CCA 2003Proceedings of

2003 IEEE Conference on

Control Applications

Volume 1 of 2

June 23-25, 2003Istanbul, TURKEY

• I n • • • • • • S i

UB/TIB Hannover 89125 524 501

I PLENARIES

Managing Congestion in Large-Scale Networks: An Emerging Paradigm for ControlApplications

Tamer BasarUniversity of Illinois at Urbana-Champaign, USA

Autonomous Control Systems in Space? Future NASA MissionsMo JamshidiThe University of New Mexico, USA

LISTOFPAPERS |

MoMl-1: Mini Track on Automotive Control ApplicationsAutomotive Control

Organized bv: Levent Guvenc. Istanbul Technical University. Turkey

A Comparative Study for Autonomous Highway Driving System with Satellite-BasedPositioning 1

Alessandro Gallione, Vincenzo Murdocco, Sebastiano CampoCentro Ricerche Fiat, Italy

Rollover Prevention for Heavy Trukcs Using Frequency Shaped Sliding Mode Control 7Tankut Acarman1, Umit Ozguner2

1 Ondokuz Mavis University, Turkey,' Ohio State University, USA

HIL System for Steering Controller Tests 13Levent Giiven9, Bilin Aksun Guvenc, Tevfik Yigit, Eyiip Serdar OztiirkIstanbul Technical University, Turkey

ABS with Constrained Minimun Energy Control Law 19Saverio Armeni, Edoardo MoscaDipartimento di Sistemi e Informatica, Italy

Car Brake System Modeling for Longitudinal Control Design 25Giovanni Celentano1, Raffaele Iervolino1, Stefano Porreca , Vincenzo Fontana' Universitd degli Studi di Napoli,Italy, FIAT Research Center, Elasis, Italy

Model Regulator Based Individual Wheel Braking Control 31Bilin Aksun Guvenc, Levent Giivenc, Eyiip Serdar Oztiirk, Tevfik YigitIstanbul Technical University, Turkey

I MoM2-l: Identification 1

An Experimental Study on the Closed-Loop System Identification byObserver/Controller Identification(OCID) Algorithm 37

Mun-Soo Park, Dong-Hoon Yang, Duck-Gee Park, Suk-Kyo HongAjou University, Korea

Block Oriented Nonlinear Model Identification by Evolutionary Computation Approach 43Toshiharu Hatanaka1, Katsuji Uosaki', Masazumi Koga2

Osaka University, Japan, 2Hewlett-Packard Japan, Japan

System Identification for Nano Control: A Finite Wordlength Problem 49Atsuhiko Okao1, Masao Ikeda2, Ryoichi Takahashi2

'DAINIPPON SCREEN MFG. CO., LTD., Japan, 2 Osaka University, Japan

Identifying Strength of Boards using Mechanical Modeling and a Weibull-Based Feature 54Ata A. Saravi, Peter D. Lawrence, Frank LamUniversity of British Columbia, Canada

Experimental On-line Identification of a Three-mass Mechanical System 60Ilyas Eker, Mete VuralUniversity ofGaziantep, Turkey

Experimental Nonlinear Identification of a Two Mass System 66Tolgay Kara, Ilyas EkerUniversity ofGaziantep, Turkey

[I MoM3-l: Sliding-Mode Control _ J |

An Indirect Adaptive Fuzzy Sliding-Mode Control for Decoupled Nonlinear Systems 72Kim Dowoo, Yang Haiwon, Hong SoonchanDaeduk College, Korea

Sliding Mode Control of a Class of Uncertain Systems 78Mehmet Onder Efe1, Cem Unsal", Okyay Kaynak3, Xinghuo Yu4

'The Ohio State University, USA, 2Carnegie Mellon University, USA, 3Bogazici University,Turkey, RMIT University, Australia

Sliding Mode Control of Voltage-controlled Magnetic Levitation Systems 83Mahdi Jalili Kharaajoo, Mani Mesgarpour Tousi, Hassan Bagherzadeh, Aliraza EsnaAshariTehran University, Iran

Application of Proportional-Integral Sliding Mode Tracking Controller to RobotManipulators 87

