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THEINSTITUTION OF ELECTRICAL ENGINEERS & J IEE PROCEEDINGS Control Theory and Applications Vol. 144, 1997 Published by The JEE, Savoy Place, London WC2R OBL, United Kingdom Publishing Department: Michael Faraday House, Six Hills Way, Stevenage, Herts. SG1 2AY, United Kingdom JEE Proceedings Contro) Theory and Applications The Institution of Electrical Engineers, Savoy Place, London WC2R OBL, United Kingdom Publishing Department. Michael Faraday House, Six Hills Way, Stevenage, Herts. SG1 2AY, United Kingdom Volume 144 1997 UK ISSN 1350-2395 HONORARY EDITORS Prof. B. V. Jayawant (Universuty of Sussex) Prof. K. Warwick (University of Reading) Prof. H. Unbehauen (Ruhr-Universitat Bochum) Pages in issues of JEE Proc., Control Theory Appl. 1997 Pages Issue No. Date 1-108 February 109-208 April 209-280 June 281-360 August 361-604 October 505-616 December This publication is copyright under the Berne Convention and the Universal Copyright Convention. All rights reserved. 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Williams, OBE, PhD, FEng, FIEE Managing Editor: Gill Wheeler; Executive Editor: Sarah Jane Hunt Printed by: Black Bear Press Limited, Cambridge, United Kingdom Index IEE Proceedings Contrel Theory and Applications Vol. 144, 1997 Author Index Flynn, D. p2 Lloyd, S. p167 Sbarbaro, D. p375 Fung, R.F. p393 Lobodzinski, W. p233 Seering, W. p515 Furutani, E. p575 Logemann, H. p531 Sen, P. p153 A G LLuu,k , J. P.pC.4K4.7 p59 SSehrarrai,f , [.M .Tp.S 89 p128 Shen, J.-C. p331 AAgla-rAwmaelr,, AS.. pp1612 8 Garcia, G. p545 M SShheenn,, ST..- K.p 53p 225 AAArlsadbkeuier,ny ,, M.MA ..J .p 5p71p588 9 GGGioolsolsdenswe,ir n,G, . J.GR.p.C1 .7 7p 30p92,8 1 p313 MMaaihtfeolluif,, A.ML.. p8p2 41 SSSihiningeg,hh ,o sCe.J.H,S. . W.pp 2365p345 15 AAtshkearrtpoonu,r , D.SP.. pp423659 , p287 GGGruri,a minbDgl.ee-r,W, . MR.J..pW 5.8 2p 1p1208 1 MMMaaarrsskoianlz,ii- ,Li Jb.eADl..l Hi.,D p.2 S4.9 pp247579 SSSooonhy,,l emCC.e. Bz., p 45Mp .4T0. p217 Mayne, D.Q. p281 Spurgeon, S.K. p209 B H McAlpine, T.S. p25 Stephens, R.I. p15 Metrat, G. p177 Stronach, A.F. p324, p361 Moazzam, M.H. Sundararajan, N. p202 BBaagb,u , S.MK.. pp6270 9 HHaagmi,w arCa. , pT6.1 2 p575 Moheimani, S.O.R. p183 SSuwtitdoen,n baRn.k , p1E2.8 p2 Bailey, W.N. p73 Hearn, G.E. p153 Munro, N. p217 BBBieeltrlteiannyggeusb,e, l ,S .MA.M. . pp6p3l58 916 HHHeooslgkzgeh,tu ht,eB r.,WT .. T. p4pp821 92 1 N T BBBirutortwannnht,ai ,m ,M S..D K.. Jp.5 2p15p 0255 HHHooorrnitg,o, n ,N .X .M .pPp2.37 871 p299 NNaejuirmo,t h,K . M. p25p53 24, p361 TTToaawmmn,u lreaH,y. ,K .K .S . pp4p535393 1 Hsiao, C.H. p87 Trebi-Ollennu, A € Huang, H.-P. p334 Trinh, H. p189 Hwang, C.-L. p559 O Tzes, A. p95 CCaaom,a chB.o , p4E6.F7. p596 I OOh',M alJl.-eHy., pM4.8 1 p277 V Chen, C.-C. p334 CCChhheeennn,,g , CS..CFB...- C. pp8477p 61 95 IIkrwoinne,n , G.EW. . pp25456 7, p505 Owens, P T.J. p435 VVaisl,a noPv. a, p3R2.4 , pp538691 Ishii, C. p53 Cheng, C.-F. p369 Ww Cheng, C.M. p403 Clements, DJ. p489 J Peacock, J.E. p354 Cluett, W.R. p385 Peng, P.-Y. p95 CCroarisnc,a ddBEe. n,p 51K5. W. p549 Johansen, T.A. p375 PPeettteirts, enN,. B.LOR.. L. p18p34 13 WWaanngg,, BJ.. -Cp. 73 p225 Piroddi, L. p521 Wang, L. p385 D K PPooimnearrlde,a u,F. Ap.1 77p 566 WWaanngg,, ST..--SD.. pp129953 Postlethwaite, B. p263 Wang, Y. p143 Dan-Isa, A. p287 Kaloust, J. p612 Postlethwaite, I. p582 Wang, Y.C. p393 de Paor, A. p277 Kambhampati, C. p249 Poulin, E. p566 Warwick, K. p249 Delgado, A. p249 Katebi, M.R. p110 Wellstead, P.E. p413 Ding, Z. p427 Kavranoglu, D. p61 Q Whidborne, J.F. p582 Dodds, G.I. p467 KKoouvvaacreivtiack,i s,R . B. p34p370 9, p313 WWhoiltkee,n haB.uAe.r , pO1.3 7, p1p0533 7 Dodds, S.J. p73 DDuunncnaing,a n,S .RM.. W.p 549p 605 KKuucoh,a rCs.kYi., Jp. 49p82 33 Qu, Z. p6i2 Y Dunoyer, A. p25 R L E Randall, A. p15 YYaihnaggwie,i , i L. p4p4270 2 Lam, J. p439 Reay, D.S. p605 Yoneyama, T. p241 Edmunds, J. p103 Lane, D.M. p143 Rees, N.W. p403 Yu, H. pl67 Edwards, C. p209 Le, K. p95 Roberts, G.N. p128 Elkfafi, M. p354 Lee, J.-W. p481 Rossiter, J.A. p309, p313 Z Eltohamy, K.G. p498 Lee, T.-T. p225 Rubio, F.R. p596 Eswaran, C. p67 Leung, Y.-W. p455 Liao, Y.-K. p195 S Zachariah, K.J. p32 Lie, T.T. p40 Zhang, F.E. p476 F Lightbody, G. p505 Zhang, Q. p455 Lin, C.-K. p293 Sankowski, D. p233 Zhang, Y. p40, p110, FFaarns,i , Y.MH.. pp3427 6 LLiinn,k enF.sJ,. Dp.3A9.3 p8, p354 Saratchandran, P. p202 Zhang, Y.M. p347 Finch, J.W. p32 IEE Proc. - Control Theory Appl., Vol 144, 1997 Subject Index Co-ordinated control of multiple robotic manipulators handling a common object- theory and experiments p73 Constrained cautious stable predictive control p313 Control-system synthesis for open-loop unstable process with time delay p334 ADAPTIVE CONTROL Convolved and simultaneous two-mode input shapers p515 Designing stabilising controllers and observers for uncertain linear systems with time-varying delay p331 Adaptive control scheme using real time tuning of the parameter estimator p241 Discrete-time model reference adaptive control for nonminimum phase systems with Adaptive integral control of time-delay systems p531 . disturbances using approximate inverse systems AAduatpottiuvnei ngp erftoermmpaenrcaet/urroeb uscto ntcroonlt rolu sidnegs igind enftoir fidciastciroente bsyy stmeumlst ifpr9e5q uency bi: nary Dismcernetti sawtiitohn reopfl yc] onpt2i7n7u ous-time control systems with guaranteed stability [com- sequences p233 Co-ordinated control of multiple robotic manipulators handling a common object- Exalcitn eadreittieersm inina ttihoen feofe dtbhaec kl imliot opcsy cleps2 69in relay control systems with additional non- theory and experiments p73 Frequency domain design method for uncertain systems under some unknown-but- EFoxupreiretr asdearpitesi ven eucroanlt ronle twaoprplki-ebda setod taudrabpotgievnee ravtaorria blsey stsetrmusc turpe2 control for servo sys- bounded disturbances p225 H.. robust control design for dynamic ship positioning p110 tems with friction p559 Implementation of intelligent self-organising controllers in DSP controlled elec- Generalised predictive control (GPC): a powerful control tool in medicine p8& tromechanical drives p324 Implementation of a self-tuning AVR p32 Model reference adaptive control of dynamic output feedback linearisable systems Integrated approach to eigenstructure assignment by output feedback control p435 ORno-bwluiistnthe uoanudktanppoutwtin v et rachcoinkgtihrn ogl f refioqnru etnMhceI y MhoOgt airnon lolnipln4ign2 e7ao fr stseyesl temps1:5 an adaptive f; uzzy systems LMoOdwGei lth a prupernfokearnceonhwc ne forah diatghphet ifvheri egqhcu-oepnnrtceryco ils giaooifn n dtyrpna4ack2m 7i cco ntoruotlp uto f fseheidpbsa ckp 12l1i nearisable systems Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control Robaupsptr oascehlf -tupn5i3n7g rotated fuzzy basis function controller for robot arms p293 system design p137 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles Neural implementation of GMV control schemes based on affine input/output models and application of a bilinear approach p25 p521 Variable structure adaptive control of robot manipulators p167 New identification based weighted H.. norm approximation scheme and its applica- tions to controller reduction p61 Newton’s approach to gain-controlled robust pole placement p439 AEROSPACE SYSTEMS Nonlinear autopilot control design for a 2-DOF helicopter model p612 Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems Case study comparison of robust linear quadratic design and mixed-sensitivity H.. 183 control p476 Output feedback sliding mode design for linear uncertain systems p209 Nonlinear autopilot control design for a 2-DOF helicopter model p612 PH contro}: handling nonlinearity and deadtime with fuzzy relational model-based Real-time identification of missile aerodynamics using a linearised Kalman filter control p263 Robauisdte d obuyt puatn atrrtiafcikciianlg nfeourr alM InMeOtw ornko nlipn2e9a9r systems: an adaptive fuzzy systems Quasdyrsatteimcs gupa5r4a5n teed cost and disc pole location control for discrete-time uncertain approach p537 Quantitative design of uncertain multivariable control system with an inner-feedback loo 195 Real cans stabilisation of a triple link inverted pendulum using single control input AUTOMATA THEORY p498 Realisation of two-degrees-of-freedom compensators p589 Use of learning automata in distributed fuzzy logic processor training p255 Recursive identification of certain structured time-varying state-space models p489 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 BIOLOGICAL AND BIOMEDICAL SYSTEMS Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Generalised predictive control (GPC): a powerful control tool in medicine p8 Robust control of interval plants: a time domain method p347 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Robust pole assignment in uncertain systems p217 trol p354 Simulated annealing for multiobjective control system design p582 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- CLOSED LOOP SYSTEMS motor drive p393 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach p403 Adaptive integral control of time-delay systems p531 a Time-domain method for the design of optimal linear controllers p287 Adaptive performance/robust control design for discrete systems p95 Tuning PID controllers for integrating processes p385 Autotuning temperature control using identification by multifrequency binary Unified PID design method based on a maximum peak resonance specification p566 sequences p233 A. Casceo ntsrtould y pc4o7m6p arison of robust linear quadratic design and mixed-sensitivity H. CONTROL SYSTEM SYNTHESIS Designing stabilising controllers and observers for uncertain linear systems with time-varying delay p331 ah Analysis and redesign of an antilock