PUBLICATIONS CONTENT DIGEST

October 2019

TABLE OF CONTENTS October 2019

SOCIETY PERIODICALS

CSS Publications Activities Vice-President

THOMAS PARISINI Imperial College London and University of Trieste

http://ieeecss.org/publications

Journal Editors IEEE Transactions on Automatic Control

ALESSANDRO ASTOLFI Imperial College London and University of Rome “Tor Vergata”

http://ieeecss.org/publication/transactions-automatic-control IEEE Transactions on Control Systems Technology

ANDREA SERRANI Ohio State University http://ieeecss.org/publication/transactions-control-systems-technology

IEEE Transactions on Control of Network Systems

IOANNIS PASCHALIDIS Boston University

JEFF SHAMMA Deputy Editor-in-Chief King Abdullah University of Science and Technology

http://ieeecss.org/publication/transactions-control-network-systems

IEEE Control Systems Letters

MARIA ELENA VALCHER University of Padua http://ieeecss.org/publication/control-systems-letters

IEEE Control Systems Magazine

JONATHAN HOW Massachusetts Institute of Technology http://ieeecss.org/publication/ieee-control-systems-magazine Electronics Editor E-letter on Systems, Control and Signal Processing

AHMAD TAHA University of Texas at San Antonio http://ieeecss.org/publication/e-letter

*Submission and editorial instructions can be found on each publication’s homepage For subscription to the monthly E-Letter, please send an empty email to eletter-css-join@lists.it.utsa.edu

OCTOBER 2019 VOLUME 64 NUMBER 10 IETAA9 (ISSN 0018-9286)

Scanning the Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3965

REGULAR PAPERS

Robust Decentralized Secondary Frequency Control in Power Systems: Merits and Tradeoffs . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E. Weitenberg, Y. Jiang, C. Zhao, E. Mallada, C. De Persis, and F. Dorfler 3967

Distributed Newton Method for Large-Scale Consensus Optimization . . . . R. Tutunov, H. Bou-Ammar, and A. Jadbabaie 3983ZONE: Zeroth-Order Nonconvex Multiagent Optimization Over Networks . . . . D. Hajinezhad, M. Hong, and A. Garcia 3995Bias-Corrected Q-Learning With Multistate Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Lee and W. B. Powell 4011Exponential Stability of Nonlinear Systems With Delayed Impulses and Applications . . . . . . . . X. Li, S. Song, and J. Wu 4024Secure and Privacy-Preserving Consensus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Ruan, H. Gao, and Y. Wang 4035A New Randomized Block-Coordinate Primal-Dual Proximal Algorithm for Distributed Optimization . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Latafat, N. M. Freris, and P. Patrinos 4050Multinode Bilateral Control Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. Wang and B. K. P. Horn 4066A System-Level Approach to Controller Synthesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y.-S. Wang, N. Matni, and J. C. Doyle 4079On Boundedness of Solutions of State Periodic Systems: A Multivariable Cell Structure Approach . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Efimov and J. Schiffer 4094Temporal Logic Task Planning and Intermittent Connectivity Control of Mobile Robot Networks . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Kantaros, M. Guo, and M. M. Zavlanos 4105Robustness of the Adaptive Bellman –Ford Algorithm: Global Stability and Ultimate Bounds . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Mo, S. Dasgupta, and J. Beal 4121Thompson Sampling for Stochastic Control: The Continuous Parameter Case . . . . . . . . . . . . . . D. Banjevic and M. J. Kim 4137Minimum-Variance Recursive Filtering for Two-Dimensional Systems With Degraded Measurements: Boundedness and

Monotonicity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .J. Liang, F. Wang, Z. Wang, and X. Liu 4153

TECHNICAL NOTES

Leader–Following Consensus of Multiple Uncertain Euler–Lagrange Systems With Unknown Dynamic Leader . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Lu and L. Liu 4167

(Contents Continued on Back Cover)

(Contents Continued from Front Cover)

A Bilevel Programming Approach to the Convergence Analysis of Control-Lyapunov Functions . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .W. Tang and P. Daoutidis 4174

