Table Of Content

automatica Automatica 39 (2003) HI—XIV www.elsevier.com/locate/automatica Volume Contents Number 1 — January REGULAR PAPERS P. M. Makila and J. R. Partington 1 On linear models for nonlinear systems V.L. Kharitonov and A. P. Zhabko 15 Lyapunov-Krasovskii approach to the robust stability analysis of time- delay systems S. Peeta and T.-H. Yang 21 Stability issues for dynamic traffic assignment C. Zhang, H. Deng and J. S. Baras 35 Run-to-run control methods based on the DHOBE algorithm BRIEF PAPERS M. M. El-Kady, M. S. Salim and A. M. El-Sagheer Numerical treatment of multiobjective optimal control problems H. Zhang, L. Xie and Y.C. Soh Risk-sensitive filtering, prediction and smoothing for discrete-time singular systems M. A. Arteaga 67 Robot control and parameter estimation with only joint position measurements H. T. Toivoneannd A. Medvedev 75 Damping of harmonic disturbances in sampled-data systems— parameterization of all optimal controllers T. Shen, S. Mei, Q. Lu, W. Hu and K. Tamura 81 Adaptive nonlinear excitation control with Lz disturbance attenuation for power systems X.-G. Yan and L. Xie 91 Reduced-order control for a class of nonlinear similar interconnected systems with mismatched uncertainty Z.Wang and D.W.C. Ho Filtering on nonlinear time-delay stochastic systems M. Galaz, R. Ortega, A. S. Bazanella 111 An energy-shaping approach to the design of excitation control of syn- and A. M. Stankovic chronous generators M.T. Soylemez, N. Munro and H. Baki Fast calculation of stabilizing PID controllers H. A. Barker, A. H. Tan and K. R. Godfrey Wiener models of direction-dependent dynamic systems N. Ozdemir and S. Townley Integral control by variable sampling based on steady-state data Ye Xudong Universal stabilization of feedforward nonlinear systems W. K. Ho, Y.H ong, A. Hansson, H. Hjalmarsson 149 Relay auto-tuning of PID controllers using iterative feedback tuning and J. W. Deng S. Darbha 159 On the synthesis of controllers for continuous time LTI systems that achieve a non-negative impulse response A. Iggidr and G. Sallet On the stability of nonautonomous systems TECHNICAL COMMUNIQUE K.M. Lynch Optimal control of the thrusted skate Volume Contents | Automatica 39 (2003) LII-XIV BOOK REVIEW Nonlinear identification and control—a neural network approach by G.P. Liu Number 2— February REGULAR PAPERS H. Perez and S. Devasia Optimal output-transitions for linear systems J. Reinschke and M.C. Smith Designing robustly stabilising controllers for LTI spatially distributed systems using coprime factor synthesis G. Ferrari-Trecate, M. Muselli, D. Liberati A clustering technique for the identification of piecewise affine systems and M. Morari Y.-C. Chu, K. Glover and A. P. Dowling Control of combustion oscillations via ”,, loop-shaping, .-analysis and Integral Quadratic Constraints BRIEF PAPERS X. Liu, B. M. Chen and Z. Lin On the problem of general structural assignments of linear systems through sensor/actuator selection R.-Y. Ruan, C.-L. Yang, H. Chen and B. Li On-line order estimation and parameter identification for linear stochastic feedback control systems (CARMA model) D. lvanescu, S.-I. Niculescu, L. Dugard, On delay-dependent stability for linear neutral systems J.-M. Dion and E. |. Verriest J. P. Hespanha, D. Liberzon and A. S. Morse Hysteresis-based switching algorithms for supervisory control of uncertain systems M. Innocenti, L. Greco and L. Pollini Sliding mode control for two-time scale systems: stability issues R. Guidorzi, R. Diversi and U. Soverini Optimal errors-in-variables filtering C.-T. Hsu and S.-L. Chen Nonlinear control of a 3-pole active magnetic bearing system H.-J. Ahn, S.-W. Lee, S.-H. Lee and D.