Proceedings of the 2004 IEEE InternationalConference on Control Applications

Volume IIPages 849-1762

September 2-4, 2004

The Grand Hotel, Taipei, Taiwan

Sponsored by

IEEE Control Systems Society

Technically Co-sponsored by

Society of Instrument and Control Engineers, Japan (SICE)

European Union Control Association (EUCA)

Hosted by

I Ministry of Education, Taiwan, R.O.C.

Natoinal Science Council, Taiwan, R.O.C.

National Taiwan University- Center for Information and Electronics Technology

In Cooperation with

Chinese Automatic Control Society

IEEE Taipei Section

Advantech Co., Ltd.

MIRLE Automation Co.

Proceedings of 2004 IEEE CCA

Volume II

FrM02 Hybrid and Constrained System Applications

Hybrid Trajectory Planning for a Mechatronic Tilting System 849

XXII

Marion Sobotka and Martin Buss

Experimental Evaluations of Reference Governor Control Schemes with Applications to theConstrained Control of RC Helicopters 855

Kenji Hirata and Hiroshi Minemura

Tracking Control of Discrete and Continuous Hybrid Systems: Modeling and ServoingProblem of Dexterous Hand Manipulation 860

Yrngjie Yin and Shigeyuki Hosoe

Optimization of Sensor Parameters in Programmable Logic Controller via Mixed IntegerProgramming 866

Eiji Konaka, Tatsuya Suzuki, and Shigeru Okuma

A Collision Avoidance Control for Multi-Vehicle Using PWA/MLD Hybrid SystemRepresentation 872

Masakazu Mukai, Takehito Azuma, and Masayuki Fujita

Approximate Continuous-Time Optimal Control in Obstacle Avoidance by Time/SpaceDiscretization of Non-Convex State Constraints 878

Hubertus Luberta Hagenaars, Jun-ichi Imura, and Hendrik Nijmeijer

FrM03 Advanced Control Technology for Iron and Steel Processes

Development of the Visual Information Technique of Blast Furnace Process Data 884Masahiro Ito, Shinroku Matsuzaki, Kazumoto Kakiuchi, Makoto Isobe, Takashi Ishida, Akira Fujii, andMasaaki Naito

Modeling of Gain Tuning Operation for Hot Strip Looper Controller by Recurrent NeuralNetwork 890

Masami Konishi, Shuya Imajo, Jun Imai. and Tatsushi Nishi

Improvement of Accuracy for Gauge and Elongation Control byDynamic-Process-Control-Simulator 896

Kenji Sorao and Toshiaki Ueno

Optimization Model and Simulation-Based Solution for a Class of Crane Scheduling Problems902

Hisashi Tamaki, Kazutoshi Sakakibara, Hajime Murao, and Shinzo Kitamura

Large Scale Database Online Modeling for Blast Furnace 906Masahiro Ito, Shikiroku Matsuzaki, Naoki Odate, Kenko Uchida, Harutoshi Ogai, and Kageo Akizuki

Strip Width Control for Cold Tandem Mill 912Yasunori Kadoya, Yoshiro Washikita, Kazuyoshi Kimura, and Ryouji Hamada

FrM04 Examples of Interacting and Cooperating Robotic Systems

Design and Control of a Quadruped Robot Walking in Unstructured Terrain 916Manfred Hiller, Daniel Germann, and Jorge Audrin Morgado de Gois

Adaptive Autonomy: A Suggestion for the Definition of the Notation 'Autonomy' in MobileRobotics 922

Thomas Glotzbach

Internal Model Control for Assisting Unit of Wheeled Walking Frames 928

XXIII

Masashi Tani, Ryoichi Suzuki, Shigehiko Furuya, and Nobuaki Kobayashi

Manipulation Support System for Large Serving Robots 934Alexander Hildebrandt and Oliver Sawodny

Structure Variable Multi-Sensoric Supervisory Control of Human Interactive Robots 939Klaus Giesen, Reiner Deutscher, Giulio Milighetti, Christian Walter Frey, and H.-B. Kuntze

Biomechatronics—How Much Biology Does the Engineer Need? 944Hartmut Witte, Stefan Lutherdt, and Cornelius Schilling