brake system controller p413 Discretisation of continuous-time control systems with guaranteed stability [com- Case study comparison of robust linear quadratic design and mixed-sensitivity H. ment with reply] p277 control p476 Integrated approach to eigenstructure assignment by output feedback control p435 Newt ionisd entot ifciocnattrioolnl erb asreedd ucwteioing htepd6 1 H. norm approximation scheme and its applica- CCoo-ntothrredooilrny-a styaesndtd e mce oxnpsteyrnrotilh meesonifts s m uflortp i7po3lp ee n-rloobootpi c unmsatnaibplue laptroorcse ssh anwditlhi ngt imae cdoemlmayo n p3o3b4j ect- Newton’s approach to gain-controlled robust pole placement p439 Convolved and simultaneous two-mode input shapers p515 Reduced-order estimator for closed-loop online estimation of cross-directional RRoobbpuuassrtta mecmtooendrterslo l- fino olfa l oipwnlitaensrtgvi acls c oepnltxartnortlus s:i foonar tapi mrero ocbeodstos mamiapnn5 i4p9mu elatthoord pp5334 7 DFirsedcqirusetetunerc-byta inmcdee osm maoiudnsei ln gd ersaeifpgepnrr eonxmcieem tahatodeda ptifinovvree ruscneoc netrsrtyoaslit ne fmossr ysntope4nm4ms7i nuinmduerm spohmaes e usnyksntoewmns- bwuitt-h Robust pole assignment in uncertain systems p217 bounded disturbances p225 TTuinmien-gd omPaIiD n comnetrtohloide rs forf ort hei ntdeegsriagtni ngo f porpotciemsasle s linpe3a8r 5 controllers p287 HIL.mQ. pGlr eombauepsntpt raotcaiocnohtnr olfo ofr daet shies genlhf i-gfthou-rn pirndegyc niaAsmiVioRnc tsrhaipcp3k 2 pcoosnittriooln ionfg shpi1p1s0 p121 Unified PID design method based on a maximum peak resonance specification p566 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p137 COMPUTATIONAL COMPLEXITY Neural implementation of GMV control schemes based on affine input/output models ps2 Dynmaomniitco risnygs tempsl 03re liability evaluation using uncertainty techniques for performance NNoenwtli ionnised aertno t ifcaiuoctnaottpriioollnol te rb acosrneetddru oclwt ieoidnge hstiegpnd6 1 fHo.r. an o2rm- DOaFp prhoexliimcaopttieorn msocdheelm e p6a1nd2 its applica- Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems COMPUTER APPLICATIONS 183 Output feedback sliding mode design for linear uncertain systems p209 Constrained time-efficient and smooth cubic spline trajectory generation for indus- pH control: handling nonlinearity and deadtime with fuzzy relational model-based trial robots p467 control p263 CDoisncvroeltvee-tdi mea ndm osdiemlu lrteafneeroeunsc e tawdoa-pmtoivdee coinntpruotl sfhoarp enrso nmpi5n1i5m um phase systems with Quasdyrsatteimcs gupa5r4a5n teed cost and disc pole location control for discrete-time uncertain disturbances using approximate inverse systems p447 Quantitative design of uncertain multivariable control system with an inner-feedback Exact determination of the limit cycles in relay control systems with additional non- loop p195 linearities in the feedback loops p269 Real time stabilisation of a triple link inverted pendulum using single control input Expert adaptive control applied to turbogenerator systems p2 p498 Full fuzzy control of a DSP-based high performance induction motor drive p361 Realisation of two-degrees-of-freedom compensators p589 OInn-vleirnsei on adcaopnttirvoel coofn tnrooln linine atrh e syhostt emrsol liwnigt h of nesutreaell npe1t5w ork modelling p481 Robsuysstt emc onftorro l wamreshtihposd olop1g2y: applied to the design of a combined steering/stabiliser Real time stabilisation of a triple link inverted pendulum using single control input Simulated annealing for multiobjective control system design p582 p498 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Simple model of a transport/diffusion system p459 motor drive p39 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach p403 CONTROL SYSTEMS ANALYSIS Time-domain method for the design of optimal linear controllers p287 Tuning PID controllers for integrating processes p385 Adaptive integral control of time-delay systems p531 Analysis and redesign of an antilock brake system controller p413 CYBERNETICS AND ROBOTICS Autotuning temperature control using identification by multifrequency binary sequences p233 Case study comparison of robust linear quadratic design and mixed-sensitivity H. Co-ordinated control of multiple robotic manipulators handling a common object- control p476 theory and experiments p73 618 IEE Proc. - Control Theory Appl., Vol 144, 1997 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems trial robots p467 approach p537 Dynamic systems reliability evaluation using uncertainty techniques for performance Robust self-tuning rotated fuzzy basis function controller for robot arms p293 monitoring p103 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part motor drive p393 assembly p45 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approac Robust model-following control for a robot manipulator p53 03 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 Subgseeoam etvrehyi clep 14p3a th planning using nonlinear programming and constructive solid GENERATORS Variable structure adaptive control of robot manipulators p167 Impl ion of intellig self-or ing controllers in DSP controlled elec- tromechanical drives p324 DATA HANDLING Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- motor drive p393 Simple model of a transport/diffusion system p459 INDUCTION MOTORS DIGITAL ELECTRONICS Full fuzzy control of a DSP-based high performance induction motor drive p361 Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- tromechanical drives p324 DISCRETE SYSTEMS INFORMATION THEORY Adaptive performance/robust control design for discrete systems p95 Discrete-time model reference adaptive control for nonminimum phase systems with Adaptive control scheme using real time tuning of the parameter estimator p241 disturbances using approximate inverse systems p447 Consistent parameter estimation of systems disturbed by correlated noise p40 Discretisation of continuous-time control systems with guaranteed stability [com- Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- ment with reply] p277 trol p354 Neural implementation of GMV control schemes based on affine input/output models LQG approach for the high-precision track control of ships p121 Quad5r2a1t ic guaranteed cost and disc pole location control for discrete-time uncertain Nonlinear filters for linear signal models p281 Real-time identification of missile aerodynamics using a linearised Kalman filter systems p545 aided by an artificial neural network p299 Robust control of interval plants: a time domain method p347 Robust system identification from weighted impulse response data and worst-case error bounds p67 LASERS DISTRIBUTED PARAMETER SYSTEMS Power control of a CO2 laser p177 Adaptive integral control of time-delay systems p531 MATHEMATICAL TECHNIQUES Control-system synthesis for open-loop unstable process with time delay p334 Destiigmnei-nvga rysitnagb ildiesliangy cpo3n3tr1o llers and observers for uncertain linear systems with Adaptive control scheme using real time tuning of the parameter estimator p241 Adaptive performance/robust control design for discrete systems p95 Haar wavelet method for solving lumped and distributed-parameter systems p87 ONpetwpit1mo8an3l’ s quaapdprratoiacc h gutao ragnatiene-dc onctorsotl lceodn trroolb usotf ap ocllea ssp loafc eumnecnertt ainp 43t9i me-delay systems CCaosnceso tnrtsratoiulnd eyd pc4co7am6up tairouiss ons tabolfe rpobruesdti ctilivnee arc onqturaodlr atipc3 13d esign and mixed-sensitivity H. Constrained time-efficient and smooth cubic spline trajectory generation for indus- ELECTRIC VARIABLES CONTROL Destirigaln roofb ortosb ustp 46o7b servation schemes for uncertain large scale systems p369 Discrete-time model reference adaptive control for nonminimum phase systems with PImopwleerm ecnotnattriolo n ofo fa aC Os:e lf-latsuenri ng p1A7V R p32 Dyndiasmtiucr basnycsest emu sifonrg saoplpvrinogx imcaotmep leixnv eresieg ensvyasltueem s propb4l4e7m s p455 Dynamic systems reliability evaluation using uncertainty techniques for performance monitoring p103 EXPERT SYSTEMS Exact determination of the limit cycles in relay control systems with additional non- linearities in the feedback loops p26 Expert adaptive control applied to turbogenerator systems p2 Givens rotation based fast backward elimination algorithm for RBF neural network Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- pruning p381 trol p354 HInataerg rawtaevde leatp prmoeatchho d to foeri gseonlsvtirnugc tulruem paesds igannmd endti stbryi bouuttepdu-tp arfaemeedtbearc k sy‘csotnetmrso l pp8473 5 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- FEEDBACK trol p354 Inversion control of nonlinear systems with neural network modelling p481 Designing stabilising controllers and observers for uncertain linear systems with Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control time-varying delay p331 system design p137 Exact determination of the limit cycles in relay control systems with additional non- Multiple local Laguerre models for modelling nonlinear dynamic systems of the linearities in the feedback loops p269 Wiener class p375 Implementation of a self-tuning AVR p32 Newton’s approach to gain-controlled robust pole placement p439 Integrated approach to eigenstructure assignment by output feedback control p435 Nonlinear internal model control using local model networks p505 Inversion control of nonlinear systems with neural network modelling p481 Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- LQG approach for the high-precision track control of ships p121 tems p575 Mode! reference adaptive control of dynamic output feedback linearisable systems Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part with unknown high frequency gain p427 assembly p45 Nonlinear internal model control using local model networks p505 Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Output feedback sliding mode design for linear uncertain systems p209 systems p545 Quantitative design of uncertain multivariable control system with an inner-feedback Realisation of two-degrees-of-freedom compensators p589 loop p195 Recursive identification of certain structured time-varying state-space models p489 Realisation of two-degrees-of-freedom compensators p589 Simple model of a transport/diffusion system p459 Simulated annealing for multiobjective control system design p582 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach FORMAL LOGIC p403 Subsea vehicle path planning using nonlinear programming and constructive solid Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- geometry p143 trol p354 Unified PID design method based on a maximum peak resonance specification p566 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p137 MEASUREMENT OF SPECIFIC VARIABLES pH control: handling nonlinearity and deadtime with fuzzy relational model-based control p263 Subsea vehicle path planning using nonlinear programming and constructive solid Simple model of a transport/diffusion system p459 geometry p143 Use of learning automata in distributed fuzzy logic processor training p255 MILITARY SYSTEMS FUZZY CONTROL Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Dynamic systems reliability evaluation using uncertainty techniques for performance monitoring p103 MODULATION Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- tromechanical drives p324 Full fuzzy control of a DSP-based high performance induction motor drive p361 Incremental fuzzy PI control of a solar power plant p596 Learning issues in model reference based fuzzy control p605 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control MULTIVARIABLE CONTROL SYSTEMS system design p137 Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part Case study comparison of robust linear quadratic design and mixed-sensitivity H. assembly p45 control p476 pH control: handling nonlinearity and deadtime with fuzzy relational model-based Comparison of SISO and SIMO neural control strategies for ship track keeping p153 control p263 Design of robust observation schemes for uncertain large scale systems p369 IEE Proc. - Control Theory Appl., Vol 144, 1997 619 ourier series neural network-based adaptive variable structure control for servo sys- Simple model of a transport/diffusion system p459 tems with friction p559 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Improved algorithm for multivariable stable generalised predictive control p309 motor drive p393 Integrated approach to eigenstructure assignment by output feedback control p435 Subsea vehicle path planning using nonlinear programming and constructive solid Output feedback sliding mode design for linear uncertain systems p209 geometry p143 Quantitative design of uncertain multivariable control system with an inner-feedback loop p195 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems OPTIMAL CONTROL approach p537 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Case study comparison of robust linear quadratic design and mixed-sensitivity H. motor drive p393 control p476 Stabpi4l0it3y analysis of fuzzy ; multivariable systems: vector Lyapunov function approach Constrained cautious stable predictive control p313 Generalised predictive control (GPC): a powerful control tool in medicine p8 Variable structure adaptive control of robot manipulators p167 H.. robust control design for dynamic ship positioning p110 Implementation of a self-tuning AVR p32 NEURAL NETS Improved algorithm for multivariable stable generalised predictive control p309 Inversion control of nonlinear systems with neural network modelling p481 LQG approach for the high-precision track control of ships p121 Comparison of SISO and SIMO neural control strategies for ship track keeping p153 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control Dynamic system for solving complex eigenvalue problems p455 system design p137 Fourier series neural network-based adaptive variable structure control for servo sys- Neural implementation of GMV control schemes based on affine input/output models tems with friction p559 521 Givens rotation based fast backward elimination algorithm for RBF neural network New identification based weighted H.. norm approximation scheme and its applica- pruning p381 tions to controller reduction p61 Identification of time-varying nonlinear systems using minimal radial basis function Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- neural networks p202 tems p575 Implementation of intelligent self-organising controllers in DSP controlled elec- Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems tromechanical drives p324 p183 Inversion control of nonlinear systems with neural network modelling p481 Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Neural implementation of GMV control schemes based on affine input/output models systems p545 are | Real time stabilisation of a triple link inverted pendulum using single control input Nonlinear internal model control using local model networks p505 p498 Real-time identification of missile aerodynamics using a linearised Kalman filter Robust control methodology applied to the design of a combined steering/stabiliser aided by an artificial neural network p299 system for warships p128 Reduced-order estimator for closed-loop online estimation of cross-directional Robust control of interval plants: a time domain method p347 parameters in a plastics extrusion process p549 Robust system identification from weighted impulse response data and worst-case Robust self-tuning rotated fuzzy basis function controller for robot arms p293 error bounds p67 Stable receding horizon control based on recurrent networks p249 Time-domain method for the design of optimal linear controllers p287 Use of learning automata in distributed fuzzy logic processor training p255 OPTIMISATION NONELECTRIC VARIABLES CONTROL Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Autotuning temperature control using identification by multifrequency binary systems p545 sequences p233 Realisation of two-degrees-of-freedom compensators p589 Co-ordinated control of multiple robotic manipulators handling a common object- Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach theory and experiments p73 403 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Unified PID design method based on a maximum peak resonance specification p566 trial robots p467 Convolved and simultaneous two-mode input shapers p515 Implementation of intelligent self-organising controllers in DSP controlled elec- PARAMETER ESTIMATION tromechanical drives p324 Incremental fuzzy PI control of a solar power plant p596 Adaptive control scheme using real time tuning of the parameter estimator p241 pLHQ G conatproplr:o achha ndflori ngt he nohnilgihn-eparreictiys ioann d trdaecak dtciomnet rolw itohf sfhuizpzys rpe1l2a1t ional model-based CRoenasli-sttiemnet ipdaernatmifeitceart ioens tiomfa timiosns iloef sayesrtoedmys nadmiisctsu rbeuds inbgy ac orlrienleaatreids ed noiKsae lmapn4 0 filter control p263 aided by an artificial neural network p299 PReoawple4 r9 t8i mceo ntrsotla biloif saat ion CO, of laas ert riplpe1 77li nk inverted pendulum using single control input Redpuacraemde-toerrdse r in eas tpilmaasttoicrs efoxrt rucslioosne dp-rloocoeps s onlpi5n4e9 estimation of cross-directional Simple model of a transport/diffusion system p459 Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Simple model of a transport/diffusion system p459 PATTERN RECOGNITION Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- motor drive p393 Givens rotation based fast backward elimination algorithm for RBF neural network pruning p38] NONLINEAR CONTROL SYSTEMS Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- trol p354 Analysis and redesign of an antilock brake system controller p413 Exact determination of the limit cycles in relay control systems with additional non- PERFORMANCE EVALUATION linearities in the feedback loops p269 Identification of time-varying nonlinear systems using minimal radial basis function neural networks p202 Dynamic systems reliability evaluation using uncertainty techniques for performance Inversion control of nonlinear systems with neural network modelling p481 monitoring p103 Learning issues in model reference based fuzzy control p605 Model referengy adaptive control of dynamic output feedback linearisable systems with unknown high frequency gain p427 POWER ENGINEERING COMPUTING Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p1l37 Full fuzzy control of a DSP-based high performance induction motor drive Multiple local Laguerre models for modelling nonlinear dynamic systems of the Wiener class p375 Neural implementation of GMV control schemes based on affine input/output models POWER SYSTEM CONTROL p521 Nonlinear autopilot control design for a 2-DOF helicopter model p612 Nonlinear internal model control using local model networks p505 Autotuning temperature control using identification by multifrequency binary pH control: handling nonlinearity and deadtime with fuzzy relational model-based sequences p233 control p263 Full fuzzy control of a DSP-based high performance induction motor drive p361 Real time stabilisation of a triple link inverted pendulum using single control input Implementation of intelligent self-organising controllers in DSP controlled elec- p498 tromechanical drives p324 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Incremental fuzzy PI control of a solar power plant p596 approach p537 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach POWER SYSTEMS AND APPLICATIONS p403 Stable receding horizon control based on recurrent networks p249 Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- NUMERICAL