Topics in Control and its Applications: A Tribute to Edward J. Davison PDF
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Topics in Control and its Applications Springer-Verlag London Ltd. Daniel E. Miller and Li Qiu (Eds.) Topics in Control and its Applications J. ATribute to Edward Davison , Springer Daniel E. Miller, PhD University ofWaterloo, Department of Electrica! and Computer Engineering, Waterloo, Ontario, Canada. N2L 3G 1 LiQiu,PhD Hong Kong University of Science and Technology, Department of Electrica! and Electronic Engineering, Clear Water Bay, Kowloon, Hong Kong ISBN 978-1-4471-1158-0 British Library Cataloguing in P.ublication Data Topics in control and its applications 1. Control theory -Congresses I. MiIler, Daniel E. II. Qiu, Li 629.8'312 ISBN 978-1-4471-1158-0 Library ofCongress Cataloging-in-Publication Data Topics in control and its applications : atribute to Edward J. Davison / Daniel E. MiIler and Li Qiu (eds.). p. cm. Includes bibliographical references. ISBN 978-1-4471-1158-0 ISBN 978-1-4471-0543-5 (eBook) DOI 10.1007/978-1-4471-0543-5 1. Automatic control. 1. Davison, Edward J., 1938- . II. MiIler, Daniel E., 1962- . III. Qiu, Li,I961- TJ21l.T67 1999 98-52347 629.8--dc21 CIP Apart from any fair dea1ing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and 1>atents Act 1988, this publication may onIy be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of Iicences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. © Springer-Ve rlag London 1999 Originally published by Springer-Verlag London Limited in 1999 The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contamed in this book and cannot accept any legal responsibility or Iiability for any errors or omissions that may be made. Typesetting: Camera reâllly by editors 69/3830-543210 Printed on acid-freepaper Contents Preface ........................................................ VII Biography ofEdward J. Davison. .............................. IX Robust Control for Car Steering. .............................. 1 Jurgen Ackermann Radial and Uniform Distributions in Vector and Matrix Spaces for Probabilistic Robustness 17 Giuseppe Calafiore, Fabrizio Dabbene, Roberto Tempo Decentralized Reliab.le Control for Large-Scale Systems. ....... 33 ZhengJang Chen, Timothy Chang A Novel Approach to Vibration Reduction in Flexible Belt Drives. ........................................ 67 Robert B. Gorbet, Scott A. Bortoff Fault Diagnosis in Finite-State Automata and Timed Discrete-Event Systems. ............. .............. 81 Shahin Hashtrudi Zad, Raymond H. Kwong, W. Murray Wonham On The Stability of Control Systems Having Clegg Integrators 107 Hanzhong Hu, Yuan Zheng, Christopher V. Hollot, Yossi Chait Constructive Solutions to a Decentralized Team Problem with Application in Flow COx;tltrol for Networks 117 Orhan Qalin imer, Tamer Ba§ar Solution ofa Wavelet Crime 143 Pu Qian, Bruce A. Francis Interior and Non-Interior Point Algorithms for Nonlinear Programming 157 Victor H. Quintana, Geraldo L. Torres Decentralized Control ofUncertain Systems via Sensitivity Models ......................................... 171 Dave A. Schoenwald, Umit Ozguner Dynamic Modeling'OfAirborne Gas Turbine Engines 189 Ady Solomon VI Properties ofLinear Discrete-Time System in Terms ofIts Singular Value Decomposition ... .............. 207 Shih-Ho Wang Preface Prof. Edward J. Davison (Ted) is a man ofmany talents. He started his career in music, veered into engineering physics for his undergraduate degree and moved to applied mathematics for his MASc degree; although accepted to do a PhD in cosmology, he ended up doing a PhD at Cambridge University in the areaofsystems control under the direction ofthe renowned Prof. Howard Rosenbrock. This breadthofability underscores hisensuingthirty-fiveyearsof workinsystemscontrol,whichspanstheveryapplied tothehighly theoretical. Equally important, he is arguably one ofthe most enthusiastic proponents of the area- he argued in the 1997 Bode Lecture that, unlike popular opinion, theory is lagging practise, with many exciting areas ofscience and engineering requiring input from the systems control area. Ted's contributions to systems control are many. His first journal paper was on the area ofmodel reduction, which became a "citation classic". He is commonly regarded to have introduced the word "robust" to the area, and has published extensively in the area ofrobust control, ranging from his 1976 paper on the robust servomechanism problem to the more recent paper on computingtherealstabilityradius. He wasinonthegroundfloorofthecontrol oflarge scale systems, introducing such fundamental notions as decentralized fixed modes, and posing and solvingthe decentralized robust servomechanism problem. He has made contributions to determining fundamental benefits and limitations ofadaptive control. Throughout his career Ted has been acutely concerned with computations and numerical methods, having devised methods to solving "stiff" differential equations and devising computer aiped optimal controller design routines. Be sides his numerous consulting acti~ities, he has done research on applications in a number ofareas: in mechaniclitl systems, such as the control oflarge flex ible space structures; in chemical engineering systems, such as the control of distillationcolumns; in chemicalsystems, suchas the modellingofpolymeriza tion; in biologicalsystems, such as developing models ofcell behaviour, which was described in part in Time Magazine in 1974. In addition to his academic contributions, Ted has put a lot of time and energy into the control systems community. His many professional activities include that ofvice-president ofthe the IEEE Control Systems Society (1979 - 1981), president ofthe IEEE Control Systems Society (1983), and chairman ofthe IFAC Theory Committee (1988 - 1990). As former graduate students of Ted, we benefited directly from his guid ance'. The whole areaof control systems has benefited from his scholarly con tributions, the leadership he provided in various professional capacities, and his infectious ent'i\1siasm for our areaofresearch as well as life in general. This year Ted turned. 