Mohamad Noh Ahmad, Johari H. Shah OsmanUTM, Malaysia

Varying Sliding Surface Control of an Induction Machine Drive 93Abdelkoudouss Faqir, Franck Betin, Larbi Chrifi Alaoui, Babak Nahid, Daniel PinchonUniversite de Picardie Jules Verne, France

Speed Control of PM Synchronous Motors: Comparison of Sliding Mode and PIControllers 99

Hassan Ebrahimirad, Sadegh Vaez-Zadeh, Mahdi Jalili-KharaajooTehran University, Iran

Precision Tracking Control of A Horizontal Arm Coordinate Measuring Machine 103Tugrul OzelRutgers University, USA

I MoM4-l: Genetic Algorithms

Integarative Two-stage Optimization for Core Design of BWR using Genetic Algorithms 109Yoko Kobayashi , Eitaro Aiyoshi*1 Tepco Systems Coprpration, Japan, 2Keio University, Japan

Extended Fuzzy C- Means and Genetic Algorithms to Optimize Power Flow Managementin Hybrid Electric Vehicles 115

Lucio Ippolito, Vincenzo Loia, Pierluigi SianoUniversity of Salerno, Italy

Optimization of Design Parameters of a Pneumatic System for Solid FreeformFabrication System Using Genetic Algorithm 120

Taijoon Um, Youngcheol Joo, Yonghae Kong, Ingook Chun, Seungwoo Kim, JaecheolBangSoonchunhyang University, Korea

On The Neuro-Genetic Approach For Determining Optimal Control of A Rotary Crane 124Chokri Rekik, Mohamed Djemel, Nabil DerbelICOS, University ofSfax, Tunisia

Application of Genetic Algorithm and Recurrent Network to Nonlinear SystemIdentification 129

Jih-Gau JuangNational Taiwan Ocean University, Taiwan

Optimal Placement of Loudspeakers and Michrophones in an Enclosure Using GeneticAlgorithm 135

Allahyar Montazeri, Javad Poshtan, Mohammad Hossein KahaeiIran University of Science and Technology, Iran

MoAl-1: Mini Track on Automotive Control Applications (Cont.)Engine & Powertrain

Organized bv: Levent Guvenc. Istanbul Technical University. Turkey

Idle Speed Controj for GDI Engines Using Robust Multirate Hybrid CommandGovernors 140

Leonardo Albertoni , Andrea Balluchi , Alessandro Casavola , Claudio Gambelli ,Edoardo Mosca1, Alberto L. Sangiovanni-Vincentelli4

1 Firenze University, Italy, 2Parades, Italy, 3Universita della Calabria, Italy, 4University ofCalifornia at Berkeley, USA

Development of Calibration Tools for Model Based Engine Control Strategies 146Ferdinando De Cristofaro, Agostino Funel, Stefano ScalaElasis SCPA., Italy

Self-Tuning Control of an Electronic Throttle 149Danijel Pavkovic1, Josko Deur1, Martin Jansz2, Nedjeljko Peric1

' University of Zagreb, Croatia, 2Ford Motor Company

Control-Oriented Linear Parameter-Varying Modelling of a Turbocharged Diesel Engine 155Merten Jung, Keith GloverUniversity of Cambridge, UK

Analysis of Mean Value Engine Model with Emphasis on Intake Manifold ThermalEffects 161

Josko Deur , Davor Hrovat', Jahan Asgari'University of Zagreb, Croatia, 2Ford Research Laboratory

Lean Combustion Stability of Spark Ignition Engines 167Pingan He, Sarangapani JagannathanThe University of Missouri, USA

MoA2-l: Special Session onControl Applications in Power Systems

Organized bv: Petr Korba. ABB Corporate Research, Switzerland

Robust Control of a VSC HVDC Terminal Attached to a Weak AC System 173Adel Farag', Martyn Durrant1, Herbert Werner1, Keith Abbott2

' TU Hamburg-Harburg, Germany, 2ALSTOM Power Systems Ltd., UK

Model of a VSC H VDC Terminal Attached to a Weak AC System 178Martyn Durrant1, Herbert Werner1, Keith Abbott2

