Table Of Content

Tilteisnt hIeF ACP rocnegeSsde iries AKASHI:C ontroSlc ienacned T echnolofgoyrt heP rogreossf ISERMANN:I dentificaatnidoS ny stePma rametEsetri mation SocietyV,o lumes 7 (1979) ALONSO-CONCHEIRO:R ed!T imeD igitCaoln troAlp plicatioInSsE RMANN KALT ENECKER:D igitCaolm puteArp plicattioo ns ATHERTON: MultivariTaebclhen ologSiycaslt ems Process& Control BABARY LE LETTY:C ontrooflD istribuPtaerda metSeyrs tems JANSSENP,A U STRASZAK: Dynamic ModaenldCl oinntgr oofl & NationEaclo &no mics (1982) BANKS PRITCHARD:C ontroolfD istribuPtaerda meter JOHANNSEN RIJNSDORPA:n alysDiess,i gann,d E valuatoifo n Syst&em s Man-Mach&i Snyes tems BEKEY SARIDISI:d entificaantdiS oyns tePma rameter LAUBER:S afetoyfC omputeCro ntroSly stems Esti&m at(io1n 982) LEININGER:C omputeAri dedD esigonf M ultivariable BINDER:C omponenatsn dI nstrumefnotrDs i stribuCtoemdp uter TechnologSiycsatle ms ContrSoyls tems LEONHARD: ControilnP owerE lectronaindcE sl ectriDcriavle s CAMPBELL:C ontroAls pecotfsP rostheatnidcO sr thotics LESKIEWICZ ZAREMBA:P neumataincd H ydraulic VanC AUWENBERGHE: InstrumentaatnidAo nu :omatiionnt he Componen&atn sd I nstrumeinntA su tomatCiocn trol PaperR,u bberP,l astaincdsP olymerisaItnidouns tries MAHALANABIS:T heorayn dA pplicatoifoD ni gital Control CICHOCKi STRASZAK:S ystemAsn alysAipsp licattioon s MILLER:D istributed CoCmopnuttreoSrly stems (1981) ComplePx&r ograms MUNDAY: AutomatCiocn troilnS pace CRONHJORT:R ealT imeP rogramming NAJIM ABDEL-FATTAH:S ystemAsp proacfho rD evelopment (1978) CUENOD:C omputeAri ded DesoifgC no ntroSly stems & (1980) De GIORGO RO VEDA:C riterfioarS electAipnpgr opriate NIEMI:A LinkB etweeSnc ienacned A pplicatoifoA nust omatic Technolo&g uinedse rDi fferCeunltt uraTle,c hnicaanld S ocial Control Conditions NOVAK: SoftwafroerC omputeCro ntrol DUBUISSON:I nformatainodnS ystems O'SHEA POLIS:A utomatiionnM iningM,i neraaln dM etal ELLISC:o ntrPorlo bleamnsd D eviciensM anufacturTiencgh nology Proce&s sing OSHIMA:I nformatCioonnt roPlr oblemisnM anufacturing (1980) FERRAT E PUENTE:S oftwafroerC omputeCro ntrol Technology (1977) FLEISSNE&R S:y stemAsp proactho A ppropriTaetceh nology RAUCH: ControAlp plicatoiofNn osn lineParro gramming Transfer REMBOLD: InformatCioonnt roPlr oblemisnM anufacturing GELLIE TAV AST:D istribuCtoemdp uteCro ntrSoyls tems Technology (1982) (1979) GHONAI&M Y: SystAepmpsr oacfho rD evelopment RIJNSDORPC:a seS tudiiensA utomatiroenl atteodH umanization (1977) ofW ork HAASE:R ealT imeP rogramming (1980) SAWARAGI AKASHI: EnvironmentalP lSaynsntienDmges,s ign HAIMES KINDLER:W atera ndR elateLda ndR esourScyes tems andC ontr&o l HALME:& Mo dellianngd C ontroolfB iotechniPcraolce sses. SINGH TITLIC:o ntraonld M anagemenotfI ntegraItneddu strial HARDT: InformatCioonnt roPlr oblemisnM anufacturing Comp&l exes Technology (1982) SMEDEMA:R ealT ime>P rogramming HARRISON:D istribuCtoemdp uter ConStyrsotle ms (1977) SUBR AM ANY AM: ComputnA pplicatiinoL nasr geS calPeo wer HASEGAWA: RealT imeP rogrammi(ng1 981) Systems HASEGAWA INOUE:U rbanR,e gionaanld N ationPalla nningT ITLI SINGH:L argSec alSey stemTsh:e orayn dA pplications - Enviro&n menAtsaple cts Van WO&E RKOM: AutomatCiocn troilnS pace HERBST:A utomatCiocn trionlP owerG eneratiDoins tribution and (1982) Protection NOTICET O READERS DearR eader Ify ourl ibrairsny o ta lreaad ys tanding/continorudaetcriu osnt omteort hisse riemsa,y we recommentdh atyo up lacae standinogn/tcinuatoirodnet ro r eceiivmem ediatueployn p ublicatailonlne wv olumeSsh.o ulydo uf intdh atth esveo lumenso longesre rvyeo urn eedsy,o uro rdecra nb ec ancellaetad n yt imew ithounto tice. ROBERT MAXWELL PublisahtPe err gamPorne ss IFACR elatTeidt les BROADBENT MASUBUCHI:M ultilinGgluoasls aorfAy u tomatic CoTnetcrhonlo logy &E YKHOFF:T rendasn dP rogreisnsS ysteImd entification lSERMANN:S ysteImd entificTauttioorni (alAsu tomaStpiecac iIasls ue)' COMPUTER AIDED DESIGN OF MUL TIVA RIABLE TECHNOLOGICAL SYSTEMS C Proceeodfti hnSege sc o!nFdA S ymposium 15-17 1982 WesLta fayIentdtieaU,nS aA,, September Edited by G.G .L EINNGIER PurduUen iverIsnidtiya,Un SaA, Publisfohre tdh e INTERNATIONAFLE DERATIONO F AUTOMATICC ONTROL by PERGAMON PRESS OXFORD·N EW YORK·T ORONTO·S YDNE·YP ARI·SF RANKFURT U.K. PergamoPnr esLst d.H,e adingtHoinl Hla ll. OxforOdX 3 OBW,E ngland U.S.A. PngamonP resIsn c.M,a xwelHlo useF,a irviePwa rk, ElmsforNde,w York1 0523U,. S.A. CANADA PergamoPnr esCsa nadaL td.S,u it1e0 4, 150C onsumerRso ad,W illowdaOlnet,a riMo2 J 1P 9,C anada AUSTRALIA PergamoPnr es(sA ustP.t)y L.t d.P,. O.B ox5 44, PottPso intN,. S.W.2 011A.u stralia FRANCE Pergamon PrSeAsRsL ,2 4r ued esE coles, 75240P ariCse,d ex0 5,F rance FEDERAL REPUBLIC PergamoPnr esGsm bH, Hammerweg6 , OF GERMANY D-624K2r onberg-TauFneudse,r aRle publoifcG ermany CopyrightI FAC 1983 !c AllR ighRtess ervNeod p.a rotf t hipsu blicamtaiyob ne reproduscteodr,ien ad r etriseyvaslt oermt ransmiitnat neyd foromr b ya nym eanesl:e ctreolneicct,r omsatganteittcai,pc e , mechanipchaolt,o copryeicnogr,d oirno gt herwwiisteh,o ut permisisniw orni tfirnogtm h ec opyrighhotl ders. Firsetd iti1o9n8 3 ss atalgi inP ublicatiDoant a MLaiibner naotrrfCuyy no dnegrtr iCtele:o ng Computeari dedde sigonf m ultivariable technological systems (IFACp roceedisnegrsi es) Includiensd ex. 1.E ngineerdiensgi gnD atep rocessi-Cnogn gresses. 2.S ystedme signC-o-ngresseIs.L. einnigerG,. G . II.I FACS ymposiuomn ComputeAri dedD esigonf MultivariTaebclhen ologiScyaslt e(m2s nd: 19W8e2s:t LafayetItned,. )I IIS.e ries. TAI7 4.C58261 983 620'.00425'0288534- 8280 Data CBormiptutiLesiarihb d readCder asyti gaonflm oulgituiniPv nuargbi ltaeibclchean tolioogni cal system-s-.( IAFC proceedisnegrsi es) 1.E lectroanpipca rataunsd a ppliancDeess-i-gann d construction-p-rDoacteas sing-Congr2e.sM siecsr owave deviceDse-sigann dc onstruc-t-Diaotna p rocess-ing Congresses I.L eniingeGr.,G .I I.I nternatiFoendaelr ation ofA utomatCiocn troIlI IS.e ries 621.3'8014 2 TK7869 ISBN0 -08-02933 57 Thesper oceedwienrgrese produbcyem de anosf t he photo-opfrfosceuetss istn hgme a nuscrszupptpslb iyet dh e authoorfts h ed iffepraepnetr Tsh.e m anuscrhiapvtes beetny peuds ing differenatn dtt yyppeefwarTcihetese .r s lay-ofuitg,u arnedst abloefss o mpea pedrisdn ota gree complewtietlthyh set andraerqdu iremceonntsse;q uently ther eproducdtoienoson td isplcaoym pleutnezo fr mity. Toe nsurraep piudb licatthiidosin s crepcaonuclnydo bte changendo;rc oultdh e Engbleci hsehc kceodm pletely. Thereftohrreee ,a daerraess ketdoe xcuasneyd eficiencies oft hipsu blicawthiiocmnha yb ed uet ot haeb ovmee n­ tionreeda sons. PrintienGd r eaBtr itbayiA n. W heatonC o.L td.E,x eter <!I IAFC SYMPOSIOUNM C OMUPTERA IDDE DEISGN OF MULT IAVRIABEL TECNHOLOIGCALS YSTEMS Sponsboyr ed IFACS ystemEsn gineeriConmgm ittee IFA C EducatiCoonm mittee InC ooperWaittiho n IEEE-ContSryoslt emSso ciety AmericaSno cieotfyM echanicEanlg ineers InternPartoigornCaaomlm mit(t!ePeC )N atioOnragla nizing Committee G. Leininger G. Leininger (Chmaainr) (Chairman) K.A stromS,w eden D. Purdy G.S aridiUsS,A Johnson T. A. Mcfarlane, UK Lehtinen EpsteiUnS,S R KB.. Loparo V. J.A ckermanF,R G Williams T. J.H atvanyH,u ngary Edgar T. A. SpangU,S A W. Merrill E.P olakU,S A D. Anderson Munro,U K N. A. Laub,U SA M. MansourS,w itzerland E.D avisoCna,n ada D. AthertoUnK, A. Locatie,lI ltaly S.J iangC,h ina M. Wozny,U SA FOREWORD This tihse s econdI FAC Sypmosimu onC opmuteAri deDde sigonf s ysetms. Thes ypmosimu contaienishg ts essnisod evoted thteo tohreetciali sseuso fC AD, fisvees isonsw hicfho cus onc opmutehra rdwaarned s otfwaries suesi nC ADa ndf ours essnisod ealinwigt ht hep ractical applicatioinss ueso fC ADi mplemetnitnoa. The spearkse,P rofessDoariv so,n plenary ProfessRoirc ea ndP rofessRoors enbroadcdrke sss pceifiics seusi nt hescea tegioer.s Round tabled iscsusinos provtihdeeo pportnuiyt fort hep articnitpsa tfoo cuosn t hem orec entral isseuso fC AD. TheI ntneartionParlo gmr aCommtiteew ishetso e xprsest heirs incee arpprecaitiotno all authorasn ds ypmosimu partciipantfso rc ontributtion gt hoeu tsntdaintge chnicparlor gam. Weh opet hatt hec ontributcioonntsa iniendt hisv olumwei llb e befnieciatlo r eserachers andp ractitioanleirks,e form anyy eartso c om.e GaryG .L eininger Chariman IntenartionParolg raCmo mmtitee vi Copyrigh' tI FACC ornputA!i'd1 l'ldl <'sig11 USA l'LE!