FrM05 Flexible Structures

Speed Regulation of an Eccentric Rotor with a Flexible Joint 949Shang-Teh Wu and Wei-Ming Shen

Real-Time Experimental Control of a Flexible Robotic Manipulator Using a CompositeApproach 955

Victor Etxebarria, Arantza Sanz, and Ibone Lizarraga

Minimum-Time Optimal Control of Flexible Spacecraft for Rotational Maneuvering 961Asghar Ebrahimi, S. Ali A. Moosavian, and Mehran Mirshams

A General Model-Matching Formulation of Feedforward Control Systems for Active NoiseCancellation in Ducts 967

Jwu-Sheng Hu and Te-Sheng Hsiao

Adaptive Inverse Control for Piezoelectric Actuator with Dominant Hysteresis 973Changhai Ru, Lining Sun, Weibin Rong, and Liguo Chen

Robust Tracking Control of a Novel Piezodriven Monolithic Flexure-Hinge Stage 977Yi-Cheng Huang and Chih-Hao Cheng

FrM06 Learning Control Applications

Cutoff-Frequency Phase-In ILC to Overcome Initial Position Offsets 983Bin Zhang, Danwei Wang, and Yongqiang Ye

An Iterative Learning Approach for Local Ramp Metering 989Zhongshenjg Hou, Hongwei Zhong, and Jian-Xin Xu

A DSP Based Sampled-Data Iterative Learning Control System for Brushless DC Motors 995Chiang-Ju Chien and Chia-Liang Tai

Iterative Learning Control for a Linear Piezoelectric Motor with a Nonlinear UnknownInput Deadzone 1001

Jian-Xin Xu, Jing Xu, and Tong Heng Lee

Experimental Evaluation of an Adaptive Iterative Learning Control Scheme on a5-DOF Robot Manipulator 1007

Abdelhamid Tayebi and Shafiqul Islam

Iterative Learning Control of a Flexible Robot Arm Using Accelerometers 1012Svante Gunnarsson and Mikael Norrlof, Enes Rahic, and Markus Ozbek

FrPOl Methods for Nonlinear and Robust Control in Specific Applications

xxiv

Robust Stability of Nonlinear Polynomial Systems by LMI 1017Bernd Tibken and Kamil Fatih Dilaver

Robust Performance and Transient Response of the HJyL DIA Control for MagneticSuspension Systems 1020

Hiroki Seto and Toru Namerikawa

Modeling and Control Strategies for Heating Processes in the Glass Industry 1026Alexander Kharitonov and Oliver Sawodny

Adaptive Tracking within Prescribed Funnels 1032Achim Ilchmann, Eugene P. Ryan, and Stephan Trenn

Passive and Active Switching Vibration Control with Pendulum Type Damper 1037Naoto Abe

Guaranteed Output Prediction under Uncertainty of Glucose Endogenous Metabolism forDiabetic Type I Patients 1043

Cristina Tarin. Jesus Pico, and Jorge Bondia

FrP02 Mobile Robot Systems

Autonomous Vision-Based Pose Control of Mobile Robots with Tele-Supervision 1049Wen-Chung Chang and Shu-An Lee

Trajectory Tracking Control of a Laser-Guided Wheeled Mobile Robot 1055Ching-Chih Tsai, Hung-Hsing Lin, and Chu-Chih Lin

Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera ••• 1061Jian Chen, Warren E. Dixon, Darren M. Dawson, and Vilas K. Chitrakaran

Flexible Trajectory Planning of Multiple Mobile Robot Systems under Dynamic Environment 1067Chang Ya-Chun, Yoshihisa Hiyama, and Yoshio Yamamoto

Mobile Robot Navigation Using Sonar Direction Weights 1073Kai-Tai Song and Shin-Yi Huang

Design and Implementation of a Multi-Purpose Real-Time Pan-Tilt Visual Tracking System •••• 1079Chun-Kai Wang, Ming-Yang Cheng, Chien-Hsien Liao, Cheng Chien Li, Chia Yang Sun, and Mi-Ching Tsai

FrP03 Advances ih Process Control and Monitoring

Model Gain Scheduling and Reporting System for Ethylene Plant On-Line Optimizer 1085Akitoshi Takinami and Youichi Takeuchi