1 TU Hamburg-Harburg, Germany, "ALSTOM Power Systems Ltd., UK

Detection of Oscillations in Power Systems Using Kalman Filtering Techniques 183Petr Korba, Mats Larsson, Christian RehtanzABB Corporate Research, Switzerland

Power Systems Voltage Emergency Control Approach Using Trajectory Sensitivities 189Marek Zima1, Petr Korba2, Goran Andersson1

ETHZZurich, Switzerland, 'ABB Corporate Research, Switzerland

Detection of Internal Faults in Transformers Us ing Nonlinear Observers 195Marcos F. Jorge-Zavala, Efrain Alcorta-GarciaUniversidad Autonoma de Nuevo Leon, Mexico

MoA3-l: H-infmity Control

Robust H-infinity Control of a Fly-By-Wire Aircraft: An LFT Approach 200Francesco Amato1, Carlo Cosentino , Raffaele Iervolino2, Umberto Ciniglio3

' Universita degli Studi Mediterranea di Reggio Calabria, Italy,' Universita degli Studi diNapoli Federico II, Italy, Centro Italiano Ricerche Aerospaziali, Italy

A Multivariable H-infinity Control for Wind Energy Conversion System 206Ronilson Rocha, Luiz S. Martins FilhoFederal University ofOuro Preto, Brazil

H-infinity Control of Structures Using Piezoelectric Actuators and Sensors 212Oguzhan Ozgul, Esref EskinatBogazici University, Turkey

Adaptive Nonlinear H-infinity Techniques Applied to a Robot Manipulator 218Adriano Siqueira, Andre Petronilho, Marco TerraUniversity of Sao Paulo, Brazil

Performance Improvement of Active Suspension System using Mixed H-2 /H-infinityTechnique 224

Ali M. Amani1, Mohammad J. Yazdanpanah1, AH K. Sedigh2

University of Tehran, Iran, ' Khaje-Nasir Toosi University of Technology, Iran

A LMI Approach to Robust H-infinity Filtering for Discrete-time Systems 230Lin Yue-song1, Qian Ji-xin2, Xue An-ke1, Xu Sheng-lin'1 Hangzhou Institute of Electronics Engineering, China, 2 Institute of System Engineering,Zhejiang University, China

HI MoA4-l: Fuzzy Systems

Nonlinear Optimal Control of Fuzzy Systems 234Yonmook Park, Hyochoong Bang, Min-Jea TahkKorea Advanced Institute of Science and Technology (KAIST), Korea

Constrained Multi-Objective Optimization of a Fuzzy Logic Controller—Applications ina Non-Linear System and a Goal-Seeking Rover 240

Hossein S. ZadehRoyal Melbourne Institute of Technology, Australia

Fuzzy Observer Design for Mobile Robot 245Uk-Youl Huh1, Jong-Hun Park1, Jin-Hwan Kim2

'INHA University, Korea, 2INHA Technical college, Korea

A Fuzzy Classifier for Fault Diagnosis of Valve Actuators 251Jose Sa da Costa', Cosmin Danut Bocaniala , Rui Louro1 Instituto Superior Tecnico- TU Lisbon, Portugal, 2 University "Dunarea de Jos" fromGalati, Romania

An Advanced Tuning Methodology for Fuzzy Control: With Application to a VacuumCleaner 257

Kemal CilizBogazici University, Turkey

Supervisory Fuzzy Logic Controller Used for Process Loop Control in DCS System 263Mostafa Abd-Elgeliel1, Mohamed El-Khazendar2

'Arab Academy for Science & Technology, Egypt, Tanta University. Egypti

MoAl-2: Mini Track on Automotive Control Applications (Cont.)Vehicle Dynamics

Organized bv: Levent Guvenc. Istanbul Technical University. Turkey

Lateral Control of Tractor-Trailer Vehicles 269Stefania Martini, Vincenzo MurdoccoCentro Ricerche Fiat, Italy

Active Suspension Control: Performance Comparison using Proportional-Integral SlidingMode and Linear Quadratic Regulator Methods 274