\:ASREYS SIIO !\: 1982 Indiana. UNMANNED ENGNIEERING H. H. Rosenbrock ContSrysotle Cmesn tUrnevi,e rsoifM tayn cheIsntsteturito feS cz'enTceec ohalnnodg y, Manche,Us Kt er Absatc.rt Eacnhe wwa vient hper oegsrosf e nngeeirniqt cehnooglgyvi es frse�lTtfoe oadlnd eramt:h teo traelap clmeento fh muasnik laln d acvttiiyb ym ahcnie.s Wet akla rleya odft h'en uamnnefdca tyo'ra,n ndo doutbht'e u nnmnaeodff ciew'il ls ooenne tri tnod sicsusni.oT huemn anned deisngo fc ontsryotslem hsa bse etnh aei omf m ucwho rokn opctoinmotalrl orp loes hftinigo ro thmeert h.o dIsst ihsa raeilsitca ima,ni ds i ta deisarbel one?T hpea paedred ssretsh eqsuee osnt,sai nidl ulsattretshm e frotmh feei dlso fd seinga nodf f elxbilmean uaftcunrgis ytsem. s CA;Dr oobt;st cehnooglayn sdo ecyti;u mnannfecadty o.r l I.T NORDUICOTN fonud,h woev,ei rfw eg ob actkot hpee ordi beofrteh feul lip macotft hiedn ursaitl Ina S ymspimou on CoAfcD o notlsr ytse,mtshe revuotolin. ttiloef t ihsp apmearsy e ems tarn.g eYet thceo ncnteiiosna v eyr driecotn. e Our Int heegi hetenctehn yt,ut rhhea nwde avers atttuidteom cahniehsa aswl aybse eanna m­ wermeo rper odvuect thiatnh sep nine.rO sne bvilaneto n.e Ont hoen hea ntdeh ya er weavneere dtehdwe e fftr omma nsypn iners to toosl for uus,sew hithcow illlg ihetno ur keehpi bmu ys. RcihdaG ruseti,n h i'sC om­ worka nmda kietm orper odvue.c Otnit he pedniuosH iosyrt'o f tellst ha"tI t oth,et rhye arree apclmeenftoshr mu abne ngi,s wans ou cnommtohnni1g f8 o2ar3w e,a vteowr a kl maknigt hres iiklrlde undantth reaw ionrdk thereo rf ourm ilse ina m onrign,a nd lc al unnecseaysr. onf vieo rs isxpn ine,rb seofer hec uold cloelcwte fttos evreh ifmo trh ree imdaner Thceo mpuitsoe nrlt yh leta esatn mdos t oft hdea ;y anwdh ehnew siehdt ow eavae porwfeluo ft hmea icehnsw hcihw e hcaovmee peicie na shtoertri em thaunsa ul, nae w tor egairntd ih sa bmviaelnwta .y Whenw e rbib,oo nrg ow,w nanse ecssya troq uciken usiet t od eisngc ontsryotsle m,d sow ee n­ theex eorntosif t hsep ninre�" vsiagaed eisnge,rf ulyl inc otnrloo ft he porcseo sfd eisgna,nud s gi ncao pmutteor Facwetidh itsdh iffciutly,t hwee avJearm es aihdi imn h itsa ks?O rd ow es eteh sek lil Hagreraevsi n1 674i vnenttehdse p ninnig ofd egsniearss meshtointgh abteo lngtsoa jentnoys upplhyi osw nn eefdoswr e f.t The lsess ceinftcii psata,n dl lwb eig raldylu a mcahniew aist nendfeodhr i osw onr h is relpcaebdy p orwfelua glotrhimbsa ds uepon falm'iysu s,ea niddn eewda kse pstce ert, deempat hmaetcailr eustls?C oumetpr anidn t hecsoedn itnisio tw ansa taulfr or dseigsnhu olpdio tn tot hfeo rrm,we atiihd etd heH aregarvteose nivasge mtahiceehn asa iadn compuatiiedgnr t hdee isngerb:u nto ctei toa ne xsitgi snikl.l Itd di norte jetchte thaitti sd eisngw hcihi ss aitdob ea die,d sklilo ft hsep ninebru,t rcaotohpeerr ated notth dee isngre. withi tt om akietm o rpeor udcvte.i Eraly maicehnss pusni oxr e gihtth eradastt he Whatths ip apweilrl sg ugeisstt hatth ee r smaet iem,i snetaodf o n,ew hlieo nl taer isa d eetpe ndye inntc hsec einftciia ttiutde maicehnsu pt o theradcsuo lbde s pusnmi ­ tor ejects kltiloh fet hdee isnge.r The utlanuelsoy.8 0 socuero ft ihst endye wnilclb et read,cb ut frisitt w illb ei lutlsratbeysd mo ee xmapels Hagreravdedis n optr iotfm ucfhr ohmsi froomt haeerra osf t ehconolg.y ivnenotn,ie vetnh ouigtbh e mceaw dielueysd. 'Thes eectra tl negtthr apnisr,et dhroaung h idnsircteinoo ff emlaev atnyi,a nedx tceid 2.C TOTOSNP ING NIN sucthuu mtla omntgt shsep nisetr,sa ntdeh ri parstai,n stofhn ee iogruhhbo,ot dhatthy e Iti sn oeta ys tof nide xmaplsew hcihw ill broiktneo h ihso uisnea roitomuansen r, ilutlsrabtoetw ha yosfr geradnigm ahcnie,s andde tsroytehdhe a etdr viaslo ft ehri beucsae toeucrho ngofyol 1r0 5y eahrasrs e ­ fnige.r'2s jectoende tohpfeo ssbilitiise.Te hyc an be Rosebnrock 2 H. H. RcihdaR roebtrs,o n othtehh ear,n p dorftied gipcer sveartoino fo uteddas tikllbsua,t conisucpoluysw hehnei vnenetdt h'ee sfl­ rsepefcoter ix tsinsgik laln adn o pptonur­ atcnigm uel'i n Thitso oakne xsitnig iyt foirt t od eevloapst encoholgiys tefl spninnigm ahci1nt8eh3,me0 u e.l ,a nedil imntaed deevolp.s allt hceo indsearlbes klilwh ihct hsep niner hande e.d eIdt tdhisid,n obty i imtantgi thfeee dabccko nttrhoatlth sep nineerm ­ FLIELBXE�A 1NFUCATRUIGNS YES'T1S plyoe,dw hihcw aisp moislbsea tt hattie m, 3. bubty a ni gneonuiosp elnoo-p,c admr-vien A felxbielm anuufraicsntytgse im sa collce­ mehcnaismWe.n eetdh eeofrer tot kaec rae toino fn urmcielayl-octnrlodelm ahcniet oosl whewned enfeim echiaasntoina st hrepe alce­ wtihs moea uotamtci wayt arnoesfrr fnig work ment mousfce lp oewr. Heerw amsec hasnaiiton toa nfdr otmh .e mFoerx paelm,t hNeC m ach­ thartpe alcehdu mjadung eenmatn sdik lbly iensm ay gboreu paerdo uannid dn usatlr i thbeil dn buhti hglayc cauetrm ovnetmoe ft he roobtw hihcp cikusp p atrsf roams otr,e mcaihen. palcetshm e int hmea hcnie,st arnesrftsh em from moainceehn t oa not,ha enwrdh emna ch­ Somoeft hseco iaaln d mecic roaensoofnros ingi insf nisiehd raecpetlshm e ina s otr.e thdefi fenrtwe ayisnw hihcH agreravaensd Threo obtm aay los beu setdoc hantgoosel Roebrtesvn sigaetdeh imra icehnsa rcel aer ont hNeC m ahciens. eno.u gHhagreravweasis v nenntgai m caihen fohri smefl.R oebtrsw aasn enneregi ivnen­ Ssyetmosf t ihsk nida rbeei gn sutdeidi n tinognb ehlafo fm li-lwone,ra snndo noef mancyo unets,rp iarctluiralyi nJa pan.T ehy theistnee ndteowd o rtkh mea icehnst hem­ arseit lilnt heea rslatyg eosfd evoepelmnt sevle.s Haregarvheasgd r edafitf ciluyt in thouag fhehw avbee euns efdo cro mmiearlc enfconirgh ipsa teanagtni satm utltiudoef pordtuicno.B ceautshepe or rgamfso trh NeC idnviiudauls erRsoe;br tcso dud los o macihens arnoodbt aser hedl inc oumtpe,r s aagnisott heenrng eienrgi rfmois ra agnist thFeSM c asnw ticih na v eyr shto rmteif rom mli-lwonser. makign onceo pmonetnomt ak niga not.h Ietr theefroprorem sietsh sema ei cnerasoefp ro­ ducvtiyit,i nbat cphor duocn,t iasw aesa r­ Aboavlle ,th meli -lwonewrsish eatda l lc oss t leiro biteandi nm assp orduicnotb yt ransfer toe ilmniaet siklFlri.s ti,tw aesx pieevn:s maicehnsa ntdh aes mslbeyl nie. Bababgef3o erx almeqp ouetst hdeia yl wagoef am an inp ni-amknig 7a2swd h liet hwea goef A srtontge ndye enxscist tou steh FeM iS na a bowya 4s� .dS eclo,yna dndm oriepm oarntt,l y waty hadte sotyrtsh ter datioinaslik lolfs onltyhs eik leldi nt hadta cyo uslrtdki .e thteu rnoermr li lnig-miaenco hpeorraP.tr ­o Urter actehsiev n netiooftn h see fl-ancgt i garmminogft hsey tseim ss epaaetrdf roimst muled ricetltyot hecsaeu se'hste: loyn, operoanta,in ids s eeinnt hleno g mt aesr ora ta ny trahptere ni cpiable enftia tni­ci ana dujncotfC A:D oncteh e oCepArDa tor paetdw atsh sea nvgio ft hhei hgw agpeiasd hadse fitnhegede otmreoyf t hpera t' h e lwli tot hhea n"ds