Multi-Agent Structure for Batch Process Control 1090Takashi Hamaguchi, Tomohiko Hattori, Masaru Sakamoto, Hajime Eguchi, Yoshihiro Hashimoto, andToshiaki Itoh

Reconstruction Based Sensor Fault Identification in Chemical Processes 1096Changkyu Lee, Sang Wook Choi, Jong-Min Lee, and In-Beum Lee

Design and Control of Parallel Processes: Application to Heat-Integrated Distillation 1101Weng-Hen Tsai, Cheng-Ching Yu, and Hsiao-Ping Huang

Adaptive Controller Design Using Just-In-Time Learning Algorithm 1106Cheng Cheng, Yoshihiro Hashimoto, and Min-Sen Chiu

XXV

FrP04 Sensor and Control Applications in Motion Systems

Observing Passing People by Using Fiber Grating Vision Sensor 1112Kenji Terada and Takushi Umemoto

Shaft Insertion for Moving Object by Using Robot Manipulator with One Dimensional PSDsSensor 1118

Soichiro Hayakawa, Yuichi Yamada, and Nuio Tsuchida

Anti-Skid Re-Adhesion Control Using Tangential Force Estimator Based on DisturbanceObserver for Electric Commuter Train 1124

Satoshi Kadowaki, Kiyoshi Ohishi, Shinobu Yasukawa, and Takashi Sano

Improving the Transient Response of Magnetic Bearings by the EL, DIA Control 1130Shinozuka Wataru and Toru Namerikawa

PSD Based Virtual Nonholonomic Constraint for Human Interaction of RedundantManipulator 1136

Satoshi Shibata and Toshiyuki Murakami

Optimal Posture Control for Object Recognition on Active Vision Robot 1141Masaaki Shibata, Mariko Ichikawa, Satoshi Motoki, and Satoshi Shibata

FrP05 Control of Fluid Power System s

Development of a Body Protection Orthosis by Using Silicon Outer Fence Mold Actuator 1147Yasubiro Hayakawa, Kensuke Morishita, Taichi Hata, and Shogo Hirota

A Study on Full-Electric Control System of Hydro Static Transmission for ConstructionMachines 1153

Kazushi Sanada

Development of Pneumatic High Precise Position Controllable Servo Valve 1159Takashi Miyajima, Kazutoshi Sakaki, Takashi Shibukawa, Tosbinori Fujita, Kenji Kawashima,and Toshiharu Kagawa

Application of Minor Feedback of Flow Rate to Pressure Spring System 1165Tomonori Kato, Toshiharu Kagawa, Kenji Kawashima, Tatsuya Funaki, and Michio Yanagisawa

Field Test of Rjemote Control System for Construction Machines Using Robot Arm 1171Kenji Kawishima, Takahiro Sasaki, Toshiyuki Miyata, Takayuki Nagai, Kazuhiro Chayama, Toshio Mori,and Akira Fujioka

Development of a New Hydraulic Cylinder with Built-in Compound Control Function ofDisplacement and Thrust 1177

ChunNan Wu and Ato Kitagawa

FrP06 Robust Control

Implementation of a Randomized Algorithm for Solving Parameter-Dependent Linear MatrixInequalities 1183

Yasuaki Oishi

Convexified Robust Control Approach and Its Application to Actuator Saturation Control 1189FenWu

XXVI

Multivariable Robust Digital Control: A Modified Dyadic Approach 1195Xiang Liu and Youxian Sun

Guaranteed Cost Control of Linear Uncertain Neutral Type Systems with Multiple Delays 1199Xiaohong Nian and Juntao Feng

Combination of Kinematical and Robust Dynamical Controllers for Mobile RoboticsTracking Control: (I) Optimal H^ Control 1205

Chi-Kuang Hwang, Bor-Sen Chen, and Yu-Te Chang

Combination of Kinematical and Robust Dynamical Controllers for Mobile Robotics TrackingControl: (II) Suboptimal Li Control 1211

Chi-Kuang Hwang, Bor-Sen Chen, and Yu-Te Chang

SaAOl Fault Detection and Accomodation

Structural Analysis for Residual Generation: Towards Implementation 1217Dilek Diistegor, Vincent Cocquempot, and Marcel Staroswiecki