Yahaya Md. Sam1, Johari H.S. Osman', M. Ruddin A. Ghani2

'University Technology of Malaysia, Malaysia, 2Kolej Universiti Teknikal, Malaysia

On-Line Estimation of Operating Variables for Stepped Automatic Transmissons 279Sarawoot Watechagit, Krishnaswamy SrinivasanOhio State University, USA

Use of Active Suspension Control to Counter the Effects of Vehicle Payloads 285Joshua Vaughan, William Singhose, Nader SadeghGeorgia Institute of Technology, USA

Multi-objective Output-feedback Suspension Control on a Half-car Model 290PengYuan Sun, Hong ChenJilin University, China

I MoA2-2: Power Systems

Robust Nonlinear Control of TCSC for Power System via Adaptive Back-Stepping Design 296Wenlei Li1, Yuanwei Jing1, Georgi Dimirovski2, Xiaoping Liu1

Northeastern University, China,' Dogus University, Turkey

OTA - Based Control System of Active Power Filter for Harmonic and Reactive PowerCompensation 301

Sombat Vanichprapa1, Boonruk Chipipop1, Chayant Koompai1, Kenzo Watanabe1KMUTT, Thailand, 2Shizuoka University, Japan

Optimal Nonlinear Transient Controller for a Single Machine-Infinite Bus Power System 306Mahdi Jalili-kharaajoo1, Kaveh Moezzi-Madani2

'Tehran University, Iran,'Amikabir University, Iran

Optimal and Adaptive Voltage and Current Harmonics Compensation Under Non StiffVoltage Conditions 312

Mohammad Reza RafieiSahand University of Technology, Iran

An Intelligent Cognitive Expert System for Voltage Control in Power Systems 319Mohamad KhaldiUniversity of Balamand, Lebanon

Exogeneity Investigation and Modeling Energy Demand via Parallel Dynamic LinearModels for Maximum Simultaneous Power Demand 325

Hamed Shakouri G.', Jalal Nazarzadeh', S. Kamal Y. Nikravesh2

Shahed University, Iran,' Amirkabir University of Technology, Iran

MoA3-2: Neural Networks |||

Minimization of Actuator Repositioning in Delayed Processes Using Flexible NeuralNetworks 331

Mohammad Javad Yazdanpanah, Elham Semsar, Caro LucasUniversity of Tehran, Iran

Seismic Control of Eccentric Structures Using TLCD Semi-Active Neural Networks 336Hong-Nan Li, Lin-Sheng HuoDalian University of Technology, China

Emotional Temporal Difference Learning Based Intelligent Controller 341Farzan Rashidi1, Mehran Rashidi2, Arash Hashemi-Hosseini3

Tehran University, Iran,' Hormozgan University, Iran, Sharif University, Iran

Air/Fuel Ratio Control in SI1 Engines Using a Combined Neural Network & Estimator 347Mohamad Javad Yazdanpanah, Ahmad KalhorTehran University, IRAN

Modelling of Sizing the Photovoltaic System Parameters Using Artificial Neural Network 353Adel Mellit', Mohamed Benghanem1, Amar Hadj Arab2, AH Guessoum3

'University of Sciences and Technology Houari Boumediene (USTHB), Algiers, 2 Centre ofRenewable Energy Development (CDER), Algiers, University ofBlida, Algiers

Synthetic Evaluation of Enterprises Future Profitability Based on Neural Networks 358Zhao Jianguo1, Miao Li2lTsinghua University, China,'Dongbei University of Finance and Economics,China

MoA4-2: Fuzzy Control ||

Smith Predictor Based Neural Fuzzy Controller Applied in a Water Gas Heater thatPresents a Large Time-Delay and Load Disturbances 362

Jose Vieira1, Alexandre Mota2

Escola Superior de Tecnologia de Castelo Branco, Portugal, Universidade de Aveiro,Portugal

A Fuzzy Lyapunov-based Control Strategy for a Macro-Micro Manipulator 368Amin Mannani, Heidar Ali TalebiAmirkabir University of Technology, Iran