npniera"na,d r leaesfer om defihnoiew t tiobs em ad,a entdh CeA D thdeo nmtaiiownh ihceh hfaosdro l noga sytsewmil lg ernaetteh per roagmfso trh e peordie xesrec.di. .. mcahnietsh awtil lm akiet .Udn eri sst yh­s 4' . tetmh FeSM o paeotrraser rdeucteodm aicehn Theasere s itlsle ebnys moe5a st heef fec­mnide.r s tviec ausfeotsrh wea iy nw hihcR oebtrs evnsiaegdt hmea hcien:a w awyh iicshn o w Iti sn ottce hnogoilacln esciseyt thadtrv ies sod moinatnhtat th oet hiesrd iffciultto usi nt ihsd iertcioAnt.U MSITa, s ytseim s ilutlsrtaeb ym odeerxnpa lmse.Y eitf t ihs unddeerlvo epmewnhithc a ccetpsa nuds etsh e werseo d,fi efernstco iaalne dc omncios y­s exsitnigs klilo ft hmea hcinsi,as ntldae evs temsshu olsdue rlpyor udcae dfiefrent roofmo ir tt od eevlopTh.si i sd onbey rseutl.A mpelvedi enccaebn e b orugthot givg tiont hFeSM o peratthroeer s pioibinlyts shwo thasto acilist aeststo rc ooaptevire fomrak nigt hferi spta rotf a bancteh.w entpersriebsr nign oc haen ignt ihsr seepc.t Thesnus bequpeatnrst,a nsdu sbequbetancth e� cabne m adfer otmh per roaggme naeetrdf or Wtihodunetyn igt hfeo rocfet hcea ustehsa t thferi spta . r t Uerp ersesn,at tl aesfto hri osw dna ,yw e sahlilnt ihsp appeiortn a los toa d eerp e Thsis ytseamr laeyd exsistf oarn lNtaCh ,e cau.s Tehiospa eetrst hroau vglaheu -yssetm anids t ob ee xtentdote hdce o pmeltFeM .S emebddiends ceincaen id nt hrese utlso f Ont hleta hies a c moputietnerr f,aw ctieh scein,ca enids u nviesrailn d uitsnrail whihc thoeep ratiotnerar ctisna c onversa­ soectieis. Accdonigrlyi,to ffear rses aon toinamlo d. eHei sa kse,df oerx paelm, whoyn aet ttuidteom aicehnss huolpder dom­ whetthhenere xotp aetroini st urnng,ib orngi, iantien a llo ft hessoeec tieis. fcanigo r idlrgl,ia nnpder ssetsh aep op­r priabttueto anag nisat ndaycmm ien. uIfh e Befodrioegn tihsi,tw illbe h eplflu to seelcttsu rnng,ih ei sa ksefdo trh ien iiatl offetrw oot heexrpa elmst oi lutlsrea tthe andn afdliai met,ea rnstdh seat tra nfdni ­ twwoa yisnw hihcm aicehnsc abne v iwee.d ihso ft hceu .t Tap,ec rhsmafearnsrd a id i Thye aerg vietno s hwo thatth tew aot ttuidesc abne e saliyd enfei.d Sepedasn fde eadnsd aera pipacllbet om odetrennc oholyg,a sw ell cutaser o pmtsiietdo m akbees tu se of the ast o htneoocgleisw hihch avneo pwa sds ietno aaviblela poewr. Allo ft ihsi s dionn e hiosyrt.v hJaits a ti sseu isn otth neo aslt- temrsf almaiirt ot hoeep roarta,n mda kuesse UnmannEengdin eeirng 3 ofh iesxs itgi snikllO.n caell t hiefn omr­ moyn.eY ett hoep ersaw touolrbde cotmhee aitonf ort hnee xotp aetroinh as ebneteenr esde rvaonftt hsse y tse;m thre limitietdar in­ ancdh eecd,kt hoep aetroinc abne p eorrfemd. ignw oludn evaellrwo thme tod igseraew tih thceo umtn.e rThpeo oolfk nwoeldgfer om Thissyt sehma tse hcnooglicaaneldc omncio whihc thper roagwma ds rawwounl ddr uy p, avdaangteisni cneraisgnt hmea icehn utlii­s anadyn furthiepmror venmtwe oudlc omoen ly atoina ntdh seep eodf p orrgammnig. Ita los frormse earicinhita etds epcficilayl tot hat aovisdf raegnmntgit hoep er'astj obor. The en.d aim issi pmlntyoo tp revseeh riesxs itnig sikl.l Iti sr athteomr a kteh astik lmlo re Ana tlertnviaew ayof u snigt hsey s,t em procdtvuiea ntdo a llwo itt od elvpeo ina colseirns pritit ot hweo rokfH agrervae,s natuwraayil tn oa nsekwli l-t hseik lolf woulbde gtvioe t hceo mtpeusry tsetmo t he usniga m orhegi hldye lvpeoesdy tse.m Si­m doctor atsao n a iuisdne h iwso r. kMuch ilaard vantaeare gxepsee dcw thetnh sema e thahteh acda rreidi nh imsni db efocruoedl prnicpileasere xetdnetdo t hceo lmtpeeF M,S bel fett ot hceo mtpe,urb uotc cianoaslly atl aesfto tr hwei drea nogfep atrsw hihc thdeo ctmoirg dhsitga erew tihi std aingos.i s cabne d enfeibdy s mipleg eomcec turvrie.s Tihsm igbhetb e ucsahee w aus sgi rnluse whcihh ando t fyouenttd h re iwiatnyo t he sytse,mo rf oerx mapleb ecahuess eue scpted 4.M EDIACLD IGANIOSS a sied effectf rosmmo en edwr .u g Thsee coenxmdapl ei sa m orsep uealctvieo n,e Byu isgn thceo umtpearsa tooilnt hiwsa,y buatl oso nweh cihr iaesst hiess eusi na the dosciktlowrlo'l usdg raldylu caha,n ge veyr celafro r.m Woriksi np rroegss ina anwdo ludr eisedm otsliyn t haeer aw heeh re numboefpr al e�st ou sceo umetprfso mer dical dsigaerewdti ht hceo pmut.e Frormt iem to daigsniosFei.eg nbma6,uf oerx paelm,h as tiemm oroeft hsis iklmli gbhetc apetdui rn desbcertdih deve eolpemnotf a p rogcraallmed thceo pmuetr,b ustit ltlh hemu arne isude PUFfFo trh deai gsnioosf l nugd sieea.sT he cuolgdor wa gna.iS ucah s ytsewmou ladlo mst coumetprs ceinsttic,la eldi nt ihsc nonteicon ceritlnayg iev beetrtr seutlst hatnho en e a 'kwnelodgeegn niere,'c apetsui rnt hceo m­ desbcerbdie ofer. puttehrse ik lolf eaxnep rpth iyiscan, exepsrds iena seotf r lusew hihch eu s:e s Mancyo mtpeusrc itesintse sayrmtphaect tio 'Onheu neddtr esctae ss,c aruellfyc hosteon thues oef t hceo mtpeuars aaintd o t he spatnh vea eryti odfsi eassateet s. .w.er e docrt.oY eit fo nneut st hmeta etrt ot hem usde toe xtrtahcet r uels. Ast hkeon w­ int hwea ty haitth sj usbte esnat etd, ldegeem eerd,gi tw5 a5s. .a.d dteodt hsey ­s thye aer liekltyo Qa meru.T hdeo ctwoilrl teamn tde stbeyrd un nniga dtdoiinacla s.e s onldysi aegerw tiht hceo pmut,et rhye aer Theex pewratss o emteisms rupsrei,ds moemetsi liekltyo s ya,i ft hceo pmtueprr odutchees frsutaretd,b yt hoec cianoslag apasn id­n wrodnaigg sniosW.ti ha littlmeo rweo r, k cointssenecsii nt he wkldneg,oea ntdh e thper roagcma bne i pmorveudn ltt ihdeo ctor icnorrdeaicgtn so tsheawte rlego ciaclo n­ willn evneere tdod siaege.r Butth etnh e sequeonftc hees setnxigri lues e.t The copmuetrw illc ease atnao i adbn ewd li l itnerapybl ewteeknnw oeldgeen ngeiearn d becoam ree apcleenm:t dao ctwohrno e ver expteg rraadlluye xpeadnt dhsee otf r luse dsiaegerwsti ht hceo pmuetrn eendo bte tor emomvoseto ft hepsrelo ebm.s. .. . thee.r casneosst t uddd iuenrgit hken woeldge a'1c5qs0ui itnip roocweesrse usae tdet sa fnodr COPMTUERI-EDADD EISNG 5. vaidlaotnio ft hrelu es e.t PUFiFfne rrae d daigsniofsor e ac. hPU-FpFordeudca nd Theirsen on eetdol baoutrh pea arllleb e­ expte-ropdreudci tnereptraotniss'h woed twetehne esxempa elsa nd CtAhoDef c ontrol 'agrnetew mtiehni percaenndt perncte! sytsem. sEvyeornweok rign int ihsa eraw ill 90 100 bea waorfet htewo w aynsw hihcC AsDy tsems Tihsw oriksi ni ste ayr slatg,eb sutth ee r cabne a pproa,ce htiehdearsa idosr uatls­ � seetmosb e naos owrnhe yi tso hulndo itn imea rteapclmeenftostr hdee gsni.e r theen pdor dudcaieg noastel ases ats g ood ast hoosfea na verpahgsyeci i.a nIdne,e d What extpahelmes h avielu tlsradt iest hat ift hken woeldgoefs eveerxaple cruotdlsb e thsee coonftd h eisset hoen wehi hch as caprteuid nt hper roag,mi tm igphetor mrf premdioneadft oart l aest yea,ra snd betttehraa nyn otfhm e.A ssmunigt ihsk idn thatthr eei sad eetpe n1dy5e0 i nntc hidsie rc­ ofs cucses,h osw huoltdh ceo umetprs ytsem tiownti hni teclhgony.o Weh avee adgtfir f­ beu sde? iuctlyi na ccenpgtt hiaatc omtpeusry tsem shuolldae vreo ofmo mre ann wdo mteond si­ Onwea ,yw hihcw oludb ei nt hsep irofi t agerew tihi stc onucisoln.s Ift hedyo, we Rcihda Rrobearntmdsos to fw hat bheaesn seteh iassa ni dncitainot hatth sey tseim s donseni ec hitsie m,w oudlb et ou steh e deecftvie. Yett oa d.to t nhsia tttuidiest o copmutteorr pealcteh e odr'ossci ktl.Tl he ecxuldteh e oufts hece oumtpearsa na di. systceuoml bdeo eparetdb yp raaemidaclsa tff Isnetaid tb emceoas r eapcleenm.t wtiho nlay r etsrcitetdr naiign.T hqeu ayl it ofd aignso soaenv erwaogluedi pmorve,a nd Whenccoem tehssi b iaasag inhsmuta snik ll