Sensor Fault Identification Based on Kernel Principal Component Analysis 1223Ji-Hoon Cho, Jong-Min Lee, Sang Wook Choi, Dongkwon Lee, and In-Beum Lee

Model Based Fault Diagnosis on a Centrifugal Pump Application Using Structural Analysis •••• 1229Carsten Skovmose Kallesoe, Roozbeh Izadi-Zamanabadi, Henrik Rasmussen, and Vincent Cocquempot

Robust Sensor Fault Reconstruction for an Inverted Pendulum Using Right EigenstructureAssignment 1236

Chee Pin Tan and Maki Khalil Habib

A Time Frequency Distribution and ART2 Network Approach in Non Destructive Evaluation,Fault Localization Proposal 1242

Hector Bem'tez-Perez, Ernesto Rubio-Acosta, and Fabian Garcia-Nocetti

Development of Fault Detection and Diagnosis Schemes for Industrial RefrigerationSystems—Lessons Learned 1248

Claus Thybo and Roozbeh Izadi-Zamanabadi

SaA02 Vehicle Control and Estimation

On One Approach to Constraining Wheel Slip for the Autonomous Control of a 4WS/4WDVehicle 1254

Shou-Tao Peng, Jer-Jia Sheu, and Chau-Chin Chang

Estimation of Vehicle Loading State 1260Thomas Massel, E. L. Ding, and M. Arndt

Motion Control and Road Condition Estimation of Electric Vehicles with Two In-WheelMotors 1266

Hiroshi Fujimoto, Takeo Saito, Akio Tsumasaka, and Toshihiko Noguchi

A Heuristic Rule-Based Switching and Adaptive PID Controller for a Large AutonomousTracked Vehicle: From Development to Implementation 1272

Zhiming Gong, Javier Ibanez-Guzman, Steven J. Scheding, David C. Rye, Gamini Dissanayake, and HughDurrant-Whyte

M3S System Prototype—A Comprehensive System with Straightforward Implementation 1278

XXVII

Chiun-Fan Chen, Yi-Chu Chang, Jer-Junn Luh, and Fok-Ching Chong

Identification of Road Gradient and Vehicle Pitch Angle 1284Thomas Massel, E. L. Ding, and M. Arndt

SaA03 Simulation and Control of Industrial Processes

Development of the Blast Furnace Integrated Java-Based Simulator 1290Masanobu Koga, Harutoshi Ogai, Masatoshi Ogawa, Masahiro Ito, Kenko Uchida, and Shinroku Matsuzaki

On-Line Adaptive Switching Control for Open-Loop Stable and Integrating Processes 1296Hsiao-Ping Huang and Feng-Yi Lin

An Approach of Operation and Control Design for Thermal Power Plants Using DynamicSimulation 1302

Masashi Nakamoto

A Simulation-Based Control System—A Case Study for Distillation Columns 1308Takamasa Yumoto, Tetsuya Ohtani and Hiromitsu Ohmori

Application of Simulation Technology to Plant Optimization and Control 1312Haruo Takatsu, Takashi Nozaki, and Kenji Okada

SaA04 Adaptive Control and Identification

Model Reference Adaptive Control of Linear Systems with Input Saturation 1318Mitsuru Kanamori and Masayoshi Tomizuka

Adaptive Control for a Class of MIMO Nonlinear Systems with Non-Symmetric Input Matrix1324

Ximing T. Zhang, Darren M. Dawson, Marcio S. de Queiroz, and Bin Xian

Active Noise Control Systems with Adaptive Nonlinear Filters 1330Sen M. Kuo and Hsien-Tsai Wu

A Multi-Model Adaptive Control System for Teleoperation via Internet 1336Ehsan Kamrani, Hamid R. Momeni, and Ahmad R. Sharafat

Feedforward Active Noise Cancellation in Ducts with On-Line Identification of Sensor andActuator Dynamics 1341

Jwu-Sheng Hu and Te-Sheng Hsiao

Generalized Minimum Variance with Pole Assignment Controller Modified for PracticalApplications 1347

Marco Antonio Paz-Ramos, Enrique Quintero-Marmol Marquez, and Ricardo Fernandez del Busto

SaA05 Sliding Mode Control

An Approach to Discrete-Time Sliding Mode Control 1353Chung Choo Chung, Choung Woo Lee, and Seung Hi Lee