TS-Model-Based Fuzzy Tracking Control for a Single-Link Flexible Manipulator 374Amin Mannani, Heidar Ali TalebiAmirkabir University of Technology, Iran

Yaw Moment Control via Emotional Adaptive Neuro-Fuzzy Controller for IndependentRear Wheel Drives of an Electric Vehicle 380

Abolfazl Halvai Niasar1, Hassan Moghbeli2, Reza Kazemi31 Iran University of Science and Technology (IUST), Iran,'Prairie View A&M University,USA, K. N. Toosi University of Technology, Iran

Adaptation Algorithm for Robust Fuzzy Controller of Nonlinear Uncertain Systems 386Najib Essounbouli1, Abdelaziz Hamzaoui1, Khier Benmahammed2

Laboratoire d'Automatique et de Microelectronique, France,'Laboratoire des SystemesIntelligents, France

Fuzzy Pole Placement Design with H-infinity Disturbance Attenuation for UncertainNonlinear Systems 392

Fei Liu •Southern Yangtze University, China

I TuMl-1: Communications

Randomized Algorithms for Stability and Robustness Analysis of High SpeedCommunication Networks 397

Tansu Alpcan1, Tamer Basar1, Roberto Tempo2

'University of Illinois at Urb ana-Champaign, USA, 2Politecnico di Torino, Italy

A Chaotic Secure Communication Scheme with Extended Kalman Filter BasedParameter Estimation 404

Huawei Ruan, Tongyan Zhai, Edwin YazMarquette University, USA

State Estimation and Control for Linear Systems over Communication Networks 409Serdar Yuksel, Tamer BasarUniversity of Illinois at Urbana-Champaign, USA

Control Design for Transient Power and Spectral Control in Optical CommunicationNetworks 415

Lacra PavelUniversity of Toronto, Canada

Quantization for LTI Systems with Noiseless Channels 423Serdar Yuksel, Tamer BasarUniversity of Illinois at Urbana-Champaign, USA

An Investigation on the Effect of Acoustic Feedback in a Single-Channel Active NoiseControl System 430

Javad Poshtan, Saeedeh Sadeghi, M. H. KahaeiIran University of Science and Technology, Iran

Multi-Channel Active Noise Control Algorithm Using Align Matrix 435Javad Poshtan, Farzin Taringoo, Alireza Nasiri, M. Hossein KahaieIran University of Science and Technology, Iran

I TuM2-l: Predictive Control

Predictive Steering Control Using Laguerre Series Representation 439El Mostafa El Adel1, Mustapha Ouladsine1, Larbi Radouane2

LSIS, Domaine Universitaire de Saint Jerome, France,'LESSI, France

The Disturbance Model in Model Based Predictive Control 446Robin De Keyser1, Clara Ionescu2

Gent University, Belgium, ~ Dunarea de Jos University ofGalati, Romania

State Space Representation of MIMO Predictive PID Controller 452Mohammad H. MoradiUniversity of Bu-Ali Sina, Iran

Two Cascaded Nonlinear Predictive Controls of Induction Motor 458Ramdane Hedjar1, Redouane Toumi', Patricl'LRPE, USTHB, Algeria, 2Supelec, FranceRamdane Hedjar1, Redouane Toumi', Patrick Boucher7, Didier Dumur̂

Constrained Model Predictive Control of MM A Polymerization Reactor Based onGenetic Algprithm Optimization 464

Mehdi HLafizadeh , Reza Solgi1, Masoud Abbaszadeh2

1 AmirKabir University of Technology, IRAN, 2Sharif University of Technology, IRAN

Robust Model Predictive Control of Time-delay Systems 470LiuZhilin, Zhang Jun, Pei RunHarbin Institute of Technology, China

I TuM3-l: Aero-Space Applications |||

Attitude Control of Asymmetric Spacecrafts Subject to Actuator Failures 474Fabio Bacconi, David Angeli, Edoardo MoscaDipartimento di Sistemi e Informatica, Italy

Covariance Analysis of Spacecraft Attitude Control System 480Yoon-Hwan Kim, Yonmook Park, Hyochoong Bang, Min-Jea TahkKorea Advanced Institute of Science and Technology (KAIST), Korea