-C. Han Frequency domain control-relevant identification of MIMO AMB rigid rotor G. H. M. de Arruda and P.R. Barros Relay-based closed loop transfer function frequency points estimation A.G. Aghdam and E. J. Davison Pseudo-decentralized switching control S.G. Douma, P. M. J. Van den Hof and Controller tuning freedom under plant identification uncertainty: double O.H. Bosgra Youla beats gap in robust stability M. Larsen, M. Jankovic and P. V. Kokotovic Coordinated passivation designs N. Marchand and M. Alamir Discontinuous exponential stabilization of chained form systems F. Mazenc Strict Lyapunov functions for time-varying systems TECHNICAL COMMUNIQUES W. A. van den Broek, J.C. Engwerda An equivalence result in linear-quadratic theory and J. M. Schumacher Q.-C. Zhong H,. control of dead-time systems based on a transformation BOOK REVIEWS Positive linear systems: theory and applications by L. Farina and S. Rinaldi Volume Contents | Automatica 39 (2003) III-XIV Vv D. Liberzon 368 Qualitative theory of hybrid dynamical systems by A.S. Matveev and AN. Savkin J. M. Berg 369 Optimal control of singularly perturbed linear systems and applications by Z. Gaji¢ and M.-T. Lim B. Van Roy 373 Self-learning control of finite Markov chains by A.S. Poznyak, K. Najim and E. Gomez-Ramirez Number 3 — March REGULAR PAPERS R. H. Chen, D.L. Mingori and J. L. Speyer 377 Optimal stochastic fault detection filter J. Y.I shihara, M. H. Terra and R. M. Sales 391 The full information and state feedback H,2 optimal controllers for de- scriptor systems M. Gevers, X. Bombois, B. Codrons, 403 Model validation for control and controller validation in a prediction error G. Scorletti and B. D.O. Anderson identification framework — Part I: theory M. Gevers, X. Bombois, B. Codrons, 417 Model validation for control and controller validation in a prediction error G. Scorletti and B. D.O. Anderson identification framework— Part Il: illustrations Ph. Darondeau and X. Xie 429 Linear control of live marked graphs H. Shim and A. R.T eel 441 Asymptotic controllability and observability imply semiglobal practical asymptotic stabilizability by sampled-data output feedback BRIEF PAPERS T. Fliegner, H.Logemann and E.P. Ryan 455 Low-gain integral control of continuous-time linear systems subject to input and output nonlinearities R. Ordofiez and K. M. Passino 463 Control of discrete time nonlinear systems with a time-varying structure Z. Ding 471 Global stabilization and disturbance suppression of a class of nonlinear systems with uncertain internal model A. Taware, G.T ao, N. Pradhan and C. Teolis Friction compensation for a sandwich dynamic system P.T ondel,T . A. Johansen and A. Bemporad 489 An algorithm for multi-parametric quadratic programming and explicit MPC solutions Q.-C. Zhong Frequency domain solution to delay-type Nehari problem S. Xu and T. Chen 509 Robust H,,, filtering for uncertain impulsive stochastic systems under sampled measurements Z.G.Li,C.Y.Wen and Y.C. Soh Observer-based stabilization of switching linear systems S.-G.Wang 525 Robust pole clustering in a good ride quality region of aircraft for matrices with structured uncertainties A.E. B.Lim, X.Y. Zhou and J. B. Moore 533 Multiple-objective risk-sensitive control and its small noise limit M. Zhong, S. X. Ding, J. Lam and H.Wang 543 An LMI approach to design robust fault detection filter for uncertain LTI systems TECHNICAL COMMUNIQUES W. M. Haddad,T .H ayakawa and V. Chellaboina Robust adaptive control for nonlinear uncertain systems |. loslovich 557 Arbitrary fuel-optimal attitude maneuvering of a non-symmetric space vehicle in a vehicle-fixed coordinate frame Volume Contents | Automatica 39 (2003) III-XIV BOOK REVIEWS O.-P. Malik Electric systems, dynamics and stability with artificial intelligence applications by J.A. Momoh and M.E. El-Hawary E. Walter Nonlinear system identification by O. Nelles Number 4 — April REGULAR PAPERS M. A. Rodrigues and D. Odloak MPC for stable linear systems with model uncertainty G.N. Nair and R. J. Evans Exponential stabilisability of finite-dimensional linear systems with lim- ited data rates M. A. Vaudrey,W . T. Baumann and W.R. Saunders Stability and operating constraints of adaptive LMS-based feedback control V. Turetsky and J. Shinar Missile guidance laws based on pursuit—evasion game formulations M. P. Saccomani, S. Audoly and L. DAngio Parameter identifiability of nonlinear systems: the role of initial conditions BRIEF PAPERS W.