thceo swtou lbder decue.d bAe ttseerire cv as eaelnem nitn t hoep aeitrono fa s ytsem? cuoltdhr eefobreoe f fefroetrd h aev labaile Toa trtbiuet its oletlot yh 'eo scail Rosenbrock 4 H. H. rletaoinosf p orduocn'ti isa,sw eh aev se,e n 6.R FEERENCES uncvonincni,gb ecauistei su nfiorumn daellr thceh anogfte hse sscoei arllet aointsh at l .Gu te,sR cihda r(128)3.A coemnpoduis exsiti nid nutsraileidcs ounets.r Tihe hiosyrt oft hceo otntm anaucfteu,r asnwesrgu gteeshde er ist haitts rpnigs repnretid1 698,( rFanCka )s.s dricetlfyr otmh vea uleosf esnecci,w hihc 2.Ue r,A nedwr (1386).T hceo ttmonanua fc­ havbee eanod petdb yt encoholg.y tuero fG eraBtr tiani,r pernited 1790v,o .ll ,p. 61,(9o JhnsRoernpni t Ansy ceinftciie pxalntaino isi nt eromfs Copr).. causwehcsihp erceadne'd x epalni't ehri 3.B abbag,C eahlres( 1382.) Ont heec omnyo efcfte.s Othkenird osf e xapnlaotn,i for ofm aicehnyr anmdan ufaucerts, exalmeip nt eromfsp urspeoa,er e cxuld.e d repnretid1 693,p .41,(8 eKllye.) Thsi isa v aulej dugmeen,ta sc abne s een 4.U er,A nedwr lco.c ti,.v o.l2 ,p .91.9 moste aisyl frotmh eex almeop fm niiumm 5.B ramvae,nHr rayr (1794.) Laobra nmdo n­ prnicpilsei npy hscis7w,h ebrtoeh e pxalna­ opoclpaytia ,l (oMnltyhR veiwe toinaser a vlabaiel,a nadr eeq vuaieln,tb ut Pre)s.s onloyni es am dietd.t 6.F egieanmub,E wdarAd. (917)9.T hmees ancda sseut deiso fk onweldgeegn ni­ Thsecu cseso ft hsec einftciie ndoeuarv, eenrg,ii nD olndaM cihi(edet iro,) bsaeodn t ihsa nodt hvearul e,si s innot Exeprsty smtsie nt hmeci or-lecetnrioc qeusotn,ib utth ee irso nuefn orntaeut con­ ag,e p.p-325(,dEni ubrgUhinv .Psr)se. seqcue.e Snceinccea n eopxnllayi intn e rms 7.Y ouaru,gW r.a nMda enldasm,tS .( 1698.) ofc auasned e(fhftoeucsgtmoh et iemsa Variaotanilp rniicpsli end ymncias caulsiya topfr aoibbliitsei ss butstiuetd anqdau nutmt heyo,rp p.1216-80, fodrri eccta aulsyi).t Yeatyn tihgnw hihc (Pmia)tn. oebycsa uslwaasli sam aicehn.C oenqsutel,ny whesnce inciesa pipdel toh muaanc vttiii,e s itd arwnso e ssteainld isntcoitnib etewne whaitsh m uaann wdh aitsn ohnmu-a.n Tot he extetnhtat th eayer sceinftciiallyu nd­er soto,de accha bne d secbreibdy c ausrale­la toin,sa ntdh seep cficiallyh muadnsi pape.a rs Theea rwloryko nt h'er tnasefpf unocnto if ah muaonp aetroirsa' c onecetr anrda ther creue dxpalme. Atlhouwghehav teirss ceinftciiallyo sbreved isc asua,lt hsec einsttii sh uamn. fAu nda­ menatla ysmmtyer iss eutp b ewteetnh e osbervaenwrdh aitso sbevre.d Thsec ein­ tficio sbevrehra tsh em ahnu abtutetosrf i itnelliegn,ci eintaitviea nadn e qnurinig spiitr.W haitso sbrev,eh dmuaonr n o,t obecyasu lsl awas. Wtih itsoh uotol,kt hree ejcotnio fh muan sklilby t hsesy etmd eisngebrec omieensv ti­ albe.I fm eann wdo moeebny c auslwaasl, thetnhy e mabye d rietclrype alcebdym ach­ ienso ebynigt hsema eo rm ordese iarlbew sl.a Thye havea dnnvota aogvee mrach nie,sw hcih mabye f saetrm,o rrele ibael,a nndo stu jbcet tob oredoormf taieg.uY etth hemu aenl ­e menitnsa sytsehma vienv ayrnigd eegertsh e smaep orprteeiso fi tnelliegn,ci eintiiavte anadib ilyt tol aerans t hsey tsedme isngre. Ifh et erattshm e asm ahcnie,sh ei sr eejc­t ign rase ocuerw hihcc uolbdee pmolyetdo thbeen etf iohfi ssy smt'epse rfaonr.cm e Th'es syetmd eisngeri'no upra rctuileaxr­ apmel ist hdee isngeorf t he sCytAseD.m T he 'humeaelnm ten'i nh sis ytseim st hmea onr womwahnuo s eistt od eisng cao ntsryotselm . Whattih sp apsegurg esitsts h atth feri st sohudla cceptth see coansad h muabnei gn wittheh smaeq auliiseta sh isemlfa,n d shuolddei sngh iCsA sDy tseim naw aty hat acceapntedsn heasns cikl,rl athtehrar ne­ j ecntgii ta,n adll wosi tt oe vvoela nd icnerasaen dde evolp. Copyrig©h ItFA C ComputeAri deDde sign SESSIONW Al - ROBOTICS IndianUaS,A 1982 RECURSIEV LAGRANGIDAYNN AMICOSF F LEIXBEL MANIPULAOTR ARMSV IAT RANSFROMATION MATRICES W.J .B ook TheR obtoiIcnsst tuitCea,rn eeg-ieMllUonni verPistitutsyrb,gP hA,, U SA anSdc hoofoM le chanEincgaeilen riGnegog,ir Ian stioftT uetcehl noogAytl,a nGtAa,,U SA Abstract TI1neo nlienqeuaarto ifmo ontsi onf lefxomirab nulilepa atromrcs o nsiosfrt oitnjagor iyn ts connetcwtfoil negxl iibnalkredsc e veloKpienedm.oa ftb iocttshhr eo tary joaintndht le i mnokt ion defoarmtiaordnce scbryi4b xte4rd a rnmsaftomiaotnr Tihcleeis dn.ek f leiacsst siuosmnme asdlot l h tahte litnrka nsfocrabmneca otmipoonos fse udm miaoontfsa ssumed lTihnreke ssuhelaqtpuieansatg.ir oen s prcsacsn ts<.'cda 4lxma4ar t orapinexdr arteiafoodrnpy sr ograTmhmeeiffi ncgi.oe tfnh cfoiyrs m uliast ion compatror eidg id linki ntc hlaeis teesr raetpuorret.e d KeywordRso: boDtiss;ut treipdba ramseytsetrMe omdse;Ml asn;i pulVaitbiroacnto;in otnr ol; Flexmiebclhea nMiescmhsaa;nrm isc.a l Thea utghroart efully tahcseku npopowoftlr hetwid osgr bekysT hReo boItnitscistC uarnteeg,i e­ MellUonnis vieatrnytd h e GeorgoifaT eIcnhsntowlihotitgulhyteae e u twhaoosrn l eaavsVe i siting ScieTnhteein scto.u raogfMe amrRecan itbo eTfrh Rteo boItsnitciswt aust eia mlopsrtoa nt. 1.I tnroduction Sketcho fP rior Work Increaascecdu rianc ym odseylsitbneegmh aviiso 1r. 1M.u cwho rhka s beeinnt hfdeoo rnmeu loaftt hieo n needwehde inm propveferodar nmciess ougfhotmr o st dynaemqiuca toifmo ontsif oomnre chaanrimwcsia trlh i gid enginseyesrtieTnmhgse e. v oluotfti homene chaanrimc al linTkhsre.e awdielrl d efsicnridinr b eefedr e(n2c(1e2]s6, ] , fromt elcoapnccdrr aattnopoe rr e sdeainynt d ruiasantlsd p ace (2[72]a],n d inb ibtlhieoitgrhr weao prohknit ch"sei enrvse robaontldsa rsgpeam caen ipuilsna oet xocresp Itniiioatnl. dynafmoincn ufuasteiidnco onn"t arnoidln( , 2 (891]](,,3 1], simkpilneae tamincd dynamairncco l moonadgdeeelrqs u a(t3e[0 1]a1.n] td,h ebiirb laipohtighcrweso roknt hdey namic fotrh meo sctr itpiecraflo rdmeamnacnedB so.tth he formufloasrti imounlo arft iigloiinadn r km Tsh.ee ffi cioefn cy mechansiysctaaelnm dc otnrosly streeumqie rimproved thefsoer miuolnaasnt da lterntaott hievrieersat li me modeflosdr e sisginm ulaPtrioopno.ns eewcd o tnrol calcuilsda itsicouns( s2[e5]dla, ]n itdnh w eo rrkeesfr rteod algorrietqhudmisyr nea mmoidce ls focra lccounltartoilo n. therein. Planannipdnor gg ramamcitnigav swi etlialesm sa n-thien­- losoipm ulaaltrsieooq nua icrceum roadtoeeflt sh e Theli mitaotfti hoenws oer iksst harti gliidna krse arm. assumWeidt.th h aisss umtphtteice ohnn ibqeuceosm e Accuriasuc syu ally aatsc oqmuceio rsetTd.h e sompeo isnetdl efef antgii,ft hepiurr piosts oei mparto ve appliocfam teicohna narimctsaoe l c onomsiecnasliltyi ve performMaainncnteia.nri gi igtioydf t hel inks inhibits endeaivnio nrdsua sntdr yi nccorcseotan ssecdi otuhsen ess impropveerdf oremvaeannstc heme o del accuracy tends to spapcreo garlagsmio v iensc etnoit pmirvoetv heeefi fcini oefn cy imopvriet . thfeo rmautliaonnds imulattihodeny m niaocmf o dels. Control aanldg ormitathnlhe om iossnpi mulraetqiuoinr eC onsideorffla etxiiyob ni otlfhil eti nikns type "retailmc ea"l cuolfda ytniaomni c behavioofr d.e vFiaocnrmetdush l ecaiotrni tiorsrnoe lp obryt1 e9d7i 2nMa irm r(r2o3 ]. the dyinnaa nem aiscuysn dteor csotnacnedap ptopuaracilhs This eacrolnys ibwdooettrrhhkme e od d ealnicdno gn otrfao l alismop oritmfaa nxti muutmi liozfta htreie osniu stl otsb e sinlgildneek v iBcoeo[7].k c onsitdheleri enddey anra omfi cs obtained. spaftlieaxlai rbmrlsee p reassel nutmepmdea dsa sn sdp ring 5

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Computer aided design of multivariable technological systems : proceedings of the second IFAC symposium, West Lafayette, Indiana, USA, 15-17 September 1982 PDF

657 Pages·1983·24.16 MB·English