Attitude Alignment of a Team of U AVs under Decentralized Information Structure 486Dario Bauso, Laura Giarre, Raffaele PesentiUniversita di Palermo, Italy

Optimal Neuro-Controller in Longitudinal Autolanding of a Commercial Jet Transport 492Hojjat Izadi1, Mehrdad Pakmehr2, Nasser SadatiTarbiyat Modarres University, Iran,' Sharif University of Technology, Iran

Effect of Side Jet on Pursuit-evasion Games 498Su-Jin Lee, Jin-Ik Lee, Min-Jae TahkKorea Advanced Institute of Science and Technology (KAIST), Korea

Closed-Form Solutions of Optimal Guidance with Terminal Impact Angle Constraint 504Chang-Kyung Ryoo , Hangju Cho , Min-Jea TahkKorea Advanced Institute of Science and Technology (KAIST), Korea, Agency for

Defense Development, Korea

TuM4-l: Vibration Control |||

Structural Design for Vibration Transfer Suppression 510Miyahito Hase, Masao Ikeda, Naoki KobayashiGraduate School of Engineering, Osaka University, Japan

Output Feedback Stabilization of a Vibrating Gyroscope 516Benoit Boivin, Driss Mehdi, Patrick Coirault, Laurent RambaultLAII, ESIP, France

Velocity Feedback Vibration Controller Synthesis: LMI Approach 522Levent Ozturk, Ali Yurdun Orbak, Esref EskinatBogazici University, Turkey

Embedded Controller Design for an Active Damper System 528K-P Kang1, M. Moallem2, R.V. Patel21 Samsung Electronics, Korea, 2 University of Western Ontario, Canada

Effect of Vertical Acceleration on the Frequency of a Pendulum: Impact on InputShaping J 534

John Hue}*, William SinghoseGeorgia Institute of Technology, USA

Active Vibration Control of a Beam with Piezoelectric Patches: Real-timeImplementation with xPC target 540

Asan Gani, M.J.E Salami, Md. Raisuddin KhanInternational Islamic University, Malaysia

Two Models Of Flexible Beam Equations: Linear Approximated Models 547Mohammed SarhanGeorgia Southern University, USA

TuMl-2: Special Session onSoft-Computing Approaches in Control Applications

Organized bv: Antonios Tsudros and John Economou. Cranfield Universitv-RMCS. UK

Control Design for a Mobile Robot: A Fuzzy LPV Approach 552Antonios Tsourdos, John Economou, Brian White, Patric LukCranfield University-RMCS, UK

Airship Control Using Neural Network Augmented Model Inversion 558Chang-Su Park, Hyunjae Lee, Min-Jea Tahk, Hyo-Choong BangKorea Advanced Institute of Science and Technology (KAIST), Korea

Fuzzy Modelling of a Gas Turbine Engine Using Clustering and Multi-objectiveOptimisation 564

Sog-Kyun Kim, Haydn Thompson, Peter FlemingThe University of Sheffield, UK

A New PID Type Hierarchical Fuzzy Logic Controller 570Sezai Tokat, Ibrahim Eksin, Miijde GiizelkayaIstanbul Technical University, Turkey

Genetic Assisted Selection of RBF Model Structures for Greenhouse Inside AirTemperature Prediction 576

P.M. Ferreira, A.E. Ruano, CM. FonsecaUniversity of A Igarve, Portugal

I TuM2-2: Power Electronics

Control Scheme Based on GSSA Modeling Applied to an Unity Power Factor BoostRectifier 582

Carlos Gaviria, Robert Grind, Enric FossasUniversidad Politecnica de Catalunya, Spain

Experimental Development of a Hysteresis Modulated NPC Inverter 588Armando Bellni1, Gennaro Figalli2, Stefano Bifaretti', Stefano Costantini1

1 University of Rome "Tor Vergata", Italy, 2 University of Cassino, Italy

FPGA Based Asic Power-Factor Control for Three-Phase Inverter 594Saad Mekhilef, N. A. RahimUniversity of Malaya, Malaysia