Controllability of Nash Equilibrium in Game-Based Control Systems . . . . . . . . . . . . . . . . . . . . . . . R.-R. Zhang and L. Guo 4180Adaptive Parameter Estimation in LTI Systems . . . . . . . . . . . . M. N. Kapetina, M. R. Rapaic, A. Pisano, and Z. D. Jelicic 4188Globally Optimal State-Feedback LQG Control for Large-Scale Systems With Communication Delays and Correlated

Subsystem Process Noises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Wang, J. Xiong, and D. W. C. Ho 4196Discrete Time Pontryagin Maximum Principle Under State-Action-Frequency Constraints . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Paruchuri and D. Chatterjee 4202Stability and L2 -Gain Analysis for Linear Time-Delay Systems With Delayed Impulses: An Augmentation-Based

Switching Impulse Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . W.-H. Chen, Z. Ruan, and W. X. Zheng 4209A Distributed Algorithm for Least Squares Solutions . . . . . . . . . . . . . . . . . . . . X. Wang, J. Zhou, S. Mou, and M. J. Corless 4217New Controllability Conditions for Networked, Identical LTI Systems . . . . . . . . . . . Y. Hao, Z. Duan, G. Chen, and F. Wu 4223Quadric Inclusion Programs: An LMI Approach to H∞ -Model Identification . . . . . . . . . . . . . G. C. Thomas and L. Sentis 4229Robust Fault Diagnosis of Stochastic Discrete Event Systems . . . . . . . . . . . . . . . . . . . . . . . . X. Yin, J. Chen, Z. Li, and S. Li 4237Existence of Nonimpulsive Unique Solution and Stability for Discrete-Time Linear Rectangular Descriptor Markov Jump

Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Tian and S. Ma 4245Comprehending Complexity: Data-Rate Constraints in Large-Scale Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A. S. Matveev, A. V. Proskurnikov, A. Pogromsky, and E. Fridman 4252Dynamic Consensus Tracking of Uncertain Lagrangian Systems With a Switched Command Generator . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H. Cai and G. Hu 4260Dynamic Output Feedback Control of the Liouville Equation for Discrete-Time SISO Linear Systems . . . . . . E. Bakolas 4268Event-Triggered Risk-Sensitive State Estimation for Hidden Markov Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Xu, D. W. C. Ho, F. Li, W. Yang, and Y. Tang 4276Accurate Smoothing Methods for State Estimation of Continuous-Discrete Nonlinear Dynamic Systems . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Y. Wang, H. Zhang, X. Mao, and Y. Li 4284Distributed Time-Varying Output Formation Tracking for Heterogeneous Linear Multiagent Systems With a

Nonautonomous Leader of Unknown Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Hua, X. Dong, G. Hu, Q. Li, and Z. Ren 4292Topology Reconstruction of Dynamical Networks via Constrained Lyapunov Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H. J. van Waarde, P. Tesi, and M. K. Camlibel 4300Lyapunov Conditions for Input-to-State Stability of Hybrid Systems With Memory . . . . . . . . . . . . . . .W. Ren and J. Xiong 4307Minimal Strongly Eventually Positive Realization for a Class of Externally Positive Systems . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Zheng, J.-G. Dong, and L. Xie 4314Coordinated Tracking Control With Asynchronous Edge-Based Event-Triggered Communications . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. Cheng and Z. Li 4321Linear–Quadratic Mean-Field-Type Games: Jump–Diffusion Process With Regime Switching . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Barreiro-Gomez, T. E. Duncan, and H. Tembine 4329Optimal Energy Allocation in Multisensor Estimation Over Wireless Channels Using Energy Harvesting and Sharing

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Knorn, S. Dey, A. Ahlen, and D. E. Quevedo 4337Switching Tube-Based MPC: Characterization of Minimum Dwell-Time for Feasible and Robustly Stable Switching

