendezvous UnderUncertainty t

H. Stalford, Virginia Polytechnic

SESSION WP 8: Juniper

Disturbance Accommodating Control

Chairman: C. Johnson, University ofAlabama-Huntsville

Co-Chairman: R. Skelton, Purdue University

01:00-01:30 (I)Disturbance-Accommodating Control; anOverview 526

C. D. Johnson, University of Alabama

01:30-02:00 (I)Model-Error Estimation and theOrthogonal Filter t

R. E. Skelton, Purdue University

02:00-02:30 (I)Disturbance-Accommodating Control ofDistributed Parameter Systems t

M.J. Balas, Massachusetts Institute ofTechnology

02:30-03:00 (I)A Ball-Balancing Demonstration of Disturbance-Accommodating Control 537

N.K. Loh and K.C. Cheok, Oakland University

03:00-03:30 (I)Disturbance-Accommodating Control of aHelicopter Chain-Gun; A Candidate Design 541

R.W. Bass, Litton Data Systems

03:30-04:00 (I)Linear Adaptive Control via Disturbance-Accommodation; Some Case Studies 542

C. D. Johnson, University of Alabama

SESSION WP 9: Madrono

Control Systems for ManufacturingProcesses

Chairman: M-F. Chang, General MotorsResearch Labs

Co-Chairman: N. H. McClamroch, University ofMichigan

01:00-01:30 (I)An Architecture for Heuristic Factory Control 548

H.V.D. Parunak, R. Judd, P.W. Lozo, J.F. White,B.W. Irish and J. Kindrick, Industrial TechnologyInstitute

01:30-02:00 (I)Stochastic Optimal Control of a MachiningProcess 559

C.J. Conrad, N.H. McClamroch, University of /Michigan

02:00-02:30 (I)Tool Positioning for Noncircular Cutting withLathe 566

M. Tomizuka, M.S. Chen, S, Renn, T.C. Tsao,University of California-Berkeley

02:30-03:00 (I)Finite Element Method for the Analysis andCalibration of a Closed Loop Control Algorithmfor Pressbrake Bending 572

S. Kim and K.A Stelson, University of Minnesota

03:00-03:30 (I)Dynamic Analysis and Control of a Roll BendingProcess 578

M. Hale, D. E. Hardt, Massachusetts Institute ofTechnology

SESSION WP 10: Ballroom A

Aircraft Control Applications

Chairman: K Sobel, Lockheed CaliforniaCo.

Co-Chairman: E. Shapiro, HR Textron

01:00-01:30 (I)Flight Control Design Using Nonlinear InverseDynamics 587

S.H. Lane, R.F. Stengel, Princeton University

01:30-02:00 (I)Application of Precomputed Control Laws in aReconfigurable Aircraft Flight Control System t

D. D. Moerder, N. Halyo, J. R. Broussard,Information & Control Systems; A K. Caglayan,Charles River Analytics

02:00-02:30 (I)Design of Jet Engine Control System UsingNyquist and Bode Diagrams t

R.S. Baheti, P.K. Houpt, General Electric, Co.

02:30-03:00 (I)A Direct Method for Enforcing EqualityConstraints in Optimal Output Feedback 597

KV. Raman, RCA Astro Electronics; AJ, Calise,Drexel University

03:00-03:30 (I)Optimal Stochastic Observers Applied toHydraulic Actuation Systems 602

H. B. Panossian, HR Textron

03:30-04:00 (I)Dynamic Output Feedback Flight Control LawsUsing Eigenstructure Assignment 605

KM. Sobel, Lockheed California Co.; E.Y.Shapiro, HR Textron

SESSION WP 11: Room 428

Linear Systems 2

Chairman: D.A Keskar, BoeingCommercial AirplaneCompany

Co-Chairman: R. Longman, ColumbiaUniversity

01:00-01:30An Algorithm for Computing the Degree ofControllability of a Discrete Time, BoundedInput, Regulator Problem 611

S.J. Sokolowski, R. Fischl, Drexel University

01:30-02:00Proper, Stable Transfer Matrix Factorizations andInternal System Descriptions 617

P.J. Antsaklis, University of Notre Dame

02:00-02:30On the "Adiabatic Approximation"for Design of Control Laws for Linear,Time-Varying Systems 623

B. Friedland, J. Richman, D. E. Williams, TheSinger Company

02:30-03:00Global Constrained Holdability of Discrete-TimeSystems 628

R.P. Van Til, Oakland University; W.E.Schmitendorf, Northwestern University

03:00-03:15A Control Canonical Form for Augmented Multi-Input Linear Time-Varying Systems 632

S.K Hwang, E.W. Kamen, University of Florida

03:15-03:30Pole Assignment by Periodic Direct OutputFeedback 634

P.T. Kabamba, University of Michigan

03:30-03:45Perturbation Analysis of the Continuous andDiscrete Matrix Riccati Equations 636

M. M. Konstantinov, Institute of EngineeringCybernetics; N. D. Christov, P. Hr. Petkov, HigherInstitute of Mechanical & Electrical Engineering

PANEL WE 1: Aspen

Real-Time Applications of ParallelProcessing Technology

Organizer: H. Travassos, Systolic Systems,Inc., San Jose, California

5:00USAF Perspective on Flight Control Applicationof Parallel Processing Technology t

E. Rachovitsky, Air Force Wright AeronauticalLabs

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; YoshitanlUniversity 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 TA 1: 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