ANALYSIS tromechanical drives p324 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Constrained time-efficient and smooth cubic spline trajectory generation for indus- motor drive p393 trial robots p467 Dynmaomniitco risnygs temps1 l0r3e liability evaluation using uncertainty techniques for performance POWER SYSTEMS AND PLANTS Haar wavelet method for solving lumped and distributed-parameter systems p87 identification of time-varying nonlinear systems using minimal radial basis function Full fuzzy control of a DSP-based high performance induction motor drive p361 neural networks p202 Implementation of intelligent self-organising controllers in DSP controlled elec- Inversion control of nonlinear systems with neural network modelling p481 tromechanical drives p324 Newton’s approach to gain-controlled robust pole placement p439 Incremental fuzzy PI control of a solar power plant p596 Reduced-order estimator for closed-loop online estimation of cross-directional Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- parameters in a plastics extrusion process p549 motor drive p393 620 IEE Proc. - Control Theory Appl., Vol 144, 1997 PREDICTIVE CONTROL Identification of time-varying nonlinear systems using minimal radial basis function neural networks p202 Constrained cautious stable predictive control p313 Integrated approach to eigenstructure assignment by output feedback control p435 Generalised predictive control (GPC): a powerful control tool in medicine p8 MulWtiiepnlee r locclaals s Lapg3u7e5r re models for modelling nonlinear dynamic systems of the IImmpplreomveendt atailgoonr itohfm a fsoerl fm-utlutniivnagr iAabVlRe stpa3b2le generalised predictive control p309 New identification based weighted H.. norm approximation scheme and its applica- Neural implementation of GMV control schemes based on affine input/output models tions to controller reduction p61 p521 Nonlinear internal model control using local model networks p505 Robust control of interval plants: a time domain method p347 Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- tems p575 ; Real-time identification of missile aerodynamics using a linearised Kalman filter PROBABILITY AND STATISTICS aided by an artificial neural network p299 Realisation of two-degrees-of-freedom compensators p589 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Recursive identification of certain structured time-varying state-space models p489 trol p354 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 Reduced-order observer for large-scale systems p189 PRODUCTION ENGINEERING Robust system identification from weighted impulse response data and worst-case error bounds p67 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Simple model of a transport/diffusion system p459 trial robots p467 Unified PID design method based on a maximum peak resonance specification p566 On-line adaptive control in the hot rolling of steel p15 Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part STABILITY assembly p45 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 Adaptive performance/robust control design for discrete systems p95 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles Case study comparison of robust linear quadratic design and mixed-sensitivity H and application of a bilinear approach p25 control p476 Control-system synthesis for open-loop unstable process with time delay p334 Designing stabilising controllers and observers for uncertain linear systems with PROGRAMMING THEORY time-varying delay p331 Discretisation of continuous-time control systems with guaranteed stability [com- Dynamic systems reliability evaluation using uncertainty techniques for performance ment with reply] p277 monitoring p103 Dynamic system for solving complex eigenvalue problems p455 Fourier series neural network-based adaptive variable structure control for servo sys- tems with friction p559 SELF-ADJUSTING SYSTEMS Frequency domain design method for uncertain systems under some unknown-but- bounded disturbances p225 Adaptive control scheme using real time tuning of the parameter estimator p241 Generalised predictive control (GPC): a powerful control tool in medicine p8 Adaptive integral control of time-delay systems p531 H.. robust control design for dynamic ship positioning p110 Adaptive performance/robust control design for discrete systems p95 Implementation of a self-tuning AVR p32 Autotuning temperature control using identification by multifrequency binary Improved algorithm for multivariable stable generalised predictive control p309 sequences p233 Newton’s approach to gain-controlled robust pole placement p439 Co-ordinated control of multiple robotic manipulators handling a common object- Nonlinear autopilot control design for a 2-DOF helicopter model p612 theory and experiments p73 Nonlinear filters for linear signal models p281 Discrete-time model reference adaptive control for nonminimum phase systems with Nonlinear internal model control using local model networks p505 disturbances using approximate inverse systems p447 Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems Expert adaptive control applied to turbogenerator systems p2 83 Fourier series neural network-based adaptive variable structure control for servo sys- Output feedback sliding mode design for linear uncertain systems p209 tems with friction p559 Real time stabilisation of a triple link inverted pendulum using single control input Generalised predictive control (GPC): a powerful control tool in medicine p8 p498 Implementation of a self-tuning AVR p32 Robust control methodology applied to the design of a combined steering/stabiliser Implementation of intelligent self-organising controllers in DSP controlled elec- system for warships p128 tromechanical drives p324 Robust control of interval plants: a time domain method p347 Learning issues in model reference based fuzzy control p605 Robust model-following control for a robot manipulator p53 LQG approach for the high-precision track control of ships p121 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Model reference adaptive control of dynamic output feedback linearisable systems approach p537 with unknown high frequency gain p427 Robust pole assignment in uncertain systems p217 Nonlinear internal model control using local model networks p505 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 On-line adaptive control in the hot rolling of steel p15 Robust system identification from weighted impulse response data and worst-case pH control: handling nonlinearity and deadtime with fuzzy relational model-based error bounds p67 control p263 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach Robust model-following control for a robot manipulator p53 p403 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Stable receding horizon control based on recurrent networks p249 approach p537 Variable structure adaptive control of robot manipulators p167 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles SYNCHRONOUS MACHINES and application of a bilinear approach p25 Variable structure adaptive control of robot manipulators p167 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- SIGNAL PROCESSING motor drive p393 SYSTEMS THEORY Consistent parameter estimation of systems disturbed by correlated noise p40 Full fuzzy control of a DSP-based high performance induction motor drive p361 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Identification of time-varying nonlinear systems using minimal radial basis function trol p354 neural networks p202 Nonlinear filters for linear signal models p281 Implementation of a self-tuning AVR p32 Multiple local Laguerre models for modelling nenlinear dynamic systems of the Wiener class p375 SIMULATION, MODELLING AND IDENTIFICATION Nonlinear internal model control using local model networks p505 Robust model-following control for a robot manipulator p53 Adaptive control scheme using real time tuning of the parameter estimator p241 Autsoetquunenicnegs tepm2p3e3r ature control using identification by multifrequency binary TIME-VARYING SYSTEMS Case study comparison of robust linear quadratic design and mixed-sensitivity H. control p476 Designing stabilising controllers and observers for uncertain linear systems with Consistent parameter estimation of systems disturbed by correlated noise p40 time-varying delay p331 Design of robust observation schemes for uncertain large scale systems p369 Identification of time-varying nonlinear systems using minimal radial basis function Designing stabilising controllers and observers for uncertain linear systems with neural networks p202 time-varying delay p331 Recursive identification of certain structured time-varying state-space models p489 IEE Proc. - Control Theory Appl., Vol 144, 1997