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. A. H. Vicente and P. A. Trodden 4345Verification of Fault-predictability in Labeled Petri Nets Using Predictor Graphs . . . . . . . D. You, S. Wang, and C. Seatzu 4353Codiagnosability Analysis of Discrete-Event Systems Modeled by Weighted Automata . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. S. Viana, M. V. Moreira, and J. C. Basilio 4361Opacity Enforcement Using Nondeterministic Publicly Known Edit Functions . . . . . . . . . . Y. Ji, X. Yin, and S. Lafortune 4369Self-Tuned Mirror Descent Schemes for Smooth and Nonsmooth High-Dimensional Stochastic Optimization . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . N. Majlesinasab, F. Yousefian, and A. Pourhabib 4377A Sharp Bound on the s -Energy and Its Applications to Averaging Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. Chazelle 4385A Less Conservative Stability Criterion for Discrete-Time Lur’e Systems With Sector and Slope Restrictions . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Park, S. Y. Lee, and P. Park 4391Distributed Kalman Filtering and Control Through Embedded Average Consensus Information Fusion . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. P. Talebi and S. Werner 4396

OCTOBER 2019 VOLUME 3 NUMBER 4 ICSLBO (ISSN 2475-1456)

PAPERS

Obtaining Consistent Parameter Estimators for Second-Order Modulus Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. Ljungberg and M. Enqvist 781

Self-Triggered Stochastic MPC for Linear Systems With Disturbances . . .Z. Sun, V. Rostampour, and M. Cao 787Deterministic Optimality of the Steady-State Behavior of the Kalman–Bucy Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C. Possieri and M. Sassano 793Linear Complementarity Systems and Cone-Copositive Lyapunov Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .L. Iannelli, R. Iervolino, and F. Vasca 799PID and State Feedback Controllers Using DNA Strand Displacement Reactions . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .N. M. G. Paulino, M. Foo, J. Kim, and D. G. Bates 805Instant MPC for Linear Systems and Dissipativity-Based Stability Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .K. Yoshida, M. Inoue, and T. Hatanaka 811Unified H∞ Observer for a Class of Nonlinear Lipschitz Systems: Application to a Real ER Automotive

Suspension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T.-P. Pham, O. Sename, and L. Dugard 817Output-Constrained Robust Adaptive Control for Uncertain Nonlinear MIMO Systems With Unknown Control

Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Sachan and R. Padhi 823Effects of Jamming Attacks on a Control System With Energy Harvesting . . . . . . . . . . S. Knorn and A. Teixeira 829Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I. Spasojevic, V. Murali, and S. Karaman 835Optimal Motion of a Scallop: Some Case Studies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Maggistro and M. Zoppello 841On Node Controllability and Observability in Complex Dynamical Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F. Lo Iudice, F. Sorrentino, and F. Garofalo 847Compensating for Sensor Error in the Model Predictive Control of Circadian Clock Phase . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. S. Brown, E. B. Klerman, and F. J. Doyle 853Predictive Control Over a Dynamical Token Bucket Network . . . . . S. Wildhagen, M. A. Müller, and F. Allgöwer 859Probabilistic State Transfer, Estimation and Measures for Optimal Actuator/Sensor Placement for Linear

Systems With Packet Dropouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. S. A. Dilip 865Solution Sets for Inverse Non-Cooperative Linear-Quadratic Differential Games . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .J. Inga, E. Bischoff, T. L. Molloy, M. Flad, and S. Hohmann 871Optimal Control of Thermostatic Loads for Planning Aggregate Consumption: Characterization of Solution

and Explicit Strategies . . . . . . . . . . . . . . . . . . . . . . . . . F. A. C. C. Fontes, A. Halder, J. Becerril, and P. R. Kumar 877The Controllability Gramian, the Hadamard Product, and the Optimal Actuator/Leader and Sensor Selection

Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. S. A. Dilip 883

(Contents Continued on Page ii)

(Contents Continued from Page i)

No Switching Policy Is Optimal for a Positive Linear System With a Bottleneck Entrance . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .M. Sadeghi, M. A. Al-Radhawi, M. Margaliot, and E. D. Sontag 889