Discrete-Time Output Feedback Sliding Mode Control for Time-Delay Systems withUncertainty 1358

S. Janardhanan, Bijnan Bandyopadhyay, and Vishvjit K. Thakar

xxviii

Disturbance Decoupling of Uncertain Nonlinear Delayed Systems 1364Hongxia Meng and Yingmin Jia

Multirate Output Feedback Sliding Mode Control of Permanent Magnet Stepper Motor UsingFlatness Property 1370

Bijnan Bandyopadhyay and Vishvjit K. Thakar

Robust Nonlinear Control of a Thermal Mixing Process 1376Hanz Richter

Adaptive Voltage Regulation of PWM Buck DC-DC Converters Using Backstepping SlidingMode Control 1382

Shoei-Chuen Lin and Ching-Chih Tsai

SaMOl Manufacturing Systems

Deadlock-Free Scheduling in Automated Manufacturing Systems with Multiple ResourceRequests 1388

Zhonghua Huang and Zhiming Wu

Optimum Cast Plan for Steelmaking-Continuous Casting Production Scheduling 13 94Yuncan Xue, Qiwen Yang, and Huihe Shao

A Deadlock-Free Scheduling Method for Automated Manufacturing Systems UsingDynamic-Edge Graph with Tokens 1398

Zhonghua Huang and Zhiming Wu

Supervision of Multiple Industrial Robots—Optimal and Collision Free Work Cycles 1404Hugo Flordal, Domenico Spensieri, Knut Akesson, and Martin Fabian

Temperature Control of Wafer in Semiconductor Manufacturing Systems by MR-ILQ DesignMethod •• 1410

Kazuyuki Matsumoto, Keita Suzuki, Sadaaki Kunimatsu, and Takao Fujii

SaM02 Automotive Controls and the Advanced Development Environment

The Development of a Controller Cofirmation System for Automatic Transimission and ItsApplications f 1415

Toshio Matsumurk, Shuji Ichikawa, Fuyuku Katsu, and Masayuki Sato

Engine Modeling Based on Projection Method and Conservation Laws 1420Akira Ohata, Akihiko Sugiki, Yoshikazu Ohta, Satoshi Suzuki, and Katsuhisa Furuta

Practical Considerations for the Implementation of Model Based Control SystemDevelopment Processes 1425

Swami Gopalswamy, Shiva Sivashankar, and Jaydeo Kinikar

Defining a Model-Based Calibration Process for a Twin-Independent Valve Timing Engine 1431Letitia A. D. Sheridan, Russell Goyder, Jon B. Cherrie, and Tanya M. Morton

Visualization of Embedded Software for Engine Control Systems 1437Konori Ozawa, Tomoyuki Tajikawa, Seiichi Shin, Satoru Tanaka, and Akira Ohata

System Identification and LQG Control of Variable-Compression HCCI Engine Dynamics 1442Roland Pfeiffer, Goran Haraldsson, Jan-Ola Olsson, Per Tunestal, Rolf Johansson, and Bengt Johansson

XXIX

SaM03 Control Applications 3: Mechanical/Power Systems

A Robust Controller for an Electro-Mechanical Fin Actuator 1448Chung-Hee Yoo, Young-Cheol Lee, and Sang-Yeal Lee

Practical Approach to Modelling and Controlling Stick-Slip Oscillations in OilwellDrillstrings 1454

Eva Maria Navarro-Lopez and Rodolfo Suarez

Development of a Tactile Low-Cost Microgripper with Integrated Force Sensor 1461Markus Kemper

Design of a Control Law for a Semiactive Suspension System Using a Solenoid Valve Damper1467

Alessandro Giua, Mauro Melas, and Carla Seatzu

A Fuzzy-Feedback Linearizing Nonlinear Control of CSI Based STATCOM for SynchronousGenerator Stabilization 1473

Boniface H. K. Chia, Stella Morris, and P. K. Dash

Robust Stability and Control of Nonlinear Reheat Power Systems 1479Abdulla Ismail and Magdi S. Mahmoud

SaM04 Filtering and Estimation

Optimal Design of the Variable Structure IMM Tracking Filters Using Genetic Algorithms 1485Ali Vahabian, Ah Khaki Sedigh, and Alireza Akhbardeh