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Preview Computer aided design of multivariable technological systems : proceedings of the second IFAC symposium, West Lafayette, Indiana, USA, 15-17 September 1982

Tilteisnt hIeF ACP rocnegeSsde iries AKASHI:C ontroSlc ienacned T echnolofgoyrt heP rogreossf ISERMANN:I dentificaatnidoS ny stePma rametEsetri mation SocietyV,o lumes 7 (1979) ALONSO-CONCHEIRO:R ed!T imeD igitCaoln troAlp plicatioInSsE RMANN KALT ENECKER:D igitCaolm puteArp plicattioo ns ATHERTON: MultivariTaebclhen ologSiycaslt ems Process& Control BABARY LE LETTY:C ontrooflD istribuPtaerda metSeyrs tems JANSSENP,A U STRASZAK: Dynamic ModaenldCl oinntgr oofl & NationEaclo &no mics (1982) BANKS PRITCHARD:C ontroolfD istribuPtaerda meter JOHANNSEN RIJNSDORPA:n alysDiess,i gann,d E valuatoifo n Syst&em s Man-Mach&i Snyes tems BEKEY SARIDISI:d entificaantdiS oyns tePma rameter LAUBER:S afetoyfC omputeCro ntroSly stems Esti&m at(io1n 982) LEININGER:C omputeAri dedD esigonf M ultivariable BINDER:C omponenatsn dI nstrumefnotrDs i stribuCtoemdp uter TechnologSiycsatle ms ContrSoyls tems LEONHARD: ControilnP owerE lectronaindcE sl ectriDcriavle s CAMPBELL:C ontroAls pecotfsP rostheatnidcO sr thotics LESKIEWICZ ZAREMBA:P neumataincd H ydraulic VanC AUWENBERGHE: InstrumentaatnidAo nu :omatiionnt he Componen&atn sd I nstrumeinntA su tomatCiocn trol PaperR,u bberP,l astaincdsP olymerisaItnidouns tries MAHALANABIS:T heorayn dA pplicatoifoD ni gital Control CICHOCKi STRASZAK:S ystemAsn alysAipsp licattioon s MILLER:D istributed CoCmopnuttreoSrly stems (1981) ComplePx&r ograms MUNDAY: AutomatCiocn troilnS pace CRONHJORT:R ealT imeP rogramming NAJIM ABDEL-FATTAH:S ystemAsp proacfho rD evelopment (1978) CUENOD:C omputeAri ded DesoifgC no ntroSly stems & (1980) De GIORGO RO VEDA:C riterfioarS electAipnpgr opriate NIEMI:A LinkB etweeSnc ienacned A pplicatoifoA nust omatic Technolo&g uinedse rDi fferCeunltt uraTle,c hnicaanld S ocial Control Conditions NOVAK: SoftwafroerC omputeCro ntrol DUBUISSON:I nformatainodnS ystems O'SHEA POLIS:A utomatiionnM iningM,i neraaln dM etal ELLISC:o ntrPorlo bleamnsd D eviciensM anufacturTiencgh nology Proce&s sing OSHIMA:I nformatCioonnt roPlr oblemisnM anufacturing (1980) FERRAT E PUENTE:S oftwafroerC omputeCro ntrol Technology (1977) FLEISSNE&R S:y stemAsp proactho A ppropriTaetceh nology RAUCH: ControAlp plicatoiofNn osn lineParro gramming Transfer REMBOLD: InformatCioonnt roPlr oblemisnM anufacturing GELLIE TAV AST:D istribuCtoemdp uteCro ntrSoyls tems Technology (1982) (1979) GHONAI&M Y: SystAepmpsr oacfho rD evelopment RIJNSDORPC:a seS tudiiensA utomatiroenl atteodH umanization (1977) ofW ork HAASE:R ealT imeP rogramming (1980) SAWARAGI AKASHI: EnvironmentalP lSaynsntienDmges,s ign HAIMES KINDLER:W atera ndR elateLda ndR esourScyes tems andC ontr&o l HALME:& Mo dellianngd C ontroolfB iotechniPcraolce sses. SINGH TITLIC:o ntraonld M anagemenotfI ntegraItneddu strial HARDT: InformatCioonnt roPlr oblemisnM anufacturing Comp&l exes Technology (1982) SMEDEMA:R ealT ime>P rogramming HARRISON:D istribuCtoemdp uter ConStyrsotle ms (1977) SUBR AM ANY AM: ComputnA pplicatiinoL nasr geS calPeo wer HASEGAWA: RealT imeP rogrammi(ng1 981) Systems HASEGAWA INOUE:U rbanR,e gionaanld N ationPalla nningT ITLI SINGH:L argSec alSey stemTsh:e orayn dA pplications - Enviro&n menAtsaple cts Van WO&E RKOM: AutomatCiocn troilnS pace HERBST:A utomatCiocn trionlP owerG eneratiDoins tribution and (1982) Protection NOTICET O READERS DearR eader Ify ourl ibrairsny o ta lreaad ys tanding/continorudaetcriu osnt omteort hisse riemsa,y we recommentdh atyo up lacae standinogn/tcinuatoirodnet ro r eceiivmem ediatueployn p ublicatailonlne wv olumeSsh.o ulydo uf intdh atth esveo lumenso longesre rvyeo urn eedsy,o uro rdecra nb ec ancellaetad n yt imew ithounto tice. ROBERT MAXWELL PublisahtPe err gamPorne ss IFACR elatTeidt les BROADBENT MASUBUCHI:M ultilinGgluoasls aorfAy u tomatic CoTnetcrhonlo logy &E YKHOFF:T rendasn dP rogreisnsS ysteImd entification lSERMANN:S ysteImd entificTauttioorni (alAsu tomaStpiecac iIasls ue)' COMPUTER AIDED DESIGN OF MUL TIVA RIABLE TECHNOLOGICAL SYSTEMS C Proceeodfti hnSege sc o!nFdA S ymposium 15-17 1982 WesLta fayIentdtieaU,nS aA,, September Edited by G.G .L EINNGIER PurduUen iverIsnidtiya,Un SaA, Publisfohre tdh e INTERNATIONAFLE DERATIONO F AUTOMATICC ONTROL by PERGAMON PRESS OXFORD·N EW YORK·T ORONTO·S YDNE·YP ARI·SF RANKFURT U.K. PergamoPnr esLst d.H,e adingtHoinl Hla ll. OxforOdX 3 OBW,E ngland U.S.A. PngamonP resIsn c.M,a xwelHlo useF,a irviePwa rk, ElmsforNde,w York1 0523U,. S.A. CANADA PergamoPnr esCsa nadaL td.S,u it1e0 4, 150C onsumerRso ad,W illowdaOlnet,a riMo2 J 1P 9,C anada AUSTRALIA PergamoPnr es(sA ustP.t)y L.t d.P,. O.B ox5 44, PottPso intN,. S.W.2 011A.u stralia FRANCE Pergamon PrSeAsRsL ,2 4r ued esE coles, 75240P ariCse,d ex0 5,F rance FEDERAL REPUBLIC PergamoPnr esGsm bH, Hammerweg6 , OF GERMANY D-624K2r onberg-TauFneudse,r aRle publoifcG ermany CopyrightI FAC 1983 !c AllR ighRtess ervNeod p.a rotf t hipsu blicamtaiyob ne reproduscteodr,ien ad r etriseyvaslt oermt ransmiitnat neyd foromr b ya nym eanesl:e ctreolneicct,r omsatganteittcai,pc e , mechanipchaolt,o copryeicnogr,d oirno gt herwwiisteh,o ut permisisniw orni tfirnogtm h ec opyrighhotl ders. Firsetd iti1o9n8 3 ss atalgi inP ublicatiDoant a MLaiibner naotrrfCuyy no dnegrtr iCtele:o ng Computeari dedde sigonf m ultivariable technological systems (IFACp roceedisnegrsi es) Includiensd ex. 1.E ngineerdiensgi gnD atep rocessi-Cnogn gresses. 2.S ystedme signC-o-ngresseIs.L. einnigerG,. G . II.I FACS ymposiuomn ComputeAri dedD esigonf MultivariTaebclhen ologiScyaslt e(m2s nd: 19W8e2s:t LafayetItned,. )I IIS.e ries. TAI7 4.C58261 983 620'.00425'0288534- 8280 Data CBormiptutiLesiarihb d readCder asyti gaonflm oulgituiniPv nuargbi ltaeibclchean tolioogni cal system-s-.( IAFC proceedisnegrsi es) 1.E lectroanpipca rataunsd a ppliancDeess-i-gann d construction-p-rDoacteas sing-Congr2e.sM siecsr owave deviceDse-sigann dc onstruc-t-Diaotna p rocess-ing Congresses I.L eniingeGr.,G .I I.I nternatiFoendaelr ation ofA utomatCiocn troIlI IS.e ries 621.3'8014 2 TK7869 ISBN0 -08-02933 57 Thesper oceedwienrgrese produbcyem de anosf t he photo-opfrfosceuetss istn hgme a nuscrszupptpslb iyet dh e authoorfts h ed iffepraepnetr Tsh.e m anuscrhiapvtes beetny peuds ing differenatn dtt yyppeefwarTcihetese .r s lay-ofuitg,u arnedst abloefss o mpea pedrisdn ota gree complewtietlthyh set andraerqdu iremceonntsse;q uently ther eproducdtoienoson td isplcaoym pleutnezo fr mity. Toe nsurraep piudb licatthiidosin s crepcaonuclnydo bte changendo;rc oultdh e Engbleci hsehc kceodm pletely. Thereftohrreee ,a daerraess ketdoe xcuasneyd eficiencies oft hipsu blicawthiiocmnha yb ed uet ot haeb ovmee n­ tionreeda sons. PrintienGd r eaBtr itbayiA n. W heatonC o.L td.E,x eter <!I IAFC SYMPOSIOUNM C OMUPTERA IDDE DEISGN OF MULT IAVRIABEL TECNHOLOIGCALS YSTEMS Sponsboyr ed IFACS ystemEsn gineeriConmgm ittee IFA C EducatiCoonm mittee InC ooperWaittiho n IEEE-ContSryoslt emSso ciety AmericaSno cieotfyM echanicEanlg ineers InternPartoigornCaaomlm mit(t!ePeC )N atioOnragla nizing Committee G. Leininger G. Leininger (Chmaainr) (Chairman) K.A stromS,w eden D. Purdy G.S aridiUsS,A Johnson T. A. Mcfarlane, UK Lehtinen EpsteiUnS,S R KB.. Loparo V. J.A ckermanF,R G Williams T. J.H atvanyH,u ngary Edgar T. A. SpangU,S A W. Merrill E.P olakU,S A D. Anderson Munro,U K N. A. Laub,U SA M. MansourS,w itzerland E.D avisoCna,n ada D. AthertoUnK, A. Locatie,lI ltaly S.J iangC,h ina M. Wozny,U SA FOREWORD This tihse s econdI FAC Sypmosimu onC opmuteAri deDde sigonf s ysetms. Thes ypmosimu contaienishg ts essnisod evoted thteo tohreetciali sseuso fC AD, fisvees isonsw hicfho cus onc opmutehra rdwaarned s otfwaries suesi nC ADa ndf ours essnisod ealinwigt ht hep ractical applicatioinss ueso fC ADi mplemetnitnoa. The spearkse,P rofessDoariv so,n plenary ProfessRoirc ea ndP rofessRoors enbroadcdrke sss pceifiics seusi nt hescea tegioer.s Round tabled iscsusinos provtihdeeo pportnuiyt fort hep articnitpsa tfoo cuosn t hem orec entral isseuso fC AD. TheI ntneartionParlo gmr aCommtiteew ishetso e xprsest heirs incee arpprecaitiotno all authorasn ds ypmosimu partciipantfso rc ontributtion gt hoeu tsntdaintge chnicparlor gam. Weh opet hatt hec ontributcioonntsa iniendt hisv olumwei llb e befnieciatlo r eserachers andp ractitioanleirks,e form anyy eartso c om.e GaryG .L eininger Chariman IntenartionParolg raCmo mmtitee vi Copyrigh' tI FACC ornputA!i'd1 l'ldl <'sig11 USA l'LE!