Vector Recovery for a Linear System Corrupted by Unknown Sparse Error Vectors With Applications toSecure State Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Zhang, S. Hui, M. R. Bell, and S. H. Zak 895

Adaptive Dynamic Programming Using Lyapunov Function Constraints . . . T.Göhrt,P.Osinenko,and S.Streif 901Cooperative Manipulation of an Unknown Payload With Concurrent Mass and Drag Force Estimation . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Thapa, R. V. Self, R. Kamalapurkar, and H. Bai 907On a Two Cutters and Fugitive Ship Differential Game . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Pachter and P. Wasz 913Decentralized Control for Guaranteed Individual Costs in a Linear Multi-Agent System: A Satisfaction

Equilibrium Approach . . . . . . . . . . . . . . . . . . . . J. Veetaseveera, V. S. Varma, I. C. Morarescu, and J. Daafouz 918Optimal Lyapunov-Based Reaching Time Bounds for the Super-Twisting Algorithm . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .R. Seeber and M. Horn 924Control Law Realification for the Feedback Stabilization of a Class of Diagonal Infinite-Dimensional Systems

With Delay Boundary Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H. Lhachemi, R. Shorten, and C. Prieur 930Optimal Linear Exponential Quadratic Gaussian Estimation With Intermittent Observations . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Xu, X. Wu, and Y. Tang 936A Convex Relaxation for Model Predictive Control of a Class of Hammerstein Systems . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .T. L. Vincent, G. Tang, and P. Weddle 942Saddle-Flow Dynamics for Distributed Feedback-Based Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.-Y. Chang, M. Colombino, J. Cortés, and E. Dall’Anese 948A Graph-Theoretic Approach to the H∞ Performance of Leader–Follower Consensus on Directed Networks

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .M. Pirani, H. Sandberg, and K. H. Johansson 954Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Ferguson, A. Donaire, and R. H. Middleton 960Systematic Design of Decentralized Algorithms for Consensus Optimization . . . . . . . . . . . . . . . . . . . . . . . . S. Han 966Spatially Distributed Networked Sliding Mode Control . . . . . . . . . . . . J. Ludwiger, M. Steinberger, and M. Horn 972Iterative Approximate Nonlinear Inference via Gaussian Message Passing on Factor Graphs . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C. H. né Hoffmann, E. Petersen, and P. Rostalski 978Resilient Control for Cyber-Physical Systems Subject to Replay Attacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .G. Franzè, F. Tedesco, and W. Lucia 984On the Mixed-Integer Linear-Quadratic Optimal Control With Switching Cost . . . . . . . . . . . . . . . . . .A. De Marchi 990Stabilization of Non-Linear Networked Control Systems Closed Over a Lossy WirelessHART Network . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. I. Maass and D. Nešic 996Allocating Marketing Resources Over Social Networks: A Long-Term Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . V. S. Varma, S. Lasaulce, J. Mounthanyvong, and I.-C. Morarescu 1002From Reference Model Selection to Controller Validation: Application to Loewner Data-Driven Control . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Kergus, M. Olivi, C. Poussot-Vassal, and F. Demourant 1008An Input–Output Parametrization of Stabilizing Controllers: Amidst Youla and System Level Synthesis . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .L. Furieri, Y. Zheng, A. Papachristodoulou, and M. Kamgarpour 1014Simultaneous Estimation of State and Unknown Input With l∞ Guarantee on Error-Bounds for Fuzzy

