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CONTROL SYSTEMS SOCIETY
PUBLICATIONS CONTENT DIGEST
TABLE OF CONTENTS
Publications Activities Vice-President THOMAS PARISINI Imperial College, UK http://www.ieeecss.org/publications/css-publications
Journal Editors IEEE Transactions on Automatic Control
PANOS J. ANTSAKLIS University of Notre Dame http://www.ieeecss.org/publications/tac IEEE Transactions on Control Systems Technology
ANDREA SERRANI Ohio State University http://www.ieeecss.org/publications/tcst 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://www.ieeecss.org/publications/transactions-control-network-systems IEEE Control Systems Magazine
JONATHAN HOW Massachusetts Institute of Technology http://www.ieeecss.org/publications/csm Electronics Editor E-letter on Systems, Control and Signal Processing
JIANGHAI HU Purdue University http://www.ieeecss.org/publications/e-letter/e-letter *Submission and editorial instructions can be found on each publication’s homepage For subscription to the monthly E-Letter, please visit: http://www.ieeecss.org/newsletter/subscriptions
SOCIETYPERIODICALS
TABLE OF CONTENTS JUNE 2017
IEEE TRANSACTIONS ON
A PUBLICATION OF THE IEEE CONTROL SYSTEMS SOCIETY
JUNE 2017 VOLUME 63 NUMBER 6 IETAA9 ( ISSN 0018-9286)
Table of Contents Full Text: PDF
IEEE Transactions on Automatic Control Publication information
Full Text: PDF Scanning the Issue
Full Text: PDF Full Papers A Unifying Energy-Based Approach to Stability of Power Grids with Market Dynamics T. Stegink, C. De Persis, A. van der Schaft Abstract ⏐ Full Text: PDF Model-Free Plant Tuning F. Blanchini, G. Fenu, G. Giordano, F. A.Pellegrino Abstract ⏐ Full Text: PDF Quickest Change Detection with Observation Scheduling X. Ren, K. H. Johansson, L. Shi Abstract ⏐ Full Text: PDF Simple and Robust Experiment Design for System Identification using Fractional Models S. Abrashov, R. Malti, M. Moze, X Moreau, F. Aioun, F. Guillemard Abstract ⏐ Full Text: PDF Network Flows that Solve Linear Equations G. Shi, B. D.O. Anderson, U. Helmke Abstract ⏐ Full Text: PDF
Linear Quadratic Regulation of Switched Systems Using Informed Policies D. Antunes, W.P.M.H. Heemels Abstract ⏐ Full Text: PDF An Actor-Critic Algorithm with Second-Order Actor and Critic J. Wang, I. Ch. Paschalidis Abstract ⏐ Full Text: PDF Structural Properties of a Class of Linear Hybrid Systems and Output Feedback Stabilization C. Possieri, A. R. Teel Abstract ⏐ Full Text: PDF Distributed Saddle-Point Subgradient Algorithms with Laplacian Averaging D. Mateos-Nunez, J. Cortes Abstract ⏐ Full Text: PDF Stability Analysis of Discrete-Time Infinite-Horizon Optimal Control with Discounted Cost R. Postoyan, L. Busoniu, D. Nesic, J. Daafouz Abstract ⏐ Full Text: PDF Discrete-Valued Control of Linear Time-Invariant Systems by Sum-of-Absolute-Values Optimization M. Nagahara, T. Ikeda, S. Ono Abstract ⏐ Full Text: PDF Global Stability Results for Switched Systems Based on Weak Lyapunov Functions J. L. Mancilla-Aguilar, H. Haimovich, R. A. Garcia Abstract ⏐ Full Text: PDF
AUTOMATIC CONTROL
A Generalized Framework for Inference-Based Diagnosis of Discrete Event Systems Capturing Both Disjunctive and Conjunctive Decision-Making S. Takai, R. Kumar Abstract ⏐ Full Text: PDF Feedback Controller Norm Optimization for Linear Time Invariant Descriptor Systems with Pole Region Constraint S. Datta Abstract ⏐ Full Text: PDF Online Learning of Feasible Strategies in Unknown Environments S. Paternain, A. Ribeiro Abstract ⏐ Full Text: PDF Verification of State-Based Opacity Using Petri Nets Y. Tong, Z. Li, C. Seatzu, A. Giua Abstract ⏐ Full Text: PDF Approximations of Stochastic Hybrid Systems: A Compositional Approach M. Zamani, M. Rungger, P. Mohajerin Esfahani Abstract ⏐ Full Text: PDF Distributed Learning Algorithms for Spectrum Sharing in Spatial Random Access Wireless Networks K. Cohen, A. Nedich, R. Srikant Abstract ⏐ Full Text: PDF Stability and Stabilization of Semi-Markov Jump Linear Systems with Exponentially Modulated Periodic Distributions of Sojourn Time L. Zhang, T. Yang, P. Colaneri Abstract ⏐ Full Text: PDF New Results on Eigenvalue Distribution and Controller Design for Time Delay Systems H. Wang, J. Liu, Y. Zhang Abstract ⏐ Full Text: PDF Technical Notes and Correspondence Robust Kalman Filtering under Model Perturbations M. Zorzi Abstract ⏐ Full Text: PDF