-H. Chen, D. J. Ballance and P. J. Gawthrop Optimal control of nonlinear systems: a predictive control approach M. Arcak, M. Larsen and P. Kokotovi¢ Circle and Popov criteria as tools for nonlinear feedback design R. Marino and P.T omei Adaptive control of linear time-varying systems V. Arkov, G. Kulikov and T. Breikin Optimal spectral resolution in system identification G. De Nicolao and G. Ferrari-Trecate Regularization networks for inverse problems: A state-space approach F. Mazenc and S. Bowong Tracking trajectories of the cart-pendulum system R. Yu and D.Wang Structural properties and poles assignability of LTI singular systems under output feedback A. Kojima and S. Ishijima H™ performance of preview control systems M. Zasadzinski, E. Magarotto, H. Rafaralahy Residual generator design for singular bilinear systems subjected to un- and H. Souley Ali measurable disturbances: an LMI approach N. H. El-Farra, A. Armaou and P. D. Christofides Analysis and control of parabolic PDE systems with input constraints J.-X. Xu, Y.-J. Pan and T.-H. Lee AVSS identification scheme for time-varying parameters L. Gentili and L. Marconi Robust nonlinear disturbance suppression of a magnetic levitation system P. V. Zhivoglyadov and R. H. Middleton Networked control design for linear systems TECHNICAL COMMUNIQUE Q. Zhao and D.-Z. Zheng On stabilization of min-max systems BOOK REVIEWS M. Egerstedt Robot Force Control by Bruno Siciliano and Luigi Villani Q.-G.Wang Structure and synthesis of PID controllers by Aniruddha Datta, Ming-Tzu Ho and Shankar P. Bhattacharyya Volume Contents Automatica 39 (2003) IlII-X1IV P. Colaneri 760 Robust and H,, -control by Ben M. Chen F. Blanchini and S. Miani 762 Actuator saturation control by V. Kapila and K.M. Grigoriadis Number 5 — May REGULAR PAPERS J.-P. Vila and V.Wagner Predictive neuro-control of uncertain systems: design and use of a neuro-optimizer G. E. Stewart, D. M. Gorinevsky and G. A. Dumont Two-dimensional loop shaping J.-C. Hennet A bimodal scheme for multi-stage production and inventory control S. S. Ge, G. Y.L i and T. H. Lee Adaptive NN control for a class of strict-feedback discrete-time nonlinear systems D. S. Laila and D. NeSi¢ Changing supply rates for input-output to state stable discrete-time nonlinear systems with applications BRIEF PAPERS Z.Wan and M.V. Kothare An efficient off-line formulation of robust model predictive control using linear matrix inequalities C. C. Cheah, S. Kawamura and S. Arimoto Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties D. Karagiannis, A. Astolfi and R. Ortega Two results for adaptive output feedback stabilization of nonlinear systems M. Darouach, M. Zasadzinski and M. Boutayeb Extension of minimum variance estimation for systems with unknown inputs M. D.S. Aliyu An approach for solving the Hamilton—Jacobi-Isaacs equation (HJIE) in nonlinear # ,. control H. Shim, J. H. Seo and A. R.T eel Nonlinear observer design via passivation of error dynamics M. A. Lau and L.Y . Pao Input shaping and time-optimal control of flexible structures New design relations for 2-DOF PID-like control systems A. Johansson and A. Medvedev An observer for systems with nonlinear output map A. Varga and B.D.O. Anderson Accuracy-enhancing methods for balancing-related frequency-weighted model and controller reduction T. Soderstrom, K. Mahata and U. Soverini Identification of dynamic errors-in-variables models: Approaches based on two-dimensional ARMA modeling of the data J. Ackermann and D. Kaesbauer Stable polyhedra in parameter space TECHNICAL COMMUNIQUE P.T ondel,T .A . Johansen and A. Bemporad Evaluation of piecewise affine control via binary search tree BOOK REVIEWS J.