Neural Calibration and Kalman Filter Position Estimation for Touch Panels 1491Chin Chang Lai and Ching-Chih Tsai

Simultaneous Estimations of Ground Target Location and Aircraft Direction Heading viaImage Sequence and GPS Carrier-Phase Data 1497

Luke K. Wang, Shan-Chih Hsieh, Fei-Bin Hsiao, Kou-Yuan Huang, Guo-Shing Huang, and Fan-Jen Tsai

Optimal Filtering for Linear Systems with State Delay 1503Michael V. Basin, Jesus Rodriguez-Gonzalez, and Rodolfo Martinez-Zuniga

Adaptive Control Based on Neural Estimation for Systems with Unknown Hysteresis 1509Chuntao Li and ̂ onghong Tan

A Combined GeorrJetric-Volumetric Calibration of Inclined Cylindrical Underground StorageTanks Using the Regularized Least-Squares Method 1515

Wathanyoo Khaisongkram and David Banjerdpongchai

SaM05 New Trends in Fixed/Reduced-Order Robust Controller Synthesis: New DesignAlgorithms with Advanced CACSD Tools

Unfalsified Parameter Space Design of PID Controllers for Nonlinear Plants 1521Masami Saeki, Akihisa Takahashi, Osamu Hamada, and Nobutaka Wada

Fixed Order Controller Design via Generalized KYP Lemma 1527Shinji Hara, Daisuke Shiokata, and Tetsuya Iwasaki

On the Recursive Reduction of the Order of Stabilizing Controllers for LTI Systems 1533

XXX

Swaroop Darbha, Woosuk Choi, and Shankar P. Bhattacharya

Fixed-Structure Robust Controller Synthesis Based on Symbolic-Numeric Computation:Design Algorithms with a CACSD Toolbox 1540

Hirokazu Anai, Hitoshi Yanami, Shinji Hara, and Kei Sakabe

RobSin: A New Tool for Robust Design of PID and Three-Term Controllers Based onSingular Frequencies 1546

Nairn Bajcinca and Thomas Hulin

HM Controller Order Reduction due to Stable Invariant Zeros and Its Application to aMagnetic Suspension System 1552

Xin Xin, Masahiro Kaneda, and Shinji Hara

SaPOl Port Automation Technology

Implementation of Dual Redundant CAN Module Based on IEEE 1451 in hi-Vehicle Network1558

Suk Lee, Kyung Chang Lee, and Man Ho Kim

Anti-Sway Control of Container Cranes as a Flexible Cable System 1564Chang-Won Kim, Keum-Shik Hong, and Gabriel Lodewijks

Input Shaping and VSC of Container Cranes 1570Kyung Tae Hong and Keum-Shik Hong

Adaptive PID Control of an AGV System Using Humoral Immune Algorithm and NeuralNetwork Identifier Technique 1576

Young Jin Lee, Jin Ho Suh, Jin Woo Lee, and Kwon Soon Lee

The Effect of the Loading Position on Strength of a Frame in a Shuttle Car for LMTT 1582Dong-Seop Han, Geun-Jo Han, and Kwon-Soon Lee

Position Accuracy Improvement of Linear Motor Container Transfer System Using DR-FNNs1585

Jin-Woo Lee, Jin-Ho Suh, Young-Jin Lee, and Kwon-Soon Lee

SaP02 Real-Time Prediction and Optimization for Vehicles and Mechanical Systems

i

Control System Design for Obstacle Avoidance System Using Model Predictive Control 1591Yukihiro Fujiwara and Shuichi Adachi

An Optimal Path Generator Using a Receding Horizon Control Scheme for IntelligentAutomobiles 1597

Taketoshi Kawabe, Hikaru Nishira, and Toshiyuki Ohtsuka

Visual Feedback Control of an Unmanned Planar Blimp System with Self-SchedulingParameter via Receding Horizon Approach 1603

Yasunori Kawai, Hiroyuki Hirano, Takehito Azuma, and Masayuki Fujita

Preconditioned C/GMRES Algorithm for Nonlinear Receding Horizon Control ofHovercrafts Connected by a String 1609