60. In honor of this event we hosted a workshop at the Fields Institute of the University of Toronto during June 29-30, 1998. VIII A number of papers were presented during the workshop, and most are in some way related to Ted's work. Thetopics fall intofour broad classes: robust control, decentralized control, control applications, and various topics in the theory ofsignals and systems. We would like to thank the authors for their enthusiastic participation. We are grateful to Dr. Don Dawson of the Fields Institute for hosting the workshop and providing support staff, and to Prof. David Burns of the Uni versity of Waterloo and Prof. Safwat Zaky of the University of Toronto for providing financial support. We would like to thank Brenda Law ofthe Fields Institute who was instrumental in the smooth functioning of the workshop, and Prof. Diane Kennedy of Ryerson Polytechnic University for helping to arrange accommodations and the banquet. we are grateful for the support of Springer-Verlag, who is publishing the conference proceedings to ensure wide dissemination; we are especially grateful for the support of Nicholas Pinfield, Engineering Editor, Springer-Verlag London, and for the editorial help from Anne Neill and Elaine Fuoco. Finally, we would like thank Lau Mei Sum of Hong Kong University of Science and Technology for typesetting part of the book. ' Waterloo, Hong Kong Daniel E. Miller November 1998 Li Qiu Biography of Edward J. Davison Edward J. Davison was born in Toronto, Canada in 1938. He received the A.R.C.T. degree in piano from the Royal Conservatory of Music of Toronto in 1958, and the B.A.Sc. degree in Engineering-Physics and the M.A. degree in Applied Mathematics from the University of Toronto in 1960 and 1961 respectively. In 1964 he received the Ph.D. degree, and in 1977 the Sc.D. degree from Cambridge University, England. From 1964-1966he was with the University ofToronto; in 1966-67 he was with the University of California, Berkeley, in the Department of Electrical Engineering and Computer Science, and since then, he has been associated with the Departffj~ntof Electrical and Computer Engineering, University of Toronto. His research'interests include the study of linear systems theory, large scale systems, CAD of control systems, computational methods, adap- x tive control, intelligent control, industrial process control, large flexible space structures and biological system theory. Dr. Davison was Associate Editor from 1974to 1976, Guest Associate Ed itor in 1977-1978, 1982-1983, and Consulting Editor in 1985, of the IEEE Trans. on Automatic Control. He has been an Associate Editor of Automatica from 1974-1987, and of Large Scale Systems: Theory and Applications from 1979-1990, and has been a member of the Editorial Board of Optimal Con trol Applications and Methods since 1983. He was Vice-President (Technical Affairs) in 1979-1981, President-Elect in 1982, and President in 1983, of the IEEE Control Systems Society. He was Vice-Chairman of the International Federation of Automatic Control (IFAC) Theory Committee in 1978-1987, Chairmanofthe IFAC Theory Committeein 1988-1990,Vice-Chairman ofthe IFAC Technical Board in 1990-1993, a member ofthe IFAC Council in 1991 1996, and at present has been serving as Vice-Chairman of the IFAC Policy Committee since 1996. Dr. Davison has received several awards, including the Athlone Fellowship (CambridgeUniversity) 1961-1963,the National Research Council ofCanada's E.W.R. Steacie Memorial Fellowship 1974-1977, the Canada Killam Research Fellowship 1979-1980, 1981-1983, two IEEE Transactions on Automatic Con trol Outstanding Paper Awards, and a Current Contents Classic Paper Ci tation. He was elected a Fellow of the Institute of Electrical and Electronic Engineers in 1977, a Fellow of the Royal Society of Canada in 1977, and an Honorary Professor of Beijing Institute of Aeronautics and Astronautics in 1986. In 1984, he received the IEEE Centennial Medal and was elected a Dis tinguished Member ofthe IEEE Control Systems Society. In 1996 he received theOutstandingMemberServiceAwardfromIFAC,andin 1998hewaselected a Member ofthe Academy of Nonlinear Sciences in Moscow, Russia. Dr. Davison is a designated Consulting Engineer of the Province of On tario since 1979, and currently is President of the consulting firm Electrical t Engineering Consociates (EEC) sit'llated in Toronto, Canada. In 1993,he wasawarded thetri~nnialQuazzaMedalfrom the International Federation of Automatic Control" (IFAC), and in 1997 he was awarded the IEEE Control Systems Society's Hendrik W. Bode Lecture Prize.
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