-X. Xu Sliding mode control in engineering by W. Perruquetti and J. P. Barbot D. S. Stoffer Time series analysis by state space models by J. Durbin and S. J. Koopman Volume Contents | Automatica 39 (2003) III-XIV Number 6 — June REGULAR PAPERS C.C. Amaro, S. K. Baruah, A. D. Stoyen Non-preemptive scheduling to maximize the minimum global inter-com- and W. A. Halang pletion time D. Jeltsema and J. M. A. Scherpen A dual relation between port-Hamiltonian systems and the Brayton-Wo- ser equations for nonlinear switched RLC circuits BRIEF PAPERS P.V. Zhivoglyadov and R. H. Middleton Stability and switching control design issues for a class of discrete time hybrid systems J. Alvarez-Ramirez, R. Kelly and |. Cervantes Semiglobal stability of saturated linear PID control for robot manipulators D. Sun Position synchronization of multiple motion axes with adaptive coupling control P. Cartigny and P. Michel On a sufficient transversality condition for infinite horizon optimal control problems C.-S. Tseng and B.-S. Chen A mixed H,/H,. adaptive tracking control for constrained non-holonomic systems M. Sznaier, C. Mazzaro and O. Camps Open-loop worst-case identification of nonSchur plants G. Chesi, A. Garulli, A. Tesi and A. Vicino Homogeneous Lyapunov functions for systems with structured uncertainties M. Di Marco, A. Garulli, D. Prattichizzo A set theoretic approach for time-to-contact estimation in dynamic and A. Vicino vision T.-C. Lee Exponential stabilization for nonlinear systems with applications to nonholonomic systems L. Ben Jemaa and E. J. Davison Performance limitations in the robust servomechanism problem for discrete time periodic systems Y. B. Shtessel, A. S. |. Zinober and |. A. Shkolnikov Sliding mode control of boost and buck-boost power converters using method of stable system centre M.-T. Ho Synthesis of H,, PID controllers: a parametric approach T. Floquet, J.-P. Barbot and W. Perruquetti Higher-order sliding mode stabilization for a class of nonholonomic perturbed systems G. Besancon, S. Battilotti and L. Lanari A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models TECHNICAL COMMINIQUES G. Besancon High-gain observation with disturbance attenuation and application to robust fault detection H. Prochazka and |. D. Landau Pole placement with sensitivity function shaping using 2nd order digital notch filters CORRESPONDENCE Robust stabilization of uncertain time-varying discrete systems and comments on “an improved approach for constrained robust model predictive control” Volume Contents | Automatica 39 (2003) III-X1IV BOOK REVIEWS S. Simani 1113 Coding approaches to fault tolerance in combinational and dynamic systems by C. N. Hadjicostis D. Liu and H. Zhang 1115 Fuzzy control by K. M. Passino and S. Yurkovich E. F. Camacho 1117 Predictive control with constraints by J.M. Maciejowski M. Arcak 1118 L2-gain and passivity techniques in nonlinear control by A. van der Schaft T. Bailey and H. Durrant-Whyte 1120 Mobile robot localization and map building: a multisensor fusion approach by J. A. Castellanos and J. D. Tardés A. Emami-Naeini 1121 Analytic feedback system design: an interpolation approach by P. Dorato Number 7 —July SURVEY PAPER J.-M. Dion, C. Commault and J. van der Woude 1125 Generic properties and control of linear structured systems: a survey REGULAR PAPERS S. Jorgensen and G. Zaccour A differential game of retailer promotions L. Benvenuti, M. D. Di Benedetto, 1157 Individual cylinder characteristic estimation for a spark injection engine S. Di Gennaro and A. Sangiovanni-Vincentelli H. Ying 1171 A general technique for deriving analytical structure of fuzzy controllers using arbitrary trapezoidal input fuzzy sets and Zadeh AND operator BRIEF PAPERS Y. S. Hung and F. Yang 1185 Robust H,, filtering with error variance constraints for discrete time-varying systems with uncertainty E. Delgado and A. Barreiro Sonar-based robot navigation using nonlinear robust observers D. U. Campos-Delgado and K. Zhou A parametric optimization approach to H,, and H, strong stabilization H. Habbi, M. Zelmat and B. Ould Bouamama 1213 A dynamic fuzzy model for a drum—boiler—turbine system L. Ben Jemaa and E. J. Davison 1221 Limiting performance of optimal linear discrete filters G.T ortora, B. Kouvaritakis and D. Clarke Fault-accommodation with intelligent sensors Y.