\:ASREYS SIIO !\: 1982 Indiana. UNMANNED ENGNIEERING H. H. Rosenbrock ContSrysotle Cmesn tUrnevi,e rsoifM tayn cheIsntsteturito feS cz'enTceec ohalnnodg y, Manche,Us Kt er Absatc.rt Eacnhe wwa vient hper oegsrosf e nngeeirniqt cehnooglgyvi es frse�lTtfoe oadlnd eramt:h teo traelap clmeento fh muasnik laln d acvttiiyb ym ahcnie.s Wet akla rleya odft h'en uamnnefdca tyo'ra,n ndo doutbht'e u nnmnaeodff ciew'il ls ooenne tri tnod sicsusni.oT huemn anned deisngo fc ontsryotslem hsa bse etnh aei omf m ucwho rokn opctoinmotalrl orp loes hftinigo ro thmeert h.o dIsst ihsa raeilsitca ima,ni ds i ta deisarbel one?T hpea paedred ssretsh eqsuee osnt,sai nidl ulsattretshm e frotmh feei dlso fd seinga nodf f elxbilmean uaftcunrgis ytsem. s CA;Dr oobt;st cehnooglayn sdo ecyti;u mnannfecadty o.r l I.T NORDUICOTN fonud,h woev,ei rfw eg ob actkot hpee ordi beofrteh feul lip macotft hiedn ursaitl Ina S ymspimou on CoAfcD o notlsr ytse,mtshe revuotolin. ttiloef t ihsp apmearsy e ems tarn.g eYet thceo ncnteiiosna v eyr driecotn. e Our Int heegi hetenctehn yt,ut rhhea nwde avers atttuidteom cahniehsa aswl aybse eanna m­ wermeo rper odvuect thiatnh sep nine.rO sne bvilaneto n.e Ont hoen hea ntdeh ya er weavneere dtehdwe e fftr omma nsypn iners to toosl for uus,sew hithcow illlg ihetno ur keehpi bmu ys. RcihdaG ruseti,n h i'sC om­ worka nmda kietm orper odvue.c Otnit he pedniuosH iosyrt'o f tellst ha"tI t oth,et rhye arree apclmeenftoshr mu abne ngi,s wans ou cnommtohnni1g f8 o2ar3w e,a vteowr a kl maknigt hres iiklrlde undantth reaw ionrdk thereo rf ourm ilse ina m onrign,a nd lc al unnecseaysr. onf vieo rs isxpn ine,rb seofer hec uold cloelcwte fttos evreh ifmo trh ree imdaner Thceo mpuitsoe nrlt yh leta esatn mdos t oft hdea ;y anwdh ehnew siehdt ow eavae porwfeluo ft hmea icehnsw hcihw e hcaovmee peicie na shtoertri em thaunsa ul, nae w tor egairntd ih sa bmviaelnwta .y Whenw e rbib,oo nrg ow,w nanse ecssya troq uciken usiet t od eisngc ontsryotsle m,d sow ee n­ theex eorntosif t hsep ninre�" vsiagaed eisnge,rf ulyl inc otnrloo ft he porcseo sfd eisgna,nud s gi ncao pmutteor Facwetidh itsdh iffciutly,t hwee avJearm es aihdi imn h itsa ks?O rd ow es eteh sek lil Hagreraevsi n1 674i vnenttehdse p ninnig ofd egsniearss meshtointgh abteo lngtsoa jentnoys upplhyi osw nn eefdoswr e f.t The lsess ceinftcii psata,n dl lwb eig raldylu a mcahniew aist nendfeodhr i osw onr h is relpcaebdy p orwfelua glotrhimbsa ds uepon falm'iysu s,ea niddn eewda kse pstce ert, deempat hmaetcailr eustls?C oumetpr anidn t hecsoedn itnisio tw ansa taulfr or dseigsnhu olpdio tn tot hfeo rrm,we atiihd etd heH aregarvteose nivasge mtahiceehn asa iadn compuatiiedgnr t hdee isngerb:u nto ctei toa ne xsitgi snikl.l Itd di norte jetchte thaitti sd eisngw hcihi ss aitdob ea die,d sklilo ft hsep ninebru,t rcaotohpeerr ated notth dee isngre. withi tt om akietm o rpeor udcvte.i Eraly maicehnss pusni oxr e gihtth eradastt he Whatths ip apweilrl sg ugeisstt hatth ee r smaet iem,i snetaodf o n,ew hlieo nl taer isa d eetpe ndye inntc hsec einftciia ttiutde maicehnsu pt o theradcsuo lbde s pusnmi ­ tor ejects kltiloh fet hdee isnge.r The utlanuelsoy.8 0 socuero ft ihst endye wnilclb et read,cb ut frisitt w illb ei lutlsratbeysd mo ee xmapels Hagreravdedis n optr iotfm ucfhr ohmsi froomt haeerra osf t ehconolg.y ivnenotn,ie vetnh ouigtbh e mceaw dielueysd. 'Thes eectra tl negtthr apnisr,et dhroaung h idnsircteinoo ff emlaev atnyi,a nedx tceid 2.C TOTOSNP ING NIN sucthuu mtla omntgt shsep nisetr,sa ntdeh ri parstai,n stofhn ee iogruhhbo,ot dhatthy e Iti sn oeta ys tof nide xmaplsew hcihw ill broiktneo h ihso uisnea roitomuansen r, ilutlsrabtoetw ha yosfr geradnigm ahcnie,s andde tsroytehdhe a etdr viaslo ft ehri beucsae toeucrho ngofyol 1r0 5y eahrasrs e ­ fnige.r'2s jectoende tohpfeo ssbilitiise.Te hyc an be Rosebnrock 2 H. H. RcihdaR roebtrs,o n othtehh ear,n p dorftied gipcer sveartoino fo uteddas tikllbsua,t conisucpoluysw hehnei vnenetdt h'ee sfl­ rsepefcoter ix tsinsgik laln adn o pptonur­ atcnigm uel'i n Thitso oakne xsitnig iyt foirt t od eevloapst encoholgiys tefl spninnigm ahci1nt8eh3,me0 u e.l ,a nedil imntaed deevolp.s allt hceo indsearlbes klilwh ihct hsep niner hande e.d eIdt tdhisid,n obty i imtantgi thfeee dabccko nttrhoatlth sep nineerm ­ FLIELBXE�A 1NFUCATRUIGNS YES'T1S plyoe,dw hihcw aisp moislbsea tt hattie m, 3. bubty a ni gneonuiosp elnoo-p,c admr-vien A felxbielm anuufraicsntytgse im sa collce­ mehcnaismWe.n eetdh eeofrer tot kaec rae toino fn urmcielayl-octnrlodelm ahcniet oosl whewned enfeim echiaasntoina st hrepe alce­ wtihs moea uotamtci wayt arnoesfrr fnig work ment mousfce lp oewr. Heerw amsec hasnaiiton toa nfdr otmh .e mFoerx paelm,t hNeC m ach­ thartpe alcehdu mjadung eenmatn sdik lbly iensm ay gboreu paerdo uannid dn usatlr i thbeil dn buhti hglayc cauetrm ovnetmoe ft he roobtw hihcp cikusp p atrsf roams otr,e mcaihen. palcetshm e int hmea hcnie,st arnesrftsh em from moainceehn t oa not,ha enwrdh emna ch­ Somoeft hseco iaaln d mecic roaensoofnros ingi insf nisiehd raecpetlshm e ina s otr.e thdefi fenrtwe ayisnw hihcH agreravaensd Threo obtm aay los beu setdoc hantgoosel Roebrtesvn sigaetdeh imra icehnsa rcel aer ont hNeC m ahciens. eno.u gHhagreravweasis v nenntgai m caihen fohri smefl.R oebtrsw aasn enneregi ivnen­ Ssyetmosf t ihsk nida rbeei gn sutdeidi n tinognb ehlafo fm li-lwone,ra snndo noef mancyo unets,rp iarctluiralyi nJa pan.T ehy theistnee ndteowd o rtkh mea icehnst hem­ arseit lilnt heea rslatyg eosfd evoepelmnt sevle.s Haregarvheasgd r edafitf ciluyt in thouag fhehw avbee euns efdo cro mmiearlc enfconirgh ipsa teanagtni satm utltiudoef pordtuicno.B ceautshepe or rgamfso trh NeC idnviiudauls erRsoe;br tcso dud los o macihens arnoodbt aser hedl inc oumtpe,r s aagnisott heenrng eienrgi rfmois ra agnist thFeSM c asnw ticih na v eyr shto rmteif rom mli-lwonser. makign onceo pmonetnomt ak niga not.h Ietr theefroprorem sietsh sema ei cnerasoefp ro­ ducvtiyit,i nbat cphor duocn,t iasw aesa r­ Aboavlle ,th meli -lwonewrsish eatda l lc oss t leiro biteandi nm assp orduicnotb yt ransfer toe ilmniaet siklFlri.s ti,tw aesx pieevn:s maicehnsa ntdh aes mslbeyl nie. Bababgef3o erx almeqp ouetst hdeia yl wagoef am an inp ni-amknig 7a2swd h liet hwea goef A srtontge ndye enxscist tou steh FeM iS na a bowya 4s� .dS eclo,yna dndm oriepm oarntt,l y waty hadte sotyrtsh ter datioinaslik lolfs onltyhs eik leldi nt hadta cyo uslrtdki .e thteu rnoermr li lnig-miaenco hpeorraP.tr ­o Urter actehsiev n netiooftn h see fl-ancgt i garmminogft hsey tseim ss epaaetrdf roimst muled ricetltyot hecsaeu se'hste: loyn, operoanta,in ids s eeinnt hleno