Stabilization of Nonlinear Time-Varying Systems through a New Prediction Based Approach F. Mazenc, M. Malisoff Abstract ⏐ Full Text: PDF Weighted Consensus Protocols Design based on Network Centrality for Multi-agent Systems with Sampled-data M. Park, O. Kwon, A. Seuret Abstract ⏐ Full Text: PDF On Exploring the Domain of Attraction for Bilateral Teleoperator Subject to Interval Delay and Saturated P+d Control Scheme C-C. Hua, X. Yang, J. Yan, X-P. Guan Abstract ⏐ Full Text: PDF Fault-Tolerant Control of Linear Quantum Stochastic Systems S. Wang, D. Dong Abstract ⏐ Full Text: PDF Output Feedback Stabilization for a Class of Multi-Variable Bilinear Stochastic Systems with Stochastic Coupling Attenuation Q. Zhang, J. Zhou, H. Wang, T. Chai Abstract ⏐ Full Text: PDF Periodic Optimal Control, Dissipativity and MPC M. Zanon, L. Grune, M. Diehl Abstract ⏐ Full Text: PDF In-Block Controllability of Affine Systems on Polytopes M. K. Helwa, P. E. Caines Abstract ⏐ Full Text: PDF Stabilization of Switched Linear Systems with Quantized Output and Switching Delays M. Wakaiki, Y. Yamamoto Abstract ⏐ Full Text: PDF Sliding Mode Control of Constrained Nonlinear Systems G. P. Incremona, M. Rubagotti, A. Ferrara Abstract ⏐ Full Text: PDF On the Trade-Off Between Communication and Control Cost in Event-Triggered Dead-Beat Control B. Demirel, V. Gupta, D. E. Quevedo, M. Johansson Abstract ⏐ Full Text: PDF
A Convex Characterization of Multidimensional Linear Systems Subject to SQI Constraints S. Sabau, N. C. Martins, M. C. Rotkowitz Abstract ⏐ Full Text: PDF On Stock Trading Via Feedback Control When Underlying Stock Returns Are Discontinuous M. H. Baumann Abstract ⏐ Full Text: PDF Output Regulation of Boolean Control Networks H. Li, L. Xie, Y. Wang Abstract ⏐ Full Text: PDF Output-Feedback Multivariable Global Variable Gain Super-Twisting Algorithm P. V. N. M. Vidal, E. V. L. Nunes, L. Hsu Abstract ⏐ Full Text: PDF The Observability Radius of Networks G. Bianchin, P. Frasca, A. Gasparri, F. Pasqualetti Abstract ⏐ Full Text: PDF Extremum-seeking in Singularly Perturbed Hybrid Systems R. J. Kutadinata, W. H. Moase, C. Manzie Abstract ⏐ Full Text: PDF Minimum Resource Commitment for Reachability Specifications in a Discrete Time Linear Setting R. Vignali, M. Prandini Abstract ⏐ Full Text: PDF Forward and Backward Shifts of Vector Fields: Toward the Dual Algebraic Framework T. Mullari, Ü. Kotta, Z. Bartosiewicz, E. Pawluszewicz, C. H. Moog Abstract ⏐ Full Text: PDF Some Extensions on the Bounded Real Lemma for Positive Systems J. Shen, J. Lam Abstract ⏐ Full Text: PDF Cooperative Output Regulation of Heterogeneous Nonlinear Multi-Agent Systems with Unknown Control Directions M. Guo, D. Xu, L. Liu Abstract ⏐ Full Text: PDF
Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design I. R. Manchester, J-J. E. Slotine Abstract ⏐ Full Text: PDF Feedback Control over Lossy SNR-Limited Channels: Linear Encoder-Decoder-Controller Design S. Dey, A. Chiuso, L. Schenato Abstract ⏐ Full Text: PDF A Characterization of Lyapunov Inequalities for Stability of Switched Systems R. M. Jungers, A. A. Ahmadi, P. A. Parrilo, M. Roozbehani Abstract ⏐ Full Text: PDF Quadratic Model Predictive Control Including Input Cardinality Constraints R. P. Aguilera, G. Urrutia, R. A. Delgado, J. C. Aguero, D. Dolz Abstract ⏐ Full Text: PDF A Solution for the Partitioning Problem in Partition-Based Moving-Horizon Estimation R. Schneider Abstract ⏐ Full Text: PDF Robust Almost Global Splay State Stabilization of Pulse Coupled Oscillators F. Ferrante, Y. Wang Abstract ⏐ Full Text: PDF Exponential Stability Analysis of Sampled-Data ODE-PDE Systems and Application to Observer Design T. Ahmed-Ali, I. Karafyllis, F. Giri, M. Krstic, F. Lamnabhi-Lagarrigue Abstract ⏐ Full Text: PDF Comments on “On the Necessity of Diffusive Couplings in Linear Synchronization Problems With Quadratic Cost” H. J. van Waarde, M. K. Camlibel, H. L. Trentelman Abstract ⏐ Full Text: PDF
JUNE 2017 « IEEE CONTROL SYSTEMS MAGAZINE 1Digital Object Identifier 10.1109/MCS.2017.2675100
22 Observers for Nonlinear Systems Introduction to part 1 of the special issue RAJESH RAJAMANI