-Y.Cao and Z. Lin 1235 Stability analysis of discrete-time systems with actuator saturation by a saturation-dependent Lyapunov function M.D. S. Aliyu 1243 A transformation approach for solving the Hamilton—Jacobi—Bellman equation in > deterministic and stochastic optimal control of affine nonlinear systems R. R. Costa, L. Hsu, A. K. Imai and P. Kokotovic 1251 Lyapunov-based adaptive control of MIMO systems H. G. Tanner and K. J. Kyriakopoulos Backstepping for nonsmooth systems J. Schoukens, J. G. Nemeth, P. Crama, 1267 Fast approximate identification of nonlinear systems Y. Rolain and R. Pintelon E.N. Sanchez, A. G. Loukianov and R. A. Felix 1275 Recurrent neural block form control M. Guay and T. Zhang 1283 Adaptive extremum seeking control of nonlinear dynamic systems with parametric uncertainties X Volume Contents | Automatica 39 (2003) III-XIV M. P. Niemiec and C. Kravaris 1295 Nonlinear model-state feedback control for nonminimum-phase processes TECHNICAL COMMUNIQUES P. Zhang, S. X. Ding, G. Z.Wang and D.H. Zhou A frequency domain approach to fault detection in sampled-data systems Q.-C. Zhong Robust stability analysis of simple systems controlled over communi- cation networks BOOK REVIEWS S. Mukhopadhyay Neural and adaptive systems: fundamentals through simulations by J. C. Principe, N. R. Euliano and W. C. Lefebvre J. Chudoung Iterative dynamic programming by R. Luus A. Sparks Advances in aircraft flight control by M. B. Tischler Z.-P. Jiang Control of complex systems by K. Astrém, P. Albertos, M. Blamke, A. Isidori,W . Schaufelberger and R. Sanz Number 8 — August REGULAR PAPERS Y. Fujisaki, F.D abbene and R. Tempo Probabilistic design of LPV control systems G. Yin and Q. Zhang Stability of Markov modulated discrete-time dynamic systems J. Anthonis and H. Ramon Linear mechanical systems and dyadic transfer function matrices J. de Halleux, C. Prieur, J.-M. Coron, Boundary feedback control in networks of open channels B. dAndréa-Novel and G. Bastin ij. Emre Kése and F. Jabbari Scheduled controllers for linear systems with bounded actuators BRIEF PAPERS Y. Xiong and M. Saif Unknown disturbance inputs estimation based on a state functional observer design P.-A. Bliman, A. B. Piunovskiy and M. Sorine Controlled linear system with delayed relay output under impulse random disturbances D.-S. Choi, S.-J. Kim and I.-J. Ha A phase-plane approach to time-optimal control of single-DOF mechanical systems with friction P. Colaneri, V.K ucera and S. Longhi Polynomial approach to the control of SISO periodic systems subject to input constraint W. M. Haddad, S. G. Nersesov and V. Chellaboina Energy-based control for hybrid port-controlled Hamiltonian systems Yuzhen Wang, Chunwen Li and Daizhan Cheng Generalized Hamiltonian realization of time-invariant nonlinear systems J. A. Torres Mufioz and M. Malabre Simultaneous model matching and disturbance rejection with stability by state feedback S. S. Ge, Z. Wang and T.H. Lee Adaptive stabilization of uncertain nonholonomic systems by state and output feedback L.C. Kammer, D. Gorinevsky and G. A. Dumont Semi-intrusive multivariable model invalidation Y. Liu, M. A. Simaan and J. B. Cruz Jr An application of dynamic Nash task assignment strategies to multi-team military air operations Volume Contents / Automatica 39 (2003) III-X1IV XI D. Henrion, D. Arzelier and D. Peaucelle 1479 Positive polynomial matrices and improved LMI robustness conditions M. Cannon,V .D eshmukh and B. Kouvaritakis 1487 Nonlinear model predictive control with polytopic invariant sets L. Mirkin 1495 On the H” fixed-lag smoothing: how to exploit the information preview BOOK REVIEWS E. Zeheb 1505 Computational aspects of linear control by C. Brezinski G. Conte 1506 Methods of algebraic geometry in control theory. Part Il: Multivariable linear systems and projective algebraic geometry by P. Falb Number 9 —-September REGULAR PAPERS H. Kobayashi and R. Ozawa 1509 Adaptive neural network control of tendon-driven mechanisms with elastic tendons E.