Neural Network Based Adaptive Control of Current Regulated PWM Inverters 598Mohamma Reza RafieiSahand University of Technology, Iran

Robust Control of dc/dc PWM Converters : A Comparison of H_infinity ,Miu and FuzzyLogic Based Approaches 603

Mohammad Reza Rafiei1, Reza Ghazi2, Radjab Asgharian2, Massoud Barakati3, HamidToliyat4

1Sahand University of Technology, Iran, 2Ferdowsi University of Mashhad, Iran, 3Sistanand Baluchestan University, Iran,4 Texas A&M University, USA

Tracking the Resonance Frequency of a Series RLC Circuit Using a Phase Locked Loop 609Cevat GokcekMichigan State University, USA

Control of a Roasting Process for the Recovery of Vanadium 614Wolfgang Geyrhofer, Bernhard Voglauer, Hanns Peter JoerglVienna University of Technology, Austria

||| BTuM35H>ower Plants ^ ^ " ^ M |

Modeling of an Ocean Waves Power Device - AWS 618Jose Sa da Costa1, Pedro Pinto1, Antonio Sarmento1, Fred Gardner2

1 Instituto Superior Tecnico- TU Lisbon, Portugal, 2TeamWork Technology BV,Netherlands

Temperature Modeling for Thermal Plant Steam Generator 624Jae-Ho HwangHanbat National University, South Korea

Robust Decentralized Stabilization of Thermal-Power Plants 628Magdi Sadek Mahmoud, Abdulla IsmailCollege of Enginnering, UAE University, United Arab Emirates

Predictive Control of a Fossil Power plant Based on Locally Linear Model tree(LOLIMOT) 634

Mahdi Jalili Kharaajoo, Reza Ranji, Hassan BagherzadehTehran University, Iran

Controller Benchmarking of a Heat-exchange Network 640Hao Xia, Leonardo Giovanini, Mike Grimble, Baris BulutIndustrial Control Center, University ofStrathclyde, UK

Nonlinear Control and Disturbance Decoupling of an HVAC System via FeedbackLinearization and Back-Stepping 646

Elham Semsar, Mohammad Javad Yazdanpanah, Caro LucasUniversity of Tehran, Iran

Pole-Assignment Adaptive Stabiliser 651Amin KhodabakhshianIsfahan University, IRAN

1 TuM4-2: Robotic Systems 1 |||

Optimal Force Distribution for the Legs of a Hexapod Robot 657Chawki Mahfoudi1, Karim Djouani , S. Rechak1, M. Bouaziz1

1 Ecole Polytechnique Algiers, Algeria, 2University Paris 12/L/IA Lab, France

Optimal Gaits Generation of a 4-Legged Walking Robot 664Aria Alasty, Bayandor Sadeghian BorujeniSharif University of Technology, Iran

A Fuzzy System for Gait Adaptation of Biped Walking Robots 669Ozkan Bebek, Kemalettin ErbaturSabanci University, Turkey

A Novel Intelligent Technique for Mobile Robot Navigation 674X. Yang, M. Moallem, R.V. PatelUniversity of Western Ontario, Canada

Internet-based Teleoperation of a Mobile Robot with Force-reflection 680Jae-Nam Lim, Jae-Pyung Ko, JangMyung LeePusan National University, Korea

An Adaptive PID Learning Controller for Periodic Robot Motion 686Mirela Trusca, Gheorghe LazeaTechnical University of Cluj-Napoca, ROMANIA

TuAl-1: Special Session onControl of Underactuated Systems

Organized by: Ravi Banavar. I.I.T. Bombay, India

A Switched Finite-time Point-to-point Control Strategy for an UnderactuatedUnderwater Vehicle 690

V. Sankaranarayanan, Arun Mahindrakar, Ravi BanavarI.I.T. Bombay, India

Maneuvering Control Problems for a Spacecraft with Unactuated Fuel Slosh Dynamics 695Mahmut ReyhanogluEmbry Riddle Aeronautical University, USA