Takuma Tanida and Toshiyuki Ohtsuka

Nonlinear Receding Horizon Gradient Method 1615Hiroki Takeuchi

xxxi

Comparative Study of Simultaneous Parameter-State Estimations 1621Masaki Yamakita, Yoshio Musha, and Gohki Kinoshita

SaP03 Power Systems

Unified PID Design for Load Frequency Control 1627Amin Khodabakhshian and Navid Golbon

Shunt Active Power Filter with Three-Phase Switch-Clamped Inverter 1633Bor-Ren Lin, Yuan-An Ou, and Tsung-Yu Yang

Unidirectional Single-Phase Rectifier with Power Factor Correction 1639Bor-Ren Lin, Yuan-An Ou, Tsung-Yu Yang

Power Flow Control of a Doubly-Fed Induction Machine Coupled to a Flywheel 1645Carles Batlle, Arnau Doria-Cerezo, and Romeo Ortega

Achieving Maximum-Efficiency Tracking Control for Backlight Electronic Ballast withPhase-Locked Loop Techniques 1651

Chang-Hua Lin, Ying Lu, Kai-Jun Pai, and Ying-Qi Chen

Near-Optimal Hoc State Feedback Control of Power Systems 1657Hiroaki Mukaidani, Hua Xu, and Koichi Mizukami

SaP04 Predictive Control

Stability Analysis for Generalized Predictive Control (GPC) and Time Varying WeightingGeneralized Predictive Control (TGPC) 1662

H. W. Gomma and David H. Owens

Robust Reference Shaping of Periodic Trajectories for Systems with State/Input Constraints1668

Toshiharu Sugie and Hiromi Suzuki

A Modified Dynamic Matrix Control for Integrating Processes 1674Zhijun Li, Jizhen Liu, Caifen Fu, and Wen Tan

Nonlinear MPC Based on the State-Space Form of RBF-ARX Model 1679Hui Peng, Hideo) Shioya, Xiaoyan Peng, and Keisuke Sato

IAdaptive PID Control Design Based on Generalized Predictive Control (GPC) 1685

H. W. Gomma

End Point Constraints Nonlinear Predictive Control with Integral Action for Induction Motor1691

Ramdane Hedjar, Redouane Toumi, Patrick Boucher, and Didier Dumur

SaP05 Robust Motion and Vibration Control of Electromechanical Systems

H^DIA Control of Magnetic Suspension Systems 1697Toru Namerikawa and Masayuki Fujita

Gain-Scheduled Vibration Control in Consideration of Actuator Saturation 1703Noriaki Itagaki and Hidekazu Nishimura

XXXII

Gain Scheduling Control for Electro-Hydraulic Servo System Considering Time-DelayModeling Error 1709

Takahiro Sugiyama and Kenko Uchida

Integrated Actuator/Control Design of Smart Pantograph Mechanism for VibrationSuppression 1717

Motoko Iwadare, Itsuro Kajiwara, Ryo Tsuchiya, and Mikio Horie

Control System for Partial Body Weight Support Device for Human Gait Training 1723Jun-Ho Lee, Paul E Allaire, Adam C Wolovick, Wei Jiang, Patrick O Riley, and D. Casey Kerrigan

Optimal Control Theoretic Splines and Its Application to Mobile Robot 1729Satoru Takahashi and Clyde F. Martin

SaP06 Observers (CCA) _ _ _ _ _ = ^ = = _ _ ^ _ _ _ _ _ _

Robust Hoo Observer Design for a Class of Lipschitz Discrete-Time Systems 1733Guoping Lu and Daniel W. C. Ho

Generalized Luenberger Observer Design for Matrix Second-Order Linear Systems 1739Guangren Duan and Yunli Wu

AC Induction Motor Sensorless Control Using Lyapunov Function Based Flux and SpeedObserver Implemented on Motorola DSP 1744

Pavel Vaclavek and Petr Blaha

Disturbance Decoupling Control of a Mechanical System by Reduced Order Observer BasedStabilizing Controller 1751

Ryoichi Suzuki, Masashi Tani, Daisuke Yamashita, and Nobuaki Kobayashi

Multi-Rate Control Systems with Multi-Rate Model-Based Holds and Observers 1757Leopoldo Armesto, Josep Tornero, and Masayoshi Tomizuka

Authors' Index A-l

Keywords'Index B-l

XXXIII