-W. Bai 1521 Frequency domain identification of Wiener models L.T .A guilar,Y .O rlov and L. Acho 1531 Nonlinear .# ,.-control of nonsmooth time-varying systems with application to friction mechanical manipulators D. Liberzon 1543 Hybrid feedback stabilization of systems with quantized signals R. Rebarber and G. Weiss 1555 Internal model based tracking and disturbance rejection for stable well- posed systems L. Xiaodong and Z. Qingling 1571 New approaches to H_,. controller designs based on fuzzy observers forT- S fuzzy systems via LMI J.C. Avila Vilchis, B. Brogliato, A. Dzul 1583 Nonlinear modelling and control of helicopters and R. Lozano BRIEF PAPERS O. M. Aamo, M. Krsti¢ and T. R. Bewley 1597 Control of mixing by boundary feedback in 2D channel flow J.Wang 1607 Formation of machine cells and part families in cellular manufacturing systems using a linear assignment algorithm R. B. Gopaluni, R. S. Patwardhan and S.L. Shah 1617 The nature of data pre-filters in MPC relevant identification —open- and closed-loop issues K. Lo and W.-H. Kwon 1627 New identification approaches for disturbed models G. Garcia, B. Pradin, S. Tarbouriech and F. Zeng 1635 Robust stabilization and guaranteed cost control for discrete-time linear systems by static output feedback R. Zanasi and R. Morselli 1643 Discrete minimum time tracking problem for a chain of three integrators with bounded input A random least-trimmed-squares identification algorithm BOOK REVIEWS Stable adaptive control and estimation for nonlinear systems— neural and fuzzy approximator techniques by J. T. Spooner, M. Maggiore, R. Orddénez and K. M. Passino P. Ainsleigh Fixed-interval smoothing for state-space models by H. L. Weinert M. Reyhanoglu 1664 Mechatronic control of distributed noise and vibration: A Lyapunov approach by C. D. Rahn Volume Contents | Automatica 39 (2003) III-XIV Number 10 —October SURVEY PAPER J.-P. Richard Time-delay systems: an overview of some recent advances and open problems REGULAR PAPERS F.-S. Hsieh Robustness of deadlock avoidance algorithms for sequential processes A. Lanzon and M. Cantoni On the formulation and solution of robust performance problems R. Pintelon, J. Schoukens and Y. Rolain Uncertainty of transfer function modelling using prior estimated noise models BRIEF PAPERS J.D. Wolfe and J. L. Speyer The periodic optimality of LO controllers satisfying strong stabilization L. Mirkin and N. Raskin Every stabilizing dead-time controller has an observer—predictor-based structure R. Marino, G.L. Santosuosso and P. Tomei Robust adaptive compensation of biased sinusoidal disturbances with unknown frequency Z. Qu, C. M. Ihlefeld,Y .J in and A. Saengdeejing Robust fault-tolerant self-recovering control of nonlinear uncertain systems F. Dabbene, P. Gay and B.T. Polyak Recursive algorithms for inner ellipsoidal approximation of convex poly- topes S. Mijanovic, G. E. Stewart, G. A. Dumont A controller perturbation technique for transferring closed-loop stability and M. S. Davies between systems H. Ishii and B. A. Francis Quadratic stabilization of sampled-data systems with quantization D. R. Lewin and A. Parag A constrained genetic algorithm for decentralized control system structure selection and optimization F. Tjarnstrom Variance analysis of 12 model reduction when undermodeling — the output error case R. Antonelli and A. Astolfi Continuous stirred tank reactors: easy to stabilise? C.M. Lagoa A convex parametrization of risk-adjusted stabilizing controllers L. A. Montestruque and P. J. Antsaklis On the model-based control of networked systems ERRATA A. Bemporad, M. Morari, V.D ua Corrigendum to: “The explicit linear quadratic regulator for constrained and E.N. Pistikopoulos systems” [Automatica 38(1) (2002) 3-20] R. Gorez Erratum to “New design relations for 2-DOF PID-like control systems’ 7 [Automatica 39(5) (2003) 901-908] Number 11 —-November REGULAR PAPERS W.P. Heath 1849 The variation of non-parametric estimates in closed-loop P.M. Makila 1865 Squared and absolute errors in optimal approximation of nonlinear systems