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THEINSTITUTION OF ELECTRICAL ENGINEERS & J IEE PROCEEDINGS Control Theory and Applications Vol. 144, 1997 Published by The JEE, Savoy Place, London WC2R OBL, United Kingdom Publishing Department: Michael Faraday House, Six Hills Way, Stevenage, Herts. SG1 2AY, United Kingdom JEE Proceedings Contro) Theory and Applications The Institution of Electrical Engineers, Savoy Place, London WC2R OBL, United Kingdom Publishing Department. Michael Faraday House, Six Hills Way, Stevenage, Herts. SG1 2AY, United Kingdom Volume 144 1997 UK ISSN 1350-2395 HONORARY EDITORS Prof. B. V. Jayawant (Universuty of Sussex) Prof. K. Warwick (University of Reading) Prof. H. Unbehauen (Ruhr-Universitat Bochum) Pages in issues of JEE Proc., Control Theory Appl. 1997 Pages Issue No. Date 1-108 February 109-208 April 209-280 June 281-360 August 361-604 October 505-616 December This publication is copyright under the Berne Convention and the Universal Copyright Convention. All rights reserved. Apart from any copying under the UK Copyright, Designs and Patents Act 1988, Part 1, Section 38, whereby a single copy of an article may be supplied, under certain conditions, for the purposes of research or private study, by a library of a class prescribed by The Copyright (Librarians and Archivists) (Copying of Copyright Material) Regulations 1989: Si 1989/1212, no part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means without the prior permission of the copyright owners. Permission is, however, not required to copy abstracts of individual contributions on condition that a full reference to the source is shown. Authorisation to photocopy items for internal or personal use, or for the internal or personal use of specific clients, is granted by the Institution of Electrical Engineers for libraries and other users registered with the Copyright Clearance Center Transactional Reporting Service, provided that the base fee of $10.00 per copy is paid directly to the Copyright Clearance Center, Inc., 21 Congress Street, Salem, MA 01970, USA (1350-2395/97 $10.00). This consent does not extend to other kinds of copying, such as copying for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. The IEE is not as a body responsible for the opinions expressed by individual authors. The IEE is a member of the Association of Learned & Professional Society Publishers. © 1997: The Institution of Electrical Engineers Secretary of the /EE: J.C. Williams, OBE, PhD, FEng, FIEE Managing Editor: Gill Wheeler; Executive Editor: Sarah Jane Hunt Printed by: Black Bear Press Limited, Cambridge, United Kingdom Index IEE Proceedings Contrel Theory and Applications Vol. 144, 1997 Author Index Flynn, D. p2 Lloyd, S. p167 Sbarbaro, D. p375 Fung, R.F. p393 Lobodzinski, W. p233 Seering, W. p515 Furutani, E. p575 Logemann, H. p531 Sen, P. p153 A G LLuu,k , J. P.pC.4K4.7 p59 SSehrarrai,f , [.M .Tp.S 89 p128 Shen, J.-C. p331 AAgla-rAwmaelr,, AS.. pp1612 8 Garcia, G. p545 M SShheenn,, ST..- K.p 53p 225 AAArlsadbkeuier,ny ,, M.MA ..J .p 5p71p588 9 GGGioolsolsdenswe,ir n,G, . J.GR.p.C1 .7 7p 30p92,8 1 p313 MMaaihtfeolluif,, A.ML.. p8p2 41 SSSihiningeg,hh ,o sCe.J.H,S. . W.pp 2365p345 15 AAtshkearrtpoonu,r , D.SP.. pp423659 , p287 GGGruri,a minbDgl.ee-r,W, . MR.J..pW 5.8 2p 1p1208 1 MMMaaarrsskoianlz,ii- ,Li Jb.eADl..l Hi.,D p.2 S4.9 pp247579 SSSooonhy,,l emCC.e. Bz., p 45Mp .4T0. p217 Mayne, D.Q. p281 Spurgeon, S.K. p209 B H McAlpine, T.S. p25 Stephens, R.I. p15 Metrat, G. p177 Stronach, A.F. p324, p361 Moazzam, M.H. Sundararajan, N. p202 BBaagb,u , S.MK.. pp6270 9 HHaagmi,w arCa. , pT6.1 2 p575 Moheimani, S.O.R. p183 SSuwtitdoen,n baRn.k , p1E2.8 p2 Bailey, W.N. p73 Hearn, G.E. p153 Munro, N. p217 BBBieeltrlteiannyggeusb,e, l ,S .MA.M. . pp6p3l58 916 HHHeooslgkzgeh,tu ht,eB r.,WT .. T. p4pp821 92 1 N T BBBirutortwannnht,ai ,m ,M S..D K.. Jp.5 2p15p 0255 HHHooorrnitg,o, n ,N .X .M .pPp2.37 871 p299 NNaejuirmo,t h,K . M. p25p53 24, p361 TTToaawmmn,u lreaH,y. ,K .K .S . pp4p535393 1 Hsiao, C.H. p87 Trebi-Ollennu, A € Huang, H.-P. p334 Trinh, H. p189 Hwang, C.-L. p559 O Tzes, A. p95 CCaaom,a chB.o , p4E6.F7. p596 I OOh',M alJl.-eHy., pM4.8 1 p277 V Chen, C.-C. p334 CCChhheeennn,,g , CS..CFB...- C. pp8477p 61 95 IIkrwoinne,n , G.EW. . pp25456 7, p505 Owens, P T.J. p435 VVaisl,a noPv. a, p3R2.4 , pp538691 Ishii, C. p53 Cheng, C.-F. p369 Ww Cheng, C.M. p403 Clements, DJ. p489 J Peacock, J.E. p354 Cluett, W.R. p385 Peng, P.-Y. p95 CCroarisnc,a ddBEe. n,p 51K5. W. p549 Johansen, T.A. p375 PPeettteirts, enN,. B.LOR.. L. p18p34 13 WWaanngg,, BJ.. -Cp. 73 p225 Piroddi, L. p521 Wang, L. p385 D K PPooimnearrlde,a u,F. Ap.1 77p 566 WWaanngg,, ST..--SD.. pp129953 Postlethwaite, B. p263 Wang, Y. p143 Dan-Isa, A. p287 Kaloust, J. p612 Postlethwaite, I. p582 Wang, Y.C. p393 de Paor, A. p277 Kambhampati, C. p249 Poulin, E. p566 Warwick, K. p249 Delgado, A. p249 Katebi, M.R. p110 Wellstead, P.E. p413 Ding, Z. p427 Kavranoglu, D. p61 Q Whidborne, J.F. p582 Dodds, G.I. p467 KKoouvvaacreivtiack,i s,R . B. p34p370 9, p313 WWhoiltkee,n haB.uAe.r , pO1.3 7, p1p0533 7 Dodds, S.J. p73 DDuunncnaing,a n,S .RM.. W.p 549p 605 KKuucoh,a rCs.kYi., Jp. 49p82 33 Qu, Z. p6i2 Y Dunoyer, A. p25 R L E Randall, A. p15 YYaihnaggwie,i , i L. p4p4270 2 Lam, J. p439 Reay, D.S. p605 Yoneyama, T. p241 Edmunds, J. p103 Lane, D.M. p143 Rees, N.W. p403 Yu, H. pl67 Edwards, C. p209 Le, K. p95 Roberts, G.N. p128 Elkfafi, M. p354 Lee, J.-W. p481 Rossiter, J.A. p309, p313 Z Eltohamy, K.G. p498 Lee, T.-T. p225 Rubio, F.R. p596 Eswaran, C. p67 Leung, Y.-W. p455 Liao, Y.-K. p195 S Zachariah, K.J. p32 Lie, T.T. p40 Zhang, F.E. p476 F Lightbody, G. p505 Zhang, Q. p455 Lin, C.-K. p293 Sankowski, D. p233 Zhang, Y. p40, p110, FFaarns,i , Y.MH.. pp3427 6 LLiinn,k enF.sJ,. Dp.3A9.3 p8, p354 Saratchandran, P. p202 Zhang, Y.M. p347 Finch, J.W. p32 IEE Proc. - Control Theory Appl., Vol 144, 1997 Subject Index Co-ordinated control of multiple robotic manipulators handling a common object- theory and experiments p73 Constrained cautious stable predictive control p313 Control-system synthesis for open-loop unstable process with time delay p334 ADAPTIVE CONTROL Convolved and simultaneous two-mode input shapers p515 Designing stabilising controllers and observers for uncertain linear systems with time-varying delay p331 Adaptive control scheme using real time tuning of the parameter estimator p241 Discrete-time model reference adaptive control for nonminimum phase systems with Adaptive integral control of time-delay systems p531 . disturbances using approximate inverse systems AAduatpottiuvnei ngp erftoermmpaenrcaet/urroeb uscto ntcroonlt rolu sidnegs igind enftoir fidciastciroente bsyy stmeumlst ifpr9e5q uency bi: nary Dismcernetti sawtiitohn reopfl yc] onpt2i7n7u ous-time control systems with guaranteed stability [com- sequences p233 Co-ordinated control of multiple robotic manipulators handling a common object- Exalcitn eadreittieersm inina ttihoen feofe dtbhaec kl imliot opcsy cleps2 69in relay control systems with additional non- theory and experiments p73 Frequency domain design method for uncertain systems under some unknown-but- EFoxupreiretr asdearpitesi ven eucroanlt ronle twaoprplki-ebda setod taudrabpotgievnee ravtaorria blsey stsetrmusc turpe2 control for servo sys- bounded disturbances p225 H.. robust control design for dynamic ship positioning p110 tems with friction p559 Implementation of intelligent self-organising controllers in DSP controlled elec- Generalised predictive control (GPC): a powerful control tool in medicine p8& tromechanical drives p324 Implementation of a self-tuning AVR p32 Model reference adaptive control of dynamic output feedback linearisable systems Integrated approach to eigenstructure assignment by output feedback control p435 ORno-bwluiistnthe uoanudktanppoutwtin v et rachcoinkgtihrn ogl f refioqnru etnMhceI y MhoOgt airnon lolnipln4ign2 e7ao fr stseyesl temps1:5 an adaptive f; uzzy systems LMoOdwGei lth a prupernfokearnceonhwc ne forah diatghphet ifvheri egqhcu-oepnnrtceryco ils giaooifn n dtyrpna4ack2m 7i cco ntoruotlp uto f fseheidpbsa ckp 12l1i nearisable systems Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control Robaupsptr oascehlf -tupn5i3n7g rotated fuzzy basis function controller for robot arms p293 system design p137 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles Neural implementation of GMV control schemes based on affine input/output models and application of a bilinear approach p25 p521 Variable structure adaptive control of robot manipulators p167 New identification based weighted H.. norm approximation scheme and its applica- tions to controller reduction p61 Newton’s approach to gain-controlled robust pole placement p439 AEROSPACE SYSTEMS Nonlinear autopilot control design for a 2-DOF helicopter model p612 Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems Case study comparison of robust linear quadratic design and mixed-sensitivity H.. 183 control p476 Output feedback sliding mode design for linear uncertain systems p209 Nonlinear autopilot control design for a 2-DOF helicopter model p612 PH contro}: handling nonlinearity and deadtime with fuzzy relational model-based Real-time identification of missile aerodynamics using a linearised Kalman filter control p263 Robauisdte d obuyt puatn atrrtiafcikciianlg nfeourr alM InMeOtw ornko nlipn2e9a9r systems: an adaptive fuzzy systems Quasdyrsatteimcs gupa5r4a5n teed cost and disc pole location control for discrete-time uncertain approach p537 Quantitative design of uncertain multivariable control system with an inner-feedback loo 195 Real cans stabilisation of a triple link inverted pendulum using single control input AUTOMATA THEORY p498 Realisation of two-degrees-of-freedom compensators p589 Use of learning automata in distributed fuzzy logic processor training p255 Recursive identification of certain structured time-varying state-space models p489 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 BIOLOGICAL AND BIOMEDICAL SYSTEMS Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Generalised predictive control (GPC): a powerful control tool in medicine p8 Robust control of interval plants: a time domain method p347 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Robust pole assignment in uncertain systems p217 trol p354 Simulated annealing for multiobjective control system design p582 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- CLOSED LOOP SYSTEMS motor drive p393 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach p403 Adaptive integral control of time-delay systems p531 a Time-domain method for the design of optimal linear controllers p287 Adaptive performance/robust control design for discrete systems p95 Tuning PID controllers for integrating processes p385 Autotuning temperature control using identification by multifrequency binary