Descriptor Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.-T. Nguyen, T.-M. Guerra, and V. Campos 1020Full Order Observer With Unmatched Constraint: Unknown Parameters Identification . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. Fouka, L. Nehaoua, H. Arioui, and S. Mammar 1026The Effect of Uniform Quantization on Parameter Estimation of Compound Distributions . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Seifullaev, S. Knorn, and A. Ahlén 1032On Stability of Consensus Control of Discrete-Time Multi-Agent Systems by Multiple Pinning Agents . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Xu and T. Ushio 1038Model Predictive Control Design for Dynamical Systems Learned by Echo State Networks . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. B. Armenio, E. Terzi, M. Farina, and R. Scattolini 1044A Symbolic Approach to the Self-Triggered Design for Networked Control Systems . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . K. Hashimoto, A. Saoud, M. Kishida, T. Ushio, and D. V. Dimarogonas 1050Compositional Synthesis of Symbolic Models for Networks of Switched Systems . . A. Swikir and M. Zamani 1056Globally Optimal Least-Squares ARMA Model Identification Is an Eigenvalue Problem . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C. Vermeersch and B. De Moor 1062Active Perception and Control From Temporal Logic Specifications . . . . . . R. R. da Silva, V. Kurtz, and H. Lin 1068Fast Optimal Energy Management With Engine On/Off Decisions for Plug-in Hybrid Electric Vehicles . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .S. East and M. Cannon 1074

OCTOBER 2019 « IEEE CONTROL SYSTEMS MAGAZINE 1Digital Object Identifier 10.1109/MCS.2019.2925168

Cover credit: An example of wireless control in industrial process automation. (Image courtesy of Anders Ahlén, photo by Steffi Knorn, with permission from Iggesund Paperboard.)

36 Toward Wireless Control in Industrial Process Automation

A case study at a paper mill ANDERS AHLÉN, JOHAN ÅKERBERG, MARKUS ERIKSSON,

ALF J. ISAKSSON, TAKUYA IWAKI, KARL HENRIK JOHANSSON, STEFFI KNORN, THOMAS LINDH, and HENRIK SANDBERG

» F E AT U R E

3 FROM THE EDITOR Technical Writing

5 ABOUT THIS ISSUE Wireless Control of Industrial Processes

9 PRESIDENT’S MESSAGE … Like a Lizard Drinking

11 25 YEARS AGO

13 MEMBER ACTIVITIES IEEE Young Professionals: Making Their Presence Felt

15 TECHNICAL ACTIVITIES Technical Committee on Discrete Event Systems Technical Committee on Aerospace Control

36

October 2019 Volume 39 Number 5

WWW.IEEECSS.ORG/PUBLICATIONS/CSM

» D E PA R T M E N T S

13

2 IEEE CONTROL SYSTEMS MAGAZINE » OCTOBER 2019

MISSION STATEMENT AND SCOPE: As the official means of communication for the IEEE Control Systems Society, IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers. With this mission statement in mind, IEEE Control Systems Magazine encour-ages submissions, both feature articles and columns, on all aspects of control system technology. SUBMISSION OF MANUSCRIPTS: A feature article typically provides an in-depth treatment of either an application of control tech-nology, a tutorial on some area of control theory, or an innovation in control education.

IEEE Control Systems Magazine publishes a variety of columns. “Applications of Control” columns are industrially oriented sum-maries of innovations in control technology. “Focus on Education” typically describes some aspect of education such as novel control experiments. “Lecture Notes” can be theoretical in nature as long as they have clear tutorial value and intent. See recent issues for examples of these and other types of columns. Authors are encouraged to contact the editor-in-chief about the suitability of potential columns.

A detailed Author’s Guide, a sample formatted manuscript, and LATEX template can be found at http://www.ieeecss.org/publica-tions/csm/submissions. The specifications in this guide should be followed by all submissions.