25 High-Gain Observers in Feedback Control Application to permanent magnet synchronous motors HASSAN K. KHALIL
42 Observers with Dual Spatially Separated Sensors for Enhanced Estimation
Industrial, automotive, and biomedical applications RAJESH RAJAMANI, YAN WANG, GARRETT D. NELSON,
RYAN MADSON, and ALI ZEMOUCHE
59 Nonlinear Observers for Integrated INS/GNSS Navigation
Implementation aspects TORLEIV H. BRYNE, JAKOB M. HANSEN, ROBERT H. ROGNE,
NADEZDA SOKOLOVA, THOR I. FOSSEN, and TOR A. JOHANSEN
June 2017 Volume 37 Number 3
WWW.IEEECSS.ORG/PUBLICATIONS/CSM» FEATURES
Cover credit: An exploded view of a modern electronic stethoscope, which is an example of a system with two inputs that must be estimated (force due to handling by the physician and the force that the chest vibrations create on the stethoscope diaphragm). Image courtesy of Rajesh Rajamani.
3 FROM THE EDITOR Open Review Process
6 ABOUT THIS ISSUE Observers for Nonlinear Systems, Part 1
10 PRESIDENT’S MESSAGE Textbook Models: Expanding Applications
14 25 YEARS AGO
16 MEMBER ACTIVITIES Our Quarter-Century Members
18 TECHNICAL ACTIVITIES Technical Committee on Smart Cities Technical Committee on Process Control
» DEPARTMENTS
3
59
2 IEEE CONTROL SYSTEMS MAGAZINE » JUNE 2017
87 FOCUS ON EDUCATION Bridging a Gap in Applied Kalman Filtering
94 BOOKSHELF Book Announcements
97 CONFERENCE REPORTS The 20th International Conference on System Theory,
Control, and Computing (ICSTCC2016) The 16th International Conference on Control,
Automation, and Systems (ICCAS 2016)
101 CSS BUSINESS Minutes of the IEEE Control Systems Society
Board of Governors Meeting
110 CONFERENCE CALENDAR
112 ON THE LIGHTER SIDE Local Versus Global Stability
» DEPARTMENTS
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 [email protected] 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, [email protected], +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. Respon-sibility for the contents rests upon the authors and not upon the IEEE, the Society, or its members. The magazine is a membership benefit of the IEEE Control Systems Society, and subscriptions are US$4.00 per member per year (included in Society fee). Replace-ment copies for members are available for US$20.00 (one copy only). Nonmembers can purchase individual copies for US$103.00. 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 copy-ing, reprint, or republication permission, write to: Copyrights and Permissions Department, IEEE Service Center, 445 Hoes Lane, Piscataway NJ 08854, U.S.A. Copyright © 2017 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Pe-riodicals postage 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
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IEEE PERIODICALS MAGAZINES DEPARTMENT445 Hoes Lane, Piscataway, NJ 08854 USA
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Promoting Sustainable Forestry
SFI-01681
http://ccta2017.ieeecss.org/
Paper Submissions Open:
December 15, 2016 (Passed)
Invited Session Proposals Due: March 1, 2017 (Passed)
Contributed and Invited Papers Due:
March 1, 2017 (Passed)
Acceptance Notice: June 1, 2017 (Passed)
Final Submissions Due:
July 1, 2017
2017 CONFERENCE ON
TECHNOLOGY AND APPLICATIONS
AUGUST 27-‐30, 2017
KOHALA COAST, HI, USA
CCTA 2017 will be held at the Mauna Lani Bay Hotel and Bungalows on the Big Island. The venue is a medium-sized, serene property on the west Kohala Coast, and the organizers have negotiated reasonable room rates which include all resort amenities. The Big Island of Hawai'i offers an abundance of natural beauty and sites, with 11 of the world's 13 climate zones. With a land mass of nearly twice the size of all other Hawaiian Islands combined, but with only a small fraction of the state's population, its diverse terrain spans green and black sand beaches to lush rainforests, waterfalls and active volcanoes.
Important Dates
CCTA 2017
December 12-15, 2017 Melbourne, Australia
2017 IEEE
Conference on Decision
and Control
January 4, 2017: Submission Site Opens (Passed)
March 20, 2017: Initial Paper Submissions Due (Passed) May 1, 2017 Workshop Proposals Due (Passed)
Mid-July Paper and Workshop Decision Notification August 1, 2017: Final Paper Submission and Registration Open
September 20, 2017: Accepted Papers Due
Important Dates
cdc2017.ieeecss.org