Unified PID design method based on a maximum peak resonance specification p566 sequences p233 A. Casceo ntsrtould y pc4o7m6p arison of robust linear quadratic design and mixed-sensitivity H. CONTROL SYSTEM SYNTHESIS Designing stabilising controllers and observers for uncertain linear systems with time-varying delay p331 ah Analysis and redesign of an antilock brake system controller p413 Discretisation of continuous-time control systems with guaranteed stability [com- Case study comparison of robust linear quadratic design and mixed-sensitivity H. ment with reply] p277 control p476 Integrated approach to eigenstructure assignment by output feedback control p435 Newt ionisd entot ifciocnattrioolnl erb asreedd ucwteioing htepd6 1 H. norm approximation scheme and its applica- CCoo-ntothrredooilrny-a styaesndtd e mce oxnpsteyrnrotilh meesonifts s m uflortp i7po3lp ee n-rloobootpi c unmsatnaibplue laptroorcse ssh anwditlhi ngt imae cdoemlmayo n p3o3b4j ect- Newton’s approach to gain-controlled robust pole placement p439 Convolved and simultaneous two-mode input shapers p515 Reduced-order estimator for closed-loop online estimation of cross-directional RRoobbpuuassrtta mecmtooendrterslo l- fino olfa l oipwnlitaensrtgvi acls c oepnltxartnortlus s:i foonar tapi mrero ocbeodstos mamiapnn5 i4p9mu elatthoord pp5334 7 DFirsedcqirusetetunerc-byta inmcdee osm maoiudnsei ln gd ersaeifpgepnrr eonxmcieem tahatodeda ptifinovvree ruscneoc netrsrtyoaslit ne fmossr ysntope4nm4ms7i nuinmduerm spohmaes e usnyksntoewmns- bwuitt-h Robust pole assignment in uncertain systems p217 bounded disturbances p225 TTuinmien-gd omPaIiD n comnetrtohloide rs forf ort hei ntdeegsriagtni ngo f porpotciemsasle s linpe3a8r 5 controllers p287 HIL.mQ. pGlr eombauepsntpt raotcaiocnohtnr olfo ofr daet shies genlhf i-gfthou-rn pirndegyc niaAsmiVioRnc tsrhaipcp3k 2 pcoosnittriooln ionfg shpi1p1s0 p121 Unified PID design method based on a maximum peak resonance specification p566 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p137 COMPUTATIONAL COMPLEXITY Neural implementation of GMV control schemes based on affine input/output models ps2 Dynmaomniitco risnygs tempsl 03re liability evaluation using uncertainty techniques for performance NNoenwtli ionnised aertno t ifcaiuoctnaottpriioollnol te rb acosrneetddru oclwt ieoidnge hstiegpnd6 1 fHo.r. an o2rm- DOaFp prhoexliimcaopttieorn msocdheelm e p6a1nd2 its applica- Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems COMPUTER APPLICATIONS 183 Output feedback sliding mode design for linear uncertain systems p209 Constrained time-efficient and smooth cubic spline trajectory generation for indus- pH control: handling nonlinearity and deadtime with fuzzy relational model-based trial robots p467 control p263 CDoisncvroeltvee-tdi mea ndm osdiemlu lrteafneeroeunsc e tawdoa-pmtoivdee coinntpruotl sfhoarp enrso nmpi5n1i5m um phase systems with Quasdyrsatteimcs gupa5r4a5n teed cost and disc pole location control for discrete-time uncertain disturbances using approximate inverse systems p447 Quantitative design of uncertain multivariable control system with an inner-feedback Exact determination of the limit cycles in relay control systems with additional non- loop p195 linearities in the feedback loops p269 Real time stabilisation of a triple link inverted pendulum using single control input Expert adaptive control applied to turbogenerator systems p2 p498 Full fuzzy control of a DSP-based high performance induction motor drive p361 Realisation of two-degrees-of-freedom compensators p589 OInn-vleirnsei on adcaopnttirvoel coofn tnrooln linine atrh e syhostt emrsol liwnigt h of nesutreaell npe1t5w ork modelling p481 Robsuysstt emc onftorro l wamreshtihposd olop1g2y: applied to the design of a combined steering/stabiliser Real time stabilisation of a triple link inverted pendulum using single control input Simulated annealing for multiobjective control system design p582 p498 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Simple model of a transport/diffusion system p459 motor drive p39 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach p403 CONTROL SYSTEMS ANALYSIS Time-domain method for the design of optimal linear controllers p287 Tuning PID controllers for integrating processes p385 Adaptive integral control of time-delay systems p531 Analysis and redesign of an antilock brake system controller p413 CYBERNETICS AND ROBOTICS Autotuning temperature control using identification by multifrequency binary sequences p233 Case study comparison of robust linear quadratic design and mixed-sensitivity H. Co-ordinated control of multiple robotic manipulators handling a common object- control p476 theory and experiments p73 618 IEE Proc. - Control Theory Appl., Vol 144, 1997 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems trial robots p467 approach p537 Dynamic systems reliability evaluation using uncertainty techniques for performance Robust self-tuning rotated fuzzy basis function controller for robot arms p293 monitoring p103 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part motor drive p393 assembly p45 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approac Robust model-following control for a robot manipulator p53 03 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 Subgseeoam etvrehyi clep 14p3a th planning using nonlinear programming and constructive solid GENERATORS Variable structure adaptive control of robot manipulators p167 Impl ion of intellig self-or ing controllers in DSP controlled elec- tromechanical drives p324 DATA HANDLING Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- motor drive p393 Simple model of a transport/diffusion system p459 INDUCTION MOTORS DIGITAL ELECTRONICS Full fuzzy control of a DSP-based high performance induction motor drive p361 Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- tromechanical drives p324 DISCRETE SYSTEMS INFORMATION THEORY Adaptive performance/robust control design for discrete systems p95 Discrete-time model reference adaptive control for nonminimum phase systems with Adaptive control scheme using real time tuning of the parameter estimator p241 disturbances using approximate inverse systems p447 Consistent parameter estimation of systems disturbed by correlated noise p40 Discretisation of continuous-time control systems with guaranteed stability [com- Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- ment with reply] p277 trol p354 Neural implementation of GMV control schemes based on affine input/output models LQG approach for the high-precision track control of ships p121 Quad5r2a1t ic guaranteed cost and disc pole location control for discrete-time uncertain Nonlinear filters for linear signal models p281 Real-time identification of missile aerodynamics using a linearised Kalman filter systems p545 aided by an artificial neural network p299 Robust control of interval plants: a time domain method p347 Robust system identification from weighted impulse response data and worst-case error bounds p67 LASERS DISTRIBUTED PARAMETER SYSTEMS Power control of a CO2 laser p177 Adaptive integral control of time-delay systems p531 MATHEMATICAL TECHNIQUES Control-system synthesis for open-loop unstable process with time delay p334 Destiigmnei-nvga rysitnagb ildiesliangy cpo3n3tr1o llers and observers for uncertain linear systems with Adaptive control scheme using real time tuning of the parameter estimator p241 Adaptive performance/robust control design for discrete systems p95 Haar wavelet method for solving lumped and distributed-parameter systems p87 ONpetwpit1mo8an3l’ s quaapdprratoiacc h gutao ragnatiene-dc onctorsotl lceodn trroolb usotf ap ocllea ssp loafc eumnecnertt ainp 43t9i me-delay systems CCaosnceso tnrtsratoiulnd eyd pc4co7am6up tairouiss ons tabolfe rpobruesdti ctilivnee arc onqturaodlr atipc3 13d esign and mixed-sensitivity H. Constrained time-efficient and smooth cubic spline trajectory generation for indus- ELECTRIC VARIABLES CONTROL Destirigaln roofb ortosb ustp 46o7b servation schemes for uncertain large scale systems p369 Discrete-time model reference adaptive control for nonminimum phase systems with PImopwleerm ecnotnattriolo n ofo fa aC Os:e lf-latsuenri ng p1A7V R p32 Dyndiasmtiucr basnycsest emu sifonrg saoplpvrinogx imcaotmep leixnv eresieg ensvyasltueem s propb4l4e7m s p455 Dynamic systems reliability evaluation using uncertainty techniques for performance monitoring p103 EXPERT SYSTEMS Exact determination of the limit cycles in relay control systems with additional non- linearities in the feedback loops p26 Expert adaptive control applied to turbogenerator systems p2 Givens rotation based fast backward elimination algorithm for RBF neural network Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- pruning p381 trol p354 HInataerg rawtaevde leatp prmoeatchho d to foeri gseonlsvtirnugc tulruem paesds igannmd endti stbryi bouuttepdu-tp arfaemeedtbearc k sy‘csotnetmrso l pp8473 5 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- FEEDBACK trol p354 Inversion control of nonlinear systems with neural network modelling p481 Designing stabilising controllers and observers for uncertain linear systems with Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control time-varying delay p331 system design p137 Exact determination of the limit cycles in relay control systems with additional non- Multiple local Laguerre models for modelling nonlinear dynamic systems of the linearities in the feedback loops p269 Wiener class p375 Implementation of a self-tuning AVR p32 Newton’s approach to gain-controlled robust pole placement p439 Integrated approach to eigenstructure assignment by output feedback control p435 Nonlinear internal model control using local model networks p505 Inversion control of nonlinear systems with neural network modelling p481 Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- LQG approach for the high-precision track control of ships p121 tems p575 Mode! reference adaptive control of dynamic output feedback linearisable systems Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part with unknown high frequency gain p427 assembly p45 Nonlinear internal model control using local model networks p505 Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Output feedback sliding mode design for linear uncertain systems p209 systems p545 Quantitative design of uncertain multivariable control system with an inner-feedback Realisation of two-degrees-of-freedom compensators p589 loop p195 Recursive identification of certain structured time-varying state-space models p489 Realisation of two-degrees-of-freedom compensators p589 Simple model of a transport/diffusion system p459 Simulated annealing for multiobjective control system design p582 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach FORMAL LOGIC p403 Subsea vehicle path planning using nonlinear programming and constructive solid Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- geometry p143 trol p354 Unified PID design method based on a maximum peak resonance specification p566 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p137 MEASUREMENT OF SPECIFIC VARIABLES pH control: handling nonlinearity and deadtime with fuzzy relational model-based control p263 Subsea vehicle path planning using nonlinear programming and constructive solid Simple model of a transport/diffusion system p459 geometry p143 Use of learning automata in distributed fuzzy logic processor training p255 MILITARY SYSTEMS FUZZY CONTROL Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Dynamic systems reliability evaluation using uncertainty techniques for performance monitoring p103 MODULATION Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- tromechanical drives p324 Full fuzzy control of a DSP-based high performance induction motor drive p361 Incremental fuzzy PI control of a solar power plant p596 Learning issues in model reference based fuzzy control p605 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control MULTIVARIABLE CONTROL SYSTEMS system design p137 Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part Case study comparison of robust linear quadratic design and mixed-sensitivity H. assembly p45 control p476 pH control: handling nonlinearity and deadtime with fuzzy relational model-based Comparison of SISO and SIMO neural control strategies for ship track keeping p153 control p263 Design of robust observation schemes for uncertain large scale systems p369 IEE Proc. - Control Theory Appl., Vol 144, 1997 619 ourier series neural network-based adaptive variable structure control for servo sys- Simple model of a transport/diffusion system p459 tems with friction p559 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Improved algorithm for multivariable stable generalised predictive control p309 motor drive p393 Integrated approach to eigenstructure assignment by output feedback control p435 Subsea vehicle path planning using nonlinear programming and constructive solid Output feedback sliding mode design for linear uncertain systems p209 geometry p143 Quantitative design of uncertain multivariable control system with an inner-feedback loop p195 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems OPTIMAL CONTROL approach p537 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Case study comparison of robust linear quadratic design and mixed-sensitivity H. motor drive p393 control p476 Stabpi4l0it3y analysis of fuzzy ; multivariable systems: vector Lyapunov function approach Constrained cautious stable predictive control p313 Generalised predictive control (GPC): a powerful control tool in medicine p8 Variable structure adaptive control of robot manipulators p167 H.. robust control design for dynamic ship positioning p110 Implementation of a self-tuning AVR p32 NEURAL NETS Improved algorithm for multivariable stable generalised predictive control p309 Inversion control of nonlinear systems with neural network modelling p481 LQG approach for the high-precision track control of ships p121 Comparison of SISO and SIMO neural control strategies for ship track keeping p153 Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control Dynamic system for solving complex eigenvalue problems p455 system design p137 Fourier series neural network-based adaptive variable structure control for servo sys- Neural implementation of GMV control schemes based on affine input/output models tems with friction p559 521 Givens rotation based fast backward elimination algorithm for RBF neural network New identification based weighted H.. norm approximation scheme and its applica- pruning p381 tions to controller reduction p61 Identification of time-varying nonlinear systems using minimal radial basis function Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- neural networks p202 tems p575 Implementation of intelligent self-organising controllers in DSP controlled elec- Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems tromechanical drives p324 p183 Inversion control of nonlinear systems with neural network modelling p481 Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Neural implementation of GMV control schemes based on affine input/output models systems p545 are | Real time stabilisation of a triple link inverted pendulum using single control input Nonlinear internal model control using local model networks p505 p498 Real-time identification of missile aerodynamics using a linearised Kalman filter Robust control methodology applied to the design of a combined steering/stabiliser aided by an artificial neural network p299 system for warships p128 Reduced-order estimator for closed-loop online estimation of cross-directional Robust control of interval plants: a time domain method p347 parameters in a plastics extrusion process p549 Robust system identification from weighted impulse response data and worst-case Robust self-tuning rotated fuzzy basis function controller for robot arms p293 error bounds p67 Stable receding horizon control based on recurrent networks p249 Time-domain method for the design of optimal linear controllers p287 Use of learning automata in distributed fuzzy logic processor training p255 OPTIMISATION NONELECTRIC VARIABLES CONTROL Quadratic guaranteed cost and disc pole location control for discrete-time uncertain Autotuning temperature control using identification by multifrequency binary systems p545 sequences p233 Realisation of two-degrees-of-freedom compensators p589 Co-ordinated control of multiple robotic manipulators handling a common object- Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach theory and experiments p73 403 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Unified PID design method based on a maximum peak resonance specification p566 trial robots p467 Convolved and simultaneous two-mode input shapers p515 Implementation of intelligent self-organising controllers in DSP controlled elec- PARAMETER ESTIMATION tromechanical drives p324 Incremental fuzzy PI control of a solar power plant p596 Adaptive control scheme using real time tuning of the parameter estimator p241 pLHQ G conatproplr:o achha ndflori ngt he nohnilgihn-eparreictiys ioann d trdaecak dtciomnet rolw itohf sfhuizpzys rpe1l2a1t ional model-based CRoenasli-sttiemnet ipdaernatmifeitceart ioens tiomfa timiosns iloef sayesrtoedmys nadmiisctsu rbeuds inbgy ac orlrienleaatreids ed noiKsae lmapn4 0 filter control p263 aided by an artificial neural network p299 PReoawple4 r9 t8i mceo ntrsotla biloif saat ion CO, of laas ert riplpe1 77li nk inverted pendulum using single control input Redpuacraemde-toerrdse r in eas tpilmaasttoicrs efoxrt rucslioosne dp-rloocoeps s onlpi5n4e9 estimation of cross-directional Simple model of a transport/diffusion system p459 Robust control methodology applied to the design of a combined steering/stabiliser system for warships p128 Simple model of a transport/diffusion system p459 PATTERN RECOGNITION Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- motor drive p393 Givens rotation based fast backward elimination algorithm for RBF neural network pruning p38] NONLINEAR CONTROL SYSTEMS Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- trol p354 Analysis and redesign of an antilock brake system controller p413 Exact determination of the limit cycles in relay control systems with additional non- PERFORMANCE EVALUATION linearities in the feedback loops p269 Identification of time-varying nonlinear systems using minimal radial basis function neural networks p202 Dynamic systems reliability evaluation using uncertainty techniques for performance Inversion control of nonlinear systems with neural network modelling p481 monitoring p103 Learning issues in model reference based fuzzy control p605 Model referengy adaptive control of dynamic output feedback linearisable systems with unknown high frequency gain p427 POWER ENGINEERING COMPUTING Multiobjective fuzzy genetic algorithm optimisation approach to nonlinear control system design p1l37 Full fuzzy control of a DSP-based high performance induction motor drive Multiple local Laguerre models for modelling nonlinear dynamic systems of the Wiener class p375 Neural implementation of GMV control schemes based on affine input/output models POWER SYSTEM CONTROL p521 Nonlinear autopilot control design for a 2-DOF helicopter model p612 Nonlinear internal model control using local model networks p505 Autotuning temperature control using identification by multifrequency binary pH control: handling nonlinearity and deadtime with fuzzy relational model-based sequences p233 control p263 Full fuzzy control of a DSP-based high performance induction motor drive p361 Real time stabilisation of a