All manuscripts should be submitted electronically to the IEEE Control Systems Magazine website, https://css.paperplaza.net/conferences/scripts/start.pl, with inquiries on appropriateness of content emailed to jhow@mit.edu.SPECIAL ISSUES: IEEE Control Systems Magazine encourages proposals for special issues. Proposers are encouraged to contact the editor-in-chief to discuss potential topics.BOOKS AND CONFERENCES: Submit information about recently published books to the associate editor for book reviews. Sub-mit information about past and future conferences to the corresponding editor for conferences. ADVERTISING: IEEE Control Systems Magazine accepts advertising for educational products, books, software, conferences, employ-ment, and control-related technology. For information about advertising, contact Mark David, m.david@ieee.org, +1 732 465 6473.IEEE CONTROL SYSTEMS MAGAZINE—(ISSN 1066-033X) (ISMAD7) is published bimonthly by The Institute of Electrical and Electronics Engineers, Inc. Headquarters: 3 Park Avenue, 17th Floor, New York, NY 10016-5997, U.S.A. +1 212 419 7900. Responsi-bility for the contents rests upon the authors and not upon the IEEE, the Society, or its members. The is a membership benefit of the IEEE Control Systems Society, and subscriptions are US$4.00 per member per year (included in Society fee). Replacement copies for members are available for US$20.00 (one copy only). Nonmembers can purchase individual copies for US$109.00. Nonmember subscription prices are available on request. Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limits of the U.S. Copyright law for private use of patrons: 1) those post-1977 articles that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01970, U.S.A.; and 2) pre-1978 articles without fee. For other copying, reprint, or republication permission, write to: Copyrights and Permissions Department, IEEE Service Center, 445 Hoes Lane, Piscataway NJ 08854, U.S.A. Copyright © 2019 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Periodicals post-age paid at New York, NY, and at additional mailing offices. Postmaster: Send address changes to IEEE Control Systems Magazine, IEEE, 445 Hoes Lane, Piscataway, NJ 08854 U.S.A. Canadian GST #125634188 Printed in U.S.A

Senior Managing Editor Geraldine Krolin-Taylor

Senior Art Director Janet Dudar

Associate Art Director Gail A. Schnitzer

Production Coordinator Theresa L. Smith

Advertising Production Manager Felicia Spagnoli

Production Director Peter M. Tuohy

Director, Business Development — Media & Advertising Mark David

Editorial Services Director Kevin Lisankie

Staff Director Publishing Operations Dawn M. Melley

IEEE prohibits discrimination, harassment, and bullying. For more information, visit http://www.ieee.org/web/aboutus/whatis/policies/p9-26.html.

IEEE PERIODICALS MAGAZINES DEPARTMENT445 Hoes Lane, Piscataway, NJ 08854 USA

Promoting Sustainable Forestry

SFI-01681

20 PEOPLE IN CONTROL Constantino M. Lagoa Vijay Gupta Taous Meriem Laleg Maarten Steinbuch Na (Lina) Li Kyriakos G. Vamvoudakis Afef Fekih

58 FOCUS ON EDUCATION Closed-Loop Shaping Linear Control System Design Customized Online Laboratory Experiments

88 LECTURE NOTES Transmission Matrices for Physical-System Modeling

110 BOOKSHELF Analytical Mechanics of Space Systems: Fourth Edition Book Announcements

115 CONFERENCE CALENDAR

» D E PA R T M E N T S

15

Conference on Decision and Control

CDC 2019

December 11–13, Nice, France

Invited Session Proposals Due:

March 7, 2019 (Passed)

Initial Paper Submissions Due:

March 15, 2019 (Passed)

Workshop Proposals Due:

May 2, 2019 (Passed)

Paper and Workshop Decision Notification:

Mid-July, 2019

Accepted Papers Due:

September 10, 2019 (Passed)

http://cdc2019.ieeecss.org/

American Control Conference

ACC 2020

July 1–3, Denver, Colorado, USA

Paper Submission Deadline:

September 23, 2019 (Passed)

Acceptance/Rejection Notice:

January 31, 2020

Final Manuscript Submission:

March 15, 2020

http://acc2020.a2c2.org/

Conference on

Control Technology and Applications

CCTA 2020

August 24–26, Montreal, Canada

Initial Submission Deadline:

October 27, 2019

Notification of Acceptance/Rejection:

April 26, 2020

Final Submission Due Date:

May 21, 2020

http://ccta2020.ieeecss.org/

Conference on Decision and Control

CDC 2020

December 8–11, Jeju Island, Republic of Korea

Initial Paper Due:

March 3, 2020

Invited Session Proposals Due:

March 10, 2020

Initial Paper Submissions Due:

March 17, 2020

Workshop Proposals Due:

May 1, 2020

Paper and Workshop Decision Notification:

mid-July, 2020

Accepted Papers Due:

September 10, 2020

http://cdc2020.ieeecss.org/