Motion Control of an Underactuated Manipulator without Feedback Control 700Hiroshi Yabuno, Takashi Matsuda, Nobuharu AoshimaUniversity of'Tsukuba, JAPAN

Energy Based Swing-up of the Acrobot and Time-optimal Motions 706Ravi Banavar, Arun MahindrakarI.I.T. Bombay, India

I TuA2-l: Process Plants 1• i

Real Time Optimization of an Extrusion Cooking Process using a First Principles Model 712Dominique Pomerleau1, Andre Desbiens2, Geoff W. Barton' Swabey Ogilvy Renault, Canada, 'Laval University, Canada, 3 University of Sydney,Australia

CRHPC using Volterra Models and Orthonormal Basis Functions: An Application toCSTRPUnts 718

Gustavo Oliveira , Wagner Amaral , Krzysztof Latawiec'PPGEPS/ CCET7PUCPR, Brazil, 2DCA /FEEC/ UNICAMP, Brazil, 3DEEAC/TUO,Poland

Partial Stability for Specific Growth Rate Control in Biotechnological Fed-batchProcesses 724

Enric Pico-Marco, Jesus PicoTechnical University of Valencia, Spain

A Model Based Approach for Estimation and Control for Polymer Compounding (April2003) 729

Aditya Kumar, S. Alper Eker, Paul HouptGE Global Research, USA

A Comparative Study on Modeling of a Raw Material Blending Process in CementIndustry Using Conventional and Intelligent Techniques 736

Kemal Kizilaslan, Seniz Ertugrul, Ayhan Kural, Can OzsoyIstanbul Technical University, Turkey

Partial Modification for System Enhancement of the Continuous Catalyst RegenerationSystem 742

Ahmed Khamis Abdel_Gawad', Hamdy Ashour2, Ezz Eldien Zakzouk2

'Alexandria National Refining and Petrochemical Company, EGYPT, Arab Academy forScience and Technology and Maritime Transport, EGYPT

TuA3-l: Optimal Control |||

Optimal Feedforward Control of a Magnetic Bearing System Subject to Base Motion 748Min Sig KangKyungwon University, KOREA

Application of Linear Quadratic Regulator (LQR) in Displacement Control of an ActiveMass Damper 754

Mahdi Jalili Kharaajoo, Yashar Nikouseresht, Amin Mohebbi, Behzad Moshiri, AlirezaEsna AshariTehran University, Iran

An U-based Approach of Designing Optimal Structures of Finite Precision DigitalController 760

Weihua Xu, Xiehe Hu, Jun Wu, Jian ChuZhejiang University, China

On Using Prioritized Optimization in Sampled Data Control Systems: A New VariableWeight 764

Anindo Roy', Kamran Iqbal1, Derek Atherton2

'University of Arkansas at Little Rock, USA,'University ofSussex, UK

Optimal Centralized State Fusion Estimation for Multi-sensor System with CorrelatedMeasurement Noise 770

Jin Xue-bo1, Sun You-xian2

' Zhejiang Institute of Science and Technology, China, 2 National Lab of Industrial ControlTechnology, Zhejiang University, China

TuA4-l: Motor Control 1 JDesign and Development of DSP-based Hybrid Controller for Servo Driver Applications 773

Yusuf Bulale', Momoh Salami , Marizan SulaimanKolej Universiti Teknikal Kebangsaan (KUTKM), Malaysia, International Islamic

University, Malaysia

Robust Adaptive Stator Current Control for an Induction Machine 779Cheng-Jin Zhang1, Matthew Dunnigan'Shandong University, China, 2Heriot-Watt University, UK

A Fuzzy Self-Tuning PI Controller for Speed Control of Induction Motor Drive 785Lakhdar Mokrani1, Rachid Abdessemed2

'Laghouat University, Algeria, 2Batna University, Algeria

Modeling and Full State Feedback Adaptive Control of a Two Dimensional Linear Motor 791Ali Yurdun OrbakUludag University, Turkey

Passivity Based Control of the Double Inverted Pendulum Driven by a Linear InductionMotor 797

Chin-I Huang, Li-Chen FuNational Taiwan University, Taiwan