triple link inverted pendulum using single control input Implementation of intelligent self-organising controllers in DSP controlled elec- p498 tromechanical drives p324 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Incremental fuzzy PI control of a solar power plant p596 approach p537 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach POWER SYSTEMS AND APPLICATIONS p403 Stable receding horizon control based on recurrent networks p249 Full fuzzy control of a DSP-based high performance induction motor drive p361 Implementation of intelligent self-organising controllers in DSP controlled elec- NUMERICAL ANALYSIS tromechanical drives p324 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- Constrained time-efficient and smooth cubic spline trajectory generation for indus- motor drive p393 trial robots p467 Dynmaomniitco risnygs temps1 l0r3e liability evaluation using uncertainty techniques for performance POWER SYSTEMS AND PLANTS Haar wavelet method for solving lumped and distributed-parameter systems p87 identification of time-varying nonlinear systems using minimal radial basis function Full fuzzy control of a DSP-based high performance induction motor drive p361 neural networks p202 Implementation of intelligent self-organising controllers in DSP controlled elec- Inversion control of nonlinear systems with neural network modelling p481 tromechanical drives p324 Newton’s approach to gain-controlled robust pole placement p439 Incremental fuzzy PI control of a solar power plant p596 Reduced-order estimator for closed-loop online estimation of cross-directional Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- parameters in a plastics extrusion process p549 motor drive p393 620 IEE Proc. - Control Theory Appl., Vol 144, 1997 PREDICTIVE CONTROL Identification of time-varying nonlinear systems using minimal radial basis function neural networks p202 Constrained cautious stable predictive control p313 Integrated approach to eigenstructure assignment by output feedback control p435 Generalised predictive control (GPC): a powerful control tool in medicine p8 MulWtiiepnlee r locclaals s Lapg3u7e5r re models for modelling nonlinear dynamic systems of the IImmpplreomveendt atailgoonr itohfm a fsoerl fm-utlutniivnagr iAabVlRe stpa3b2le generalised predictive control p309 New identification based weighted H.. norm approximation scheme and its applica- Neural implementation of GMV control schemes based on affine input/output models tions to controller reduction p61 p521 Nonlinear internal model control using local model networks p505 Robust control of interval plants: a time domain method p347 Optimal observers for disturbance rejection in two-degree-of-freedom LQI servo sys- tems p575 ; Real-time identification of missile aerodynamics using a linearised Kalman filter PROBABILITY AND STATISTICS aided by an artificial neural network p299 Realisation of two-degrees-of-freedom compensators p589 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Recursive identification of certain structured time-varying state-space models p489 trol p354 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 Reduced-order observer for large-scale systems p189 PRODUCTION ENGINEERING Robust system identification from weighted impulse response data and worst-case error bounds p67 Constrained time-efficient and smooth cubic spline trajectory generation for indus- Simple model of a transport/diffusion system p459 trial robots p467 Unified PID design method based on a maximum peak resonance specification p566 On-line adaptive control in the hot rolling of steel p15 Optimal planning technique with a fuzzy co-ordinator for an intelligent robot’s part STABILITY assembly p45 Reduced-order estimator for closed-loop online estimation of cross-directional parameters in a plastics extrusion process p549 Adaptive performance/robust control design for discrete systems p95 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles Case study comparison of robust linear quadratic design and mixed-sensitivity H and application of a bilinear approach p25 control p476 Control-system synthesis for open-loop unstable process with time delay p334 Designing stabilising controllers and observers for uncertain linear systems with PROGRAMMING THEORY time-varying delay p331 Discretisation of continuous-time control systems with guaranteed stability [com- Dynamic systems reliability evaluation using uncertainty techniques for performance ment with reply] p277 monitoring p103 Dynamic system for solving complex eigenvalue problems p455 Fourier series neural network-based adaptive variable structure control for servo sys- tems with friction p559 SELF-ADJUSTING SYSTEMS Frequency domain design method for uncertain systems under some unknown-but- bounded disturbances p225 Adaptive control scheme using real time tuning of the parameter estimator p241 Generalised predictive control (GPC): a powerful control tool in medicine p8 Adaptive integral control of time-delay systems p531 H.. robust control design for dynamic ship positioning p110 Adaptive performance/robust control design for discrete systems p95 Implementation of a self-tuning AVR p32 Autotuning temperature control using identification by multifrequency binary Improved algorithm for multivariable stable generalised predictive control p309 sequences p233 Newton’s approach to gain-controlled robust pole placement p439 Co-ordinated control of multiple robotic manipulators handling a common object- Nonlinear autopilot control design for a 2-DOF helicopter model p612 theory and experiments p73 Nonlinear filters for linear signal models p281 Discrete-time model reference adaptive control for nonminimum phase systems with Nonlinear internal model control using local model networks p505 disturbances using approximate inverse systems p447 Optimal quadratic guaranteed cost control of a class of uncertain time-delay systems Expert adaptive control applied to turbogenerator systems p2 83 Fourier series neural network-based adaptive variable structure control for servo sys- Output feedback sliding mode design for linear uncertain systems p209 tems with friction p559 Real time stabilisation of a triple link inverted pendulum using single control input Generalised predictive control (GPC): a powerful control tool in medicine p8 p498 Implementation of a self-tuning AVR p32 Robust control methodology applied to the design of a combined steering/stabiliser Implementation of intelligent self-organising controllers in DSP controlled elec- system for warships p128 tromechanical drives p324 Robust control of interval plants: a time domain method p347 Learning issues in model reference based fuzzy control p605 Robust model-following control for a robot manipulator p53 LQG approach for the high-precision track control of ships p121 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Model reference adaptive control of dynamic output feedback linearisable systems approach p537 with unknown high frequency gain p427 Robust pole assignment in uncertain systems p217 Nonlinear internal model control using local model networks p505 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 On-line adaptive control in the hot rolling of steel p15 Robust system identification from weighted impulse response data and worst-case pH control: handling nonlinearity and deadtime with fuzzy relational model-based error bounds p67 control p263 Stability analysis of fuzzy multivariable systems: vector Lyapunov function approach Robust model-following control for a robot manipulator p53 p403 Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems Stable receding horizon control based on recurrent networks p249 approach p537 Variable structure adaptive control of robot manipulators p167 Robust self-tuning rotated fuzzy basis function controller for robot arms p293 Self-tuning control of an industrial pilot-scale reheating furnace: Design principles SYNCHRONOUS MACHINES and application of a bilinear approach p25 Variable structure adaptive control of robot manipulators p167 Sliding mode and fuzzy control of toggle mechanism using PM synchronous servo- SIGNAL PROCESSING motor drive p393 SYSTEMS THEORY Consistent parameter estimation of systems disturbed by correlated noise p40 Full fuzzy control of a DSP-based high performance induction motor drive p361 Intelligent signal processing of evoked potentials for anaesthesia monitoring and con- Identification of time-varying nonlinear systems using minimal radial basis function trol p354 neural networks p202 Nonlinear filters for linear signal models p281 Implementation of a self-tuning AVR p32 Multiple local Laguerre models for modelling nenlinear dynamic systems of the Wiener class p375 SIMULATION, MODELLING AND IDENTIFICATION Nonlinear internal model control using local model networks p505 Robust model-following control for a robot manipulator p53 Adaptive control scheme using real time tuning of the parameter estimator p241 Autsoetquunenicnegs tepm2p3e3r ature control using identification by multifrequency binary TIME-VARYING SYSTEMS Case study comparison of robust linear quadratic design and mixed-sensitivity H. control p476 Designing stabilising controllers and observers for uncertain linear systems with Consistent parameter estimation of systems disturbed by correlated noise p40 time-varying delay p331 Design of robust observation schemes for uncertain large scale systems p369 Identification of time-varying nonlinear systems using minimal radial basis function Designing stabilising controllers and observers for uncertain linear systems with neural networks p202 time-varying delay p331 Recursive identification of certain structured time-varying state-space models p489 IEE Proc. - Control Theory Appl., Vol 144, 1997

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