g mt aesr ora ta ny trahptere ni cpiable enftia tni­ci ana dujncotfC A:D oncteh e oCepArDa tor paetdw atsh sea nvgio ft hhei hgw agpeiasd hadse fitnhegede otmreoyf t hpera t' h e lwli tot hhea n"ds npniera"na,d r leaesfer om defihnoiew t tiobs em ad,a entdh CeA D thdeo nmtaiiownh ihceh hfaosdro l noga sytsewmil lg ernaetteh per roagmfso trh e peordie xesrec.di. .. mcahnietsh awtil lm akiet .Udn eri sst yh­s 4' . tetmh FeSM o paeotrraser rdeucteodm aicehn Theasere s itlsle ebnys moe5a st heef fec­mnide.r s tviec ausfeotsrh wea iy nw hihcR oebtrs evnsiaegdt hmea hcien:a w awyh iicshn o w Iti sn ottce hnogoilacln esciseyt thadtrv ies sod moinatnhtat th oet hiesrd iffciultto usi nt ihsd iertcioAnt.U MSITa, s ytseim s ilutlsrtaeb ym odeerxnpa lmse.Y eitf t ihs unddeerlvo epmewnhithc a ccetpsa nuds etsh e werseo d,fi efernstco iaalne dc omncios y­s exsitnigs klilo ft hmea hcinsi,as ntldae evs temsshu olsdue rlpyor udcae dfiefrent roofmo ir tt od eevlopTh.si i sd onbey rseutl.A mpelvedi enccaebn e b orugthot givg tiont hFeSM o peratthroeer s pioibinlyts shwo thasto acilist aeststo rc ooaptevire fomrak nigt hferi spta rotf a bancteh.w entpersriebsr nign oc haen ignt ihsr seepc.t Thesnus bequpeatnrst,a nsdu sbequbetancth e� cabne m adfer otmh per roaggme naeetrdf or Wtihodunetyn igt hfeo rocfet hcea ustehsa t thferi spta . r t Uerp ersesn,at tl aesfto hri osw dna ,yw e sahlilnt ihsp appeiortn a los toa d eerp e Thsis ytseamr laeyd exsistf oarn lNtaCh ,e cau.s Tehiospa eetrst hroau vglaheu -yssetm anids t ob ee xtentdote hdce o pmeltFeM .S emebddiends ceincaen id nt hrese utlso f Ont hleta hies a c moputietnerr f,aw ctieh scein,ca enids u nviesrailn d uitsnrail whihc thoeep ratiotnerar ctisna c onversa­ soectieis. Accdonigrlyi,to ffear rses aon toinamlo d. eHei sa kse,df oerx paelm, whoyn aet ttuidteom aicehnss huolpder dom­ whetthhenere xotp aetroini st urnng,ib orngi, iantien a llo ft hessoeec tieis. fcanigo r idlrgl,ia nnpder ssetsh aep op­r priabttueto anag nisat ndaycmm ien. uIfh e Befodrioegn tihsi,tw illbe h eplflu to seelcttsu rnng,ih ei sa ksefdo trh ien iiatl offetrw oot heexrpa elmst oi lutlsrea tthe andn afdliai met,ea rnstdh seat tra nfdni ­ twwoa yisnw hihcm aicehnsc abne v iwee.d ihso ft hceu .t Tap,ec rhsmafearnsrd a id i Thye aerg vietno s hwo thatth tew aot ttuidesc abne e saliyd enfei.d Sepedasn fde eadnsd aera pipacllbet om odetrennc oholyg,a sw ell cutaser o pmtsiietdo m akbees tu se of the ast o htneoocgleisw hihch avneo pwa sds ietno aaviblela poewr. Allo ft ihsi s dionn e hiosyrt.v hJaits a ti sseu isn otth neo aslt- temrsf almaiirt ot hoeep roarta,n mda kuesse UnmannEengdin eeirng 3 ofh iesxs itgi snikllO.n caell t hiefn omr­ moyn.eY ett hoep ersaw touolrbde cotmhee aitonf ort hnee xotp aetroinh as ebneteenr esde rvaonftt hsse y tse;m thre limitietdar in­ ancdh eecd,kt hoep aetroinc abne p eorrfemd. ignw oludn evaellrwo thme tod igseraew tih thceo umtn.e rThpeo oolfk nwoeldgfer om Thissyt sehma tse hcnooglicaaneldc omncio whihc thper roagwma ds rawwounl ddr uy p, avdaangteisni cneraisgnt hmea icehn utlii­s anadyn furthiepmror venmtwe oudlc omoen ly atoina ntdh seep eodf p orrgammnig. Ita los frormse earicinhita etds epcficilayl tot hat aovisdf raegnmntgit hoep er'astj obor. The en.d aim issi pmlntyoo tp revseeh riesxs itnig sikl.l Iti sr athteomr a kteh astik lmlo re Ana tlertnviaew ayof u snigt hsey s,t em procdtvuiea ntdo a llwo itt od elvpeo ina colseirns pritit ot hweo rokfH agrervae,s natuwraayil tn oa nsekwli l-t hseik lolf woulbde gtvioe t hceo mtpeusry tsetmo t he usniga m orhegi hldye lvpeoesdy tse.m Si­m doctor atsao n a iuisdne h iwso r. kMuch ilaard vantaeare gxepsee dcw thetnh sema e thahteh acda rreidi nh imsni db efocruoedl prnicpileasere xetdnetdo t hceo lmtpeeF M,S bel fett ot hceo mtpe,urb uotc cianoaslly atl aesfto tr hwei drea nogfep atrsw hihc thdeo ctmoirg dhsitga erew tihi std aingos.i s cabne d enfeibdy s mipleg eomcec turvrie.s Tihsm igbhetb e ucsahee w aus sgi rnluse whcihh ando t fyouenttd h re iwiatnyo t he sytse,mo rf oerx mapleb ecahuess eue scpted 4.M EDIACLD IGANIOSS a sied effectf rosmmo en edwr .u g Thsee coenxmdapl ei sa m orsep uealctvieo n,e Byu isgn thceo umtpearsa tooilnt hiwsa,y buatl oso nweh cihr iaesst hiess eusi na the dosciktlowrlo'l usdg raldylu caha,n ge veyr celafro r.m Woriksi np rroegss ina anwdo ludr eisedm otsliyn t haeer aw heeh re numboefpr al e�st ou sceo umetprfso mer dical dsigaerewdti ht hceo pmut.e Frormt iem to daigsniosFei.eg nbma6,uf oerx paelm,h as tiemm oroeft hsis iklmli gbhetc apetdui rn desbcertdih deve eolpemnotf a p rogcraallmed thceo pmuetr,b ustit ltlh hemu arne isude PUFfFo trh deai gsnioosf l nugd sieea.sT he cuolgdor wa gna.iS ucah s ytsewmou ladlo mst coumetprs ceinsttic,la eldi nt ihsc nonteicon ceritlnayg iev beetrtr seutlst hatnho en e a 'kwnelodgeegn niere,'c apetsui rnt hceo m­ desbcerbdie ofer. puttehrse ik lolf eaxnep rpth iyiscan, exepsrds iena seotf r lusew hihch eu s:e s Mancyo mtpeusrc itesintse sayrmtphaect tio 'Onheu neddtr esctae ss,c aruellfyc hosteon thues oef t hceo mtpeuars aaintd o t he spatnh vea eryti odfsi eassateet s. .w.er e docrt.oY eit fo nneut st hmeta etrt ot hem usde toe xtrtahcet r uels. Ast hkeon w­ int hwea ty haitth sj usbte esnat etd, ldegeem eerd,gi tw5 a5s. .a.d dteodt hsey ­s thye aer liekltyo Qa meru.T hdeo ctwoilrl teamn tde stbeyrd un nniga dtdoiinacla s.e s onldysi aegerw tiht hceo pmut,et rhye aer Theex pewratss o emteisms rupsrei,ds moemetsi liekltyo s ya,i ft hceo pmtueprr odutchees frsutaretd,b yt hoec cianoslag apasn id­n wrodnaigg sniosW.ti ha littlmeo rweo r, k cointssenecsii nt he wkldneg,oea ntdh e thper roagcma bne i pmorveudn ltt ihdeo ctor icnorrdeaicgtn so tsheawte rlego ciaclo n­ willn evneere tdod siaege.r Butth etnh e sequeonftc hees setnxigri lues e.t The copmuetrw illc ease atnao i adbn ewd li l itnerapybl ewteeknnw oeldgeen ngeiearn d becoam ree apcleenm:t dao ctwohrno e ver expteg rraadlluye xpeadnt dhsee otf r luse dsiaegerwsti ht hceo pmuetrn eendo bte tor emomvoseto ft hepsrelo ebm.s. .. . thee.r casneosst t uddd iuenrgit hken woeldge a'1c5qs0ui itnip roocweesrse usae tdet sa fnodr COPMTUERI-EDADD EISNG 5. vaidlaotnio ft hrelu es e.t PUFiFfne rrae d daigsniofsor e ac. hPU-FpFordeudca nd Theirsen on eetdol baoutrh pea arllleb e­ expte-ropdreudci tnereptraotniss'h woed twetehne esxempa elsa nd CtAhoDef c ontrol 'agrnetew mtiehni percaenndt perncte! sytsem. sEvyeornweok rign int ihsa eraw ill 90 100 bea waorfet htewo w aynsw hihcC AsDy tsems Tihsw oriksi ni ste ayr slatg,eb sutth ee r cabne a pproa,ce htiehdearsa idosr uatls­ � seetmosb e naos owrnhe yi tso hulndo itn imea rteapclmeenftostr hdee gsni.e r theen pdor dudcaieg noastel ases ats g ood ast hoosfea na verpahgsyeci i.a nIdne,e d What extpahelmes h avielu tlsradt iest hat ift hken woeldgoefs eveerxaple cruotdlsb e thsee coonftd h eisset hoen wehi hch as caprteuid nt hper roag,mi tm igphetor mrf premdioneadft oart l aest yea,ra snd betttehraa nyn otfhm e.A ssmunigt ihsk idn thatthr eei sad eetpe n1dy5e0 i nntc hidsie rc­ ofs cucses,h osw huoltdh ceo umetprs ytsem tiownti hni teclhgony.o Weh avee adgtfir f­ beu sde? iuctlyi na ccenpgtt hiaatc omtpeusry tsem shuolldae vreo ofmo mre ann wdo mteond si­ Onwea ,yw hihcw oludb ei nt hsep irofi t agerew tihi stc onucisoln.s Ift hedyo, we Rcihda Rrobearntmdsos to fw hat bheaesn seteh iassa ni dncitainot hatth sey tseim s donseni ec hitsie m,w oudlb et ou steh e deecftvie. Yett oa d.to t nhsia tttuidiest o copmutteorr pealcteh e odr'ossci ktl.Tl he ecxuldteh e oufts hece oumtpearsa na di. systceuoml bdeo eparetdb yp raaemidaclsa tff Isnetaid tb emceoas r eapcleenm.t wtiho nlay r etsrcitetdr naiign.T hqeu ayl it ofd aignso soaenv erwaogluedi pmorve,a nd Whenccoem tehssi b iaasag inhsmuta snik ll thceo swtou lbder decue.d bAe ttseerire cv as eaelnem nitn t hoep aeitrono fa s ytsem? cuoltdhr eefobreoe f fefroetrd h aev labaile Toa trtbiuet its oletlot yh 'eo scail Rosenbrock 4 H. H. rletaoinosf p orduocn'ti isa,sw eh aev se,e n 6.R FEERENCES uncvonincni,gb ecauistei su nfiorumn daellr thceh anogfte hse sscoei arllet aointsh at l .Gu te,sR cihda r(128)3.A coemnpoduis exsiti nid nutsraileidcs ounets.r Tihe hiosyrt oft hceo otntm anaucfteu,r asnwesrgu gteeshde er ist haitts rpnigs repnretid1 698,( rFanCka )s.s dricetlfyr otmh vea uleosf esnecci,w hihc 2.Ue r,A nedwr (1386).T hceo ttmonanua fc­ havbee eanod petdb yt encoholg.y tuero fG eraBtr tiani,r pernited 1790v,o .ll ,p. 61,(9o JhnsRoernpni t Ansy ceinftciie pxalntaino isi nt eromfs Copr).. causwehcsihp erceadne'd x epalni't ehri 3.B abbag,C eahlres( 1382.) Ont heec omnyo efcfte.s Othkenird osf e xapnlaotn,i for ofm aicehnyr anmdan ufaucerts, exalmeip nt eromfsp urspeoa,er e cxuld.e d repnretid1 693,p .41,(8 eKllye.) Thsi isa v aulej dugmeen,ta sc abne s een 4.U er,A nedwr lco.c ti,.v o.l2 ,p .91.9 moste aisyl frotmh eex almeop fm niiumm 5.B ramvae,nHr rayr (1794.) Laobra nmdo n­ prnicpilsei npy hscis7w,h ebrtoeh e pxalna­ opoclpaytia ,l (oMnltyhR veiwe toinaser a vlabaiel,a nadr eeq vuaieln,tb ut Pre)s.s onloyni es am dietd.t 6.F egieanmub,E wdarAd. (917)9.T hmees ancda sseut deiso fk onweldgeegn ni­ Thsecu cseso ft hsec einftciie ndoeuarv, eenrg,ii nD olndaM cihi(edet iro,) bsaeodn t ihsa nodt hvearul e,si s innot Exeprsty smtsie nt hmeci or-lecetnrioc qeusotn,ib utth ee irso nuefn orntaeut con­ ag,e p.p-325(,dEni ubrgUhinv .Psr)se. seqcue.e Snceinccea n eopxnllayi intn e rms 7.Y ouaru,gW r.a nMda enldasm,tS .( 1698.) ofc auasned e(fhftoeucsgtmoh et iemsa Variaotanilp rniicpsli end ymncias caulsiya topfr aoibbliitsei ss butstiuetd anqdau nutmt heyo,rp p.1216-80, fodrri eccta aulsyi).t Yeatyn tihgnw hihc (Pmia)tn. oebycsa uslwaasli sam aicehn.C oenqsutel,ny whesnce inciesa pipdel toh muaanc vttiii,e s itd arwnso e ssteainld isntcoitnib etewne whaitsh m uaann wdh aitsn ohnmu-a.n Tot he extetnhtat th eayer sceinftciiallyu nd­er soto,de accha bne d secbreibdy c ausrale­la toin,sa ntdh seep cficiallyh muadnsi pape.a rs Theea rwloryko nt h'er tnasefpf unocnto if ah muaonp aetroirsa' c onecetr anrda ther creue dxpalme. Atlhouwghehav teirss ceinftciiallyo sbreved isc asua,lt hsec einsttii sh uamn. fAu nda­ menatla ysmmtyer iss eutp b ewteetnh e osbervaenwrdh aitso sbevre.d Thsec ein­ tficio sbevrehra tsh em ahnu abtutetosrf i itnelliegn,ci eintaitviea nadn e qnurinig spiitr.W haitso sbrev,eh dmuaonr n o,t obecyasu lsl awas. Wtih itsoh uotol,kt hree ejcotnio fh muan sklilby t hsesy etmd eisngebrec omieensv ti­ albe.I fm eann wdo moeebny c auslwaasl, thetnhy e mabye d rietclrype alcebdym ach­ ienso ebynigt hsema eo rm ordese iarlbew sl.a Thye havea dnnvota aogvee mrach nie,sw hcih mabye f saetrm,o rrele ibael,a nndo stu jbcet tob oredoormf taieg.uY etth hemu aenl ­e menitnsa sytsehma vienv ayrnigd eegertsh e smaep orprteeiso fi tnelliegn,ci eintiiavte anadib ilyt tol aerans t hsey tsedme isngre. Ifh et erattshm e asm ahcnie,sh ei sr eejc­t ign rase ocuerw hihcc uolbdee pmolyetdo thbeen etf iohfi ssy smt'epse rfaonr.cm e Th'es syetmd eisngeri'no upra rctuileaxr­ apmel ist hdee isngeorf t he sCytAseD.m T he 'humeaelnm ten'i nh sis ytseim st hmea onr womwahnuo s eistt od eisng cao ntsryotselm . Whattih sp apsegurg esitsts h atth feri st sohudla cceptth see coansad h muabnei gn wittheh smaeq auliiseta sh isemlfa,n d shuolddei sngh iCsA sDy tseim naw aty hat acceapntedsn heasns cikl,rl athtehrar ne­ j ecntgii ta,n adll wosi tt oe vvoela nd icnerasaen dde evolp. Copyrig©h ItFA C ComputeAri deDde sign SESSIONW Al - ROBOTICS IndianUaS,A 1982 RECURSIEV LAGRANGIDAYNN AMICOSF F LEIXBEL MANIPULAOTR ARMSV IAT RANSFROMATION MATRICES W.J .B ook TheR obtoiIcnsst tuitCea,rn eeg-ieMllUonni verPistitutsyrb,gP hA,, U SA anSdc hoofoM le chanEincgaeilen riGnegog,ir Ian stioftT uetcehl noogAytl,a nGtAa,,U SA Abstract TI1neo nlienqeuaarto ifmo ontsi onf lefxomirab nulilepa atromrcs o nsiosfrt oitnjagor iyn ts connetcwtfoil negxl iibnalkredsc e veloKpienedm.oa ftb iocttshhr eo tary joaintndht le i mnokt ion defoarmtiaordnce scbryi4b xte4rd a rnmsaftomiaotnr Tihcleeis dn.ek f leiacsst siuosmnme asdlot l h tahte litnrka nsfocrabmneca otmipoonos fse udm miaoontfsa ssumed lTihnreke ssuhelaqtpuieansatg.ir oen s prcsacsn ts<.'cda 4lxma4ar t orapinexdr arteiafoodrnpy sr ograTmhmeeiffi ncgi.oe tfnh cfoiyrs m uliast ion compatror eidg id linki ntc hlaeis teesr raetpuorret.e d KeywordRso: boDtiss;ut treipdba ramseytsetrMe omdse;Ml asn;i pulVaitbiroacnto;in otnr ol; Flexmiebclhea nMiescmhsaa;nrm isc.a l Thea utghroart efully tahcseku npopowoftlr hetwid osgr bekysT hReo boItnitscistC uarnteeg,i e­ MellUonnis vieatrnytd h e GeorgoifaT eIcnhsntowlihotitgulhyteae e u twhaoosrn l eaavsVe i siting ScieTnhteein scto.u raogfMe amrRecan itbo eTfrh Rteo boItsnitciswt aust eia mlopsrtoa nt. 1.I tnroduction Sketcho fP rior Work Increaascecdu rianc ym odseylsitbneegmh aviiso 1r. 1M.u cwho rhka s beeinnt hfdeoo rnmeu loaftt hieo n needwehde inm propveferodar nmciess ougfhotmr o st dynaemqiuca toifmo ontsif oomnre chaanrimwcsia trlh i gid enginseyesrtieTnmhgse e. v oluotfti homene chaanrimc al linTkhsre.e awdielrl d efsicnridinr b eefedr e(n2c(1e2]s6, ] , fromt elcoapnccdrr aattnopoe rr e sdeainynt d ruiasantlsd p ace (2[72]a],n d inb ibtlhieoitgrhr weao prohknit ch"sei enrvse robaontldsa rsgpeam caen ipuilsna oet xocresp Itniiioatnl. dynafmoincn ufuasteiidnco onn"t arnoidln( , 2 (891]](,,3 1], simkpilneae tamincd dynamairncco l moonadgdeeelrqs u a(t3e[0 1]a1.n] td,h ebiirb laipohtighcrweso roknt hdey namic fotrh meo sctr itpiecraflo rdmeamnacnedB so.tth he formufloasrti imounlo arft iigloiinadn r km Tsh.ee ffi cioefn cy mechansiysctaaelnm dc otnrosly streeumqie rimproved thefsoer miuolnaasnt da lterntaott hievrieersat li me modeflosdr e sisginm ulaPtrioopno.ns eewcd o tnrol calcuilsda itsicouns( s2[e5]dla, ]n itdnh w eo rrkeesfr rteod algorrietqhudmisyr nea mmoidce ls focra lccounltartoilo n. therein. Planannipdnor gg ramamcitnigav swi etlialesm sa n-thien­- losoipm ulaaltrsieooq nua icrceum roadtoeeflt sh e Theli mitaotfti hoenws oer iksst harti gliidna krse arm. assumWeidt.th h aisss umtphtteice ohnn ibqeuceosm e Accuriasuc syu ally aatsc oqmuceio rsetTd.h e sompeo isnetdl efef antgii,ft hepiurr piosts oei mparto ve appliocfam teicohna narimctsaoe l c onomsiecnasliltyi ve performMaainncnteia.nri gi igtioydf t hel inks inhibits endeaivnio nrdsua sntdr yi nccorcseotan ssecdi otuhsen ess impropveerdf oremvaeannstc heme o del accuracy tends to spapcreo garlagsmio v iensc etnoit pmirvoetv heeefi fcini oefn cy imopvriet . thfeo rmautliaonnds imulattihodeny m niaocmf o dels. Control aanldg ormitathnlhe om iossnpi mulraetqiuoinr eC onsideorffla etxiiyob ni otlfhil eti nikns type "retailmc ea"l cuolfda ytniaomni c behavioofr d.e vFiaocnrmetdush l ecaiotrni tiorsrnoe lp obryt1 e9d7i 2nMa irm r(r2o3 ]. the dyinnaa nem aiscuysn dteor csotnacnedap ptopuaracilhs This eacrolnys ibwdooettrrhhkme e od d ealnicdno gn otrfao l alismop oritmfaa nxti muutmi liozfta htreie osniu stl otsb e sinlgildneek v iBcoeo[7].k c onsitdheleri enddey anra omfi cs obtained. spaftlieaxlai rbmrlsee p reassel nutmepmdea dsa sn sdp ring 5

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